JP2015095763A - Sounding body detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sounding body detection device capable of specifying the position of a moving sounding body in real time.SOLUTION: A sounding body detection device (1) can specify coordinates (A50) of a sounding body by specifying specific sound electric signals (A31 to A33) from sounds (A11 to A13) output from microphones (111 to 113), and calculating arrival time differences (A41 to A42) of the specific sound electric signals (A31 to A33). The position of the moving sounding body can be specified in real time by specifying coordinates (A50) of the sounding body as the last position of the sounding body for specific sound electric signals (A31 to A33) output precedently, and specifying coordinates (A50) of the sounding body as the current position of the sounding body for specific sound electric signals (A31 to A33) output succeedingly.

Description

  The present invention relates to a sounding body detection apparatus that detects the position of a sounding body in space.

  A technique for detecting the position of a sound source using a plurality of microphones is known (for example, Non-Patent Document 1). In the technique described in Non-Patent Document 1, sounds are collected by a plurality of (for example, three) microphones, and the difference in arrival time between one sound and the other sounds is selected from the plurality of sounds. A plurality of (for example, two) arrival time differences are calculated, and the position of the sound source is detected by calculation using the installation positions of the three microphones and the two arrival time differences.

  In addition, a technique is known in which sounds are collected by a plurality of microphones and abnormal sounds are detected according to the magnitude of a specific sound (for example, Patent Document 1). In the technique described in Patent Document 1, sounds (mixed signals) are collected by a plurality of microphones, and a plurality of frequency components (individual signals) of specific sounds, which are sounds generated by a sounding body, are extracted from the plurality of mixed signals. To do. Then, the position of the sound source is detected by matrix calculation using the installation positions of the plurality of microphones and the plurality of individual signals.

JP 2011-203048 A

"Three-point microphone sound source position detection device", [online], December 15, 2004, 7th Dentsu University Electronics Contest Free Division, [Search September 26, 2013], Internet <URL: http: / /www.gp.uec.ac.jp/elecon/2004electronics-contest/work ... / work_16.htm>

  However, the techniques disclosed in Non-Patent Document 1 and Patent Document 1 detect a sound source installed somewhere, and do not detect a moving sound source (hereinafter referred to as a sound generator).

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a sounding body detection apparatus that can specify the position of a moving sounding body in real time.

  In the first aspect of the present invention, the sound generator detection apparatus converts M (M is an integer of 3 or more) microphones to collect sound and the sound output from the M microphones into an electrical signal. A specific sound electrical signal extraction for outputting a specific sound electrical signal obtained by extracting a frequency component of a specific sound, which is a sound emitted by a moving sound generator, from the M electrical signals output from the signal conversion circuit and the signal conversion circuit N is a difference in arrival time between one specific sound electrical signal of the M specific sound electrical signals output from the filter and the specific sound electrical signal extraction filter and the other specific sound electrical signals A signal time difference detection unit that sequentially calculates arrival time differences of N (N is an integer), coordinates that indicate the installation positions of the M microphones, and the N arrival time differences that are output in advance from the signal time difference detection unit. Based on the previous sounding body The coordinates of the current sounding body are detected based on the coordinates of the M microphones and the N arrival time differences output from the signal time difference detection unit. And a coordinate detection unit for detecting the coordinates of the sounding body this time.

  In the second aspect of the present invention, the sound generator detection device converts M (M is an integer of 3 or more) microphones that collect sound and the sound output from the M microphones into an electrical signal. A specific sound electrical signal extraction for outputting a specific sound electrical signal obtained by extracting a frequency component of a specific sound, which is a sound emitted by a moving sound generator, from the M electrical signals output from the signal conversion circuit and the signal conversion circuit A specific sound electrical signal determination unit that outputs a determination result signal when a voltage value of the M specific sound electrical signals output from the specific sound electrical signal extraction filter is equal to or greater than a specific sound voltage value for determination; , N of the M determination result signals output from the specific sound electrical signal determination unit, which is a difference in arrival time between one determination result signal and the other determination result signals (N is an integer) ) Signals that sequentially calculate arrival time differences Based on the difference detection unit, the coordinates representing the installation positions of the M microphones, and the N arrival time differences output in advance from the signal time difference detection unit, the previous time which is the coordinates of the sounding body of the previous time The current sound generator coordinates, which are the coordinates of the current sound generator, are detected based on the coordinates of the M microphones and the N arrival time differences subsequently output from the signal time difference detection unit. And a coordinate detection unit for detecting.

  In the second aspect of the present invention, the specific sound electrical signal determination unit is configured such that a voltage value of the M specific sound electrical signals output in advance from the specific sound electrical signal extraction filter is equal to or higher than the determination specific sound voltage value. The preceding M number of determination result signals are output to the time difference detection unit, and the voltage values of the M number of specific sound electrical signals subsequently output from the specific sound electrical signal extraction filter are the determination specifics. When the voltage value is equal to or higher than the sound voltage value and the voltage value changes with respect to the voltage value of the preceding specific sound electric signal, the subsequent M determination result signals are output.

  In the first and second aspects of the present invention, the coordinate detection unit includes a time difference coordinate storage unit associating a plurality of time differences and the coordinates of the sounding body with a plurality of patterns, and the plurality of patterns stored in the time difference coordinate storage unit. A coordinate selection unit that selects coordinates corresponding to the N arrival time differences as the coordinates of the sounding body.

  In the third aspect of the present invention, the sound generator detection device converts M (M is an integer of 2 or more) microphones to collect sound and the sound output from the M microphones into an electrical signal. A specific sound electrical signal extraction for outputting a specific sound electrical signal obtained by extracting a frequency component of a specific sound, which is a sound emitted by a moving sound generator, from the M electrical signals output from the signal conversion circuit and the signal conversion circuit A filter, a specific sound electric signal coordinate storage unit, M specific sound voltage values representing the magnitude of the specific sound, and coordinates of the sounding body are associated with a plurality of patterns in the specific sound electric signal coordinate storage unit in advance. The voltage of the M specific sound electrical signals output in advance from the specific sound electrical signal extraction filter out of the coordinates of the plural patterns stored in the coordinate construction unit to be stored and the specific sound electrical signal coordinate storage unit The coordinates corresponding to the value, Selected as the previous sound generator coordinates which are the coordinates of the sound generator of the number of times, and subsequently output from the specific sound electric signal extraction filter from among the coordinates of the plurality of patterns stored in the specific sound electric signal coordinate storage unit A coordinate detection unit that selects coordinates corresponding to voltage values of the M specific sound electrical signals as current sounding body coordinates that are coordinates of the current sounding body.

  In the first to third aspects of the present invention, the sounding body detecting apparatus further includes a display unit that displays image data including the previous sounding body coordinates and the current sounding body coordinates.

  In the first to third aspects of the present invention, the sounding body detection device further includes a movement history storage unit that stores the previous sounding body coordinates, and the image data includes the current sounding body coordinates and the movement history. A sound generator movement path connecting the sound generator movement history including the previous sound generator coordinates stored in the storage unit is further included.

  In the first to third aspects of the present invention, the sounding body detecting device may be configured such that the at least one sounding body detection device is based on coordinates representing an installation position of at least one of the M microphones and coordinates of the sounding body. A distance calculating unit that calculates a distance between the microphone and the sounding body as a calculated distance is further provided.

  In the first to third aspects of the present invention, the sound generator detection device includes a distance determination result generation unit that generates a distance determination result indicating whether the calculated distance is included in a set distance range, and the distance determination result. And an alarm notification unit for outputting an alarm based on the above.

  In the first to third aspects of the present invention, a plurality of the set distance ranges are set, and the type of the alarm is different for each set distance range.

  According to a fourth aspect of the present invention, in a computer program, a signal conversion process for converting sound collected by M (M is an integer of 3 or more) microphones into an electrical signal, and the M electrical signals, A specific sound electrical signal extraction process for extracting a specific sound electrical signal as a frequency component of a specific sound that is a sound emitted by a moving sound generator, one specific sound electrical signal among the M specific sound electrical signals, Signal time difference detection processing for sequentially calculating N (N is an integer) arrival time differences, which are differences in arrival times from other specific sound electrical signals, coordinates indicating the installation positions of the M microphones, and the signal Based on the N arrival time differences output in advance from the time difference detection process, the previous coordinate detection process for detecting the previous sounding body coordinates which are the coordinates of the previous sounding body, the coordinates of the M microphones, Signal time difference The was followed outputted from the output processing on the basis of the N pieces of arrival time difference, and the current coordinate detection process for detecting the current sounding body coordinates are the coordinates of the current of the sounding body, to execute the processing of the computer.

  In a fifth aspect of the present invention, in a computer program, a signal conversion process for converting sound collected by M (M is an integer of 3 or more) microphones into an electrical signal, and the M electrical signals, A specific sound electrical signal extraction process for extracting a specific sound electrical signal as a frequency component of a specific sound that is a sound emitted by a moving sound generator; and the voltage values of the M specific sound electrical signals are equal to or greater than the determination specific sound voltage value The specific sound electrical signal determination process for outputting the determination result signal, one determination result signal among the M determination result signals output from the specific sound electrical signal determination process, and the other From signal time difference detection processing for sequentially calculating N (N is an integer) arrival time differences, which are differences in arrival times from the determination result signal, coordinates representing the installation positions of the M microphones, and signal time difference detection processing Preceding Based on the N arrival time differences, the previous coordinate detection process for detecting the previous sound generator coordinates, which are the coordinates of the previous sound generator, the coordinates of the M microphones, and the signal time difference detection process Based on the N arrival time differences output subsequently, the computer is caused to execute each process of current coordinate detection processing for detecting current sounding body coordinates which are coordinates of the current sounding body.

