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JP2010197296

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Notice
This translation is machine-generated. It cannot be guaranteed that it is intelligible, accurate,
complete, reliable or fit for specific purposes. Critical decisions, such as commercially relevant or
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DESCRIPTION JP2010197296
The present invention makes it possible to properly calibrate the contents of signal processing
even when the arrangement of sensors is changed in a system including a plurality of detachable
sensors. A sensor component of a sensor unit 2 and a wearable video camera of a stereo camera
unit 3 are both configured as separately detachable components. In addition, it has arrangement
information acquisition expedient 31 which acquires constitution information of the sensor part,
and signal processing control expedient 32 which changes the contents of signal processing
according to the constitution information which is acquired. [Selected figure] Figure 1
Array sensor calibration system, method and program
[0001]
The present invention relates to an array type sensor calibration system, method and program,
and more particularly, to a system for integrating and processing multiple sensing information
such as a microphone array and a stereo camera or a calibration method of a sensor information
input unit in a robot equipped with the same. About.
[0002]
There are techniques (beam forms) for improving sound quality by controlling the directivity of
sound using a plurality of microphones, and techniques for estimating the position and direction
of a sound source.
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The microphone array is one of the techniques for canceling the interference signal
superimposed on the desired audio signal. In the microphone array, first, a direction (beam)
having high sensitivity to the incoming signal of the desired signal (target signal) is formed. At
the same time, the low sensitivity direction (null) is adaptively formed in response to the
incoming signal of the interference signal, and the difference in sensitivity depending on the
direction suppresses the interference signal contained in the microphone input signal.
[0003]
The details of the microphone array are disclosed, for example, in Patent Document 1. Sound
source detection is a technology that estimates the position and direction of a sound source
based on the principle of triangulation using the difference in arrival time to different
microphones according to the distance from a desired sound source to each of a plurality of
microphones. is there.
[0004]
As a method of calibrating a plurality of microphones, as a method of uniformly adjusting the
sensitivity among a plurality of microphones, the same calibration signal for sensitivity
adjustment is input to a plurality of microphones to be adjusted and the output signals of the
microphones are compared Patent Document 2 discloses a method of adjusting with.
[0005]
In these techniques, it is assumed that the number and arrangement of the microphones
constituting the array are designed in advance, and processing and sound quality for controlling
the directivity of sound using the positional relationship information obtained from the design
information Processing for improving the sound quality or processing for estimating the position
and direction of the sound source is performed.
[0006]
JP 2005-077731 JP JP 2007-129373
[0007]
As described above, in the method of determining hardware specifications such as the number
and arrangement of the microphones in advance, only the manufacturer can manufacture the
microphone array device, and therefore, the following problems occur.
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[0008]
-In the case of the assembly type robot kit, although the shape of the robot can be freely
changed, the arrangement of a plurality of microphones can not be changed, thereby narrowing
the freedom of shape change of the assembly type robot.
[0009]
-Although the audio signal processing can be connected to the performance improvement as the
number of microphones constituting the array is increased, this can not be done because the
configuration of the array can not be changed.
[0010]
It is a common problem that the above two can not flexibly change the arrangement of the
microphones, and in particular, it can not be changed after product shipment.
[0011]
-In addition, there is a problem that it is necessary to provide different microphone array parts
for different types of robots and signal processing algorithms to correspond to them, resulting in
high manufacturing costs not suitable for mass production. .
[0012]
Although the above description is based on the assumption that the assembling robot is used, the
same problem arises when performing audio signal processing by installing a plurality of
microphones in an environment such as a room or a facility.
Also, as in the case of audio signal processing using a plurality of microphones, even in a stereo
camera or the like that performs processing such as calculating distance information to an object
or the like in a captured image using arrangement information of a plurality of cameras. There
are similar issues.
[0013]
Therefore, in view of the above situation, the present invention is an array-type sensor that
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enables the contents of signal processing to be properly calibrated even when the arrangement
of the sensors is changed in a system including a plurality of detachable sensors. The purpose is
to provide a calibration system, method and program.
[0014]
In order to achieve the above object, the present invention provides a calibration system, method
and program of an array type sensor comprising the following features.
