JP6633459B2 - Conversion device, method, and program - Google Patents

Description

  The present invention relates to a conversion technique for converting a wave into a signal or a signal into a wave. Here, the waves include sound waves, electromagnetic waves, and the like. The sound wave has a frequency of about 20 to 20 kHz. Electromagnetic waves include light waves, radio waves, and the like. Light waves are electromagnetic waves having a wavelength of about 400 to 750 nm (frequency is about 750 THz to 400 THz), and radio waves are electromagnetic waves having a frequency of about 3 THz or less. In addition, the signal referred to here is a signal encoded and coded for transmitting information, and its medium may be electricity, sound, light, radio wave, or the like.

  There is a speaker as a conversion means for converting an electric signal into a sound wave, and signal processing for a reproduction signal of a speaker array including a plurality of speakers has been studied for many years. There are various techniques for increasing the sound pressure of a sound in a direction to be reproduced by directivity control by signal processing. A typical example is a delay-and-sum array. However, these techniques basically design the various parameters and filter coefficients on the assumption that the position of the speaker is fixed and known. When the position of the speaker is unknown, it is difficult to apply processing for enhancing sound in a desired direction.

  There are two conventional approaches to solving such problems. The first method is to completely fix the speaker so that the position of the speaker does not change. This method is used when a speaker is mounted on the terminal (see Non-Patent Document 1).

  The second is a method of estimating parameters by measuring the system even if the speaker is located in an unknown place. For example, a method is known in which a known signal is picked up by a microphone at a specific position and characteristics between the speaker and the microphone are measured.

Yoichi Haneda, Akitoshi Kataoka, "Real Space Performance of Small Speaker Array Based on Multipoint Control Using Free Space Transfer Function", Acoustical Society of Japan Spring Meeting, 2008.

  However, in the case of the first approach, there is a problem that the user can use the speaker only for the intended use of the manufacturer or the like who developed the terminal.

  Further, in the case of the second approach, the above-mentioned preparation is required, and the hurdle is high for general users to perform. In addition, in the case of a system that requires the user to prepare, it can be said that it is not desirable to mount the system on a terminal with scarce resources, because it requires extra hardware and computational resources to operate an algorithm for measurement and estimation. .

  The present invention makes it possible to change the positional relationship between a plurality of converters capable of converting a signal into a wave within a predetermined constraint, so that the user can use it for purposes other than intended use by a manufacturer or the like. It is an object of the present invention to provide a conversion device, a method, and a program that can be used without requiring a simple operation.

  In order to solve the above problem, according to one embodiment of the present invention, a conversion device can convert a signal into a wave by setting M to any one of integers of 2 or more, m = 1, 2,. M m-th conversion units and a support unit that changes the positional relationship between the M m-th conversion units by deforming while supporting the M m-th conversion units, and the support unit is 1 In the case where the support portion is formed of two or more members and the support portion is formed of two or more members, one member is connected to at least one other member.

  To solve the above problem, according to another aspect of the present invention, a conversion device converts M into any of integers of 2 or more, m = 1, 2,..., M, and converts a signal into a wave. Possible M m-th conversion units, and a position for dynamically detecting a change in the positional relationship between the M m-th conversion units and obtaining a dynamically changing positional relationship of the M m-th conversion units And a relationship acquisition unit.

  To solve the above problem, according to another aspect of the present invention, a conversion device converts M into any of integers of 2 or more, m = 1, 2,..., M, and converts a signal into a wave. Based on the dynamically changing positional relationship of the M possible m-th transform units, a filter obtained from a parameter indicating the relationship between a predetermined position or direction in space and the M-th m-th transform unit is calculated or It includes a parameter changing unit to be selected, and a filter unit that uses a filter to change the characteristics of a signal before being converted by the m-th conversion unit into a wave emitted at a predetermined position or direction in space.

  In order to solve the above problem, according to another aspect of the present invention, the conversion method is such that M is any integer of 2 or more, m = 1, 2,..., M, Based on the dynamically changing positional relationship of the M m-th converters capable of converting a signal into a wave, the parameter is obtained from a parameter indicating the relationship between a predetermined position or direction in space and the M m-th converters. A parameter changing step of calculating or selecting a filter to be applied, and a filter step in which the filter unit changes the characteristics of a signal before being converted by the m-th conversion unit into a wave emitted in a predetermined position or direction in space using the filter. And

  ADVANTAGE OF THE INVENTION According to this invention, the positional relationship of the several conversion part which can convert a signal into a wave can be changed within predetermined restrictions, and a user can use it for uses other than the intended use intended by the manufacturer or the like. It can be used without requiring any special operation.

FIG. 2 is a functional block diagram of the conversion device according to the first embodiment. FIG. 5 is a diagram illustrating an example of a processing flow of the conversion device according to the first embodiment. FIG. 1 is an external view of a conversion device according to a first embodiment. FIG. 2 is a diagram showing a configuration of a microphone movable unit of the conversion device according to the first embodiment. The figure for demonstrating the method by which a support part changes the positional relationship of a conversion part. FIG. 3 is a functional block diagram of a parameter changing unit according to the first embodiment. FIG. 2 is a diagram showing a configuration of a microphone movable unit of the conversion device according to the first embodiment. FIG. 8A is a diagram illustrating a configuration of a microphone movable unit of the conversion device according to the second embodiment, and FIG. 8B is a diagram illustrating a method in which a support unit changes the positional relationship of the conversion unit. The figure which shows the structure of the microphone movable part of the converter which concerns on 3rd embodiment. The figure for demonstrating the method by which a support part changes the positional relationship of a conversion part. The figure which shows the structure of the microphone movable part of the converter which concerns on 4th Embodiment. The figure for demonstrating the method by which a support part changes the positional relationship of a conversion part. The figure for demonstrating the method by which a support part changes the positional relationship of a conversion part. The figure which shows the structure of the microphone movable part of the converter which concerns on 5th Embodiment. The figure for demonstrating the method by which a support part changes the positional relationship of a conversion part. The figure for demonstrating the method by which a support part changes the positional relationship of a conversion part. The figure showing the composition of the microphone movable part of the conversion device concerning a 6th embodiment. The figure showing the example of composition of the deformation amount acquisition part concerning a 7th embodiment. The figure showing the example of composition of the deformation amount acquisition part concerning a 7th embodiment. FIG. 28 is a functional block diagram of a parameter changing unit according to the eighth embodiment. FIG. 28 is a functional block diagram of a parameter changing unit according to a ninth embodiment. FIG. 21 is a functional block diagram of a parameter changing unit according to the tenth embodiment. The functional block diagram of the conversion device concerning a twelfth embodiment. The figure showing the composition of the microphone movable part of the conversion device concerning a 13th embodiment. The figure for demonstrating the method by which a support part changes the positional relationship of a conversion part. The figure which shows the example of a mechanism of a rotating part. The figure showing the composition of the conversion device concerning a 14th embodiment. The functional block diagram of the conversion device concerning a 15th embodiment. The figure showing the example of the processing flow of the conversion device concerning a 15th embodiment.

Hereinafter, embodiments of the present invention will be described. In the drawings used in the following description, components having the same functions and steps for performing the same processing are denoted by the same reference numerals, and redundant description will be omitted. In the following description, the symbols "^", " ^→ ", etc. used in the text should be written immediately above the character immediately before it. However, due to restrictions on text notation, they are written immediately after the character. . In the formula, these symbols are described in their original positions. The processing performed for each element of a vector or matrix is applied to all elements of the vector or matrix unless otherwise specified.

