JP7187994B2 - Receiving device, program, sonication system, and sonication method - Google Patents

Description

The present invention relates to a receiver, program, sonication system, and sonication method.

2. Description of the Related Art There is a receiving device such as a robot that acquires identification information or the like represented by sound waves output from an output device such as a speaker, and executes predetermined processing or operation according to the acquired identification information or the like.

In addition, even if the "stop command" by voice recognition is erroneously recognized, a stop signal that stops the robot via the control device when the voice input level is above the set level so that the robot can be stopped quickly is known (see, for example, Patent Document 1).

A receiving device that acquires identification information or the like represented by sound waves output by an output device may not be able to correctly acquire identification information or the like represented by sound waves due to, for example, ambient noise or interference of sound waves.

However, when the identification information represented by the sound waves cannot be acquired with the conventional technology, it is possible that the sound waves representing the identification information are not being output, or that the identification information represented by the sound waves cannot be acquired due to surrounding noise or interference of the sound waves. was difficult to determine.

For example, it is assumed that a sound wave representing identification information or the like is transmitted once from an output device in order to cause a receiving device such as a robot to perform a predetermined operation. In this case, if there is a period in which the identification information cannot be acquired due to, for example, noise in the surroundings while the sound wave representing the identification information is being output, the receiving device may mistakenly think that the sound wave representing the identification information has been received multiple times. It may recognize and execute a predetermined action multiple times.

As a method of reducing such misrecognition, for example, a method of determining that the identification information has been obtained when the same identification information has been obtained continuously for a predetermined number of times is conceivable. There is a problem that the detection speed of information etc. is lowered and the response of the robot etc. is slowed down.

An embodiment of the present invention has been made in view of the above problems, and in a receiving device that acquires identification information represented by sound waves output from an output device, while suppressing a decrease in the detection speed of identification information, , to reduce false detection of identification information.

In order to solve the above problems, a receiver according to one embodiment of the present invention is a receiver that receives a sound wave representing identification information from an output device that outputs a sound wave representing identification information in a predetermined frequency band, and acquires the identification information. a detection unit that detects the identification information represented by the sound wave; a measurement unit that measures the sound pressure of the sound wave; a determination unit that determines the identification information to be acquired , wherein the determination unit compares the measurement result of the measurement unit with a threshold value when the detection unit cannot detect the identification information, and measures the measurement result of the measurement unit. If the result is equal to or greater than the threshold value and there is the previous identification information that was confirmed by the confirmation unit in the previous process, the previous identification information is taken as the confirmation result.

According to one embodiment of the present invention, in a receiving device that acquires identification information represented by sound waves output from an output device, it is possible to reduce erroneous detection of identification information while suppressing a decrease in detection speed of identification information. can.

It is a figure which shows the example of the system configuration|structure of the sonication system which concerns on one Embodiment. It is a figure showing an example of hardware constitutions of a receiving set concerning one embodiment. It is a figure which shows the example of the hardware constitutions of the output device which concerns on one Embodiment. It is a figure showing an example of functional composition of a sonication system concerning one embodiment. It is a figure for explaining measurement of sound pressure concerning one embodiment. FIG. 4 is a diagram showing an image of an example of motion information according to one embodiment; 6 is a flow chart showing an example of identification information confirmation processing according to the first embodiment. FIG. 7 is a diagram for explaining a specific example of identification information confirmation processing according to the first embodiment; FIG. 10 is a diagram for explaining a non-detection signal according to the second embodiment; FIG. FIG. 11 is a flowchart illustrating an example of identification information confirmation processing according to the second embodiment; FIG. FIG. 11 is a diagram for explaining a specific example of identification information confirmation processing according to the second embodiment; FIG. 12 is a diagram for explaining a specific example of the operation of the receiving device according to the second embodiment; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention are described below with reference to the accompanying drawings.

<System configuration>
FIG. 1 is a diagram illustrating an example of a system configuration of a sonication system according to one embodiment. The sound wave processing system 100 includes an output device 102 that outputs a sound wave representing identification information (hereinafter referred to as a motion ID) that identifies a predetermined motion, and one or more devices that perform the motion corresponding to the motion ID acquired from the received sound wave. and receivers 101a, 101b, . . .

In the following description, "receiving device 101" is used when indicating an arbitrary receiving device among one or more receiving devices 101a, 101b, . . . . Also, the number of receivers 101 shown in FIG. 1 may be any number of one or more.

The output device 102 creates and outputs a sound wave representing the action ID, for example, based on sound wave information pre-stored in a storage unit included in the output device 102 . Alternatively, the output device 102 may create and output a sound wave representing the action ID based on sound wave information acquired from an external storage device, an information terminal, or the like.

Note that the output device 102 may be various devices that output a sound wave representing the action ID. For example, the output device 102 may be a speaker or the like that outputs sound waves, or a display device or the like that outputs images and sound waves. Also, the output device 102 may be an information terminal such as a smart phone or a tablet terminal capable of outputting sound waves.

Preferably, the output device 102 produces and outputs sound waves representing the action ID using a frequency of 16 kHz or higher. A sound wave with a frequency of 16 kHz or higher is almost inaudible to humans, and is therefore suitable for transmitting the action ID to the receiving device 101 . However, the present invention is not limited to this, and the output device 102 may represent the action ID using sound waves in the voice band of less than 16 kHz. Thus, "sound waves" in this embodiment can include "voice".

The receiving device 101 is, for example, a device such as a smart robot that receives sound waves output by the output device 102 and executes a predetermined action corresponding to the action ID indicated by the received sound waves.

The receiving device 101 has, for example, a storage unit that stores information that associates one or more action IDs with action contents corresponding to the action IDs (hereinafter referred to as action information). Further, when the receiving device 101 acquires the action ID represented by the sound wave output from the output device 102, the receiving device 101 refers to the action information stored in the storage unit and executes a predetermined action corresponding to the action ID. For example, if the receiving device 101 is a smart robot, the predetermined action may include actions such as bowing, waving, moving forward, and various actions such as speaking.

