WAVE SIGNAL PROCESSING DEVICE, WAVE SIGNAL PROCESSING METHOD, AND PROGRAM

Abstract

Provided is a wave motion signal processing device comprising a spectrum generation unit, an extraction unit, a tracking unit, and a waveform generation unit. In order alleviate a load pertaining to processing a signal originating from wave motion, the spectrum generation unit generates a high resolution first spectrum and a low resolution second spectrum on the basis of an input signal derived from wave motion detected by at least one sensor. The extraction unit extracts, from the second spectrum, a first peak satisfying an extraction condition in a target time frame. The tracking unit tracks, in the first spectrum, a second peak satisfying the extraction condition with regard to a time frame following the target time frame from which the first peak was extracted. The waveform generation unit generates a peak waveform, which is time series data of a frequency including a plurality of second peaks, using the first peak as a starting end.

Description

[Technical field]

[0001] The present disclosure relates to a wave signal processing device that processes a signal derived from a wave. [Background technology]

[0002] By examining the waves detected by multiple sensors, the direction of the wave source can be estimated. For example, by using the frequency change (also called peak waveform) due to the Doppler effect of the signal derived from the wave, the direction, position, and speed (also called trajectory) of the wave source can be estimated. In signal analysis for estimating the trajectory of the wave source, many frequency frames are analyzed to increase the resolution. The more frequency frames there are, the greater the calculation load for generating the peak waveform. Therefore, in order to analyze signals derived from waves, it is necessary to reduce the calculation load.

[0003] Patent Document 1 discloses a spectrum analysis device that performs spectrum analysis on a wireless signal. The device of Patent Document 1 performs fast Fourier transform on the wireless signal with a resolution that allows visualization of the characteristics of a CSS (Chirp Spread Spectrum) signal to obtain a spectrum. The device of Patent Document 1 employs an effective value within a certain frequency range to coarsen the frequency resolution of the spectrum and calculates the duration of the wireless signal. The device of Patent Document 1 employs an effective value within the duration to coarse the time resolution of the spectrum and calculates the bandwidth of the wireless signal. The device of Patent Document 1 discriminates the characteristics of the wireless signal of each standard based on the calculated duration and bandwidth.

[0004] Patent Document 2 discloses a method for restoring speech by an electronic device. In the method of Patent Document 2, noise in a speech signal is suppressed to create a noise-suppressed speech signal having a bandwidth including at least three subbands. In the method of Patent Document 2, each of the at least three subbands is repeatedly restored. In the method of Patent Document 2, the maximum values ​​of the speech spectrum signal are determined as peaks, and the peaks are tracked. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-193049 A [Patent Document 2] Special Publication No. 2018-506078 Summary of the Invention [Problem to be solved by the invention]

[0006] In the method of Patent Document 1, the characteristics of wireless signals of each standard are determined based on the duration and bandwidth obtained by coarsening the frequency resolution and time resolution of the spectrum. According to the method of Patent Document 1, it is possible to detect CSS signals in an environment where wireless signals of multiple standards coexist. However, the method of Patent Document 1 cannot be applied to tracking the detected signals.

[0007] In the method of Patent Document 2, each of the at least three subbands is restored based on a previously restored subband. In the method of Patent Document 2, peaks detected from a speech spectrum signal with a large amount of data can be tracked, but peaks cannot be tracked based on a spectrum with a reduced amount of data. Therefore, the method of Patent Document 2 cannot sufficiently reduce the load of calculations required for tracking peaks.

[0008] An object of the present disclosure is to provide a wave signal processing device and the like that can reduce the load imposed on processing signals derived from waves. [Means for solving the problem]

[0009] A wave signal processing device according to an aspect of the present disclosure includes a spectrum generating unit that generates a first spectrum with high resolution and a second spectrum with low resolution based on an input signal derived from a wave detected by at least one sensor, and a target time FrameThe apparatus includes an extraction unit that extracts a first peak that satisfies an extraction condition from the second spectrum, a tracking unit that tracks a second peak that satisfies the extraction condition in the first spectrum for a time frame subsequent to the target time frame in which the first peak is extracted, and a waveform generation unit that generates a peak waveform that is time series data of frequency starting from the first peak and including multiple second peaks.

