Detection device and detection system

Abstract

Provided are a detection device and detection system for detecting a whistle sound and estimating the distance to the source of the sound. A detection device (1) comprises a detection unit (20) for detecting a sound wave, a storage unit (30) for storing characteristic information indicating the frequencies of the fundamental wave and a plurality of harmonics of a whistle sound and the levels of the plurality of harmonics in relation to the fundamental wave, a frequency analysis unit (41) for determining the frequency spectrum of the sound wave detected by the detection unit, a determination unit (42, 45) for determining whether the frequency spectrum has peaks for the fundamental wave and the plurality of harmonics and determining the harmonic from the fundamental wave up to which the peaks are greater than a preset lower limit level, and a distance estimation unit (46) for estimating the distance to the sound source of the whistle sound detected by the detection unit on the basis of the relationship between the sound wave propagation distance and amount of attenuation, information on the level included in the characteristic information, and the results of the determination by the determination unit.

Description

[Technical field]

[0001] The present invention relates to a detection device and a detection system. [Background technology]

[0002] Disaster prevention whistles (SOS whistles) for calling for help in the event of a disaster or distress are well known, and are standard equipment on life jackets, for example, and have been introduced by local governments, etc. Disaster prevention whistles can make a loud sound with just a light blow, so they can be used by people who do not have the physical strength to shout loudly.

[0003] For example, Patent Document 1 describes a whistle invention that aims to increase the number of high-order harmonics generated and generate a beat sound with high sound pressure, a fast sound rise, and a high attention-attracting effect.For example, Patent Documents 2 and 3 describe inventions that detect when a whistle has been blown by receiving a wireless signal transmitted from the whistle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2002-108345 A [Patent Document 2] JP 2004-264324 A [Patent Document 3] JP 2016-180924 A Summary of the Invention

[0005] As the population ages, the people who search for victims when a disaster whistle is actually blown are also getting older. Disaster whistles emit a 3.5kHz sound that is easiest for adults to hear, but the hearing sensitivity of people in their 60s for 3.5kHz sounds is nearly 30dB lower than that of people in their 20s, so searchers may miss the whistle sound or be unable to identify the source of the sound.

[0006] The present invention aims to provide a detection device and a detection system that detects a whistle sound and estimates the distance to the sound source.

[0007] The present invention provides a detection device comprising: a detection unit that detects sound waves; a memory unit that stores characteristic information indicating the frequencies of the fundamental wave and multiple harmonics of the whistle sound and the levels of the multiple harmonics relative to the fundamental wave; a frequency analysis unit that determines the frequency spectrum of the sound waves detected by the detection unit; a judgment unit that judges whether or not peaks of the fundamental wave and multiple harmonics are present in the frequency spectrum and up to what multiple of the harmonic from the fundamental wave the peak exceeds a predetermined lower limit level; and a distance estimation unit that estimates the distance to a source of the whistle sound detected by the detection unit based on the relationship between the propagation distance and attenuation of the sound waves, as well as level information included in the characteristic information and the judgment result of the judgment unit.

[0008] The memory unit stores characteristic information for each of the whistle sounds emitted by the multiple types of whistles, and the detection device further has an input unit that allows a user to select the whistle to be detected, and the distance estimation unit may estimate the distance to the sound source based on level information contained in the characteristic information for the whistle selected via the input unit and the judgment result of the judgment unit.

[0009] The detection device may further include a characteristics learning unit that obtains characteristics information about the whistle sound detected by the detection unit from the frequency spectrum of the whistle sound and stores the information in the storage unit.

[0010] The detection device may further include a display unit that displays the level of the fundamental wave contained in the sound waves detected by the detection unit, and a sound collecting hood for increasing the detection sensitivity of sound waves from a specific direction.

[0011] The detection units are multiple detection units each having directionality and facing in different directions, and the detection device may further have a direction estimation unit that estimates the direction of the sound source relative to the device itself based on the relative levels of the fundamental waves contained in the sound waves detected by each of the multiple detection units.

[0012] A detection system is provided that comprises at least one detection device, each of which is any of the detection devices described above, and a management terminal capable of communicating with the detection devices and estimating the position of the sound source based on the position of the detection device and the distance estimated by the detection device.

[0013] There is provided a detection system comprising any one of the detection devices described above and a mobile object equipped with the detection device.

[0014] There is provided a detection system comprising any one of the above detection devices, a mobile body equipped with the detection device, and a management terminal capable of communicating with the mobile body and the detection device and estimating the position of the sound source based on the position of the detection device and the distance estimated by the detection device.

[0015] The management terminal may be capable of writing the characteristic information into the storage unit of the detection device.

[0016] According to the above-described detection device and detection system, it is possible to detect the sound of a whistle and estimate the distance to the sound source. [Brief description of the drawings]