Note that the smart robot is an example of the receiving device 101 . The receiving device 101 is, for example, an information terminal such as a smartphone that causes a robot, avatar, or the like displayed on the display unit to perform an action corresponding to the action ID indicated by the received sound wave by executing a predetermined application. good.

With the above configuration, the receiving device 101 performs various operations or processes according to identification information represented by sound waves output from the output device 102 .

However, in a system that controls the operation of the receiving device 101 according to the action ID included in the sound wave output by the output device 102, for example, when the action ID cannot be correctly recognized due to noise in the surroundings, interference of sound waves, etc. There is

For example, in order to cause the receiving apparatus 101 to perform a predetermined action, it is assumed that the sound wave representing the action ID is transmitted from the output device 102 for a predetermined period of time. While the output device 102 is outputting the sound wave representing the action ID, for example, if there is a period in which the motion ID cannot be acquired due to noise in the surroundings, the receiving device 101 receives the sound wave representing the action multiple times. erroneously, and the predetermined operation may be executed multiple times.

Therefore, the receiving apparatus 101 according to the present embodiment detects the action ID included in the received sound wave, measures the sound pressure of the received sound wave, and based on the detection result of the action ID and the measurement result of the sound pressure, , a confirmation process for confirming the action ID acquired by the receiving apparatus 101 is performed.

For example, the receiving device 101 detects the action ID at a time interval shorter than the time during which the output device 102 outputs sound waves representing the action ID. do.

In addition, when the motion ID is not detected, the receiving device 101 compares the sound pressure measurement result with the threshold, and when the sound pressure measurement result is less than the threshold, the motion ID cannot be acquired (the motion ID is not detected). to decide.

Furthermore, even if the motion ID is not detected, if the sound pressure measurement result is equal to or greater than the threshold value and there is a motion ID that was determined in the previous determination process, the receiving apparatus 101 determines The determined action ID (hereinafter referred to as the previous action ID) is determined as the final result.

As a result of the determination process described above, even if there is a period in which the motion ID cannot be acquired due to ambient noise or the like while the output device 102 is acquiring sound waves representing one motion ID, the receiving device 101 can As one, it becomes possible to perform one operation continuously.

In addition, with the above confirmation processing, the receiving apparatus 101 can start the action corresponding to the action ID when the action ID is detected for the first time. False detection of the action ID can be effectively reduced.

Note that the action ID is an example of identification information represented by sound waves output by the output device 102 . This identification information may be information in any format as long as it is information that can specify the operation or process to be executed by the receiving device 101 . For example, the identification information may further include various information such as identification information of the receiving device 101 and the output device 102 in addition to the action ID that identifies the content of the action.

As described above, according to the present embodiment, in the receiving device 101 that acquires the identification information represented by the sound wave output from the output device 102, it is possible to suppress the decrease in the detection speed of the identification information and reduce the erroneous detection of the identification information. can be done.

<Hardware configuration>
Next, hardware configurations of the receiving device 101 and the output device 102 will be described.

(Hardware configuration of receiving device)
FIG. 2 is a diagram illustrating an example of a hardware configuration of a receiving device according to one embodiment; The receiving device 101 has a configuration of a computer, for example, a CPU (Central Processing Unit) 201, a memory 202, an input device 203, a display device 204, a communication I/F (Interface) 205, an audio I/F 206, a microphone 207. , a speaker 208, a driving device 209, a bus 210, and the like.

The CPU 201 is an arithmetic device that realizes each function of the receiving device 101 by executing a predetermined program stored in the memory 202 or the like. The memory 202 includes, for example, various storage devices such as RAM (Random Access Memory), ROM (Read Only Memory), and storage devices.

The input device 203 is an input device such as a key, button, or touch panel that receives an input operation to the receiving device 101 . The display device 204 includes a display for displaying the processing result of the receiving device 101, a light emitting device such as an LED (Light Emitting Diode), and the like. Communication I/F 205 includes various communication interfaces for communicating with external devices.

The audio I/F 206 includes, for example, a microphone amplifier that amplifies a sound wave signal output from the microphone 207, a speaker amplifier that amplifies a sound wave signal output to the speaker 208, and the like. Also, the audio I/F 206 may include a signal processing circuit or the like that performs various signal processing on the sound wave signal.

The microphone 207 is a microphone or the like that acquires sound waves around the receiving device 101 and converts them into sound wave signals. The speaker 208 is a speaker or the like that converts a sound wave signal into a sound wave and outputs the sound wave.

For example, if the receiving device 101 is a smart robot, the driving device 209 includes various actuators that cause the smart robot to move, bow, wave, and so on. A bus 210 is connected to each component described above and transmits address signals, data signals, various control signals, and the like.

(Hardware configuration of output device)
FIG. 3 is a diagram illustrating an example of a hardware configuration of an output device according to one embodiment; The output device 102 has a computer configuration, and includes, for example, a CPU 301, a memory 302, a communication I/F 303, an audio output I/F 304, a speaker 305, an external connection I/F 306, a bus 307, and the like.

The CPU 301 is an arithmetic device that realizes each function of the output device 102 by executing a predetermined program stored in the memory 302 or the like. The memory 302 includes, for example, various storage devices such as RAM, ROM, and storage devices. A communication I/F 303 is, for example, a communication interface for connecting the output device 102 to a communication network or the like and communicating with an external server or the like.

The audio output I/F 304 includes, for example, a speaker amplifier that amplifies sound wave signals to be output to the speaker 305 . Also, the audio output I/F 304 may include a signal processing circuit or the like that performs various signal processing on the sound wave signal.

An external connection I/F 306 is an interface for connecting an external device to the output device 102 . Note that the external device may include, for example, an external storage device such as a storage medium. A bus 307 is connected to each component and transmits address signals, data signals, various control signals, and the like.

