WO2022259768A1 - 音響アクティブセンサ装置 - Google Patents
音響アクティブセンサ装置 Download PDFInfo
- Publication number
- WO2022259768A1 WO2022259768A1 PCT/JP2022/018059 JP2022018059W WO2022259768A1 WO 2022259768 A1 WO2022259768 A1 WO 2022259768A1 JP 2022018059 W JP2022018059 W JP 2022018059W WO 2022259768 A1 WO2022259768 A1 WO 2022259768A1
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- WIPO (PCT)
- Prior art keywords
- sound
- sensor device
- camera unit
- active sensor
- acoustic
- Prior art date
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- 238000001514 detection method Methods 0.000 claims abstract description 35
- 230000002093 peripheral effect Effects 0.000 claims description 13
- 230000004907 flux Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 5
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- 239000000470 constituent Substances 0.000 description 3
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- 229920005989 resin Polymers 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 230000001934 delay Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
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- 239000000806 elastomer Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
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Classifications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
- H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R9/00—Transducers of moving-coil, moving-strip, or moving-wire type
- H04R9/02—Details
- H04R9/025—Magnetic circuit
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R9/00—Transducers of moving-coil, moving-strip, or moving-wire type
- H04R9/06—Loudspeakers
Definitions
- the present disclosure relates to acoustically active sensor devices.
- Patent Document 1 discloses a display device capable of simulatively displaying sound pressure in a sound field space to be measured.
- the display device includes a display body having a plurality of displaceable parts and representing the sound field space, a plurality of microphones arranged in the sound field space, and the A plurality of driving units for displacing each part of the display according to the output of each microphone is provided.
- Patent Document 1 it is possible to acquire the position information of the object by detecting the direction of arrival of the sound, but it is not possible to acquire the image information of the object at the same time.
- An object of the present disclosure is to obtain an acoustic active sensor device capable of acquiring image information of an object as well as position information of the object with high precision.
- an acoustic active sensor device includes a camera unit, an acoustic actuator having a sound generation section that generates sound, and a reflected sound of the sound generated by the sound generation section.
- a sound detection unit having a plurality of microphones for detection, wherein the sound generation unit and the sound detection unit are arranged on the outer peripheral side of the camera unit.
- FIG. 1 is a plan view schematically showing the configuration of an acoustically active sensor device according to a first embodiment of the present disclosure
- FIG. 1 is a cross-sectional view schematically showing a cross-sectional structure of an acoustically active sensor device according to a first embodiment of the present disclosure
- FIG. 4 is a diagram for explaining a beamforming method using delay sum
- FIG. 3 is a plan view schematically showing the configuration of an acoustically active sensor device according to a second embodiment of the present disclosure
- FIG. 10 is a plan view schematically showing the configuration of an acoustically active sensor device according to a third embodiment of the present disclosure
- FIG. 11 is a cross-sectional view schematically showing a cross-sectional structure of an acoustic active sensor device according to a fourth embodiment of the present disclosure
- 4 is a plan view schematically showing the configuration of a frame and microphones
- FIG. 11 is a plan view schematically showing a modification of the configuration of the frame and microphone
- An acoustic active sensor device capable of acquiring position information of an object in space by emitting sound from a speaker into space and detecting reflected sound from the object with a microphone is known.
- the positional relationship (especially the angle) with the target object will differ between the camera unit and the microphone array, resulting in deviation. Therefore, the position of the object included in the image captured by the camera unit does not match the position information detected by the microphone array, and as a result, it is difficult to obtain the image information of the object with high accuracy. is.
- the present inventor arranged a camera unit in the center of the device, and arranged a microphone array concentrically around the camera unit, so that the central axis of the microphone array and the camera unit.
- the inventors have found that the central axis of the object can be matched with the central axis of the object, and thereby the image information of the object can be obtained with high accuracy, and the present disclosure has been conceived.
- An acoustic active sensor device includes a camera unit, an acoustic actuator having a sound generation unit that generates sound, and a plurality of microphones that detect reflected sound of the sound generated by the sound generation unit. and a detection unit, wherein the sound generation unit and the sound detection unit are arranged on the outer peripheral side of the camera unit.
- the central axes of the sound generating section, the sound detecting section, and the camera unit can be aligned. . Therefore, the positional relationship with the object is common among the sound generator, the sound detector, and the camera unit. Therefore, the position of the object included in the image captured by the camera unit can be accurately specified based on the position information detected by the sound detection unit, and as a result, the image information of the object can be obtained with high accuracy. It is possible to obtain
- the sound generator and the sound detector are arranged concentrically around the camera unit.