[0010] In a wave signal processing method according to an embodiment of the present disclosure, a computer generates a high-resolution first spectrum and a low-resolution second spectrum based on an input signal derived from a wave detected by at least one sensor, and calculates a time domain of interest. Frame In the method, a first peak that satisfies an extraction condition is extracted from the second spectrum, a second peak that satisfies the extraction condition is tracked in the first spectrum for a time frame subsequent to the target time frame in which the first peak was extracted, and a peak waveform is generated, which is time series data of frequency starting from the first peak and including multiple second peaks.

[0011] A program according to an embodiment of the present disclosure includes a process for generating a first spectrum with high resolution and a second spectrum with low resolution based on an input signal derived from a wave motion detected by at least one sensor, and a process for calculating a time domain of interest. Frame The method causes a computer to execute a process of extracting a first peak that satisfies an extraction condition from the second spectrum, a process of tracking a second peak that satisfies the extraction condition in the first spectrum for a time frame subsequent to the target time frame in which the first peak was extracted, and a process of generating a peak waveform that is time series data of frequency starting from the first peak and including a plurality of second peaks. Effect of the Invention

[0012] According to the present disclosure, it is possible to provide a wave signal processing device and the like that can reduce the load on processing signals derived from waves. [Brief description of the drawings]

[0013] [Figure 1]1 is a block diagram showing an example of the configuration of a wave signal processing device according to a first embodiment. [Diagram 2] FIG. 1 is a conceptual diagram for explaining an example of the arrangement of a plurality of sensors for detecting waves that are the source of signals input to a wave signal processing device according to a first embodiment. [Diagram 3] FIG. 2 is a conceptual diagram for explaining a frame processed by the wave signal processing device according to the first embodiment. [Figure 4] 3 is a conceptual diagram for explaining a first spectrum generated by a first generating section of the wave signal processing device according to the first embodiment. FIG. [Diagram 5] 4 is a conceptual diagram for explaining a second spectrum generated by a second generating section of the wave signal processing device according to the first embodiment. FIG. [Figure 6] 2 is a conceptual diagram for explaining an example of peak tracking by a tracker of the wave signal processing device according to the first embodiment. FIG. [Figure 7] 2 is a conceptual diagram showing an example of a peak waveform generated by a waveform generating section of the wave signal processing device according to the first embodiment. FIG. [Figure 8] 5 is a flowchart for explaining an example of an outline of the operation of the wave signal processing device according to the first embodiment. [Figure 9] 5 is a flowchart for explaining an example of a waveform generating process performed by the wave signal processing device according to the first embodiment. [Figure 10] 4 is a flowchart for explaining an example of peak tracking processing by the wave signal processing device according to the first embodiment. [Figure 11] FIG. 11 is a block diagram showing an example of the configuration of a wave signal processing device according to a second embodiment. [Figure 12] 11 is a conceptual diagram for explaining an example of the arrangement of a plurality of sensors for detecting waves that are the source of signals input to a wave signal processing device according to a second embodiment. FIG. [Figure 13] FIG. 11 is a conceptual diagram showing an example of displaying a trajectory estimated by a wave signal processing device according to a second embodiment on a screen of a display device. [Figure 14] 10 is a flowchart illustrating an example of an outline of the operation of a wave signal processing device according to a second embodiment. [Figure 15] 10 is a flowchart for explaining an example of a trajectory estimation process performed by a wave signal processing device according to a second embodiment. [Figure 16] FIG. 11 is a block diagram showing an example of the configuration of a wave signal processing device according to a third embodiment. [Figure 17] FIG. 2 is a block diagram showing an example of a hardware configuration for executing the processes of each embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments for carrying out the present invention will be described with reference to the drawings. However, the embodiments described below are limited in a manner that is technically preferable for carrying out the present invention, but the scope of the invention is not limited to the following. In addition, in all the drawings used to explain the following embodiments, the same reference numerals are used for similar parts unless otherwise specified. In addition, in the following embodiments, repeated explanations of similar configurations and operations may be omitted.

