JP2019211393A - Determining device, determination method, and determination program - Google Patents

Abstract

To provide a determining device for determining the three-dimensional position or three-dimensional direction of a sound source by a simpler calculation formula without requiring three-dimensional microphone arrangement and a primary sensor.SOLUTION: Provided is a determining device 130 comprising: an angle calculation unit 140 for calculating, on the basis of an acoustic signal from each of a plurality of nondirectional microphones 110 arranged on a plane, an angle between each of at least three straight lines linking between nondirectional microphones among the plurality of nondirectional microphones and the direction of a sound source 100; and a determination unit 150 for determining the three-dimensional position and/or the three-dimensional direction of the sound source on the basis of the angle between each of the at least three straight lines and the direction of the sound source.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a determination device, a determination method, and a determination program.

2. Description of the Related Art Conventionally, there is known a direction detection device that arranges a plurality of microphones three-dimensionally and determines the direction of a sound source based on a permutation of microphones corresponding to the arrival order of acoustic signals detected by each microphone. (For example, refer to Patent Document 1). A method of constructing a three-dimensional wave expression using a two-dimensional sensor array of omnidirectional sensors and primary sensors arranged on a two-dimensional plane is also known. (For example, refer to Patent Document 2).
Patent Document 1 Japanese Patent Laid-Open No. 10-332807 Patent Document 2 Japanese Translation of PCT International Publication No. 2017-530580

  In the direction detection device disclosed in Patent Document 1, it is necessary to arrange a plurality of microphones three-dimensionally, and thus there is a restriction on the arrangement of the microphones. In the method disclosed in Patent Document 2, it is necessary to use a primary sensor having a directional reception pattern perpendicular to the xy plane in addition to the omnidirectional sensor, and complicated calculation processing is required. However, there is a need for a determination device that does not require a three-dimensional microphone arrangement or a primary sensor and that determines a three-dimensional position and a three-dimensional direction of a sound source with a simpler calculation formula.

  In order to solve the above problems, a determination device is provided in a first aspect of the present invention. Based on the acoustic signal from each of the plurality of omnidirectional microphones arranged on the plane, the determination device includes at least three straight lines connecting the omnidirectional microphones of the plurality of omnidirectional microphones and a sound source. There may be provided an angle calculation unit for calculating an angle between the two directions. The determination apparatus may include a determination unit that determines at least one of the three-dimensional position and the three-dimensional direction of the sound source based on an angle between each of the at least three straight lines and the direction of the sound source.

  The angle calculation unit may calculate an angle between the straight line and the direction of the sound source at a point on the line segment between the omnidirectional microphones.

  The point on the line segment may be the midpoint between the omnidirectional microphones.

  The angle calculation unit may calculate the angle based on the time difference of the acoustic signal between the omnidirectional microphones.

  The determination unit may determine the three-dimensional position of the sound source based on the angle.

  The determination unit calculates the position of the sound source for each combination of at least three omnidirectional microphones among the plurality of omnidirectional microphones, and determines the sound source 3 based on the calculated sound source position for each combination. A dimension position may be specified.

  The determination unit may derive an approximate sphere from the position of the sound source calculated for each combination and specify the three-dimensional position of the sound source based on the approximate sphere.

  The determination unit may divide a polygon formed by connecting the calculated sound source positions for each combination into a plurality of triangles, and specify a three-dimensional position of the sound source based on the centroids of the plurality of triangles.

  The determination unit may determine the three-dimensional direction of the sound source corresponding to the angle calculated by the angle calculation unit based on a table in which the angle and the three-dimensional direction of the sound source are associated in advance.

  In the second aspect of the present invention, a determination method is provided in which the determination device determines at least one of the three-dimensional position and the three-dimensional direction of the sound source. In the determination method, the determination device is based on acoustic signals from each of the plurality of omnidirectional microphones arranged on the plane, and at least three straight lines connecting the omnidirectional microphones among the plurality of omnidirectional microphones. Calculating an angle between each of the and the direction of the sound source. The determination method may include the determination device determining at least one of the three-dimensional position and the three-dimensional direction of the sound source based on an angle between each of the at least three straight lines and the direction of the sound source.