  In a sixth aspect of the present invention, in a computer program, a signal conversion process for converting sound collected by M (M is an integer of 2 or more) microphones into an electrical signal, and the M electrical signals, Specific sound electrical signal extraction processing for extracting a specific sound electrical signal as a frequency component of a specific sound that is a sound emitted by a moving sound generator, M specific sound voltage values representing the magnitude of the specific sound, and the sound generator A coordinate construction process in which coordinates are associated with a plurality of patterns and stored in advance in the specific sound and electrical signal coordinate storage unit, and the specific sound and electrical signal is selected from the coordinates of the plurality of patterns stored in the specific sound and electrical signal coordinate storage unit. A previous coordinate detection process in which coordinates corresponding to voltage values of the M specific sound electrical signals output in advance from the extraction process are selected as previous sound generator coordinates, which are the coordinates of the previous sound generator; Among the coordinates of the plurality of patterns stored in the signal coordinate storage unit, coordinates corresponding to the voltage values of the M specific sound electrical signals subsequently output from the specific sound electrical signal extraction process are used as the current pronunciation. The computer is caused to execute each process of the current coordinate detection process selected as the current sounding body coordinates which are the coordinates of the body.

  According to the first and fourth aspects of the present invention, a specific sound (M specific sound electrical signals) is identified from a sound output from M microphones by a signal conversion circuit and a specific sound electrical signal extraction filter, By calculating the arrival time difference of the specific sound by the time difference detection unit, the position of the sounding body (sounding body coordinates) can be specified by the coordinate detection unit. Further, according to the first and fourth aspects of the present invention, with respect to the specific sound (M specific sound electric signals) output in advance from the specific sound electric signal extraction filter, the position of the previous sounding body (previous sound generation). Body coordinates), and the position of the current sounding body (current sounding body coordinates) for the specific sound (M number of specific sounding electrical signals) subsequently output from the specific sound electrical signal extraction filter. Unlike the techniques disclosed in Non-Patent Document 1 and Patent Document 1, the position of a moving sounding body can be specified in real time.

  According to the second and fifth aspects of the present invention, the specific sound (M specific sound electric signals) is specified by the signal conversion circuit and the specific sound electric signal extraction filter from the sounds output from the M microphones, and specified. The sound / electrical signal determination unit specifies specific sounds (M determination result signals) whose volume (voltage value) is equal to or greater than the characteristic amount (specific sound voltage value for determination), and the signal time difference detection unit calculates the arrival time difference of the specific sound Thus, the position of the sounding body (sounding body coordinates) can be specified by the coordinate detection unit. Further, according to the second and fifth aspects of the present invention, the specific sound that is output in advance from the specific sound electrical signal extraction filter and whose volume (voltage value) is equal to or greater than the feature amount (determination specific sound voltage value). For the (M specific sound electrical signals), the position of the previous sounding body (previous sounding body coordinates) is specified, and subsequently output from the specific sound electrical signal extraction filter, and its volume (voltage value) is characterized. By specifying the position of the current sounding body (current sounding body coordinates) for a specific sound (M specific sound electrical signals) that is greater than or equal to the amount (specific sound voltage value for determination), Unlike the technique disclosed in Patent Document 1, the position of the moving sounding body can be specified in real time.

  According to the third and sixth aspects of the present invention, the specific sound volume (specific sound voltage value) and the coordinates of the sounding body are stored in the specific sound electrical signal coordinate storage unit by the coordinate building unit, and M pieces of sound are generated. By specifying a specific sound (M specific sound electric signals) from the sound output from the microphone by the signal conversion circuit and the specific sound electric signal extraction filter, and by referring to the specific sound electric signal coordinate storage unit by the coordinate detection unit, The position of the sounding body (sounding body coordinates) can be specified. Further, according to the third and sixth aspects of the present invention, the position of the previous sounding body (previous sound generation) with respect to the specific sound (M specific sound electric signals) output in advance from the specific sound electric signal extraction filter. Body coordinates), and the position of the current sounding body (current sounding body coordinates) for the specific sound (M number of specific sounding electrical signals) subsequently output from the specific sound electrical signal extraction filter. Unlike the techniques disclosed in Non-Patent Document 1 and Patent Document 1, the position of a moving sounding body can be specified in real time. In addition, according to the third and sixth aspects of the present invention, since the specific sound electric signal coordinate storage unit is referred to, complicated calculations as in Non-Patent Document 1 and Patent Document 1 are not required.

It is a block diagram which shows the sounding body detection system with which the sounding body detection apparatus 1 of this invention is applied. It is a block diagram which shows the structure of the sounding body detection apparatus 1 of this invention. It is a figure which shows the example to which the sounding body detection system of FIG. 1 is applied. It is a figure which shows the other example to which the sounding body detection system of FIG. 1 is applied. It is a block diagram which shows the structure of the sounding body detection apparatus 1 which concerns on 1st Embodiment of this invention. It is a figure which shows the electric signals A21-A23 output from the signal conversion circuits 121-123. It is a figure which shows the specific sound electrical signal A31-A33 output from the specific sound electrical signal extraction filter 131-133. It is a figure which shows the arrival time differences A41-A42 output from the signal time difference detection part 140. FIG. It is a figure which shows the coordinate showing the installation position of the microphones 111-113. 3 is a block diagram illustrating a configuration of a coordinate detection unit 150. FIG. It is a figure which shows the information memorize | stored in the time difference coordinate memory | storage part 151. FIG. It is a figure which shows the image data A70 displayed on the display part, when the sounding body detection apparatus 1 which concerns on 1st Embodiment of this invention is an image forming apparatus, and the sounding body 2 is a robot cleaner. It is a figure which shows the image data A70 displayed on the display part, when the sounding body detection apparatus 1 which concerns on 1st Embodiment of this invention is a portable terminal, and the sounding body 2 is a mosquito. It is a figure showing the alarm setting table applied when the sounding body detection apparatus 1 which concerns on 1st Embodiment of this invention is an image forming apparatus, and the sounding body 2 is a robot cleaner. It is a figure showing the alarm setting table applied when the sounding body detection apparatus 1 which concerns on 1st Embodiment of this invention is a portable terminal, and the sounding body 2 is a mosquito. It is a block diagram which shows the structure of the sounding body detection apparatus 1 which concerns on 2nd Embodiment of this invention. It is a figure which shows the relationship between the specific sound voltage value for determination memorize | stored in the specific sound electric signal memory | storage part for determination 210, and the determination result signal (voltage value) output from the specific sound electric signal determination part 221-223. It is a figure which shows the specific sound electrical signal A31-A33 output from the specific sound electrical signal extraction filter 131-133 regarding the presence or absence of a specific sound. It is a figure which shows the determination result signal B21-B23 output from the specific sound electrical signal determination part 221-223 regarding the presence or absence of a specific sound. It is a figure which shows the arrival time difference A41-A42 output from the signal time difference detection part 240 regarding the presence or absence of a specific sound. It is a figure which shows the image data A70 displayed on the display part, when the sounding body detection apparatus 1 which concerns on 2nd Embodiment of this invention is an image forming apparatus, and the sounding body 2 is a robot cleaner. It is a figure which shows the image data A70 displayed on the display part, when the sounding body detection apparatus 1 which concerns on 2nd Embodiment of this invention is a portable terminal, and the sounding body 2 is a mosquito. It is a figure which shows the specific sound electrical signal A31-A33 output from the specific sound electrical signal extraction filter 131-133 regarding the change of the sound volume of the sounding body 2. It is a figure which shows the determination result signal B21-B23 output from the specific sound electrical signal determination part 221-223 regarding the change of the sound volume of the sounding body 2. FIG. It is a figure which shows the arrival time difference A41-A42 output from the signal time difference detection part 240 regarding the change of the sound volume of the sounding body 2. FIG. It is a block diagram which shows the structure of the sounding body detection apparatus 1 which concerns on 3rd Embodiment of this invention. It is a figure which shows the information memorize | stored in the specific sound electric signal coordinate memory | storage part 310. FIG. It is a figure which shows a coordinate construction process as operation | movement of the sounding body detection apparatus 1 which concerns on 3rd Embodiment of this invention. It is a figure for demonstrating a coordinate construction process. It is a figure which shows a coordinate detection process as operation | movement of the sounding body detection apparatus 1 which concerns on 3rd Embodiment of this invention.

  Hereinafter, an embodiment of a sounding body detection apparatus of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a sounding body detection system to which a sounding body detection apparatus 1 of the present invention is applied. The sounding body detection apparatus 1 of the present invention detects a sounding body 2.

  FIG. 2 is a block diagram showing a configuration of the sounding body detecting apparatus 1 of the present invention. The sounding body detection device 1 of the present invention includes M microphones, a control device 10, a storage device 11, a display unit 12, and a speaker 13. The storage device 11 stores a computer program that can be executed by a computer. The control device 10 includes a CPU (Central Processing Unit) 14 that reads and executes the computer program.

  FIG. 3 is a diagram showing an example to which the sounding body detection system of FIG. 1 is applied. For example, the sounding body detection apparatus 1 of the present invention is an image forming apparatus, and the sounding body 2 is a robot cleaner. The image forming apparatus and the robot cleaner are provided in the office. The image forming apparatus includes an image forming unit. The image forming unit forms an image based on the input image data, and prints the image on paper. The image forming apparatus has a function of detecting the robot cleaner, and displays the position of the robot cleaner on the display unit 12.

