Audio processing device and sound acquisition unit,

Abstract

Even when collecting sound from a wide area, the location of the sound source can be identified with high precision. [Solution] The sound processing device 1 comprises sound pickup units 100, 200, and 300, each having microphone arrays 150, 250, and 350, and capable of acquiring directional information of the sound picked up; and a connection unit 400 that connects the sound pickup units 100, 200, and 300 at a predetermined distance apart in a first direction d1 parallel to the installation surface PS, and transmits electrical signals between adjacent sound pickup units 100, 200, and 300. Based on the directional information acquired by at least adjacent sound pickup units 100, 200, and 300 and the distances D1 and D2, sound source localization is performed.

Description

Technical Field

[0001] The present invention relates to an audio processing device capable of performing sound source localization and a sound collection unit used therefor.

Background Art

[0002] Conventionally, for example, as described in Patent Document 1, there is known a sound collection device that includes a microphone array configured by arranging a plurality of microphones and specifies the position of a sound source.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the sound collection device described in Patent Document 1, since the sound source position is specified by a microphone array arranged in a single unit, it is difficult to collect sound from a wide range. Therefore, for example, there is a problem that sound from a speaker far from the unit cannot be collected with sufficient accuracy.

[0005] An object of the present invention is to provide an audio processing device and a sound collection unit that can accurately specify the position of a sound source even when collecting sound from a wide range.

Means for Solving the Problems

[0006] To achieve the above objectives, the audio processing device of the present invention comprises a plurality of sound-gathering units, each having a microphone array consisting of a plurality of microphones, capable of acquiring directional information of the sound-gathered sound; and a connection unit that connects the plurality of sound-gathering units at a predetermined distance apart in a first direction parallel to the installation surface and transmits electrical signals between adjacent sound-gathering units. Based on the directional information acquired by at least adjacent sound-gathering units and the distance information between adjacent sound-gathering units, the device performs sound source localization.

[0007] In the present invention, multiple sound-collecting units are connected by a connecting unit at a predetermined distance apart. Each sound-collecting unit has a microphone array consisting of multiple microphones. In this invention, the sound source location is determined based on the directional information of the sound obtained from the microphone arrays of adjacent sound-collecting units and the distance information between adjacent sound-collecting units, which is defined by the connecting unit. This allows for sound collection from a wide range and enables highly accurate determination of the sound source location.

[0008] Furthermore, the microphone array may include, in each sound-collecting unit, a one-side microphone array arranged on one side of the second direction, parallel to the mounting surface and perpendicular to the first direction, with the portion to which the connection unit is connected to the sound-collecting unit in the second direction, and a other-side microphone array arranged on the other side of the second direction. By including a microphone array on one side and a microphone array on the other side, the sound source position can be identified by distinguishing between one side and the other side in a second direction.

[0009] Furthermore, the microphone array may have at least two microphones spaced apart in the first direction. By capturing sound with at least two microphones spaced apart in the first direction, the orientation of the sound source in the first direction can be determined.

[0010] Furthermore, the microphone array may have at least two microphones that are parallel to the mounting surface and spaced apart in a second direction perpendicular to the first direction. By equipping the microphone array with at least two microphones spaced apart in a second direction, the direction of the sound source in the vertical direction (third direction) can also be determined.

[0011] Furthermore, the two microphones spaced apart in the second direction may also be spaced apart in a third direction perpendicular to the first and second directions. By having at least two microphones spaced apart in the second direction and also spaced apart in the third direction, the direction of the sound source in the vertical direction (third direction) can be determined more accurately.

[0012] Furthermore, among the plurality of sound-collecting units, the one-end sound-collecting unit located at one end in the first direction may have an end microphone array consisting of multiple microphones at one end in the first direction. The one-end sound pickup unit has an end microphone array at one end, allowing it to pick up sound from one side in a first direction relative to the overall sound processing.

[0013] Furthermore, the end microphone array may have at least two microphones that are parallel to the mounting surface and spaced apart in a second direction perpendicular to the first direction. In the end microphone array, by providing at least two microphones spaced apart in the second direction, the orientation of the sound source in one direction of the first direction can be identified from the perspective of the entire sound processing.

[0014] Furthermore, the microphone array of the one-end sound-collecting unit may include a one-side microphone array positioned on one side of a second direction parallel to the installation surface and perpendicular to the first direction, with the portion to which the connecting unit is connected to the one-end sound-collecting unit in the second direction, and a other-side microphone array positioned on the other side of the second direction. By having one end sound pickup unit comprise a one-side microphone array and a other-side microphone array, together with the end microphone array, it is possible to identify the direction of the sound source within a range that includes one side of the first direction when viewed from the perspective of the entire sound processing.

[0015] Furthermore, among the plurality of sound-collecting units, the other-end sound-collecting unit located at the other end in the first direction may have a calculation unit that performs calculations based on the azimuth information and the distance information to localize the sound source. By having a processor in the sound collection unit at the other end, a system can be constructed that performs sound source localization.

[0016] Furthermore, among the multiple sound-collecting units, the other-end sound-collecting unit located at the other end in the first direction may have an interface that enables communication with an external terminal. The sound pickup unit at the other end has an interface, allowing for easy connection to external devices such as PCs.

[0017] Furthermore, the audio processing device may set the directivity of the sound pickup in conjunction with the localization of the sound source. In the present invention, by setting the directivity of sound pickup, it becomes possible to emphasize and pick up sounds from a specific direction, and to pick them up separately from noise.

[0018] Furthermore, the sound-collecting unit may also have a speaker. In the present invention, a speaker is provided in each adjacent sound-receiving unit based on a distance defined by the connection unit, making it possible to cancel noise (so-called echo cancellation) by emitting sound from these speakers.

[0019] Further, in each sound collection unit, the speaker may include one-side speaker disposed on one side in the second direction and the other-side speaker disposed on the other side in the second direction, sandwiching a portion where the connection unit is connected to the sound collection unit in the second direction that is parallel to the installation surface and orthogonal to the first direction. By providing the one-side speaker and the other-side speaker in each sound collection unit, it becomes possible to cancel noise (so-called echo cancellation) by emitting sound on one side and the other side in the second direction.

[0020] Further, the sound collection unit may have a speaker array including a plurality of the speakers spaced apart at least in the first direction. By providing a plurality of speakers spaced apart at least in the first direction in the speaker array, it is possible to emit sound while having directivity in the first direction.

[0021] Further, the sound collection unit may have an interface capable of mounting a camera unit having a support portion extending in a third direction orthogonal to the first direction and orthogonal to a second direction that is parallel to the installation surface and orthogonal to the first direction, and a camera provided at a tip of the support portion. In the present invention, an image can be acquired by providing a camera via a support portion in the sound collection unit.

[0022] Further, in the sound collection unit, the dimension L1 in the first direction, the dimension L2 in a second direction that is parallel to the installation surface and orthogonal to the first direction, and the dimension L3 in a third direction orthogonal to the first direction and the second direction may satisfy L2 > L1 > L3. By making the dimension L2 in the second direction of each sound collection unit larger than the dimension L1 in the first direction and the dimension L3 in the third direction, and further making the dimension L1 in the first direction larger than the dimension L3 in the third direction, the entire voice processing device can be stably installed on the installation surface.