[0017] [Figure 1] 1 is a schematic diagram of a detection device 1. FIG. [Diagram 2] FIG. 2 is a functional block diagram of the detection device 1. [Diagram 3] 1 is a graph showing an example of a frequency spectrum of a whistle sound. [Figure 4] 4 is a graph showing an example of variation in whistle sound intensity depending on propagation distance. [Diagram 5] 11(A) to 11(C) are graphs showing examples of the frequency spectrum of a whistle sound. [Figure 6] 2 is a diagram for explaining characteristic information stored in a storage unit 30. FIG. [Figure 7]1A and 1B are schematic diagrams of a detection device 101 according to a modified example, where 1A is a front view and 1B is a top view. [Figure 8] FIG. 11 is a functional block diagram of a detection device 101 according to a modified example. [Figure 9] 1(A) to 1(C) are diagrams illustrating a detection system 4 including a plurality of detection devices 2. FIG. [Figure 10] FIG. 2 is a functional block diagram of a detection device 2. [Figure 11] 1A is a schematic configuration diagram of a detection system 1000 according to a first modified example, and FIG. 1B is a front view of an in-flight monitor constituting the detection system 1000 according to the first modified example. [Figure 12] FIG. 11 is a functional block diagram of a detection device 102 constituting a detection system 1000 according to a first modified example. [Figure 13] FIG. 11 is a schematic configuration diagram of a detection system 2000 according to a second modified example. [Figure 14] FIG. 11 is a functional block diagram of a detection device 103 constituting a detection system 2000 according to a second modification. [Figure 15] 13 is a flowchart for explaining a procedure for searching for a victim by a detection system 2000 according to the second modification. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] The detection device and detection system will now be described with reference to the drawings, although it should be understood that the invention is not limited to the drawings or to the embodiments described below.

[0019] 1 is a schematic diagram of a detection device 1. The detection device 1 has a function of detecting the sound emitted by a disaster prevention whistle and estimating an approximate distance to the source of the sound based on the order of harmonics of the detected whistle sound. A case 10 of the detection device 1 is small enough to be carried by a searcher, and has a sound collection hood 11, a display unit 12, and an input unit 13. The sound collection hood 11 is for imparting directionality to an acoustic sensor 21 (see FIG. 2) built into the box-shaped case 10, and is provided on the upper side of the case 10 in the figure.

[0020] The display unit 12 is composed of a liquid crystal display panel (LCD) 12A and a level meter 12B, which are arranged on the top surface of the case 10. The LCD 12A displays whether or not a whistle sound has been detected, and if so, displays the distance to the sound source estimated by the detection device 1. In the illustrated example, the level meter 12B has a bar whose length changes according to the displayed value, and displays the level of the fundamental wave contained in the detected sound wave. The input unit 13 is composed of a start / stop button 13A and a selection button 13B, which are arranged below the display unit 12 on the top surface of the case 10. The start / stop button 13A is used by the user to instruct the start and stop of whistle sound detection. The selection button 13B is an example of an input unit, and is used by the user to select a whistle to be detected from among multiple types of whistles.

[0021] 2 is a functional block diagram of the detection device 1. In addition to a display unit 12 and an input unit 13, the detection device 1 has a detection unit 20, a storage unit 30, and a control unit 40.

[0022] The detection unit 20 is composed of an acoustic sensor 21, a detection circuit 22, and an A / D conversion unit 23. The acoustic sensor 21 is a microphone capable of detecting audible and inaudible sounds in a frequency range of, for example, 20 Hz to 80 kHz, and outputs a detection signal corresponding to the detected sound wave to the detection circuit 22. Since the fundamental wave frequency of a disaster prevention whistle is generally 3.5 kHz, in order to detect the whistle sound, the acoustic sensor 21 only needs to be capable of detecting sound waves with a frequency of about 3 kHz or more. The acoustic sensor 21 is provided with a sound collection hood 11, so that it can detect sound waves from a specific direction with good sensitivity. The detection circuit 22 converts the detection signal of the acoustic sensor 21 into an analog sound signal, and the A / D conversion unit 23 converts it into a digital sound signal and outputs it to the control unit 40.

[0023] Figure 3 is a graph showing an example of the frequency spectrum of a whistle sound. The horizontal axis represents frequency (kHz), and the vertical axis represents intensity. The sound emitted by a typical disaster prevention whistle, at a close distance of less than 1m from the sound source, is not only a perfect sine wave component, but also a sound wave that contains a fundamental wave F and harmonics H (usually odd-order harmonics). Symbol P1 represents the peak of the fundamental wave F, while symbols P3, P5, and P7 represent the peaks of the 3rd, 5th, and 7th harmonics H.

[0024] In general, the attenuation A (dB) of sound pressure according to the distance from a point sound source is expressed as follows, where r0 is the sound pressure at the reference point and r is the sound pressure at the distance of interest: A=20log 10 (r / r0)...Equation 1 The attenuation coefficient C of sound pressure per meter of air is given by the following equation when the frequency is f (Hz), the temperature is 20-30°C, and the humidity is 60-70%: C ≒ 1 × 10 -11 ×f 2 ...Formula 2 and varies depending on the frequency.

[0025] FIG. 4 is a graph showing an example of the change in intensity of a whistle sound according to the propagation distance. The horizontal axis represents the distance (m) from the sound source, and the vertical axis represents the relative intensity (dB). When Equation 1 and Equation 2 are applied to the harmonics of an actual disaster prevention whistle, the change in intensity of the fundamental wave and each harmonic according to the propagation distance is as shown in FIG. 4. Curve c1 is a graph of the fundamental wave, and curves c3, c5, c7, c9, and c11 are graphs of the 3-fold, 5-fold, 7-fold, 9-fold, and 11-fold harmonics, respectively. In general, the relationship between the levels of the fundamental wave and the harmonics of a whistle sound differs depending on the type of whistle, so the position of each curve in the vertical axis direction may change for a type of whistle different from that shown in the example. However, if the frequency, temperature, and humidity are the same, even a different type of whistle will show the same intensity change as shown in FIG. 4.

