JPH06230098A - Position detector using acoustic sensor - Google Patents
Position detector using acoustic sensorInfo
- Publication number
- JPH06230098A JPH06230098A JP1778493A JP1778493A JPH06230098A JP H06230098 A JPH06230098 A JP H06230098A JP 1778493 A JP1778493 A JP 1778493A JP 1778493 A JP1778493 A JP 1778493A JP H06230098 A JPH06230098 A JP H06230098A
- Authority
- JP
- Japan
- Prior art keywords
- sound
- moving body
- signal
- signals
- sound sensors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、音源を有する移動体の
接近通過を検知するための音響センサーを用いた位置検
知装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device using an acoustic sensor for detecting an approaching passage of a moving body having a sound source.
【０００２】[0002]
【従来の技術】従来では移動体を検知する場合、電磁波
や超音波またはレーザー光線等を移動体に向かって照射
し、移動体に反射された信号を受信することにより移動
体を検知する、いわゆるアクティブ方式が採用されてい
る。2. Description of the Related Art Conventionally, when a moving body is detected, an electromagnetic wave, an ultrasonic wave, a laser beam, or the like is applied to the moving body, and the signal reflected by the moving body is received to detect the moving body. The method is adopted.
【０００３】[0003]
【発明が解決しようとする課題】上記アクティブ方式は
移動体の位置を正確に把握できるため、ある一定の監視
領域への接近や侵入を検知するのは容易であるが、検知
用の照射波により、逆探知される恐れがあり、これが不
都合な場合にはこの方式は採用できない。Since the above-mentioned active method can accurately grasp the position of the moving body, it is easy to detect the approach or invasion to a certain monitoring area, but it is possible to detect by the irradiation wave for detection. However, there is a risk of reverse detection, and if this is inconvenient, this method cannot be adopted.
【０００４】本発明は、上記問題点を解決して、移動体
の音源から発する音圧により、移動体の接近、通過を正
確に検知できて、照射波もなく逆探知されることのない
音響センサーを用いた位置検知装置を提供することを目
的とする。The present invention solves the above-mentioned problems, and the sound pressure emitted from the sound source of the moving body can accurately detect the approaching and passing of the moving body, and the acoustic wave is not detected backward without irradiation waves. An object is to provide a position detecting device using a sensor.
【０００５】[0005]
【課題を解決するための手段】上記問題点を解決するた
めに本発明の位置検知装置は、所定角度隔てて同一平面
上に配置された一対の単一指向性の音センサーと、前記
両音センサーからの検出信号を加算した加算信号および
減算した減算信号の差を演算する前処理回路と、前記前
処理回路の出力値から音センサー間前方の移動体通過を
検知する信号処理回路とを備えたものである。In order to solve the above-mentioned problems, a position detecting device of the present invention comprises a pair of unidirectional sound sensors arranged on the same plane with a predetermined angle therebetween, and the two sound signals. A preprocessing circuit for calculating a difference between an addition signal obtained by adding detection signals from the sensor and a subtraction signal obtained by subtraction, and a signal processing circuit for detecting passage of a moving object in front of the sound sensor from an output value of the preprocessing circuit. It is a thing.
【０００６】[0006]
【作用】上記位置検知装置の構成によれば、所定角度隔
てた方向に配置された単一指向性の音センサーにより検
出される移動体の音圧信号特性は、その加算信号から減
算信号を減算した信号特性曲線が、両音センサーの指向
性の中間位置で急激に立ち上がることから、その立ち上
がる時間を検出することにより、移動体の接近および侵
入を判断することができる。したがって、音センサーの
前方を通過する移動体の音圧を感知して、移動体の接近
および侵入を正確に判断することができる。According to the structure of the position detecting device, the sound pressure signal characteristic of the moving body detected by the unidirectional sound sensor arranged in the direction separated by the predetermined angle subtracts the subtraction signal from the addition signal. Since the signal characteristic curve abruptly rises at the intermediate position of the directivity of both sound sensors, it is possible to judge the approach and intrusion of the moving body by detecting the rising time. Therefore, by detecting the sound pressure of the moving body passing in front of the sound sensor, it is possible to accurately determine the approach and the invasion of the moving body.
