JP6031364B2 - Sound collection device and playback device - Google Patents

Description

  The present invention relates to a beam forming technique using an array device composed of a plurality of microphones and speakers. In particular, the present invention relates to a beam forming technique based on diffusion sensing in which the optimum characteristics of the transfer characteristics between a microphone and a sound source and the transfer characteristics between a speaker and a reproduction point are clarified.

  Non-Patent Documents 1 and 2 are known as prior arts of speech enhancement technology based on diffusion sensing using a microphone array. In Non-Patent Documents 1 and 2, a pseudo diffuse sound field is generated by a reflecting structure, and a microphone array is installed therein to realize diffuse sensing.

K. Niwa, S. Sakauchi, K. Furuya, M. Okamoto, and Y. Haneda, "Diffused sensing for sharp directivity microphone array", ICASSP 2012, 2012, pp. 225-228 K. Niwa, Y. Hioka, K. Furuya, and Y. Haneda, "Telescopic microphone array using reflector for segregating target source from noises in same direction", ICASSP 2012, 2012, pp. 5457-5460

  However, in the related art, in order to generate a pseudo diffuse sound field by installing the reflecting structure in the vicinity of the microphone array, the scale of the device tends to increase. This is because the correlation between the volume of the reflecting structure and the reverberation time is high, and the longer the reverberation time, the closer to the diffuse sound field. For example, in Non-Patent Document 2, a reflective structure having a size that can fit in a sphere having a diameter of 1 meter is constructed. However, the device scale is often limited in advance depending on the application to be applied. If the volume is limited, there is a problem that the correlation of transfer characteristics increases and the directivity deteriorates.

Similarly, a reproduction technique based on diffusion sensing using a speaker array can be considered (see Reference 1).
[Reference Document 1] JP 2012-147413 A

  However, in this case as well, it is necessary to generate a pseudo diffuse sound field by installing the reflecting structure in the vicinity of the speaker array, and there is a similar problem.

  It is an object of the present invention to provide an acoustic apparatus having a smaller apparatus scale for a predetermined directivity performance than that of the prior art. That is, it is an object to provide an acoustic device having a higher directivity performance if the device scale is the same as that of a conventional acoustic device, and an acoustic device having a smaller device scale if the orientation performance is the same as that of a prior art acoustic device. And In this specification, the sound device includes a sound collection device that collects sound and a reproduction device that reproduces sound, and the “sound” is not limited to a voice uttered by a person. It refers to general sounds such as musical sounds and environmental noises as well as animal voices.

In order to solve the above problems, according to the first aspect of the present invention, the sound collection device is at least one arranged so that the transfer characteristic from a control point outside the sound collection device is difficult to be modulated. Based on two first microphones, at least one second microphone arranged so that the transfer characteristic from the control point is easily modulated, and a sound collection signal from the first microphone and a sound collection signal from the second microphone. A filtering unit that varies the sound pickup characteristics of acoustic signals emitted from at least a plurality of positions or directions on the first microphone and the second microphone according to the arrangement of the first microphone and the second microphone. Signal processing is performed utilizing the fact that the correlation of the transfer characteristics of the signal becomes small .

In order to solve the above-described problem, according to another aspect of the present invention, a sound collection device includes at least a first microphone and a second microphone. A reflection unit disposed so as to modulate the transfer characteristic from the control point to the second microphone without modulating the transfer characteristic from the control point outside the sound pickup device; and the first microphone A filtering unit that varies sound collection characteristics of acoustic signals emitted from at least a plurality of positions or directions in space based on the sound collection signal by the second microphone and the sound collection signal by the second microphone. Signal processing is performed using the fact that the correlation between the transfer characteristics of the first microphone and the second microphone is reduced due to the difference in the arrangement of the microphone and the second microphone .

In order to solve the above-described problem, according to another aspect of the present invention, the sound collection device is made of a material capable of reflecting sound, has an opening, and a reflection other than the opening forms a three-dimensional space. Part, a first microphone arranged outside the three-dimensional space, a second microphone arranged inside the three-dimensional space, a sound collection signal by the first microphone and a sound collection signal by the second microphone, A filtering unit that varies the sound pickup characteristics of acoustic signals emitted from at least a plurality of positions or directions in space, and the filtering unit includes a first microphone and a second microphone depending on the arrangement of the first microphone and the second microphone. Signal processing is performed using the fact that the correlation between the transfer characteristics of the microphone becomes small .
In order to solve the above-described problem, according to another aspect of the present invention, the sound collection device performs a filtering process using the fact that the correlation of the transfer characteristics between the microphones becomes small. The sound collection device is made of a material capable of reflecting sound, has an opening, and a reflection part that forms a three-dimensional space other than the opening, a first microphone arranged outside the three-dimensional space, and a three-dimensional And the second microphone arranged inside the space, and the reflection unit does not modulate the transmission characteristic from the control point outside the sound pickup device to the first microphone, and the transmission from the control point to the second microphone. It arrange | positions so that a characteristic may be modulated.

In order to solve the above-described problem, according to another aspect of the present invention, the playback device includes at least one first device arranged so that a transmission characteristic to a control point outside the playback device is difficult to be modulated. Speaker, at least one second speaker arranged so that the transmission characteristic to the control point is easily modulated , and reproduction characteristics of acoustic signals emitted from the first speaker and the second speaker to at least a plurality of positions in the space The filtering unit performs signal processing using the fact that the correlation between the transfer characteristics of the first speaker and the second speaker becomes small due to the difference in the arrangement of the first speaker and the second speaker .

In order to solve the above problems, according to another aspect of the present invention, a playback device includes at least a first speaker and a second speaker. A reflection unit arranged not to modulate the transfer characteristic from the first speaker to the control point outside the playback apparatus, but to modulate the transfer characteristic from the second speaker to the control point, and at least in space A filtering unit that varies the reproduction characteristics of the acoustic signals emitted from the first speaker and the second speaker at a plurality of positions, and the filtering unit is different from the first speaker and the second speaker due to a difference in arrangement of the first speaker and the second speaker. Signal processing is performed using the fact that the correlation between the transmission characteristics of the speakers becomes small .