[0015]
The calibration system for an array-type sensor according to the present invention includes a
plurality of sensor components configured as individually removable components, configuration
information acquisition means for acquiring configuration information of the sensor components,
and the acquired configuration information. And signal processing control means for changing
the content of the signal processing.
[0016]
The calibration method of an array type sensor according to the present invention is a calibration
method of an array type sensor having a plurality of sensor components configured as separately
detachable components, and configuration information acquisition for acquiring configuration
information of the sensor components. It is characterized by including a process and a signal
processing control process of changing the content of the signal processing according to the
acquired configuration information.
[0017]
The calibration program according to the present invention includes an array-type sensor system
having a plurality of sensor components configured as individually removable components,
configuration information acquisition means for acquiring configuration information of the
sensor components, and acquired configuration information. It is characterized in that it
functions as signal processing control means for changing the contents of signal processing
accordingly.
[0018]
According to the present invention, it is possible to properly calibrate the contents of signal
processing even when the arrangement of sensors is changed in a system including a plurality of
detachable sensors.
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[0019]
It is a system figure showing an example of composition of a 1st embodiment of the present
invention.
It is an external appearance block diagram of the sensor unit of the 1st Embodiment of this
invention.
It is a functional block diagram of a 1st embodiment of the present invention.
It is an external appearance block diagram at the time of using a microphone as a sensor as an
example of a sensor unit.
It is an external appearance block diagram at the time of using a video camera as a sensor as an
example of a sensor unit.
[0020]
Next, embodiments of the present invention will be described in detail with reference to the
drawings.
[0021]
Referring to FIG. 1, a first embodiment of the present invention is an assembly-type robot, which
includes an upper head unit 1A, a lower head unit 1B, an upper head unit 1A and an lower head
unit 1B. And the stereo camera unit 3 connected to the surface on the spherical side of the head
unit 1A, the head connection support unit 4, the neck unit 5, and the body Unit 6, wheel right
unit 7A connected to the right side of body unit 6, wheel left unit 7B connected to the left side of
body unit 6, caster unit 8 connected to the back of body unit 6 Including.
[0022]
FIG. 2 is an external view of the sensor unit according to the first embodiment of the present
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invention.
The illustrated configuration is one of the representative configuration examples of the sensor
unit 2 in the present invention.
As shown in FIG. 2, the sensor unit 2 includes a sensor mounting pedestal 21, a mounting type
sensor component 22A, a mounting type sensor component 22B, and a mounting type sensor
component 22C.
The sensor mounting pedestal 21 includes a mounting portion for mounting a large number of
mounting type sensor components.
In FIG. 2, although three mounting type sensor components are attached only to the outermost
side of the pedestal on the sensor mounting pedestal 21, it is possible to attach four or more
mounting type sensor components, It is also possible to attach it to parts other than the
outermost part of a pedestal.
[0023]
FIG. 3 is a functional block diagram of the first embodiment of the present invention, showing a
sensor array, a processing unit corresponding to the configuration of the sensor array, and signal
processing for integrating information on a plurality of sensors constituting the sensor array. It is
a block diagram containing and.
[0024]
The arrangement information acquiring unit 31 calculates the total number of the coordinate
information and the attached sensors in accordance with the arrangement of each of the
wearable sensor components attached to the sensor unit 2.
For example, an electrical switch that is in an energized state when the sensor component is
mounted on the sensor mounting portion of the sensor unit 2, and is de-energized when the
sensor component is not mounted. Are incorporated, and are converted into coordinate points in
the reference point and coordinate system previously defined on the sensor mounting pedestal
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21 in accordance with the position of the component in the energized state.
The definition method of the reference point and the coordinate position can be arbitrarily
defined. For example, when the sensor mounting pedestal is circular, it may be a polar coordinate
system with the center of the circle as the origin, or the sensor mounting When the pedestal is a
rectangle, it may be an xy coordinate system in which the intersection of the diagonals of the
rectangle is the origin.
