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JP2013165496

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DESCRIPTION JP2013165496
Abstract: A sound emission and collection device is realized that is easy to identify the selected
sound collection directivity and is intuitive and easy to switch the sound collection directivity. An
attitude sensor generates attitude data according to a state in which a housing is installed on an
installation surface, and outputs the attitude data to a control unit. The control unit 10 reads the
sound collection directivity control parameter from the memory 12 based on the attitude data,
and supplies the parameter to the sound collection control unit 13. The sound collection control
unit 13 includes a sound collection gain adjustment unit 131 and an adder 132, and adjusts the
gains of the respective amplifiers 1311 to 1313 of the sound collection gain adjustment unit 131
based on the sound collection directivity control parameter. As described above, the amplifiers
1311 to 1313 amplify the collected sound signals from the microphones MIC1, MIC2, and MIC3
using the set gains. The adder 132 generates a directivity control sound pickup signal by adding
the amplified sound pickup signals. Thereby, a directivity control sound collection signal
according to the posture of the housing 2 is obtained. [Selected figure] Figure 2
Sound emission device
[0001]
The present invention relates to a sound collection device that collects sound from the
surroundings of the device itself and a sound emission and collection device provided with the
sound collection device.
[0002]
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1
2. Description of the Related Art Conventionally, various types of sound collection devices have
been devised to collect surrounding sounds and sounds with a predetermined sound collection
directivity.
Among such sound collection devices, there are some which can realize a plurality of sound
collection directivity as shown in Patent Document 1 as well as those which perform sound
collection with only one type of sound collection directivity.
[0003]
JP 2007-295104 A
[0004]
However, in the conventional sound collection device, as shown in Patent Document 1, the sound
collection directivity is changed in response to an operation input from the user.
For this reason, in the conventional sound collection device, the user has to input the operation
while checking the display unit etc., and the operation is complicated and it is easy to check what
kind of sound collection directivity. I can not
[0005]
Therefore, an object of the present invention is to provide a sound collection device that allows
the user to easily identify the sound collection directivity selected by the user, and the switching
operation of the sound collection directivity is intuitive and simple, and further, to configure such
a sound collection device. An object of the present invention is to realize a sound signal
processing apparatus including sound emission control.
[0006]
The sound emission and collection device according to the present invention has a plurality of
contact surfaces that contact the installation surface, and is fixed to a housing whose installation
state changes according to the selection of the contact surfaces, and one surface of the housing.
A plurality of microphones each having a different sound collecting direction, and a speaker
installed on another surface orthogonal to the one surface, the plurality of microphones each
having a vibration surface, and adjacent microphones By the supporting frame to be supported,
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the vibrating surface is fixed so as to be orthogonal to the one surface and to face the inner
region surrounded by each microphone.
[0007]
In addition, the plurality of microphones are unidirectional microphones in which the directions
of maximum directivity sensitivity are respectively different.
[0008]
Also, the sound collection direction of each microphone intersects with the microphone support
frame that supports the other microphones.
[0009]
Also, the sound collecting direction of one of the plurality of microphones matches the sound
emitting direction of the speaker.
[0010]
In the sound emission and collection device, the speaker includes a first speaker and a second
speaker, and the adder combines the sound collection signals collected by the plurality of
microphones, and the discharge of the first speaker. A first echo canceler that generates a first
pseudo echo signal based on a sound signal and subtracts the first pseudo echo signal from a
collected sound signal synthesized by the adder, and a sound emission signal of the second
speaker And a second echo canceler that generates a second pseudo echo signal on the basis of
the second echo cancel signal and subtracts the second pseudo echo signal from the output
signal of the first echo canceller.
[0011]
According to this invention, the switching operation of the sound collection directivity is intuitive
and easy, and the sound emission and collection device capable of easily identifying the selected
sound collection directivity can be realized.
Furthermore, it is possible to realize a sound emission and collection device that makes it
possible to easily and easily distinguish the switching of the direction of sound emission as well
as the switching of sound collection directivity.
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[0012]
It is a figure which shows the external appearance of the sound emission and collection
apparatus which concerns on 1st Embodiment.
It is a circuit block diagram of the sound emission and collection device concerning a 1st
embodiment.
It is a figure explaining the use mode of the sound emission and collection device concerning a
1st embodiment.
It is a circuit block diagram of the sound emission and collection device concerning a 2nd
embodiment.