In order to solve the above-described problems, according to another aspect of the present invention, the playback device is made of a material that can reflect sound, has an opening, and a reflection part that forms a three-dimensional space other than the opening. And a first speaker arranged outside the three-dimensional space, a second speaker arranged inside the three-dimensional space, and an acoustic signal emitted from the first speaker and the second speaker to at least a plurality of positions in the space A filtering unit that makes the reproduction characteristics of the first and second speakers different, and the filtering unit performs signal processing using the fact that the correlation between the transfer characteristics of the first speaker and the second speaker is reduced due to the difference in the arrangement of the first speaker and the second speaker. Do.
In order to solve the above-described problem, according to another aspect of the present invention, the playback device performs a filtering process using the fact that the correlation of transfer characteristics between speakers is reduced. The reproduction device is made of a material capable of reflecting sound, has an opening, and a reflection part that forms a three-dimensional space other than the opening, a first speaker arranged outside the three-dimensional space, and a three-dimensional space And the reflection part does not modulate the transfer characteristic from the first speaker to the control point outside the reproduction apparatus, and the transfer characteristic from the second speaker to the control point. Is arranged to give modulation.

  According to the present invention, there is an effect that the apparatus scale for a predetermined directivity can be made smaller than that of the conventional technique.

The figure for demonstrating the conditions of the audio equipment of this invention. FIG. 2A is a diagram showing the nature of the transfer characteristic from the control point A to the electroacoustic transducer, and FIG. 2B is a diagram showing the nature of the transfer characteristic from the control point B to the electroacoustic transducer. The figure which shows the example of installation of the diffusion structure which increases the number of reflected sounds contained in the transmission characteristic between a control point and an electroacoustic transducer. The figure which shows the example of installation of the diffusion structure which closes the opening part of a reflection structure. FIG. 5A is a diagram illustrating an example in which the diffusion structure is a three-dimensional structure having a concave surface, and FIG. 5B is a diagram illustrating an example in which the diffusion structure is a three-dimensional structure having a convex surface. 6A is a diagram for explaining a movable control unit that moves the arrangement of the electroacoustic transducer, and FIG. 6B is a diagram for explaining the movable control unit that moves the arrangement of the diffusion structure. The perspective view of the sound collection device which concerns on 1st embodiment. The front view of the sound collection device which concerns on 1st embodiment. The side view of the sound collection device which concerns on 1st embodiment. The conceptual diagram which shows the XX cross section of FIG. The conceptual diagram which shows the XI-XI cross section of FIG. The figure which shows the function structure of the sound collection device which concerns on 1st embodiment. The figure which shows the processing flow of the sound collection device which concerns on 1st embodiment. The figure which shows the function structure of the reproducing | regenerating apparatus which concerns on 2nd embodiment. The figure which shows the processing flow of the reproducing | regenerating apparatus which concerns on 2nd embodiment.

Hereinafter, embodiments of the present invention will be described. In the drawings used for the following description, constituent parts having the same function and steps for performing the same process are denoted by the same reference numerals, and redundant description is omitted. In the following description, the symbol “ ^→ ” or the like used in the text should be described immediately above the immediately preceding character, but is described immediately after the character due to restrictions on text notation. In the formula, these symbols are written in their original positions. Further, the processing performed for each element of a vector or matrix is applied to all elements of the vector or matrix unless otherwise specified.

<First embodiment>
The present embodiment relates to a sound collection device that physically modulates transfer characteristics based on diffusion sensing.

  First, sound collection processing based on conventional diffusion sensing described in Non-Patent Document 1 will be described.

[Modeling of the observed signal]
Consider a situation where one target sound and K (≧ 1) noises are received using M (≧ 2) microphones. It aims at the directivity control which emphasizes the target sound in arbitrary positions in the presence of many noises. The objective is achieved by suppressing K noise sources and enhancing the target sound. The impulse responses between the m (m = 1,2, ..., M) th microphone and the target sound and the k (k = 1,2, ..., K) th noise are a _m (i) and b _k , respectively. _{, m} (i). However, the impulse response length is L, and i = 0, 1,..., L−1. The impulse response length L may be determined experimentally based on the reverberation time determined by the scale and structure of the apparatus and the situation of the installed room. When the target sound and the k-th noise source signal are s (t) and n _k (t), the observed signal x _m (t) observed by the m-th microphone is modeled by the following equation.

Here, t represents a time index.

By performing a short-time Fourier transform on x _m (t), the convolutional mixture of Equation (1) is approximated as an instantaneous mixture in the frequency domain as shown in the following equation.

Here, ω and τ represent frequency and frame indexes, respectively. For example, sampling is performed at 48 kHz, and the number of taps is 2048. X _m (ω, τ), S (ω, τ) and N _k (ω, τ) are the observed signal x _m (t), the target sound source signal s (t), and the kth noise, respectively. It represents a time-frequency representation of the sound source signal n _k (t). a _m (ω) and b _{k, m} (ω) represent the frequency characteristics between the target sound, the k-th noise and the m-th microphone, and these are hereinafter referred to as transfer characteristics. When Expression (2) is expressed in matrix form, the following expression is obtained.

And ^T represents transposition.

[Beam forming]
The output signal y (t) after beam forming is obtained by convolving an observation signal x _m (t) with a filter w _m (t) designed to emphasize the target sound as in the following equation.

Here, J represents the filter length and may be approximately the same as the impulse response length L. Y (ω, τ), which is a time frequency representation of y (t), is approximately obtained by the following equation.

Here, ^H represents the conjugate transpose, and the complex conjugate of W ^→ _m (ω) corresponds to the frequency response of w _m (j).

When the noise component included in the output signal Y (ω, τ) is written as Y _N (ω, τ), the power p _N (ω) in the following equation is defined as the power of the noise component.

Here, E _T represents a temporal expected value calculation. Assuming that the sound source signals are uncorrelated with each other, the power p _N (ω) can be calculated only by the transfer characteristic b ^→ _k (ω) and the filter W ^→ (ω).