- the sound generating section has an annular diaphragm centered on the camera unit.
- the sound generating section has an annular diaphragm centered on the camera unit, it is possible to radiate the detection sound from the diaphragm whose central axis coincides with that of the sound detecting section and the camera unit. becomes.
- the sound detection section includes a first microphone array arranged outside the sound generation section.
- the first microphone array by arranging the first microphone array outside the sound generating section (on the side opposite to the camera unit), it is possible to configure the first microphone array with a large number of microphones.
- the distance between the plurality of microphones forming the first microphone array can be widened, it is advantageous for analysis of reflected sounds containing low-frequency components.
- the sound detection section includes a second microphone array arranged inside the sound generation section.
- the second microphone array by arranging the second microphone array inside the sound generating section (on the same side as the camera unit), it is possible to narrow the distance between the plurality of microphones constituting the second microphone array. , which is advantageous for analyzing reflected sounds containing high-frequency components.
- the acoustic actuator further includes a magnetic circuit that generates a magnetic flux for vibrating the sound generating section, a hole is formed in a central portion of the magnetic circuit in a plan view, and the camera unit is positioned within the hole.
- the front end portion of the camera unit protrudes forward from the front end portion of the sound generation portion with respect to the front traveling direction of the sound generated by the sound generation portion.
- the front end portion of the camera unit protrudes forward from the front end portion of the sound generating portion, so that the front end portion of the camera unit is used to control the directivity of the detection sound emitted from the sound generating portion. It is possible to function as a diffuser of
- FIG. 1 is a plan view schematically showing the configuration of an acoustic active sensor device 1 according to the first embodiment of the present disclosure.
- 2 is a cross-sectional view schematically showing a cross-sectional structure with respect to positions along line II-II shown in FIG.
- the acoustic active sensor device 1 includes a camera unit 2, an acoustic actuator, and a sound detection section 4.
- the camera unit 2 has a lens group, an image sensor such as a CCD or CMOS, and a signal processing circuit (all not shown).
- the acoustic actuator has a sound generator 3, a magnetic circuit 5, a bobbin 7, and a voice coil 8.
- the sound generator 3 has an inner edge 3A, an outer edge 3B, and a diaphragm 3C.
- the inner edge 3A, the outer edge 3B, and the diaphragm 3C are all annular, and are concentrically arranged from the inside in the order of the inner edge 3A, the diaphragm 3C, and the outer edge 3B centering on the central axis of the camera unit 2. It is
- the material of the inner edge 3A and the outer edge 3B is elastomer or the like, and the material of the diaphragm 3C is metal, resin, paper, fabric, or the like.
- the inner edge 3A has its inner peripheral edge fixed to the support member 6A, and its outer peripheral edge fixed to the inner peripheral edge of the diaphragm 3C by adhesion or the like.
- the material of the support member 6A is resin or the like.
- the outer edge 3B has its outer peripheral edge fixed to the frame 6B, and its inner peripheral edge fixed to the outer peripheral edge of the diaphragm 3C by adhesion or the like.
- the material of the frame 6B is resin or the like.
- a cylindrical bobbin 7 is fixed by adhesion or the like to the back surface of the diaphragm 3C (the surface opposite to the radiation direction of the detected sound).
- a voice coil 8 made of copper wire, silver wire, or the like is wound around the bobbin 7 .
- the magnetic circuit 5 has a plate 5A, a magnet 5B, and a yoke 5C.
- a voice coil 8 is arranged in the gap between the outer surface of the plate 5A and the inner surface of the end of the yoke 5C. As a result, the voice coil 8 is positioned within the magnetic field generated by the magnet 5B.
- the direction of the magnetic flux of the magnetic field generated by the magnet 5B is the horizontal direction of the paper surface within the gap.
- the direction of the current flowing through the voice coil 8 is the frontward direction or the depthward direction of the paper surface in the gap. Therefore, the voice coil 8 moves in the vertical direction in the drawing due to the current flowing through the voice coil 8. The light is emitted toward the space (in FIG. 2, the space above the plane of the paper).
- a hole 10 is formed through each member in the central portion (central portion in plan view) of the support member 6A, the plate 5A, the magnet 5B, and the yoke 5C. placed through.
