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JP2012181178

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Notice
This translation is machine-generated. It cannot be guaranteed that it is intelligible, accurate,
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DESCRIPTION JP2012181178
The present invention provides an image display device capable of specifying and visualizing a
sound source position for generating an ultrasonic wave and suppressing a decrease in the
accuracy of specifying a sound source position. SOLUTION: Correction temperature setting
means for setting correction temperature of propagation velocity of ultrasonic waves detected by
first microphone group M1, M2 and second microphone group M3, M4 Ultrasonic wave to first
microphone group Calculating the angle to the sound source with respect to the first direction
based on the time difference of arrival of the first and the corrected temperature, and the angle
to the sound source with respect to the second direction based on the time difference of arrival
of ultrasonic waves to the second microphone group and the corrected temperature Sound
source position calculating means for calculating the sound source position from angles with
respect to the first and second directions, the sound source position calculated by the sound
source position calculating means, and the captured image displayed in the display area in
correspondence with the sound source position And correlation control means for correlating the
display position at the display position, and display control means for performing control of
displaying an identification image of the sound source position at the display position correlated
with the sound source position by the correlation means Equipped with a. [Selected figure] Figure
1
Image display device
[0001]
The present invention relates to an image display apparatus for displaying an image for
identifying the position of a sound source in a display area of a display means.
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1
[0002]
In Patent Document 1, the applicant uses five microphones to estimate the position of a sound
source based on the time difference of arrival time of sound between microphones, and to
capture an image in the vicinity of the estimated sound source position with a camera. A
technique relating to a sound source tracking system for displaying a sound source position on
an image near the sound source position displayed on
[0003]
According to the present technology, for example, a sound source search system is installed at a
predetermined place in a factory or the like, and by periodically measuring the position of the
sound source, a failure sound is generated due to a device failure such as a transformer or a
motor. It can identify the sound source to emit.
This enables efficient detection of equipment abnormalities.
[0004]
JP 2003-111183 A
[0005]
However, in the above-described sound source tracking system, in the case where two
microphones are horizontally spaced at a predetermined distance and two pairs of microphones
are orthogonally arranged on the same plane, the external dimensions of the microphones are
restricted. There is a limit to narrowing the predetermined interval.
Generally, in order to estimate the position of a sound source emitting a fault sound, it is
desirable to make the predetermined interval shorter than a half wavelength of the sound
generated from the sound source. There is a problem that it is not possible to specify a sound
source emitting an ultrasonic wave having a short wavelength due to the failure.
[0006]
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Furthermore, in the case of estimating the position of the sound source using five microphones,
the amount of sound information used to calculate the position of the sound source is large.
Since the time required to specify the position of the sound source becomes long along with this,
there is a demand to reduce the time. Therefore, it is conceivable to reduce the information of the
sound used for the calculation, but there is also a possibility that the accuracy of specifying the
position of the sound source is lower than calculating the position of the sound source using a lot
of information.
[0007]
The present invention has been proposed in view of such a situation, and is capable of specifying
the position of a sound source generating ultrasonic waves and visualizing the position of the
sound source, and suppressing the decrease in the accuracy of specifying the position of the
sound source It is an object of the present invention to provide an image display apparatus.
[0008]
The image display apparatus according to the invention of claim 1 comprises a display means for
displaying an image taken by a camera in a display area, and a pair of arrangement intervals in
the first direction less than half the wavelength of the ultrasonic wave emitted by the sound
source. A first microphone group consisting of ultrasonic microphones, and a second microphone
group consisting of another pair of ultrasonic microphones whose arrangement interval in the
second direction intersecting the first direction is less than the half wavelength Correction
temperature setting means for setting a correction temperature for correcting the propagation
velocity of the ultrasonic wave detected by the first microphone group and the second
microphone group; a straight line connecting the pair of ultrasonic microphones; Time difference
between the ultrasonic waves reaching the first microphone group and the correction with the
point of intersection with the straight line connecting the pair of microphones Based on the
correction temperature set by the degree setting means, an angle to the sound source from the
origin to the first direction is calculated, and a time difference between the ultrasonic waves
reaching the second microphone group and the correction temperature Sound source position
calculating means for calculating the position of the sound source from the angle with respect to
the first direction and the second direction by calculating an angle to the sound source from the
origin with respect to the second direction based on Correlating means correlating the position of
the sound source calculated by the sound source position calculating means with the display
position in the captured image displayed on the display area in correspondence with the position
of the sound source, and the correlating means And display control means for performing control
to display an image identifying the position of the sound source at the display position correlated
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with the position of the sound source. To.
[0009]
The invention according to claim 2 is characterized in that, in claim 1, an angle to the sound
source with respect to the first direction is a horizontal angle to the sound source with respect to
a horizontal direction, and an angle to the sound source with respect to the second direction is
perpendicular The sound source position calculating means may calculate the position of the
sound source from the horizontal angle and the vertical angle as a vertical angle to the sound
source with respect to a direction.
[0010]
According to the invention of claim 3, the sound source position calculating means calculates the
horizontal angle by equation (1) and equation (2) and the vertical angle by equation (2) and
equation (3). It is characterized by
θ = sin <−1> {(D12 × c) / L} (1) c = 334 + 0.6 t (2) φ = sin <−1> {(D34 × c) / L} · (3) Here, θ
is the horizontal angle, and φ is the vertical angle.