[0023] Furthermore, the dimension C1 of the connection unit in the first direction may be larger than the dimension L1 of the sound receiving unit in the first direction. According to the present invention, by arranging each sound-collecting unit at a distance greater than the dimension of the sound-collecting unit itself in the first direction, it becomes possible to localize sound sources over a wide range.

[0024] Furthermore, in order to achieve the above-mentioned objectives, the sound-collecting unit of the present invention comprises a microphone array consisting of a plurality of microphones, and a connecting portion located in a first direction parallel to the installation surface and capable of connecting to other sound-collecting units, and performs sound source localization based on the directional information of the sound picked up by the microphone array, the directional information of the sound acquired by at least adjacent other sound-collecting units, and distance information between the other sound-collecting units as defined by the connecting unit.

[0025] In the sound-collecting unit of the present invention, sound source localization is performed based on the directional information of the sound acquired by the unit itself, the directional information of the sound obtained from other adjacent sound-collecting units, and the distance information to other sound-collecting units defined by the connecting unit. This enables sound collection from a wide range and allows for highly accurate identification of the sound source location. [Effects of the Invention]

[0026] According to the present invention, the location of the sound source can be determined with high precision even when sound is collected from a wide area. [Brief explanation of the drawing]

[0027] [Figure 1] This is a perspective view showing the overall appearance of an audio processing device according to one embodiment of the present invention. [Figure 2] Figure 1 is a perspective view showing the detailed external appearance of the first sound-collecting unit. [Figure 3] These are a top view and a rear view schematically showing the internal component layout of the first sound-collecting unit. [Figure 4] Figure 1 is a perspective view showing the detailed external appearance of the second sound-collecting unit. [Figure 5] These are a top view and a rear view schematically showing the internal component layout of the second sound pickup unit. [Figure 6] Figure 1 is a perspective view showing the detailed external appearance of the third sound-collecting unit. [Figure 7] These are a top view and a rear view schematicly illustrating the internal component layout of the third sound-collecting unit. [Figure 8] This is an explanatory diagram showing the configuration of the audio processing device 1, including the DSP, related to sound source localization. [Figure 9] This is an explanatory diagram illustrating the principle of sound source localization processing using a sound source localization device. [Figure 10] This is an explanatory diagram illustrating the principle of determining direction information. [Figure 11] This is an explanatory diagram illustrating the principle of determining direction information. [Figure 12] This is an explanatory diagram illustrating the principle of determining direction information. [Figure 13] This diagram illustrates the behavior of echo cancellation performed by the microphones of each sound pickup unit in response to sound emitted from the speaker of the first sound pickup unit. [Modes for carrying out the invention]

[0028] Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

[0029] Figure 1 shows a perspective view of the overall appearance of the audio processing device 1 according to this embodiment. In Figure 1, the audio processing device 1 is placed on the installation surface PS, which is the horizontal surface of a table provided in, for example, a conference room or reception room.

[0030] The audio processing device 1 includes sound acquisition units 100, 200, and 300 capable of acquiring directional information of the sound acquired, and a connection unit 400 that connects the sound acquisition units 100, 200, and 300.

[0031] The connecting unit 400 connects the sound-collecting units 100, 200, and 300 to each other at a predetermined distance apart in a first direction d1 parallel to the installation surface PS. The direction in which the connecting unit 400 extends is the front-to-back direction, with the side containing the sound-collecting unit 300 being the front and the side containing the sound-collecting unit 100 being the rear. The connecting unit 400 transmits electrical signals between adjacent first sound-collecting units 100 and third sound-collecting units 300, and between adjacent second sound-collecting units 200 and third sound-collecting units 300. In this example, the connecting unit 400 is, for example, flat.

[0032] In this example, the first sound-collecting unit 100 and the third sound-collecting unit 300 are separated by a predetermined distance such that the distance between their respective first directional dimension reference lines k1 and k3 is D1. The second sound-collecting unit 200 and the third sound-collecting unit 300 are separated by a predetermined distance such that the distance between their respective first directional dimension reference lines k2 and k3 is D2. The connection unit 400 is positioned on the same straight line as the second directional dimension reference lines c1 and c3 of the first sound-collecting unit 100 and the third sound-collecting unit 300 (see Figures 2 to 7 described later). The connection unit 400 is also positioned on the same straight line as the second directional dimension reference lines c2 and c3 of the second sound-collecting unit 200 and the third sound-collecting unit 300.

[0033] <First sound recording unit> In the sound-collecting units 100, 200, and 300, the first sound-collecting unit 100 is positioned at the rear end. The rear side is an example of one side in the first direction d1, and the first sound-collecting unit 100 is an example of a one-end sound-collecting unit.

[0034] Figure 2 shows a perspective view illustrating the detailed external appearance of the first sound-collecting unit 100, and Figures 3(a) and 3(b) show a schematic top view and rear view illustrating the internal component arrangement of the first sound-collecting unit 100, respectively.

[0035] <Microphone array of the first sound collection unit> In Figures 2, 3(a), and 3(b), the first sound pickup unit 100 has a microphone array 150 consisting of multiple microphones (details of which will be described later) within the housing 100A.

[0036] The microphone array 150 of the first sound pickup unit 100 includes a first microphone array 160 and a second microphone array 170. The arrangement direction of the first microphone array 160 and the second microphone array 170 in the first sound pickup unit 100 is left-right, which is perpendicular to the direction in which the connecting unit 400 extends. The side with the first microphone array 160 is the right side, and the side with the second microphone array 170 is the left side. The first microphone array 160 is arranged on one side of the second direction d2, which is parallel to the installation surface PS and perpendicular to the first direction d1, and the second microphone array 170 is arranged on the other side of the second direction d2. The first microphone array 160 is an example of a one-side microphone array, and the second microphone array 170 is an example of a other-side microphone array. The first microphone array 160 and the second microphone array 170 are positioned on opposite sides of the connection portion 100C, to which the connection unit 400 is connected, in the left-right direction. The microphone array 150 of the first sound pickup unit 100 further has an end microphone array 180 at one end in the first direction d1.

[0037] <First Microphone Array> The first microphone array 160 has a plurality of microphones, in this example, two microphones 160m1 and three microphones 160m2. More specifically, the microphone array 160 includes at least two microphones 160m1, 160m1 spaced apart in a first direction d1, and at least two microphones, in this example, three microphones 160m2 spaced apart in a first direction d1. In particular, the microphone array 160 includes at least two microphones 160m1 and 160m2 spaced apart in the second direction d2. In this example, the two microphones 160m1 and the three microphones 160m2 are spaced apart in the second direction d2. The two microphones 160m1 and 160m2, which are spaced apart in the second direction d2, are also spaced apart in the third direction d3, which is perpendicular to the first direction d1 and the second direction d2 (see Figure 3(b)). The direction in which the support portion 510 of the camera unit 500, which will be described later, extends is the vertical direction, and that vertical direction is the third direction d3. Two microphones 160m1 are positioned on either side of the first directional dimension reference line k1. The two microphones 160m1 are positioned symmetrically with respect to the first directional dimension reference line k1. Three microphones 160m2 are positioned with one on the first directional dimension reference line k1 and the other two on either side of the first directional dimension reference line k1. The two microphones 160m2 are positioned symmetrically with respect to the first directional dimension reference line k1.