- the sound detection unit 4 has a microphone board 4A and a microphone 4C.
- a through hole 4B is formed in the microphone substrate 4A, and the sound detection surface of the microphone 4C is exposed in the through hole 4B.
- the rear surface of the microphone 4C (the surface opposite to the sound detection surface) is fixed to the frame 6B.
- FIG. 7 is a plan view schematically showing the configuration of the frame 6B and the microphone 4C. 1 and 7, the microphone substrate 4A has an annular shape and is arranged concentrically with the diaphragm 3C around the central axis of the camera unit 2. As shown in FIG. That is, the sound generator 3 and the sound detector 4 are arranged concentrically around the camera unit 2 on the outer peripheral side thereof.
- the sound detection unit 4 has a plurality of microphones 4C arranged side by side at equal intervals along the circumferential direction of the ring, and the plurality of microphones 4C constitute a first microphone array.
- the first microphone array is arranged outside the ring of the diaphragm 3C (on the side opposite to the camera unit 2).
- FIG. 8 is a plan view schematically showing a modification of the configuration of the frame 6B and microphone 4C.
- a plurality of inner microphones 4C1 and a plurality of outer microphones 4C2 are alternately arranged in a double annular shape. As a result, the interval between the adjacent microphones 4C1 and 4C2 can be made smaller than the microphone size, and as a result, the analysis frequency can be increased.
- the acoustic active sensor device 1 radiates the detection sound generated by the sound generation unit 3 toward the space, and the sound reflected from the object located in the space is received by the plurality of microphones of the sound detection unit 4. Detect by 4C. Further, the acoustic active sensor device 1 acquires the position information of the object including the distance and direction by analyzing the detection result of the reflected sound by signal processing. As signal processing for specifying the position of the object, for example, a beamforming method using delay sums, which will be described later, can be used. Further, the acoustic active sensor device 1 captures an image of the space with the camera unit 2, and identifies the position of the object included in the captured image based on the position information detected by the sound detection unit 4. Get image information of an object.
- FIG. 3 is a diagram for explaining the beamforming method based on the sum of delays.
- FIG. 3 shows an example using eight microphones.
- a delay element is connected after each microphone, and outputs from all the delay elements are added by an adder.
- the delay time Dn in each delay element is calculated using the speed of light c, the distance d between the microphones, and the angle ⁇ between the front direction of the microphone array and the arrival direction of the reflected sound.
- an acoustic beam is formed by adding all the outputs after aligning the phases of the incident waves with the delay element connected to the rear stage of each microphone. Then, by scanning the space while changing the angle ⁇ , the arrival direction of the reflected sound (that is, the position of the object) is specified.
- the signal processing for identifying the position of the object is not limited to the beamforming method using the sum of delays, and other algorithms may be used.
- the sound generating section 3 and the sound detecting section 4 are arranged on the outer peripheral side of the camera unit 2 so that the sound generating section 3, the sound detecting section 4, and each center axis of the camera unit 2 can be matched. Therefore, the positional relationship with the object is common among the sound generator 3 , the sound detector 4 , and the camera unit 2 . Therefore, the position of the object included in the image captured by the camera unit 2 can be accurately specified based on the position information detected by the sound detection unit 4, and as a result, the image information of the object can be obtained. It is possible to acquire with high accuracy.
- the acoustically active sensor device 1 by arranging the sound generating section 3 and the sound detecting section 4 concentrically around the camera unit 2, the sound generating section 3, the sound detecting section 4, And it is possible to completely match the center axes of the camera units 2 .
- the sound generator 3 has the ring-shaped diaphragm 3C centered on the camera unit 2, so that the sound detector 4 and the camera unit 2 and the central axis It is possible to radiate the detection sound from the diaphragm 3C with the same .
- the first microphone array by arranging the first microphone array outside the sound generating section 3 (on the side opposite to the camera unit 2), the first It becomes possible to construct a microphone array. Moreover, since the distance between the plurality of microphones 4C constituting the first microphone array can be widened, it is advantageous for analysis of reflected sounds containing low-frequency components.
- the hole 10 is formed in the central portion of the magnetic circuit 5 in plan view, and the camera unit 2 is inserted through the hole 10, whereby the acoustic active sensor device 1, the camera unit 2 can be arranged in the center.
- FIG. 4 is a plan view schematically showing the configuration of the acoustic active sensor device 1 according to the second embodiment of the present disclosure.