<Functional configuration>
Next, the functional configuration of the sonication system 100 according to this embodiment will be described. FIG. 4 is a diagram illustrating an example of the functional configuration of the sonication system according to one embodiment.

(Functional configuration of output device)
The output device 102 implements a sound wave information storage unit 411, a sound wave generation unit 412, a sound wave output unit 413, and the like by executing a predetermined program in the CPU 301 of FIG. 3, for example. Note that at least part of the components described above may be realized by hardware.

The sound wave information storage unit 411 stores sound wave information used for creating a sound wave representing the action ID, which is output by the output device 102 . The sound wave information may include, for example, information such as a frequency band for outputting the sound wave, the frequency of the sound wave, the action ID, and the order of outputting the action ID.

Preferably, the sound wave information storage unit 411 acquires sound wave information from an external storage device connected to the external connection I/F 306 in FIG. It is stored in the memory 302 or the like.

The sound wave generation unit 412 uses the sound wave information stored in the sound wave information storage unit 411 to generate a sound wave signal representing the motion ID.

A sound wave output unit (output unit) 413 outputs a sound wave representing the action ID using, for example, the sound output I/F 304, the speaker 305, etc. in FIG. 2 and the sound wave signal generated by the sound wave generation unit 412. FIG.

(Example of sound waves output by the output device)
Although the sound wave output by the output device 102 is not particularly limited in the present embodiment, an example of the sound wave output by the output device 102 will be briefly described here.

The output device 102 outputs sound waves of a plurality of frequencies representing the action ID in a predetermined frequency band (within the frequency band). As a specific example, the output device 102 can represent 7-bit identification information using sound waves of seven frequencies f1, f2, . . . , f7. For example, each frequency corresponds to one bit, with frequency f1 being the first bit, frequency f2 being the second bit, . . . , frequency f7 being the seventh bit. Also, each bit can represent a digital value of "1" when sound waves are being output at the corresponding frequency, and can represent a digital value of "0" when the corresponding frequency is not being output. Note that the number of bits "7" of the identification information is an example, and other number of bits may be used.

The frequencies f1, f2, . . . , f7 are arranged, for example, at predetermined frequency intervals within a predetermined frequency band. The receiving device 101 receives sound waves from the output device 102 and determines the presence or absence of sound waves of frequencies f1, f2, .

Note that the method of outputting the sound wave described above is an example, and the output device 102 may output the sound wave representing the sound wave ID by another method.

(Functional configuration of receiving device)
For example, the receiving apparatus 101 executes a predetermined program in the CPU 201 of FIG. It implements a setting unit 406, a storage unit 407, and the like. Note that at least part of the components described above may be realized by hardware.

A sound wave receiving unit (receiving unit) 401 receives (obtains) sound waves around the receiving device 101 . For example, the sound wave receiving unit 401 receives sound waves around the receiving apparatus 101 using the microphone 207 and the audio I/F 206 shown in FIG. 2, and acquires the received sound waves as sound wave signals.

An identification information detection unit (detection unit) 402 detects an action ID represented by the sound wave received by the sound wave reception unit 401 . For example, as described above, when the seven frequencies f1, f2, . The presence or absence of sound waves is determined for each of frequencies f1, f2, . . . , f7. For each of the frequencies f1, f2, . is set to "0", the action ID is detected.

The sound pressure measurement unit 403 (measurement unit) measures the sound pressure level of the sound wave received by the sound wave reception unit 401 .

As an example, the sound pressure measurement unit 403 octave-analyzes the sound wave signal acquired by the sound wave reception unit 401 and measures sound pressure in a preset frequency band.

FIG. 5(a) is a diagram showing an image of sound pressure measurement by octave analysis. This figure shows the relationship between frequency and sound pressure around the receiver 101 . For example, it is assumed that the output device 102 is outputting a sound wave representing the action ID to the frequency band 501 in FIG. 5(a). In this case, the sound pressure 502 of the sound wave received by the sound wave receiving unit 401 increases in the frequency band 501 as shown in FIG. 5A, for example.

For example, when the width of the frequency band 501 is about ⅓ octave, the sound pressure measuring unit 403 analyzes the sound wave signal acquired by the sound wave receiving unit 401 by ⅓ octave, and measures the sound pressure of the frequency band 501. do. As a result, for example, even if ambient noise or the like exists outside the range of the frequency band 501, the influence of the ambient noise can be suppressed and the sound pressure of the sound wave representing the action ID can be measured.

As another example, the sound pressure measuring unit 403 may measure the sound pressure in the frequency band 501 by performing FFT (Fast Fourier Transform) analysis on the sound wave signal acquired by the sound wave receiving unit 401 .

FIG. 5B is a diagram showing an image of sound pressure measurement by FFT analysis. This figure shows the relationship between frequency and sound pressure around the receiver 101 . For example, in the frequency band 501 of FIG. 5B, it is assumed that the output device 102 uses two frequencies f1 and f2 to output sound waves representing a 2-bit action ID.

In this case, the sound pressure measurement unit 403 can acquire sound pressures at multiple frequencies by performing FFT analysis on the sound wave signal acquired by the sound wave reception unit 401 . In addition, the sound pressure measurement unit 403 measures representative values such as the sum, average value, maximum value, minimum value, intermediate value, etc. of the sound pressure values at the frequencies f1 and f2 among the plurality of frequencies obtained by the FFT analysis. can be

As described above, when seven frequencies f1, f2, . should be used as the measurement result.

Further, sound pressure measurement by FFT analysis can also be applied when, for example, as shown in FIG. can. In the example of FIG. 5C, the output device 102 uses two frequencies f1 and f2 in the frequency band 501 and one frequency f3 in the frequency band 503 to generate a 3-bit operation ID. It is assumed that the sound wave representing the In this case, the sound pressure measurement unit 403 can use the representative values of the sound pressure values at the frequencies f1, f2, and f3 as the measurement results.