[0013]
A sound signal processing apparatus according to a first embodiment of the present invention
will be described with reference to the drawings.
In the present embodiment, as the sound signal processing device, the sound collection and
collection device 1 that performs sound collection and collection will be described as an example.
[0014]
FIG. 1A is an external perspective view of the sound emission and collection device 1 according
to the present embodiment, and FIG. 1B is a front view of the sound emission and collection
device 1.
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FIG. 1C is a top view of the sound emission and collection device 1, and FIG. 1D is a side view of
the sound emission and collection device 1 as viewed from the right side 2R.
[0015]
The sound emission and collection device 1 includes a rectangular parallelepiped housing 2. As
shown in FIG. 1, the housing 2 includes two speakers SP1 and SP2, and three microphones MIC1,
MIC2 and MIC3. Furthermore, although the housing 2 is not shown in FIG. 1, it incorporates a
circuit module that implements the circuit shown in FIG. 2 described later.
[0016]
On the front surface 2F of the housing 2, two speakers SP1 and SP2 are arrayed and installed
along the longitudinal direction. Under the present circumstances, speaker SP1 and SP2 are
installed so that the direction orthogonal to front 2F of case 2 may turn into the central direction
of sound emission.
[0017]
On the top surface 2U of the housing 2, a plurality of microphones MIC1, MIC2, MIC3 having a
single directivity are disposed. The microphones MIC1, MIC2, and MIC3 are arranged such that
the vibration surface (sound receiving surface) is orthogonal to the top surface 2U. The
microphones MIC1, MIC2, MIC3 are arranged such that the respective vibration planes face the
inner region surrounded by the microphones MIC1, MIC2, MIC3.
[0018]
The relative positions of these microphones MIC1, MIC2, MIC3 are fixed by the microphone
support frame 3 made of a rigid body such as resin. Then, the microphone support frame 3 is
fixed to the top surface 2 U of the housing 2 by the microphone frame support member 4. Here,
the microphone frame support member 4 includes a support column formed on the top surface
2U of the housing 2 and an elastic body connecting the support column and the microphone
support frame 3, and the microphone support frame 3 has a top surface. Fixed apart from 2U.
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[0019]
Next, the arrangement of the microphones MIC1, MIC2, MIC3 and the relationship between the
directivity of the microphones MIC1, MIC2, MIC3 and the directivity of the speakers SP1, SP2
will be described more specifically.
[0020]
The microphones MIC1, MIC2 and MIC3 are arranged such that the angles formed by the
respective vibration planes are 120 °, and the vibration planes are arranged as close as possible
to each other.
Thereby, the direction (maximum sound collection sensitivity direction) Dm1 where the sound
collection sensitivity of the microphone MIC1 is maximum, the maximum sound collection
direction Dm2 of the microphone MIC2, and the maximum sound collection direction Dm3 of the
microphone MIC3 are surrounded by the microphones. Are set to intersect at the center of the
inner area. At this time, the microphones MIC1, MIC2 and MIC3 are arranged such that the
maximum sound collection sensitivity direction Dm3 of the microphone MIC3 coincides with the
sound emission center directions Dh1 and Dh2 of the speakers SP1 and SP2, that is, the direction
orthogonal to the front 2F of the housing 2. Will be installed.
[0021]
With such a configuration, the microphone MIC3 picks up sound with a single directivity in
which the front 2F direction of the housing 2 is the maximum sound collection sensitivity
direction Dm3. The microphone MIC1 picks up sound with a single directivity in which a
direction forming 120 ° counterclockwise as viewed from the top surface 2U with respect to the
maximum sound collection sensitivity direction Dm3 is the maximum sound collection sensitivity
direction Dm1. That is, the microphone MIC1 picks up the left rear direction of the housing 2
which is the rear surface 2B side on the left side surface 2L side of the housing 2 as the
maximum sensitivity. Further, the microphone MIC2 picks up sound with a single directivity in
which a direction forming 120 ° clockwise with respect to the top surface 2U with respect to
the maximum sound collecting sensitivity direction Dm3 is the maximum sound collecting
sensitivity direction Dm2. That is, the microphone MIC2 picks up sound in the right rear
direction of the housing 2 which is the back surface 2B side on the right side surface 2R side of
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the housing 2 as the maximum sensitivity. By using the unidirectional microphones MIC1, MIC2,
MIC3 in which the positional relationship between the maximum sensitivity directions Dm1,
Dm2, Dm3 is set, sound can be collected in all directions of the sound emitting and collecting
apparatus 1. .