[0038] <Second Microphone Array> The second microphone array 170 has a plurality of microphones, in this example, two microphones 170m1 and three microphones 170m2. More specifically, the microphone array 170 includes at least two microphones 170m1, 170m1 spaced apart in a first direction d1, and at least two microphones, in this example, three microphones 170m2 spaced apart in a first direction d1. In particular, the microphone array 170 includes at least two microphones 170m1 and 170m2 spaced apart in the second direction d2. In this example, the two microphones 170m1 and the three microphones 170m2 are spaced apart in the second direction d2. The two microphones 170m1 and 170m2, which are spaced apart in the second direction d2, are also spaced apart in the third direction d3, which is perpendicular to the first direction d1 and the second direction d2 (see Figure 3(b)). Two microphones 170m1 are positioned on either side of the first directional dimension reference line k1. The two microphones 170m1 are positioned symmetrically with respect to the first directional dimension reference line k1. Three microphones 170m2 are positioned with one on the first directional dimension reference line k1 and the other two on either side of the first directional dimension reference line k1. The two microphones 170m2 are positioned symmetrically with respect to the first directional dimension reference line k1.

[0039] <End Microphone Array> The end microphone array 180 has a plurality of microphones 180m1, 180m2, including at least two microphones spaced apart in a second direction d2. In this example, there are two microphones 180m1 and three microphones 180m2, where the two microphones 180m1 are spaced apart from each other in a second direction d2, and the three microphones 180m2 are spaced apart from each other in a second direction d2. Two microphones 180m1 are positioned on either side of the second directional dimension reference line c1. The two microphones 180m1 are positioned symmetrically with respect to the second directional dimension reference line c1. Three microphones 180m2 are positioned with one on the second directional dimension reference line c1 and the other two on either side of the second directional dimension reference line c1. The three microphones 180m1 are positioned symmetrically with respect to the second directional dimension reference line c1.

[0040] Hereafter, as appropriate, microphones 160m1 and 160m2 of microphone array 160 will be collectively referred to simply as "microphone 160m," microphones 170m1 and 170m2 of microphone array 170 will be collectively referred to simply as "microphone 170m," and microphones 180m1 and 180m2 of microphone array 180 will be collectively referred to simply as "microphone 180m."

[0041] <Speakers and speaker grilles> A first speaker grille 191 is provided between the first microphone array 160 and the end microphone array 180 in the second direction d2, and a second speaker grille 192 is provided between the second microphone array 170 and the end microphone array 180 in the second direction d2.

[0042] The first speaker grille 191 is provided on the upper surface of the housing 100A, covering the speaker and allowing sound from the speaker to pass through. Below the first speaker grille 191 are multiple speakers, in this example two speakers 196a and two speakers 196b. Speakers 196a, 196a form a speaker array 196A consisting of multiple speakers spaced at least in the first direction d1. Speakers 196b, 196b form a speaker array 196B consisting of multiple speakers spaced at least in the first direction d1. Speaker array 196A and speaker array 196B are positioned on opposite sides of the first directional dimension reference line k1.

[0043] The second speaker grille 192 is provided on the upper surface of the housing 100A, covering the speaker and allowing sound from the speaker to pass through. Below the first speaker grille 192 are multiple speakers, in this example two speakers 197a and two speakers 197b. Speakers 197a, 197a form a speaker array 197A consisting of multiple speakers spaced at least in the first direction d1. Speakers 197b, 197b form a speaker array 197B consisting of multiple speakers spaced at least in the first direction d1. Speaker array 197A and speaker array 197B are positioned on opposite sides of the first directional dimension reference line k1. Furthermore, speaker arrays 196A and 196B are positioned on opposite sides of the second directional dimension reference line c1. The four speakers 196a, 196a, 197a, and 197a are positioned on either side of the second directional dimension reference line c1. The four speakers 196a, 196a, 197a, and 197a are positioned symmetrically with respect to the second directional dimension reference line c1. The four speakers 196b, 196b, 197b, and 197b are positioned on either side of the second directional dimension reference line c1. The four speakers 196b, 196b, 197b, and 197b are positioned symmetrically with respect to the second directional dimension reference line c1.

[0044] In the first sound-collecting unit 100, speakers 196a and 196b are positioned on one side of the second direction d2, with the connection portion 100C to the connecting unit 400 in between, and speakers 197a and 197b are positioned on the other side of the second direction d2. Speakers 196a and 196b are examples of speakers on one side, and speakers 197a and 197b are examples of speakers on the other side.

[0045] <Dimensions of each part> As shown in Figures 3(a) and 3(b), the dimensions L11 in the first direction d1, L12 in the second direction d2, and L13 in the third direction of the first sound-collecting unit 100 are L12 > L11 > L13. Note that dimensions L11, L12, and L13 are examples of dimensions L1, L2, and L3 in the first sound-collecting unit 100.

[0046] <Second sound recording unit> In the sound-collecting units 100, 200, and 300, a second sound-collecting unit 200 is positioned at the front end. The front side is an example of the other side of the first direction d1, and the second sound-collecting unit 200 is an example of a sound-collecting unit at the other end.

[0047] Figure 4 shows a perspective view illustrating the detailed external appearance of the second sound-collecting unit 200, and Figures 5(a) and 5(b) show a schematic top view and rear view illustrating the internal component layout of the second sound-collecting unit 200, respectively.

[0048] <Microphone array of the second sound collection unit> In Figures 4, 5(a), and 5(b), the second sound pickup unit 200 has a microphone array 250 consisting of multiple microphones (details of which will be described later) within the housing 200A.

[0049] The microphone array 250 of the second sound pickup unit 200 includes a first microphone array 260 located on one side of the second direction d2 and a second microphone array 270 located on the other side of the second direction d2. The first microphone array 260 is an example of a one-side microphone array, and the second microphone array 270 is an example of a other-side microphone array. The first microphone array 260 and the second microphone array 270 are positioned on opposite sides of each other in the left-right direction, with a connection portion 200C, to which a connection unit 400 is connected, located between them. The connection portion 200C allows the connection unit 400 to be connected in a first direction d1 parallel to the mounting surface PS. The connection portion 200C is an example of a connection portion.

[0050] <First Microphone Array> The first microphone array 260 has a plurality of microphones, in this example, two microphones 260m1 and three microphones 260m2. More specifically, the microphone array 260 includes at least two microphones 260m1, 260m1 spaced apart in a first direction d1, and at least two microphones, in this example, three microphones 260m2 spaced apart in a first direction d1. In particular, the microphone array 260 includes at least two microphones 260m1 and 260m2 spaced apart in the second direction d2. In this example, the two microphones 260m1 and the three microphones 260m2 are spaced apart in the second direction d2. The two microphones 260m1 and 260m2, which are spaced apart in the second direction d2, are also spaced apart in the third direction d3, which is perpendicular to the first direction d1 and the second direction d2 and is in the vertical direction (see Figure 5(b)). Two microphones 260m1 are positioned on either side of the first directional dimension reference line k2. The two microphones 260m1 are positioned symmetrically with respect to the first directional dimension reference line k2. Three microphones 260m2 are positioned with one on the first directional dimension reference line k2 and the other two on either side of the first directional dimension reference line k2. The two microphones 260m2 are positioned symmetrically with respect to the first directional dimension reference line k2.