An identification information determination unit (determination unit) 404 determines an action ID acquired by the receiving apparatus 101 based on the detection result of the identification information detection unit 402 and the measurement result of the sound pressure measurement unit 403 .

For example, the identification information detection unit 402 detects the repeated motion ID at predetermined time intervals. Further, when the identification information detection unit 402 detects an action ID, the identification information determination unit 404 determines the detected action ID as the action ID acquired by the receiving apparatus 101 .

Further, if the action ID is not detected, the identification information determination unit 404 compares the sound pressure measurement result with a non-detection determination threshold (hereinafter referred to as threshold 1), and if the sound pressure measurement result is less than the threshold 1 , the motion ID cannot be acquired (the motion ID is not detected).

Furthermore, even if no motion ID is detected, the identification information determination unit 404 determines that the sound pressure measurement result is equal to or greater than the threshold value 1 and that there is a previous motion ID determined in the previous determination process. is determined as the action ID acquired by the receiving apparatus 101 . The specific processing contents of the identification information confirmation processing by the identification information confirmation unit 404 will be described later.

The operation control unit 405 causes the receiving device 101 to perform an operation or process corresponding to the operation ID determined by the identification information determination unit 404 .

For example, the receiving device 101 stores motion information 408 as shown in FIG.

FIG. 6 is a diagram showing an image of an example of motion information according to one embodiment. In the example of FIG. 6, the motion information 408 stores a plurality of motion IDs and motion content corresponding to each motion ID in association with each other. For example, the action control unit 405 uses such action information 408 to specify the action corresponding to the action ID determined by the identification information determination unit 404, and causes the receiving device 101 to execute the specified action.

For example, when the motion ID determined by the identification information determination unit 404 is "012", the motion control unit 405 uses the motion information 408 shown in FIG. Identify "shake". In addition, the operation control unit 405 controls the driving device 209 in FIG. 2 so that the receiving device 101 executes the specified operation content “wave right hand”.

The threshold setting unit 406 updates the setting of the threshold 1 based on the measurement result of the sound pressure measurement unit 403, for example, when the identification information detection unit 402 detects the action ID.

Here, the threshold 1 is, for example, a threshold for determining whether or not a sound wave representing the action ID is being output from the output device 102. For example, the sound pressure of the predetermined frequency band 501 reaches the threshold 1 If not, it is determined that the action ID cannot be detected.

For example, the threshold setting unit 406 sets the value obtained by multiplying the measurement result (sound pressure value) of the sound pressure measurement unit 403 by a coefficient slightly smaller than 1.0 (for example, 0.8 to 0.9) as the threshold 1 can be set to As another example, the threshold setting unit 406 sets a value (e.g., average value, intermediate value, etc.) between the measurement result (sound pressure value) of the sound pressure measurement unit 403 and the current setting of threshold 1 as the threshold value. May be set to 1.

Thus, by updating the setting of the threshold 1 based on the measurement result of the sound pressure measurement unit 403, the threshold setting unit 406 determines whether or not the sound wave representing the action ID is output from the output device 102. can be judged more appropriately.

The storage unit 407 is realized by, for example, a program executed by the CPU 201 in FIG. 2, the memory 202, and the like, and stores various types of information such as the motion information 408, the previous motion ID, the threshold value 1, and the like. .

Note that the functional configuration of the sonication system 100 shown in FIG. 4 is an example. For example, the operation control unit 405 of the reception device 101 causes an external device connected to the outside to execute the operation or process corresponding to the operation ID instead of causing the reception device 101 to execute the operation or process corresponding to the operation ID. It may be something that causes

Also, the output device 102 may create and output a sound wave representing the instructed action ID according to an instruction from an information terminal capable of communicating via the communication I/F 303 in FIG. 3, for example.

[First Embodiment]
<Process flow>
Next, the processing flow of the sonication method according to the first embodiment will be described.

(Confirmation of identification information)
FIG. 7 is a flowchart illustrating an example of identification information confirmation processing according to the first embodiment. This process shows an example of a process of determining an action ID (an example of identification information) acquired by the receiving device 101 from the sound wave output from the output device 102 .

Note that, for example, as shown in FIG. 5, the output device 102 outputs a sound wave representing the action ID in a predetermined frequency band 501 for a predetermined period of time, thereby transmitting the action corresponding to the action ID to the receiving apparatus 101. shall be required to perform

Further, it is assumed that the receiving device 101 repeatedly executes the identification information determination process shown in FIG. 7 at a cycle shorter than a predetermined period during which the output device 102 outputs sound waves representing the action ID.

In step S701, the sound wave receiving unit 401 of the receiving device 101 receives sound waves around the receiving device 101 and acquires sound wave signals.

In step S<b>702 , the identification information detection unit 402 of the reception device 101 detects an action ID represented by the sound wave received by the sound wave reception unit 401 . For example, as described above, the identification information detection unit 402 analyzes the sound wave signal acquired by the sound wave reception unit 401 and determines whether or not there is a sound wave having a frequency corresponding to each bit of the sound wave ID. to detect

In step S<b>703 , the receiving device 101 measures the sound pressure of the sound wave received by the sound wave receiving unit 401 . For example, as described above, the sound wave receiving unit 401 measures (calculates) the sound pressure of the sound wave received by the sound wave receiving unit 401 by performing octave analysis or FFT analysis on the sound wave signal acquired by the sound wave receiving unit 401. do.

In step S704, the identification information determination unit 404 of the receiving apparatus 101 determines whether the identification information detection unit 402 has detected the action ID. If the identification information detection unit 402 can detect the action ID, the identification information determination unit 404 causes the process to proceed to step S705. On the other hand, if the identification information detection unit 402 cannot detect the action ID, the identification information determination unit 404 causes the process to proceed to step S707.