[0026] Therefore, by checking how many times higher the harmonic from the fundamental wave is that the peaks detected are above the noise level (the lower limit level at which the peaks of the frequency spectrum can be distinguished) of the detection unit 20, the approximate distance to the sound source can be estimated. For example, when the lower limit level B is -70 dB, the distance to the sound source can be calculated from the graph in FIG. When up to the 9th harmonic was detected, it was about 10m (section a), When up to the seventh harmonic was detected, it was about 30m (section b), When up to the fifth harmonic was detected, it was about 50m (section c), When the third harmonic was detected, it was about 100 to 200 m (section d). When only the fundamental wave is detected, it is clear that the distance is 250m or more (section e).

[0027] 5(A) to 5(C) are graphs showing examples of the frequency spectrum of a whistle sound. These frequency spectra are of the same whistle sound, but the distances to the sound source are different. In the example of FIG. 5(A), the peaks P1, P3, P5, and P7 from the fundamental wave to the seventh harmonic exceed (are detected as) the lower limit level B, so it can be seen that the distance to the sound source is about 30 m (section b in FIG. 4). In the example of FIG. 5(B), the peaks P1 and P3 of the fundamental wave and the third harmonic exceed the lower limit level B, so it can be seen that the distance to the sound source is about 100 to 200 m (section d in FIG. 4). In the example of FIG. 5(C), only the peak P1 of the fundamental wave exceeds the lower limit level B, so it can be seen that the distance to the sound source is 250 m or more (section e in FIG. 4).

[0028] The storage unit 30 is composed of, for example, a semiconductor memory, and stores information (data) necessary for the operation of the detection device 1. In particular, the storage unit 30 stores in advance basic data of the frequency spectrum of the whistle sound detected at a position, for example, 1 m away from the sound source when the target whistle is blown. This basic data is the frequency of the fundamental wave, the frequencies of multiple harmonics, the level difference (or ratio) between the fundamental wave and each harmonic, and the lower limit level of detection (noise level), and these data are also referred to as characteristic information below. For example, since the type of disaster prevention whistle distributed by each municipality is usually fixed, it is assumed that the detection device 1 knows in advance what kind of characteristic information the whistle will have. The distance from the sound source to the detection position when obtaining the characteristic information is not limited to 1 m and can be determined arbitrarily, but it is preferable that the detection position is close to the sound source.

[0029] FIG. 6 is a diagram for explaining the characteristic information stored in the storage unit 30. The horizontal axis represents frequency (kHz), and the vertical axis represents relative intensity (dB). Symbol f1 represents the frequency of the fundamental wave, symbols f2 to f7 represent the frequencies of the 2nd to 7th harmonics, symbol G1 represents the level of the fundamental wave, symbols dG3, dG5, . . . , dG13 represent the level differences between the fundamental wave and the 3rd, 5th, . . . , and 13th harmonics, respectively, and symbol B represents the lower limit level, and the storage unit 30 stores these values. Since some whistles may contain not only odd multiples but also even multiples of harmonics, the values ​​of frequency fn and level difference dGn from the fundamental wave are defined for both odd multiples and even multiples of harmonics (n=2, 3, . . .). It is only necessary to determine appropriately as necessary up to what multiple of harmonics the frequency and level difference data are to be stored.

[0030] The storage unit 30 may store the above characteristic information for each of the whistle sounds emitted by a plurality of types of whistles. Generally, the frequencies of the fundamental wave and the harmonics differ depending on the type of whistle, so the storage unit 30 may store the characteristic information shown in Fig. 6 in association with the model number (identification information) of the whistle. However, the lower limit level B may be the same value regardless of the type of whistle.

[0031] The control unit 40 is configured as a control circuit of a microcomputer including a CPU, RAM, and ROM, and controls the operation of the detection device 1. The control unit 40 has, as functional blocks realized by the microcomputer, a frequency analysis unit 41, a fundamental wave detection unit 42, a threshold setting unit 43, a detection range setting unit 44, a harmonic determination unit 45, a distance estimation unit 46, and a characteristic learning unit 47.

[0032] The frequency analysis unit 41 obtains the frequency spectrum of the sound wave detected by the detection unit 20 by performing a fast Fourier transform (FFT) on the digital audio signal obtained from the A / D conversion unit 23 .

[0033] The fundamental wave detection unit 42 scans a certain range, for example, a range of f1-0.5 (kHz)≦f≦f1+0.5 (kHz) centered on the frequency f1 of the fundamental wave in the frequency spectrum obtained by the frequency analysis unit 41, to check whether or not there is a peak exceeding the lower limit level B. The size of the scanning range is not limited to the above example and can be set appropriately. If a peak is detected within the scanned range, the fundamental wave detection unit 42 instructs the harmonic determination unit 45 to perform processing and causes the level meter 12B to display the level of the detected peak. If no peak is detected within the scanned range, the fundamental wave detection unit 42 causes the LCD 12A to display the fact that the target whistle was not detected.

[0034] The threshold setting unit 43 obtains the lower limit level B of detection for the whistle selected by the user operating the selection button 13B (or the specified whistle if no selection operation is performed) from the storage unit 30. The detection range setting unit 44 obtains the values ​​of the harmonic frequencies f2, f3, ... stored for the selected (or specified) whistle from the storage unit 30, and sets the range, for example, fn-0.5 (kHz) ≦ f ≦ fn + 0.5 (kHz) (n = 2, 3, ...) as the detection range. The size of this scanning range can also be set appropriately, and may be different for each order of the harmonic.

