KR100390379B1 - Automatic direction detecting apparatus and method thereof - Google Patents

Abstract

1. TECHNICAL FIELD OF THE INVENTION

The present invention relates to an apparatus for automatically detecting the direction of a sound source in which sound is generated in a moving object such as an autonomous mobile robot, and a method and a computer-readable recording medium having recorded thereon a program for realizing the method.

2. The technical problem to be solved by the invention

SUMMARY OF THE INVENTION An object of the present invention is to provide a low cost and accurate direction detecting apparatus and a method thereof and a computer readable recording medium storing a program for realizing the method.

3. Summary of Solution to Invention

The present invention provides an automatic direction detecting method applied to an automatic direction detecting apparatus of a moving object, wherein the reference point of a waveform received for each path is detected by detecting a waveform having a predetermined period received by the receiving units installed in different directions from the moving object. Detecting a first step; A second step of calculating a time difference of the received signal for each path based on a correlation value according to a correlation between a waveform received for each path and a reference waveform; And a third step of detecting a direction in which the sound source is generated based on a time difference between the reference points measured for each path.

4. Important uses of the invention

The present invention is used to detect the direction in which sound is generated in a moving object such as an autonomous mobile robot.

Description

Automatic direction detection device and its method {AUTOMATIC DIRECTION DETECTING APPARATUS AND METHOD THEREOF}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction detection in a moving object such as an autonomous mobile robot, and more particularly, to an apparatus and method for detecting a direction in which a sound source is generated, and a computer readable recording medium having recorded thereon a program for realizing the method. will be.

In general, a moving object such as an autonomous mobile robot or the like guides the direction of movement by a guide system installed on the floor or a guide system using infrared rays or the like. However, these guide systems are expensive and there are many problems in reinstalling the system if the movement path or space arrangement is changed. In addition, when the structure is changed by an earthquake or the like, the existing direction guide system has a problem in that the guideline is changed or the emission direction of the infrared light is not used.

SUMMARY OF THE INVENTION The present invention has been proposed to solve the above problems, and an object of the present invention is to provide a low-cost, high-precision direction detecting apparatus, a method, and a computer-readable recording medium having recorded thereon a program for realizing the method. have.

It is another object of the present invention to provide an apparatus and method for easily detecting and changing a direction, and a computer-readable recording medium having recorded thereon a program for realizing the method.

1 is a schematic block diagram of a waveform generator according to an embodiment of the present invention;

Figure 2a, 2b is a schematic block diagram of a waveform receiving apparatus according to an embodiment of the present invention.

3A and 3B show basic waveforms in accordance with an embodiment of the present invention.

4 illustrates waveforms received in multiple paths according to an embodiment of the invention.

5 is a control flowchart for detecting a direction according to an embodiment of the present invention.

6 is a control flowchart for detecting a direction according to another embodiment of the present invention.

7 is a conceptual diagram for detecting a direction by a trigonometry according to another embodiment of the present invention.

* Explanation of symbols for the main parts of the drawings

100: control unit 110: digital-to-analog converter

120: amplifier 130: memory

140: wireless receiver 200: processor

210: waveform detection unit 220: analog to digital conversion unit

221, 222, 229: receiver 230: storage

240: wireless transmission unit

According to an aspect of the present invention, there is provided an apparatus for detecting a direction of a moving object, comprising: a waveform generator for generating and outputting a reference waveform having a predetermined period and having a specific reference point within one period; And receiving a waveform output from the waveform generator by two or more multipaths, calculating a time of arrival of a received signal along each path, and obtaining a time difference by each reception time to detect a direction in which sound is generated. Including a receiving device, wherein the waveform receiving device, at least two receiving units installed in different directions to receive the waveform according to the multi-path; An analog / digital converter for converting the analog signals output from the at least two receivers into digital signals; A waveform detector for detecting a reference point of a waveform from the signal output from the analog / digital converter; And a processor for detecting a position at which sound is generated by a time difference of each received waveform reference point according to the multi-path detected by the waveform detector.

In addition, the method of the present invention is an automatic direction detecting method applied to an automatic direction detecting apparatus of a moving object, wherein the waveform is received for each path by detecting a waveform having a predetermined period received from a receiving unit provided in different directions from the moving object. Detecting a reference point of the waveform; A second step of calculating a time difference of the received signal for each path based on a correlation value according to a correlation between a waveform received for each path and a reference waveform; And a third step of detecting a direction in which the sound source is generated based on a time difference between the reference points measured for each path.