[0051] <Second Microphone Array> The second microphone array 270 has a plurality of microphones, in this example, two microphones 270m1 and three microphones 270m2. More specifically, the microphone array 270 includes at least two microphones 270m1, 270m1 spaced apart in a first direction d1, and at least two microphones, in this example, three microphones 270m2 spaced apart in a first direction d1. In particular, the microphone array 270 includes at least two microphones 270m1 and 270m2 spaced apart in the second direction d2. In this example, the two microphones 270m1 and the three microphones 270m2 are spaced apart in the second direction d2. The two microphones 270m1 and 270m2, which are spaced apart in the second direction d2, are also spaced apart in the third direction d3, which is perpendicular to the first direction d1 and the second direction d2 (see Figure 5(b)). Two microphones 270m1 are positioned on either side of the first directional dimension reference line k2. The two microphones 270m1 are positioned symmetrically with respect to the first directional dimension reference line k2. Three microphones 270m2 are positioned with one on the first directional dimension reference line k2 and the other two on either side of the first directional dimension reference line k2. The two microphones 270m2 are positioned symmetrically with respect to the first directional dimension reference line k2.

[0052] Hereafter, as appropriate, microphones 260m1 and 160m2 of microphone array 260 will be collectively referred to simply as "microphone 260m," and microphones 270m1 and 270m2 of microphone array 270 will be collectively referred to simply as "microphone 270m."

[0053] <Speakers and speaker grilles> Between the first microphone array 260 and the second microphone array 270 in the second direction d2, speakers 295U and 295L are provided at two locations, one above the other. A first speaker grille 291 is provided between the first microphone array 260 and speakers 295U, 295L in the second direction d2, and a second speaker grille 292 is provided between the second microphone array 270 and speakers 295U, 295L in the second direction d2.

[0054] The first speaker grille 291 is provided on the top surface of the housing 100A, covering the speaker and allowing sound from the speaker to pass through. Below the first speaker grille 291 are a plurality of speakers 296, in this example two speakers 296a and two speakers 296b. Speakers 296a, 296a form a speaker array 296A consisting of a plurality of speakers spaced at least in the first direction d1. Speakers 296b, 296b form a speaker array 296B consisting of a plurality of speakers spaced at least in the first direction d1. Speaker arrays 296A and 296B are positioned on opposite sides of the first directional dimension reference line k2.

[0055] The second speaker grille 292 is provided on the top surface of the housing 100A, covering the speaker and allowing sound from the speaker to pass through. Below the second speaker grille 292 are multiple speakers, in this example two speakers 297a and two speakers 297b. Speakers 297a, 297a form a speaker array 297A consisting of multiple speakers spaced at least in the first direction d1. Speakers 297b, 297b form a speaker array 297B consisting of multiple speakers spaced at least in the first direction d1. Speaker arrays 297A and 297B are positioned on opposite sides of the first directional dimension reference line k2. Furthermore, speaker arrays 296A and 296B are positioned on opposite sides of the second directional dimension reference line c2. The four speakers 296a, 296a, 297a, and 297a are positioned on either side of the second directional dimension reference line c2. The four speakers 296a, 296a, 297a, and 297a are positioned symmetrically with respect to the second directional dimension reference line c2. The four speakers 296b, 296b, 297b, and 297b are positioned on either side of the second directional dimension reference line c2. The four speakers 296b, 296b, 297b, and 297b are positioned symmetrically with respect to the second directional dimension reference line c2.

[0056] In the second sound-collecting unit 200, speakers 296a and 296b are positioned on one side of the second direction d2, with the connection portion 200C to the connecting unit 400 in between, and speakers 297a and 297b are positioned on the other side of the second direction d2. Speakers 296a and 296b are examples of speakers on one side, and speakers 297a and 297b are examples of speakers on the other side.

[0057] <Dimensions of each part> As shown in Figures 5(a) and 5(b), the second sound-collecting unit 200 has dimensions L21 in the first direction d1, L22 in the second direction d2, and L23 in the third direction, where L22 > L21 > L23. Note that dimensions L21, L22, and L23 are examples of dimensions L1, L2, and L3 in the second sound-collecting unit 200.

[0058] <Camera Unit> The second sound-collecting unit 200 has a mounting portion (not shown) as an interface to which a camera unit 500 can be attached, which has a support portion 510 extending in a third direction d3, which is the vertical direction, and a camera 520 provided at the tip of the support portion 510. In this embodiment, the camera 520 is a camera capable of capturing images in all directions.

[0059] <Communication Interface> Furthermore, the second sound pickup unit 200 has an interface that allows it to communicate with an external terminal. This makes it possible to output the results of sound source localization by the DSP 10 (described later) from the second sound pickup unit 200 to the external terminal.

[0060] <Third sound recording unit> In the sound-collecting units 100, 200, and 300, the third sound-collecting unit 300 is positioned between the first sound-collecting unit 100 and the second sound-collecting unit 200.

[0061] Figure 6 shows a perspective view illustrating the detailed external appearance of the third sound-receiving unit 300, and Figures 7(a) and 7(b) show a schematic top view and rear view illustrating the internal component arrangement of the third sound-receiving unit 300, respectively.

[0062] <Microphone array of the third sound collection unit> In Figures 6, 7(a), and 7(b), the third sound pickup unit 300 has a microphone array 350 consisting of multiple microphones (details of which will be described later) within the housing 300A.

[0063] The microphone array 350 of the third sound pickup unit 300 includes a first microphone array 360 located on one side of the second direction d2 and a second microphone array 370 located on the other side of the second direction d2. The first microphone array 360 is an example of a one-side microphone array, and the second microphone array 370 is an example of a other-side microphone array. The first microphone array 360 and the second microphone array 370 are positioned on opposite sides of each other in the left-right direction, with the connection portion 300C, to which the connection unit 400 is connected, being the third sound pickup unit 300.

[0064] <First Microphone Array> The first microphone array 360 has a plurality of microphones, in this example, two microphones 360m1 and three microphones 360m2. More specifically, the microphone array 360 includes at least two microphones 360m1, 360m1 spaced apart in a first direction d1, and at least two microphones, in this example, three microphones 360m2 spaced apart in a first direction d1. In particular, the microphone array 360 includes at least two microphones 360m1 and 360m2 spaced apart in the second direction d2. In this example, the two microphones 360m1 and the three microphones 360m2 are spaced apart in the second direction d2. The two microphones 360m1 and 360m2, which are spaced apart in the second direction d2, are also spaced apart in the third direction d3, which is perpendicular to the first direction d1 and the second direction d2 (see Figure 7(b)). Two microphones 360m1 are positioned on either side of the first directional dimension reference line k3. The two microphones 360m1 are positioned symmetrically with respect to the first directional dimension reference line k3. Three microphones 360m2 are positioned with one on the first directional dimension reference line k3 and the other two on either side of the first directional dimension reference line k3. The two microphones 360m2 are positioned symmetrically with respect to the first directional dimension reference line k3.