In the field of array signal processing, various filter design methods have been described to minimize p _N (ω). As a representative example, the delay sum method and the maximum likelihood method will be described (see Reference 2).
[Reference 2] Taita Asano, “Sound Array Signal Processing-Sound Source Low Level Tracking and Separation”, Corona, 2011

In the delay sum method, the filter W ^→ _DS is designed to emphasize the direct sound of the target sound by the following equation.

Represents the array manifold vector of the direct sound of the target sound. The element h _m (ω) represents the transfer coefficient of the direct sound path from the target sound to the m-th microphone, where d _{m is} the distance between the target sound and the m-th microphone, c is the speed of sound, and j is the imaginary unit. Then, for example, it can be calculated by the following equation.

In the maximum likelihood method, the filter W ^→ _ML is designed to enhance the direct sound of the target sound and minimize the power p _N (ω) by the following equation.

Here, R (ω) represents a spatial correlation matrix of noise. For example, assuming that the sound source signals are uncorrelated, the noise spatial correlation matrix R (ω) is calculated using only the transfer characteristic b ^→ _k (ω) as shown in the following equation.

In the classic array signal processing as described in Reference 2, it has been considered how to arrange the intervals between the microphones. However, the correlation between microphones is often high except for specific frequencies. The following two are known as typical problems. The first is that in a low frequency band with a long wavelength, the correlation between transfer characteristics tends to be high, so that narrow directivity control is difficult. Second, in a high-frequency band with a short wavelength, spatial aliasing that emphasizes sounds other than a specific target sound occurs unless microphones are arranged at intervals of half a wavelength or less. From the above two points, it has been difficult to reduce the power p _N (ω) over a wide band.

[Diffusion sensing]
In Non-Patent Document 1, in order to reduce the power p _N (ω) over a wide band, the nature of the transfer characteristic should be examined, and the basic theory of diffusion sensing is summarized.

  The concept of diffuse sensing is to make the transfer characteristic uncorrelated over a wide band by “physical modulation of the transfer characteristic” as shown in the following equation.

Here, the physical modulation of the transfer characteristic refers to any physical means for changing the nature of the transfer characteristic itself, and includes, for example, a reflective structure installed in the vicinity of the microphone. The method proposed in Non-Patent Document 1 is a method in which a sound field (diffused sound field) in which reflected sound is repeated is generated repeatedly, and a microphone array is installed in the sound field. For example, if a reflection structure having a shape surrounding the microphone array is made and only one surface is opened, the sound arriving in the reflection structure is automatically reflected and a pseudo diffuse sound field is generated.

  The reason why the transmission characteristics are uncorrelated when a microphone array is installed in the diffuse sound field will be briefly described. It is known that the correlation γ (ω) in the diffuse sound field is calculated by the following equation, where γ (ω) is the correlation between the transfer characteristics.

Here, E _S , p ^→ represents a spatial expected value calculation and a position vector between microphones, respectively. If the distance || p ^→ || between the microphones is sufficiently wide, the expected value of the correlation γ (ω) between the transfer characteristics in the diffuse sound field is zero.

Therefore, in the prior art, a pseudo diffuse sound field is physically generated by a reflective structure, and a microphone array is installed therein (see Non-Patent Documents 1 and 2).

In addition, in order to reduce the power p _N (ω), filter design methods using transfer characteristics prepared by prior simulation and measurement have been studied. Simply put, only the target sound has been emphasized, but the control based on diffuse sensing is designed to emphasize the transfer characteristic itself.

When the delay sum method is used as a base, the filter W ^→ _DS1 (ω) is designed by replacing the array manifold vector h ^→ (ω) with the target sound transfer characteristic a ^→ (ω) as shown in the following equation. it can.

In this case, a ^→ (ω) needs to be prepared in advance by simulation or actual measurement.

Further, when the maximum likelihood method is used as a base, the filter W ^→ _DS2 (ω) can be designed by the following equation.

In this case as well, it is necessary to prepare a ^→ (ω) and R (ω) in advance by simulation or actual measurement. When a pseudo diffuse sound field is generated using the means described above and the sound is picked up, it is expected that the transfer characteristic is naturally uncorrelated, so the power p _N (ω ) Could be reduced over a wide band.

<Points of first embodiment>
However, in the prior art, as described above, the device scale tends to increase.

  Therefore, in this embodiment, in order to decorrelate the transmission characteristic over a wide band, the arrangement of the microphones is changed in addition to the reflecting structure as “physical modulation of the transmission characteristic”. By installing microphones not only on the inside of the reflecting structure but also on the outside, the correlation between the transmission characteristics can be reduced under conditions where the volume of the reflecting structure is limited.

  Since the technology of this embodiment can be applied to a playback device for physically modulating transfer characteristics based on diffusion sensing, the conditions of the acoustic device defined in the present invention with reference to FIG. explain.

[Prerequisite]
(1) Including a reflective structure Reflected in a shape that surrounds the electroacoustic transducer 112 having an opening (in other words, a shape that forms a three-dimensional space). There is a structure 190. In this specification, the “electroacoustic transducer” is a concept including a microphone holon and a speaker. When the acoustic device functions as a sound collection device, the electroacoustic transducer includes a microphone, and when the acoustic device functions as a playback device, the electroacoustic transducer includes a speaker.

(2) Including a filtering unit
It has two or more electroacoustic transducers and a filtering unit 160 that can perform independent filtering.

(3) Arrangement of electroacoustic transducers One or more electroacoustic transducers 111 and 112 are installed outside and inside the reflecting structure 190, respectively.

  With reference to FIG. 2, it will be described that the electroacoustic transducer 112 installed inside the reflective structure 190 and the electroacoustic transducer 111 installed outside are clearly different in transmission characteristics. In this example, the acoustic device functions as a sound collection device, and the electroacoustic transducer is a microphone. In this example, three electroacoustic transducers 111-1, 111-2, 112 and two control points A, B are provided. Since one or more electroacoustic transducers may be provided on each of the inner side and the outer side of the reflecting structure 190, one of the electroacoustic transducers 111-1 and 111-2 may be present. In the case where the acoustic device functions as a sound collection device, the control point is assumed as the direction or position where the target sound exists or the direction or position where noise exists, and when the acoustic device functions as a playback device, The control point is the direction or position where the sound pressure of the reproduced sound is to be increased (reproduction control point), or the direction or position where the sound pressure is to be decreased (suppression control point).