<First embodiment>
When the user freely changes the arrangement of the microphone array, the position or parameter of the microphone needs to be estimated and changed each time. Therefore, in the present embodiment, a gradual physical restriction is imposed on the positional relationship between the conversion units such as the microphones, and the positional relationship between the conversion units is specified only by obtaining the minimum information. With such a configuration, the shape of the conversion device including the conversion unit can be changed without increasing the cost of estimating the position of the conversion unit. In addition, by loosely imposing physical constraints, the user does not have to change the position of the conversion unit in the conversion device as a whole while fixing a portion that does not want to be changed by the user such as affecting the performance of the conversion unit. Can be given.

  FIG. 1 is a functional block diagram of the conversion apparatus 100 according to the first embodiment, FIG. 2 is a processing flow thereof, and FIG. 3 is an external view.

The conversion device 100 includes M microphones 101-m, a support unit 102, a deformation amount acquisition unit 103, a parameter change unit 110, a filter unit 120, an AD conversion unit 107, a frequency domain conversion unit 108, and a time domain conversion unit 109. . Here, M is any integer of 2 or more, and m = 1, 2,..., M. Converter 100, picked up by M microphones 101-m, the sound collection signal z _1, z _2, ..., with respect to z _M, performs a filtering process to emphasize a sound coming from a predetermined direction And outputs the filtered signal s ₁ (t).

  FIG. 4 shows a configuration of a microphone movable unit (the configuration inside the broken line in FIG. 1) including the M microphones 101-m and the support unit 102.

  The conversion device 100 is installed on a columnar object (for example, a rod or the like).

<M microphones 101-m, support section 102>
Sound is collected using the M microphones 101-m (s3), and an analog signal (sound pickup signal) is output to the AD converter 107. It is assumed that the M microphones 101-m are arranged at equal intervals. However, even if the intervals are not equal, the following can be performed if the microphone intervals are individually known.

  The M microphones 101-m are supported by the support unit 102.

  The support unit 102 changes the positional relationship between the M m-th conversion units by deforming while supporting the M microphones 101-m.

  Here, in the present embodiment, the support portion 102 for fixing the M microphones 101-m in FIG. 4 is formed of one member, is formed of a circumferential elastic body, and has a radius corresponding to the radius of the columnar installation target. In response, it elastically deforms and changes the positional relationship between the M m-th conversion units. Therefore, the radius of the circle where no force is applied to the support portion 102 is smaller than the radius of the installation target. In the present embodiment, as shown in FIG. 5, the radius of the circle can be changed by elastic deformation. For example, if the user wants to use the microphone array by attaching it to various objects, since the objects (posts, bars, etc.) to which the microphone array is attached are not always the same size, such a function is required so that various sizes can be accommodated. Prepare. Since the M microphones 101-m are fixed to the circumferential support 102, they are arranged in a circle and function as a circular array. In addition, the circumferential elastic body overlaps a part of the circumference, and the overlapping portion in a state where no force is applied to the support portion 102 is indicated by a broken line in FIG.

<Deformation amount acquisition unit 103>
The deformation amount obtaining unit 103 obtains the deformation amount 1 of the support unit 102 (S1) and outputs the obtained amount to the parameter changing unit 110. In the present embodiment, a change in the circumference of the support portion 102 is used as information for knowing the radius of the circle formed by the support portion 102 during elastic deformation. Here, a resistance value detector is used as the deformation amount acquisition unit 103 as an example. A material having electric resistance is used for the support portion 102 (at least a material having electric resistance is used or a material having electric resistance is attached at a broken line portion in FIGS. 4 and 5), and an end point of the broken line portion is used. The connection from the resistance detector is made in two places, and the resistance value between two points is measured via the contact point (band fixing part 103-1) of the fixing part of the support part 102. When the circumference of the circle formed by the support portion 102 is changed, the position of the band fixing portion 103-1 changes, so that the detected resistance value changes, and the length of the circumference of the circle formed by the support portion 102 is changed ( The deformation l) can be calculated. When the support portion 102 is attached to the installation target and elastically deforms, and the circumference of the circle formed by the support portion 102 increases, the distance between the two points decreases, and the resistance value decreases. Since the resistance value decreases as the circumference of the circle formed by the support portion 102 increases, the deformation amount l can be obtained from the resistance value. From a state in which no force is applied to the support portion 102, elastic deformation is possible until one end point connected to the resistance detector reaches the band fixing portion 103-1. Yes, it is a continuous value. Therefore, the positional relationship between the M microphones has a constraint that the microphone is fixed to the support unit 102, and further, there is a constraint based on the constraint on the deformation amount l.

<Parameter changing unit 110>
The parameter changing unit 110 includes a parameter calculating unit 111 (see FIG. 6). The parameter calculating unit 111 receives the deformation amount l, and sets a space based on a dynamically changing positional relationship of the M microphones 101-m. A filter obtained from parameters indicating the relationship between the above predetermined position or direction and the M microphones 101-m is calculated (S2), and output to the filter unit 120. It should be noted that "changes dynamically" means that it changes each time the conversion device is used or during use. In the prior art, the positional relationship between microphones in a microphone array was determined at the time of manufacture of the microphone array and could not be changed dynamically. Even if the positional relationship can be changed, it is necessary to measure a characteristic between the sound source and the microphone by sounding a known signal in advance from a speaker or the like every time the conversion device is used. In the present embodiment, since a gentle physical constraint is imposed on the positional relationship between the microphones, a filter can be easily calculated from the deformation amount l.

  As a parameter indicating the relationship between a predetermined position or direction in space and the M microphones 101-m, for example, an array manifold vector is used. The array manifold vector a representing the characteristics of the microphone array is, for such a circular array,

It can be expressed as. A ^T is the transpose of A, r is the radius of the circle formed by the circular array, λ is the wavelength of the target sound, θ _s is the incident angle of the target sound, θ _d is the angle between microphones as viewed from the center of the circle , A _m are the elements of the array manifold vector of the m-th microphone 101-m. The error between the distance attenuation of the sound wave and the approximation of the plane wave is assumed to be negligibly small.

  Assuming that the support portion 102 keeps a circular shape, the radius r ′ of the circle when the position of the band fixing portion 103-1 is shifted by the deformation amount l is

Since the distance between the microphones is the same, the angle θ ′ _d between the deformed microphones is

Can be expressed as In this case, θ _d is the angle between the microphones as viewed from the center of the circle formed by the support portion 102 when no force is applied. Also, for the sake of description, it is assumed that the angle of the first microphone from the center of the circle is fixed, and the angles of the second and subsequent microphones are changed. As a result, it is possible to calculate the array manifold vector a only by observing the deformation amount l from Expressions (1) and (2-1).

Using the array manifold vector a, a steering vector (hereinafter, also referred to as a filter) w corresponding to a certain angle θ _s can be designed by the same method as in the related art. For example, <1> filter design method based on SN ratio maximization criterion described in Reference Document 1, <2> filter design method based on Power Inversion, <3> one or more blind spots (noise Filter design method with minimum variance distortion-free response method with constraint on the direction in which gain is suppressed), <4> filter design method with delay-and-sum beam forming, and <5> maximum likelihood method The filter w can be designed by a filter design method, <6> AMNOR (Adaptive Microphone-array for noise reduction) method, or the like.
[Reference Document 1] Pamphlet of International Publication No. WO2012 / 086834

  For example, when the delay-and-sum method is used as a base, a filter w is calculated by the following equation and output to the filter unit 120.

Here, A ^H represents the Lumiet transposition of A. For example, in equation (5), if the array manifold vector a can be prepared in advance as a transfer characteristic a (θ) depending on the direction θ, a filter θ (θ) is calculated using a (θ), in the filter unit 120, it performs the signal processing in a specific direction theta _s. If the array manifold vector a can be prepared in advance as the transfer characteristic a (θ, D) depending on the direction θ and the distance D, the filter W (θ, D ) is calculated, the filter unit 120, perform signal processing at a particular position (position specified by the particular direction theta _s and the distance D _H).