Also, D12 is a time difference in which the ultrasonic waves reach the first microphone group,
and D34 is a time difference in which the ultrasonic waves reach the second microphone group.
Furthermore, c is the propagation velocity of the ultrasonic wave, and t is the correction
temperature. Furthermore, L is the arrangement interval of the pair of ultrasonic microphones in
the horizontal direction and the arrangement interval of the other pair of ultrasonic microphones
in the vertical direction.
[0011]
The invention of claim 4 is characterized in that, in any one of claims 1 to 3, the correction
temperature setting means can set an arbitrary temperature as the correction temperature.
[0012]
In the invention of claim 5, according to any one of claims 2 to 4, the correlation means
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comprises a ratio of an imageable range of the camera in the horizontal direction to a dimension
of the display area in the horizontal direction, and the vertical The position of the sound source is
correlated with the display position from the ratio of the image pickup range of the camera in the
direction to the dimension of the display area in the vertical direction.
[0013]
The invention according to claim 6 comprises display means for displaying an image taken by a
camera in a display area, and a pair of ultrasonic microphones in which the arrangement interval
in the first direction is less than a half wavelength of ultrasonic waves emitted by the sound
source. A second microphone group comprising a first microphone group, and another pair of
ultrasonic microphones in which the arrangement interval in the second direction intersecting
the first direction is less than the half wavelength, and the first microphone group Correction
temperature setting means for setting a correction temperature for correcting the propagation
velocity of the ultrasonic wave detected by the microphone group and the second microphone
group, a straight line connecting the pair of ultrasonic microphones, and the other pair of
microphones Based on the time difference between the ultrasonic waves reaching the first and
second microphone groups, with the point of intersection with the straight line connecting While
calculating the horizontal angle from the origin to the sound source in the polar coordinate
system in which the distance from the origin is half of the arrangement interval, the time
difference between the ultrasonic waves reaching the first and second microphone groups and
The vertical angle from the origin in the polar coordinate system to the sound source is
calculated based on the correction temperature set by the correction temperature setting means,
and the position of the sound source is calculated from the horizontal angle and the vertical
angle Sound source position calculating means; correlation means for correlating the position of
the sound source calculated by the sound source position calculating means with the display
position in the captured image displayed on the display area in correspondence with the position
of the sound source; A display control device performing control to display an image identifying
the position of the sound source at the display position correlated with the position of the sound
source by the correlation unit Characterized in that it comprises a and.
[0014]
In the invention of claim 7, the sound source position calculating means in claim 6 sets the
horizontal angle in the polar coordinate system by the equation (4) and the vertical angle in the
polar coordinate system by the equation (5) and the equation (6). Are respectively calculated.
θ1 = tan <−1> (D12 / D34) [°] (4) φ1 = sin <−1> {[√ (D12 <2> + D34 <2>)] × c / L} [°] (5)
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c = 334 + 0.6 t [m / s] (6) Note that θ1 is the horizontal angle in the polar coordinate system,
and φ1 is the vertical angle in the polar coordinate system.
Also, D12 is a time difference in which the ultrasonic waves reach the first microphone group,
and D34 is a time difference in which the ultrasonic waves reach the second microphone group.
Furthermore, c is the propagation velocity of the ultrasonic wave, and t is the correction
temperature. Furthermore, L is the arrangement interval of the pair of ultrasonic microphones in
the first direction and the arrangement interval of the other pair of ultrasonic microphones in the
second direction.
[0015]
The invention of claim 8 is characterized in that, in claim 6 or 7, the correction temperature
setting means can set an arbitrary temperature as the correction temperature.
[0016]
The invention according to claim 9 is characterized in that, in any one of claims 6 to 8, the first
direction is a horizontal direction, and the second direction is a vertical direction.
[0017]
According to the image display device of the present invention, the first and second microphone
groups whose arrangement intervals in the first and second directions are less than the half
wavelength of ultrasonic waves are ultrasonic waves. As the arrival direction can be detected, the
sound source position calculation means specifies the position of the sound source by calculating
the position of the sound source emitting the ultrasonic wave based on the time difference
between the ultrasonic waves reaching the first and second microphone groups it can.
Further, the display control means can replace the position of the sound source with an image.