[0015] (First embodiment) First, a wave signal processing device according to a first embodiment will be described with reference to the drawings. In this embodiment, waves emitted from a wave source possessed by a moving object are detected by a plurality of sensors. The wave signal processing device of this embodiment generates a spectrogram relating to the detected waves based on the waves detected by the plurality of sensors. The wave signal processing device of this embodiment generates, for the generated spectrogram, time series data of frequencies (also called peak waveforms) that enable verification of the Doppler effect accompanying the movement of the moving object. In this embodiment, the frequency band of the waves detected by the sensors is a bandwidth that enables verification of the Doppler effect.

[0016] (composition) 1 is a block diagram showing an example of the configuration of a wave signal processing device 10 of this embodiment. The wave signal processing device 10 includes a signal input section 11, a first generating section 12, a second generating section 13, an extracting section 14, a tracking section 15, and a waveform generating section 16. The first generating section 12 and the second generating section 13 constitute a spectrum generating section 120. In the following, the first generating section 12 and the second generating section 13 will be described as having different configurations, but the first generating section 12 and the second generating section 13 may be integrally configured as the spectrum generating section 120.

[0017] The wave signal processing device 10 is connected to a plurality of sensors 100 arranged at intervals. The sensor 100 detects a mixture of waves emitted from a wave source possessed by a moving body 110 and various waves generated around the wave source. The sensor 100 converts the detected waves into a digital signal (also called a sample value series). For example, if the wave source is a sound source, the sensor 100 can be realized by a microphone. For example, if the wave source is a vibration source, the sensor 100 can be realized by a vibration sensor. The sensor 100 is not limited to a microphone or a vibration sensor as long as it can detect waves. A system constituted by the wave signal processing device 10 and the plurality of sensors 100 is also called a signal processing system.

[0018] The signal input unit 11 acquires signals (also called input signals) derived from waves detected by the multiple sensors 100. The signal input unit 11 acquires the input signals in the time domain. For example, the signal input unit 11 performs signal processing such as filtering and noise removal on the input signals. The signal input unit 11 may be connected to the multiple sensors 100 by wire or wirelessly. For example, the signal input unit 11 may be connected to the multiple sensors 100 via a network (not shown).

[0019] 2 is a conceptual diagram showing an example of the arrangement of multiple sensors 100. A moving body 110 having a wave source is located in a space in which the multiple sensors 100 are arranged. The multiple sensors 100 may be arranged in any manner. For example, the multiple sensors 100 are arranged at intervals according to the type of the moving body 110. For example, the multiple sensors 100 may be arranged at equal intervals or at any intervals. Furthermore, the positional relationship between the multiple sensors 100 may change.

[0020] The first generation unit 12 calculates a high-resolution spectrum (called a first spectrum) from an input signal. The first generation unit 12 generates a frequency domain signal (also called a frequency spectrum) from a time domain input signal in units (also called a time frame) that comply with a certain rule. For example, the length of the time frame is set to 2 n samples (n is a natural number), such as 1024 samples or 4096 samples.

[0021] Fig. 3 is a conceptual diagram in which time frames generated by the first generation unit 12 are arranged along a time axis. Fig. 3 shows a plurality of frames associated with specific times (time t1, time t2, time t3, ...). In the example of Fig. 3, the plurality of time frames are set so as to overlap in time. The plurality of time frames may also be set sequentially without overlapping in time. Also, the plurality of time frames may be set with a time interval between them. There is no particular limitation on the method of setting the time frames.