On the other hand, another apparatus of the present invention, the apparatus for detecting the direction of the moving object, the waveform generating device for generating and outputting the distance measurement signal in response to the signal generation request received from the moving object; And measuring and storing a position according to a moving distance and a moving direction of the moving object, and when the moving distance of the moving object reaches a predetermined value or more, measures a distance from the waveform generating device according to the distance measuring signal received from the waveform generating device. It includes a waveform receiving device mounted on the moving object for detecting the direction in which the waveform generator is located.

In addition, another method of the present invention, the automatic direction detection method applied to the automatic direction detection apparatus of the moving object, the first step of measuring the position according to the movement of the moving body; A second step of measuring a distance from a waveform generating device when the moving distance becomes a predetermined value or more; And a third step of detecting the direction of the waveform generator by the position of the measured moving object and the distance from the waveform generator.

On the other hand, the present invention, in the automatic direction detecting apparatus for a moving object having a processor, to detect a waveform having a predetermined period received by the receiving unit provided in the different directions from the moving object to detect the reference point of the waveform received for each path First function; A second function of calculating a time difference of the received signal for each path based on a correlation value according to the correlation between the waveform received for each path and the reference waveform; And a computer-readable recording medium having recorded thereon a program for realizing a third function of detecting a direction in which a sound source is generated by a time difference between the reference points measured for each path.

The present invention also provides an automatic direction detecting apparatus for a moving object having a processor, comprising: a first function of measuring a position according to the movement of the moving object; A second function of measuring a distance from a waveform generating device when the moving distance becomes a predetermined value or more; And a computer readable recording medium having recorded thereon a program for realizing a third function of detecting the direction of the waveform generator by the measured position of the moving object and the distance from the waveform generator.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail. In the following description, numerous specific details are set forth, such as a specific configuration, which are provided to assist in a more general understanding of the present invention, and the present invention may be practiced without these specific details. It is self-evident to those who have. In the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. The above objects, features and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

1 is a schematic block diagram of a waveform generator according to an embodiment of the present invention.

2A and 2B are schematic block diagrams of a waveform receiving apparatus according to an exemplary embodiment of the present invention.

3A and 3B are diagrams showing basic waveforms according to embodiments of the present invention.

4 is a view showing a waveform received in multiple paths according to an embodiment of the present invention.

5 is a control flowchart for detecting a direction according to an embodiment of the present invention.

6 is a control flowchart for detecting a direction according to another embodiment of the present invention.

7 is a conceptual diagram for detecting a direction by a trigonometry according to another embodiment of the present invention.

First, a waveform generator and a waveform receiver according to a first embodiment of the present invention will be described with reference to FIGS. 1, 2A, and 2B.

In the first embodiment according to the present invention, the waveform generator generates and outputs a reference waveform having a certain reference point and a specific reference point within one period, and includes a memory 130 for storing data for waveform generation, and a memory. The controller 100 reads data for waveform generation from the controller 130 and generates a digital signal having a predetermined period, and the digital analog converter 110 converts and outputs the digital signal generated from the controller 100 into an analog signal. And an amplifier 120 for amplifying and outputting an analog signal output from the digital analog converter 110, and a speaker for outputting a signal output from the amplifier 120.

In the waveform receiving apparatus according to the first embodiment of the present invention, the waveform output from the waveform generating apparatus receives two or more multipaths, and detects a direction by a time difference according to the detection of each waveform reference point received in the multipath, Analog-to-digital conversion for converting two or more receivers 221, 222, and 229 installed in different directions and analog signals output from the receivers 221, 222, and 229 to receive waveforms according to multipaths. The time difference between the received waveform reference point according to the multi-path detected by the waveform detector 210 and the waveform detector 210 for detecting the reference point of the waveform from the signal output from the unit 220 and the analog-to-digital converter 220. It is configured to include a processor 200 for detecting a position where the sound is generated by.