Therefore, the position of the sound source can be visualized through the image. In addition, the
correction temperature can cause the propagation velocity of the ultrasonic wave affected by the
temperature to converge within a certain range. For this reason, even when ultrasonic waves are
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detected in order to calculate the position of the sound source with four microphones smaller
than five microphones as in the prior art, the ultrasonic waves with the sound source position
calculation means converged in a certain range By calculating the position of the sound source
using the propagation speed of the above, it is possible to suppress the decrease in the accuracy
of specifying the position of the sound source. According to the invention of claim 2, it is possible
to easily specify the position of the sound source corresponding to the horizontal angle and the
vertical angle in the two-dimensional space. According to the invention of claim 3, the sound
source position calculating means can easily calculate the horizontal angle and the vertical angle
only by using a relatively simple formula. According to the invention of claims 4 and 8, it
becomes possible to adjust the correction temperature appropriately by operating the correction
temperature setting means. According to the invention of claim 5, according to the standard of
the camera, the image pickup possible range in the horizontal direction and the vertical direction
is set to the fixed value of the display area in the horizontal direction and the vertical direction
according to the standard of the display area. It can be set to Therefore, it is possible to set the
ratio between the imageable area in both directions and the size of the display area in both
directions to a constant value. Therefore, the correlation means can easily correlate the position
of the sound source with the display position corresponding to the position of the sound source
in both directions of the display area according to a fixed value. According to the invention of
claim 7, the sound source position calculating means is a polar coordinate system based on a
square sum root of the time difference between the ultrasonic waves reaching the first
microphone group and the time difference between the ultrasonic waves reaching the second
microphone group. By determining the vertical angle in, it is possible to suppress the degree to
which the variation of each time difference value is accumulated in the vertical angle. As a result,
it becomes possible to improve the identification accuracy of the position of the sound source
calculated by the sound source position calculating means based on the vertical angle. According
to the invention of claim 9, by the first microphone group arranged in the horizontal direction
and the second microphone group arranged in the vertical direction, a sound source located in
front of both microphone groups facing both the microphone groups. It becomes possible to
make it easy to detect the arrival direction of the ultrasonic wave emitted by
[0018]
It is a schematic block diagram of the image display apparatus of Embodiment 1 of this
invention. It is a schematic block diagram of a personal computer which constitutes the image
display device. It is a flowchart regarding the process which the same image display apparatus
performs. It is the 1st explanatory view of the sound source position identification processing
which the image display device performs. It is the 2nd explanatory view. It is a figure which
shows the state on which the graphical image was displayed on the display. It is explanatory
drawing of the image display coordinate conversion process which the same image display
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apparatus performs. FIG. 16 is a first explanatory diagram of a sound source position
identification process performed by the image display device of the second embodiment. It is the
2nd explanatory view. It is the 3rd explanatory view.
[0019]
First Embodiment A first embodiment of the present invention will be described with reference to
FIGS. 1 to 7. The image display device 1 according to the present embodiment includes a
measurement unit 10, an amplifier 20, a band pass filter 30, an A / D converter 40, a personal
computer 50, a video input / output unit 60, and a display 70. ing.
[0020]
As shown in FIG. 1, the measurement unit 10 includes support members 15A to 15C, a base 16, a
CCD camera 17, a mounting and fixing base 18, a microphone supporting base 19, and ultrasonic
microphones M1 to M4. Have. The base 16 is disposed above the support members 15A to 15C.
The mounting and fixing base 18 is supported on the base 16 by a camera support member. The
CCD camera 17 is fixed to the camera support member in a state of being directed forward.
Ultrasonic microphones M1 to M4 are attached to the microphone support 19. Here, the
ultrasonic microphones M1 to M4 were omnidirectional. The microphone support 19 is fixed to
the mounting and fixing base 18 with the ultrasonic microphones M1 to M4 directed forward.
[0021]
In the measurement unit 10, the ultrasonic microphone M1 and the ultrasonic microphone M2
constitute a pair of ultrasonic microphones. As the microphones M1 and M2 of the present
embodiment, one having an outer diameter of about 5 mm is used as an example. The horizontal
distance between the two microphones M1 and M2 is kept smaller than the half wavelength of
the ultrasonic wave to be detected. Here, as an example, the horizontal interval is 0.7 cm, and the
half wavelength (about 0.8 cm) of a 22.5 kHz sound wave is set. The horizontal interval is an
example of the arrangement interval in the first direction of the present invention, and the pair of
ultrasonic microphones M1 and M2 are an example of the first microphone group of the present
invention. The 22.5 kHz sound wave is an example of the ultrasonic wave of the present
invention.
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[0022]
Furthermore, the ultrasonic microphone M3 and the ultrasonic microphone M4 constitute
another pair of ultrasonic microphones. The outer diameter size of each of the microphones M3
and M4 is the same as the outer diameter size of both the microphones M1 and M2. The two
microphones M3 and M4 are arranged on a vertical line which intersects at a position which
bisects a horizontal line connecting the two microphones M1 and M2. The vertical distance was
the same as the horizontal distance (0.7 cm) described above. The vertical interval is an example
of the arrangement interval in the second direction of the present invention, and the other pair of
ultrasonic microphones M3 and M4 is an example of the second microphone group of the
present invention.
[0023]
Each of the microphones M1 to M4 is connected to the amplifier 20. The amplifier 20 amplifies
the sound wave signal transmitted from each of the microphones M1 to M4. The amplifier 20 is
connected to the band pass filter 30. The band pass filter 30 limits the band of frequencies
passing through the filter. The band pass filter 30 is connected to the A / D converter 40. The A /
D converter 40 converts the sound wave signal (analog signal) into a digital signal. The digital
signal is transmitted to the personal computer 50.
[0024]
The CCD camera 17 is connected to the video input / output unit 60. The video input / output
unit 60 converts an imaging signal (analog signal) transmitted from the CCD camera 17 into a
digital signal. The digital signal (imaging signal) is transmitted to the personal computer 50 by
the video input / output unit 60. The personal computer 50 is connected to the display 70.
Reference numerals 71A and 71B denote display areas of the display 70. The display 70 is an
example of the display means of the present invention.
[0025]
FIG. 2 is a schematic block diagram of the personal computer 50. As shown in FIG. The personal
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computer 50 includes a keyboard 51, an arithmetic processing unit 52, and a storage unit 53.