[0035] Harmonic determination unit 45 scans the range of fn-0.5 (kHz)≦f≦fn+0.5 (kHz) in the frequency spectrum determined by frequency analysis unit 41 for each of n=2, 3,..., and checks up to how many times higher harmonic from the fundamental wave the peak exceeds lower limit level B. Fundamental wave detection unit 42 and harmonic determination unit 45 are one example of a determination unit.

[0036] The distance estimation unit 46 estimates the distance to the sound source based on the level G1 of the fundamental wave and the level difference dGn between the fundamental wave and the harmonics stored for the selected (or specified) whistle, and the judgment result of the harmonic judgment unit 45. The left end point of each curve in the graph of FIG. 4 is determined from the level G1 of the fundamental wave and the level difference dGn (i.e., the level values ​​of the fundamental wave and each harmonic at a distance of 1 m from the sound source), and the curves of the intensity change according to the propagation distance for the fundamental wave and each harmonic starting from those points are determined by Equation 1 and Equation 2. For this reason, the distance estimation unit 46 uses Equation 1 and Equation 2 to obtain the relationship between the propagation distance and the attenuation amount similar to that of the graph of FIG. 4 for the fundamental wave and each harmonic of the target whistle, and obtains an approximate distance to the sound source depending on how many times the peak of the harmonic from the fundamental wave exceeds the lower limit level B. Then, the distance estimation unit 46 causes the LCD 12A to display the fact that the target whistle has been detected and the estimated distance.

[0037] The characteristic learning unit 47 obtains (learns) the characteristic information of Fig. 6 for a whistle sound detected by the detection unit 20 at a position, for example, 1 m away from the sound source, from the frequency spectrum of the whistle sound, and stores the information in the storage unit 30. A learning button may be provided on the case 10, and the characteristic learning unit 47 may store the characteristic information for a new whistle sound in the storage unit 30 when the user operates the button. The characteristic information shown in Fig. 6 does not need to be stored in advance in the storage unit 30, and may be stored in the storage unit 30 when the searcher blows a whistle of the same type as the detection target when using the detection device 1, the detection unit 20 detects the sound, and the characteristic learning unit 47 learns the sound.

[0038] When using the detection device 1, the user (searcher) first presses the start / stop button 13A to start the detection device 1, holds the case 10 horizontally in his / her hand and slowly rotates it 360 degrees to check whether the level meter 12B swings. If the level meter 12B swings, the user further adjusts the direction of the sound collection hood 11 (acoustic sensor 21) in the direction in which the level meter 12B is maximized. Then, the user moves in the direction in which the sound collection hood 11 is pointed, referring to the distance displayed on the LCD 12A, checks whether the displayed distance decreases during the movement, and when the displayed distance becomes within a few meters, searches the surrounding area in detail. If the displayed distance does not decrease even after moving, the user starts over by checking the direction in which the level meter 12B swings.

[0039] The detection device 1 can identify the direction and distance of the whistle sound source, making it easier to identify the location of a missing person. Even if there are obstacles such as rubble, the frequency spectrum of the detected sound waves hardly changes, so the distance to the sound source can be estimated without being affected by the obstacles. By storing characteristic information about multiple types of whistles in the memory unit 30 in advance or learning characteristic information about new whistle sounds, it is possible to detect various types of whistle sounds.

[0040] Since the attenuation coefficient C shown in Equation 2 changes depending on the temperature and humidity, a measurement unit (temperature sensor and / or humidity sensor) that measures the surrounding temperature and humidity may be mounted on case 10. In this case, if the curve of intensity change in FIG. 4 is corrected according to the attenuation characteristics of sound waves propagating through the air at the measured temperature and humidity, the distance to the sound source can be estimated more accurately.

[0041] Although the sound emitted by a disaster prevention whistle is an audible sound, the detection device 1 can also detect sources of inaudible sounds by appropriately setting the fundamental and harmonic frequencies f1, f2, .... For example, the detection device 1 can also detect the sound of a silent whistle that emits sound waves with frequencies close to ultrasonic waves that cannot be heard by the human ear.

[0042] (Modification) 7(A) and (B) show schematic configuration diagrams of a detection device 101 according to a modified example. FIG. 7(A) is a front view of the detection device 101, and FIG. 7(B) is a top view. The detection device 101 according to the modified example differs from the detection device 1 described above in that the detection device 101 has multiple acoustic sensors for detecting whistle sounds from multiple directions around the detection device 101. The rest of the configuration of the detection device 101 according to the modified example is similar to the configuration of the detection device 1 described above.

[0043] The detection device 101 has four sound collection hoods (11A, 11B, 11C, 11D) and a box-shaped case 10. The four sound collection hoods (11A, 11B, 11C, 11D) are for providing directionality to the four acoustic sensors 21 (see FIG. 8), and are provided on the upper side of the case 10 in the drawing so as to open in four surrounding directions. Although FIGS. 7(A) and (B) show an example in which four sound collection hoods including acoustic sensors are provided, the present invention is not limited to such an example, and two, three, five or more may be used.

[0044] 8 is a functional block diagram of the detection device 101. The detection device 101 has a display unit 12, an input unit 13, four detection units (20A, 20B, 20C, 20D), a storage unit 30, and a control unit 401. The four acoustic sensors 21 of the detection units (20A, 20B, 20C, 20D) are arranged at 90 degree intervals from each other to detect whistle sounds from four directions around the detection device 101.

