WO2008146565A1 - 音源方向検出方法、装置及びプログラム - Google Patents

音源方向検出方法、装置及びプログラム Download PDF

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Publication number
WO2008146565A1
WO2008146565A1 PCT/JP2008/058261 JP2008058261W WO2008146565A1 WO 2008146565 A1 WO2008146565 A1 WO 2008146565A1 JP 2008058261 W JP2008058261 W JP 2008058261W WO 2008146565 A1 WO2008146565 A1 WO 2008146565A1
Authority
WO
WIPO (PCT)
Prior art keywords
sound
sound source
source direction
direction detecting
detecting device
Prior art date
Application number
PCT/JP2008/058261
Other languages
English (en)
French (fr)
Inventor
Miki Sato
Original Assignee
Nec Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nec Corporation filed Critical Nec Corporation
Publication of WO2008146565A1 publication Critical patent/WO2008146565A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/003—Controls for manipulators by means of an audio-responsive input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/026—Acoustical sensing devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Acoustics & Sound (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

　ノイズを発する状態を持つ制御対象を有する音源方向検出装置における音源方向検出精度の向上を実現する。音源方向検出装置は、受音信号から音源の方向と指標を計算する手段と、前記制御対象の状態と、前記指標と所定の閾値の相対関係から受音信号が目的音であるか否か判定する手段と、目的音であれば前記方向を検出する手段と、を備える。音源方向検出装置は、制御対象がノイズ音を発生させる状態であるか否かに応じて、音声であるか否か判定を行い、音声であると判定されたときに、音源方向を検出する（図１）。
PCT/JP2008/058261 2007-05-30 2008-04-30 音源方向検出方法、装置及びプログラム WO2008146565A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007143876 2007-05-30
JP2007-143876 2007-05-30

Publications (1)

Publication Number Publication Date
WO2008146565A1 true WO2008146565A1 (ja) 2008-12-04

Family

ID=40074834

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058261 WO2008146565A1 (ja) 2007-05-30 2008-04-30 音源方向検出方法、装置及びプログラム

Country Status (1)

Country Link
WO (1) WO2008146565A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013072978A (ja) * 2011-09-27 2013-04-22 Fuji Xerox Co Ltd 音声解析装置および音声解析システム
JP2013097273A (ja) * 2011-11-02 2013-05-20 Toyota Motor Corp 音源推定装置、方法、プログラム、及び移動体
WO2016013286A1 (ja) * 2014-07-25 2016-01-28 シャープ株式会社 位相差算出装置、音源方向検知装置、および位相差算出方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111090A (ja) * 1991-10-14 1993-04-30 Nippon Telegr & Teleph Corp <Ntt> 受音装置
WO2001095314A1 (fr) * 2000-06-09 2001-12-13 Japan Science And Technology Corporation Dispositif et systeme acoustiques robotises
JP2002116794A (ja) * 2000-10-11 2002-04-19 Sony Corp ロボット制御装置およびロボット制御方法、並びに記録媒体
JP2004258289A (ja) * 2003-02-26 2004-09-16 Sony Corp ロボット制御装置および方法、記録媒体、並びにプログラム
WO2005076660A1 (ja) * 2004-02-10 2005-08-18 Mitsubishi Denki Engineering Kabushiki Kaisha 超指向性スピーカ搭載型移動体

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111090A (ja) * 1991-10-14 1993-04-30 Nippon Telegr & Teleph Corp <Ntt> 受音装置
WO2001095314A1 (fr) * 2000-06-09 2001-12-13 Japan Science And Technology Corporation Dispositif et systeme acoustiques robotises
JP2002116794A (ja) * 2000-10-11 2002-04-19 Sony Corp ロボット制御装置およびロボット制御方法、並びに記録媒体
JP2004258289A (ja) * 2003-02-26 2004-09-16 Sony Corp ロボット制御装置および方法、記録媒体、並びにプログラム
WO2005076660A1 (ja) * 2004-02-10 2005-08-18 Mitsubishi Denki Engineering Kabushiki Kaisha 超指向性スピーカ搭載型移動体

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013072978A (ja) * 2011-09-27 2013-04-22 Fuji Xerox Co Ltd 音声解析装置および音声解析システム
JP2013097273A (ja) * 2011-11-02 2013-05-20 Toyota Motor Corp 音源推定装置、方法、プログラム、及び移動体
WO2016013286A1 (ja) * 2014-07-25 2016-01-28 シャープ株式会社 位相差算出装置、音源方向検知装置、および位相差算出方法
JP2016031243A (ja) * 2014-07-25 2016-03-07 シャープ株式会社 位相差算出装置、音源方向検知装置、および位相差算出方法

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