When the process proceeds to step S705, the identification information determination unit 404 of the receiving apparatus 101 takes the action ID detected by the identification information detection unit 402 as the determination result. For example, the identification information determination unit 404 notifies the operation control unit 405 of the motion ID detected by the identification information detection unit 402 as the determination result.

In step S<b>706 , the threshold setting unit 406 of the receiving apparatus 101 updates the setting of the threshold 1 (first threshold) based on the measurement result of the sound pressure measurement unit 403 . For example, the threshold setting unit 406 sets the value obtained by multiplying the measurement result (sound pressure value) of the sound pressure measurement unit 403 by a coefficient smaller than 1.0 (for example, 0.8 to 0.9) as the threshold 1. set. Alternatively, the threshold setting unit 406 sets a value (for example, an average value, an intermediate value, etc.) between the measurement result (sound pressure value) of the sound pressure measurement unit 403 and the current setting of the threshold 1 as the threshold 1. do.

Note that it is not essential to execute the process of step S706 each time. For example, the threshold setting unit 406 executes the process of step S706 when a predetermined condition is satisfied (for example, when motion IDs are detected continuously for a predetermined number of times or more, when a predetermined period of time elapses, etc.). It may be something to do.

When the process proceeds from step S704 to step S707, the identification information determination unit 404 of the receiving apparatus 101 determines whether the measurement result (sound pressure) measured by the sound pressure measurement unit 403 is equal to or greater than threshold 1.

If the sound pressure measured by the sound pressure measurement unit 403 is less than the threshold value 1, the identification information determination unit 404 causes the process to proceed to step S708. On the other hand, if the sound pressure measured by the sound pressure measurement unit 403 is equal to or greater than the threshold value 1, the identification information determination unit 404 causes the process to proceed to step S709.

After moving to step S708, the identification information determination unit 404 of the receiving apparatus 101 sets the action ID to "not detected". For example, the identification information determination unit 404 notifies the operation control unit 405 of “non-detection” indicating that the operation ID cannot be detected as the determination result.

After shifting from step S707 to step S709, the identification information determination unit 404 of the receiving apparatus 101 determines whether or not there is a previous determination result. For example, the identification information determination unit 404 determines that there is no previous determination result in the case of the first determination process, and determines that the previous determination result is present in the case of the second or later determination process.

If there is no previous confirmation result, the identification information confirmation unit 404 causes the process to proceed to step S708. On the other hand, if there is a previous confirmation result, the identification information confirmation unit 404 causes the process to proceed to step S710.

After shifting to step S710, the identification information determination unit 404 of the receiving device 101 determines whether or not the previous determination result is the action ID. For example, when the previous confirmation result is "not detected", the identification information confirmation unit 404 determines that the previous confirmation result is not the action ID.

If the previous determination result is not the action ID, the identification information determination unit 404 causes the process to proceed to step S708. On the other hand, if the previous determination result is the action ID, the identification information determination unit 404 causes the process to proceed to step S711.

In step S711, the identification information determination unit 404 of the receiving apparatus 101 sets the previous action ID (the action ID determined in the previous determination process) as the determination result. For example, the identification information determination unit 404 notifies the previous motion ID to the motion control unit 405 as the determination result.

FIG. 8 shows a specific example of confirmation processing in which the receiving apparatus 101 confirms the action ID through the above processing.

(Specific example)
FIG. 8 is a diagram for explaining a specific example of identification information confirmation processing according to the first embodiment. In FIG. 8, it is assumed that the output device 102 outputs a sound wave representing the action ID during a period of time t1 to t4.

In step S801, the receiving apparatus 101 acquires sound waves during a period of time t1 to t2, and executes identification information confirmation processing shown in FIG.

FIG. 8(a) shows an image of the relationship between the frequency and the sound pressure 502 around the receiver 101 during the period of time t1 to t2. As shown in FIG. 8(a), in a period of time t1 to t2, a sound wave is output from the output device 102 in a predetermined frequency band 501 at a sound pressure sufficient for the reception device 101 to detect the action ID. It is assumed that there is

In this case, the reception device 101 determines in step S704 in FIG. 7 that the identification information detection unit 402 has detected the action ID, and in step S705, confirms the action ID detected by the identification information detection unit 402 as the confirmation result. do.

In step S802, the receiving apparatus 101 acquires sound waves during the period of time t2 to t3, and executes the identification information determination process shown in FIG.

FIG. 8(b) shows an image of the relationship between the frequency and the sound pressure around the receiver 101 during the period of time t2 to t3. As shown in FIG. 8(b), during the period from time t2 to t3, the sound pressure 800 of ambient noise is high, and the receiver 101 cannot detect the action ID. It is also assumed that the measurement result of the sound pressure in the predetermined frequency band 501 is equal to or greater than threshold 1.

In this case, the receiving device 101 executes the processing in order of steps S704, S707, and S709 in FIG. Also, here, there is the previous confirmed result confirmed in step S801, and the previous confirmed result is the action ID. Determine.

In step S803, the receiving apparatus 101 acquires sound waves during the period from time t3 to t4, and executes the identification information determination process shown in FIG.

FIG. 8(c) shows an image of the relationship between the frequency and the sound pressure 502 around the receiver 101 during the period from time t3 to t4. As shown in FIG. 8(c), it is assumed that during the period from time t3 to t4, ambient noise is reduced and the receiving apparatus 101 can sufficiently detect the action ID.

In this case, the reception device 101 determines the operation ID detected by the identification information detection unit 402 as the determination result in the same manner as in step S801.

In step S804, the receiving apparatus 101 acquires sound waves during the period from time t4 to t5, and executes the identification information determination process shown in FIG.

FIG. 8(d) shows an image of the relationship between the frequency and the sound pressure 502 around the receiver 101 during the period from time t4 to t5. As shown in FIG. 8(d), it is assumed that the sound pressure 502 of the predetermined frequency band 501 is less than the threshold value 1 during the period from time t4 to t5, and the receiving apparatus 101 cannot detect the action ID.