[0045] The control unit 401 differs from the control unit 40 of the above-described detection device 1 in that it has a direction estimation unit 48, but otherwise has the same configuration and function as the control unit 40. In the illustrated example, the frequency analysis unit 41 performs fast Fourier transform on the digital audio signals acquired from the A / D conversion units 23 of the detection units (20A, 20B, 20C, 20D) to obtain the frequency spectrum of the four sound waves detected by those detection units. The fundamental wave detection unit 42, the threshold setting unit 43, the detection range setting unit 44, the harmonic determination unit 45, and the distance estimation unit 46 estimate the distance to the sound source of the sound waves detected by the detection units (20A, 20B, 20C, 20D) in the same manner as the above-described detection device 1.

[0046] The direction estimation unit 48 estimates the direction of the sound source relative to the detection device 101 based on the magnitude relationship of the levels of the fundamental waves detected by the fundamental wave detection unit 42 from the frequency spectrum of the four sound waves obtained by the frequency analysis unit 41 and the direction of each acoustic sensor of the detection units (20A, 20B, 20C, 20D). As a method for determining the direction of the acoustic sensor, for example, the sound collection hood 11D of the detection unit 20D may be set to face north, or a magnetic sensor may be provided to determine the direction. If the detected direction is northwest, as shown in FIG. 7(A), the direction is indicated by an arrow on the LCD 12A, and a message indicating that a reaction has occurred ("Reaction Occurred") and an estimated distance to the sound source (for example, "Distance 100 m") are displayed. In addition, the maximum value of the level of the fundamental wave contained in the sound waves detected by the detection units (20A, 20B, 20C, 20D) is displayed on the level meter 12B.

[0047] The method of determining the position of the sound source is not limited to the method of determining it from the magnitude relationship of the fundamental wave levels, but may be determined by a beamforming method. When the beamforming method is used, a plurality of acoustic sensors may be arranged in an array facing the same direction. According to the beamforming method, when the distance from the sound source to the acoustic sensors is different, the time it takes for the sound wave to reach each acoustic sensor is different, and the difference in arrival time to each acoustic sensor is a function of the position of the sound source, so that the position of the sound source can be estimated by utilizing this.

[0048] 7(A) shows an example in which the sound collecting hoods (11A to 11D) including the acoustic sensors are integrated with the case 10, but the sound collecting hoods (11A to 11D) including the acoustic sensors may be detachable from the case 10 and connected to each other by wire or wirelessly. By making the sound collecting hoods (11A to 11D) including the acoustic sensors detachable, the acoustic sensors can be installed in any location, such as in a location where it is difficult for the user to enter, and the search range for the sound source can be expanded.

[0049] According to the detection device of the modified example, since the detection device has acoustic sensors arranged facing multiple directions in the surrounding area, the user is saved the trouble of rotating the orientation of the acoustic sensors in the surrounding area in order to search for the sound source.

[0050] FIG. 9(A) is a side view showing an example of a detection system 4 including a plurality of detection devices 2. The detection system 4 is composed of detection devices 2A-2C and a management terminal 3. The detection devices 2A-2C have the same functions as the above detection device 1, and are installed on broadcast poles 91A-91C of a local government's disaster prevention radio, which are installed at intervals of 300 m to 1 km. The dashed lines 92A-92C show the areas covered by the broadcast poles 91A-91C and the detection devices 2A-2C, respectively, which are assumed to be the range within which the broadcasts from the broadcast poles 91A-91C can be heard and the range of sound sources that the detection devices 2A-2C can detect. In the illustrated example, there are three detection devices, but there is no particular limit to the number of detection devices, and there may be one or more.

[0051] Figures 9(B) and 9(C) are a side view and a top view of broadcast pole 91 on which detection device 2 is installed. Figure 10 is a functional block diagram of detection device 2. Detection devices 2A to 2C each have the same configuration, and when there is no need to distinguish between them, they will be simply referred to as detection device 2. Broadcast poles 91A to 91C also each have the same configuration, and so are simply indicated by the reference symbol 91 in Figures 9(B) and 9(C).

[0052] The detection device 2 has a main body 10' and detection units 20N, 20S, 20E, and 20W, and the main body 10' has a memory unit 30, a control unit 40', and a communication unit 50. The detection device 2 differs from the detection device 1 described above in that the number of detection units is increased to four and they are separate from the main body 10', and the display unit 12 and input unit 13 are not included but instead a communication unit 50 is included, but otherwise the detection device 2 has the same configuration as the detection device 1. The detection devices 2 (2A to 2C) each transmit the identification information (ID) of the corresponding broadcast pole 91 and the detection result of the whistle sound to the management terminal 3 using the two-way communication (answerback function) of the disaster prevention radio.

[0053] For example, the main body 10' is fixed to the side of the broadcast pole 91, and the detection units 20N, 20S, 20E, and 20W are attached to the speakers facing the north, south, east, and west of the broadcast pole 91, respectively, and are integrated with the speakers. Since they are close to the speakers, the operation of the detection units 20N, 20S, 20E, and 20W may be temporarily stopped during the speaker output period due to broadcasting in order to prevent erroneous detection. However, unlike the example shown in the figure, the detection units 20N, 20S, 20E, and 20W may be separate from the speaker of the broadcast pole 91, and the number of the detection units may be other than four. Each of the detection units 20N, 20S, 20E, and 20W is the same as the detection unit 20 described above, and has directivity by being attached to the speaker of the broadcast pole 91, and is oriented in a different direction from each other. For example, the detection units 20N, 20S, 20E, and 20W are oriented in the north, south, east, and west directions, respectively.