  FIG. 2A shows the nature of the transfer characteristics from the control point A to the three electroacoustic transducers 111-1, 111-2, 112. FIG. The electroacoustic transducer 112 inside the reflective structure 190 observes direct sound, diffracted sound and reflected sound. The diffracted sound is a sound that arrives after being diffracted by the reflective structure 190, and the reflected sound is a sound that is reflected by the inner wall of the reflective structure 190 and arrives. On the other hand, since the electroacoustic transducer 111-1 outside the reflecting structure 190 is attached to the upper wall of the reflecting structure 190, the reflection from the upper wall of the reflecting structure is similar to the boundary type microphone. Difficult to receive sound. For this reason, a direct sound having a strong amplitude and a diffracted sound that is diffracted by the outer wall of the reflective structure 190 are observed. In addition, the electroacoustic transducer 111-2 on the rear side of the reflective structure 190 observes the diffracted sound that is diffracted by the outer wall of the reflective structure 190 and arrives.

  In FIG. 2B, the property of the transfer characteristic between the control point B and each electroacoustic transducer 111-1, 111-2, 112 is shown. The electroacoustic transducers 111-1 and 111-2 are not easily affected by reflection / diffraction and receive a direct sound having a strong amplitude. On the other hand, the electroacoustic transducer 112 receives sound diffracted by the outer wall of the reflecting structure and further received by reflection from the inner wall.

  Thus, the property of the transfer characteristic between each control point and each electroacoustic transducer 111-1,111-2,112 differs greatly by the position of a control point differing. Therefore, it is expected that the correlation between the transfer characteristics of the electroacoustic transducer 112 installed inside the reflective structure 190 and the transfer characteristics of the electroacoustic transducers 111-1 and 111-2 installed outside will be reduced. It is. Note that the transfer characteristics from the control point to the electroacoustic transducer 112 are modulated with respect to changes in the position of the control point and the sound collection environment (for example, a reflection object existing outside the sound collection device) due to the influence of the reflected sound. The transfer characteristics from the control point to the electroacoustic transducers 111-1 and 111-2 are difficult to modulate. For example, in FIG. 2A, when the control point A changes to the control point C, the transfer characteristics from each control point to the electroacoustic transducers 111-1 and 111-2 are not significantly modulated, whereas the electric power from each control point is The transmission characteristics to the acoustic transducer 112 are greatly modulated by the influence of reflected sound (compared to the transmission characteristics from each control point to the electroacoustic transducers 111-1 and 111-2).

  Therefore, the above-mentioned essential conditions (1) and (3) are such that the transfer characteristic from the sound source outside the acoustic device is modulated and the transfer characteristic from the sound source is modulated. In other words, it may include an electroacoustic transducer arranged so as to facilitate.

  In addition, the above-mentioned essential conditions (1) and (3) are that the reflection structure does not modulate the transmission characteristics from the sound source outside the acoustic device to the electroacoustic transducer, and is transmitted from the sound source to the electroacoustic transducer. In other words, it may be arranged so as to modulate the characteristics.

[Conditions are good if not necessary]
Furthermore, a method of combining the following conditions in order to make the transfer characteristics uncorrelated can be considered.

(4) Installation of diffusion structure One or more diffusion structures 180 that increase the number of reflection paths between the control point A and the electroacoustic transducer 112 are installed on the wall surface or inside of the reflection structure 190. (See FIG. 3). A reflection path between the control point A and the electroacoustic transducer 112 is shown in FIG. Although there is a reflection path (broken line) determined only by the reflection structure 190, the reflection path (one-dot chain line) is increased by installing the diffusion structure 180. Therefore, the diffusion structure 180 modulates the transmission characteristics when the diffusion structure 180 is not provided. By increasing the number of reflection paths, even when the volume of the sound collecting device is limited, the diffusibility of the sound field is increased, so that the correlation between the transfer characteristics can be expected to be small. Note that the shape and arrangement position of the diffusion structure 180 are not limited, and may have an uneven curved surface. However, as shown in FIG. 4, when a plate that closes the opening of the reflection structure 190 is used as the diffusion structure 180, the reflection path between the control point A and the electroacoustic transducer 112 is reduced. The shape and arrangement of the diffusion structure 180 are not suitable. Therefore, the diffusion structure 180 has a greater number of reflections of the sound incident on the sound collection device or the sound emitted from the speaker included in the playback device than when the diffusion structure 180 is not provided. Has been placed.

  FIG. 5 is a cross-sectional view showing a shape example when the diffusion structure 180 is a three-dimensional structure having a curved surface. In this example, a diffusion structure 180 protruding in the direction of the opening is provided on the inner wall surface facing the surface having the opening of the reflecting structure 190, and has a concave surface in FIG. 5A, and a convex surface in FIG. 5B. It has a shaped surface. In the case where the acoustic device functions as a sound collection device, it is desirable to have a structure that guides the sound incident from the opening of the reflection structure 190 to the microphone inside the sound collection device. For example, in the case of FIG. 5B, since the sound is reflected to the outside of the sound collecting device at the tip of the diffusion structure 180, FIG. 5A is considered to be a more desirable shape. In addition, when the audio device functions as a playback device, it is preferable that the sound emitted from a speaker included in the playback device is guided to the outside.

(5) Use of electroacoustic transducers with different directivities By using a mixture of electroacoustic transducers with various directivities, the correlation between transfer characteristics is reduced and non-correlation is achieved. For example, the directivity of the electroacoustic transducer is not limited, but electroacoustic transducers having various directivities such as omnidirectionality, unidirectionality, bidirectionality, and hypercardioid are mixed and used. If electroacoustic transducers with different directivities are arranged at the same position, the transfer characteristics between the same control points will be different. For example, in FIG. 2A, when an omnidirectional microphone or a unidirectional microphone is disposed at the position of the electroacoustic transducer 112, transfer characteristics between the control point A and the omnidirectional microphone, The transfer characteristics between A and the unidirectional microphone are different. Therefore, by using this condition, a change in the transfer characteristics due to the difference in directivity is used to further reduce the correlation between the transfer characteristics, thereby achieving non-correlation.