In this case, the waveform detector 210 includes a reference waveform generator 214 that generates a reference waveform by a predetermined control signal, a correlator 211 that correlates the input signal with the reference waveform, The reference waveform generator 214 is controlled by an integrator 212 that integrates the value output from the correlator 211 by a predetermined interval, and the reference waveform generator 214 is delayed to generate the reference waveform or one correlation value. And a time detector 213 for measuring the time of the input signal due to stationary abnormality.

Meanwhile, the receivers 221, 222, and 229 may be generally installed at the front and left and right sides of the movable body, and may be configured as directional microcomputers.

Hereinafter, an operation according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5.

The waveform generator periodically generates a wavelet waveform as shown in FIG. 3A. The wavelet waveform has a constant period T, as shown, and has a reference point (the point where the amplitude is highest) within one period. In this case, the wavelet waveform may be implemented by a sink function as shown in Equation 1 below.

In the embodiment according to the present invention, the waveform generation can be configured inexpensively by using the low band without using the high frequency radio frequency, and the waveform generator can be moved independently to facilitate installation and modification. In addition, by performing the direction guidance by sound rather than the direction guide by the existing guideline or infrared guide, there is an advantage that no reinstallation or adjustment is required even when the structure is changed by an earthquake or the like.

The reference waveform generated by the waveform generator may be a triangular wave having a specific reference point (one of the highest and lowest amplitudes) within one period. The operation for generating the reference waveform has been described above.

The operation of the waveform receiver detected in the moving object when the reference waveform is generated at regular intervals will be described with reference to FIG. 5.

In operation 500 of FIG. 5, the processor 200 determines whether a waveform is received by the receivers 221, 222, and 229. When the waveform is received, the process proceeds to step 510 to detect the reference point. As shown in FIG. 3B, the reference point can be detected by finding a point having the highest mtitude by the product of a narrow square wave and a received signal.

In this case, the receivers 221, 222, and 229 may be generally formed in three pieces and may be installed at the front and the left and right sides of the moving object.

After detecting the arrival time of the received signal according to each of the multi-paths, as shown in FIG. 4, a time difference of the received signal according to each reference point is obtained (step 520). In this embodiment, as shown in FIG. 3, the time difference according to the reference point detection may be accurately detected by using the wavelet waveform having a large attenuation before and after the center of the waveform. If the time difference of the signal received by the multi-path in step 530 is a predetermined or more go to step 540 to change the direction of the moving object, otherwise return to step 500. That is, the moving direction of the moving body is changed in the direction of minimizing the time difference. When the sound source is located in front of the moving object, since the time difference between the receivers installed on the left and right is the same, the time difference for each received signal according to the multi-path is minimized.

As described above, the time difference detection according to the multi-path may be performed according to the correlation between the signal generated by the reference waveform generator 214 and the received signal by the configuration shown in FIG. 2B. When the received signal is input to the correlator 211, the time detector 213 outputs the same reference waveform as the waveform generated by the waveform generator (FIG. 1) through the reference waveform generator 214 and inputs the same to the correlator 211. The correlator 211 correlates the received signal with the signal generated by the reference waveform generator 214 and outputs it to the integrator 212. The integrator 212 integrates a signal output from the correlator 211 for a predetermined interval and outputs an integral value to the time detector 213. The time detector 213 determines that the received signal coincides with the reference waveform when the integral value is greater than or equal to a predetermined value (synchronized). If the integral value is less than or equal to the predetermined value, the reference waveform generator 214 is controlled to delay and output the generated reference waveform for a predetermined time. The subsequent operation is as described above. Therefore, it may be determined that the received signal arrives at the delay time having the highest correlation with the received signal.

That is, it is possible to calculate the arrival time of the signal received by each of the multipaths while synchronizing the receiving unit as a reference and predelaying the reference waveform matched with the synchronization.

By the above operation, the arrival time of the received signal according to each of the multiple paths can be calculated, and the time difference by the respective reception time can be obtained. In an embodiment according to the present invention, the arrival time of a received signal is calculated using the highest self correlation value.

Hereinafter, a brief description of a first embodiment according to the present invention.

The waveform generator generates a wavelet waveform having a predetermined period, and obtains a time difference between arrivals of each waveform received in a multipath by autocorrelation or reference point detection of the wavelet waveform to detect a direction in which sound is generated.