- An acoustically active sensor device 1 according to the second embodiment includes a sound detection section 9 in place of the sound detection section 4 shown in FIG.
- the sound detection unit 9 has a microphone board 9A and a microphone 9C.
- a through hole 9B is formed in the microphone substrate 9A, and the sound detection surface of the microphone 9C is exposed in the through hole 9B.
- the reflected sound from the object reaches the microphone 9C via the through hole 9B, and the microphone 9C detects the reflected sound.
- the back surface of the microphone 9C (the surface opposite to the sound detection surface) is fixed to the support member 6A.
- the microphone board 9A has an annular shape and is arranged concentrically with the diaphragm 3C with the central axis of the camera unit 2 as the center. That is, the sound generator 3 and the sound detector 9 are arranged concentrically around the camera unit 2 on the outer peripheral side thereof.
- the sound detection unit 9 has a plurality of microphones 9C arranged side by side at equal intervals along the circumferential direction of the ring, and the plurality of microphones 9C constitute a second microphone array.
- the second microphone array is arranged inside the ring of the diaphragm 3C (on the same side as the camera unit 2).
- the acoustic active sensor device 1 by arranging the second microphone array inside the sound generating section 3, the distance between the plurality of microphones 9C constituting the second microphone array can be narrowed. This is advantageous for analysis of reflected sounds containing high-frequency components.
- FIG. 5 is a plan view schematically showing the configuration of the acoustic active sensor device 1 according to the third embodiment of the present disclosure.
- the acoustically active sensor device 1 according to the third embodiment includes a sound detection section 9 shown in FIG. 4 in addition to the sound detection section 4 shown in FIG.
- the first microphone array arranged outside the sound generating section 3 and the second microphone array arranged inside the sound generating section 3 are provided. This is advantageous for analysis of reflected sounds containing low frequency components and high frequency components.
- FIG. 6 is a cross-sectional view schematically showing the cross-sectional structure of the acoustic active sensor device 1 according to the fourth embodiment of the present disclosure.
- the front end of the camera unit 2 protrudes forward (upward in FIG. 6) than the front end of the sound generator 3 (upper end in FIG. 6).
- the front end of the camera unit 2 protrudes forward from the front end of the sound generator 3 , so that the front end of the camera unit 2 radiates from the sound generator 3 . It is possible to function as a diffuser for controlling the directivity of the detected sound.
- the present disclosure is particularly useful for application to object detection systems using acoustically active sensor devices.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
スピーカから空間に向けて音を放射し、対象物からの反射音をマイクで検出することにより、空間内における対象物の位置情報を取得可能な音響アクティブセンサ装置が知られている。
図1は、本開示の第1実施形態に係る音響アクティブセンサ装置1の構成を模式的に示す平面図である。また、図2は、図1に示したラインII-IIに沿った位置に関する断面構造を模式的に示す断面図である。
Dn=dn(n+1)cosθ/c
で表される。
図4は、本開示の第2実施形態に係る音響アクティブセンサ装置1の構成を模式的に示す平面図である。第2実施形態に係る音響アクティブセンサ装置1は、図1に示した音検出部4に代えて、音検出部9を備えて構成されている。
図5は、本開示の第3実施形態に係る音響アクティブセンサ装置1の構成を模式的に示す平面図である。第3実施形態に係る音響アクティブセンサ装置1は、図1に示した音検出部4に加えて、図4に示した音検出部9を備えて構成されている。
図6は、本開示の第4実施形態に係る音響アクティブセンサ装置1の断面構造を模式的に示す断面図である。
Claims (7)
- カメラユニットと、
音を発生する音発生部を有する音響アクチュエータと、
前記音発生部が発生した音の反射音を検出する複数のマイクを有する音検出部と、