[0054] The control unit 40' differs from the control unit 40 in that it does not have a characteristic learning unit 47 but has a direction estimation unit 48 instead, but otherwise has the same configuration and function as the control unit 40. In the illustrated example, the frequency analysis unit 41 performs a fast Fourier transform on the digital audio signals acquired from the A / D conversion units 23 of the detection units 20N, 20S, 20E, and 20W to obtain the frequency spectrum of the four sound waves detected by those detection units. However, since a processing capacity is required to perform a fast Fourier transform, if it is difficult to process four systems simultaneously with one control unit 40', the function of the frequency analysis unit 41 may be provided to each of the detection units 20N, 20S, 20E, and 20W. The fundamental wave detection unit 42, the threshold setting unit 43, the detection range setting unit 44, the harmonic determination unit 45, and the distance estimation unit 46 estimate the distance to the sound source of the sound wave detected by the detection units 20N, 20S, 20E, and 20W in the same manner as described above.

[0055] The direction estimation unit 48 estimates the direction of the sound source relative to the detection device 2 based on the magnitude relationship (permutation) of the levels of the fundamental waves detected by the fundamental wave detection unit 42 from the frequency spectrum of the four sound waves obtained by the frequency analysis unit 41. If the levels of the fundamental waves contained in the sound waves detected by the detection units 20N, 20S, 20E, and 20W are Vn, Vs, Ve, and Vw, respectively, the direction estimation unit 48 estimates that the sound source is north-northwest if Vn>Vw>Ve>Vs, the sound source is north if Vn>Vw≒Ve>Vs, and the sound source is southeast if Ve≒Vs>Vn≒Vw. In this case, a certain judgment range may be defined for the level of the fundamental wave, and the magnitude may be judged depending on whether the level difference is within that range.

[0056] The communication unit 50 transmits the distance to the sound source estimated by the distance estimation unit 46 and the direction of the sound source estimated by the direction estimation unit 48 together with the identification information of the corresponding broadcast pole 91 to the management terminal 3 .

[0057] The management terminal 3 is a device such as a PC installed in a management center of a local government or the like, and receives the detection results of the whistle sound from the detection devices 2A to 2C, and estimates the location of the source of the whistle sound based on the detection results and the installation positions of the detection devices 2A to 2C. For example, as shown in FIG. 9(A), the detection result of the detection device 2A indicates that the whistle sound source is located at a distance d A The detection result of the detector 2B is a distance d B The detection result of the detector 2C is a distance d C (In FIG. 9(A) , the top of the drawing is north). In this case, the management terminal 3 determines that the whistle to be detected is at the position indicated by the symbol 93, where the arrows extending in the directions from the detection devices 2A to 2C intersect. This makes it possible to monitor the position where the whistle sound is coming from over a wide area. The detection system 4 can detect whistles sounded by women or children, for example, and can be used for crime prevention purposes such as preventing molestation.

[0058] Since the type of whistle distributed by each municipality is different, the management terminal 3 may transmit characteristic information about the whistle to be detected, i.e., the frequencies of the fundamental wave and harmonics, the level difference or ratio between the fundamental wave and each harmonic, and information about the lower limit level of detection, to each detection device 2. In this case, the communication unit 50 of each detection device 2 receives the characteristic information about the whistle to be detected from the management terminal 3, and the control unit 40' stores the received data in the storage unit 30. In this way, the management terminal 3 may be configured to write the characteristic information to the storage unit 30 of each detection device 2.

[0059] (Detection system variation 1) Next, a description will be given of a detection system 1000 according to Modification 1. Fig. 11(A) is a schematic configuration diagram of the detection system 1000 according to Modification 1, and Fig. 11(B) is a front view of an in-flight monitor 10B constituting the detection system 1000 according to Modification 1.

[0060] A detection system 1000 according to the first modification includes a detection device 102 and a helicopter 201 that is a moving body equipped with the detection device 102. The detection device 102 includes a main body case 10A that is installed outside the helicopter 201 (for example, on the bottom surface), and an in-flight monitor 10B. A sound collecting hood 11 equipped with an acoustic sensor is provided on the main body case 10A, and the sound collecting hood 11 is arranged so that an opening of the sound collecting hood 11 faces the ground. A whistle sound emitted by a victim can be collected by the sound collecting hood 11 and detected by the acoustic sensor.

[0061] The main body case 10A and the in-flight monitor 10B are connected by a wire, and the presence or absence of a reaction to the whistle sound collected by the sound collection hood 11 and the distance from the helicopter 201 to the sound source are displayed on the LCD 12A, and the level of the detected sound waves is displayed on the level meter 12B. The main body case 10A and the in-flight monitor 10B are connected by a wire because wireless communication is not permitted when manned due to aviation laws. The user, who is a crew member of the helicopter 201, can monitor the presence or absence of a whistle sound emitted by a person in distress by checking the display on the in-flight monitor 10B.

[0062] FIG. 12 shows a functional block diagram of the detection device 102 constituting the detection system 1000 according to the first modification. The main body case 10A has a detection unit 202, a storage unit 30, and a control unit 40. The detection unit 202 includes a noise filter 24 in addition to the detection unit 20 of the detector 1 described above. The helicopter 201 generates relatively loud noise during flight, and it has been reported that the noise is generated mainly from the main rotor and tail rotor of the helicopter 201, and that among the frequency bands of these noises, the frequency bands with high sound pressure levels are concentrated at 1 kHz or less. Therefore, in order to remove such low-frequency noise, it is preferable to provide the noise filter 24 in the detection unit 20. By using the noise filter 24, it is possible to remove the main low-frequency noise among the noises emitted from the helicopter 201 from the sound waves detected by the acoustic sensor 21, so that the whistle sound can be detected by the detection device 102 mounted on the helicopter 201 even during flight of the helicopter 201.