Hereinafter, the waveform generator and the waveform receiver in the second embodiment according to the present invention will be described with reference to FIGS. 1, 2A, and 2B.

In the second embodiment according to the present invention, the waveform generator generates and outputs a distance measurement signal by a signal generation request received from a moving object. The waveform generator includes a memory 130 storing data for generating a ranging signal, a wireless receiving unit 140 for receiving a signal for requesting generation of the ranging signal transmitted from the waveform receiving device, and generating a ranging signal. The controller 100 reads the data for generating the distance measurement signal from the memory 130 by a signal requesting the digital signal and outputs the digital signal, and the digital signal converted from the digital signal output from the controller 100 into an analog signal. It includes an analog converter 110, an amplifier 120 for amplifying and outputting the analog signal output from the digital analog converter 110, and a speaker for outputting the signal output from the amplifier 120.

In the second embodiment of the present invention, the waveform receiving apparatus measures and stores the position according to the moving distance and the moving direction of the moving object. When the moving distance of the moving object is more than a certain level, the waveform is generated according to the distance measuring signal received from the waveform generating device. The distance to the device is measured to detect the direction in which the waveform generator is located.

The waveform receiving apparatus includes a wireless transmitter 240 for transmitting a signal for requesting generation of a distance measuring signal for measuring the distance between the waveform generating apparatus and the waveform receiving apparatus, and for receiving the distance measuring signal transmitted from the waveform generating apparatus. A receiver 221, an electronic compass 250 for detecting a movement direction along the movement path of the waveform receiving apparatus, a movement distance detection sensor 260 for detecting a movement distance along the movement path of the waveform receiving apparatus, and an electronic The compass 250 and the movement distance detection sensor 260 measure the position according to the movement distance and the direction of the moving object, and when the movement distance becomes more than a predetermined value, the waveform is generated by the wireless transmitter 240 and the receiver 221. And a processor 200 for measuring a distance from the apparatus and detecting a direction of the waveform generator based on the position of the moving object and the distance between the waveform generator.

In this case, the distance measurement between the waveform generator and the moving object is performed by measuring the time from the time when the distance measurement request signal is transmitted by the wireless transmitter 240 to the time point when the distance measurement signal is received by the waveform detector 210.

The operation for measuring the distance will now be described in detail.

First, the distance measurement request signal is transmitted to the wireless transmitter 240, and the processor 200 notifies the waveform detector 210 that the distance measurement request signal has been transmitted. The waveform detector 210 drives a timer (not shown) from this time. Thereafter, the distance measurement signal received by the receiver 221 is digitally modulated by the analog-to-digital converter 220, and an accurate reception time is measured through the digitally modulated signal. By measuring the reception time, the distance from the waveform generator can be measured.

Hereinafter, the operation of the second embodiment according to the present invention will be described below with reference to FIGS. 1 to 4, 6, and 7.

In step 600 of FIG. 6, the waveform receiver (FIG. 2A) measures the position of the moving object. The measurement is performed by measuring the moving direction and distance by the electronic compass 250 and the moving distance detection sensor 260. The measurement data may be composed of coordinate data according to a three-dimensional virtual space. Set the initial position to (Dx = 0, Dy = 0, Dz = 0), set the north-south direction to the Y axis, the east-west direction to the X axis, and the up and down to the Z axis to measure the position of the moving object by measuring the travel distance and direction. Can be.

In step 610, the processor 200 accumulates the moving distance by the movement of the moving object at the initial position. If the accumulated distance is greater than or equal to a predetermined value, the processor 200 proceeds to step 630, and otherwise returns to step 600. That is, if the moving distance of the sub-unit section is Sx, Sy, Sz, the accumulated moving distance may be expressed as follows.

Dx = Dx + Sx

Dy = Dy + Sy

Dz = Dz + Sz

Therefore, step 620 may be expressed as Equation 2 below.

The first Dx, Dy, and Dz obtained by the step 620 becomes D1, and the second and third obtained data are D2 and D3.