[0025]
The signal processing control means 32 receives the total number of mounted sensors and
coordinate information of all mounted sensors from the layout information acquiring means 31,
and the processing content of sensor signal processing is the total number of mounted sensors
and mounted Signal processing control information is generated to be adapted to the desired
processing content in accordance with the coordinates of all the sensors.
[0026]
The sensor input signal acquisition unit 33 acquires signals from all the sensor components
attached to the sensor unit 2.
The signal processing core unit 34 changes the content of signal processing based on digital
signals of a plurality of sensors output from the sensor input signal acquisition unit 33 and
control information output from the signal processing control unit 32, and integrates the signal
processing. Output the result.
[0027]
If the processing content of the signal processing core unit 34 is, for example, sound source
position detection processing, the integrated signal processing result outputs the distance and
direction to the sound source, and the processing content of the signal processing core unit 34 is,
for example, a microphone In the case of an array, a target signal is amplified, and a signal in
which an interference signal is suppressed is output.
[0028]
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FIG. 4 is a block diagram of the sensor unit of FIG. 2 in which the wearable sensor components
22A to 22C are replaced with wearable microphones 42A to 42C.
In the case of the configuration shown in FIG. 4, the processing content of the signal processing
core unit 34 is sound source direction detection signal processing or target speech enhancement
processing (both processing may be used).
[0029]
FIG. 5 is a block diagram of the sensor unit of FIG. 2 in which the wearable sensor components
22A to 22C are replaced with wearable video cameras 52A to 52B.
In the case of the configuration shown in FIG. 4, the processing content of the signal processing
core unit 34 is stereo image processing.
[0030]
The schematic configuration of the above-described embodiment and the effects of the
configuration will be described below.
[0031]
In the above embodiment, in a system that integrates and processes a plurality of sensing
information such as a plurality of microphones and stereo cameras or a robot equipped with this
system, the individual microphones and cameras are configured as detachable parts such as
blocks. .
In the above embodiment, the arrangement information acquisition unit 31 functions as a
configuration information acquisition unit that acquires the number and arrangement
information when the parts are assembled, and a signal that changes the content of signal
processing according to the acquired configuration information. It comprises processing control
means 32 and sensor signal input means for taking in the signals outputted by each part.
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[0032]
According to the above-described configuration, even if the arrangement and the number of
sensor components such as a plurality of microphones and stereo cameras are changed, it is
possible to automatically acquire position information and the number after the change without a
time difference.
In addition, by incorporating in advance a mechanism for changing signal processing parameters
and the like so as to correspond to the acquired information, it becomes possible to realize signal
processing adapted to change in the arrangement and number of sensor components.
That is, according to the above-described configuration, configuration information can be
automatically created from the arrangement without manually creating configuration
information, even when the detachable parts are arbitrarily combined.
[0033]
Therefore, it is possible to flexibly change the number and arrangement of parts for acquiring the
original signal constituting the signal processing function, and it is possible to secure the
freedom of design of the assembly robot and the like.
In addition, it is possible to add or reduce the number of parts according to the desired signal
processing performance, or to change the arrangement of the parts in order to realize a desired
appearance design.
As a secondary effect, the same parts can be used to realize various signal processing
performance, and array sensors of various sizes and shapes can be configured. The mass
production effect can also be expected to reduce manufacturing costs.
[0034]
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The units shown in FIG. 3 (placement information acquisition unit 31, signal processing control
unit 32, sensor input signal acquisition unit 33, signal processing core unit 34) are incorporated
in the system or assembly robot as shown in FIG. It can be realized by the not-shown hardware
such as a microcomputer and the software program using the hardware.
Also, such a software program can achieve the same effect as the above-described effect. Also,
such software programs may be stored on computer readable storage media to enhance
portability.
[0035]
1A head unit 1B head unit 2 sensor unit 3 stereo camera unit 4 head connecting post unit 5 neck
unit 6 body unit 7A wheel right unit 7B wheel left unit 8 caster unit 21 mounting base for sensor
attachment 22A to 22C attachment Sensor parts 31 Arrangement information acquisition means
32 Signal processing control means 33 Sensor input signal acquisition means 34 Signal
processing core part 42A to 42C Wearable microphone parts 52A, 52B Wearable video camera
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