[0063] As described above, the moving body constituting the detection system 1000 according to the first modification is not limited to a helicopter, but may be an aircraft such as an airplane or an airship, or other moving body.

[0064] According to the detection system 1000 of the first modification, a search for a victim can be performed efficiently because the victim can be searched from the sky. In addition, the victim can be quickly rescued by discovering the victim based on the whistle sound emitted by the victim and rescuing the victim at the same time.

[0065] (Detection system variation 2) Next, a detection system 2000 according to Modification 2 will be described. Fig. 13 shows a schematic configuration diagram of the detection system 2000 according to Modification 2. The detection system 2000 according to Modification 2 is characterized by having a detection device 103, a drone 202 which is a moving body equipped with the detection device 103, and a management terminal 3 which is capable of communicating with the drone 202 which is a moving body and the detection device 103, and which estimates the position of the sound source based on the position of the detection device 103 and the distance estimated by the detection device 103.

[0066] The main body case 10C of the detection device 103 is disposed at the bottom of the drone 202. The main body case 10C is provided with a sound collection hood 11 that opens toward the ground side, and detects the whistle sound S emitted from the ground side.

[0067] The drone 202 is equipped with a GPS function, communicates with the management terminal 3, and detects the whistle sound emitted by a person in distress in an area specified by the management terminal 3.

[0068] 14 shows a functional block diagram of the detection device 103 constituting the detection system 2000 according to the modified example 2. The detection device 103 includes a main body case 10C and a GPS receiver 60. The GPS receiver 60 is provided in advance in the drone 202. The main body case 10C includes a detection unit 203, a storage unit 30, a control unit 40, and a communication unit 50.

[0069] The detection unit 203, like the detection device 102 constituting the detection system 1000 according to the first modification, includes a noise filter 24 for cutting noise emitted from the rotor of the drone 202. By using the noise filter 24, it is possible to remove main low-frequency noise among the noise emitted from the drone 202 from the sound waves detected by the acoustic sensor 21, so that the whistle sound can be detected by the detection device 103 mounted on the drone 202 even while the drone 202 is flying.

[0070] The communication unit 50 transmits the distance to the sound source estimated by the distance estimation unit 46 and the position information of the drone 202 received by the GPS receiving unit 60 to the management terminal 3. The location of the victim is in the vicinity of the location where the drone 202 detected the whistle sound, and the area where the victim is likely to be present can be estimated from the position information received by the GPS receiving unit 60. Furthermore, the drone 202 may be equipped with a camera (not shown). The camera may capture an image of the ground when the whistle sound is detected, and the image data may be transmitted to the management terminal 3 together with the position information.

[0071] Next, a procedure for searching for a victim using the drone 202 will be described. Fig. 15 shows a flowchart for explaining a procedure for searching for a victim by the detection system 2000 according to the modified example 2. The drone 202 receives a command from the management terminal 3, searches for the victim, and transmits the result to the management terminal 3.

[0072] First, in step S101, the communication unit 50 of the drone 202 receives search area information for the missing person transmitted from the management terminal 3, and the drone 202 moves to the specified search area while referring to the location information received by the GPS receiver unit 60.

[0073] Next, in step S102, while the drone 202 moves within the search area, the acoustic sensor 21 detects sounds collected by the sound collection hood 11, and detects a whistle sound emitted by the victim.

[0074] Next, in step S103, the control unit 40 of the drone 202 determines whether or not a whistle sound has been detected. If it is determined that a whistle sound has not been detected, the process returns to step S102, and the drone 202 continues to search for the whistle sound while moving within the search range.

[0075] Next, in step S103, if it is determined that a whistle sound has been detected, the fundamental wave detection unit 42, threshold setting unit 43, detection range setting unit 44, harmonic judgment unit 45 and distance estimation unit 46 estimate the distance to the source of the sound wave detected by the detection unit 202 in the same manner as the detection device 1 described above.

[0076] Next, in step S104, drone 202 transmits to management terminal 3 its position information and distance information to the sound source at the time when the whistle sound was detected. Management terminal 3 can perform rescue operations for the victim by estimating that the victim is present within a range that takes into account the distance to the sound source from the position of drone 202 at the time when the whistle sound was detected. Here, it is preferable that a pressure sensor for estimating the height of drone 202 from the ground is further provided. If the position coordinates of drone 202 on the ground at the time when the whistle sound was detected are (x0, y0), and the distance to the sound source is estimated to be d [m] when drone 202 is at a height of h [m] above the ground, then the distance x [m] from the position of drone 202 on the ground to the sound source is x = √(d 2 -h 2 ) it can be estimated that the area in which the victim is present is within a radius of x [m] from the coordinates (x0, y0).

[0077] Furthermore, a camera may be mounted on the drone 202, and an image of the ground when the whistle sound is detected may be captured and transmitted to the management terminal 3. The image of the ground when the whistle sound is detected is highly likely to include an image of the victim, and the victim's condition can be understood from the image, allowing appropriate rescue operations to be carried out.

[0078] As described above, the moving body constituting the detection system 2000 according to the second modification is not limited to a drone, but may be another moving body such as a search robot capable of traversing mountains or the like.

[0079] According to the detection system 2000 of the second variant example, it is possible to search for missing persons from the sky even in areas where helicopters or other vehicles cannot enter or in dangerous environments, thereby enabling the search for missing persons to be carried out safely and efficiently.