<AD converter 107>
AD conversion unit 107, M number of analog signal z ₁ picked up by the M microphones 101-m, ..., z _M digital signals _{z (t) = [z 1} (t), ..., z M ( t)] is converted to ^T (s4), and output to the frequency domain conversion unit 108. t represents a discrete time index.

<Frequency domain conversion unit 108>
The frequency domain conversion unit 108 receives the digital signal z (t) = [z ₁ (t),..., Z _M (t)] ^T output from the AD conversion unit 107 and buffers N samples for each channel. And generates a digital signal z (τ) = [z ₁ (τ),..., Z _M (τ)] ^T in frame units. τ is the index of the frame number. z _m (τ) = [z _m ((τ−1) N + 1),..., z _m (τN)] (1 ≦ m ≦ M). N depends on the sampling frequency, but in the case of 48 kHz sampling, around 2048 points is appropriate. Next, the frequency domain conversion unit 108 converts the digital signal z (τ) of each frame into a frequency domain signal z (ω, τ) = [z ₁ (ω, τ),..., Z _M (ω, τ)]. Convert to ^T (s5) and output. ω is an index of a discrete frequency. One of the methods for converting a time-domain signal into a frequency-domain signal is a fast discrete Fourier transform, but is not limited thereto, and another method for converting into a frequency-domain signal may be used. The frequency domain signal z (ω, τ) is output for each frequency ω and each frame τ, and the following processing is performed for each frame τ. In the following description, the frame index τ will be omitted.

<Filter unit 120>
The filter unit 120 receives the filter w from the parameter changing unit 110 in advance, and receives the frequency-domain signal z (ω) = [z ₁ (ω),..., Z _M (ω)] ^T from the frequency-domain conversion unit 108. . The filter unit 120 calculates the signal s ₁ (ω) in the frequency domain by the following equation using the filter w and outputs the signal s ₁ (ω) to the time domain transform unit 109
s ₁ (ω) = w ^H z (ω)

<Time domain converter 109>
The time domain conversion unit 109 converts the output signal s ₁ (ω) of each frequency ω∈Ω of the τth frame into the time domain (s7), and converts the frame unit time domain signal s ₁ (τ) of the τth frame. Then, the obtained frame unit time domain signal s ₁ (τ) is concatenated in the order of the frame number index to output a time domain signal s ₁ (t). The method of converting the frequency domain signal into the time domain signal is an inverse transform corresponding to the transform method used in the processing of s5, and is, for example, a fast discrete inverse Fourier transform.

<Effect>
With the above configuration, the user can use the device for purposes other than the intended use intended by the maker or the like, and the user can use the device without requiring a special operation.

  Further, in the related art, if the position of the microphone can be correctly estimated and the position is not suitable for signal processing, there is a possibility that the performance of processing for emphasizing sound in a desired direction may not be obtained. For example, if the distance between the two microphones is very long with respect to the wavelength of the sound, spatial aliasing occurs widely in the audio band, and the desired directivity cannot be obtained. In the case of the conversion device according to the present embodiment, such a problem is unlikely to occur because gentle physical restrictions are imposed on the positional relationship between the conversion units.

<Modification>
In the present embodiment, a sound wave is used as a wave, but a radio wave or a light wave may be used, or an electromagnetic wave in another band may be used. In that case, a receiving antenna, a light receiving element, or the like can be used instead of the microphone. The point is that a plurality of converters capable of converting the same type of wave into a signal may be used. In other words, the waves converted by the M conversion units may be the same type of waves.

  In the present embodiment, the support portion 102 is made of a circumferential elastic body and elastically deformed. In short, the support portion 102 has a cylindrical shape while supporting the M microphones 101-m. Any object may be used as long as it deforms and changes the positional relationship between the M m-th conversion units according to the radius of the installation target. For example, it may be made of a material having some plasticity, may be deformed according to the radius of the columnar installation object, and may change the positional relationship between the M m-th conversion units.

<Second embodiment>
The following description focuses on the differences from the first embodiment. The configuration of the support unit 102 and the processing contents of the deformation amount acquisition unit 103 and the parameter change unit 110 are different from those of the first embodiment.

<Support section 102>
FIG. 7 is a front view of a microphone movable unit (the configuration inside the broken line in FIG. 1) including M microphones 101-m and a support unit 102, FIG. 8A is a plan view of the microphone movable unit, and FIG. It is a figure for explaining.

  Here, the support unit 102 for fixing the M microphones 101-m in FIG. 7 includes a movable unit, and the positional relationship between the M microphones 101-m is changed by the movement of the movable unit.

  The support section 102 has a tripod-like structure, M microphones 101-m are attached to each leg of the tripod, and M microphones 101-m are arranged in a circle (see FIG. 8A). . Here, when changing the height or the width of the foot by moving the tripod foot, insert a gear-like engagement mechanism between the foot and the center axis so that the three feet move synchronously. Is moved so that all three operate equally (see FIG. 8B).

<Deformation amount acquisition unit 103>
The deformation amount obtaining unit 103 obtains the deformation amount 1 of the support unit 102 and outputs the obtained amount to the parameter changing unit 110. In the present embodiment, the movement amount of the center axis is obtained as the deformation amount l. The detection method is the same as in the first embodiment. For example, a resistance value detector is used as the deformation amount acquisition unit 103. A material having electric resistance is used for a shaft and a gear at the center of the support part 102, and a connection from a resistance detector is made at two places at a lower end of the shaft and a center of the gear, and between two points. The resistance shall be measured. When the shaft at the center of the support portion 102 moves, the position of the lower end of the shaft changes, and the distance between the lower end of the shaft and the center of the gear changes, so that the detected resistance value changes and the amount of movement of the shaft (the amount of deformation l) ) Can be calculated. When the shaft moves upward, the distance between the two points decreases, and the resistance value decreases. As the axis moves upward, the resistance value decreases as the axis moves, so that the deformation amount l can be obtained from the resistance value. Further, for example, the rotation amount of the gear may be detected by a built-in angular position sensor (such as a rotary encoder), and the movement amount of the center axis may be calculated from the rotation angle.

<Parameter changing unit 110>
The parameter change unit 110 includes a parameter calculation unit 111 (see FIG. 6). The parameter calculation unit 111 receives the deformation amount l, calculates a filter w (S2), and outputs the filter w to the filter unit 120.

  Assuming that the radius of the gear portion is r2, the angle of the tripod has changed by l / r2 with respect to the deformation amount l. The changed radius of the circular array seen from above is

Is obtained. Here, r1 is the distance from the center of the gear to the shaft, r3 is the distance from the center of the gear to the position of the microphone 101-m, θ _d is the initial value of the angle of the tripod, angle theta _r tripod is _{θ r = (θ d + l} / r2). If the radius r 'of the circular array is known, the filter w can be obtained from the equations (4), (1), (2-1), and (5) by the same method as in the first embodiment.

<Effect>
With such a configuration, the same effect as in the first embodiment can be obtained.

<Third embodiment>
The following description focuses on the differences from the first embodiment. The configuration of the support unit 102 and the processing contents of the deformation amount acquisition unit 103 and the parameter change unit 110 are different from those of the first embodiment.

<Support section 102>
FIG. 9 is an external view of the conversion device 100. FIG. 10 shows a configuration of a microphone movable unit (the configuration inside the broken line in FIG. 1) including the M microphones 101-m and the support unit 102. As shown in FIG. 9, the conversion device 100 is attached to an installation target having a flat surface.