【０００７】[0007]
【実施例】以下、本発明に係る音響センサーを用いた位
置検知装置の一実施例を図面に基づいて説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a position detecting device using an acoustic sensor according to the present invention will be described below with reference to the drawings.
【０００８】この位置検知装置は、音を出す移動体Ｏが
直上位置に接近、侵入したかを検知するもので、図１に
示すように、受信感度特性が狭い一対の単一指向性の第
１音センサー１Ａ，２Ａと第２音センサー１Ｂ，２Ｂを
それぞれ具備した２組のＸ方向音検知部３ＡおよびＺ方
向音検知部３Ｂが設けられている。Ｘ方向音検知部３Ａ
には、Ｘ−Ｘ方向に沿う鉛直面Ｘ上で鉛直線Ｙに対して
所定角度α傾斜するＸａ，Ｘｂ方向に受信感度が最大と
なるように第１音センサー１Ａおよび第２音センサー２
Ａが配置され、またＺ方向音検知部３Ｂには、Ｘ−Ｘ方
向に対して直交するＺ−Ｚ方向に沿う鉛直面Ｚ上で鉛直
線Ｙに対して所定角度α傾斜するＺａ，Ｚｂ方向に受信
感度が最大となるように第１音センサー２Ａおよび第２
音センサー２Ｂが配置されている。Ｘ方向音検知部３Ａ
およびＺ方向音検知部３Ｂの信号は、それぞれＡ／Ｄ変
換器４を介して信号処理回路５に入力され移動体Ｏの接
近、通過を判断することができる。This position detecting device detects whether or not the moving body O, which emits a sound, approaches or invades a position directly above, and as shown in FIG. 1, a pair of unidirectional first antennas having narrow receiving sensitivity characteristics. Two sets of an X-direction sound detection unit 3A and a Z-direction sound detection unit 3B each including one sound sensor 1A, 2A and second sound sensor 1B, 2B are provided. X direction sound detector 3A
In the X-X direction, the first sound sensor 1A and the second sound sensor 2 are arranged so that the receiving sensitivity becomes maximum in the Xa and Xb directions which are inclined at a predetermined angle α with respect to the vertical line Y.
A is arranged, and in the Z-direction sound detecting section 3B, the Za and Zb directions are inclined at a predetermined angle α with respect to the vertical line Y on the vertical plane Z along the ZZ direction orthogonal to the XX direction. The first sound sensor 2A and the second sound sensor so that the receiving sensitivity becomes maximum.
The sound sensor 2B is arranged. X direction sound detector 3A
The signals of the Z-direction sound detector 3B and the Z-direction sound detector 3B are input to the signal processing circuit 5 via the A / D converter 4, respectively, so that the approaching or passing of the moving body O can be determined.
【０００９】ここで、Ｘ方向音検知部３ＡおよびＺ方向
音検知部３Ｂは同一構成であるため、Ｘ方向音検知部３
Ａのみを説明してＺ方向音検知部３Ｂの説明は省略す
る。前記Ｘ方向音検知部３Ａは、図２，図３に示すよう
に受信感度特性ｃ，ｄがＸａ，Ｘｂ方向に高感度となる
第１音センサー１Ａおよび第２音センサー２Ａと、第１
音センサー１Ａおよび第２音センサー２Ａからの信号を
前処理する前処理回路６で構成されている。この前処理
回路６は、第１音センサー１Ａおよび第２音センサー２
Ａからの検出信号ａ1 ，ｂ1 を増幅する増幅器７Ａ，７
Ｂと、不必要な周波数成分をカットするフィルター８
Ａ，８Ｂと、フィルター８Ａ，８Ｂからの信号を加算お
よび減算する加減算器９と、前記加算信号ａ2 から減算
信号ｂ2を減算する減算器１０とで構成されている。Since the X-direction sound detector 3A and the Z-direction sound detector 3B have the same structure, the X-direction sound detector 3 is used.
Only A will be described, and description of the Z-direction sound detection unit 3B will be omitted. As shown in FIGS. 2 and 3, the X-direction sound detector 3A includes a first sound sensor 1A and a second sound sensor 2A that have high sensitivity in the reception sensitivity characteristics c and d in the Xa and Xb directions.