  FIG. 4 is a diagram showing another example to which the sounding body detection system of FIG. 1 is applied. For example, the sounding body detection device 1 of the present invention is a portable terminal, and the sounding body 2 is a mosquito. Examples of the portable terminal include a mobile phone and a smartphone. The portable terminal has a function of detecting mosquitoes, and displays the position of the mosquitoes on the display unit 12.

[First Embodiment]
FIG. 5 is a block diagram showing the configuration of the sounding body detecting apparatus 1 according to the first embodiment of the present invention.

  The control device 10 of the sound producing body detection apparatus 1 according to the first embodiment of the present invention includes M signal conversion circuits, M specific sound electrical signal extraction filters, a signal time difference detection unit 140, and a coordinate detection unit 150. A distance calculation unit 160, a display control unit 170, a distance determination result generation unit 180, an alarm notification unit 190, and a movement history storage unit 200. These components are controlled by the CPU 14.

  In the sounding body detecting apparatus 1 according to the first embodiment of the present invention, the above M is an integer of 3 or more. Here, M is 3. In this case, the three microphones are microphones 111 to 113, the three signal conversion circuits are signal conversion circuits 121 to 123, and the three specific sound electric signal extraction filters are specific sound electric signal extraction filters 131 to 133. .

  The microphones 111 to 113 collect sounds A11 to A13 including a specific sound emitted by the sounding body 2.

  The signal conversion circuits 121 to 123 synchronize the sounds A11 to A13 output from the microphones 111 to 113 with the electrical signal A21 in synchronization with the clock signal CLK output from the CPU 14 (for example, in synchronization with the rise of the clock signal CLK). Convert to ~ A23. FIG. 6 is a diagram illustrating electrical signals A21 to A23 output from the signal conversion circuits 121 to 123. FIG.

  The specific sound electrical signal extraction filters 131 to 133 receive the electrical signals A21 to A23 output from the signal conversion circuits 121 to 123 in synchronization with the clock signal CLK output from the CPU 14. The specific sound electric signal extraction filters 131 to 133 output the specific sound electric signals obtained by extracting the frequency components of the specific sound from the electric signals A21 to A23 as the specific sound electric signals A31 to A33. FIG. 7 is a diagram illustrating specific sound electrical signals A31 to A33 output from the specific sound electrical signal extraction filters 131 to 133. The specific sound electrical signal A32 is delayed from the specific sound electrical signal A31 by a time T12 [s]. The specific sound electrical signal A33 is delayed from the specific sound electrical signal A31 by a time T13 [s].

  Here, the specific sound electric signals A31 to A33 output in advance from the specific sound electric signal extraction filters 131 to 133 are referred to as specific sound electric signals A31-1 to A33-1. The specific sound electrical signal A32-1 is delayed by a time T12-1 [s] from the specific sound electrical signal A31-1, and the specific sound electrical signal A33-1 is delayed by a time T13-1 from the specific sound electrical signal A31-1. Delayed by [s].

  Further, the specific sound electrical signals A31 to A33 output from the specific sound electrical signal extraction filters 131 to 133 are referred to as specific sound electrical signals A31-2 to A33-2. The specific sound electric signal A32-2 is delayed by a time T12-2 [s] from the specific sound electric signal A31-2, and the specific sound electric signal A33-2 is a time T13-2 with respect to the specific sound electric signal A31-2. Delayed by [s].

  The signal time difference detector 140 receives the specific sound electrical signals A31 to A33 output from the specific sound electrical signal extraction filters 131 to 133 in synchronization with the clock signal CLK output from the CPU 14. The signal time difference detection unit 140 calculates N arrival time differences that are differences in arrival times between one specific sound electrical signal among the specific sound electrical signals A31 to A33 and the other specific sound electrical signals.

  N is an integer, and in this case N is 2. Specifically, the signal time difference detection unit 140 is a difference in arrival time between one specific sound electrical signal A31 of the specific sound electrical signals A31 to A33 and the other specific sound electrical signals A32 and A33. Two arrival time differences A41 to A42 are calculated. FIG. 8 is a diagram illustrating arrival time differences A41 to A42 output from the signal time difference detection unit 140. The arrival time differences A41 to A42 are represented by T12 and T13 [s], respectively.

  Here, according to the specific sound electrical signals A31 to A33 output in advance from the specific sound electrical signal extraction filters 131 to 133, the arrival time differences A41 to A42 output in advance from the signal time difference detection unit 140 are converted into arrival time differences A41-1, It is called A42-1. The arrival time difference A41-1 represents time T12-1 [s], and the arrival time difference A42-1 represents time T13-1 [s].

  Further, the arrival time differences A41 to A42 output from the signal time difference detection unit 140 in accordance with the specific sound electric signals A31-2 to A33-2 subsequently output from the specific sound signal extraction filters 131 to 133 are obtained as arrival time differences A41. -2, A42-2. The arrival time difference A41-2 represents time T12-2 [s], and the arrival time difference A42-2 represents time T13-2 [s].

  The coordinate detection unit 150 receives the arrival time differences A41-1 and A42-1 output in advance from the signal time difference detection unit 140 in synchronization with the clock signal CLK output from the CPU. The coordinate detection unit 150 detects a sounding body coordinate A50, which is the previous coordinate of the sounding body 2, based on the coordinates representing the installation positions of the microphones 111 to 113 and the arrival time differences A41-1 and A42-1. Here, the sounding body coordinates A50 which are the coordinates of the sounding body 2 of the previous time are referred to as the previous sounding body coordinates A50-1.

  In addition, the coordinate detection unit 150 inputs arrival time differences A41-2 and A42-2 output subsequently from the signal time difference detection unit 140 in synchronization with the clock signal CLK output from the CPU. The coordinate detection unit 150 detects the sounding body coordinates A50 that are the coordinates of the sounding body 2 this time, based on the coordinates representing the installation positions of the microphones 111 to 113 and the arrival time differences A41-2 and A42-2. Here, the sounding body coordinates A50 which are the coordinates of the sounding body 2 this time are referred to as current sounding body coordinates A50-2.

  Here, a method of detecting the sounding body coordinates A50 (previous sounding body coordinates A50-1, current sounding body coordinates A50-2) will be described.

  FIG. 9 is a diagram illustrating coordinates representing the installation positions of the microphones 111 to 113. Here, the coordinates of the microphones 111 to 113 are (0, 0), (X112, 0), (0, Y113), the arrival time differences A41 to A42 are T12, T13 [s], and the sound speed is 340 [m / s. ], (X50, Y50) representing the sounding body coordinates A50 can be obtained from the hyperbola L12, L13.

  The hyperbola L12 is obtained based on the coordinates (0, 0) and (X112, 0) of the microphones 111 and 112 and T12 which is the arrival time difference A41, and ± SQR {(X−X112) ^ 2 + Y ^ 2 } = ± SQR {X ^ 2 + Y ^ 2} + 340 × T12. The hyperbola L13 is obtained based on (0, 0) and (0, Y113) which are the coordinates of the microphones 111 and 113 and T13 which is the arrival time difference A42, and ± SQR {X ^ 2 + (Y−Y113) ^ 2} = ± SQR {X ^ 2 + Y ^ 2} + 340 × T13. The intersection of the hyperbola L12 and the hyperbola L13 represents the position of the sound source. That is, the sounding body coordinates A50 are represented.

  Since the coordinates and sound speed of the microphones 111 to 113 are unchanged, the coordinates (X50, Y50) for two time differences may be calculated in advance based on the equations of the hyperbola L12, L13. FIG. 10 is a block diagram illustrating a configuration of the coordinate detection unit 150. The coordinate detection unit 150 includes a time difference coordinate storage unit 151 and a coordinate selection unit 152.

  FIG. 11 is a diagram illustrating information stored in the time difference coordinate storage unit 151. The time difference coordinate storage unit 151 stores N time differences and the coordinates of the sounding body 2 in association with a plurality of patterns. Since N is 2, the time difference coordinate storage unit 151 stores a plurality of patterns of two time differences. The two time differences are set in advance. First, the coordinate selection unit 152 refers to the time difference coordinate storage unit 151. The coordinate selection unit 152 selects a time difference that matches the arrival time differences A41 to A42 as a selection time difference from among a plurality of patterns of time differences stored in the time difference coordinate storage unit 151. Next, the coordinate selection unit 152 selects a coordinate corresponding to the selection time difference as the sound generator coordinates A50 from the plural patterns of coordinates stored in the time difference coordinate storage unit 151.

  The distance calculation unit 160 receives the sound generator coordinates A50 output from the coordinate detection unit 150 in synchronization with the clock signal CLK output from the CPU 14. The distance calculation unit 160 is, for example, coordinates representing the installation position of at least one of the microphones 111 to 113, and the current sounding body coordinates A50-2 output from the coordinate detection unit 150 (X50, Y50). Based on the above, the distance between at least one microphone and the sounding body 2 is calculated and output as the calculated distance A60. Here, when the coordinates of the microphones 111 to 113 are (0, 0), (X112, 0), (0, Y113) and the sounding body coordinate A50 is (X50, Y50), the microphones 111 to 113 and the sounding body The distances S1 to S3 [m] from 2 are X ^ 2 + Y ^ 2 = S1 ^ 2, (X-X112) ^ 2 + Y ^ 2 = S2 ^ 2, X ^ 2 + (Y-Y113) ^ 2 = S3, respectively. It is obtained by ^ 2.

  For example, when calculating the distance between the microphone 111 and the sounding body 2, the distance calculating unit 160 uses the coordinates (0, 0) of the microphone 111 and the current sounding body coordinates (0, 0) by X ^ 2 + Y ^ 2 = S1 ^ 2. X50, Y50) and the calculated distance A60 is output.