  In the third aspect of the present invention, a determination program is provided. The determination program may be executed by a computer. The determination program has at least three straight lines connecting the omnidirectional microphones of the plurality of omnidirectional microphones based on acoustic signals from the plurality of omnidirectional microphones arranged on the plane. You may make it function as an angle calculation part which calculates the angle between each and the direction of a sound source. The determination program may cause the computer to function as a determination unit that determines at least one of the three-dimensional position and the three-dimensional direction of the sound source based on an angle between each of at least three straight lines and the direction of the sound source.

  It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. In addition, a sub-combination of these feature groups can also be an invention.

1 shows a configuration of a determination system 10 according to the present embodiment. The connection relation between the omnidirectional microphone 110 and the angle calculation unit 140 in the determination system 10 according to the present embodiment is shown. The positional relationship between the sound source 100 and the omnidirectional microphone 110 in the determination system 10 according to the present embodiment is shown. The flow which determines the three-dimensional position and three-dimensional direction of the sound source 100 in the determination system 10 which concerns on this embodiment is shown. An example of a combination of omnidirectional microphones when the omnidirectional microphone 110 in the determination system 10 according to the present embodiment includes four omnidirectional microphones 110a to 110d is shown. The determination flow of the three-dimensional position and the three-dimensional direction of the sound source 100 when the omnidirectional microphone 110 in the determination system 10 according to the present embodiment includes four or more omnidirectional microphones is shown. An example of a method by which the determination system 10 according to the present embodiment specifies the three-dimensional position of the sound source 100 based on the approximate sphere will be described. An example of a method in which the determination system 10 according to the present embodiment specifies the three-dimensional position of the sound source 100 based on the center of gravity of a triangle is shown. The flow which determines the three-dimensional direction of the sound source 100 based on the table in the determination system 10 which concerns on the modification of this embodiment is shown. An example in which the omnidirectional microphone 110 is installed in the monitoring camera 1020 in the determination system 10 according to the present embodiment is shown. 9 illustrates an example computer 2200 in which aspects of the present invention may be embodied in whole or in part.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

  FIG. 1 shows a configuration of a determination system 10 according to the present embodiment. The determination system 10 includes a sound source 100, a plurality of omnidirectional microphones 110a to 110c (hereinafter collectively referred to as “omnidirectional microphone 110”), a signal detection unit 120, and a determination device 130.

  The plurality of omnidirectional microphones 110a to 110c are arranged on the same plane (on the xy plane in this drawing) such as a ceiling, a wall surface, or a floor. In the present embodiment, omnidirectional means that the determination system 10 is sensitive to a relatively wide range to be subjected to determination of the three-dimensional position or direction of the sound source 100, It is not restricted to what has the same sensitivity with respect to all directions.

  The signal detection unit 120 detects the sound from the sound source 100 input to the omnidirectional microphone 110 and supplies the detected acoustic signal to the determination device 130.

  The determination device 130 includes an angle calculation unit 140 and a determination unit 150. The angle calculation unit 140 is connected to the signal detection unit 120 and based on acoustic signals from the plurality of omnidirectional microphones 110a to 110c arranged on the same plane, the angle calculation unit 140 includes a plurality of omnidirectional microphones 110a to 110c. An angle between each of at least three straight lines connecting the omnidirectional microphones and the direction of the sound source 100 is calculated.

  The determination unit 150 is connected to the angle calculation unit 140, and based on the angle between each of at least three straight lines calculated by the angle calculation unit 140 and the direction of the sound source 100, the three-dimensional position and the three-dimensional position of the sound source 100 are determined. Determine at least one of the directions.

  In the present embodiment, a case where the omnidirectional microphone 110 and the signal detection unit 120 are separate from the determination device 130 will be described. However, the signal detection unit 120 may be provided in the determination device 130. Further, both the omnidirectional microphone 110 and the signal detection unit 120 may be provided in the determination device 130.

  FIG. 2 shows a connection relationship between the omnidirectional microphone 110 and the angle calculation unit 140 in the determination system 10 according to the present embodiment. In the present embodiment, the angle calculation unit 140 includes a first angle calculator 210, a second angle calculator 220, and a third angle calculator 230. The first angle calculator 210 is connected to the omnidirectional microphones 110a and 110b via the signal detection unit 120, and based on the acoustic signals from the omnidirectional microphones 110a and 110b, the omnidirectional microphones 110a and 110b are connected. An angle θ1 between the connecting straight line and the direction of the sound source 100 is calculated. The second angle calculator 220 is connected to the omnidirectional microphones 110b and 110c via the signal detection unit 120, and based on the acoustic signals from the omnidirectional microphones 110b and 110c, the second directional microphones 110b and 110c are connected. An angle θ2 between the connecting straight line and the direction of the sound source 100 is calculated. The third angle calculator 230 is connected to the omnidirectional microphones 110a and 110c via the signal detection unit 120, and the omnidirectional microphones 110a and 110c are connected to the omnidirectional microphones 110a and 110c based on the acoustic signals from the omnidirectional microphones 110a and 110c. An angle θ3 between the connecting straight line and the direction of the sound source 100 is calculated.