[0026]
The keyboard 51 is connected to the arithmetic processing unit 52. The keyboard 51 includes
the number of ultrasonic microphones, the horizontal distance (0.7 cm in this case) between the
ultrasonic microphone M1 and the ultrasonic microphone M2, and the vertical distance (0.7 cm)
between the ultrasonic microphone M3 and the ultrasonic microphone M4. , And is used to input,
for example, a set value of a frequency for passing the band pass filter 30. In addition, in the
present embodiment, the operator of the image display device 1 operates the keyboard 51 to
correct the propagation speed of the sound emitted from the sound source, and the ambient
temperature value of the measurement unit 10, the horizontal angle θ described later. And the
calculation interval of the vertical angle φ. Here, the operator operates the keyboard 51 to
arbitrarily input the ambient temperature value (for example, 20 ° C.) measured by the
thermometer, or the calculation interval of the horizontal angle θ and the vertical angle φ (for
example, 30 times / S) was input. The keyboard 51 is an example of the correction temperature
setting means of the present invention, and the ambient temperature of the measurement unit 10
is an example of the correction temperature of the present invention.
[0027]
The arithmetic processing unit 52 is connected to the storage unit 53 and the display 70
respectively. The storage unit 53 includes a digital signal (sound wave signal) arithmetic
processing program storage unit 53A, a display image data selection processing program storage
unit 53B, an image display control program storage unit 53C, and a data storage unit 53D. The
digital signal (sound wave signal) calculation processing program storage unit 53A has a
program for executing frequency analysis processing (S4), sound source position specifying
processing (S5), image display coordinate conversion processing (S6), etc. It is memorized. The
display image data selection processing program storage unit 53B stores a program for
executing display image data selection processing (S7) described later. The image display control
program storage unit 53C stores programs for executing an initial screen display process (S2)
and an image display process (S8) described later.
[0028]
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The data storage unit 53D includes image data of a captured image of the CCD camera 17
displayed in the display area 71A in accordance with the imaging signal from the CCD camera
17, frequency analysis processing (S4), sound source position identification processing (S5), Each
data etc. which were calculated by image display coordinate conversion processing (S6) are
memorized. In the data storage unit 53D, image data of graphic images of different types are
stored in association with the selected frequency data extracted by the frequency analysis
process (S4). In the present embodiment, circular images having different colors and the same
size are used as the graphic images.
[0029]
As will be described in detail later, the arithmetic processing unit 52 generates, for example, a
sound including a malfunctioning sound of the device, the circular image data from the data
storage unit 53D and the image data of the image captured by the CCD camera 17 Read out.
Thereafter, the arithmetic processing unit 52 generates an image signal of a display image to be
displayed on the display areas 71A and 71B based on the circular image data. Subsequently, the
arithmetic processing unit 52 transmits the generated image signal and an imaging signal related
to the image data of the captured image to the display 70 to overlap the display area 71A with
the position of the sound source where the sound including the fault sound is emitted. Display
the image to be identified (circular image).
[0030]
Next, processing in which the arithmetic processing unit 52 displays an image for identifying the
position of the sound source in each of the display areas 71A and 71B will be described. When
the power of the image display apparatus 1 is turned on, the arithmetic processing unit 52
performs an initial setting process (S1), an initial screen display process (S2), and an input signal
acquisition process (S3), as shown in FIG. The frequency analysis process (S4), the sound source
position specifying process (S5), the image display coordinate conversion process (S6), the
display image data selection process (S7), and the image display process (S8) are respectively
executed.
[0031]
In the initial setting process (S1), the number of ultrasonic microphones (four in this case) input
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by the keyboard 51, the horizontal interval and the vertical interval (all 0.7 cm), and the
frequencies at which the band pass filter 30 is passed Setting values, ambient temperature
values, calculation intervals (30 times / second) of horizontal angle θ and vertical angle φ,
horizontal dimensions X1 and X2 and vertical dimensions Y1 and Y2 of display areas 71A and
71B (see FIG. 6). Is executed in the data storage unit 53D.
[0032]
The arithmetic processing unit 52 executes an initial screen display process (S2) after the initial
setting process (S1). In the initial image display process (S2), the process of specifying the
position of the sound source in each of the display areas 71A and 71B as an initial image is
executed by executing the program stored in the image display control program storage unit
53C. A process of displaying a notification image to be notified is performed.
[0033]
The arithmetic processing unit 52 executes an input signal acquisition process (S3) after the
initial screen display process (S2). In the input signal acquisition process (S3), a process of
acquiring a sound wave signal (sound pressure level) of a sound emitted from a sound source and
an imaging signal from the CCD camera 17 is respectively executed. Here, the sound wave
signals detected by the ultrasonic microphones M1 to M4 and the imaging signal are input to the
arithmetic processing unit 52 as digital signals as shown in FIG. Thereafter, the arithmetic
processing unit 52 executes a process of storing the sound wave signal and the imaging signal in
the data storage unit 53D.
[0034]
The arithmetic processing unit 52 executes frequency analysis processing (S4) after the input
signal acquisition processing (S3). In the frequency analysis process (S4), using the program
stored in the digital signal (sound wave signal) arithmetic processing program storage unit 53A,
the sound pressure level of the sound wave signal acquired by the input signal acquisition
process (S3) is analyzed and selected A process of extracting a frequency at which the sound
pressure level shows the maximum value as the frequency is executed. Thereafter, in the
frequency analysis process (S4), a process of storing data of the selected frequency in the data
storage unit 53D is executed.