  The support unit 102 is composed of two or more members (linear objects), and a certain linear object is connected to at least one other linear object. The support portion 102 has a structure in which a plurality of linear objects are connected as shown in FIG. In other words, the support portion 102 includes a so-called magic hand structure, and includes a plurality of pairs of linear objects that are connected to each other at an intersection position (contact point) that crosses substantially in an X shape so as to be relatively rotatable. A linear object has contacts (three contacts in total) near both ends and at the center.

  In the present embodiment, the M microphones 101-m are arranged on the contact point at the center of the linear object, and the M microphones 101-m are arranged linearly. When the magic hand structure of the support unit 102 expands and contracts (the magic hand structure corresponds to a movable unit and the expansion and contraction corresponds to movable), the distance between the microphones changes and the positional relationship changes. Note that the wiring of the M microphones 101-m is collected at one place through the back of a linear object or the like.

<Deformation amount acquisition unit 103>
The deformation amount acquisition unit 103 acquires a rotation amount of a linear object included in the magic hand structure as a deformation amount l. For example, at least one of the contacts includes a mechanism for detecting rotation (a rotation amount detector, which corresponds to the deformation amount acquisition unit 103). In the example of FIG. 10, it is installed on the back side of the microphone 101-1. Let r be the distance between the center contact point of the linear object and the contact point near the end. As in the first embodiment, since the shape has physical restrictions, if the amount of rotation detected by the deformation amount acquisition unit 103 is known, the positional relationship of the microphones can be known. For example, in the example of FIG. 10, the smaller the angle θ formed by two intersecting linear objects, the larger the distance between the microphones. There is a restriction on the amount of rotation of a linear object, and it is a continuous value. Deformation amount obtaining unit 103 may calculate the angle theta may be directly calculated by the deformation amount l in addition to the angle theta _d formed by the two straight objects intersect.

  By doing so, the shape of the linear array can be maintained, and the distance between the microphones can be measured only by measuring the amount of rotation.

<Parameter changing unit 110>
The parameter change unit 110 includes a parameter calculation unit 111 (see FIG. 6). The parameter calculation unit 111 receives the deformation amount l, calculates a filter w (S2), and outputs the filter w to the filter unit 120.

  Assuming that the angle between the two linear objects detected by the deformation amount acquiring unit 103 is θ, the distance between the microphones is

Is obtained. The array manifold vector a of the linear array is based on the microphone 101-1.

In the same manner as in the first embodiment, the filter w can be obtained from Expressions (1) and (5).

<Effect>
With such a configuration, the present invention can be applied to a linear microphone array, and the same effects as in the first embodiment can be obtained.

<Fourth embodiment>
The description will focus on the differences from the third embodiment. The configuration of the support unit 102 and the processing content of the parameter changing unit 110 are different from those of the first embodiment.

<Support section 102>
FIG. 11 is an external view of the conversion device 100. FIG. 12 shows a configuration of a microphone movable unit (the configuration inside the broken line in FIG. 1) including the M microphones 101-m and the support unit 102. As shown in FIG. 11, the conversion device 100 is attached to an installation target having a flat surface. As shown in FIG. 12, the connection of the third embodiment is increased, and a structure in which M microphones 101-m are arranged two-dimensionally is adopted. The support unit 102 is composed of two or more members (linear objects), and a certain linear object is connected to at least one other linear object.

  The support portion 102 has a structure in which a plurality of linear objects are connected as shown in FIG. In other words, the support unit 102 includes a so-called magic hand structure, and includes a plurality of pairs of linear objects that are connected to each other at an intersecting intersection position (contact point) so as to be relatively rotatable.

  The magic hand structure of the third embodiment is connected in the y-axis direction in FIG. Therefore, the linear object has a contact point in addition to the vicinity of both ends and the center. The distance between the contacts of the linear object is r, and the linear object has a contact every distance r from the end.

  In the present embodiment, the M microphones 101-m are arranged on contact points other than the ends of the linear object, and the M microphones 101-m are arranged in a plane. In FIG. 12, they are arranged on the xy plane. When the magic hand structure of the support unit 102 expands and contracts, the distance between the microphones changes, and the positional relationship changes.

  In the case of the example of FIG. 12, when the horizontal row (row in the x-axis direction) where the microphones 101-1 are arranged is the first row, and the row below is the second row, the odd row The eye has T microphones, and the even rows have T-1 microphones. Here, T is an integer of 2 or more. However, other arrangement methods may be used.

<Parameter changing unit 110>
The parameter change unit 110 includes a parameter calculation unit 111 (see FIG. 6). The parameter calculation unit 111 receives the deformation amount l, calculates a filter w (S2), and outputs the filter w to the filter unit 120.

The angle formed by the two linear objects detected by the deformation amount acquiring unit 103 is θ (= deformation amount l), and the horizontal and vertical coordinates of the microphone 101-1 are (x ₁ , y ₁ ) = (0 , 0), the coordinates of the microphone 101-m are m = (2T−1) (p−1) + n (where p is an integer of 1 or more, n is 1 ≦ n <2T−1, and P, n are uniquely identified from the index m of

It is. Assuming that the horizontal component in the arrival direction of the sound wave is θ _sh and the vertical component is θ _sv (see FIG. 13), the delay time τ _m when the sound wave reaches the microphone 101- _m is based on the microphone 101-1.

It is. Here, c is the speed of sound, and θ _sh > 0 and θ _sv > 0. Array manifold vector a _m is
a _m = exp <-jωτ _m > (43)
And the filter w can be obtained from Expressions (1) and (5).

<Effect>
With such a configuration, the present invention can be applied to a planar microphone array, and the same effects as in the third embodiment can be obtained.

<Fifth embodiment>
The following description focuses on the differences from the first embodiment. The configuration of the support unit 102 and the processing contents of the deformation amount acquisition unit 103 and the parameter change unit 110 are different from those of the first embodiment.

<Support section 102>
FIG. 14 is an external view of a microphone movable unit (the configuration inside the broken line in FIG. 1) including the M microphones 101-m and the support unit 102, and FIG. 15 is a diagram for describing a movable method.

The support part 102 has a structure like a telescopic baton, and includes J jth telescopic parts. The support part 102 is composed of two or more members (j-th elastic part), and a certain j-th elastic part is connected to at least one other j-th elastic part. The total number of attachment are found to have the microphone from the first stretchable portion up to the j stretchable portion and M _j, the total number of mounting is found in which the microphone to the j extensible portion and M _j -M _j-1. Here, j is an integer of 1 ≦ j ≦ J, and M ₀ = 0. The M microphones 101-m are arranged together with the wiring between the microphones 101-m and the storage part of the adjacent telescopic part so as not to affect the telescopic mechanism.

  When the j-th elastic part of the support part 102 enters the j-th elastic part, the whole support part 102 contracts, and when the j-th elastic part of the support part 102 comes out of the j-th elastic part, the whole support part 102 becomes extend. When the support part 102 expands and contracts (the expansion and contraction structure corresponds to a movable part, and the expansion and contraction corresponds to movable), the distance between the microphones changes and the positional relationship changes.

<Deformation amount acquisition unit 103>
The deformation amount obtaining unit 103 obtains the deformation amount 1 of the support unit 102 (S1) and outputs the obtained amount to the parameter changing unit 110. Here, a length of the j extensible portion coming out of the j-1 stretch unit as the amount of deformation l _j. As an example, a resistance value detector is used as the deformation amount acquisition unit 103. The support portion 102 is made of a material having electric resistance, and a wire from a resistance detector is connected to an end on the distal end side of the j-1th elastic portion and an end on the base side of the jth elastic portion. (See FIG. 15), and the resistance value between two points is measured. When the j-th elastic part enters the j-th elastic part or when the j-th elastic part comes out of the j-th elastic part, the distance between the two points changes and the resistance value changes. Can be calculated, and the length of the j-th elastic part protruding from the (j-1) -th elastic part can be obtained. In this case, with the J-1 single resistor detector for measuring the resistance value between the first j-1 stretch unit and the j extensible portion acquires J-1 or amount of deformation l _j. Each deformation amount l _j has a restriction and is a continuous value.