  The determination unit 150 determines at least one of the three-dimensional position or the three-dimensional direction of the sound source 100 based on the angles θ1, θ2, and θ3 calculated by the angle calculation unit 140.

  FIG. 3 shows the positional relationship between the sound source 100 and the omnidirectional microphone 110 in the determination system 10 according to the present embodiment. In the figure, a plurality of omnidirectional microphones 110a to 110c are arranged in an equilateral triangle shape on the XY plane. The omnidirectional microphone 110a is arranged at the point A (Xa, Ya, 0), the omnidirectional microphone 110b is arranged at the point B (Xb, Yb, 0), and the omnidirectional microphone 110c is arranged at the point C (Xc, Yc). , 0) and the center of gravity of the equilateral triangle is located at the point O (0, 0, 0). At this time, it is assumed that the sound source 100 is placed at the three-dimensional position of the point S (Xs, Ys, Zs). In the present embodiment, an example in which a plurality of omnidirectional microphones 110a to 110c are arranged in an equilateral triangle shape is shown, but these may be arranged in a right triangle shape, and arranged in another triangle shape. Also good. However, in calculating the angles θ1, θ2, and θ3 from the coordinates of each omnidirectional microphone 110, for convenience of calculation, if a plurality of omnidirectional microphones 110a to 110c are arranged in a regular triangle shape or a right triangle shape, the calculation is efficient. Can be

  The sound source 100 is located in a direction that forms an angle θ1 with the straight line AB. As an example, in the present embodiment, the sound source 100 is located in a direction that forms an angle of θ1 with the straight line AB at a point I that is the midpoint of the line segment AB. That is, the angle formed by the vector IB and the vector IS is θ1.

  The sound source 100 is located in a direction that forms an angle θ2 with the straight line BC. As an example, in the present embodiment, the sound source 100 is located in a direction that forms an angle θ2 with the straight line BC at a point J that is the midpoint of the line segment BC. That is, the angle formed by the vector JC and the vector JS is θ2.

  Furthermore, the sound source 100 is located in a direction that forms an angle θ3 with the straight line AC. As an example, in the present embodiment, the sound source 100 is located in a direction that forms an angle of θ3 with the straight line AC at a point K that is the midpoint of the line segment AC. That is, the angle formed by the vector KA and the vector KS is θ3.

  FIG. 4 shows a flow for determining the three-dimensional position and direction of the sound source 100 in the determination system 10 according to the present embodiment. In step 410, the first angle calculator 210 calculates an angle θ1 between the straight line AB and the direction of the sound source 100 based on the acoustic signals from the omnidirectional microphones 110a and 110b. The first angle calculator 210 calculates the angle θ1 based on the time difference of the acoustic signal between the omnidirectional microphones 110a and 110b by, for example, a TDOA (Time Difference of Arrival) method. Instead, the first angle calculator 210 may calculate the angle θ1 by other methods such as a TOA (Time of Arrival) method and an AOA (Angle of Arrival) method.

  The first angle calculator 210 calculates an angle between the straight line AB and the direction of the sound source 100 at a point on the line segment between the omnidirectional microphones 110a and 110b. Here, the point on the line segment between the omnidirectional microphones 110a and 110b may be a midpoint between the omnidirectional microphones 110a and 110b. In the present embodiment, as an example, the first angle calculator 210 uses the calculated angle θ1 as an angle between the straight line AB and the direction of the sound source 100 at the point I which is the midpoint between the omnidirectional microphones 110a and 110b. Approximate as

  Instead of this, the first angle calculator 210 may approximate the calculated angle θ1 as an angle between the straight line AB and the direction of the sound source 100 at other points on the straight line AB. For example, the first angle calculator 210 can approximate the calculated angle θ1 as an angle between the line AB and the direction of the sound source 100 at the point A and the point B closer to the sound source 100. . In this case, the first angle calculator 210 can recognize which point A or point B is closer to the sound source 100 based on, for example, the order of arrival of the acoustic signals from the omnidirectional microphones 110a and 110b.