[0022] The frequency spectrum is a frequency component in each time frame. For example, the first generation unit 12 generates the frequency spectrum by Fourier transform. For example, the first generation unit 12 may generate the frequency spectrum by CQT (Constant-Q Transform) or wavelet transform.

[0023] Fig. 4 is a conceptual diagram for explaining the first spectrum generated by the first generation unit 12. The first spectrum in Fig. 4 is obtained by arranging the frequency spectra calculated from each time frame shown in Fig. 3 in chronological order along the time axis (vertical axis). The horizontal axis in Fig. 4 represents frequency, and an example is shown in which the number of frames (called "frequency frames" to distinguish them from the time frames in Fig. 3) constituting each frequency spectrum is nine, but this does not reflect the number of practical frequency frames. To increase the frequency resolution, it is sufficient to increase the number of samples in each frequency frame in Fig. 3.

[0024] The second generation unit 13 reduces the resolution of the first spectrum generated by the first generation unit 12 to generate a spectrum with low resolution (also called the second spectrum). The second generation unit 13 sets a block (also called a bin) in which a plurality of frames are integrated for each unit time and unit frequency based on the first spectrum. Adjacent bins may share frames at the boundary. In other words, adjacent bins may overlap. The second generation unit 13 calculates a representative value of the amplitude intensity or energy of the frames included in the bin, and generates a second spectrum based on the calculated representative value. For example, the second generation unit calculates the maximum value of the amplitude intensity or energy of the frames included in the bin as the representative value. For example, the second generation unit calculates the median value of the amplitude intensity or energy of the frames included in the bin as the representative value. For example, the second generation unit calculates an average value such as the arithmetic mean value, geometric mean value, or harmonic mean value of the amplitude intensity or energy of the frames included in the bin as the representative value. Alternatively, the second generation unit 13 may calculate the variance of the amplitude intensity or energy for each bin and generate the second spectrum based on the calculated variance. For example, the second generation unit calculates the variance of the amplitude intensity or energy of the frames included in the bin.

[0025] FIG. 5 is a conceptual diagram for explaining the second spectrum generated by the second generation unit 13. The second spectrum in FIG. 5 is generated based on the first spectrum in FIG. 4. In the example of FIG. 5, a bin is configured by cutting out a frequency spectrum at a unit frequency (also called a frequency window) for each unit time (also called a time window) including a plurality of times (time t1, time t2, time t3, ...). In the example of FIG. 5, the time window is set every four frames (four squares), and the frequency window is set every three frames (three squares). In the following, a bin cut out by a time window m and a frequency window n is expressed as a bin mn (m and n are natural numbers). For example, a bin cut out by a time window 1 and a frequency window 2 is expressed as a bin 1-2.

[0026] The extraction unit 14 extracts a peak (also called a first peak) that satisfies a predetermined condition (also called an extraction condition) related to the amplitude from each bin of the second spectrum. The extraction unit 14 may extract a plurality of peaks that satisfy the extraction condition from each bin of the second spectrum. The extraction unit 14 extracts peaks from a plurality of bins that share a common time window in the chronological order of the time window. Hereinafter, a plurality of bins that share a common time window are also called time bins. Time series data of a frequency that starts from an extracted peak is called a peak waveform. The peak (first peak) extracted by the extraction unit 14 is the start end (also called a peak start end) of the peak waveform. That is, the extraction unit 14 extracts the peak start end of the peak waveform from the time bin of the second spectrum. Of the peaks that constitute the peak waveform, a peak (also called a second peak) that follows the peak start end is tracked by the tracking unit 15.

[0027] The extraction conditions include the following conditions (first to fifth extraction conditions). The following first to fifth extraction conditions are set for the amplitude values ​​(intensity, energy) of multiple bins in the second spectrum. The extraction conditions are also used to track a peak (second peak) in the first spectrum.