[0065] <Second Microphone Array> The second microphone array 370 has a plurality of microphones, in this example, two microphones 370m1 and three microphones 370m2. More specifically, the microphone array 370 includes at least two microphones 370m1, 370m1 spaced apart in a first direction d1, and at least two microphones, in this example, three microphones 370m2 spaced apart in a first direction d1. In particular, the microphone array 370 includes at least two microphones 370m1 and 370m2 spaced apart in the second direction d2. In this example, the two microphones 370m1 and the three microphones 370m2 are spaced apart in the second direction d2. The two microphones 370m1 and 370m2, which are spaced apart in the second direction d2, are also spaced apart in the third direction d3, which is perpendicular to the first direction d1 and the second direction d2 (see Figure 3(b)). Two microphones 370m1 are positioned on either side of the first directional dimension reference line k3. The two microphones 370m1 are positioned symmetrically with respect to the first directional dimension reference line k3. Three microphones 370m2 are positioned with one on the first directional dimension reference line k3 and the other two on either side of the first directional dimension reference line k3. The two microphones 370m2 are positioned symmetrically with respect to the first directional dimension reference line k3.

[0066] Hereafter, as appropriate, microphones 360m1 and 360m2 of microphone array 360 will be collectively referred to simply as "microphone 360m," and microphones 370m1 and 370m2 of microphone array 370 will be collectively referred to simply as "microphone 370m."

[0067] <Speakers and speaker grilles> A first speaker grille 391 is provided between the first microphone array 360 and the connection portion 300C in the second direction d2, and a second speaker grille 392 is provided between the second microphone array 370 and the connection portion 300C in the second direction d2.

[0068] The first speaker grille 391 is provided on the top surface of the housing 100A, covering the speaker and allowing sound from the speaker to pass through. Below the first speaker grille 391 are multiple speakers, in this example two speakers 396a and two speakers 396b. Speakers 396a, 396a form a speaker array 396A consisting of multiple speakers spaced at least in the first direction d1. Speakers 396b, 396b form a speaker array 396B consisting of multiple speakers spaced at least in the first direction d1. Speaker array 396A and speaker array 396B are positioned on opposite sides of the first directional dimension reference line k3.

[0069] The second speaker grille 392 is provided on the upper surface of the housing 100A, covering the speaker and allowing sound from the speaker to pass through. Below the second speaker grille 392 are multiple speakers, in this example two speakers 397a and two speakers 397b. Speakers 397a, 397a form a speaker array 397A consisting of multiple speakers spaced at least in the first direction d1. Speakers 397b, 397b form a speaker array 397B consisting of multiple speakers spaced at least in the first direction d1. Speaker array 397A and speaker array 397B are positioned on opposite sides of the first directional dimension reference line k3. Furthermore, speaker arrays 396A and 396B are positioned on opposite sides of the second directional dimension reference line c3. The four speakers 396a, 396a, 397a, and 397a are positioned on either side of the second directional dimension reference line c3. The four speakers 396a, 396a, 397a, and 397a are positioned symmetrically with respect to the second directional dimension reference line c3. The four speakers 396b, 396b, 397b, and 397b are positioned on either side of the second directional dimension reference line c3. The four speakers 396b, 396b, 397b, and 397b are positioned symmetrically with respect to the second directional dimension reference line c3.

[0070] In the third sound-collecting unit 300, speakers 396a and 396b are positioned on one side of the second direction d2, with the connection portion 300C to the connecting unit 400 in between, and speakers 397a and 397b are positioned on the other side of the second direction d2. Speakers 396a and 396b are examples of speakers on one side, and speakers 397a and 397b are examples of speakers on the other side.

[0071] <Dimensions of each part> As shown in Figures 7(a) and 7(b), the third sound-collecting unit 300 has dimensions L31 in the first direction d1, L32 in the second direction d2, and L33 in the third direction, where L32 > L31 > L33. Note that dimensions L31, L32, and L33 are examples of dimensions L1, L2, and L33 in the third sound-collecting unit 300. Furthermore, as shown in Figure 1, the dimensions C41 and C42 of the connection unit 400 in the first direction d1 are larger than the dimensions L11, L21, and L31 of the corresponding sound pickup units 100, 200, and 300 in the first direction d1.

[0072] <Performing sound source localization> The audio processing device 1 configured as described above performs sound source localization based on the directional information acquired by at least adjacent sound pickup units among the sound pickup units 100, 200, and 300, and the distance information between adjacent sound pickup units (details will be described later). For this purpose, the second sound pickup unit 200 is provided with a DSP 10 that functions as a calculation unit for performing sound source localization by calculating based on the directional information and distance information.

[0073] <Configuration related to sound source localization> Figure 8 is an explanatory diagram showing the configuration of the audio processing device 1, including the DSP 10, related to sound source localization.

[0074] <dsp> The DSP100 comprises a sound source localization device 2 and a beamforming device 3. In this example, the sound processing device 1 collects sounds emitted by multiple speakers H in a space such as a conference room or hall, where a table with a mounting surface PS is provided.

[0075] The microphone arrays 260 and 270 of the sound pickup unit 200 input multiple sound signals (e.g., electrical signals) based on the sound input to each microphone 260 and 270 to the sound source localization device 2 of the DSP 10. The microphone arrays 160, 170, and 180 of the sound pickup unit 100 input multiple sound signals (e.g., electrical signals) based on the voice input to each microphone 160m, 170m, and 180m to the sound source localization device 2 of the DSP 10 via the connection unit 400. The microphone arrays 360 and 370 of the sound collection unit 300 input multiple sound signals (e.g., electrical signals) based on the sound input to each microphone 360m and 370mm to the sound source localization device 2 of the DSP 10 via the connection unit 400. Hereafter, microphone arrays 160, 170, 180, 260, 270, 370, and 380 will be collectively referred to simply as "microphone array 160, etc."

[0076] <Sound source localization device> The sound source localization device 2 identifies the direction of the sound source (i.e., speaker H) by analyzing the sound signals input from the microphone array 160, etc. As will be described in more detail later, the direction of the sound source is represented by a bearing centered on the microphone array 160, etc. The audio processing device 1 can acquire directional information for each of the sound pickup units 100, 200, and 300 using the sound source localization device 2 of the DSP 10, and perform sound source localization for each of the sound pickup units 100, 200, and 300.

[0077] <Beamforming device> On the other hand, the beamforming device 3 performs known beamforming processing by adjusting the weighting coefficients of multiple sound signals corresponding to multiple microphones such as the microphone array 160, based on the direction of the sound source identified by the sound source localization device 2 as described above. The beamforming device 3, for example, makes the sensitivity to the sound emitted by speaker H greater than the sensitivity to sound coming from directions other than the direction in which speaker H is located. The sound processing device 1 can set the directivity of sound pickup by the beamforming device 3 as a result of the sound source localization performed by the sound source localization device 2.

[0078] For example, the example shown in Figure 8 illustrates a situation where one speaker, H-0, is emitting sound. In the situation shown in Figure 8, the sound source localization device 2 identifies that the sound is being emitted from the direction of speaker H-0. The beamforming device 3 performs beamforming processing so that the main lobe in the directional characteristics of the microphone array 160, etc., is oriented towards speaker H-0.