  In step 420, the second angle calculator 220 determines between the straight line BC and the direction of the sound source 100 based on the acoustic signals from the omnidirectional microphones 110 b and 110 c in the same manner as the first angle calculator 210. The angle θ2 is calculated. In the present embodiment, the second angle calculator 220 approximates the calculated angle θ2 as an angle between the straight line BC and the direction of the sound source 100 at the point J that is the midpoint of the line segment BC.

  In step 430, the third angle calculator 230 determines between the straight line AC and the direction of the sound source 100 based on the acoustic signals from the omnidirectional microphones 110 a and 110 c by the same method as the first angle calculator 210. The angle θ3 is calculated. In the present embodiment, the third angle calculator 230 approximates the calculated angle θ3 as an angle between the straight line AC and the direction of the sound source 100 at the point K that is the midpoint of the line segment AC.

  Next, in step 440, the determination unit 150 determines the three-dimensional position of the sound source 100 based on the angles θ1, θ2, and θ3 calculated by the angle calculation unit 140. A method in which the determination unit 150 determines the three-dimensional position of the sound source 100 will be described in detail below.

  Assuming that half the length of one side of the equilateral triangle formed by the point ABC is h, the coordinates of the point A are A (-h, -h / √3, 0), and the coordinates of the point B are B (h, -h / √3, 0) and the coordinates of the point C are represented as C (0, (2 / √3) h, 0). The coordinates of the midpoint I are I (0, -h / √3, 0), the coordinates of the midpoint J are J (h / 2, h / (2√3), 0), and the coordinates of the midpoint K are K (−h / 2, h / (2√3), 0).

  Then, the vector IB becomes (h, −h / √3, 0) − (0, −h / √3, 0) = (h, 0, 0). The vector IS is (Xs, Ys, Zs) − (0, −h / √3, 0) = (Xs, Ys + h / √3, Zs).

Here, the angle θ1 formed by the vector IB and the vector IS can be expressed as follows.

  Similarly, the vector JC is (0, (2 / √3) h, 0) − (h / 2, h / (2√3), 0) = (− h / 2, (√3 / 2) h. , 0). The vector JS is (Xs, Ys, Zs) − (h / 2, h / (2√3), 0) = (Xs−h / 2, Ys−h / (2√3), Zs). Become.

Here, the angle θ2 formed by the vector JC and the vector JS can be expressed as follows.

  Similarly, the vector KA is (−h, −h / √3, 0) − (− h / 2, h / (2√3), 0) = (− h / 2, − (√3 / 2). h, 0). The vector KS is (Xs, Ys, Zs) − (− h / 2, h / (2√3), 0) = (Xs + h / 2), Ys−h / (2√3), Zs. )

Here, the angle θ3 formed by the vector KA and the vector KS can be expressed as follows.

  Then, the determination unit 150 calculates Xs, Ys, and Zs by solving equations (1) to (3), and determines the three-dimensional position of the sound source 100.

  In step 450, the determination unit 150 determines the horizontal direction as a three-dimensional direction of the sound source 100 viewed from a point on the plane, for example, the point O (0, 0, 0) based on the three-dimensional position of the sound source 100 determined in step 440. The angle and the vertical angle are determined, and the process ends.

  As described above, according to the present embodiment, the determination device 130 that can determine the three-dimensional position and the three-dimensional direction of the sound source 100 by simply arranging the omnidirectional microphone 110 and performing simple calculations is provided. can do.

  FIG. 5 shows an example of a combination of omnidirectional microphones when the omnidirectional microphone 110 in the determination system 10 according to the present embodiment includes four omnidirectional microphones 110a to 110d. In this figure, the omnidirectional microphone 110 has four omnidirectional microphones 110a to 110d. As shown in FIG. 5, when the omnidirectional microphone 110 is composed of four or more omnidirectional microphones, the determination unit 150 determines whether the omnidirectional microphones of at least three of the omnidirectional microphones 110 are The position of the sound source 100 can be calculated for each combination, and the three-dimensional position of the sound source 100 can be specified based on the position of the sound source 100 calculated for each combination. In FIG. 5, a combination 510 indicates a combination of omnidirectional microphones 110a, 110b, and 110c, a combination 520 indicates a combination of omnidirectional microphones 110b, 110c, and 110d, and a combination 530 indicates an omnidirectional microphone. A combination of 110a, 110c, and 110d is shown, and a combination 540 shows a combination of omnidirectional microphones 110a, 110b, and 110d.