<Parameter changing unit 110>
The parameter change unit 110 includes a parameter calculation unit 111 (see FIG. 6), and the parameter calculation unit 111 calculates a filter w (S2) and outputs the filter w to the filter unit 120.

Regarding the microphone arranged in the j-th expansion / contraction section, that is, the m-th microphone 101-m satisfying M _j-1 + 1 ≦ m ≦ M _j , the delay time τ _{m at} which the sound wave reaches the microphone is determined by the microphone 101-1. As a reference

Becomes However, placement of d _j is the end of the distal side of the j extensible portion, shows the distance to the j extensible portion microphone 101-M _j arranged closest to the tip side of the j-th stretching unit with the d _x are shown the distance between adjacent microphones, d _y denotes a microphone which is arranged in the j extensible portion, the radial distance between the microphone disposed in the j-1 stretch unit. This equation can be calculated by detecting l _j (2 ≦ j ≦ n) excluding the fixed value l ₁ by the deformation amount acquiring unit 103. The array manifold vector a _m from the delay time tau _m can be found from Equation (43), Equation (1) can be obtained filter w (5).
a _m = exp <-jωτ _m > (43)

Note that in this embodiment, there is a microphone in which l _j is shortened when expanded and contracted, and is hidden inside the housing as shown in FIG. Therefore, S _j is defined by the following equation.

Note that floor (A) is a function that returns the largest integer that does not exceed the value A, and MAX (A, B) is a function that returns the larger value of A or B. α is the length of the margin for adjusting the microphone so that it is not hidden or too close to the wall. Here, if S _j ≧ 1, there is one or more microphones hidden behind the housing, so that the microphones 101- (M _j-1 +1) to 101- (M _j-1 + S _j ) is not used.

<Effect>
With such a configuration, the present invention can be applied to a linear microphone array, and the same effects as in the first embodiment can be obtained.

<Sixth embodiment>
The following description focuses on the differences from the first embodiment. The configuration of the support unit 102 and the processing contents of the deformation amount acquisition unit 103 and the parameter change unit 110 are different from those of the first embodiment.

<Support section 102>
FIG. 17 is an external view of a microphone movable unit (a configuration inside a broken line in FIG. 1) including M microphones 101-m and a support unit 102.

The support portion 102 is composed of two or more members (j-th linear portion), and a certain j-th linear portion is connected to at least one other j-th linear portion. The support portion 102 has a structure in which n j-th linear portions, which are linear objects, are connected by n-1 j-th rotation portions. The j-1st linear portion and the j-1th linear portion are connected by the j-1th rotation portion. The total number of attachment are found to have the microphone from the first linear portion to the j linear portion and M _j, the total number of mounting is found in which the microphone to the j linear portion and M _j -M _j-1. Here, j is an integer of 1 ≦ j ≦ n, and M ₀ = 0. By rotating the j-th linear portion about the j-th rotating portion, the positional relationship between the microphone attached to the j-th linear portion and the microphone attached to the other j ′ (j ≠ j ′) linear portion is changed. change.

<Deformation amount acquisition unit 103>
The deformation amount obtaining unit 103 obtains the deformation amount 1 of the support unit 102 and outputs the obtained amount to the parameter changing unit 110. In the present embodiment, to obtain the amount of rotation of the n-1 of the j rotating section as the amount of deformation l _j. For example, each of the (n-1) j-th rotation units is provided with a mechanism for detecting rotation (a rotation amount detector and corresponds to the deformation amount acquisition unit 103). As in the first embodiment, since the shape has physical restrictions, if the amount of rotation detected by the deformation amount acquisition unit 103 is known, the positional relationship of the microphones can be known. By doing so, the positional relationship between the microphones can be measured only by measuring the amount of rotation.

<Parameter changing unit 110>
Parameter changing unit 110 includes a parameter calculation unit 111 (see FIG. 6), the parameter calculation unit 111 inputs the amount of deformation l _j, calculates the filter w (S2), and outputs to the filter section 120.

Microphone 101-m disposed in the j-th straight portion, i.e. _{M j-1 + 1 ≦ m} ≦ M j become microphone 101-m of the coordinates (x _m, y _m), based on the microphone 101-1 ,

Becomes However, L _j represents the length of the j linear portion, theta _j represents the angle formed between the j-th straight line portion and the j-1 linear portion, and fixed at θ ₁ = 0, d _m microphones 101- m and the distance from the base end to the j-th linear portion to which the microphone 101-m is attached. The delay time τ _{m at which the} sound wave reaches the microphone 101-m is based on the microphone 101-1.

This equation can be calculated by detecting θ _j (2 ≦ j ≦ n) excluding the fixed value θ ₁ by the rotation amount detection unit provided in the j-th rotation unit. The array manifold vector a _m from the delay time tau _m can be found from Equation (43), Equation (1) can be obtained filter w (5).
a _m = exp <-jωτ _m > (43)

In the case of this structure, if the amount of rotation is large, the direction of the microphone does not face the sound source.

等の制約のもとで回転するようにする。

Rotate under the constraints such as.

<Seventh embodiment>
The following description focuses on the differences from the first embodiment. In the first embodiment, the deformation amount of the support unit 102 obtained by the deformation amount obtaining unit 103 is a continuous value, but in the present embodiment, it is a discrete value. At this time, the support unit 102 may discretely change the positional relationship between the M microphones 101-m. For example, the M microphones 101-m are fixed at some predetermined positions (so that the deformation of the support unit 102 is fixed), and their discrete positions (discrete positions) are set. (The amount of deformation) may be detected and passed to the parameter changing unit 110. For example, as shown in FIG. 18, a method may be adopted in which a resistance is discretely arranged between contacts to detect a resistance value, or as shown in FIG. 19, wiring is performed for each contact and only conductive wiring is detected. With such a configuration, there is no need to detect continuous values, and mounting is easier because discrete values are detected.

  Note that the present embodiment may be combined with the second to sixth embodiments.

<Eighth embodiment>
The following description focuses on the differences from the seventh embodiment.

  FIG. 20 is a functional block diagram of the parameter changing unit 110. The parameter changing unit 110 includes a parameter storage unit 112. The parameter storage unit 112 stores a combination of a discrete deformation amount l and a filter w obtained from the deformation amount l.

  The parameter change unit 110 of the present embodiment does not calculate the filter w corresponding to the received discrete deformation amount l, but has a configuration as shown in FIG. The filter w corresponding to the typical deformation amount l is extracted and output to the filter unit 120. In the case of this configuration, although the memory area is used, there is an advantage that the calculation resources can be further reduced.

<Ninth embodiment>
The following description focuses on the differences from the first embodiment.

  The parameter changing unit 110 of the present embodiment does not use the received deformation amount l for calculation as it is, but converts it into a discrete value by providing a detection selection unit 113 as shown in FIG. For example, in the case of the first embodiment, for the input r ',

Find r ^ As in the eighth embodiment, the parameter changing unit 110 according to the present embodiment extracts a filter w corresponding to the discrete deformation amount r ′ from the parameter storage unit 112 and outputs the filter w to the filter unit 120. With such a configuration, the same effect as in the eighth embodiment can be obtained without acquiring the amount of deformation of the support portion 102 as a discrete value.

  Note that the present embodiment may be combined with the second to sixth embodiments.