[0022]
Next, the circuit configuration of the sound emission and collection device 1 of the present
embodiment will be described with reference to the drawings. FIG. 2 is a circuit block diagram of
the sound emission and collection device 1 of the present embodiment.
[0023]
A circuit module is incorporated in the housing 2 of the sound emission and collection device 1,
and in this circuit module, the control unit 10 and the attitude sensor 11 except the microphones
MIC1, MIC2, MIC3 and the speakers SP1, SP2 shown in FIG. A memory 12, a sound collection
control unit 13, a sound generation control unit 14, an I / F (interface unit) 15, and a circuit for
connecting these respective functional units are formed.
[0024]
The posture sensor 11 is, for example, an acceleration sensor, generates posture data according
to the direction of gravity, and supplies the generated posture data to the control unit 10.
[0025]
The control unit 10 performs overall control of the sound emission and collection device 1
including communication processing with an external device via the I / F 15.
Furthermore, the control unit 10 sets the sound collection directivity control parameter and the
sound emission directivity control parameter based on the posture data from the posture sensor
11.
More specifically, the sound collection directivity control parameter and the sound emission
directivity control parameter are stored in advance in the memory 12 for each posture data, and
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the control unit 10 based on the posture data acquired from the posture sensor 11 The sound
collection directivity control parameters and the sound emission directivity control parameters
stored in association with the memory 12 are read out. The control unit 10 supplies the sound
collection directivity control parameter to the sound collection control unit 13 and supplies the
sound emission directivity control parameter to the sound emission control unit 14.
[0026]
The sound collection control unit 13 includes a sound collection gain adjustment unit 131 and an
adder 132, and the sound collection gain adjustment unit 131 includes amplifiers 1311, 1312
and 1313. The amplifier 1311 amplifies the collected signal Sc1 of the microphone MIC1 by the
gain Gc1, the amplifier 1312 amplifies the collected signal Sc2 of the microphone MIC2 by the
gain Gc2, and the amplifier 1313 amplifies the collected signal Sc3 of the microphone MIC3 by
Gc3. Amplify with The adder 132 adds the amplified sound collection signals to generate a
directivity control sound collection signal Ss. The generated directivity control sound pickup
signal is output to an external device via the I / F 15.
[0027]
At this time, the sound pickup control unit 13 adjusts the gain Gc1 of the amplifier 1311, the
gain Gc2 of the amplifier 1312, and the gain Gc3 of the amplifier 1313 using the sound
collection directivity control parameter from the control unit 10. .
[0028]
By performing such a configuration and control, sound collection control can be set for each
posture of the housing 2.
[0029]
The sound emission control unit 14 includes a sound emission gain adjustment unit 141 and
adders 1421 and 1422, and the sound emission gain adjustment unit 141 includes amplifiers
1411 1412 1413 1414.
The amplifier 1411 amplifies the first sound emission signal Shu1 input through the I / F 15 with
a gain Gh1 and outputs the amplified signal to the adder 1421.
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The amplifier 1412 amplifies the first sound emission signal Shu1 with a gain Gh2 and outputs
the amplified signal to the adder 1422. The amplifier 1413 amplifies the second sound emission
signal Shu2 input through the I / F 15 with a gain Gh3 and outputs the amplified signal to the
adder 1421. The amplifier 1414 amplifies the second noise emitting signal Shu2 by the gain Gh4
and outputs the amplified signal to the adder 1422.
[0030]
The adder 1421 adds the first sound emission signal Shu1 amplified by the gain Gh1 and the
second sound emission signal Shu2 amplified by the gain Gh3 to generate a sound emission
signal Sh1, and the speaker SP1 is generated. Give to. The adder 1422 adds the first sound
emission signal Shu1 amplified by the gain Gh2 and the second sound emission signal Shu2
amplified by the gain Gh4 to generate a sound emission signal Sh2, and the speaker SP2 is
generated. Give to.
[0031]
By performing such a configuration and control, sound emission control can be set for each
posture of the housing 2.
[0032]
Next, a specific usage example of the sound emission and collection device 1 using the abovedescribed configuration and control will be described with reference to FIG.
[0033]
FIG. 3 is a view for explaining a usage mode of the sound emission and collection device 1 of the
present embodiment.
FIG. 3A is an external perspective view in the first usage mode, and FIG. 3D is a diagram showing
posture data, sound collection directivity control parameters, and sound emission directivity
control parameters in the first usage mode. is there.