[0028] The first extraction condition is a condition that the representative value generated by the second generation unit 13 is equal to or greater than a threshold value. The representative value in the first extraction condition is, for example, the average value, median value, or maximum value of the amplitude intensity or energy. The representative value in the first extraction condition does not include the variance. The threshold value set in the first extraction condition is also referred to as the first threshold value.

[0029] The second extraction condition is a condition that the value obtained by dividing the representative value generated by the second generation unit 13 by the noise level is equal to or greater than a threshold value. The representative value in the second extraction condition is, for example, the average value, median value, or maximum value of the amplitude intensity or energy. The representative value in the second extraction condition does not include the variance. The threshold value set in the second extraction condition is also called the second threshold value. For example, the noise level may be calculated based on an input signal acquired at a time when no wave motion is detected.

[0030] The third extraction condition is a condition that the sharpness of the representative value generated by the second generation unit 13 is equal to or greater than a threshold. The representative value in the third extraction condition is, for example, the average value, median value, or maximum value of the amplitude intensity or energy. The representative value in the third extraction condition does not include variance. The threshold value set in the third extraction condition is also called the third threshold. The third extraction condition indicates that the representative value in the target frequency bin is sufficiently larger than the representative values ​​in the preceding and following frequency bins.

[0031] The fourth extraction condition is a condition that the variance generated by the second generation unit 13 is equal to or less than a threshold. The variance in the fourth extraction condition is, for example, the variance of the amplitude intensity or the energy. The fourth extraction condition is a condition related to the variance, not the representative value. The threshold set in the fourth extraction condition is also referred to as the fourth threshold.

[0032] The fifth extraction condition is a condition that the representative value generated by the second generation unit 13 has a maximum value. The representative value in the fifth extraction condition is, for example, the average value, median value, or maximum value of the amplitude intensity or energy. The representative value in the fifth extraction condition does not include the variance.

[0033] It is sufficient that at least one of the first to fifth extraction conditions is satisfied. For example, only one of the extraction conditions may be satisfied, or all of the extraction conditions may be satisfied. Furthermore, the thresholds of the first to fifth extraction conditions are set individually for the parameters verified in each extraction condition. The extraction conditions are not limited to the first to fifth extraction conditions as long as peak candidates can be detected from the first spectrum and the second spectrum.

[0034] The tracking unit 15 calculates the frequency (also called the peak frequency) at which the amplitude of each bin from which the peak start is extracted is maximum. The tracking unit 15 calculates the amount of change in frequency (also called the amount of frequency change) within each bin from which the peak start is extracted. For example, the tracking unit 15 calculates the amount of frequency change as the slope of a straight line obtained by linearly regressing the frequency within each bin.

[0035] The tracker 15 detects a peak (second peak) subsequent to the peak start extracted from each bin from the first spectrum based on the peak start extracted from each bin and the peak frequency and frequency change amount for each bin. The tracker 15 detects the first frame that satisfies any one of the first to fifth extraction conditions among the frames in the bin from which the start peak was extracted, and sets it as the start frame (frame 1). The tracker 15 obtains the frequency change amount (slope) between frame 1 and a frequency frame (frame 2) that satisfies the extraction condition in the next time frame. The tracker 15 calculates a frequency prediction value of the second peak based on the frequency change amount between frame 1 and frame 2. The tracker 15 identifies a frequency frame (frame 3) that satisfies the extraction condition in frame 2 and the next time frame based on the calculated frequency prediction value. The tracker 15 identifies a frequency frame (frame 4) that satisfies the extraction condition in frame 3 and the next time frame based on the frequency change amount between frame 2 and frame 3. The tracker 15 repeats such processing to track the peak. In the above, an example has been given in which the next frame is identified from two frames, but the next frame may be identified based on three or more frames. For example, the frequency change amount for five frames (frames 1 to 5) may be obtained, and the frequency frame (frame 6) following frame 5 may be obtained based on the frequency change amount. However, since the frequency change amount cannot be calculated from only one frame, at least two frames are required to calculate the frequency change amount.