  The electroacoustic transducer 111 installed outside the reflective structure 190 and the electroacoustic transducer 112 installed inside the reflective structure 190 may have different directivities. Further, a plurality of electroacoustic transducers 111 may be installed outside the reflecting structure 190, and the directivity between the electroacoustic transducers 111 may be different. Similarly, the directivity between the plurality of electroacoustic transducers 112 may be different.

(6) Changing the orientation or arrangement of the electroacoustic transducer or the diffusing structure When the acoustic device functions as a sound collection device, the following conditions may be added. The movable control means 200 which changes the direction or arrangement | positioning of the electroacoustic transducer (microphone) 112 is included (refer FIG. 6A). Further, when combined with the above condition (4) (installing the diffusion structure 180), the movable control means 200 is included to change the orientation or arrangement of the diffusion structure 180 (for example, plate-like). It may be a configuration (see FIG. 6B). In the case of combining with the above condition (4), the movable control means 200 is included which changes the direction or arrangement of at least one of the electroacoustic transducer 112 and the diffusion structure 180 simultaneously or separately. It may be a configuration.

For example, the movable control means 200 includes a motor or the like, rotates according to the control amount C, rotates a disk installed perpendicular to the rotation axis, and electroacoustic transducer 112 installed on the disk. Change the placement of. Moreover, the diffusion structure 180 installed on the rotating shaft is rotated to change the direction. Prior to use, transfer characteristics A ^→ (ω, ε) = [a ^→ (ω, ε), b ^→ ₁ (ω, ε), ..., b ^→ _M (ω, ε),] at each controlled variable ε in advance. Is measured and stored in a storage unit (not shown). Further, in the correlation calculation unit between sensors (not shown), the transfer characteristic A ^→ (ω, ε) and the observed signal X ^→ (ω, τ) = [X ₁ (ω, τ), ..., X _M (ω, τ)] Then, the correlation between sensors is calculated, the control amount C is obtained by the following equation, and this is output to the movable control means 200.

  Since the transfer characteristics change depending on the orientation and arrangement of the electroacoustic transducer 112 and the diffusion structure 180, the orientation or arrangement of the electroacoustic transducer 112 and the diffusion structure 180 is changed so that the correlation between the transfer characteristics becomes small. . In the case where a plurality of electroacoustic transducers 112 and a plurality of diffusion structures 180 are used, a part of the electroacoustic transducers 112 and a plurality of diffusion structures 180 may be fixed and the rest may be changed by the movable control unit 200.

<Sound Pickup Device 10 according to First Embodiment>
7 is a perspective view of the sound collecting device 10, FIG. 8 is a front view thereof, and FIG. 9 is a side view thereof. 10 is a conceptual diagram showing the XX cross section of FIG. 8, and FIG. 11 is a conceptual diagram showing the XI-XI cross section of FIG.

  As shown in FIG. 11, eleven second microphones 212 are linearly arranged inside the three-dimensional space formed by the reflective structure 190. Further, although not shown, eleven first microphones 211 are linearly arranged outside the three-dimensional space formed on the reflection structure 190 (on the outer wall surface of the upper wall). The shape of the reflective structure 190 is not limited as long as one or more openings are formed, but in this embodiment, a horizontally long rectangular parallelepiped is the base, and the front surface is the opening surface. The reflection structure 190 is a flat reflection plate having a flat reflection surface and an appropriate thickness and rigidity (for example, the reflectance α is set to 0.8). The reflection surface of the reflection structure 190 is not necessarily a flat surface, and may be a flat plate with unevenness. Further, in the present embodiment, a horn 191 is provided on the opening surface in order to make it easier to take sound into the reflecting structure. The horn 191 is shaped so that the opening area viewed from the outside of the reflective structure 190 is large and the opening area viewed from the inside is small. The structure is such that sound easily enters the reflection structure 190 and is difficult to output. Note that there may be one or more opening surfaces, and the shape and number of opening surfaces are not limited. A horn may or may not be attached. In the present embodiment, a horn 191 is provided for each diffusion structure 180 on the opening surface.

  The reflective structure 190 forms a three-dimensional space, and the diffusion structure 180 is installed in the three-dimensional space. The diffusion structure 180 has a shape with a concave curved surface. This shape is intended to reflect the sound coming from the opening surface to the diffusing structure 180 and to be reflected multiple times within the reflecting structure 190. It is only necessary that Q diffusion structures 180 (Q ≧ 1) are installed. In this embodiment, 10 diffusion structures 180 are installed (see FIG. 11).

  The structure is such that the second microphone 212 can be installed inside the three-dimensional space formed by the reflective structure 190. In addition, the first microphone 211 can be installed on the outer wall surface of the upper wall of the reflective structure 190.

  The first microphone 211 is covered with an acoustically transparent cover 192 that is acoustically transparent. “Acoustic transmission” means that reflection / diffraction does not occur (or hardly occurs). For example, the acoustic transmission cover 192 is made of punching metal. The sound transmission cover 192 is a cover for protecting the first microphone 211 from an impact or the like, and is not necessarily provided.

[Signal processing of sound collection device 10]
The functional configuration and processing flow of the sound collection device 10 according to the first embodiment are shown in FIGS. 12 and 13. The sound collection device 10 of the first embodiment includes M ₁ first microphones 211-m ₁ , M ₂ second microphones 212-m ₂ , an AD conversion unit 120, a frequency domain conversion unit 130, and a filtering unit 160. A time domain conversion unit 170, a filter calculation unit 150, and a transfer characteristic storage unit 140. m ₁ = 1,2, ..., a _{M 1, m 2 = 1,2,} ..., a _{M 2,} an _{M 1 ≧ 1, M 2 ≧} 1, is a _M 1 ₊ M 2 = M.

<First microphone 211-m ₁ , second microphone 212-m ₂ >
M ₁ first microphones 211 -m ₁ and M ₂ second microphones 212 -m ₂ are used to collect sound (s 1), and analog signals (sound collection signals) are output to the AD converter 120. M ₁ first microphones 211-m ₁ are installed outside the reflective structure 190, and M ₂ second microphones 212-m ₂ are installed inside the reflective structure 190.