  FIG. 6 shows a determination flow of the three-dimensional position and the three-dimensional direction of the sound source 100 when the omnidirectional microphone 110 in the determination system 10 according to this embodiment includes four or more omnidirectional microphones. In step 610, the determination unit 150 selects a plurality of combinations of at least three omnidirectional microphones among the plurality of omnidirectional microphones 110. For example, as illustrated in FIG. 5, when the omnidirectional microphone 110 includes four omnidirectional microphones 110 a to 110 d, the determination unit 150 includes at least three omnidirectional microphones among the plurality of omnidirectional microphones 110. The combinations 510, 520, 530, and 540 are selected as the combinations.

  Next, in step 620, the determination unit 150 calculates the position of the sound source 100 for each combination by the same method as in step 440 of FIG. For example, when the omnidirectional microphone 110 includes four omnidirectional microphones 110a to 110d as illustrated in FIG. 5, the determination unit 150 determines the position of the sound source 100 for each combination 510, 520, 530, and 540. calculate.

  In step 630, the determination unit 150 specifies the three-dimensional position of the sound source 100 based on the position of the sound source 100 calculated for each combination. For example, when the omnidirectional microphone 110 includes four omnidirectional microphones 110a to 110d as illustrated in FIG. 5, the determination unit 150 calculates the position of the sound source 100 calculated for each of the combinations 510, 520, 530, and 540. The three-dimensional position of the sound source 100 is specified based on the above.

  In step 640, the determination unit 150 determines the three-dimensional direction of the sound source 100 based on the three-dimensional position of the sound source 100 specified in step 630 by the same method as in step 450 of FIG. As described above, when the plurality of omnidirectional microphones 110 includes four or more omnidirectional microphones, the determination unit 150 determines whether the at least three omnidirectional microphones among the plurality of omnidirectional microphones 110 are connected. The position of the sound source 100 is calculated for each combination, and the three-dimensional position of the sound source 100 is specified based on the position of the sound source 100 calculated for each combination. Thereby, compared with the case where only three omnidirectional microphones are used, the determination accuracy of the three-dimensional position and the three-dimensional direction of the sound source 100 by the determination unit 150 can be improved.

  FIG. 7 shows an example of a method by which the determination system 10 according to this embodiment specifies the three-dimensional position of the sound source 100 based on the approximate sphere. In this figure, a position 710 indicates the position of the sound source 100 calculated by the determination unit 150 using the combination 510. A position 720 indicates the position of the sound source 100 calculated by the determination unit 150 using the combination 520. A position 730 indicates the position of the sound source 100 calculated by the determination unit 150 using the combination 530. A position 740 indicates the position of the sound source 100 calculated by the determination unit 150 using the combination 540. At this time, the determination unit 150 derives the approximate sphere 700 from the positions 710, 720, 730, and 740 of the sound source 100 calculated for each combination 510, 520, 530, and 540, for example, the center point of the approximate sphere 700, for example. The three-dimensional position of the sound source 100 is specified based on the approximate sphere. At this time, the determination unit 150 calculates, for example, the center point and radius of the sphere 700 that fits the positions 710, 720, 730, and 740 to the spherical surface by the least square method, and uses the calculated center point of the sphere 700 as the sound source 100. It can be set as a three-dimensional position.

  FIG. 8 shows an example of a method by which the determination system 10 according to the present embodiment specifies the three-dimensional position of the sound source 100 based on the center of gravity of the triangle. The determination unit 150 divides a polygon formed by connecting the positions 710, 720, 730, and 740 of the sound source 100 calculated for each combination 510, 520, 530, and 540 into a plurality of triangles. For example, in FIG. 8, the determination unit 150 divides a quadrangle having 710 to 740 as vertices into triangles having 710, 720, and 730 as vertices and triangles having 710, 730, and 740 as vertices. Next, the determination unit 150 derives the center of gravity 810 of the triangle having 710, 720, and 730 as vertices, and the center of gravity 820 of the triangle having 710, 730, and 740 as vertices. Then, the determination unit 150 specifies, for example, the center point of the line segment connecting the centroids 810 and 820 as the three-dimensional position of the sound source 100. In addition, when a polygon becomes more than a pentagon, the determination part 150 can derive | lead-out a center point by repeating calculating the gravity center of the triangle which connected the derived gravity centers. As described above, the determination unit 150 divides a polygon formed by connecting the calculated positions of the sound sources 100 for each combination into a plurality of triangles, and specifies the three-dimensional position of the sound source 100 based on the centroids of the plurality of triangles. May be.