In this case, the receiving device 101 determines in step S704 in FIG. 7 that the identification information detection unit 402 cannot detect the action ID, and in step S708, determines the detection result as "not detected".

In this way, even if a period (t2 to t3) in which the motion ID cannot be detected occurs during the period (t1 to t4) in which the output device 102 outputs the sound wave representing the motion ID, the receiver 101 does not detect the motion ID during the period t1 to t4. , it can be determined that one action ID has been acquired.

In addition, the receiving device 101 can acquire the action ID almost in real time during the period (t1 to t4) in which the output device 102 outputs sound waves representing the action ID.

Therefore, according to the present embodiment, in the receiving device 101 that acquires identification information (action ID, etc.) represented by sound waves output from the output device 102, it is possible to suppress a decrease in the detection speed of the identification information and detect errors in the identification information. Detection can be reduced.

[Second embodiment]
In the second embodiment, an example of processing for further improving the determination accuracy of "non-detection" in the identification information determination processing described in the first embodiment will be described.

<Functional configuration>
The functional configuration of the sonication system 100 according to the second embodiment is the same as the functional configuration of the sonication system 100 according to the embodiment shown in FIG. different. Here, the description will focus on the differences from the first embodiment.

(Functional configuration of output device)
The sound wave output unit 413 according to the second embodiment outputs the sound wave representing the action ID generated by the sound wave generation unit 412, and then outputs the sound wave (undetected signal).

FIG. 9 is a diagram for explaining non-detection signals according to the second embodiment. As shown in FIG. 9, the non-detection signal 900 is output at a predetermined frequency f0. In the following description, the sound wave representing the action ID output by the output device 102 is referred to as "sound wave 1 (first sound wave)", and the non-detection signal 900 is referred to as "sound wave 2 (second sound wave)". call.

Preferably, after outputting the sound wave 1, the sound wave output unit 413 outputs the sound wave 2 at a frequency f0 different from the frequency band 501 for outputting the sound wave 1. FIG. This makes it easier for the receiver 101 to determine that the sound wave output unit 413 is not outputting the sound wave 1 when the sound wave 2 is being output at the frequency f0.

Note that the functional configuration of the output device 102 other than the above may be the same as that of the first embodiment.

(Functional configuration of receiving device)
The sound pressure measuring unit 403 according to the second embodiment measures the sound pressure of the sound wave 1 received by the sound wave receiving unit 401 and also measures the sound pressure of the sound wave 2 .

Further, the identification information determination unit 404 according to the second embodiment, as shown in FIG. It is determined that sound wave 2 is being output. It is assumed that the threshold value 2 is set in advance as a value for determining whether or not the receiving device 101 has received the sound wave 2 from the output device 102 .

Accordingly, when the sound pressure of the sound wave 2 is equal to or higher than the threshold value 2, the identification information determination unit 404 can determine that the output of the sound wave 1 from the output device 102 has ended. On the other hand, when the action ID detected until the previous time is no longer detected and the sound pressure of sound wave 2 is less than the threshold, the identification information determination unit 404 determines that the output of sound wave 1 from the output device 102 continues. can judge. Preferably, the threshold 2 is set to a lower (smaller) value than the threshold 1.

Note that the functional configuration of the receiving apparatus 101 other than the above may be the same as that of the first embodiment.

<Process flow>
(Confirmation of identification information)
FIG. 10 is a flowchart illustrating an example of identification information confirmation processing according to the second embodiment. Note that the processing of steps S701, S702, S704 to 706, and S708 to S711 in FIG. 10 is the same as in the first embodiment, so the differences from the first embodiment will be mainly described here.

In step S<b>1001 , the sound pressure measurement unit 403 of the receiving apparatus 101 measures the sound pressures of the sound waves 1 and 2 . For example, the sound pressure measuring unit 403 measures the sound pressure in the frequency band 501 in which the sound wave representing the action ID is output in FIG. 9 and the sound pressure in the frequency f0 at which the non-detection signal 900 (sound wave 2) is output. do.

In step S704, the identification information determining unit 404 of the receiving apparatus 101 determines whether or not the identification information detecting unit 402 has detected the action ID. Let

After shifting to step S1002, the identification information determining unit 404 of the receiving apparatus 101 determines whether or not the sound pressure of the sound wave 1 measured by the sound pressure measuring unit 403 is equal to or greater than the threshold value 1. If the sound pressure of sound wave 1 is equal to or greater than the threshold, the identification information determination unit 404 causes the process to proceed to step S709, as in the first embodiment. On the other hand, if the sound pressure of sound wave 1 is less than threshold value 1, the identification information determination unit 404 causes the process to proceed to step S1003.

In step S1003, the identification information determining unit 404 of the receiving apparatus 101 determines whether the sound pressure of the sound wave 2 measured by the sound pressure measuring unit 403 is equal to or greater than the threshold value 2.

If the sound pressure of sound wave 2 is greater than or equal to threshold value 2, the identification information determination unit 404 determines that the output of sound wave 1 has ended, and moves the process to step S708. On the other hand, if the sound pressure of sound wave 2 is less than the threshold, the identification information determination unit 404 determines that output of sound wave 1 has not ended, and moves the process to step S709.

FIG. 11 shows a specific example of confirmation processing in which the receiving apparatus 101 confirms the action ID through the above processing.

(Specific example)
FIG. 11 is a diagram for explaining a specific example of identification information confirmation processing according to the second embodiment. In FIG. 11, the output device 102 outputs a sound wave 1, which is a sound wave representing the action ID, to a predetermined frequency band 501 during a period of time t1 to t3, and outputs a non-detection signal during a period of time t3 to t5. Assume that the sound wave 2 is output at a predetermined frequency f0.

In step S1101, the receiving apparatus 101 acquires sound waves during a period of time t1 to t2, and executes identification information determination processing shown in FIG.