<Tenth embodiment>
In the above-described first to sixth embodiments, the parameter change unit 110 may use the value of the detected deformation amount l such as the detected length of the circumference, which is sent from the deformation amount acquisition unit 103, as it is for the calculation. Instead, a detection value selection unit 113 is provided as shown in FIG. For example, in the case of the first embodiment, for the input r '

A pair r ^ of two deformation amounts r ′ _q−1 and r ′ _q is obtained. Here, q is any integer from 1 to p, and when q = 1 or q = p, r ^ = (r ′ _q , r ′ _q ). Here, p is the number of thresholds, in this case, an integer of 2 or more. Parameter changing unit 110 of this modification, the filter corresponding to the parameter storage unit 112 discrete two deformation amount r _'q-1, r' set of _{q r ^ w q-1,} w q set w ^ And outputs it to the parameter correction unit 114. However, when q = 1 or q = p, only w _q is output. The parameter correction unit 114 applies the two filters w _q−1 and w _q (one filter w _q when q = 1 or q = p) to the output two filters w _q−1 and w _q .

Then, the filter w after the correction is output as the output value of the parameter changing unit 110. However, the method of setting the threshold may be other than this. The parameter storage unit 112 operates in the same manner as in the eighth embodiment.

<Eleventh embodiment>
The following description focuses on the differences from the eighth embodiment.

  In the eighth embodiment, the steering vector stored in the parameter storage unit 112 is not an analytically calculated value but a value obtained by measurement. Specifically, a speaker is arranged in a desired directivity direction, a TSP signal (Time Stretched Pulse) or the like is reproduced and recorded by M microphones 101-m, and a transfer function to each microphone 101-m is provided. Is obtained as an array manifold vector. Other operations are the same as in the eighth embodiment. In the case of the present embodiment, it takes time to perform the measurement once, but since the relationship between the position of the microphone 101-m and the detected value (the filter obtained from the transfer characteristic) is one-to-one, the measurement is performed every time the position is changed. Not having to do that remains an advantage.

  Further, with such a configuration, a filter can be obtained even in the case where “the pattern of the positional relationship of the microphone can be detected, but the position of the microphone itself is unknown”. For example, in the first embodiment, the microphone is fixed on the band, and the position of the microphone is uniquely determined with respect to the radius r. However, the supporting portion 102 is not an accurate arc shape and the positional relationship cannot be calculated analytically. In this case, processing can be performed.

  Note that the present embodiment and the ninth embodiment may be combined.

<Modification>
The parameter changing unit 110 calculates a filter that can be calculated, and obtains a filter corresponding to each dynamically changing positional relationship in advance for a filter that cannot be calculated, and based on the deformation amount based on the obtained filter. It is good also as a structure which selects.

<Twelfth embodiment>
The following description focuses on the differences from the first embodiment.

The In one embodiment, the filter w is the output value of the parameter changing unit 110, one output w ₁ in (the x where 2 or more integer) multiple of the steering direction theta _s1 through? _SX not steering direction corresponding to ~w _X , and the filter unit 120 outputs X signals s ₁ (ω) to s _X (ω) corresponding to the X filters w _x (x = 1, 2,..., X) (FIG. 23). reference). As a result, multi-channel sound with directivity directed to a plurality of directions can be obtained at the same time.

  Note that the present embodiment may be combined with the second to eleventh embodiments.

<Thirteenth embodiment>
In the twelfth embodiment, an example will be described in which the filters w _{1 to} w _X used in particular are switched in a binary manner. FIG. 24 shows an apparatus in which three microphones 101-m are installed on an equilateral triangular plate-shaped object (supporting portion 102). The location of the microphone 101-m is as shown in FIG. The support unit 102 is composed of two members (an equilateral triangular plate-shaped object and a trapezoidal plate-shaped object), and the equilateral triangular plate-shaped object and the trapezoidal plate-shaped object are connected to each other. Further, the support portion 102 has a rotating portion on the right side, and can rotate the upper portion of the triangle to make a straight line as shown in FIG. FIG. 26 shows an example of the structure of the rotating unit. At both ends of the rotation, there are switches (SWs in FIGS. 24 and 25), which switch is used to detect which shape is being used, and passes it to the parameter changing unit 110. That is, this switch corresponds to the deformation amount acquisition unit 103. The switch is, for example, a contact switch, and has a mechanism in which only the switch whose housing is touching is turned on. The operation of the parameter changing unit 110 switches a filter to be used between a circular array of three microphones having a radius of r (FIG. 24) and a linear array of three microphones having a distance between microphones of √3r (FIG. 25). Thus, the user can use the microphone according to the scene without being aware of the change in the positional relationship of the microphone. For example, in the state of a triangle, two directivities are directed to the left and right of the triangle, two sounds are output, and when changed to a linear shape, one directivity is directed in a linear direction, and one output of sound is output. It is possible to intuitively change the operation without explicitly specifying the operation change by the user.

  The structure of the rotating part is not limited to that shown in FIG. 26, and the structure may be such that it can be installed and removed not by rotation but by a shaft part.

<14th embodiment>
In the first to thirteenth embodiments, the positional relationship between the microphones is calculated by fixing the microphone to the support unit 102 made of a rigid body, an elastic body, or a plastic body and acquiring the amount of deformation of the support unit 102. However, as shown in FIG. 27, a configuration in which a plurality of devices each including the microphone 101-m and the position sensor 130-m as a set may be used. Therefore, the conversion device 100 of the present embodiment does not include the support unit 102 and the deformation amount acquisition unit 103, but includes the position sensor 130-m instead. The position sensor 130-m performs distance measurement using, for example, an infrared sensor or Wi-Fi, and outputs information on the obtained positional relationship of the microphone to the parameter changing unit 110. Other operations are the same as those of the other embodiments.

  Note that the M position sensors 130-m dynamically detect a change in the positional relationship between the M microphones 101-m, and acquire the dynamically changing positional relationship between the M microphones 101-m. Therefore, it is also referred to as a positional relationship acquisition unit. In the first to thirteenth embodiments, the positions of dynamically changing positions of the M microphones 101-m are obtained by combining the support unit 102, the deformation amount acquisition unit 103, and the parameter change unit 110. In order to obtain the relationship, a combination of the support unit 102, the deformation amount obtaining unit 103, and the parameter changing unit 110 may be called a positional relationship obtaining unit.

<15th embodiment>
The following description focuses on the differences from the first embodiment.

  In the present embodiment, an example in which the present invention is applied to a conversion technique for converting a signal into a wave will be described. Examples of conversion techniques for converting a signal into a wave include the following techniques. There are (i) a technique for converting an electric signal into a sound wave, and (ii) a technique for converting an electric signal into an electromagnetic wave. However, the present invention is not limited to this, and (iii) a technique for converting an optical signal into a sound wave may be used. A device that achieves (i) is a speaker. There is a transmission antenna as a device that realizes (ii). If there is hardware capable of directly realizing (iii), it may be used.

  In particular, in the present embodiment, a case will be described in which a sound wave is used as a wave, and a plurality of speakers (speaker array) that convert an electric signal into a sound wave are used as a plurality of converters instead of a microphone array including a plurality of microphones. .

[Signal Processing of Converter 200]
It is assumed that directivity control is emphasized at control point D using M (≧ 2) speakers.

  FIGS. 28 and 29 show a functional configuration and a processing flow of the conversion device 200 according to the fifteenth embodiment. The conversion device 200 of the fifteenth embodiment includes M speakers 201-m, a frequency domain conversion unit 209, a filter unit 220, a time domain conversion unit 208, a parameter change unit 210, and a deformation amount acquisition unit 203. m = 1, 2,..., M, and M ≧ 2.