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[0035]
The arithmetic processing unit 52 executes a sound source position specifying process (S5) after
the frequency analysis process (S4). In the sound source position specifying process (S5), a pair
of ultrasonic microphones M1 and M2 are selected for each of the selected frequencies by the
method described below using a program stored in the digital signal (sound wave signal)
arithmetic processing program storage unit 53A. Origin position 0 (see FIG. 4). Horizontal angle
θ (see FIG. 4) to the position of the sound source with respect to the horizontal direction
(horizontal direction in FIG. 4). Execute processing to calculate). The data of the horizontal angle
θ is stored in the data storage unit 53D. The origin position 0 has a point at which a horizontal
line connecting the ultrasonic microphone M1 and the ultrasonic microphone M2 is bisected, and
a point at which the vertical line connecting the ultrasonic microphone M3 and the ultrasonic
microphone M4 is bisected It is a position. The direction indicated by the double-dotted line
arrow in FIG. 4 is the propagation direction of the sound emitted from the sound source.
[0036]
The value of the horizontal angle θ varies with the horizontal distance between the ultrasonic
microphone M1 and the ultrasonic microphone M2, the time difference between the sound
emitted from the sound source reaching the pair of microphones M1 and M2, and the
temperature of the propagation path of the sound. . The horizontal angle θ is calculated using
the following equations (1) and (2). Here, D12 is a difference in arrival time of sound at the pair
of microphones M1 and M2, and c is a propagation speed of sound. L is the horizontal distance
between the microphone M1 and the microphone M2, and t is the temperature of the sound
propagation path. θ = sin <−1> {(D12 × c) / L} [°] (1) c = 334 + 0.6 t [m / s] (2)
[0037]
In addition, in the sound source position specifying process (S5), by using the ultrasonic
microphone M3 and the ultrasonic microphone M4, the vertical angle φ (see FIG. 5) is obtained
by the equation (2) and the following equation (3). Is calculated, and the data of the vertical angle
.phi. Is stored in the data storage unit 53D. The vertical angle φ is the origin position 0 (see FIGS.
4 and 5). Means the angle to the position of the sound source with respect to the vertical
direction (vertical direction in FIG. 5). Note that D34 is the difference in arrival time of sound at
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the pair of microphones M3 and M4, and c is the sound propagation speed. L is the vertical
distance between the microphone M3 and the microphone M4. φ = sin <−1> {(D34 × c) / L}
[°] (3)
[0038]
In the present embodiment, when calculating the horizontal angle θ and the vertical angle φ by
the sound source position specifying process (S5), the arithmetic processing unit 52 stores the
temperature t in the equation (2) in the data storage unit 53D. Data on the ambient temperature
of the measurement unit 10 was used. In the sound source position specifying process (S5), the
horizontal angle θ and the vertical angle φ are continuously calculated at an interval of 30
times per second as an example using a program stored in the digital signal (sound wave signal)
arithmetic processing program storage unit 53A. Do. The arithmetic processing unit 52 is an
example of the sound source position calculating means of the present invention.
[0039]
The arithmetic processing unit 52 executes an image display coordinate conversion process (S6)
after the sound source position specifying process (S5). In the image display coordinate
conversion process (S6), a process for correlating the position of the sound source with the
display position of each display area 71A, 71B is executed. Here, as shown in FIG. 6, the
horizontal dimension X1 of the display area 71A and the horizontal dimension X2 of the display
area 71B are associated with the horizontal angle θ, and X of the display position of each
display area 71A, 71B corresponding to the position of the sound source Calculate the
coordinates.
[0040]
As a specific example, each display area 71A corresponding to the position of the sound source
based on the ratio α of the horizontal angle of view (here 120 °) of the CCD camera 17 to the
lateral dimensions X1 and X2 of the display areas 71A and 71B, The X coordinate of the display
position of 71 B is calculated. A method of calculating the display position when the value of α is
0.6 will be described below using FIG. 7 as an example.
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[0041]
When the horizontal angle θ calculated by the sound source position specifying process (S5) is
25 °, the multiplication result of the value of the horizontal angle θ and the value of α is 15
mm. Thereby, the display position (X coordinate) in the lateral direction of each display area 71A,
71B corresponding to the position P1 of the sound source is determined at the position P3 15
mm to the right of the center point of each display area 71A, 71B. . Thereafter, in the image
display coordinate conversion process (S6), a process of storing data of the position P3 in the
data storage unit 53D is executed. The arithmetic processing unit 52 is an example of the
correlation means of the present invention, and the horizontal angle of view of the CCD camera
17 is an example of the image pickup possible range of the camera in the horizontal direction of
the present invention. The dimensions X1 and X2 are examples of the dimensions of the display
area in the horizontal direction of the present invention.
[0042]
In addition, in the image display coordinate conversion process (S6), the vertical dimension Y1 of
the display area 71A is associated with the vertical angle φ, and the Y coordinate of the display
position of the display area 71A corresponding to the position P1 of the sound source is
calculated. As a specific example, as in the case of calculating the display position (X coordinate)
of each display area 71A, 71B corresponding to the position P1 based on each of the lateral
dimensions X1, X2 and the ratio α, the vertical of the CCD camera 17 The display position (Y
coordinate) of each display area 71A corresponding to the position P1 of the sound source is
calculated based on the angle of view (here 70 °) and the ratio β of the vertical dimension Y1
of the display area 71A. Thereafter, from the calculation results using the ratios α and β, the
display position (X coordinate, Y coordinate) corresponding to the position P1 in the vertical and
horizontal directions in the display area 71A corresponding to the two-dimensional space is
determined. The vertical angle of view of the CCD camera 17 is an example of the image pickup
possible range of the camera in the vertical direction of the present invention, and the vertical
dimension Y1 of the display area 71A is an example of the dimension of the display area in the
vertical direction of the present invention. .