を備え、
前記音発生部及び前記音検出部は、前記カメラユニットを中心としてその外周側に配置されている、音響アクティブセンサ装置。 - 前記音発生部及び前記音検出部は、前記カメラユニットを中心として同心円状に配置されている、請求項1に記載の音響アクティブセンサ装置。
- 前記音発生部は、前記カメラユニットを中心とした円環状の振動板を有する、請求項1又は2に記載の音響アクティブセンサ装置。
- 前記音検出部は、前記音発生部より外側に配置された第1のマイクアレイを含む、請求項1~3のいずれか一つに記載の音響アクティブセンサ装置。
- 前記音検出部は、前記音発生部より内側に配置された第2のマイクアレイを含む、請求項1~4のいずれか一つに記載の音響アクティブセンサ装置。
- 前記音響アクチュエータは、前記音発生部を振動させるための磁束を発生する磁気回路をさらに有し、
前記磁気回路の平面視中央部には孔部が形成されており、
前記カメラユニットは前記孔部内に配置されている、請求項1~5のいずれか一つに記載の音響アクティブセンサ装置。 - 前記音発生部が発生した音の正面進行方向に関して、前記カメラユニットの前端部は前記音発生部の前端部より前方に突出している、請求項1~6のいずれか一つに記載の音響アクティブセンサ装置。
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CN202280037322.6A CN117378221A (zh) | 2021-06-11 | 2022-04-18 | 声响有源传感器装置 |
JP2023527555A JPWO2022259768A1 (ja) | 2021-06-11 | 2022-04-18 | |
US18/529,327 US20240103161A1 (en) | 2021-06-11 | 2023-12-05 | Acoustic active sensor device |
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JP (1) | JPWO2022259768A1 (ja) |
CN (1) | CN117378221A (ja) |
WO (1) | WO2022259768A1 (ja) |
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JP2003274475A (ja) * | 2002-03-18 | 2003-09-26 | Citizen Electronics Co Ltd | 多機能型マイクロスピーカ |
US20050253957A1 (en) * | 2004-05-13 | 2005-11-17 | Stefan Gustavsson | Mobile electronic apparatus with camera that takes pictures through lens in speaker |
US20060269080A1 (en) * | 2004-10-15 | 2006-11-30 | Lifesize Communications, Inc. | Hybrid beamforming |
US20100110283A1 (en) * | 2008-10-30 | 2010-05-06 | Samsung Electronics Co., Ltd. | Camera lens module-integrated speaker assembly |
JP2015118386A (ja) * | 2012-12-27 | 2015-06-25 | パナソニックIpマネジメント株式会社 | 音声処理システム及び音声処理方法 |
JP2016054455A (ja) * | 2014-09-04 | 2016-04-14 | パナソニックIpマネジメント株式会社 | マイクアレイ調整装置及びマイクアレイ調整方法 |
US20160148057A1 (en) * | 2014-11-26 | 2016-05-26 | Hanwha Techwin Co., Ltd. | Camera system and operating method of the same |
US20210112363A1 (en) * | 2016-12-30 | 2021-04-15 | Zte Corporation | Data processing method and apparatus, acquisition device, and storage medium |
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2022
- 2022-04-18 WO PCT/JP2022/018059 patent/WO2022259768A1/ja active Application Filing
- 2022-04-18 JP JP2023527555A patent/JPWO2022259768A1/ja active Pending
- 2022-04-18 CN CN202280037322.6A patent/CN117378221A/zh active Pending
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2023
- 2023-12-05 US US18/529,327 patent/US20240103161A1/en active Pending
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JP2003274475A (ja) * | 2002-03-18 | 2003-09-26 | Citizen Electronics Co Ltd | 多機能型マイクロスピーカ |
US20050253957A1 (en) * | 2004-05-13 | 2005-11-17 | Stefan Gustavsson | Mobile electronic apparatus with camera that takes pictures through lens in speaker |
US20060269080A1 (en) * | 2004-10-15 | 2006-11-30 | Lifesize Communications, Inc. | Hybrid beamforming |
US20100110283A1 (en) * | 2008-10-30 | 2010-05-06 | Samsung Electronics Co., Ltd. | Camera lens module-integrated speaker assembly |
JP2015118386A (ja) * | 2012-12-27 | 2015-06-25 | パナソニックIpマネジメント株式会社 | 音声処理システム及び音声処理方法 |
JP2016054455A (ja) * | 2014-09-04 | 2016-04-14 | パナソニックIpマネジメント株式会社 | マイクアレイ調整装置及びマイクアレイ調整方法 |
US20160148057A1 (en) * | 2014-11-26 | 2016-05-26 | Hanwha Techwin Co., Ltd. | Camera system and operating method of the same |
US20210112363A1 (en) * | 2016-12-30 | 2021-04-15 | Zte Corporation | Data processing method and apparatus, acquisition device, and storage medium |
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CN117378221A (zh) | 2024-01-09 |
US20240103161A1 (en) | 2024-03-28 |
JPWO2022259768A1 (ja) | 2022-12-15 |
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