  The display control unit 170 receives the sound generator coordinates A50 output from the coordinate detection unit 150 in synchronization with the clock signal CLK output from the CPU 14. The display controller 170 outputs the sounding body coordinates A50 (previous sounding body coordinates A50-1 and current sounding body coordinates A50-2) output from the coordinate detection unit 150, the calculated distance A60 output from the distance calculation unit 160, The image data A70 including the sounding body movement route A100 is generated, and the image data A70 is displayed on the display unit 12. Current sounding body coordinates A50-2 included in the image data A70 represent the position of the sounding body 2 this time.

  For example, when the sounding body detection apparatus 1 according to the first embodiment of the present invention is an image forming apparatus and the sounding body 2 is a robot cleaner, both of which are provided in an office, the storage device 11 has an office Stores information related to the layout. In this case, the display control unit 170 displays image data A70 as shown in FIG. 12 on the display unit 12 in association with the office layout.

  For example, if the sounding body detection device 1 according to the first embodiment of the present invention is a portable terminal and the sounding body 2 is a mosquito, the display control unit 170 displays image data A70 as shown in FIG. 12 is displayed.

  The movement history storage unit 200 stores the previous sounding body coordinates A50-1 as a sounding body movement history that is a history when the sounding body 2 has moved. The sounding body movement path A100 included in the image data A70 is represented by a line connecting the current sounding body coordinates A50-2 and the sounding body movement history including the previous sounding body coordinates A50-1 stored in the movement history storage unit 200. expressed. The sounding body movement path A100 included in the image data A70 is displayed in a display form different from that of the current sounding body coordinates A50-2. Examples of the display form of the sound generator movement route A100 include color coding, highlighting, lines representing traces, and the like. For example, lines representing traces are represented as shown in FIGS.

  The distance determination result generation unit 180 receives the calculated distance A60 output from the distance calculation unit 160 in synchronization with the clock signal CLK output from the CPU 14. The distance determination result generation unit 180 generates a distance determination result A80 that indicates whether or not the calculated distance A60 is included in the set distance range.

  The alarm notification unit 190 inputs the distance determination result A80 in synchronization with the clock signal CLK output from the CPU 14. The alarm notification unit 190 outputs an alarm A90 from the speaker 13 based on the distance determination result A80. The type of alarm A90 differs for each set distance range, and is managed by an alarm setting table stored in the storage device 11, for example. The distance determination result generation unit 180 and the alarm notification unit 190 refer to the alarm setting table. The alarm setting table stores a set distance range and the type of alarm A90 in association with a plurality of patterns.

  FIG. 14 is a diagram illustrating an alarm setting table applied when the sounding body detection apparatus 1 according to the first embodiment of the present invention is an image forming apparatus and the sounding body 2 is a robot cleaner.

  For example, when the calculated distance A60 is within 10 [m] (when the robot cleaner is within 10 [m]), the distance determination result generation unit 180 does not include the calculated distance A60 in the set distance range. A distance determination result A80 indicating this is generated. The alarm notification unit 190 does not output the alarm A90 from the speaker 13 because there is no alarm type corresponding to the distance determination result A80.

  For example, when the calculated distance A60 is 10 [m] or more and 11 [m] or less (when the robot cleaner exists within 10 [m] or more and 11 [m]), the distance determination result generation unit 180 A distance determination result A80 indicating that the calculated distance A60 is included in the first set distance range is generated. Since the alarm type corresponding to the distance determination result A80 is the first alarm sound, the alarm notification unit 190 outputs the alarm A90 representing the first alarm sound from the speaker 13.

  For example, when the calculated distance A60 is 11 [m] or more and within 12 [m] (when the robot cleaner is present within 11 [m] and within 12 [m]), the distance determination result generation unit 180 A distance determination result A80 indicating that the calculated distance A60 is included in the second set distance range is generated. Since the alarm type corresponding to the distance determination result A80 is the second alarm sound, the alarm notification unit 190 outputs the alarm A90 representing the second alarm sound from the speaker 13. The second alarm sound is louder than the first alarm sound.

  FIG. 15 is a diagram illustrating an alarm setting table applied when the sounding body detection device 1 according to the first embodiment of the present invention is a mobile terminal and the sounding body 2 is a mosquito.

  For example, when the calculated distance A60 is 2 [m] or more (when mosquitoes are present at 2 [m] or more), the distance determination result generation unit 180 determines that the calculated distance A60 is not included in the set distance range. A distance determination result A80 is generated. The alarm notification unit 190 does not output the alarm A90 from the speaker 13 because there is no alarm type corresponding to the distance determination result A80.

  For example, when the calculated distance A60 is 1 [m] or more and 2 [m] or less (when the mosquito exists within 1 [m] or more and 2 [m]), the distance determination result generation unit 180 calculates the calculated distance. A distance determination result A80 indicating that A60 is included in the second set distance range is generated. Since the alarm type corresponding to the distance determination result A80 is the second alarm sound, the alarm notification unit 190 outputs the alarm A90 representing the second alarm sound from the speaker 13.

  For example, when the calculated distance A60 is within 1 [m] (when the mosquito is present within 1 [m]), the distance determination result generation unit 180 includes the calculated distance A60 in the first set distance range. A distance determination result A80 indicating this is generated. Since the alarm type corresponding to the distance determination result A80 is the first alarm sound, the alarm notification unit 190 outputs the alarm A90 representing the first alarm sound from the speaker 13. The first alarm sound is louder than the second alarm sound.

  As described above, in the sounding body detection apparatus 1 according to the first embodiment of the present invention, the M microphones 111 to 113 (M is an integer of 3 or more) collect the sounds A11 to A13, and the signal conversion circuit 121. To 123 convert sounds A11 to A13 output from the M microphones 111 to 113 into electric signals A21 to A23. The specific sound electrical signal extraction filters 131 to 133 are specified by extracting frequency components of a specific sound that is a sound generated by the moving sounding body 2 from the M electrical signals A21 to A23 output from the signal conversion circuits 121 to 123. The sound electric signals A31 to A33 (A31-1 to A33-1) (A31-2 to A33-2) are output. The signal time difference detection unit 140 includes the M specific sound electrical signals A31 to A33 (A31-1 to A33-1) (A31-2 to A33-2) output from the specific sound electrical signal extraction filters 131 to 133. One specific sound electrical signal A31 (A31-1) (A31-2) and other specific sound electrical signals A32 to A33 (A32-1 to A33-1) (A32-2 to A33-2) N arrival time differences A41 to A42 (A41-1 to A42-1) (A41-2 to A42-2) are sequentially calculated. The coordinate detection unit 150 outputs the coordinates {(0, 0), (X112, 0), (0, Y113)} representing the installation positions of the M microphones 111 to 113 and the signal time difference detection unit 140 in advance. Based on the N arrival time differences A41-1 to A42-1, the previous sounding body coordinates A50 (A50-1), which are the coordinates of the previous sounding body 2, are detected. The coordinate detection unit 150 includes the coordinates {(0, 0), (X112, 0), (0, Y113)} of the M microphones 111 to 113 and the N arrivals that are subsequently output from the signal time difference detection unit 140. Based on the time differences A41-2 to A42-2, the current sounding body coordinates A50 (A50-2), which are the coordinates of the current sounding body 2, are detected.

  In the sounding body detection apparatus 1 according to the first embodiment of the present invention, the coordinate detection unit 150 refers to the time difference coordinate storage unit 151 that associates a plurality of time differences with the coordinates of the sounding body 2 with reference to the time difference coordinate storage unit 151. The coordinates corresponding to the N arrival time differences A41 to A42 are selected as the coordinates of the sounding body 2 from the coordinates of the plurality of patterns stored in the coordinate storage unit 151.

  Thus, according to the sounding body detection apparatus 1 according to the first embodiment of the present invention, the signal conversion circuits 121 to 123 and the specific sound electric signal extraction filter 131 to the sound A11 to A13 output from the microphones 111 to 113. The specific sound (specific sound electrical signals A31 to A33) is specified by 133, and the arrival time differences A41 to A42 of the specific sound are calculated by the signal time difference detection unit 140, whereby the position of the sounding body 2 (sounding body) is calculated by the coordinate detection unit 150. Coordinate A50) can be specified. Furthermore, according to the sounding body detection apparatus 1 according to the first embodiment of the present invention, the specific sound (specific sound electric signals A31-1 to A33-1) output in advance from the specific sound electric signal extraction filters 131 to 133 is used. On the other hand, the position of the previous sounding body 2 (previous sounding body coordinates A50-1) is specified, and the specific sound (specific sound electric signals A31-2 to A33-) subsequently output from the specific sound electric signal extraction filters 131 to 133 is specified. In contrast to the techniques disclosed in Non-Patent Document 1 and Patent Document 1, by specifying the position of the current sounding body 2 (current sounding body coordinates A50-2) with respect to 2), the moving sounding body 2 moves. Can be identified in real time.

  Further, in the sounding body detecting apparatus 1 according to the first embodiment of the present invention, the display unit 12 displays the image data A70 including the previous sounding body coordinates A50-1 and the current sounding body coordinates A50-2.

  Moreover, in the sounding body detection apparatus 1 according to the first embodiment of the present invention, the movement history storage unit 200 stores the previous sounding body coordinates A50-1. The image data A70 further includes a sounding body movement path A100 that connects the current sounding body coordinates A50-2 and the sounding body movement history including the previous sounding body coordinates A50-1 stored in the movement history storage unit 200.