  The signal source 205 outputs a sound source signal s (t). In this embodiment, it is assumed that the sound source signal s (t) from the signal source 205 is a digital signal. However, when an analog signal is used as the sound source signal, an AD converter that converts the analog signal into a digital signal s (t) may be provided.

<Frequency domain transform unit 209>
First, the frequency domain conversion unit 209 receives the digital signal s (t), stores N samples in a buffer, and outputs a digital signal s (τ) in frame units. Next, the frequency domain conversion unit 209 converts the digital signal s (τ) of each frame into a frequency domain signal S (ω, τ) (S203) and outputs it. In the following description, the frame index τ will be omitted and described as S (ω).

<Support section 202>
The support unit 202 changes the positional relationship between the M m-th conversion units by deforming while supporting the M speakers 201-m. The configuration of the support unit 202 is the same as the support unit 102 of the first embodiment, and supports M speakers 201-m instead of the M microphones 101-m.

<Deformation amount acquisition unit 203>
The deformation amount obtaining unit 203 obtains the deformation amount 1 of the support unit 202 (S201) and outputs the obtained amount to the parameter changing unit 210. The configuration and processing contents of the deformation amount acquisition unit 203 are the same as those of the deformation amount acquisition unit 103 of the first embodiment.

<Parameter changing unit 210>
The parameter changing unit 210 includes a parameter calculating unit 111 (see FIG. 6). The parameter calculating unit 111 receives the deformation amount l as an input, and based on the spatial relationship between the M speakers 201-m and the dynamically changing position. A filter obtained from a parameter indicating the relationship between the above predetermined position or direction and the M speakers 201-m is calculated (S202) and output to the filter unit 120. The processing content of the parameter changing unit 210 is the same as that of the parameter changing unit 110 of the first embodiment.

For example, the filter w is calculated by the method described in Reference 2 and output to the filter unit 220. For example, a filter w used for signal processing for suppressing an acoustic signal in a specific position or direction is calculated.
[Reference 2] Yoichi Haneda and Akitoshi Kataoka, "Real space performance of small speaker array based on multipoint control using free space transfer function," Proc. Of the Acoustical Society of Japan, 2008, pp.631-632

<Filter unit 220>
The filter unit 220 receives the filter w from the parameter changing unit 210 in advance, receives the frequency domain signal S (ω), and for each frame τ, for each frequency ω∈Ω, converts the filter w into the frequency domain signal S (ω). Is applied (see the following equation, S204), and an output signal Z ^→ (ω) = [Z ₁ (ω),..., Z _M (ω)] is output.

For example, the filter unit 220 may be one that changes the reproduction characteristics of a signal before being converted by the M speakers 201-m into sound waves emitted in at least a plurality of positions or directions in space. "Different reproduction characteristics" means, for example, to locally reproduce an audio signal at a specific position and to minimize the reproduction of the audio signal at another position, or conversely, to not reproduce the audio signal at a specific position. To reproduce an audio signal only at other positions.

<Time domain converter 208>
The time domain conversion unit 208 converts the reproduction signal Z ^→ (ω) = [Z ₁ (ω),..., Z _M (ω)] of the τ-th frame at each frequency ω∈Ω into the time domain (S205). , The frame unit time domain signal z ^→ (τ) = [z ₁ (τ),..., Z _M (τ)] of the τth frame, and the obtained frame unit time domain signal z ^→ (τ) _{= [z 1 (τ),} ..., z M (τ)] to be linked to the order of the index of a frame number, time-domain signal ^{z → (t) = [z} 1 (t), ..., z M (t )] Is output. The method of converting the frequency domain signal into the time domain signal is an inverse transform corresponding to the transform method used in the processing of S203, for example, a fast discrete inverse Fourier transform.

<Speaker 201-m>
Each of the M-channel time-domain signals z ₁ (t),..., Z _M (t) is reproduced by a speaker corresponding to the channel among the M speakers 201 constituting the speaker array (S206).

<Effect>
With such a configuration, the speaker array that reproduces sound in a specific direction can be used by a user other than the intended use intended by the manufacturer or the like, and can be used without requiring a special operation from the user.

<Modification>
Note that the present invention is similarly applied to a conversion technique for converting a signal into a wave in the modified examples of the first embodiment, the second to fourteenth embodiments, and the modified examples thereof by using a speaker instead of the microphone. Can be applied. The configurations and processing contents of the support unit 202, the deformation amount acquisition unit 203, and the parameter change unit 210 are the same as those of the modification of the first embodiment, the second embodiment to the fourteenth embodiment, and the support unit 102 described in the modification. The method for the deformation amount acquisition unit 103 and the parameter change unit 110 can be used, and the configurations and processing contents of the frequency domain conversion unit 209, the filter unit 220, the time domain conversion unit 208, and the speaker 201-m have been described in the present embodiment. A method can be used.

  As in the first embodiment, a sound wave is used as a wave, but a radio wave or a light wave may be used, or an electromagnetic wave in another band may be used. In that case, a transmitting antenna, a light emitting element, or the like can be used instead of the speaker. In short, it is only necessary that a plurality of converters can convert a signal into the same kind of wave. Note that the conversion unit may be called a transmission unit in the sense that a wave can be transmitted. Note that the receiving unit and the transmitting unit described in the modification of the first embodiment may be collectively referred to as a transmitting / receiving unit.

<Other modifications>
The present invention is not limited to the above embodiments and modifications. For example, the above-described various processes may be executed not only in chronological order as described, but also in parallel or individually according to the processing capability of the device that executes the processes or as necessary. In addition, modifications can be made as appropriate without departing from the spirit of the present invention.

<Program and recording medium>
In addition, various processing functions in each device described in the above embodiments and modifications may be realized by a computer. In this case, the processing content of the function that each device should have is described by a program. Then, by executing this program on a computer, various processing functions in each of the above devices are realized on the computer.

  A program describing this processing content can be recorded on a computer-readable recording medium. As a computer-readable recording medium, for example, any recording medium such as a magnetic recording device, an optical disk, a magneto-optical recording medium, and a semiconductor memory may be used.

  The distribution of the program is performed by, for example, selling, transferring, lending, or the like, a portable recording medium such as a DVD or a CD-ROM on which the program is recorded. Further, the program may be stored in a storage device of a server computer, and the program may be distributed by transferring the program from the server computer to another computer via a network.

  A computer that executes such a program first stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage unit. Then, when executing the processing, the computer reads the program stored in its own storage unit and executes the processing according to the read program. As another embodiment of the program, a computer may directly read the program from a portable recording medium and execute processing according to the program. Further, each time a program is transferred from the server computer to the computer, processing according to the received program may be sequentially performed. A configuration in which the above-described processing is executed by a so-called ASP (Application Service Provider) type service that realizes a processing function only by executing an instruction and acquiring a result without transferring a program from the server computer to the computer. It may be. It should be noted that the program includes information to be used for processing by the computer and which is similar to the program (such as data that is not a direct command to the computer but has properties that define the processing of the computer).

  Further, each device is configured by executing a predetermined program on a computer, but at least a part of the processing contents may be realized by hardware.