[0036] FIG. 6 is a conceptual diagram for explaining the tracking of peaks by the tracker 15. FIG. 6 shows a curve (peak waveform) connecting the tracked peaks in the first spectrum. The tracker 15 calculates a predicted value of the frequency of the peak (called a frequency predicted value) in time frame 2 following time frame 1 in which the peak start point was extracted. For example, the tracker 15 calculates the frequency predicted value F in time frame 2 using the following equation 1-1: p In the following formula 1-1, s(1) is the change in frequency (slope) in time frame 1. F p(1) is the frequency of the peak onset in time frame 1. Δt(2) is the time difference between the center time of time frame 1 and the center time of time frame 2. F p (2)=F p (1) - s(1) × Δt(2) (1-1)

[0037] The tracking unit 15 extracts a peak that satisfies an extraction condition from the first spectrum within a range (also called a tracking range) according to the frequency predicted value. For example, the tracking range is set based on a frequency band in which a Doppler shift may occur due to the movement of a wave source, and the frequency predicted value. For example, the tracking unit 15 detects a peak for a frequency F within the tracking range shown in the following formula 1-2. F p (2)-β <F<F p (2)+β···(1-2)

[0038] For example, in the above formula 1-2, β is set to a range in which a Doppler shift associated with the movement of the wave source can occur. β may be set to a different value for each frequency predicted value Fp(2). For example, β is determined based on a formula for the Doppler shift according to the speed of the sound source. β may be set for each wave source, or a constant value may be set regardless of the wave source. In the example of FIG. 6, the tracking unit 15 predicts a frequency predicted value based on a slope in frequency frame i+2 included in time frame 1. The tracking unit 15 extracts a maximum value that satisfies an extraction condition as a peak of time frame 2 within a tracking range according to the predicted frequency predicted value. The tracking unit 15 tracks the extracted peak of time frame 2 and the peak start point used to extract the peak as elements constituting a peak waveform based on the same wave source.

[0039] Once the tracking range is set, the extractor 14 extracts a new peak start point that satisfies the extraction condition outside the tracking range from the second spectrum in time frames subsequent to the target time frame 1 and thereafter. Extraction of a new peak start point by the extractor 14 can be started at any timing as long as the tracking range is set. The tracker 15 tracks the peak start point newly extracted in time frame 2 in the same way as the peak start point extracted in time frame 1.

[0040] The tracker 15 tracks peaks in consecutive time frames after time frame 3. For example, the tracker 15 uses the following equation 1-3 to calculate a frequency prediction value F p In the following formula 1-3, s(w-1) is the frequency change (slope) in the time frame w-1. p (w-1) is the frequency of the peak onset in time frame w-1. Δt(w) is the time difference between the center time of time frame w-1 and the center time of time frame w. F p (w)=F p (w-1)-s(w-1)×Δt(w)···(1-3)

[0041] The tracking unit 15 also extracts peaks that satisfy the extraction condition from the first spectrum within the tracking range for time frame 3 and onward. For example, the tracking unit 15 detects a peak for frequency F within the tracking range shown in the following equation 1-4. β in the following equation 1-4 may be the same as β in the above-mentioned equation 1-2, or may be different. Fp(w)-β <F<Fp(w)+β···(1-4)

[0042] If no peak is extracted in a time frame following the time frame in which the peak was extracted, the tracking unit 15 extracts a peak of the wave motion being tracked that satisfies the extraction condition from the first spectrum within the tracking range of the last extracted peak. For example, if no peak is extracted within a predetermined time, the tracking range may be expanded as time passes.

[0043] The tracking unit 15 continues tracking the peak until a preset predetermined time has elapsed. The predetermined time is set according to the time range in which the wave can be detected. For example, the predetermined time is set according to the type of wave source. If the wave source is a car, if no wave is detected beyond an expected stop time such as waiting at a traffic light, the car can be considered to have been parked. In this case, the expected stop time can be set to the predetermined time. For example, if a wave whose tracking has ended is extracted again after the predetermined time has elapsed, it can be determined that the car has resumed traveling.