  As described above, according to the sounding body detecting apparatus 1 according to the first embodiment of the present invention, the image data A70 is displayed on the display unit 12, whereby the position of the moving sounding body 2 to the user is determined in real time. Can be notified. Further, the user can grasp the sounding body movement route A100 from the image data A70 displayed on the display unit 12.

  Further, in the sound producing body detection device 1 according to the first embodiment of the present invention, the distance calculation unit 160 has coordinates {(0, 0) representing the installation position of at least one of the M microphones 111 to 113. } And the coordinate A50 of the sounding body 2, the distance between at least one microphone and the sounding body 2 is calculated as a calculated distance A60.

  In the sound producing body detection device 1 according to the first embodiment of the present invention, the distance determination result generation unit 180 generates a distance determination result A80 that indicates whether or not the calculated distance A60 is included in the set distance range. The alarm notification unit 190 outputs an alarm A90 based on the distance determination result A80.

  Moreover, in the sounding body detection apparatus 1 according to the first embodiment of the present invention, a plurality of set distance ranges are set, and the type of the alarm A90 is different for each set distance range.

  As described above, according to the sounding body detecting apparatus 1 according to the first embodiment of the present invention, it is possible to grasp how far the sounding body 2 is away from the sounding body detecting apparatus 1 by calculating the calculated distance A60. Can do. By displaying the calculated distance A60 on the display unit 12, the user can be notified in real time. Further, by outputting the alarm A90 based on the calculated distance A60, it is possible to notify the user in real time that the moving sounding body 2 is approaching or is away.

[Second Embodiment]
FIG. 16 is a block diagram showing a configuration of the sounding body detecting apparatus 1 according to the second embodiment of the present invention. In the second embodiment, only the changes from the first embodiment will be described.

  The control device 10 of the sound generator detection device 1 according to the second embodiment of the present invention includes M signal conversion circuits, M specific sound electrical signal extraction filters, M specific sound electrical signal determination units, A determination specific sound electric signal storage unit 210, a signal time difference detection unit 240, a coordinate detection unit 150, a distance calculation unit 160, a display control unit 170, a distance determination result generation unit 180, an alarm notification unit 190, A movement history storage unit 200. These components are controlled by the CPU 14.

  In the sounding body detecting apparatus 1 according to the second embodiment of the present invention, M described above is an integer of 3 or more. Here, M is 3. In this case, the three microphones are microphones 111 to 113, the three signal conversion circuits are signal conversion circuits 121 to 123, and the three specific sound electric signal extraction filters are specific sound electric signal extraction filters 131 to 133. .

  Since the microphones 111 to 113, the signal conversion circuits 121 to 123, and the specific sound electrical signal extraction filters 131 to 133 are the same as those in the first embodiment, the description thereof is omitted.

  As described above, M is 3. In this case, the three specific sound electrical signal determination units are designated as specific sound electrical signal determination units 221 to 223.

  The determination specific sound electrical signal storage unit 210 stores a determination specific sound voltage value (feature value).

  The specific sound electrical signal determination units 221 to 223 are output from the specific sound electrical signal extraction filters 131 to 133 in synchronization with the clock signal CLK output from the CPU 14 (for example, in synchronization with the rising edge of the clock signal CLK). The specific sound electrical signals A31 to A33 are input. When the voltage value of the specific sound electrical signal A31 to A33 is greater than or equal to the specific sound voltage value for determination stored in the specific sound electrical signal storage unit 210 for determination, the specific sound electrical signal determination units 221 to 223 determine the determination result signal B21. ~ B23 is output.

  The signal time difference detection unit 240 inputs the determination result signals B21 to B23 output from the specific sound electric signal determination units 221 to 223 in synchronization with the clock signal CLK output from the CPU 14. The signal time difference detection unit 240 calculates N arrival time differences which are differences in arrival times between one determination result signal and other determination result signals among the determination result signals B21 to B23.

  N is an integer, and in this case N is 2. Specifically, the signal time difference detection unit 240 has two arrival time differences between one determination result signal B21 of the determination result signals B21 to B23 and the other determination result signals B21 and B23. The arrival time differences A41 to A42 are calculated.

  The specific sound electric signal storage unit 210 for determination, the specific sound electric signal determination units 221 to 223, and the signal time difference detection unit 240 will be specifically described.

  FIG. 17 shows the relationship between the determination specific sound voltage value stored in the determination specific sound electric signal storage unit 210 and the determination result signals (voltage values) output from the specific sound electric signal determination units 221 to 223. FIG. For example, the determination result signals B21 to B23 are set to the maximum value of the voltage value of the determination specific sound electric signal. For example, when the voltage values of the specific sound electrical signals A31-1 to A33-1 are 9 [mV] or less, it is assumed that the sounding body 2 does not exist nearby, and the determination result signals B21 to B23 are not output.

  First, the case where the sounding body detecting apparatus 1 according to the second embodiment of the present invention detects the presence or absence of a specific sound (when the sounding body 2 repeatedly moves and stops) will be described.

  FIG. 18 is a diagram illustrating specific sound electrical signals A31 to A33 output from the specific sound electrical signal extraction filters 131 to 133 regarding the presence or absence of a specific sound. FIG. 19 is a diagram illustrating determination result signals B21 to B23 output from the specific sound electrical signal determination units 221 to 223 regarding the presence or absence of a specific sound. FIG. 20 is a diagram illustrating arrival time differences A41 to A42 output from the signal time difference detection unit 240 regarding the presence or absence of a specific sound.

  Specific sound electrical signals A31-1 to A33-1 are output in advance from the specific sound electrical signal extraction filters 131 to 133. At this time, the specific sound electric signal determination units 221 to 223 refer to the determination specific sound electric signal storage unit 210 in synchronization with the clock signal CLK output from the CPU 14. Here, the voltage values of the specific sound electric signals A31-1 to A33-1 are not less than the specific sound voltage value for determination stored in the specific sound electric signal storage unit 210 for determination (for example, 10 [mV]). That is, the sounding body 2 moves and approaches. In this case, the specific sound electrical signal determination units 221 to 223 output the preceding determination result signals B21 to B23 as the determination result signals B21-1 to B23-1. The signal time difference detection unit 240 synchronizes with the clock signal CLK output from the CPU 14 and includes one determination result signal B21-1 among the determination result signals B21-1 to B23-1 and other determination result signals. The arrival time differences A41-1, A42-1, which are differences in arrival times from B21-1, B23-1, are calculated. The coordinate detection unit 150 is synchronized with the clock signal CLK output from the CPU 14 based on the coordinates of the sounding body 2 based on the coordinates indicating the installation positions of the microphones 111 to 113 and the arrival time differences A41-1, A42-1. A certain sounding body coordinate A50-1 is detected.

  Next, a little time elapses after the specific sound electric signals A31-1 to A33-1 are output in advance from the specific sound electric signal extraction filters 131 to 133. That is, the sounding body 2 is not moved.

  Thereafter, specific sound electrical signals A31-2 to A33-2 are subsequently output from the specific sound electrical signal extraction filters 131 to 133. At this time, the specific sound electric signal determination units 221 to 223 refer to the determination specific sound electric signal storage unit 210 in synchronization with the clock signal CLK output from the CPU 14. Here, the voltage values of the specific sound electric signals A31-2 to A33-2 are equal to or higher than the determination specific sound voltage value stored in the determination specific sound electric signal storage unit 210 (for example, 10 [mV]). That is, the sounding body 2 moves and approaches. In this case, the specific sound electric signal determination units 221 to 223 output the current determination result signals B21 to B23 as the determination result signals B21-2 to B23-2. The signal time difference detection unit 240 synchronizes with the clock signal CLK output from the CPU 14 and includes one determination result signal B21-2 of the determination result signals B21-2 to B23-2 and other determination result signals. Arrival time differences A41-2 and A42-2, which are differences in arrival times from B21-2 and B23-2, are calculated. The coordinate detector 150 synchronizes with the clock signal CLK output from the CPU 14 based on the coordinates of the sounding body 2 based on the coordinates indicating the installation positions of the microphones 111 to 113 and the arrival time differences A41-2 and A42-2. A certain sounding body coordinate A50-2 is detected.

  The display control unit 170 synchronizes with the clock signal CLK output from the CPU 14 and the sounding body coordinates A50 (previous sounding body coordinates A50-1 and current sounding body coordinates A50-2) output from the coordinate detection unit 150; Image data A70 including the calculated distance A60 output from the distance calculation unit 160 and the sounding body movement route A100 is generated, and the image data A70 as shown in FIG. 21 and FIG. 22 is displayed on the display unit 12. Since the distance calculation unit 160, the display control unit 170, the distance determination result generation unit 180, the alarm notification unit 190, and the movement history storage unit 200 are the same as those in the first embodiment, description thereof is omitted.

  Next, a case where the sounding body detection apparatus 1 according to the second embodiment of the present invention detects a change in the volume of a specific sound (when the sounding body 2 approaches by movement) will be described.

  FIG. 23 is a diagram illustrating specific sound electrical signals A31 to A33 output from the specific sound electrical signal extraction filters 131 to 133 with respect to the change in volume of the sounding body 2. FIG. 24 is a diagram illustrating determination result signals B21 to B23 output from the specific sound electrical signal determination units 221 to 223 regarding changes in the volume of the sounding body 2. FIG. 25 is a diagram illustrating arrival time differences A41 to A42 output from the signal time difference detection unit 240 with respect to a change in volume of the sounding body 2.

