LOCALIZATION SYSTEM, ROBOT, LOCALIZATION METHOD, AND SOUND SOURCE LOCALIZATION PROGRAM
First Claim
1. A localization system for identifying a position of a sound source using propagation times of a sound wave propagating from the sound source to a plurality of microphones, comprising:
- an object detection unit which detects a position, a shape, and the like of a surrounding object present around the plurality of microphones; and
a sound source position estimation unit which estimates a position of the sound source based on the propagation times, whereinthe sound source position estimation unit has a reflection wave path estimation function for estimating a reflection wave path and its distance from the surrounding object identified by information from the object detection unit, and based on the reflection wave path and the distance, the sound source position estimation unit estimates the position of the sound source.
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Accused Products
Abstract
To measure an accurate positional relationship between an ultrasonic tag and a microphone and identify a sound source position, even if an object is present between the ultrasonic tag and the microphone. When a radio transmission unit transmits a radio wave, an ultrasonic wave transmission unit of an ultrasonic tag receives it and transmits an ultrasonic wave. Then, a plurality of microphones in an ultrasonic wave reception array unit receive the ultrasonic wave. A propagation time calculation unit calculates a time from when the radio wave is transmitted by the radio transmission unit till when an ultrasonic wave reaches each of the microphones in the ultrasonic wave reception array unit. A position estimation unit calculates the position (sound source) of the ultrasonic tag according to the arrival time at each of the microphones and the result of object detection while considering reflection of the ultrasonic wave.
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Citations
23 Claims
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1. A localization system for identifying a position of a sound source using propagation times of a sound wave propagating from the sound source to a plurality of microphones, comprising:
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an object detection unit which detects a position, a shape, and the like of a surrounding object present around the plurality of microphones; and a sound source position estimation unit which estimates a position of the sound source based on the propagation times, wherein the sound source position estimation unit has a reflection wave path estimation function for estimating a reflection wave path and its distance from the surrounding object identified by information from the object detection unit, and based on the reflection wave path and the distance, the sound source position estimation unit estimates the position of the sound source. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A localization method for measuring propagation times of an ultrasonic wave propagating from a sound source to a plurality of microphones configuring a microphone array and identifying a position of the sound source based on the propagation times, comprising
a radio wave transmission step for transmitting a radio wave including an ultrasonic wave transmission command to an ultrasonic tag provided to the sound source; -
an ultrasonic wave reception step for receiving, by the plurality of microphones, an ultrasonic wave transmitted from the ultrasonic tag in response to the ultrasonic wave transmission command; a propagation time calculation step for calculating propagation times required from a time that the radio wave is transmitted until times that the ultrasonic wave reaches the plurality of microphones; and a sound source position estimation step for estimating a reflective propagation path of the ultrasonic wave based on positional information and the like of the surrounding object which has been detected and identified regarding the surrounding object present around the microphone array and the propagation time for each of the microphones calculated in the propagation time calculation step, calculating a position of the ultrasonic tag, and estimating the position of the sound source. - View Dependent Claims (15, 16, 17, 18)
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19. A computer readable recording medium storing a sound source localization program for calculating propagation times of an ultrasonic wave propagating from a sound source to a plurality of microphones, and calculating a position of the sound source based on respective propagation times of a plurality of different ultrasonic waves detected by the plurality of microphones, the program causing a computer to perform:
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a transmitting operation control function for controlling a radio wave transmitting operation of a radio wave transmission unit which transmits a radio wave including an ultrasonic wave transmission command to an ultrasonic tag; a propagation time calculation function for calculating propagation times of an ultrasonic wave transmitted from the ultrasonic tag and received by the plurality of microphones, from a time that the radio wave is transmitted until a time that the ultrasonic wave reaches the respective microphones; and a position estimation computing function for, if a position of a reflective object present around a microphone array has been detected in advance, estimating a reflective propagation path of the ultrasonic wave from a detection result of the reflective object, and calculating a position of the ultrasonic tag based on the estimated reflective propagation path of the ultrasonic wave and the propagation time for each of the microphones calculated by the propagation time calculation function. - View Dependent Claims (20, 21, 22)
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23. A localization system for identifying a position of a sound source using propagation times of a sound wave propagating from the sound source to a plurality of microphones, comprising:
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object detection means for detecting a position, a shape, and the like of a surrounding object present around the plurality of microphones; and sound source position estimation means for estimating a position of the sound source based on the propagation times, wherein the sound source position estimation means has a reflection wave path estimation function for estimating a reflection wave path and its distance from the surrounding object identified by information from the object detection means, and based on the reflection wave path and the distance, the sound source position estimation means estimates the position of the sound source.
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Specification