  FIG. 9 shows a flow for determining the three-dimensional direction of the sound source 100 based on a table in the determination system 10 according to the modification of the present embodiment. In the flow of FIG. 4, the determination unit 150 determines the three-dimensional position of the sound source 100 from the relational expressions between the three angles θ1, θ2, and θ3 and the position of the sound source 100 shown in the equations (1) to (3). The three-dimensional direction of the sound source 100 is determined based on the three-dimensional position of the sound source 100. On the other hand, in the present modification, the determination unit 150 determines the three-dimensional sound source 100 based on a table in which the calculated three angles θ1, θ2, and θ3 and the three-dimensional direction of the sound source 100 are associated in advance. The direction may be determined.

Steps 910 to 930 in FIG. 9 are the same as steps 410 to 430 in FIG. In step 940, the determination unit 150 refers to a table in which, for example, the three angles θ1, θ2, and θ3 and the three-dimensional directions (horizontal angle and vertical angle) of the sound source 100 are associated in advance as shown below. . When the three angles θ1, θ2, and θ3 are supplied from the angle calculation unit 140, the determination unit 150 refers to the table and determines the horizontal direction as the three-dimensional direction of the sound source 100 from the combination of θ1, θ2, and θ3. Uniquely identify corners and vertical corners. Thereby, when the determination unit 150 determines the three-dimensional direction of the sound source 100, a process of determining the three-dimensional position of the sound source 100, and a process of determining the three-dimensional direction of the sound source 100 based on the three-dimensional position of the sound source 100 Is eliminated, and the processing in the determination unit 150 can be simplified and speeded up.

  The table may be included in the determination unit 150, or may be included in another block different from the determination unit 150 or another device different from the determination device 130. When the table other than the determination unit 150 has the table, the determination unit 150 refers to the table by accessing another block or another device when determining the three-dimensional direction of the sound source 100. Thereby, it is not necessary to provide the memory required for the determination unit 150 or the determination apparatus 130 to hold the table, and the apparatus can be downsized.

  FIG. 10 shows an example in which the omnidirectional microphone 110 is installed in the monitoring camera 1020 in the determination system 10 according to the present embodiment. The monitoring camera 1020 is attached to the ceiling 1010 and includes a base 1022 and an imaging unit 1024. The omnidirectional microphone 110 in the determination system 10 according to the present embodiment is installed on the same plane of the base 1022 in the monitoring camera 1020. The base 1022 can rotate 360 degrees in the horizontal direction, and the imaging unit 1024 can change the imaging direction in a range of 90 degrees in the vertical direction. Then, when sound is detected by the determination system 10 according to the present embodiment, at least one of the three-dimensional position and the three-dimensional direction of the sound source 100 is determined. Then, the surveillance camera 1020 rotates the base 1022 and changes the imaging direction of the imaging unit 1024, thereby at least one of an area corresponding to the three-dimensional position of the sound source 100 and an area corresponding to the three-dimensional direction of the sound source 100. Image. As a result, the monitoring camera 1020 can actively monitor the direction in which the sound is emitted, and the security can be improved. In the present embodiment, the omnidirectional microphone 110 may be installed on the surface of the base 1022 or may be installed in the casing of the base 1022 as shown in the enlarged view.

  At this time, in the determination technique according to the present embodiment, it is not necessary to three-dimensionally arrange the plurality of omnidirectional microphones 110a to 110c, and thus a plurality of omnidirectional microphones on the same plane of the base 1030 of the monitoring camera 1020. 110a-c can be installed. Thus, according to the present embodiment, the omnidirectional microphone 110 can be easily installed even when applied to various applications.

  Various embodiments of the invention may be described with reference to flowcharts and block diagrams, where a block is either (1) a stage in a process in which the operation is performed or (2) an apparatus responsible for performing the operation. May represent a section of Certain stages and sections are implemented by dedicated circuitry, programmable circuitry supplied with computer readable instructions stored on a computer readable medium, and / or processor supplied with computer readable instructions stored on a computer readable medium. It's okay. Dedicated circuitry may include digital and / or analog hardware circuitry and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits include memory elements such as logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. Reconfigurable hardware circuitry, including and the like.