The pre-processing circuit 6 pre-processes the signals from the sound sensor 1A and the second sound sensor 2A. The preprocessing circuit 6 includes a first sound sensor 1A and a second sound sensor 2
Amplifiers 7A and 7 for amplifying the detection signals a 1 and b 1 from A
B and filter 8 for cutting unnecessary frequency components
A and 8B, an adder / subtractor 9 that adds and subtracts the signals from the filters 8A and 8B, and a subtractor 10 that subtracts the subtraction signal b 2 from the addition signal a 2 .
【００１０】また、この前処理回路６で前処理されたア
ナログの前処理信号ａ2 −ｂ2 は、Ａ／Ｄ変換器４を介
してデジタル変換され、さらにこのデジタル信号により
移動体Ｏの侵入を判断する信号処理回路５に入力され
る。The analog pre-processed signal a 2 -b 2 pre-processed by the pre-processing circuit 6 is digitally converted by the A / D converter 4, and the moving body O enters by the digital signal. Is input to the signal processing circuit 5.
【００１１】図４は第１音センサー１Ａおよび第２音セ
ンサー２Ａの加算信号特性曲線および減算信号特性曲線
を示す。また図３に示すように移動体ＯがＸ−Ｘ方向に
沿って矢印Ｃ方向に移動した場合、第１音センサー１Ａ
および第２音センサー２Ａに受信される検出信号ａ1 ，
ｂ1 は、時間の経過とともに図５に示すように変化す
る。そして、この検出信号ａ1 ，ｂ1 を加算した加算信
号ａ2 および検出信号ａ 1 ，ｂ1 を減算した減算信号ｂ
2 は、図６に示すように変化し、さらにこの加算信号ａ
2 から減算信号ｂ2 を減算した前処理信号ａ2 −ｂ
2 は、移動体Ｏが直上のＹ方向を通過する時に急激に立
ち上がって最大となる。したがって、この前処理信号ａ
2 −ｂ2 のピーク値の持続時間ｔを検知することによ
り、移動体Ｏの接近、侵入を正確に検知することができ
る。FIG. 4 shows a first sound sensor 1A and a second sound sensor.
2A addition signal characteristic curve and subtraction signal characteristic curve
Indicates. In addition, as shown in FIG. 3, the moving body O moves in the XX direction.
When moving in the direction of arrow C, the first sound sensor 1A
And the detection signal a received by the second sound sensor 2A1，
b1Changes over time as shown in FIG.
It Then, this detection signal a1, B1Addition signal with
Issue a2And detection signal a 1, B1Subtraction signal b
2Changes as shown in FIG. 6, and the addition signal a
2Subtracted signal b from2Preprocessed signal a2-B
2Stands up suddenly when the moving body O passes in the Y direction directly above.
It rises to the maximum. Therefore, this preprocessed signal a
2-B2By detecting the duration t of the peak value of
Therefore, it is possible to accurately detect the approach and intrusion of the moving body O.
It
【００１２】したがって、この様に互いに直交する鉛直
面Ｘ，Ｚ上にそれぞれ一対の単一指向性の第１音センサ
ー（音センサー）１Ａ，２Ａと第２音センサー（音セン
サー）１Ｂ，２Ｂを配置した２組のＸ方向音検知部３Ａ
およびＺ方向音検知部３Ｂを使用することにより、直上
位置にあらゆる方向から侵入する移動体Ｏの接近、侵入
を確実に検知することができる。Therefore, a pair of unidirectional first sound sensors (sound sensors) 1A and 2A and second sound sensors (sound sensors) 1B and 2B are respectively provided on the vertical planes X and Z which are orthogonal to each other in this way. Two sets of X-direction sound detectors 3A arranged
By using the Z-direction sound detector 3B, it is possible to reliably detect the approach or intrusion of the moving body O that enters the position directly above from any direction.