[0079] <Principles of sound source localization processing> The principle of sound source localization processing by the sound source localization device 2 is explained with reference to Figure 9. In the example shown in Figure 9, for the sake of simplicity of explanation, we consider the case where sound is picked up from one sound source by two microphones m1 and m2 in one sound pickup unit and by two microphones m3 and m4 in another sound pickup unit located at a distance D from the first sound pickup unit.

[0080] In Figure 9, if d is the distance between the two microphones m1 and m2, t1 is the time it takes for sound from the sound source to reach microphone m1, t2 is the time it takes for sound from the sound source to reach microphone m2, and c is the speed of sound, The difference in distance from the sound source to microphones m1 and m2 is: d·cosθ1 Therefore, since θ1 is approximately equal to θ2, if we consider θ1 = θ2, the difference in arrival time TD12 from the sound source to each microphone m1 and m2 is: TD12 = t1 - t2 = d·cosθ1 / c Therefore, θ1 = cos -1 (c·TD12 / d) This is the result.

[0081] Similarly, if we let d be the distance between the two microphones m3 and m4 (the same value as above), t3 be the time it takes for sound from the sound source to reach microphone m3, t4 be the time it takes for sound from the sound source to reach microphone m4, and c be the speed of sound, The difference in distance from the sound source to microphones m3 and m4 is: d·cosθ3 Therefore, since θ3 is approximately equal to θ4, if we consider θ3 = θ4, the difference in arrival time TD34 from the sound source to each microphone m3 and m4 is: TD34 = t3 - t4 = d·cosθ3 / c Therefore, θ3 = cos -1 (c·TD34 / d) This is the result.

[0082] And here, if we let the coordinates of the microphone group including microphones m3 and m4 be (0,0) and the coordinates of the sound source be (x,y), x = y·tanθ4 x = (Dy)tanθ1 Therefore, y = x / tanθ4 x = (Dx / tanθ4)tanθ1 (1+tanθ1 / tanθ4)x = D·tanθ1 ∴ x = (D·tanθ1+tanθ4) / (tanθ1+tanθ4) The value of x can then be found.

[0083] y·tanθ4=(Dy)tanθ1 twist, (tanθ1+tanθ4)y = D·tanθ1 ∴ y = (D·tanθ1) / (tanθ1+tanθ4) The value of y can then be found.

[0084] <Principle of Directional Information Determination> The principle of determining directional information will be explained using Figures 10, 11, and 12, taking the case of determining θ1 and θ2 in Figure 9 mentioned above as an example.

[0085] Figures 10 and 11 illustrate the orientation determination behavior of the two microphones m1 and m2 shown in Figure 9, which are placed at a predetermined distance apart (d in the example above).

[0086] Figure 10 shows an example of how to identify the direction of the sound source from the perspective of microphone m1 by dividing it into four directional regions: "A0 direction," "B0 direction," "C0 direction," and "D0 direction." For example, by utilizing the forming process described above, the directional information of the sound source from microphone m1 can be identified as one of the four directional regions: "A0 direction," "B0 direction," "C0 direction," and "D0 direction."

[0087] Figure 11 shows an example of how to identify the direction of the sound source from the perspective of microphone m2 by dividing it into four directional regions: "A1 direction," "B1 direction," "C1 direction," and "D1 direction." For example, by utilizing the forming process described above, the directional information of the sound source from microphone m2 can be identified as one directional region from the deviation of "A1 direction," "B1 direction," "C1 direction," and "D1 direction."

[0088] Figure 12 shows the behavior of further subdividing and identifying the region containing the sound source by combining the identification results from Figure 10 and Figure 11. As shown in the diagram, for example, if the direction from microphone m1 is "A0 direction" and the direction from microphone m2 is "A1 direction", the sound source can be identified as being in the "A0A1" region. For example, if the direction from microphone m1 is "C0 direction" and the direction from microphone m2 is "C1 direction", the sound source can be identified as being in the "C0C1" region. In this way, by combining the identification results in Figure 10 and Figure 11, in the illustrated example, the region containing the sound source can be divided into 15 regions: "A0A1", "A0B1", "A0C1", "B0A1", "B0B1", "B0C1", "C0A1", "C0B1", "C0C1", "C0D1", "D0A1", "D0B1", "D0C1", and "D0D1", and it can be identified that the sound source exists in one of these regions.

[0089] <Sound source localization processing of the audio processing device 1> Based on the above principle, the audio processing device 1 performs sound source localization using the sound source localization device 2 of the DSP 10, based on the directional information acquired by at least adjacent sound pickup units among the sound pickup units 100, 200, and 300, and the distance information between adjacent sound pickup units. In the example shown in Figure 9, the directional information is θ1, θ2, θ3, and θ4, and the distance information is D.

[0090] In the example described above in Figure 8, the sound source localization device 2 of the DSP 10 of the second sound pickup unit 200 performs sound source localization based on the azimuth information of the sound picked up by the microphone arrays 260, 270 of the second sound pickup unit 200, the azimuth information of the sound acquired by at least other adjacent sound pickup units 100, 300, and distance information between the other sound pickup units 100, 300 as defined by the connection unit 400. In this case, the distance information includes, for example, the distance D1 between the first sound pickup unit 100 and the third sound pickup unit, and the distance D2 between the third sound pickup unit 300 and the second sound pickup unit.

[0091] <Echo Cancellation Function> In the audio processing device 1 of this embodiment, the DSP 10 performs a known echo cancellation function with respect to the microphone and speaker provided in each of the sound pickup units 100, 200, and 300. For example, Figure 13 illustrates the behavior of echo cancellation performed by the microphones of each sound pickup unit 100, 200, and 300 in response to sound emitted from speakers 196a and 196b of the first sound pickup unit 100.

[0092] With respect to the first sound pickup unit 100, by performing echo cancellation, the audio signals from speakers 196a and 196b, delayed by the time it takes for them to travel through the air, are subtracted from the input signals of microphones 160m and 170, either in the time domain or the frequency domain, respectively.

[0093] With respect to the second sound pickup unit 200, by performing echo cancellation, the audio signals from speakers 196a and 196b, delayed by the time it takes for them to travel through the air, are subtracted from the input signals of microphones 260m and 270, either in the time domain or the frequency domain, respectively.

[0094] With respect to the third sound pickup unit 300, by performing echo cancellation, the audio signals from speakers 196a and 196b, delayed by the time it takes for them to travel through the air, are subtracted from the input signals of microphones 360m and 370, either in the time domain or the frequency domain, respectively.

[0095] <Effects of the Embodiment> In the audio processing device 1 of this embodiment described above, a plurality of sound pickup units 100, 200, and 300 are connected by a connection unit 400 at distances D1 and D2 apart. Each sound pickup unit 100, 200, and 300 has a microphone array 150, 250, and 350 consisting of a plurality of microphones 160m, 170m, and 180m, microphones 260m, 270m, and microphones 360m and 370m. In this embodiment, the sound source position is determined based on the directional information of the sound obtained from the microphone arrays 150, 250, and 350 of adjacent sound-collecting units 100, 200, and 300, respectively, and the distances D1 and D2 between adjacent sound-collecting units 100, 200, and 300, as defined by the connection unit 400. This allows for sound collection from a wide range and enables highly accurate determination of the sound source position.

[0096] Furthermore, in this embodiment in particular, by including the first microphone arrays 160, 260, 360 and the second microphone arrays 170, 270, 370, respectively, the sound source position can be identified by distinguishing between one side and the other side of the second direction d2.