Claims (8)

M is any integer of 2 or more, m = 1, 2,..., M, M m-th conversion units capable of converting a signal into a wave,
By deforming in a state in which the M m-th conversion unit is supported, a support unit that changes the positional relationship of the M-th m-th conversion unit,
A change in the positional relationship between the M m-th conversion units is dynamically detected, and a positional relationship acquisition unit that obtains a dynamically changing positional relationship between the M m-th conversion units,
Based on the dynamically changing positional relationship of the M m-th transform units, calculate a filter obtained from a parameter indicating a relationship between a predetermined position or direction in space and the M m-th transform units or A parameter change section to be selected,
Using the filter, including a filter unit that changes the characteristics of the signal before conversion in the m-th conversion unit to a wave emitted in a predetermined position or direction in space ,
The support section includes a movable section, and by moving the movable section included in the support section, changes the positional relationship between the M m-th conversion sections,
The support includes a tripod structure,
The M m-th conversion units are attached to each leg of the tripod, are arranged in a circle,
Each leg of the tripod, including a gear-shaped engagement mechanism between the center axis of the tripod, move the axis, change the positional relationship of the M m-th conversion unit,
The positional relationship acquisition unit acquires a movement amount of the axis as a deformation amount,
The parameter changing unit calculates or selects a filter obtained from a parameter indicating an angle between the M m-th conversion units based on the deformation amount.
Conversion device. The conversion device according to claim 1,
The amount of deformation of the center shaft is defined as l, the distance from the center of the gear to the shaft is defined as r1, the radius of the gear portion is defined as r2, the distance from the center of the gear to the position of the m-th conversion unit is defined as r3, and a tripod is used. of the initial value of the angle and theta _d, the radius of the circle formed by the m-th conversion unit of the M in theta _d and r,
The parameter changing unit is configured to calculate the angle between the M m-th conversion units after changing the angle of the tripod based on the deformation amount l.

And filter w from θ ' _d

Calculated or selected as
Conversion device. M is any integer of 2 or more, m = 1, 2,..., M, M m-th conversion units capable of converting a signal into a wave,
By deforming in a state in which the M m-th conversion unit is supported, a support unit that changes the positional relationship of the M-th m-th conversion unit,
A change in the positional relationship between the M m-th conversion units is dynamically detected, and a positional relationship acquisition unit that obtains a dynamically changing positional relationship between the M m-th conversion units,
Based on the dynamically changing positional relationship of the M m-th transform units, calculate a filter obtained from a parameter indicating a relationship between a predetermined position or direction in space and the M m-th transform units or A parameter change section to be selected,
Using the filter, including a filter unit that changes the characteristics of the signal before conversion in the m-th conversion unit to a wave emitted in a predetermined position or direction in space,
The support portion is made of one or more members, and when the support portion is made of two or more members, one member is connected to at least one other member,
The support section includes a movable section, and by moving the movable section included in the support section, changes the positional relationship between the M m-th conversion sections,
J is any integer greater than or equal to 2 and j = 1, 2,..., J, wherein the support portion is composed of J j-th stretchable portions, and a certain j-th stretchable portion is at least one other j-th stretchable portion. Connected to the department
The j-th elastic portion is cylindrical, and the entire support portion is contracted when the j-th elastic portion enters the j-1 elastic portion, and the support is provided when the j-th elastic portion comes out of the j-1 elastic portion. The entire part is stretched, and the expansion and contraction of the support part changes the positional relationship between the M m-th conversion parts,
The positional relationship acquisition unit acquires the length of the j-th elastic portion protruding from the j-1 elastic portion as a deformation amount,
The parameter changing unit, based on the deformation amount, calculates or selects a filter obtained from a parameter indicating a delay time at which the sound wave reaches the m-th conversion unit,
Conversion device. 4. The conversion device according to claim 3, wherein
The length of the j-th elastic part coming out of the j-th elastic part is defined as a deformation amount l _j, and the total number of m-th converting parts attached from the first elastic part to the j-th elastic part is M _j , The distance from the end on the distal end side of the j-th expandable portion to the _Mj-th conversion portion disposed on the most distal end side of the j-th expandable portion is d _j, and the adjacent m-th expandable portion disposed at a certain j-th expandable portion The distance between the conversion units is d _x , the radial distance between the m-th conversion unit disposed on the j-th expansion unit and the m-th conversion unit disposed on the j-1 expansion unit is d _y , Let θ _s be the angle of incidence of the sound, and let c be the speed of sound,
Wherein the parameter changing unit, based on the amount of deformation l _j, the delay time tau _m sound waves to reach the first m conversion unit, based on the first conversion unit

And the filter w is obtained from τ _m
a _m = exp <-jωτ _m >

Calculated or selected as
Conversion device. 5. The conversion device according to claim 4, wherein
floor (A) is a function that returns the largest integer not exceeding the value A, MAX (A, B) is a function that returns the larger value of A or B, α is the length of the margin,

When S _j ≧ 1, the conversion process from the first m-th conversion unit to the S _j- th m-th conversion unit is not performed in the _j- th expansion / contraction unit.
Conversion device. M is any integer of 2 or more, m = 1, 2,..., M, M m-th conversion units capable of converting a signal into a wave,
By deforming in a state where the M m-th conversion unit is supported, including a support unit that changes the positional relationship of the M-th m-th conversion unit ,
The support section includes a movable section, and by moving the movable section included in the support section, changes the positional relationship between the M m-th conversion sections,
The support includes a tripod structure,
The M m-th conversion units are attached to each leg of the tripod, are arranged in a circle,
Each leg of the tripod, including a gear-shaped engagement mechanism between the center axis of the tripod, by moving the axis, using a conversion device that changes the positional relationship of the M m-th conversion unit. The method
Dynamically detecting a change in the positional relationship of the M m-th conversion units, the M m-th conversion unit, a positional relationship obtaining step of obtaining a dynamically changing positional relationship,
Based on the dynamically changing positional relationship of the M m-th transform units, calculate a filter obtained from a parameter indicating a relationship between a predetermined position or direction in space and the M m-th transform units or Parameter change step to select,
Using the filter, a filter step of changing the characteristics of a signal before being converted in the m-th conversion unit into a wave emitted in a predetermined position or direction in space,
The positional relationship obtaining step obtains a movement amount of the axis as a deformation amount,
The parameter changing step, based on the deformation amount, calculates or selects a filter obtained from a parameter indicating the angle between the M m-th conversion unit,
Conversion method. M is any integer of 2 or more, m = 1, 2,..., M, M m-th conversion units capable of converting a signal into a wave,
By deforming in a state where the M m-th conversion unit is supported, including a support unit that changes the positional relationship of the M-th m-th conversion unit,
The support portion is made of one or more members, and when the support portion is made of two or more members, one member is connected to at least one other member,
The support section includes a movable section, and by moving the movable section included in the support section, changes the positional relationship between the M m-th conversion sections,
J is any integer greater than or equal to 2 and j = 1, 2,..., J, wherein the support portion is composed of J j-th stretchable portions, and a certain j-th stretchable portion is at least one other j-th stretchable portion. Connected to the department
The j-th elastic portion is cylindrical, and the entire support portion is contracted when the j-th elastic portion enters the j-1 elastic portion, and the support is provided when the j-th elastic portion comes out of the j-1 elastic portion. A conversion method using a conversion device that extends the entire part and expands and contracts the support part, thereby changing a positional relationship between the M m-th conversion parts,
Dynamically detecting a change in the positional relationship of the M m-th conversion units, the M m-th conversion unit, a positional relationship obtaining step of obtaining a dynamically changing positional relationship,
Based on the dynamically changing positional relationship of the M m-th transform units, calculate a filter obtained from a parameter indicating a relationship between a predetermined position or direction in space and the M m-th transform units or Parameter change step to select,
Using the filter, a filter step of changing the characteristics of a signal before being converted in the m-th conversion unit into a wave emitted in a predetermined position or direction in space,
The positional relationship acquisition step acquires the length of the j-th elastic portion protruding from the j-1 elastic portion as a deformation amount,
The parameter changing step, based on the deformation amount, calculates or selects a filter obtained from a parameter indicating a delay time at which the sound wave reaches the m-th conversion unit,
Conversion method. A program for causing a computer to execute the conversion method according to claim 6.

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