  Computer readable media may include any tangible device capable of storing instructions to be executed by a suitable device, such that a computer readable medium having instructions stored thereon is specified in a flowchart or block diagram. A product including instructions that can be executed to create a means for performing the operation. Examples of computer readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer readable media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), Electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, memory stick, integrated A circuit card or the like may be included.

  Computer readable instructions can be assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or object oriented programming such as Smalltalk, JAVA, C ++, etc. Including any source code or object code written in any combination of one or more programming languages, including languages and conventional procedural programming languages such as "C" programming language or similar programming languages Good.

  Computer readable instructions may be directed to a general purpose computer, special purpose computer, or other programmable data processing device processor or programmable circuit locally or in a wide area network (WAN) such as a local area network (LAN), the Internet, etc. The computer-readable instructions may be executed to create a means for performing the operations provided via and specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

  FIG. 11 illustrates an example of a computer 2200 in which aspects of the present invention may be embodied in whole or in part. The program installed in the computer 2200 can cause the computer 2200 to function as an operation associated with the apparatus according to the embodiment of the present invention or one or more sections of the apparatus, or to perform the operation or the one or more sections. The section can be executed and / or the computer 2200 can execute a process according to an embodiment of the present invention or a stage of the process. Such a program may be executed by CPU 2212 to cause computer 2200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

  A computer 2200 according to this embodiment includes a CPU 2212, a RAM 2214, a graphic controller 2216, and a display device 2218, which are connected to each other by a host controller 2210. The computer 2200 also includes input / output units such as a communication interface 2222, a hard disk drive 2224, a DVD-ROM drive 2226, and an IC card drive, which are connected to the host controller 2210 via the input / output controller 2220. Yes. The computer also includes legacy input / output units, such as ROM 2230 and keyboard 2242, which are connected to input / output controller 2220 via input / output chip 2240.

  The CPU 2212 operates according to programs stored in the ROM 2230 and the RAM 2214, thereby controlling each unit. The graphic controller 2216 obtains the image data generated by the CPU 2212 in a frame buffer or the like provided in the RAM 2214 or itself so that the image data is displayed on the display device 2218.

  The communication interface 2222 communicates with other electronic devices via a network. The hard disk drive 2224 stores programs and data used by the CPU 2212 in the computer 2200. The DVD-ROM drive 2226 reads a program or data from the DVD-ROM 2201 and provides the program or data to the hard disk drive 2224 via the RAM 2214. The IC card drive reads programs and data from the IC card and / or writes programs and data to the IC card.

  The ROM 2230 stores therein a boot program executed by the computer 2200 at the time of activation and / or a program depending on the hardware of the computer 2200. The input / output chip 2240 may also connect various input / output units to the input / output controller 2220 via parallel ports, serial ports, keyboard ports, mouse ports, and the like.

  The program is provided by a computer-readable medium such as a DVD-ROM 2201 or an IC card. The program is read from a computer-readable medium, installed in the hard disk drive 2224, the RAM 2214, or the ROM 2230, which are also examples of the computer-readable medium, and executed by the CPU 2212. Information processing described in these programs is read by the computer 2200 to bring about cooperation between the programs and the various types of hardware resources. An apparatus or method may be configured by implementing information manipulation or processing in accordance with the use of computer 2200.

  For example, when communication is executed between the computer 2200 and an external device, the CPU 2212 executes a communication program loaded in the RAM 2214 and performs communication processing on the communication interface 2222 based on the processing described in the communication program. You may order. The communication interface 2222 reads the transmission data stored in the transmission buffer processing area provided in the recording medium such as the RAM 2214, the hard disk drive 2224, the DVD-ROM 2201, or the IC card under the control of the CPU 2212, and the read transmission. Data is transmitted to the network, or received data received from the network is written in a reception buffer processing area provided on the recording medium.

  Further, the CPU 2212 allows the RAM 2214 to read all or a necessary part of a file or database stored in an external recording medium such as a hard disk drive 2224, a DVD-ROM drive 2226 (DVD-ROM 2201), an IC card, etc. Various types of processing may be performed on the data on the RAM 2214. Next, the CPU 2212 writes back the processed data to the external recording medium.