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FIG. 3B is an external perspective view in the second usage mode, and FIG. 3E is a diagram
showing posture data, sound collection directivity control parameters, and sound emission
directivity control parameters in the second usage mode. is there. FIG. 3C is an external
perspective view in the third usage mode, and FIG. 3F is a view showing posture data, sound
collection directivity control parameters, and sound emission directivity control parameters in
the third usage mode. is there. Note that the thick arrows and the two-dot chain line circle
representing the sound collection directivity shown in FIGS. 3A and 3B are images of the sound
collection direction and the sound collection area, and FIG. It is shown that it is sound collection
directivity which makes the front 2F direction of the body 2 the maximum sensitivity, and FIG.
Show.
[0034]
(First Usage Mode) As shown in FIG. 3A, the user uses the housing 2 and the sound emission and
collection device 1 is installed such that the bottom surface 2U of the housing 2 abuts on the
installation surface 100. In such a posture, the posture sensor 11 outputs posture data A1 as the
direction from the center of the housing 2 to the bottom surface 2U relates to the gravity.
[0035]
When acquiring the posture data A1, the control unit 10 reads the sound collection directivity
control parameter and the sound emission directivity control parameter for the posture data A1
as shown in FIG. 3D stored in the memory 12.
[0036]
Specifically, when acquiring the attitude data A1, the control unit 10 reads the gains Gc1 = 0, Gc2
= 0, and Gc3 = Gc as sound collection directivity control parameters, and supplies them to the
sound collection control unit 13.
The sound collection control unit 13 supplies these sound collection directivity control
parameters to the respective amplifiers 1311, 1312 and 1313 of the sound collection gain
adjustment unit 131.
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[0037]
As a result, only the amplifier 1313 outputs the collected sound signal amplified by the
predetermined amplification factor Gc. As a result, the directivity control sound collection signal
output from the sound collection control unit 13 becomes a signal (Ss = Gc · Sc3) obtained by
amplifying only the sound collection signal of the microphone MIC3, and sound collection in the
front 2F direction of the housing 2 It has the first sound collection directivity Dc (A1) as the
direction. Therefore, by installing the housing 2 in the first usage mode, it is possible to pick up
sound only from the front 2F direction of the housing 2.
[0038]
Further, when the control unit 10 acquires the attitude data A1, as the sound emission directivity
control parameters, gains Gh1 = (1/2) Gh, Gh2 = (1/2) Gh, Gh3 = (1/2) Gh, Gh4 = (1/2) Gh is read
out and given to the sound emission control unit 14. The sound emission control unit 14 supplies
these sound emission directivity control parameters to the amplifiers 1411, 1412, 1413 and
1414 of the sound emission gain adjustment unit 141.
[0039]
As a result, the amplifiers 1411 and 1412 amplify and output the first sound emission signal
Shu1 by (1/2) Gh, and the amplifiers 1413 and 1414 output the second sound emission signal
Shu2 (1/2). ) Amplify with Gh and output. The adder 1421 adds the first sound emission signal
Shu1 amplified by the gain (1/2) Gh and the second sound emission signal Shu2 amplified by the
gain (1/2) Gh, Output to the speaker SP1. Similarly, the adder 1422 combines the first emission
signal Shu1 amplified by the gain (1/2) Gh and the second emission signal Shu2 amplified by the
gain (1/2) Gh. Add and output to the speaker SP2. As a result, since the same sound emission
signal is input to the speakers SP1 and SP2, the speakers SP1 and SP2 emit sounds around a
direction parallel to the installation surface 100 based on the same sound emission signal. This is
because, for example, if the first sound emission signal Shu1 is a stereo R signal and the second
sound emission signal is a stereo L signal, monaural sound synthesized by the same ratio is the
speakers SP1 and SP2 From the direction parallel to the installation surface 100.
[0040]
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11
(Second Use Mode) As shown in FIG. 3B, the user holds the housing 2 and the sound emission
and collection device 1 is installed such that the back surface 2B of the housing 2 abuts on the
installation surface 100. In such a posture, the posture sensor 11 outputs posture data A2 as the
direction from the center of the housing 2 to the back surface 2B relates to the gravity.
[0041]
When acquiring the posture data A2, the control unit 10 reads the sound collection directivity
control parameter and the sound emission directivity control parameter for the posture data A2
as shown in FIG. 3E stored in the memory 12.