FIG. 11(a) shows an image of the relationship between the frequency and the sound pressure 502 around the receiver 101 during the period of time t1 to t2. As shown in FIG. 11(a), in a period of time t1 to t2, a sound wave is output from the output device 102 in a predetermined frequency band 501 at a sound pressure sufficient for the reception device 101 to detect the action ID. It is assumed that there is

In this case, the receiving apparatus 101 determines in step S704 in FIG. 10 that the identification information detection unit 402 has detected the action ID, and in step S705 determines the detection result as the action ID detected by the identification information detection unit 402. .

In step S1102, the receiving apparatus 101 acquires sound waves during the period of time t2 to t3, and executes the identification information determination process shown in FIG.

FIG. 11(b) shows an image of the relationship between the frequency and the sound pressure around the receiver 101 during the period from time t2 to t3. As shown in FIG. 11B, it is assumed that the sound pressure 1111 of the surrounding noise is lower than threshold 1 and higher than threshold 2 in the period from time t2 to t3. Further, it is assumed that the identification information detection unit 402 cannot detect the action ID due to the influence of ambient noise, for example.

In this case, in the first embodiment, since the sound pressure of the sound wave in the predetermined frequency band 501 is less than the threshold 1, the confirmation result is "not detected". On the other hand, in the second embodiment, if the sound pressure of sound wave 2 is equal to or greater than threshold value 2 and there is a previous action ID, the previous action ID is confirmed by the processing of steps S1003 and S709 to S711 in FIG. and

In step S1103, the receiving apparatus 101 acquires sound waves during the period of time t3 to t4, and executes the identification information determination process shown in FIG.

FIG. 11(c) shows an image of the relationship between the frequency and the sound pressure 502 around the receiver 101 during the period from time t3 to t4. As shown in FIG. 11(c), the sound wave 1 is not output during the period from time t3 to t4. On the other hand, the sound wave 2 is output at the predetermined frequency f0, and the sound pressure at the frequency f0 is equal to or higher than the threshold value 2.

In this case, the receiving device 101 determines that the action ID cannot be detected (non-detection) by the processing of steps S1002, S1003, and S708 in FIG.

As described above, in the second embodiment, since the output device 102 outputs the sound wave 2 after outputting the sound wave 1, the receiving device 101 cannot detect the action ID based on the presence or absence of the sound wave 2 (non-detection). can be determined with higher precision.

Therefore, for example, as shown in FIG. 11B, when the sound pressure of frequency f0, that is, the sound pressure of sound wave 2 is less than threshold 2, it is assumed that sound wave 1 is being output, and the previous action ID is set to It can be a definitive result.

(Example of receiver operation)
FIG. 12 is a diagram for explaining a specific example of the operation of the receiving device according to the second embodiment. This figure shows an image of a specific example of processing executed by the receiving device 101 in accordance with the action ID determined by the identification information determination processing shown in FIG.

In step S1201a, the identification information determination unit 404 of the receiving device 101 detects the motion ID from the sound wave 1 output by the output device 102, for example, in the same manner as in step S1101 in FIG. It shall be.

In step S1201b, the operation control unit 405 of the reception device 101 acquires the operation ID determined by the identification information determination unit 404, and causes the reception device 101 to perform the operation corresponding to the acquired operation ID.

For example, it is assumed that the action ID indicated by the sound wave output by the output device 102 is "012" and the action information 408 as shown in FIG. In this case, the motion control unit 405 acquires from the motion information 408 the motion content “wave right hand” corresponding to the motion ID “012” acquired from the identification information determination unit 404 . Further, the motion control unit 405 controls, for example, the driving device 209 in FIG. 2 to cause the receiving device 101 to perform the motion of waving the right hand.

In this way, when the output device 102 outputs the sound wave representing the action ID, the receiving device 101 can quickly start the action corresponding to the action ID.

In step S1202a, the identification information determination unit 404 of the receiving apparatus 101 cannot detect the motion ID due to the influence of ambient noise, etc., and, for example, similar to step S1102 in FIG. The result shall be final.

In step S1202b, the operation control unit 405 of the reception device 101 acquires the operation ID determined by the identification information determination unit 404, and causes the reception device 101 to execute the operation corresponding to the acquired operation ID.

For example, the action control unit 405 continues the action content “wave right hand” corresponding to the action ID “012” acquired from the identification information determination unit 404 .

In step S1203a, the identification information determination unit 404 of the receiving device 101 again detects the motion ID from the sound wave 1 output by the output device 102, and determines the detected motion ID as the determination result.

In step S1203b, the operation control unit 405 of the reception apparatus 101 acquires the operation ID determined by the identification information determination unit 404, and causes the reception apparatus 101 to execute the operation corresponding to the acquired operation ID.

For example, the action control unit 405 continues the action content “wave right hand” corresponding to the action ID “012” acquired from the identification information determination unit 404 .

In this way, even if there is a period during which the output device 102 is outputting the sound wave representing the action ID and the action ID cannot be detected temporarily due to the influence of ambient noise or the like, the receiving apparatus 101 can According to the action ID, the action corresponding to the action ID can be continued.

In step S1204a, the identification information determining unit 404 of the receiving device 101 determines that the action ID cannot be detected (non-detected) from the sound wave 1 output by the output device 102, for example, in the same manner as in step S1103 of FIG.

In step S1204b, the operation control unit 405 of the receiving apparatus 101 acquires the confirmation result of “non-detection” confirmed by the identification information confirmation unit 404, and stops the operation content “waving the right hand” being executed.

In this way, the receiving device 101 can immediately detect that the sound wave 1 representing the action ID is not output based on the sound wave 2 output by the output device 102, and stop the action being executed. .

As described above, according to each embodiment of the present invention, in the receiving device 101 that acquires the identification information represented by the sound wave output from the output device 102, while suppressing the decrease in the detection speed of the identification information, erroneous detection of the identification information can be prevented. can be reduced.