  Various types of information, such as various types of programs, data, tables, and databases, may be stored on a recording medium and subjected to information processing. The CPU 2212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information retrieval, which are described in various places in the present disclosure and specified by the instruction sequence of the program with respect to the data read from the RAM 2214. Various types of processing may be performed, including / replacement etc., and the result is written back to the RAM 2214. Further, the CPU 2212 may search for information in files, databases, etc. in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 2212 specifies the attribute value of the first attribute. The entry that matches the condition is searched from the plurality of entries, the attribute value of the second attribute stored in the entry is read, and thereby the first attribute that satisfies the predetermined condition is associated. The attribute value of the obtained second attribute may be acquired.

  The programs or software modules described above may be stored on a computer readable medium on or near computer 2200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable medium, thereby providing a program to the computer 2200 via the network. To do.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  The order of execution of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. It should be noted that the output can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. It is not a thing.

10 determination system 100 sound source 110 omnidirectional microphone 120 signal detection unit 130 determination device 140 angle calculation unit 150 determination unit 210 first angle calculator 220 second angle calculator 230 third angle calculator 1010 ceiling 1020 surveillance camera 1022 Base 1024 Imaging unit 2200 Computer 2201 DVD-ROM
2210 host controller 2212 CPU
2214 RAM
2216 Graphic controller 2218 Display device 2220 Input / output controller 2222 Communication interface 2224 Hard disk drive 2226 DVD-ROM drive 2230 ROM
2240 Input / output chip 2242 Keyboard

Claims (11)

Based on acoustic signals from each of the plurality of omnidirectional microphones arranged on the plane, each of at least three straight lines connecting the omnidirectional microphones of the plurality of omnidirectional microphones, and the direction of the sound source An angle calculation unit for calculating an angle between
A determination unit that determines at least one of a three-dimensional position and a three-dimensional direction of the sound source based on an angle between each of the at least three straight lines and the direction of the sound source;
A determination apparatus comprising:   The determination apparatus according to claim 1, wherein the angle calculation unit calculates an angle between the straight line and the direction of the sound source at a point on a line segment between the omnidirectional microphones.   The determination device according to claim 2, wherein the point on the line segment is a midpoint between the omnidirectional microphones.   The said angle calculation part is a determination apparatus as described in any one of Claim 1 to 3 which calculates the said angle based on the time difference of the said acoustic signal between the said omnidirectional microphones.   The determination device according to any one of claims 1 to 4, wherein the determination unit determines a three-dimensional position of the sound source based on the angle.   The determination unit calculates the position of the sound source for each combination of at least three omnidirectional microphones of the plurality of omnidirectional microphones, and calculates the position of the sound source calculated for each combination. The determination apparatus according to claim 5, wherein a three-dimensional position of the sound source is specified based on the determination.   The determination apparatus according to claim 6, wherein the determination unit derives an approximate sphere from the position of the sound source calculated for each combination, and specifies a three-dimensional position of the sound source based on the approximate sphere.   The determination unit divides a polygon formed by connecting the positions of the sound sources calculated for each of the combinations into a plurality of triangles, and specifies a three-dimensional position of the sound sources based on the centroids of the plurality of triangles. Item 7. The determination device according to Item 6.   The said determination part determines the three-dimensional direction of the said sound source corresponding to the said angle calculated by the said angle calculation part based on the table with which the said angle and the three-dimensional direction of the said sound source were matched previously. The determination apparatus according to any one of 1 to 4. A determination method in which the determination device determines at least one of a three-dimensional position and a three-dimensional direction of a sound source,
Each of the at least three straight lines connecting the omnidirectional microphones of the plurality of omnidirectional microphones based on acoustic signals from the plurality of omnidirectional microphones arranged on a plane. Calculating the angle between and the direction of the sound source;
The determination device determines at least one of a three-dimensional position and a three-dimensional direction of the sound source based on an angle between each of the at least three straight lines and the direction of the sound source;
A determination method comprising: Executed by a computer, said computer
Based on acoustic signals from each of the plurality of omnidirectional microphones arranged on the plane, each of at least three straight lines connecting the omnidirectional microphones of the plurality of omnidirectional microphones, and the direction of the sound source An angle calculation unit for calculating an angle between
A determination unit that determines at least one of a three-dimensional position and a three-dimensional direction of the sound source based on an angle between each of the at least three straight lines and the direction of the sound source;
Judgment program to make it work.