[0043]
Furthermore, in the image display coordinate conversion process (S6), in addition to the process
for correlating the above-described position P1 of the sound source with the display position (X
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coordinate, Y coordinate) in the vertical and horizontal directions of the display area 71A, the
frequency of the sound emitted by the sound source A process for correlating the value of
Y.sub.1 with the display position of the circular image (Y coordinate of the display area 71B) in
which the color is different for each frequency is executed. Here, according to the vertical
dimension Y2 of the display area 71B, a frequency display position corresponding to a frequency
of 1000 Hz to 22.5 kHz is calculated from the lowest point to the highest point in the vertical
direction of the display area 71B. The data of the frequency display position is stored in the data
storage unit 53D.
[0044]
The arithmetic processing unit 52 executes display image data selection processing (S7) after the
image display coordinate conversion processing (S6). In the display image data selection process
(S7), a process of selecting circular image data stored in advance in the data storage unit 53D in
accordance with the data of the selected frequency stored in the data storage unit 53D by the
frequency analysis process (S4) Run.
[0045]
In the display image data selection process (S7), the arithmetic processing unit 52 executes the
program stored in the display image data selection processing program storage unit 53B, and 22
kHz is stored in the data storage unit 53D as data of the selected frequency, for example. If it is
determined that there is, it selects red circular image data from the data storage unit 53D. The
red circular image data is displayed in each of the display areas 71A and 71B as a red circular
image Z1 (see FIG. 6). Used to display the In the display image data selection process (S7),
circular image data of different colors are selected from the data storage unit 53D according to
the difference in the selection frequency. The circular image data of different colors are circular
images Z1, Z2 of different colors (see FIG. 6). And so on) in each display area 71A, 71B.
[0046]
Subsequently, the arithmetic processing unit 52 executes an image display process (S8) after the
display image data selection process (S7). In the image display process (S8), the program stored
in the image display control program storage unit 53C is executed and the circular image data
selected by the display image data selection process (S7) is executed as described below. The
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display position (X coordinate) in the horizontal direction of each display area 71A, 71B
determined by the image display coordinate conversion process (S6), the display position (Y
coordinate) in the vertical direction of the display area 71A, the frequency display of the display
area 71B A process of displaying various circular images Z1, Z2, etc. at the position (Y
coordinate) is executed.
[0047]
Specifically, when a failure sound of the device including the above-mentioned selected
frequency is generated at the position P1 shown in FIG. 7, in the image display process (S8), the
selected frequency (here, from the data storage unit 53D) Then, the image data (here, red circular
image data) associated with the frequency of the failure sound (22 kHz) is read out. Thereafter,
based on the red circular image data, the screen is rewritten 30 times per second in accordance
with the calculation interval (here, 30 times / second) of the horizontal angle θ and the vertical
angle φ, and the position P3 (see FIG. 7). Red circular image Z1 (see FIG. 6) at the display
position (X coordinate, Y coordinate) of each display area 71A, 71B corresponding to. Display). In
the image display process (S8), in the same manner as when displaying the red circular image Z1
at the display position (X coordinate, Y coordinate) of each display area 71A, 71B, each is made
to correspond to the position of the sound source and the selected frequency. A circular image
Z2 or the like is displayed in the display areas 71A and 71B. The arithmetic processing unit 52 is
an example of the display control unit of the present invention.
[0048]
The arithmetic processing unit 52 determines whether or not reset processing has been
performed after the image display processing (S8) (S9). Here, the operator operates the keyboard
51 to determine whether or not a key instructing a reset operation has been pressed.
[0049]
When the arithmetic processing unit 52 determines that the key instructing the reset operation is
not pressed and the reset process is not performed in S9, the process returns to the input signal
acquisition process (S3). On the other hand, if the arithmetic processing unit 52 determines that
the reset process has been performed by pressing the key instructing the reset operation in S9,
whether to continue the execution of the programs stored in the respective storage units 53A to
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53C. (S10).
[0050]
When the arithmetic processing unit 52 determines in S10 that the operator operates the
keyboard 51 and selects to continue the execution of the program, the process returns to the
initial setting process (S1). On the other hand, when the arithmetic processing unit 52
determines in S10 that the operator operates the keyboard 51 and selects to cancel the execution
of the program, the above-described processes (S1 to S10) are ended.
[0051]
<Effects of First Embodiment> In the image display device 1 according to the present
embodiment, a pair of ultrasonic microphones whose ultrasonic wave distance between the
ultrasonic microphones M1 and M2 is less than half wavelength of ultrasonic waves to be
detected, The direction of arrival of the ultrasonic waves can be detected by another pair of
ultrasonic microphones in which the vertical distance between the ultrasonic microphone M3
and the ultrasonic microphone M4 is the same as the horizontal distance. In addition to this, the
arithmetic processing unit 52 uses the equations (1) to (3) in the sound source position
specifying process (S5) to make the arrival time difference D12 of ultrasonic waves at the pair of
ultrasonic microphones M1 and M2 The position P1 can be specified by calculating the position
P1 of the sound source emitting an ultrasonic wave (for example, a sound wave of 22 kHz) based
on the arrival time difference D34 of the ultrasonic waves in the pair of ultrasonic microphones
M3 and M4. Furthermore, the arithmetic processing unit 52 can replace the position P1 and the
like of the sound source with the circular image Z1 and the like in the image display process (S8).