[0080] In the above explanation, a whistle has been used as an example of an instrument that generates a fundamental wave and higher harmonics, but the present invention can be similarly applied to other instruments that generate a fundamental wave and higher harmonics, such as a dog whistle.

Claims

1. A detection unit that detects sound waves; a frequency analysis unit that determines a frequency spectrum of the sound wave detected by the detection unit; a determination unit that determines the highest fundamental wave or harmonic among a fundamental wave and a plurality of harmonics of the whistle sound in the frequency spectrum; a distance estimation unit that estimates a distance to a sound source of the whistle sound detected by the detection unit in accordance with the highest fundamental wave or the highest harmonic wave determined by the determination unit; A detection device comprising:

2. The whistle sound further includes a memory unit for storing characteristic information indicating the frequencies of a fundamental wave and a plurality of harmonics of the whistle sound, the levels of the plurality of harmonics relative to the fundamental wave, and a lower limit level of detection, the determination unit determines whether or not peaks of the fundamental wave and the plurality of harmonics exist in the frequency spectrum, and determines up to what multiple of the fundamental wave the peaks of the harmonics exceed the lower limit level; 2. The detection device according to claim 1, wherein the distance estimation unit estimates a distance to a source of the whistle sound detected by the detection unit based on a relationship between a propagation distance and an attenuation amount of a sound wave, information on the level included in the characteristic information, and a judgment result of the judgment unit.

3. A memory unit that stores characteristic information indicating the frequencies of a fundamental wave and multiple harmonics of a whistle sound and the levels of the multiple harmonics relative to the fundamental wave for each of the whistle sounds emitted by multiple types of whistles; the detection device further includes an input unit that allows a user to select a whistle to be detected; The detection device according to claim 1 , wherein the distance estimation unit estimates the distance based on the level information included in the characteristic information about the whistle selected via the input unit and the determination result of the determination unit.

4. A memory unit that stores characteristic information indicating the frequencies of a fundamental wave and multiple harmonics of a whistle sound and the levels of the multiple harmonics relative to the fundamental wave; The detection device according to claim 1 , further comprising a characteristic learning unit that obtains the characteristic information about the whistle sound from a frequency spectrum of the whistle sound detected by the detection unit and stores the characteristic information in the storage unit.

5. a display unit that displays a level of a fundamental wave included in the sound wave detected by the detection unit; A sound-collecting hood to increase the sensitivity of detecting sound waves from a specific direction; The detection device according to any one of claims 1 to 4, further comprising:

6. The detection unit is a plurality of detection units each having directivity and facing in different directions, The detection device according to any one of claims 1 to 5, further comprising a direction estimation unit that estimates a direction of the sound source relative to the device itself based on a magnitude relationship between the levels of fundamental waves contained in the sound waves detected by each of the multiple detection units.

7. At least one detection device, which is a detection device according to any one of claims 1 to 6; a management terminal capable of communicating with the detection device and estimating a position of the sound source based on a position of the detection device and the distance estimated by the detection device; A detection system comprising:

8. 8. The detection system according to claim 7, wherein the management terminal is capable of writing characteristic information indicating frequencies of a fundamental wave and a plurality of harmonics of the whistle sound and levels of the plurality of harmonics relative to the fundamental wave into a memory unit of the detection device.

9. A detection device according to any one of claims 1 to 6, A moving body equipped with the detection device; A detection system comprising:

10. A detection device according to any one of claims 1 to 6, A moving body equipped with the detection device; a management terminal capable of communicating with the detection device and estimating a position of the sound source based on a position of the detection device and the distance estimated by the detection device; A detection system comprising:

11. The detection unit detects the sound waves, a storage unit stores characteristic information indicating frequencies of a fundamental wave and a plurality of harmonics of a whistle sound and levels of the plurality of harmonics relative to the fundamental wave; A frequency analysis unit obtains a frequency spectrum of the sound wave detected by the detection unit, A determination unit determines a highest fundamental wave or a highest harmonic wave among a fundamental wave and a plurality of harmonics of the whistle sound in the frequency spectrum; a distance estimation unit that estimates a distance to a source of the whistle sound detected by the detection unit in accordance with the highest fundamental wave or the highest harmonic wave determined by the determination unit; A detection method comprising:

12. A storage unit stores characteristic information indicating the frequencies of a fundamental wave and a plurality of harmonics of a whistle sound and the levels of the plurality of harmonics relative to the fundamental wave for each of the whistle sounds emitted by a plurality of types of whistles, an input unit is used by a user to select a whistle to be detected; the distance estimation unit estimates the distance based on the level information included in the characteristic information about the whistle selected via the input unit and the determination result of the determination unit. The detection method according to claim 11.

13. A detection method as described in claim 11, further comprising storing characteristic information in a memory unit indicating the frequencies of a fundamental wave and multiple harmonics of a whistle sound and the levels of the multiple harmonics relative to the fundamental wave.

14. Furthermore, the display unit displays the level of the fundamental wave contained in the sound wave detected by the detection unit, The sound-collecting hood increases the sensitivity of detecting sound waves from a specific direction. The detection method according to any one of claims 11 to 13.

15. The detection unit is a plurality of detection units each having directivity and facing in different directions, a direction estimation unit that estimates a direction of the sound source relative to the device itself based on a magnitude relationship between levels of fundamental waves included in the sound waves detected by the plurality of detection units; The detection method according to any one of claims 11 to 14.

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