【００１３】[0013]
【発明の効果】以上に述べたごとく本発明によれば、最
大受信感度が所定角度隔てた方向に配置された単一指向
性の一対の音センサーにより移動体の音圧をそれぞれ受
信し、その加算信号から減算信号を減算した信号特性曲
線において、急激に立ち上がるピーク値の時間を求める
ことにより、移動体の音センサー前方への接近および侵
入を正確に判断することができる。したがって、照射波
もなく逆探知されることもない。As described above, according to the present invention, the sound pressure of a moving body is received by a pair of unidirectional sound sensors arranged in a direction in which the maximum receiving sensitivity is separated by a predetermined angle. In the signal characteristic curve obtained by subtracting the subtraction signal from the addition signal, it is possible to accurately determine the approach and the intrusion of the moving body in front of the sound sensor by obtaining the time of the peak value that sharply rises. Therefore, there is no irradiation wave and no reverse detection is performed.
【図１】本発明に係る位置検出器の音センサーの一実施
例を示す斜視図である。FIG. 1 is a perspective view showing an embodiment of a sound sensor of a position detector according to the present invention.
【図２】同位置検出器のＸ方向音検知部を示す構成図で
ある。FIG. 2 is a configuration diagram showing an X-direction sound detector of the same position detector.
【図３】同音センサーの感度特性を示す図である。FIG. 3 is a diagram showing a sensitivity characteristic of the same sound sensor.
【図４】同音センサーの加算信号特性および減算信号特
性を示す図である。FIG. 4 is a diagram showing addition signal characteristics and subtraction signal characteristics of the same sound sensor.
【図５】同音センサーの移動体移動時の受信音圧レベル
を示す図である。FIG. 5 is a diagram showing a received sound pressure level when the moving body of the same sound sensor moves.
【図６】同音センサーの移動体移動時の加算信号および
減算信号を示す図である。FIG. 6 is a diagram showing an addition signal and a subtraction signal when the same sound sensor moves a moving body.
１Ａ 第１音センサー １Ｂ 第２音センサー ２Ａ 第１音センサー ２Ｂ 第２音センサー ３Ａ Ｘ方向音検知部 ３Ｂ Ｚ方向音検知部 ４ Ａ／Ｄ変換器 ５ 信号処理回路 ６ 前処理回路 ９ 加減算器 10 減算器 Ｏ 移動体 ａ1 ，ｂ1 検出信号 ａ2 加算信号 ｂ2 減算信号 ａ2 −ｂ2 前処理信号 Ｘ 鉛直面 Ｚ 鉛直面1A 1st sound sensor 1B 2nd sound sensor 2A 1st sound sensor 2B 2nd sound sensor 3A X direction sound detection part 3B Z direction sound detection part 4 A / D converter 5 Signal processing circuit 6 Preprocessing circuit 9 Adder / subtractor 10 Subtractor O Moving body a 1 , b 1 Detection signal a 2 Addition signal b 2 Subtraction signal a 2 −b 2 Preprocessing signal X Vertical plane Z Vertical plane
Claims (1)
一対の単一指向性の音センサーと、前記両音センサーか
らの検出信号を加算した加算信号から検出信号を減算し
た減算信号を減算する前処理回路と、前記前処理回路の
出力値から音センサー間前方の移動体通過を検知する信
号処理回路とを備えたことを特徴とする音響センサーを
用いた位置検知装置。1. A subtraction signal obtained by subtracting a detection signal from an addition signal obtained by adding detection signals from a pair of unidirectional sound sensors arranged on the same plane at a predetermined angle apart from each other. A position detecting device using an acoustic sensor, comprising: a pre-processing circuit for performing a sound processing; and a signal processing circuit for detecting passage of a moving body in front of a sound sensor from an output value of the pre-processing circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1778493A JPH06230098A (en) | 1993-02-05 | 1993-02-05 | Position detector using acoustic sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1778493A JPH06230098A (en) | 1993-02-05 | 1993-02-05 | Position detector using acoustic sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06230098A true JPH06230098A (en) | 1994-08-19 |
Family
ID=11953347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1778493A Pending JPH06230098A (en) | 1993-02-05 | 1993-02-05 | Position detector using acoustic sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06230098A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006054599A1 (en) * | 2004-11-16 | 2006-05-26 | Nihon University | Sound source direction judging device and method |
-
1993
- 1993-02-05 JP JP1778493A patent/JPH06230098A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006054599A1 (en) * | 2004-11-16 | 2006-05-26 | Nihon University | Sound source direction judging device and method |
| US7672196B1 (en) | 2004-11-16 | 2010-03-02 | Nihon University | Sound source localizing apparatus and method |
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