JP2017181101A5

JP2017181101A5 -

Info

Publication number: JP2017181101A5
Application number: JP2016064258A
Authority: JP
Filing date: 2016-03-28
Publication date: 2019-03-28
Anticipated expiration: 2036-03-28

Description

上記した目的を達成するために、本発明に係る対象物体検知装置は、所定の送信波を送信し、前記送信波に対する反射波から少なくとも物体までの距離と方向を検知可能な物体検知手段と、
空間上に複数配置された音響信号入力手段と、
前記音響信号入力手段からの複数の音響信号を処理して音源方向を特定する音響信号処理手段と、
前記物体検知手段が物体を検知していない状態で存在する音源の方向を予め騒音源方向として記憶する記憶手段と、
を備えた対象物体検知装置であって、
前記物体検知手段にて検知した物体が第一の判定基準を満たす場合に検知対象候補の物体であると判定し、当該検知対象候補の物体を検知した方向と前記音響信号処理手段が特定した音源方向とが略一致したときに対象物体があると判定し、
前記物体検知手段が物体を検知した方向が前記予め記憶した騒音源方向の所定範囲内である場合、前記物体検知手段にて検知した物体が前記第一の判定基準より厳格な第二の判定基準を満たすと前記対象物体があると判定する判定手段を備えたことを特徴とする。 In order to achieve the above object, a target object detection device according to the present invention transmits a predetermined transmission wave, and an object detection means capable of detecting at least the distance and direction from the reflected wave to the transmission wave to the object,
A plurality of acoustic signal input means arranged in space;
Acoustic signal processing means for processing a plurality of acoustic signals from the acoustic signal input means to identify a sound source direction;
Storage means for storing in advance the direction of a sound source that is present when the object detection means is not detecting an object, as a noise source direction;
A target object detection device comprising:
When the object detected by the object detection unit satisfies the first determination criterion, it is determined that the object is a detection target candidate object, and the direction in which the detection target candidate object is detected and the sound source specified by the acoustic signal processing unit It is determined that there is a target object when the direction roughly matches,
When the direction in which the object detection unit detects the object is within a predetermined range of the noise source direction stored in advance, the object detected by the object detection unit is a second determination criterion that is stricter than the first determination criterion. It is characterized by comprising determination means for determining that the target object is present when the condition is satisfied.

Claims

An object detection means for transmitting a predetermined transmission wave and capable of detecting a distance and direction from the reflected wave to the object at least to the transmission wave;
A plurality of acoustic signal input means arranged in space;
Acoustic signal processing means for processing a plurality of acoustic signals from the acoustic signal input means to identify a sound source direction;
Storage means for storing in advance the direction of a sound source that is present when the object detection means is not detecting an object, as a noise source direction;
A target object detection device comprising:
When the object detected by the object detection unit satisfies the first determination criterion, it is determined that the object is a detection target candidate object, and the direction in which the detection target candidate object is detected and the sound source specified by the acoustic signal processing unit It is determined that there is a target object when the direction roughly matches,
When the direction in which the object detection unit detects the object is within a predetermined range of the noise source direction stored in advance, the object detected by the object detection unit is a second determination criterion that is stricter than the first determination criterion. A target target object detection apparatus comprising: a determination unit that determines that the target object is present when the condition is satisfied.

In the noise source direction, the first threshold value is set so that the value becomes smaller as it goes farther, and the second threshold value is set so that the value becomes larger as it goes farther.
The audio signal processing unit obtains the distance information from the object detecting means, and comparing the first and second threshold value set in the distance of Claim 2 determines the presence or absence of the target object Target object detection device.