  Specific sound electrical signals A31-1 to A33-1 are output in advance from the specific sound electrical signal extraction filters 131 to 133. At this time, the specific sound electric signal determination units 221 to 223 refer to the determination specific sound electric signal storage unit 210 in synchronization with the clock signal CLK output from the CPU 14. Here, the voltage values of the specific sound electric signals A31-1 to A33-1 are not less than the specific sound voltage value for determination stored in the specific sound electric signal storage unit 210 for determination (for example, 10 [mV]). That is, the sounding body 2 moves and approaches. In this case, the specific sound electrical signal determination units 221 to 223 output the preceding determination result signals B21 to B23 as the determination result signals B21-1 to B23-1. The signal time difference detection unit 240 synchronizes with the clock signal CLK output from the CPU 14 and includes one determination result signal B21-1 among the determination result signals B21-1 to B23-1 and other determination result signals. The arrival time differences A41-1, A42-1, which are differences in arrival times from B21-1, B23-1, are calculated. The coordinate detection unit 150 is synchronized with the clock signal CLK output from the CPU 14 based on the coordinates of the sounding body 2 based on the coordinates indicating the installation positions of the microphones 111 to 113 and the arrival time differences A41-1, A42-1. A certain sounding body coordinate A50-1 is detected.

  Next, specific sound electrical signals A31-2 to A33-2 are subsequently output from the specific sound electrical signal extraction filters 131 to 133. At this time, the specific sound electric signal determination units 221 to 223 refer to the determination specific sound electric signal storage unit 210 in synchronization with the clock signal CLK output from the CPU 14. Here, the voltage values of the specific sound electric signals A31-2 to A33-2 are not less than the specific sound voltage value for determination stored in the specific sound electric signal storage unit for determination 210 (for example, 12 [mV]). That is, the sounding body 2 has moved and is getting closer. In addition, the voltage values of the specific sound electric signals A31-2 to A33-2 are larger than the voltage values of the specific sound electric signals A31-1 to A33-1. That is, it changes with respect to the voltage value of specific sound electric signal A31-1-A33-1. In this case, the specific sound electric signal determination units 221 to 223 output the current determination result signals B21 to B23 as the determination result signals B21-2 to B23-2. The signal time difference detection unit 240 synchronizes with the clock signal CLK output from the CPU 14 and includes one determination result signal B21-2 of the determination result signals B21-2 to B23-2 and other determination result signals. Arrival time differences A41-2 and A42-2, which are differences in arrival times from B21-2 and B23-2, are calculated. The coordinate detector 150 synchronizes with the clock signal CLK output from the CPU 14 based on the coordinates of the sounding body 2 based on the coordinates indicating the installation positions of the microphones 111 to 113 and the arrival time differences A41-2 and A42-2. A certain sounding body coordinate A50-2 is detected.

  The display control unit 170 synchronizes with the clock signal CLK output from the CPU 14 and the sounding body coordinates A50 (previous sounding body coordinates A50-1 and current sounding body coordinates A50-2) output from the coordinate detection unit 150; Image data A70 including the calculated distance A60 output from the distance calculation unit 160 and the sounding body movement route A100 is generated, and the image data A70 is displayed on the display unit 12 (see FIGS. 12 and 13). Since the distance calculation unit 160, the display control unit 170, the distance determination result generation unit 180, the alarm notification unit 190, and the movement history storage unit 200 are the same as those in the first embodiment, description thereof is omitted.

  As described above, in the sounding body detecting apparatus 1 according to the second embodiment of the present invention, the M microphones 111 to 113 (M is an integer of 3 or more) collect the sounds A11 to A13, and the signal conversion circuit 121. To 123 convert sounds A11 to A13 output from the M microphones 111 to 113 into electric signals A21 to A23. The specific sound electrical signal extraction filters 131 to 133 are specified by extracting frequency components of a specific sound that is a sound generated by the moving sounding body 2 from the M electrical signals A21 to A23 output from the signal conversion circuits 121 to 123. The sound electric signals A31 to A33 (A31-1 to A33-1) (A31-2 to A33-2) are output. The specific sound electric signal determination units 221 to 223 are M specific sound electric signals A31 to A33 (A31-1 to A33-1) (A31-2 to A33-) output from the specific sound electric signal extraction filters 131 to 133, respectively. When the voltage value of 2) is equal to or higher than the specific sound voltage value for determination, determination result signals B21 to B23 (B21-1 to B23-1) (B21-2 to B23-2) are output. The signal time difference detection unit 240 is one of the M determination result signals B21 to B23 (B21-1 to B23-1) (B21-2 to B23-2) output from the specific sound electric signal determination units 221 to 223. Arrival time of one determination result signal B21 (B21-1) (B21-2) and other determination result signals B22 to B23 (B22-1 to B23-1) (B22-2 to B23-2) N times (N is an integer) arrival time differences A41 to A42 (A41-1 to A42-1) (A41-2 to A42-2) are sequentially calculated. The coordinate detection unit 150 outputs the coordinates {(0, 0), (X112, 0), (0, Y113)} representing the installation positions of the M microphones 111 to 113 and the signal time difference detection unit 240 in advance. Based on the N arrival time differences A41-1 to A42-1, the previous sounding body coordinates A50 (A50-1), which are the coordinates of the previous sounding body 2, are detected. The coordinate detection unit 150 includes the coordinates {(0, 0), (X112, 0), (0, Y113)} of the M microphones 111 to 113, and the N arrivals that are subsequently output from the signal time difference detection unit 240. Based on the time differences A41-2 to A42-2, the current sounding body coordinates A50 (A50-2), which are the coordinates of the current sounding body 2, are detected.

  In the sound generator detection device 1 according to the second embodiment of the present invention, the specific sound electric signal determination units 221 to 223 are M specific sound electric signals output in advance from the specific sound electric signal extraction filters 131 to 133. When the voltage values of A31 to A33 are greater than or equal to the specific sound voltage value for determination, the preceding M determination result signals B21-1 to B23-1 are output to the time difference detection unit 240. The specific sound electric signal determination units 221 to 223 have voltage values of M specific sound electric signals A31 to A33 subsequently output from the specific sound electric signal extraction filters 131 to 133 equal to or greater than the determination specific sound voltage value, and When the voltage value changes with respect to the voltage value of the preceding specific sound electrical signal, the subsequent M determination result signals (B21-2 to B23-2) are output.

  Thus, according to the sounding body detection apparatus 1 according to the second embodiment of the present invention, the signal conversion circuits 121 to 123 and the specific sound electric signal extraction filter 131 to the sound A11 to A13 output from the microphones 111 to 113. A specific sound (specific sound electric signal A31 to A33) is specified by 133, and a specific sound (determination result) whose sound volume (voltage value) is equal to or greater than a characteristic amount (specific sound voltage value for determination) by the specific sound electric signal determination units 221 to 223 The position of the sounding body 2 (sounding body coordinates A50) can be specified by the coordinate detecting unit 150 by specifying the signals B21 to B23) and calculating the arrival time differences A41 to A42 of the specific sound by the signal time difference detecting unit 240. it can. Furthermore, according to the sounding body detecting apparatus 1 according to the second embodiment of the present invention, the sound is extracted in advance from the specific sound electrical signal extraction filters 131 to 133, and the volume (voltage value) is a feature amount (specific sound for determination). The position of the previous sounding body 2 (previous sounding body coordinates A50-1) is specified for the specific sound (specific sound electrical signals A31-1 to A33-1) that is equal to or greater than the voltage value, and the specific sound electrical signal extraction For specific sounds (specific sound electrical signals A31-2 to A33-2) that are subsequently output from the filters 131 to 133 and whose volume (voltage value) is equal to or greater than the characteristic amount (specific sound voltage value for determination), Unlike the techniques disclosed in Non-Patent Document 1 and Patent Document 1, by specifying the position of the current sounding body 2 (current sounding body coordinates A50-2), the position of the moving sounding body 2 is specified in real time. can do.

[Third Embodiment]
FIG. 26 is a block diagram showing a configuration of the sounding body detecting apparatus 1 according to the third embodiment of the present invention. In the third embodiment, only the changes from the first embodiment will be described.

  The control device 10 of the sound generator detection device 1 according to the third embodiment of the present invention includes M signal conversion circuits, M specific sound electrical signal extraction filters, a specific sound electrical signal coordinate storage unit 310, and coordinates. A detection unit 320, a coordinate construction unit 330, a distance calculation unit 160, a display control unit 170, a distance determination result generation unit 180, an alarm notification unit 190, and a movement history storage unit 200 are provided. These components are controlled by the CPU 14.

  In the sounding body detecting apparatus 1 according to the third embodiment of the present invention, M described above is an integer of 2 or more. Here, M is 3. In this case, the three microphones are microphones 111 to 113, the three signal conversion circuits are signal conversion circuits 121 to 123, and the three specific sound electric signal extraction filters are specific sound electric signal extraction filters 131 to 133. .

  Since the microphones 111 to 113, the signal conversion circuits 121 to 123, and the specific sound electrical signal extraction filters 131 to 133 are the same as those in the first embodiment, the description thereof is omitted.

  The construction control signal C31 is supplied to the coordinate construction unit 330. When the signal level of the construction control signal C31 is high, the coordinate construction unit 330 constructs the specific sound electric signal coordinate storage unit 310.

  FIG. 27 is a diagram illustrating information stored in the specific sound electrical signal coordinate storage unit 310. The specific sound electrical signal coordinate storage unit 310 stores M specific sound voltage values and the coordinates of the sounding body 2 in association with a plurality of patterns. Since M is 3, the specific sound electrical signal coordinate storage unit 310 stores a plurality of three specific sound voltage values. The three specific sound voltage values represent the loudness of the specific sound and are set in advance.