[0097] Furthermore, in this embodiment in particular, the microphone arrays 150, 250, and 350 can identify the direction of the sound source in the first direction d1 by picking up sound with at least two microphones 160m1, 160m2, 170m1, 170m2, 260m1, 260m2, 270m1, 270m2, 360m1, 360m2, and 370m1, 370m2, respectively, which are spaced apart in the first direction d1.

[0098] Furthermore, in this embodiment, the microphone arrays 150, 250, and 350 are equipped with at least two microphones spaced apart in the second direction d2: two microphones 160m1 and 160m2, microphone 170m1 and 170m2, microphone 260m1 and 260m2, microphone 270m1 and 270m2, microphone 360m1 and 360m2, and microphone 370m1 and 370m2, which makes it possible to determine the direction of the sound source in the vertical direction, i.e., the third direction d3.

[0099] Furthermore, in this embodiment, at least two microphones 160m1, 160m2, 170m1, 170m2, 260m1, 260m2, 270m1, 270m2, 360m1, 360m2, and 370m1, 370m2, which are spaced apart in the second direction d2, are also spaced apart in the third direction d3, which allows for more accurate determination of the direction of the sound source in the vertical direction (third direction d3).

[0100] Furthermore, in this embodiment in particular, the first sound pickup unit 100 has an end microphone array 180 at one end, which allows sound to be picked up from one side in the first direction d1 when viewed from the entire sound processing device 1.

[0101] Furthermore, in this embodiment, the end microphone array 180 is provided with at least two microphones 180m1 and 180m2 spaced apart in the second direction d2, which makes it possible to identify the direction of a sound source on one side of the first direction d1 when viewed from the entire sound processing device 1.

[0102] Furthermore, in this embodiment, the first sound pickup unit 100 includes a first microphone array 160 and a second microphone array 170, and together with the end microphone array 180, it is possible to identify the orientation of a sound source in a range that includes one side of the first direction d1 when viewed from the entire sound processing device 1.

[0103] Furthermore, in this embodiment in particular, by having the second sound pickup unit 200 have a DSP 10, a system for performing sound source localization can be constructed.

[0104] Furthermore, in this embodiment in particular, the second sound pickup unit 200 has an interface that allows it to communicate with an external terminal, making it easy to connect to an external terminal such as a PC.

[0105] Furthermore, in this embodiment, the audio processing device 1 sets the directivity of sound pickup, thereby emphasizing and picking up sounds from a specific direction and separating them from noise.

[0106] Furthermore, in this embodiment in particular, speakers 196a, 196b, 197a, 197b, speakers 296a, 296b, 297a, 297b, and speakers 396a, 396b, 397a, 397b are provided at each adjacent sound-collecting unit 100, 200, 300 based on the distance defined by the connection unit 400. By emitting sound from these speakers, it becomes possible to cancel noise (so-called echo cancellation).

[0107] Furthermore, in this embodiment in particular, each sound-collecting unit 100, 200, 300 is provided with speakers 196a, 196b, speakers 296a, 296b, speakers 396a, 396b and speakers 197a, 197b, speakers 297a, 297b, and speakers 397a, 397b, which makes it possible to emit sound on one side and the other side of the second direction d2 and cancel noise (so-called echo cancellation).

[0108] Furthermore, in this embodiment in particular, speaker arrays 196A, 196B, 197A, 197B, speaker arrays 296A, 296B, 297A, 297B, and speaker arrays 396A, 396B, 397A, 397B are provided with at least a plurality of speakers 196a, 196b, 197a, 197b, speakers 296a, 296b, 297a, 297b, and speakers 396a, 396b, 397a, 397b spaced apart in at least the first direction d1, thereby enabling sound emission with directionality in the first direction d1.

[0109] Furthermore, in this embodiment in particular, video can be acquired by providing the camera 520 to the second sound-collecting unit 200 via the support portion 510.

[0110] Furthermore, in this embodiment, the dimensions L12, L22, L32 in the second direction d2 of each sound-collecting unit 100, 200, 300 are made larger than the dimensions L11, L21, L31 in the first direction d1 and the dimensions L13, L23, L33 in the third direction d3, respectively. In addition, by making the dimensions L11, L21, L31 in the first direction d1 larger than the dimensions L13, L23, L33 in the third direction d3, respectively, the entire sound processing device 1 can be stably installed on the installation surface PS.

[0111] Furthermore, in this embodiment in particular, the dimension C1 of the connection unit 400 in the first direction d1 is larger than the dimensions L11, L21, L31 of the sound-collecting unit in the first direction d1. This allows each sound-collecting unit 100, 200, 300 to be placed at a distance greater than the dimension of the first direction d1 of the sound-collecting unit 100, 200, 300 itself, enabling sound source localization over a wide range.

[0112] Furthermore, in this embodiment, the second sound-collecting unit 200 performs sound source localization based on the azimuth information of the sound it acquires itself, the azimuth information of the sound obtained from the adjacent other sound-collecting units 100 and 300, and the distances D1 and D2 to the other sound-collecting units 100 and 300 defined by the connection unit 400. This enables sound collection from a wide range and allows for highly accurate identification of the sound source location.

[0113] <Variation> It should be noted that the present invention is not limited to the embodiments described above, and various modifications are possible without departing from its spirit and technical concept.

[0114] For example, in the above embodiment, the case in which the audio processing device 1 is provided with three sound pickup units 100, 200, and 300 was described as an example, but it is not limited to this, and two units may be provided, or four or more units may be provided. In the case of two units, for example, the configuration shown in Figure 1 can be simplified to a first sound pickup unit 100 and a second sound pickup unit 200 by omitting the third sound pickup unit 300. In this case, the sound source position can be determined based on the directional information of the sound obtained from the microphone arrays 150 and 250 of adjacent sound pickup units 100 and 200, and the distance D1 + D2 between adjacent sound pickup units 100 and 200 as defined by the connection unit 400. If there are four or more sound-collecting units, for example, in the configuration shown in Figure 1, the length of the connecting unit 400 that links the first sound-collecting unit 100 and the second sound-collecting unit 200 can be increased, and the number of third sound-collecting units 300 installed between the first sound-collecting unit 100 and the second sound-collecting unit 200 can be increased to two or more.

[0115] Furthermore, although the camera unit 500 is removable by the mounting portion in the above embodiment, it is not limited to this, and may be fixedly attached to the second sound-receiving unit 200. Furthermore, although the above embodiment states that the second sound-collecting unit 200 is capable of having the camera unit 500 attached, the first sound-collecting unit 100 and the third sound-collecting unit 300 may also be capable of having the camera unit 500 attached. In addition, the camera unit 500 may be attached to each of the sound-collecting units 100, 200, and 300.

[0116] In the above embodiment, the second sound-collecting unit 200 is configured to have an interface that can communicate with an external terminal, but the embodiment is not limited to this, and the first sound-collecting unit 100 and the third sound-collecting unit 300 may also be configured to have interfaces that can communicate with an external terminal. In the above embodiment, the second sound-collecting unit 200 is equipped with a DSP 10 that functions as a calculation unit for localizing sound sources based on directional information and distance information. However, the embodiment is not limited to this configuration, and other sound-collecting units, namely the first sound-collecting unit 100 and the third sound-collecting unit 300, may also be equipped with DSPs that function as calculation units for localizing sound sources based on directional information and distance information.