If the cumulative distance is greater than or equal to a predetermined value in step 620, the process proceeds to step 630 and measures the distance LS from the position of the moving object to the sound source (waveform generator). In step 620, when the cumulative distance is greater than or equal to a predetermined value, the distance measurement request signal is transmitted to the waveform generator through the wireless transmitter 240, and the waveform generator (FIG. 1) receiving the signal transmits the signal for distance measurement. By sending. Details are as described above.

division D _x D _y D _z LS D1 2 3 0 6 D2 4 5 0 5 D3 3 6 0 4 When the position of the moving object and the distance data with the waveform generating device measured by step 640 of FIG. 6 are three or more times, the flow proceeds to step 650 to detect the direction of the waveform generating device (Fig. 1) from the moving object. In general, it is well known that the position of a specific point can be known by trigonometry (FIG. 7) by knowing the distance from any three points to a specific point, and thus a detailed description thereof will be omitted.

When the direction of the waveform generator is detected in step 650, the oldest data D1 is deleted from the data (Table 1) of the storage unit 230 and the process returns to step 600.

That is, the oldest data D1 is deleted and updated with new data, and the second (D2) and third old data (D3) correct the data with the first (D1) and the second data (D2), respectively. Table 2 below shows an example.

division D _x D _y D _z LS D1 (data from D2) 4 5 4 5 D2 (data in D3) 3 6 4 4 D3 (Updated Data) 5 7 4 3 Briefly describing the second embodiment according to the present invention is as follows.

Measure the position according to the movement of the moving object, and if the moving distance is more than a certain value, measure the distance from the waveform generator, and adjust the direction of the waveform generator by the trigonometry from the measured position of the moving object and the distance from the waveform generator. Detect.

In the second embodiment according to the present invention, the time detection according to the autocorrelation has not been described, but the distance between the waveform generator and the moving object can be measured by the above autocorrelation. In addition, although the first and second embodiments of detecting the direction in which the sound is generated are independently described, they can be mutually complementary and organic simultaneously. Of course, the method of the present invention as described above can be implemented as a program and It may be stored in a readable recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.).

On the other hand, the present invention described above has been described with respect to specific embodiments, of course, various modifications are possible without departing from the scope of the invention. That is, the present invention is not limited to the above-described embodiments and the accompanying drawings, and it is common in the art that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the scope of the following claims, but also by the equivalents of the claims.

As described above, the present invention generates a wavelet waveform having a predetermined period through a waveform generator, and obtains a time difference between the respective waveforms received in multipaths by autocorrelation or reference point detection of the wavelet waveform to generate sound. Or measure the position according to the movement of the moving object, measure the distance to the waveform generator when the moving distance is over a certain value, and generate the waveform by trigonometry from the measured position of the moving object and the distance to the waveform generator. By detecting the direction of the device, it is possible to provide an inexpensive and accurate direction detecting device, which is easy to install and change.

Claims (17)