  The coordinate detection unit 320 is supplied with a detection control signal C32. The signal level of the detection control signal C32 is set opposite to the signal level of the construction control signal C31. When the signal level of the detection control signal C32 is high, the coordinate detection unit 320 refers to the specific sound electrical signal coordinate storage unit 310 and detects the coordinates of the sounding body 2.

  In this case, the coordinate detector 320 outputs the specific sound electrical signal A31 output from the specific sound electrical signal extraction filters 131 to 133 from the plurality of patterns of specific sound voltage values stored in the specific sound electrical signal coordinate storage unit 310. A voltage value matching the voltage value of ~ A33 is selected as the selected specific sound voltage value. Next, the coordinate detection unit 320 selects the coordinates corresponding to the selected specific sound voltage value from the plural patterns of coordinates stored in the specific sound electrical signal coordinate storage unit 310 as the sound generator coordinates that are the coordinates of the sound generator 2. Select as A50.

  The specific sound electric signal coordinate storage unit 310 and the coordinate detection unit 320 will be specifically described.

  FIG. 28 is a diagram showing a coordinate construction process as an operation of the sound producing body detection apparatus 1 according to the third embodiment of the present invention. The specific sound electrical signal coordinate storage unit 310 is constructed, for example, by a manufacturer or a worker of a sales manufacturer before shipment. Alternatively, it may be performed by the user after shipment.

  The worker sets the signal level of the detection control signal C32 to the low level “L” and the signal level of the construction control signal C31 to the high level “H”. When the construction control signal C31 is at the high level, the worker causes the specific sound electric signal coordinate storage unit 310 to store the sounding body coordinates A50 (X50, Y50) to be measured via the coordinate construction unit 330.

  Next, the worker measures the specific sound in advance for each distance. In this case, as shown in FIG. 29, the coordinates {(0, 0), (X112, 0), (0, Y113)} of the microphones 111 to 113 are not changed, and the sounding body coordinates A50 (X50, Y50) are changed. While arbitrarily changing, sounds A11 to A13 including a specific sound generated by the sounding body 2 are collected by the microphones 111 to 113.

  At this time, the signal conversion circuits 121 to 123 output the sounds A11 to A13 output from the microphones 111 to 113 in synchronization with the clock signal CLK output from the CPU 14 (for example, in synchronization with the rising edge of the clock signal CLK). It converts into electric signals A21-A23. The specific sound electrical signal extraction filters 131 to 133 receive the electrical signals A21 to A23 output from the signal conversion circuits 121 to 123 in synchronization with the clock signal CLK output from the CPU 14. The specific sound electric signal extraction filters 131 to 133 output the specific sound electric signals obtained by extracting the frequency components of the specific sound from the electric signals A21 to A23 as the specific sound electric signals A31 to A33.

  The sounding body coordinates A50 (X50, Y50) are the coordinates of the microphones 111 to 113 (0, 0), (X112, 0), (0, Y113), and the distance S1 between the microphones 111 to 113 and the sounding body 2. ˜S3 [m], X ^ 2 + Y ^ 2 = S1 ^ 2, (X-X112) ^ 2 + Y ^ 2 = S2 ^ 2, X ^ 2 + (Y-Y113) ^ 2 = S3 ^ 2. That is, when the distances S1 to S3 are the radius of the circle, the intersection of the circles formed by the distances S1 to S3 represents the position of the sound source. That is, the sounding body coordinates A50 are represented.

  When the signal level of the construction control signal C31 is the high level “H”, the coordinate construction unit 330 uses the specific sound electrical signals A31 to A33 output from the specific sound electrical signal extraction filters 131 to 133 as the sounding body to be measured. The coordinates are stored in association with the coordinates A50 (X50, Y50).

  The worker performs the above-described coordinate construction process on the sounding body coordinates A50 (X50, Y50) to be measured.

  FIG. 30 is a diagram illustrating a coordinate detection process as an operation of the sounding body detection apparatus 1 according to the third embodiment of the present invention. The worker sets the signal level of the construction control signal C31 to the low level “L” and sets the signal level of the detection control signal C32 to the high level “H”.

  When the signal level of the detection control signal C32 is the high level “H”, the coordinate detection unit 320 is output in advance from the specific sound electric signal extraction filters 131 to 133 in synchronization with the clock signal CLK output from the CPU 14. The specific sound electrical signals A31-1 to A33-1 are input. The coordinate detection unit 320 uses the coordinates corresponding to the voltage values of the specific sound electrical signals A31-1 to A33-1 from the plurality of patterns of coordinates stored in the specific sound electrical signal coordinate storage unit 310 as the previous sounding body. This is detected as a sounding body coordinate A50 which is a coordinate of 2. Here, the sounding body coordinates A50 which are the coordinates of the sounding body 2 of the previous time are referred to as the previous sounding body coordinates A50-1.

  Further, when the signal level of the detection control signal C32 is the high level “H”, the coordinate detection unit 320 performs subsequent output from the specific sound electric signal extraction filters 131 to 133 in synchronization with the clock signal CLK output from the CPU 14. The specified specific electrical signals A31-2 to A33-2 are input. The coordinate detection unit 320 selects the coordinates corresponding to the voltage values of the specific sound electrical signals A31-2 to A33-2 from the plural patterns of coordinates stored in the specific sound electrical signal coordinate storage unit 310. This is detected as a sounding body coordinate A50 which is a coordinate of 2. Here, the sounding body coordinates A50 which are the coordinates of the sounding body 2 this time are referred to as current sounding body coordinates A50-2.

  The display control unit 170 synchronizes with the clock signal CLK output from the CPU 14 and the sounding body coordinates A50 (previous sounding body coordinates A50-1 and current sounding body coordinates A50-2) output from the coordinate detection unit 150; Image data A70 including the calculated distance A60 output from the distance calculation unit 160 and the sounding body movement route A100 is generated, and the image data A70 is displayed on the display unit 12 (see FIGS. 12 and 13). Since the distance calculation unit 160, the display control unit 170, the distance determination result generation unit 180, the alarm notification unit 190, and the movement history storage unit 200 are the same as those in the first embodiment, description thereof is omitted.

  As described above, in the sounding body detecting apparatus 1 according to the third embodiment of the present invention, the M microphones 111 to 113 (M is an integer of 2 or more) collect the sounds A11 to A13, and the signal conversion circuit 121. To 123 convert sounds A11 to A13 output from the M microphones 111 to 113 into electric signals A21 to A23. The specific sound electrical signal extraction filters 131 to 133 are specified by extracting frequency components of a specific sound that is a sound generated by the moving sounding body 2 from the M electrical signals A21 to A23 output from the signal conversion circuits 121 to 123. The sound electric signals A31 to A33 (A31-1 to A33-1) (A31-2 to A33-2) are output. The coordinate construction unit 330 stores the M specific sound voltage values representing the loudness of the specific sound and the coordinates of the sounding body 2 in advance in the specific sound electrical signal coordinate storage unit 310 in association with a plurality of patterns. The coordinate detection unit 320 includes M specific sound electrical signals A31 to A33 that are output in advance from the specific sound electrical signal extraction filters 131 to 133 from among a plurality of patterns of coordinates stored in the specific sound electrical signal coordinate storage unit 310. The coordinates corresponding to the voltage values of (A31-1 to A33-1) are selected as the previous sounding body coordinates A50 (A50-1) which are the coordinates of the previous sounding body 2. The coordinate detection unit 320 includes M specific sound electrical signals A31 to A33 subsequently output from the specific sound electrical signal extraction filters 131 to 133 from the plurality of patterns of coordinates stored in the specific sound electrical signal coordinate storage unit 310. The coordinates corresponding to the voltage values of (A31-2 to A33-2) are selected as current sounding body coordinates A50 (A50-2) which are the coordinates of the current sounding body 2.

  Thus, according to the sounding body detecting apparatus 1 according to the third embodiment of the present invention, the coordinate construction unit 330 determines the sound volume (specific sound voltage value) of the specific sound and the coordinates of the sounding body 2 as the specific sound electrical signal coordinates. A specific sound (specific sound electrical signals A31 to A33) is generated by the signal conversion circuits 121 to 123 and the specific sound electrical signal extraction filters 131 to 133 from the sounds A11 to A13 output from the microphones 111 to 113. And the position of the sounding body 2 (sounding body coordinates A50) can be specified by referring to the specific sound electrical signal coordinate storage unit 310 by the coordinate detecting unit 320. Furthermore, according to the sounding body detecting apparatus 1 according to the third embodiment of the present invention, the specific sound (specific sound electric signals A31-1 to A33-1) output in advance from the specific sound electric signal extraction filters 131 to 133 is used. On the other hand, the position of the previous sounding body 2 (previous sounding body coordinates A50-1) is specified, and the specific sound (specific sound electric signals A31-2 to A33-) subsequently output from the specific sound electric signal extraction filters 131 to 133 is specified. In contrast to the techniques disclosed in Non-Patent Document 1 and Patent Document 1, by specifying the position of the current sounding body 2 (current sounding body coordinates A50-2) with respect to 2), the moving sounding body 2 moves. Can be identified in real time. In addition, according to the sounding body detection apparatus 1 according to the third embodiment of the present invention, since the specific sound electrical signal coordinate storage unit 310 is referred to, complicated calculation as in Non-Patent Document 1 and Patent Document 1 is required. do not do.

  As described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. That is, embodiments obtained by combining technical means appropriately modified within the scope of the claims are also included in the technical scope of the present invention.