[0117] Furthermore, although the connecting unit 400 was flat in shape in the above embodiment, it may also be in other shapes, such as a rod shape, a foldable shape, or an extendable shape.

[0118] In addition to what has already been described above, the methods described in the above embodiments and their respective modifications may be used in appropriate combinations.

[0119] Furthermore, although not to be exemplified individually, the present invention may be implemented with various modifications without departing from its spirit. [Explanation of Symbols]

[0120] 1. Audio Processing Device 100 First sound pickup unit (an example of a sound pickup unit at one end) 100C connection part 150 Microphone Array 160 First microphone array (an example of a one-sided microphone array) 160m1 Microphone 160m1 Microphone 170 Second microphone array (an example of the other microphone array) 170m1 Microphone 170m² Microphone 180 End Microphone Array 180m1 Microphone 180m² Microphone 196A Speaker Array 196B Speaker Array 196a Speaker (an example of a single-sided speaker) 196b Speaker (an example of a single-sided speaker) 197A Speaker Array 197B Speaker Array 197a Speaker (an example of the other side speaker) 197b Speaker (An example of the other side speaker) 200 Second sound pickup unit (an example of a sound pickup unit at the other end) 200C Connection section (an example of a connecting section) 250 Microphone Array 260 First microphone array (an example of a one-sided microphone array) 260m1 Microphone 260m² Microphone 270 Second microphone array (an example of the other microphone array) 270m1 Microphone 270m² Microphone 296A Speaker Array 296B Speaker Array 296a Speaker (an example of a single-sided speaker) 296b Speaker (an example of a single-sided speaker) 297A Speaker Array 297B Speaker Array 297a Speaker (an example of the other side speaker) 297b Speaker (an example of the other side speaker) 300 Third sound recording unit 300C connection part 350 Microphone Array 360 First microphone array (an example of a one-sided microphone array) 360m1 Microphone 360m² Microphone 370 Second microphone array (an example of the other microphone array) 370m1 Microphone 370m² Microphone 396A Speaker Array 396B Speaker Array 396a Speaker (an example of a single-sided speaker) 396b Speaker (an example of a single-sided speaker) 397A Speaker Array 397B Speaker Array 397a Speaker (An example of the other side speaker) 397b Speaker (An example of the other side speaker) 400 connection units 500 Camera Unit 510 Support part 520 Camera d1 1st direction d2 2nd direction d3 Third direction PS installation surface< / dsp>

Claims

1. A sound processing device, Multiple sound pickup units, each having a microphone array consisting of multiple microphones and capable of acquiring directional information of the picked-up sound, The plurality of sound-collecting units are connected at a predetermined distance apart in a first direction parallel to the installation surface, and a connecting unit transmits electrical signals between adjacent sound-collecting units. Equipped with, Sound source localization is performed based on the directional information acquired by at least adjacent sound-collecting units and the distance information between adjacent sound-collecting units. A voice processing device characterized by the following:

2. The aforementioned microphone array is Each sound-collecting unit includes a one-side microphone array positioned on one side of a second direction parallel to the mounting surface and perpendicular to the first direction, with the portion to which the connection unit is connected to the sound-collecting unit in the second direction, and a other-side microphone array positioned on the other side of the second direction. The audio processing device according to claim 1, characterized in that it is a voice processing device.

3. The microphone array has at least two microphones spaced apart in the first direction. The audio processing device according to claim 1, characterized in that it is a voice processing device.

4. The microphone array has at least two microphones that are parallel to the mounting surface and spaced apart in a second direction perpendicular to the first direction. The audio processing device according to claim 1, characterized in that it is a voice processing device.

5. The two microphones, which are spaced apart in the second direction, are also spaced apart in a third direction perpendicular to the first and second directions. The audio processing device according to feature 4.

6. Of the plurality of sound-collecting units, the one-end sound-collecting unit located at one end in the first direction has an end microphone array consisting of multiple microphones at one end in the first direction. The audio processing device according to claim 1, characterized in that it is a voice processing device.

7. The end microphone array has at least two microphones that are parallel to the mounting surface and spaced apart in a second direction perpendicular to the first direction. The voice processing device according to claim 6, characterized in that it is a voice processing device.

8. The microphone array of the one-end sound-collecting unit includes a one-side microphone array positioned on one side of a second direction parallel to the mounting surface and perpendicular to the first direction, with the portion to which the connecting unit is connected to the one-end sound-collecting unit in the second direction, and a other-side microphone array positioned on the other side of the second direction. The voice processing device according to claim 6, characterized in that it is a voice processing device.

9. Of the plurality of sound-collecting units, the other-end sound-collecting unit located at the other end in the first direction has a calculation unit that performs calculations based on the azimuth information and the distance information to localize the sound source. The audio processing device according to claim 1, characterized in that it is a voice processing device.

10. Of the multiple sound-collecting units, the other-end sound-collecting unit located at the other end in the first direction has an interface that enables communication with an external terminal. The audio processing device according to claim 1, characterized in that it is a voice processing device.

11. Following the localization of the sound source, the directivity of the sound pickup is set. The audio processing device according to claim 1, characterized in that it is a voice processing device.

12. The sound-collecting unit has a speaker. The audio processing device according to claim 1, characterized in that it is a voice processing device.

13. The aforementioned speaker is Each sound-collecting unit has a one-side speaker positioned on one side of a second direction parallel to the mounting surface and perpendicular to the first direction, flanking the portion to which the connecting unit is connected to the sound-collecting unit, and a other-side speaker positioned on the other side of the second direction. The voice processing device according to claim 12, characterized in that it is a voice processing device.

14. The aforementioned sound pickup unit is The speaker array comprises a plurality of speakers spaced apart in at least the first direction. The voice processing device according to claim 12, characterized in that it is a voice processing device.

15. The aforementioned sound pickup unit is The interface has a support portion extending in a third direction perpendicular to a second direction that is parallel to the first direction and the mounting surface and perpendicular to the first direction, and a camera provided at the tip of the support portion, and is capable of mounting a camera unit. The audio processing device according to claim 1, characterized in that it is a voice processing device.

16. The aforementioned sound pickup unit is The dimension L1 in the first direction, the dimension L2 in the second direction which is parallel to the first direction and the installation surface and perpendicular to the first direction, and the dimension L3 in the third direction which is perpendicular to the first direction and the second direction are, L2 > L1 > L3 The audio processing device according to claim 1, characterized in that it is a voice processing device.

17. The dimension C1 of the connection unit in the first direction is greater than the dimension L1 of the sound pickup unit in the first direction. The voice processing device according to claim 16, characterized in that it is a voice processing device.

18. It is a sound pickup unit, A microphone array consisting of multiple microphones, A connecting portion located in a first direction parallel to the installation surface, to which a connecting unit for connecting to other sound-collecting units can be connected, It has, Sound source localization is performed based on the directional information of the sound picked up by the microphone array, the directional information of the sound acquired by at least other adjacent sound-picking units, and the distance information between the other sound-picking units as defined by the connection unit. A sound-collecting unit characterized by the following features.

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