delete In the apparatus for detecting the direction of the moving object, A waveform generator for generating and outputting a reference waveform having a certain period and having a specific reference point within one period; And Receive the waveform output from the waveform generator in two or more multi-path, calculate the arrival time of the received signal according to each path, and obtain the time difference by the respective reception time to receive the waveform to detect the direction in which sound is generated Including devices, The waveform receiver, At least two receivers installed in different directions to receive waveforms according to multiple paths; An analog / digital converter for converting the analog signals output from the at least two receivers into digital signals; A waveform detector for detecting a reference point of a waveform from the signal output from the analog / digital converter; And And a processor for detecting a position at which sound is generated by a time difference of each received waveform reference point according to the multi-path detected by the waveform detector. The method of claim 2, The waveform detector, A reference waveform generator for generating a reference waveform by a predetermined control signal; A correlator for correlating an input signal with the reference waveform; An integrator for integrating a value output from the correlator for a predetermined interval; And And a time detector for delaying the reference waveform by controlling the reference waveform generator based on the integral value of the integrator, or measuring a time of the input signal by the correlation value being greater than or equal to a predetermined value. The method of claim 2 or 3, The waveform generator, A memory storing data for generating the waveform; A controller configured to read data for waveform generation from the memory and generate a digital signal having a predetermined period; A digital / analog converter converting and outputting the digital signal generated from the controller into an analog signal; An amplifier for amplifying and outputting an analog signal output from the digital / analog converter; And Automatic direction detecting device including a speaker for outputting the signal output from the amplifier. delete In the automatic direction detection method applied to the automatic direction detection device of a moving object, A first step of detecting a reference point of a waveform received for each path by detecting a waveform having a predetermined period received by the receiving units installed in different directions from the moving object; A second step of calculating a time difference of the received signal for each path based on a correlation value according to a correlation between a waveform received for each path and a reference waveform; And And a third step of detecting a direction in which the sound source is generated based on a time difference between the reference points measured for each path. The method of claim 6, The reference point, Automated direction detection method characterized in that the point in the period of the waveform is the highest or lowest emprede. The method of claim 6, The received waveform is, An automatic direction detection method characterized by a wavelet waveform or a sink function waveform or a triangular waveform. In the apparatus for detecting the direction of the moving object, A waveform generator for generating and outputting a distance measurement signal in response to a signal generation request received from the moving object; And Measuring and storing the position according to the moving distance and the moving direction of the moving object, and if the moving distance of the moving object is a predetermined or more, the distance from the waveform generating device according to the distance measurement signal received from the waveform generating device by measuring the waveform An automatic direction detecting device comprising a waveform receiving device mounted on the moving object for detecting the direction in which the generator is located. The method of claim 9, The waveform generator, A memory storing data for generating a ranging signal; A wireless receiver configured to receive a signal for requesting generation of the ranging signal transmitted from the waveform receiving apparatus; A controller which reads data for generating the ranging signal from the memory and outputs a digital signal by a signal requesting the generation of the ranging signal; A digital / analog converter converting and outputting a digital signal output from the controller into an analog signal; An amplifier for amplifying and outputting an analog signal output from the digital / analog converter; And Automatic direction detecting device including a speaker for outputting the signal output from the amplifier. The method according to claim 9 or 10, The waveform receiving device, A wireless transmitter for transmitting a signal requesting generation of a distance measuring signal for measuring a distance between the waveform generator and the waveform receiver; A receiver for receiving a distance measurement signal transmitted from the waveform generator; An electronic compass for detecting a moving direction according to a moving path of the waveform receiving device; A movement distance detection sensor for detecting a movement distance along the movement path of the waveform receiving device; And Measure the position according to the moving distance and the direction of the moving object by the electronic compass and the moving distance detecting sensor, and when the moving distance is greater than or equal to a predetermined value, measure the distance from the waveform generator by the wireless transmitter and the receiving unit. And a processor for detecting a direction of the waveform generator based on a position of the moving object and a distance between the waveform generator. In the automatic direction detection method applied to the automatic direction detection device of a moving object, A first step of measuring a position according to the movement of the movable body; A second step of measuring a distance from a waveform generating device when the moving distance becomes a predetermined value or more; And And a third step of detecting a direction of the waveform generator based on the measured position of the moving object and the distance from the waveform generator. The method of claim 12, The second step, A fourth step of transmitting a signal requesting generation of a distance measurement signal to the waveform generator when the moving distance of the moving object is greater than or equal to a predetermined value; And And a fifth step of measuring a distance from the waveform generating device based on a reception time of the distance measurement signal according to the signal transmission. The method according to claim 12 or 13, The third step, And detecting the direction of the waveform generator by trigonometry when the measured distance and direction of the moving object and the distance to the waveform generator are obtained three times. The method of claim 14, The direction of the moving body, The oldest data among the obtained three moving object position data and the distance data with the waveform generating device is the position data of the moving object newly acquired by the moving of the moving object along the direction of the waveform generating device previously detected, and the waveform generation. Automatic direction detection method characterized in that the updated with distance data to the device is detected again. In the automatic direction detection device of a moving object having a processor, A first function of detecting a reference point of a waveform received for each path by detecting a waveform having a predetermined period received by the receiving units installed in different directions from the moving object; A second function of calculating a time difference of the received signal for each path based on a correlation value according to the correlation between the waveform received for each path and the reference waveform; And A third function of detecting a direction of generation of a sound source by a time difference between the reference points measured for each path; A computer-readable recording medium having recorded thereon a program for realizing this. In the automatic direction detection device of a moving object having a processor, A first function of measuring a position according to the movement of the movable body; A second function of measuring a distance from a waveform generating device when the moving distance becomes a predetermined value or more; And A third function of detecting the direction of the waveform generator by the position of the measured moving object and the distance from the waveform generator; A computer-readable recording medium having recorded thereon a program for realizing this.