Therefore, the position P1 etc. can be visualized through various circular images Z1 etc.
Moreover, when the arithmetic processing unit 52 calculates the horizontal angle θ and the
vertical angle φ in the sound source position specifying process (S5), data of the ambient
temperature of the measurement unit 10 is used as the temperature t in equation (2). Also, the
ambient temperature data can converge the propagation velocity of ultrasonic waves affected by
temperature within a certain range. For this reason, even when the ultrasonic signals emitted
from the sound source are acquired by four ultrasonic microphones M1 to M4 having one less
than the conventional five microphones, the propagation velocity of the ultrasonic wave
converged in a certain range By using this, it is possible to suppress the decrease in the accuracy
of specifying the position P1 or the like of the sound source.
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[0052]
Further, the arithmetic processing unit 52 identifies the position P1 of the sound source in
correspondence with the horizontal angle θ and the vertical angle φ calculated in the sound
source position specifying process (S5), so that the horizontal angle θ in the two-dimensional
space. It is possible to easily specify the position of the sound source corresponding to the angle
.phi.
[0053]
Furthermore, the arithmetic processing unit 52 can easily calculate the horizontal angle θ and
the vertical angle φ only by using relatively simple calculation formulas (1) to (3).
In addition to this, by the operator operating the keyboard 51, it becomes possible to
appropriately adjust the ambient temperature value of the measurement unit 10 used when
calculating the horizontal angle θ and the vertical angle φ.
[0054]
In addition, the horizontal angle of view and the vertical angle of view of the CCD camera 17 are
matched to the standards of the CCD camera 17, and the horizontal dimensions X1 and X2 and
the vertical dimension Y1 are fixed to the standards of the respective display areas 71A and 71B.
It can be set to a value. Therefore, the ratio α between the horizontal angle of view and each of
the horizontal dimensions X1 and X2 can be set to a constant value, or the ratio β between the
vertical angle of view and the vertical dimension Y1 can be set to a constant value. Therefore, in
the image display coordinate conversion process (S6), the arithmetic processing unit 52 performs
the position P1 or the like of the sound source and the positions in the lateral direction of the
display areas 71A and 71B according to the ratio α determined to a fixed value. The display
position (X coordinate) corresponding to P1 and the like can be easily correlated. At the same
time, in the image display coordinate conversion process (S6), a display position corresponding
to the position P1 of the sound source and the position P1 in the vertical direction of the display
area 71A according to the ratio β set to a constant value. (Y coordinate) can be easily correlated.
[0055]
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Second Embodiment A second embodiment of the present invention will be described with
reference to FIGS. 8 to 10. Here, the same components as in the first embodiment are denoted by
the same reference numerals, and the description thereof is omitted. In the image display
apparatus 1A of the present embodiment, the calculation processing unit 52 calculates the
horizontal interval θ1 and the vertical angle φ1 of the polar coordinate system (described later)
input by the keyboard 51 in the initial setting process (S1) shown in FIG. A process of storing
data etc. concerning 30 times / second in the data storage unit 53D is executed.
[0056]
Arithmetic processing unit 52 uses the program stored in digital signal (sound wave signal)
arithmetic processing program storage unit 53A in the sound source position specifying process
(S5) shown in FIG. A polar coordinate system (see FIG. 8) in which the distance from the position
0 is a half (L / 2) of the horizontal interval L and the vertical interval L (both are 0.7 cm).
Horizontal angle θ1 from the origin position 0 to the position of the sound source (see FIGS. 8
and 9). Execute processing to calculate). The data of the horizontal angle θ1 is stored in the data
storage unit 53D.
[0057]
The horizontal angle θ1 is calculated using the following equation (4). Here, D12 is a difference
in arrival time of sound in the pair of ultrasonic microphones M1 and M2, and D34 is a
difference in arrival time of sound in the pair of ultrasonic microphones M3 and M4. θ1 = tan
<−1> (D12 / D34) [°] (4)
[0058]
In addition, in the sound source position specifying process (S5), the arithmetic processing unit
52 uses the following equations (5) and (6) to obtain a polar coordinate system (see FIG. 8). A
vertical angle φ 1 from the origin position 0 to the position of the sound source (see FIGS. 8 and
10). Is calculated, and processing of storing data of the vertical angle .phi.1 in the data storage
unit 53D is executed. In the present embodiment, since the spherical surface of the polar
coordinate system shown in FIG. 8 has the same distance from the origin position 0, as shown in
FIG. 10, the virtual microphone M is arranged perpendicular to the spherical surface for
04-05-2019
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convenience. It was considered that the angle φ1 could be calculated. Here, c is the sound
propagation velocity, L is the horizontal interval and the vertical interval, and t is the temperature
of the sound propagation path. φ1 = sin <−1> {[√ (D12 <2> + D34 <2>)] × c / L} [°] (5) c =
334 + 0.6 t [m / s] (6) )
[0059]
Subsequently, the arithmetic processing unit 52 uses the conversion equation between the
known polar coordinate system and the orthogonal coordinate system in the sound source
position specifying process (S5), and the horizontal angle θ1 and the vertical angle φ1 of the
polar coordinate system are the same as in the first embodiment. Execute processing to convert
to horizontal angle and vertical angle of rectangular coordinate system.