[0042]
Specifically, when the control unit 10 acquires posture data A2, as the sound collection
directivity control parameters, gains Gc1 = (2/3) Gc, Gc2 = (2/3) Gc, Gc3 = (2/3) ) Gc is read out
and given to the sound collection control unit 13.
The sound collection control unit 13 supplies these sound collection directivity control
parameters to the respective amplifiers 1311, 1312 and 1313 of the sound collection gain
adjustment unit 131.
[0043]
As a result, all of the amplifiers 1311, 1312 and 1312 output the collected sound signal
amplified by the same amplification factor (2/3) Gc. As a result, the directivity control sound
collection signal output from the sound collection control unit 13 is a signal obtained by equally
amplifying and collecting the sound collection signals of the microphones MIC1, MIC2 and MIC3
(Ss = (2/3) Gc · Sc1 + (2/3) Gc · Sc 2+ (2/3) Gc · Sc 3), and has a second sound collection
directivity Dc (A2) whose sound collection range is the entire circumferential direction with
respect to the housing 2 . Therefore, by installing the housing 2 in the second usage mode, sound
can be collected from the entire circumferential direction of the housing 2.
[0044]
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Further, when the control unit 10 acquires the attitude data A2, as the sound emission directivity
control parameters, gains Gh1 = (1/2) Gh, Gh2 = (1/2) Gh, Gh3 = 1/2) Gh, Gh4. = (1/2) Gh is read
and given to the noise control unit 14. The sound emission control unit 14 supplies these sound
emission directivity control parameters to the amplifiers 1411, 1412, 1413 and 1414 of the
sound emission gain adjustment unit 141.
[0045]
As a result, as in the first usage mode, the same sound emission signal is input to the speakers
SP1 and SP2, so the speakers SP1 and SP2 emit sound based on the same sound emission signal.
At this time, since the front surface 2F of the housing 2 is upward facing the installation surface
100, the speakers SP1 and SP2 emit sound around the direction orthogonal to the installation
surface 100. This is because, for example, if the first sound emission signal Shu1 is a stereo R
signal and the second sound emission signal is a stereo L signal, monaural sound synthesized by
the same ratio is the speakers SP1 and SP2 The sound is emitted centered on the vertically
upward direction.
[0046]
(Third Use Mode) As shown in FIG. 3 (C), the user holds the housing 2 and installs the sound
emission and collection device 1 so that the right side surface 2R of the housing 2 abuts on the
installation surface 100. . In such a posture, the posture sensor 11 outputs posture data A3 with
the direction of the right side surface 2R from the center of the housing 2 relating to the gravity.
[0047]
When acquiring the posture data A3, the control unit 10 reads the sound collection directivity
control parameter and the sound emission directivity control parameter for the posture data A3
as shown in FIG. 3F stored in the memory 12.
[0048]
Specifically, when acquiring the posture data A3, the control unit 10 reads the gains Gc1 = 0, Gc2
= 0, and Gc3 = 0 as sound collection directivity control parameters, and supplies them to the
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sound collection control unit 13.
The sound collection control unit 13 supplies these sound collection directivity control
parameters to the respective amplifiers 1311, 1312 and 1313 of the sound collection gain
adjustment unit 131.
[0049]
As a result, all of the amplifiers 1311, 1312 and 1313 mute the collected signal (Ss = 0). As a
result, the directivity control sound pickup signal is not output from the sound pickup control
unit 13. Therefore, by installing the housing 2 in the third usage mode, it is possible to prevent
sound collection.
[0050]
Further, when acquiring the attitude data A3, the control unit 10 reads gains Gh1 = Gh, Gh2 = 0,
Gh3 = 0, Gh4 = Gh as sound emission directivity control parameters, and gives them to the sound
emission control unit 14. The sound emission control unit 14 supplies these sound emission
directivity control parameters to the amplifiers 1411, 1412, 1413 and 1414 of the sound
emission gain adjustment unit 141.
[0051]
Thereby, the amplifier 1411 amplifies and outputs the first sound emission signal Shu1 with Gh,
and the amplifier 1414 amplifies and outputs the second sound emission signal Shu2 with Gh.