<AD converter 120>
AD conversion unit 120, a digital signal a total of M analog signals picked up by the first microphone _{211-m 1} and _{M 2} pieces of the second microphone _{212-m 2} of _{1 M} x ^→ (t) = [x ₁ (t),..., x _M (t)] Convert to ^T , and output to the frequency domain transform unit (s2). t represents a discrete time index.

<Frequency domain converter 130>
First, the frequency domain conversion unit 130 receives the digital signal x ^→ (t) = [x ₁ (t),..., X _M (t)] ^T output from the AD conversion unit 120 and outputs N samples for each channel. The digital signal x ^→ (τ) = [x ^→ ₁ (τ),..., X ^→ _M (τ)] ^T is stored in the buffer. τ is an index of the frame number. x ^→ _m (τ) = [x _m ((τ−1) N + 1),..., x _m (τN)] (1 ≦ m ≦ M). N depends on the sampling frequency, but in the case of 48 kHz sampling, around 2048 points is reasonable. Next, the frequency domain transform unit 130 converts the digital signal x ^→ (τ) of each frame into the frequency domain signal X ^→ (ω, τ) = [X ₁ (ω, τ),..., X _M (ω, τ )] Convert to ^T (s3) and output. ω is an index of discrete frequency. One method for converting a time domain signal to a frequency domain signal is a fast discrete Fourier transform, but the present invention is not limited to this, and other methods for converting to a frequency domain signal may be used. The frequency domain signal X ^→ (ω, τ) is output for each frequency ω and frame τ.

<Transfer characteristic storage unit 140>
The transfer characteristic storage unit 140 stores the transfer characteristic A ^→ (ω) = [a ^→ (ω), b ^→ ₁ (ω),..., B ^→ _K (ω)] measured using the sound collecting device 10 in advance. Remember. a ^→ (ω) = [a ₁ (ω), ..., a _M (ω)] ^T is the transfer characteristic at the frequency ω between the target sound and M microphones, in other words, a ^→ (ω ) = [A ₁ (ω),..., A _M (ω)] ^T is the transfer characteristic at the frequency ω of the target sound to each microphone included in the microphone array. k = 1,2, ..., K, where K is the number of noises, b _k ^→ (ω) = [b _k1 (ω), ..., b _kM (ω)] ^T , noise k and M Transfer characteristic with a microphone at a frequency ω, in other words, b _k ^→ (ω) = [b _k1 (ω),..., B _kM (ω)] ^T is transmitted to each microphone included in the microphone array. The transfer characteristic at the frequency ω of the noise k of Note that the transfer characteristic A ^→ (ω) may be prepared in advance by a theoretical formula or simulation, not by prior measurement.

<Filter calculation unit 150>
The filter calculation unit 150 extracts the transfer characteristic A ^→ (ω) from the transfer characteristic storage unit 140, calculates the filter W ^→ (ω), and outputs it to the filtering unit 160. For example, a filter W ^→ (ω) used for signal processing for suppressing an acoustic signal from a specific position or direction is calculated.

The main point of the beamforming technique of the present invention is that a part of the plurality of electroacoustic transducers is arranged so that the transfer characteristic from the sound source outside the acoustic device is difficult to be modulated, and the rest is the transfer characteristic from the sound source. Is arranged so as to be easily modulated, and the transfer characteristic is made uncorrelated over a wide band. Therefore, since the filter design concept itself is not affected, the filter W ^→ (ω) can be designed by the same method as in the prior art. For example, <1> Filter design method based on the S / N ratio maximization criterion described in Reference 3, <2> Filter design method based on Power Inversion, <3> One or more blind spots (noise (4) Filter design method based on the minimum variance distortionless response method with the constraint that the gain is suppressed), <4> Filter design method based on the delay-and-sum beam forming method, and <5> Maximum likelihood method. The filter W ^→ (ω) can be designed by a filter design method, <6> AMNOR (Adaptive Microphone-array for Noise Reduction) method, or the like.
[Reference 3] International Publication No. WO2012 / 088684 Pamphlet

For example, when the delay sum method is used as a base, the filter W ^→ _DS1 (ω) is calculated by the equation (16).

Further, for example, when the maximum likelihood method is used as a base, the filter W ^→ _DS2 (ω) is calculated by Expression (17).

Further, for example, in the case of a filter design method based on the minimum variance distortionless response method having one or more blind spots as constraints, the filter W ^→ _DS3 (ω) is calculated by the following equation.

Here, f _S (ω) and f _k (ω) represent the pass characteristics at the frequency ω with respect to the target sound and noise k (k = 1, 2,..., K), respectively. For example, in equation (18), if transfer characteristic a ^→ (ω) can be prepared in advance as transfer characteristic a ^→ (ω, θ) depending on direction θ, transfer characteristic a ^→ (ω, θ) is used. Thus, the filter W ^→ (ω, θ) is calculated, and the filtering unit 160 can perform signal processing in a specific direction θ _s . If transfer characteristic a ^→ (ω) can be prepared in advance as transfer characteristic a ^→ (ω, θ, D) depending on direction θ and distance D, transfer characteristic a ^→ (ω, θ, D) The filter W ^→ (ω, θ, D) is calculated, and the filtering unit 160 can perform signal processing at a specific position (a position specified by a specific direction θ _s and a distance D _H ).

<Filtering unit 160>
The filtering unit 160 receives the filter W ^→ (ω) from the filter calculation unit 150 in advance, receives the frequency domain signal X ^→ (ω, τ), and for each frequency ωεΩ for each frame τ, the frequency domain signal X ^→ (ω, τ) = [X ₁ (ω, τ), ..., X _M (ω, τ)] Applying filter W ^→ (ω) to ^T (see equation (5), s4), output The signal Y (ω, τ) is output.

For example, the filtering unit based on the collected signal by the second microphone 212-m ₂ collected signals and _two M of by the first microphone 211-m ₁ of ₁ M, at least a plurality of position or orientation in space What is necessary is just to make the sound collection characteristic of the emitted acoustic signal different. “Different sound collection characteristics” means, for example, locally collecting an acoustic signal emitted at a specific position so as not to collect an acoustic signal emitted at another position as much as possible, It means that the sound signal emitted at the position is suppressed (silenced) and only the sound signal emitted at another position is collected.