[0060]
Furthermore, in the image display coordinate conversion process (S6), the arithmetic processing
unit 52 associates the horizontal dimension X1 of the display area 71A and the horizontal
dimension X2 of the display area 71B with the horizontal angle of the orthogonal coordinate
system, as in the first embodiment. Then, the X coordinate of the display position of each display
area 71A, 71B corresponding to the position of the sound source is calculated.
Furthermore, in the image display coordinate conversion process (S6), the arithmetic processing
unit 52 associates the vertical dimension Y1 of the display area 71A with the vertical angle of the
orthogonal coordinate system, and corresponds to the position of the sound source as in the first
embodiment. The Y coordinate of the display position of the display area 71A to be calculated is
calculated. In addition to these, the arithmetic processing unit 52 calculates the Y coordinate
(frequency display position) of the display position of the display area 71B corresponding to the
value of the frequency of the sound emitted by the sound source in accordance with the vertical
dimension Y2 of the display area 71B.
[0061]
Thereafter, as in the first embodiment, the arithmetic processing unit 52 displays the display
position (X coordinate) in the horizontal direction of each display area 71A, 71B, the display
position (Y coordinate) in the vertical direction of the display area 71A, and the frequency of the
display area 71B. A process of displaying various circular images Z1, Z2, etc. is executed
according to the display position (Y coordinate).
04-05-2019
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[0062]
<Effects of Second Embodiment> In the image display device 1A according to the present
embodiment, the arithmetic processing unit 52 uses the equations (5) and (6) to set the vertical
angle φ1 of the polar coordinate system to the pair of ultrasonic microphones M1 and M2. The
difference is calculated on the basis of the root sum of squares of the arrival time difference D12
of the ultrasonic waves in the above and the arrival time difference D34 of the ultrasonic waves
in the other pair of ultrasonic microphones M3 and M4.
As a result, it is possible to suppress the degree to which the variations in the values of the
arrival time differences D12 and D34 are accumulated in the vertical angles φ1 continuously
calculated by the arithmetic processing unit 52 at, for example, an interval of 30 times per
second. As a result, it is possible to improve the identification accuracy of the position of the
sound source (horizontal angle and vertical angle of the orthogonal coordinate system) calculated
by the arithmetic processing unit 52 based on each vertical angle φ1.
[0063]
Further, in the present embodiment, the pair of ultrasonic microphones M1 and M2 are arranged
at intervals in the horizontal direction, and the other pair of ultrasonic microphones M3 and M4
are arranged at intervals in the vertical direction intersecting the horizontal direction. did. As a
result, the two pairs of ultrasonic microphones M1 to M4 can easily detect the arrival direction of
the ultrasonic waves emitted by the sound sources located in front of the ultrasonic microphones
M1 to M4 facing the ultrasonic microphones M1 to M4.
[0064]
The present invention is not limited to the embodiments described above, and part of the
configuration can be appropriately modified and implemented without departing from the scope
of the invention. For example, unlike the embodiment described above, instead of the circular
image, an image such as a triangle or a square is displayed in each display area 71A, 71B, or the
sound pressure level of the sound wave signal acquired by the input signal acquisition process
(S4) The arithmetic processing unit 52 may display circular images and the like having different
sizes in the respective display areas 71A and 71B according to the difference in the above.
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Furthermore, display areas other than the display areas 71A and 71B may be additionally
provided on the display 70, and the sound pressure level of the sound wave emitted by the sound
source may be displayed, for example, in the added display areas. In addition to the abovedescribed embodiment, the display area 71A is enlarged to make it easy to view a captured image
of a CCD camera or a circular image, and even if an area for displaying the sound pressure level
is provided instead of the display area 71B. Good.
[0065]
In addition, unlike the above-described embodiment, the microphone support 19 is fixed to the
mounting and fixing base 18 with the CCD camera 17 disposed upward and the ultrasonic
microphones M1 to M4 directed upward, and the overhead power transmission line The
ultrasonic signals or the like generated with the breakage of the forceps may be detected by the
microphones M1 to M4. Furthermore, the horizontal distance between the ultrasonic microphone
M1 and the ultrasonic microphone M2 and the vertical distance between the ultrasonic
microphone M3 and the ultrasonic microphone M4 are not limited to 0.7 cm, and the frequency
of the fault sound to be detected It may be changed to an appropriate value according to
[0066]
1, 1A · · · Image display device, 17 · · CCD camera, 51 · · · Keyboard · 52 · · · · · · · · · · · · · · display,
71A, 71B · · · display area, M1, M2 · · · A pair of ultrasonic microphones M3, M4 · · · Other pair of
ultrasonic microphones, X1, X2 · · · Horizontal dimension of display area, Y1, Y2 · · · Vertical
dimension of display area, θ · · Horizontal direction from the origin position of a pair of
ultrasonic microphones Angle to the position of the sound source with respect to the angle, φ · · ·
· angle of the sound source relative to the position of the sound source from the origin position of
the other pair of ultrasonic microphones, θ 1 · · horizontal angle from the origin position to the
sound source in the polar coordinate system · · · · Vertical angle from the origin position to the
sound source in the polar coordinate system.
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