1… Sound body detection device,
2… Pronunciation body,
10 ... control device,
11 ... storage device,
12 ... display part,
13… Speaker,
14 ... CPU,
111-113 ... microphone,
121-123 ... signal conversion circuit,
131-133 ... Specific sound electrical signal extraction filter,
140 ... signal time difference detector,
150 ... coordinate detection unit,
151 ... time difference coordinate storage unit,
152 ... coordinate selection unit,
160 ... distance calculation unit,
170 ... display control unit,
180 ... distance determination result generation unit,
190 ... alarm notification part,
200 ... movement history storage unit,
210 ... specific sound electrical signal storage unit for determination,
221 to 223 ... specific sound electrical signal determination unit,
240 ... signal time difference detector,
310 ... specific sound electrical signal coordinate storage unit,
320 ... coordinate detection unit,
330 ... coordinate construction unit,
A11-A13 ... Sound,
A21-A23 ... Electric signal,
A31-A33 ... Specific sound electrical signal,
A41-A42 ... arrival time difference,
A50 ... Pronunciation body coordinates,
A60 ... calculated distance,
A70 ... Image data,
A80 ... Distance determination result,
A90 ... Alarm,
A100 ... Pronunciation body movement history coordinates,
B21 to B23 ... Determination result signal,
C31: Construction control signal,
C32 ... Detection control signal,
CLK… Clock signal

Claims (13)

M microphones (M is an integer of 3 or more) for collecting sounds;
A signal conversion circuit for converting the sound output from the M microphones into an electrical signal;
A specific sound electrical signal extraction filter that outputs a specific sound electrical signal obtained by extracting a frequency component of a specific sound that is a sound emitted by a moving sound generator from the M electrical signals output from the signal conversion circuit;
Of the M specific sound electrical signals output from the specific sound electrical signal extraction filter, N (N is the difference in arrival time between one specific sound electrical signal and the other specific sound electrical signals) Is a signal time difference detector that sequentially calculates the arrival time difference),
Based on the coordinates representing the installation positions of the M microphones and the N arrival time differences output in advance from the signal time difference detection unit, the previous sounding body coordinates which are the coordinates of the previous sounding body are detected. A coordinate detector for detecting the current sound generator coordinates, which are the coordinates of the current sound generator, based on the coordinates of the M microphones and the N arrival time differences subsequently output from the signal time difference detector; When,
A sound generator detection apparatus comprising: M microphones (M is an integer of 3 or more) for collecting sounds;
A signal conversion circuit for converting the sound output from the M microphones into an electrical signal;
A specific sound electrical signal extraction filter that outputs a specific sound electrical signal obtained by extracting a frequency component of a specific sound that is a sound emitted by a moving sound generator from the M electrical signals output from the signal conversion circuit;
A specific sound electrical signal determination unit that outputs a determination result signal when a voltage value of the M specific sound electrical signals output from the specific sound electrical signal extraction filter is equal to or greater than a specific sound voltage value for determination;
Of the M determination result signals output from the specific sound electrical signal determination unit, N pieces (N is an integer) that is a difference in arrival time between one determination result signal and the other determination result signals A signal time difference detector that sequentially calculates the arrival time difference of
Based on the coordinates representing the installation positions of the M microphones and the N arrival time differences output in advance from the signal time difference detection unit, the previous sounding body coordinates which are the coordinates of the previous sounding body are detected. A coordinate detector for detecting the current sound generator coordinates, which are the coordinates of the current sound generator, based on the coordinates of the M microphones and the N arrival time differences subsequently output from the signal time difference detector; When,
A sound generator detection apparatus comprising: The specific sound electrical signal determination unit is
When the voltage value of the M specific sound electrical signals output in advance from the specific sound electrical signal extraction filter is equal to or greater than the specific sound voltage value for determination, the M determination result signals preceding are output to the time difference detection unit. Output to
A voltage value of the M specific sound electrical signals subsequently output from the specific sound electrical signal extraction filter is equal to or greater than the determination specific sound voltage value, and the voltage value is a voltage value of a preceding specific sound electrical signal. Output the M determination result signals that follow.
The sounding body detecting apparatus according to claim 2, wherein The coordinate detector is
A time difference coordinate storage unit for associating a plurality of N time differences and the coordinates of the sounding body,
A coordinate selection unit that selects, as coordinates of the sounding body, coordinates corresponding to the N arrival time differences from the coordinates of the plurality of patterns stored in the time difference coordinate storage unit;
The sounding body detection device according to claim 1, comprising: M microphones (M is an integer of 2 or more) that collect sound,
A signal conversion circuit for converting the sound output from the M microphones into an electrical signal;
A specific sound electrical signal extraction filter that outputs a specific sound electrical signal obtained by extracting a frequency component of a specific sound that is a sound emitted by a moving sound generator from the M electrical signals output from the signal conversion circuit;
Specific sound electrical signal coordinate storage unit;
A coordinate construction unit that stores a plurality of M specific sound voltage values representing the magnitude of the specific sound and the coordinates of the sounding body in association with a plurality of patterns in advance in the specific sound electrical signal coordinate storage unit;
Among the coordinates of the plurality of patterns stored in the specific sound and electrical signal coordinate storage unit, coordinates corresponding to the voltage values of the M specific sound and electrical signals output in advance from the specific sound and electrical signal extraction filter, The coordinates corresponding to the voltage values of the M specific sound electrical signals that are selected as the previous sound generator coordinates that are the coordinates of the previous sound generator and that are subsequently output from the specific sound electrical signal extraction filter are used as the current sound generation coordinates. A coordinate detection unit that is selected as the sounding body coordinates this time, which are body coordinates;
A sound generator detection apparatus comprising: A display unit for displaying image data including the previous sounding body coordinates and the current sounding body coordinates;
The sounding body detecting apparatus according to claim 1, further comprising: A movement history storage unit for storing the previous sounding body coordinates;
Further comprising
The image data further includes a sounding body movement path that connects the current sounding body coordinates and a sounding body movement history including the previous sounding body coordinates stored in the movement history storage unit.
The sounding body detecting apparatus according to claim 6. A distance calculating unit that calculates a distance between the at least one microphone and the sounding body as a calculated distance based on coordinates representing an installation position of at least one microphone among the M microphones and the coordinates of the sounding body. ,
The sounding body detecting apparatus according to claim 1, further comprising: A distance determination result generation unit that generates a distance determination result indicating whether or not the calculated distance is included in a set distance range;
An alarm notification unit for outputting an alarm based on the distance determination result;
The sounding body detecting apparatus according to claim 8, further comprising: A plurality of the set distance ranges are set,
The type of alarm differs for each set distance range,
The sounding body detecting apparatus according to claim 9. A signal conversion process for converting sound collected by M microphones (M is an integer of 3 or more) into an electrical signal;
A specific sound electrical signal extraction process for extracting a specific sound electrical signal as a frequency component of a specific sound, which is a sound emitted by a moving sound generator, from the M electrical signals;
A signal for sequentially calculating N (N is an integer) arrival time difference, which is a difference in arrival time between one specific sound electric signal and the other specific sound electric signals among the M specific sound electric signals. Time difference detection processing,
Based on the coordinates representing the installation positions of the M microphones and the N arrival time differences output in advance from the signal time difference detection process, the previous sounding body coordinates which are the coordinates of the previous sounding body are detected. The previous coordinate detection process,
Current coordinate detection processing for detecting current sounding device coordinates, which are the coordinates of the current sounding device, based on the coordinates of the M microphones and the N arrival time differences subsequently output from the signal time difference detection processing. When,
A computer program that causes a computer to execute each process. A signal conversion process for converting sound collected by M microphones (M is an integer of 3 or more) into an electrical signal;
A specific sound electrical signal extraction process for extracting a specific sound electrical signal as a frequency component of a specific sound, which is a sound emitted by a moving sound generator, from the M electrical signals;
A specific sound electrical signal determination process for outputting a determination result signal when a voltage value of the M specific sound electrical signals is equal to or greater than the determination specific sound voltage value;
Of the M determination result signals output from the specific sound electrical signal determination process, N pieces (N is an integer) that is a difference in arrival time between one determination result signal and the other determination result signals Signal time difference detection processing for sequentially calculating the arrival time difference of
Based on the coordinates representing the installation positions of the M microphones and the N arrival time differences output in advance from the signal time difference detection process, the previous sounding body coordinates which are the coordinates of the previous sounding body are detected. The previous coordinate detection process,
Current coordinate detection processing for detecting current sounding device coordinates, which are the coordinates of the current sounding device, based on the coordinates of the M microphones and the N arrival time differences subsequently output from the signal time difference detection processing. When,
A computer program that causes a computer to execute each process. Signal conversion processing for converting sound collected by M (M is an integer of 2 or more) microphones into electrical signals;
A specific sound electrical signal extraction process for extracting a specific sound electrical signal as a frequency component of a specific sound, which is a sound emitted by a moving sound generator, from the M electrical signals;
A coordinate construction process in which M specific sound voltage values representing the magnitude of the specific sound and coordinates of the sounding body are associated with a plurality of patterns and stored in advance in the specific sound electrical signal coordinate storage unit;
Among the coordinates of the plurality of patterns stored in the specific sound and electrical signal coordinate storage unit, coordinates corresponding to the voltage values of the M specific sound and electrical signals output in advance from the specific sound and electrical signal extraction process, A previous coordinate detection process for selecting the previous sound generator coordinates, which are the coordinates of the previous sound generator;
Among the coordinates of the plurality of patterns stored in the specific sound electrical signal coordinate storage unit, coordinates corresponding to the voltage values of the M specific sound electrical signals that are subsequently output from the specific sound electrical signal extraction process, This time coordinate detection processing to select as the current sounding body coordinates which are the coordinates of the sounding body this time,
A computer program that causes a computer to execute each process.

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