<Time domain conversion unit 170>
The time domain conversion unit 170 converts the output signal Y (ω, τ) of each frequency ω∈Ω of the τ-th frame into the time domain (s5), and converts the frame unit time domain signal y (τ) of the τ-th frame. Then, the obtained frame unit time domain signal y (τ) is connected in the order of the index of the frame number to output the time domain signal y (t). The method of converting the frequency domain signal to the time domain signal is an inverse transform corresponding to the transform method used in the process of s3, for example, a fast discrete inverse Fourier transform.

<Effect>
With such a configuration, the apparatus scale for a predetermined directivity can be made smaller than that of the conventional technology. At that time, a clue to distinguish the target sound and noise is included in the observation signal, so for example, by performing appropriate signal processing using a filter using transfer characteristics prepared in advance, it can be applied over a wide band. Arbitrary directional control is possible. In the present embodiment, the filter W ^→ (ω) is calculated in advance. However, the filter calculation unit 150 determines the frequency for each frequency after a predetermined directivity is determined according to the calculation processing capability of the sound collection device 10 and the like. The filter W ^→ (ω) may be calculated.

<Second embodiment>
The present invention may be handled as a playback device using a speaker.

  The present embodiment relates to a sound collection device that physically modulates transfer characteristics based on diffusion sensing. Instead of a microphone array composed of a plurality of microphones, a speaker array composed of a plurality of speakers is used. Accordingly, the external view is obtained by replacing the first microphone 211 and the second microphone 212 with the first speaker 311 and the second speaker 312, respectively, and the reflection structure 190, the horn 191, the sound transmission cover 192, and the diffusion structure 180. The same shape as that of the first embodiment is used (see FIGS. 7 to 11).

  The second speaker 312 can be installed inside a three-dimensional space formed by the reflective structure 190. In addition, the first speaker 311 can be installed on the upper wall of the reflective structure 190.

[Signal processing of playback device 30]
Consider performing directional control that is emphasized at control point D using M (≧ 2) speakers.

FIG. 14 and FIG. 15 show the functional configuration and processing flow of the playback apparatus 30 according to the second embodiment. Reproducing apparatus 30 of this second embodiment, the first speaker _311-m 1 of _{1 M, M 2} pieces of the second speaker _{312-m 2,} frequency domain transform section 300, filtering section 330, time domain transform section 340 A filter calculation unit 320 and a transfer characteristic storage unit 310. m ₁ = 1,2, ..., a _{M 1, m 2 = 1,2,} ..., a _{M 2,} an _{M 1 ≧ 1, M 2 ≧} 1, is a _M 1 ₊ M 2 = M.

  The signal source 200 outputs a sound source signal s (t). In this embodiment, it is assumed that the sound source signal s (t) from the signal source 200 is a digital signal. However, when an analog signal is used as the sound source signal, an AD conversion unit that performs AD conversion of the analog signal into the digital signal s (t) may be provided.

<Frequency domain conversion unit 300>
First, the frequency domain transform unit 300 receives a digital signal s (t), stores N samples in a buffer, and outputs a digital signal s (τ) in units of frames. Next, the frequency domain transform unit 300 converts the digital signal s (τ) of each frame into a frequency domain signal S (ω, τ) (s31) and outputs it.

<Transfer Characteristic Storage Unit 310 and Filter Calculation Unit 320>
The functional configurations of the transfer characteristic storage unit 310 and the filter calculation unit 320 are the same as in the first embodiment. For example, the filter calculation unit 320 extracts the transfer characteristic A ^→ (ω) from the transfer characteristic storage unit 310, calculates the filter W ^→ (ω) by the method described in Reference 4, and outputs it to the filtering unit 330. For example, a filter W ^→ (ω) used for signal processing for suppressing an acoustic signal in a specific position or direction is calculated.
[Reference 4] Yoichi Haneda, Akitoshi Kataoka, “Real-space performance of small speaker array based on multipoint control using free space transfer function”, Proc. Of the Acoustical Society of Japan, 2008, pp.631-632

<Filtering unit 330>
The filtering unit 330 receives the filter W ^→ (ω) from the filter calculation unit 320 in advance, receives the frequency domain signal S (ω, τ), and for each frequency ωεΩ for each frame τ, the frequency domain signal S ( (ω, τ) is applied with the filter W ^→ (ω) (see the following equation, s32), and the output signal Z ^→ (ω, τ) = [Z ₁ (ω, τ),..., Z _M (ω, τ)] is output.

For example, the filtering unit 330 into at least a plurality of positions in space, which varied reproduction characteristics of the acoustic signals emanating from the first speaker 311-m ₁ and M ₂ pieces of the second speaker 312-m ₂ of ₁ M If it is. “Different playback characteristics” means, for example, that an acoustic signal is locally reproduced at a specific position so that the acoustic signal is not reproduced at other positions as much as possible, and conversely, an acoustic signal is not reproduced at a specific position. This means that the sound signal is reproduced only at other positions.

<Time domain conversion unit 340>
The time domain transform unit 340 uses the reproduction signal Z ^→ (ω, τ) = [Z ₁ (ω, τ),..., Z _M (ω, τ)] of each frequency ω∈Ω of the τ-th frame in the time domain. (S33) to obtain a frame unit time domain signal z ^→ (τ) = [z ₁ (τ),..., Z _M (τ)] of the τ-th frame, and the obtained frame unit time domain The signal z ^→ (τ) = [z ₁ (τ),..., Z _M (τ)] is connected in the order of the frame number index, and the time domain signal z ^→ (t) = [z ₁ (t), …, Z _M (t)] is output. The method of converting the frequency domain signal into the time domain signal is an inverse transform corresponding to the transform method used in the process of s31, for example, a fast discrete inverse Fourier transform.