In each of the embodiments described above, the determination as to whether the sound pressure is greater than or equal to the threshold or less than the threshold may be determined as to whether the sound pressure exceeds or is less than or equal to the threshold.

REFERENCE SIGNS LIST 100 sonic wave processing system 101 receiver 102 output device 401 sonic receiver (receiver)
402 identification information detection unit (detection unit)
403 sound pressure measurement unit (measurement unit)
404 identification information determination unit (determination unit)
406 Threshold setting unit 413 Sound wave output unit (output unit)

JP-A-62-165209

Claims (12)

A receiving device that receives a sound wave from an output device that outputs a sound wave representing identification information in a predetermined frequency band and acquires the identification information,
a detection unit that detects the identification information represented by the sound wave;
a measurement unit that measures the sound pressure of the sound wave;
a determination unit that determines the identification information acquired by the receiving device based on the detection result of the detection unit and the measurement result of the measurement unit;
has
The determination unit
When the detection unit cannot detect the identification information, comparing the measurement result of the measurement unit with a threshold,
If the measurement result of the measurement unit is equal to or greater than the threshold value, and if there is previous identification information that the determination unit determined in the previous process, the previous identification information is the determination result,
receiving device. The determination unit
If the measurement result of the measurement unit is less than the threshold value, and if the measurement result of the measurement unit is equal to or greater than the threshold value, and the determination unit does not have the previous identification information determined in the previous process, the identification 2. The receiving device according to claim 1 , which determines that information cannot be detected. 3. The receiving apparatus according to claim 1 , further comprising a threshold setting section that sets the threshold based on the measurement result of the measurement section when the detection section detects the identification information represented by the sound wave. The output device outputs a second sound wave at a predetermined frequency after outputting a first sound wave representing the identification information,
The determination unit
If the detection unit cannot detect the identification information, comparing the sound pressure of the first sound wave with a first threshold,
if the sound pressure of the first sound wave is less than the first threshold, comparing the sound pressure of the second sound wave to a second threshold;
2. The receiving apparatus according to claim 1 , wherein, when the sound pressure of said second sound wave is greater than or equal to said second threshold, it is determined that said identification information cannot be detected. 5. The receiving device according to claim 4 , wherein said predetermined frequency is a frequency different from said predetermined frequency band. 6. The method according to claim 1 , wherein the measurement result of the measuring unit is a representative value calculated using the sound pressure at the frequency representing the identification information among a plurality of frequencies obtained by FFT-analyzing the sound wave. A receiving device according to any one of the preceding claims. 6. The receiving apparatus according to claim 1 , wherein the measurement result of said measuring unit is sound pressure in said predetermined frequency band. A receiving device that receives a sound wave from an output device that outputs a sound wave representing identification information in a predetermined frequency band and acquires the identification information,
a process of detecting the identification information represented by the sound wave;
a process of measuring the sound pressure of the sound wave;
a process of determining the identification information acquired by the receiving device based on the detection result of the detecting process and the measurement result of the measuring process;
and
The confirming process includes:
If the identification information cannot be detected in the detecting process, comparing the measurement result of the measuring process with a threshold,
If the measurement result of the process to be measured is equal to or greater than the threshold, and the process to be confirmed has previous identification information that was confirmed in the previous process, the previous identification information is used as the confirmation result.
program . A sound wave processing system including an output device that outputs a sound wave representing identification information in a predetermined frequency band, and a receiving device that receives the sound wave from the output device and acquires the identification information,
The receiving device
a detection unit that detects the identification information represented by the sound wave;
a measurement unit that measures the sound pressure of the sound wave;
a determination unit that determines the identification information acquired by the receiving device based on the detection result of the detection unit and the measurement result of the measurement unit;
has
The determination unit
When the detection unit cannot detect the identification information, comparing the measurement result of the measurement unit with a threshold,
If the measurement result of the measurement unit is equal to or greater than the threshold value, and if there is previous identification information that the determination unit determined in the previous process, the previous identification information is the determination result,
Sonication system. The receiving device used in a sound wave processing system including an output device that outputs sound waves representing identification information in a predetermined frequency band, and a receiving device that receives the sound waves from the output device and acquires the identification information, ,
a detection unit that detects the identification information represented by the sound wave;
a measurement unit that measures the sound pressure of the sound wave;
a determination unit that determines the identification information acquired by the receiving device based on the detection result of the detection unit and the measurement result of the measurement unit;
has
The determination unit
When the detection unit cannot detect the identification information, comparing the measurement result of the measurement unit with a threshold,
If the measurement result of the measurement unit is equal to or greater than the threshold value, and if there is previous identification information that the determination unit determined in the previous process, the previous identification information is the determination result,
receiving device. an output unit that outputs sound waves representing identification information in a predetermined frequency band;
a receiving unit that receives the sound wave;
a detection unit that detects the identification information representing the sound wave;
a measurement unit that measures the sound pressure of the sound wave;
a determination unit that determines the identification information to be acquired based on the detection result of the detection unit and the measurement result of the measurement unit;
has
The determination unit
When the detection unit cannot detect the identification information, comparing the measurement result of the measurement unit with a threshold,
If the measurement result of the measurement unit is equal to or greater than the threshold value, and if there is previous identification information that the determination unit determined in the previous process, the previous identification information is the determination result,
Sonication system. A process in which the output unit outputs a sound wave representing identification information in a predetermined frequency band;
a process in which the receiving unit receives the sound wave;
A process in which the detection unit detects the identification information represented by the sound wave;
A process in which the measurement unit measures the sound pressure of the sound wave;
a process of determining the identification information to be acquired by the determining unit based on the detection result of the detecting process and the measurement result of the measuring process;
including
The confirming process includes:
If the identification information cannot be detected in the detecting process, comparing the measurement result of the measuring process with a threshold,
If the measurement result of the process to be measured is equal to or greater than the threshold, and the process to be confirmed has previous identification information that was confirmed in the previous process, the previous identification information is used as the confirmation result.
Sonication method.

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