The amplifiers 1412 and 1413 mute the input sound emission signal. The adder 1421 outputs
the first sound emission signal Shu1 amplified by the gain Gh to the speaker SP1. Similarly, the
adder 1422 outputs the second sound emission signal Shu2 amplified by the gain Gh to the
speaker SP2. As a result, the sound based on the first sound emission signal Shu1 is emitted from
the speaker SP1 around the direction parallel to the installation surface 100. On the other hand,
the sound based on the second sound emission signal Shu2 is emitted from the speaker SP2
around the direction parallel to the installation surface 100. For example, if the first sound
emission signal Shu1 is a stereo R signal and the second sound emission signal is a stereo L
signal, the stereo R signal is emitted from the speaker SP1, and the stereo signal is generated
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from the speaker SP2. The L signal will be emitted. That is, stereo reproduction can be performed
by the two speakers SP1 and SP2 installed parallel to the installation surface 100.
[0052]
As described above, by using the configuration and processing of the present embodiment, it is
possible to easily change the sound collection directivity and the sound emission directivity by a
simple method of changing the posture of the housing. Furthermore, since the appearance of the
housing differs depending on the installed attitude, it is possible to easily determine which sound
collecting directivity and sound emitting directivity are selected by looking at the installation
state of the housing.
[0053]
In addition, although the example which sets three use modes was shown in the above-mentioned
description, if at least two use modes are set, the structure and control of this embodiment can be
applied. For example, when the housing 2 is installed such that the left side surface 2L abuts on
the installation surface 100, the speaker SP1 emits the second sound emission signal Shu2 and
the speaker SP2 emits the first sound. A usage mode (Gh1 = Gh4 = 0, Gh2 = Gh3 = Gh) for
emitting the signal Shu1 may be added.
[0054]
In the above description, an example of performing control to switch the sound collecting
directivity and the sound emitting directivity according to the posture of the housing 2 has been
described, but control to switch only the sound collecting directivity or only the sound emitting
directivity is described. You may do so.
[0055]
Next, a sound emitting and collecting apparatus according to a second embodiment will be
described with reference to the drawings.
[0056]
FIG. 4 is a circuit block diagram of the sound emission and collection device 1 'of the present
embodiment.
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[0057]
The sound emission and collection device 1 'of this embodiment is obtained by adding an echo
canceller 16 to the sound emission and collection device 1 shown in the first embodiment.
Therefore, the description other than the portion related to the echo canceller 16 is omitted.
[0058]
The echo canceller 16 includes adaptive filters 1611 and 1612 and post processors 1621 and
1622.
[0059]
When the control unit 10 acquires new attitude data, it gives the echo canceller 16 an initial
condition for estimation of a pseudo echo signal based on the attitude data.
That is, the echo canceller 16 is given an initial condition based on sound collection directivity
and sound emission directivity set by the posture data.
[0060]
The adaptive filter 1611 receives the sound emission signal supplied to the speaker SP1,
estimates the first pseudo echo signal, and outputs the estimated first pseudo echo signal to the
post processor 1621.
The post processor 1621 subtracts the first pseudo echo signal from the directivity control sound
collection signal Ss from the sound collection control unit 13 and outputs it.
[0061]
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16
The adaptive filter 1612 receives the sound emission signal supplied to the speaker SP 2,
estimates a second pseudo echo signal, and outputs the second pseudo echo signal to the post
processor 1622.
The post processor 1622 subtracts the second pseudo echo signal from the signal obtained by
subtracting the second pseudo echo signal from the directivity control sound pickup signal Ss
and outputs the result.
[0062]
By performing such a configuration and processing, even if the posture of the housing is
changed, estimation of a pseudo echo signal according to the posture is performed, and echo
cancellation processing is performed. As a result, there is no need for the user to set an initial
value of echo cancellation each time the housing is replaced, and it is possible to obtain a
directivity control sound collection signal in which the sneak component of the sound emission
signal is suppressed.
[0063]
1-sound emission and collection device, 2-housing, 2F-front of housing 2, 2B-back surface of
housing 2, 2U-top surface of housing 2, 2D-bottom surface of 2D housing, 2L-housing 2 Left side,
2R-right side of housing 2, 3-microphone support frame, 4-microphone frame support member,
SP1, SP2-speaker, MIC1, MIC2, MIC3-microphone, 10-control unit, 11-posture sensor, 12memory, 13-sound collection control unit, 131-sound collection gain adjustment unit, 132-adder,
14-sound emission control unit, 141-sound emission gain adjustment unit, 1421, 1422-adder,
15-I / F, 16-echo canceller, 1611, 1612- adaptive filter, 1621, 1622- post processor
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