<First speaker 311 -m ₁ , second speaker 312 -m ₂ >
M-channel time domain signals z ₁ (t),..., Z _M (t) are respectively M ₁ first speakers 311 -m ₁ and M ₂ second speakers 312 -m ₂ constituting the speaker array. Is reproduced by the speaker corresponding to the channel (s34). The first speaker _{311-m 1 1} or M of is installed on the outside of the reflective structure 190, the second speaker _{312-m 2} of the _{two M} is installed on the inside of the reflective structure 190.

<Effect>
With such a configuration, the apparatus scale for a predetermined directivity can be made smaller than that of the conventional technology. In this embodiment, the filter W ^→ (ω) is calculated in advance. However, the filter calculation unit 320 performs the filter for each frequency after a predetermined directivity is determined according to the calculation processing capability of the reproducing device 30 and the like. It may be configured to calculate W ^→ (ω).

<Other variations>
The present invention is not limited to the above-described embodiments and modifications. For example, the various processes described above are not only executed in time series according to the description, but may also be executed in parallel or individually as required by the processing capability of the apparatus that executes the processes. In addition, it can change suitably in the range which does not deviate from the meaning of this invention.

<Program and recording medium>
The sound collecting device and the reproducing device described above can also be functioned by a computer. In this case, a program for causing a computer to function as a target device (device having the functional configuration shown in the drawings in various embodiments) or each process of the processing procedure (shown in each embodiment) in the computer. What is necessary is just to make the computer run the program for performing. The program can be recorded on a computer-readable recording medium such as a magnetic recording device, an optical disk, a magneto-optical recording medium, or a semiconductor memory. When causing a computer to execute a program, the program may be read from a recording medium, or may be downloaded from a server or the like on which the program is recorded via a communication line.

  The present invention can be used for narrow-directional speech enhancement technology, speech spot enhancement technology, narrow-directional speech reproduction technology, and speech spot reproduction technology. It can also be used for AGC (Auto Gain Control) technology and area sound collection and reproduction technology.

Claims (8)

At least one first microphone arranged so that a transfer characteristic from a control point outside the sound pickup device is difficult to be modulated;
At least one second microphone arranged to facilitate modulation of the transfer characteristic from the control point ;
A filtering unit that varies sound collection characteristics of acoustic signals emitted from at least a plurality of positions or directions in space based on the sound collection signal from the first microphone and the sound collection signal from the second microphone;
The filtering unit performs signal processing using a fact that a correlation between transfer characteristics of the first microphone and the second microphone becomes small due to a difference in arrangement between the first microphone and the second microphone.
Sound collection device. A sound collection device including at least a first microphone and a second microphone,
A reflection unit arranged to modulate the transfer characteristic from the control point to the second microphone without modulating the transfer characteristic from the control point outside the sound collection device ;
A filtering unit that varies sound collection characteristics of acoustic signals emitted from at least a plurality of positions or directions in space based on the sound collection signal from the first microphone and the sound collection signal from the second microphone;
The filtering unit performs signal processing using a fact that a correlation between transfer characteristics of the first microphone and the second microphone becomes small due to a difference in arrangement between the first microphone and the second microphone.
Sound collection device. A reflection part made of a material capable of reflecting sound, having an opening, and forming a three-dimensional space other than the opening;
A first microphone disposed outside the three-dimensional space;
A second microphone disposed inside the three-dimensional space ;
A filtering unit that varies sound collection characteristics of acoustic signals emitted from at least a plurality of positions or directions in space based on the sound collection signal from the first microphone and the sound collection signal from the second microphone;
The filtering unit performs signal processing using a fact that a correlation between transfer characteristics of the first microphone and the second microphone becomes small due to a difference in arrangement between the first microphone and the second microphone.
Sound collection device.   A sound collection device that performs a filtering process using the fact that the correlation of transfer characteristics between microphones is small,
  A reflection part made of a material capable of reflecting sound, having an opening, and forming a three-dimensional space other than the opening;
  A first microphone disposed outside the three-dimensional space;
  A second microphone disposed inside the three-dimensional space,
  The reflection unit is arranged so as not to modulate the transfer characteristic from the control point outside the sound collecting device to the first microphone, but to modulate the transfer characteristic from the control point to the second microphone. Yes,
  Sound collection device. At least one first speaker arranged so that a transmission characteristic to a control point outside the reproduction device is difficult to be modulated;
At least one second speaker arranged to facilitate modulation of the transfer characteristic to the control point ;
Including at least a plurality of positions in space, a filtering unit that varies the reproduction characteristics of the acoustic signals emitted from the first speaker and the second speaker,
The filtering unit performs signal processing using the fact that a correlation between transfer characteristics of the first speaker and the second speaker is reduced due to a difference in arrangement between the first speaker and the second speaker.
Playback device. A playback device including at least a first speaker and a second speaker,
A reflection unit arranged to modulate the transfer characteristic from the second speaker to the control point without modulating the transfer characteristic from the first speaker to the control point outside the playback device ;
Including at least a plurality of positions in space, a filtering unit that varies the reproduction characteristics of the acoustic signals emitted from the first speaker and the second speaker,
The filtering unit performs signal processing using the fact that a correlation between transfer characteristics of the first speaker and the second speaker is reduced due to a difference in arrangement between the first speaker and the second speaker.
Playback device. A reflection part made of a material capable of reflecting sound, having an opening, and forming a three-dimensional space other than the opening;
A first speaker disposed outside the three-dimensional space;
A second speaker disposed inside the three-dimensional space ;
Including at least a plurality of positions in space, a filtering unit that varies the reproduction characteristics of the acoustic signals emitted from the first speaker and the second speaker,
The filtering unit performs signal processing using the fact that a correlation between transfer characteristics of the first speaker and the second speaker is reduced due to a difference in arrangement between the first speaker and the second speaker.
Playback device.   A playback device that performs filtering using the fact that the correlation between transfer characteristics between speakers is reduced,
  A reflection part made of a material capable of reflecting sound, having an opening, and forming a three-dimensional space other than the opening;
  A first speaker disposed outside the three-dimensional space;
  A second speaker disposed inside the three-dimensional space,
  The reflection unit is arranged so as not to modulate the transfer characteristic from the first speaker to the control point outside the playback device, but to modulate the transfer characteristic from the second speaker to the control point. Yes,
  Playback device.

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