[0044] If a predetermined time has elapsed without a peak being extracted, the tracker 15 determines that the last peak extracted up to that point is the end (also called the peak end).

[0045] The waveform generating unit 16 generates, for the peak tracked by the tracking unit 15, time series data of the frequency of the peak from the peak start point to the peak end point (also called a peak waveform).

[0046] Fig. 7 is a graph showing an example of a peak waveform generated by the waveform generating unit 16. The peak waveform in Fig. 7 shows a peak waveform based on the peak tracked in the first spectrum in Fig. 7. The peak waveform is generated for each wave source.

[0047] The waveform generating unit 16 deletes overlapping waveforms from the multiple peak waveforms generated. For example, the waveform generating unit 16 may combine partially overlapping waveforms from the multiple peak waveforms generated. For example, the waveform generating unit 16 may delete a peak waveform when the length (time length) of the peak waveform is less than a predetermined length. For example, the waveform generating unit 16 stores the generated peak waveform in a storage unit (not shown). For example, the waveform generating unit 16 outputs the generated peak waveform to an external system (not shown). For example, the peak waveform generated by the waveform generating unit 16 is used for applications such as wave source trajectory estimation and sound source identification. The wave source trajectory estimation will be described in the second embodiment. Regarding sound source identification, information on the peak waveform can be used to generate a basis (frequency) used to estimate the type of sound source. For example, data recording a sound emitted by a moving sound source A is input as learning data, and one or more peak waveforms are generated. Since the frequency at the inflection point of the peak waveform corresponds to the frequency of sound source A, this can be learned as the basis of sound source A. When identifying an unknown sound source X, the weight (H) can be calculated based on the frequency spectrum (V) of sound source X and the basis (W) of sound source A using Non-Negative Matrix Factorization (NMF) (Equation 1-5 below). V ≈ W H (1-5) When the weight H exceeds a preset threshold, the sound source X can be identified as the sound source A. Since the frequency of the sound source X is also likely to fluctuate due to the Doppler effect, the frequency fluctuation width df may be taken into account and used as W±df instead of the basis W. Alternatively, as a simpler identification method, if the frequency estimated based on the peak waveform of the unknown sound source X is the same as or close to the frequency of the learned sound source A, it can be identified as the sound source A. Although the above description has been given by taking an example in which there is one sound source to be identified, there may be multiple sound sources.

[0048] Among the peak waveforms generated by the waveform generating unit 16, the waveform based on the signal from the wave source of the moving object is referred to here as the Doppler shift. If it is assumed that the moving object has a single wave source and peak waveforms due to noise are not observed, all the generated peak waveforms correspond to the Doppler shift. If it is assumed that the moving object has multiple wave sources and peak waveforms due to noise are observed, all the generated peak waveforms include the Doppler shift and noise components related to the multiple wave sources.

[0049] In the above method, an example has been described in which a high-resolution first spectrum is generated and a low-resolution second spectrum is generated using the first spectrum. For example, a low-resolution second spectrum may be generated without generating a high-resolution first spectrum, and a tracking range around a peak extracted from the second spectrum may be partially set to high resolution to track the peak. If the tracking range is partially set to high resolution, it is not necessary to generate a high-resolution first spectrum for all times and frequencies. Therefore, the amount of calculation can be reduced compared to the case where the first spectrum is generated first.

[0050] (operation) Next, the operation of the wave signal processing device 10 of this embodiment will be described with reference to the drawings. Fig. 8 is a flowchart for explaining an outline of the operation of the wave signal processing device 10. The processing according to the flowchart of Fig. 8 will be described with the wave signal processing device 10 as the subject of the operation.

[0051] In FIG. 8, first, the wave signal processing device 10 acquires signals derived from waves detected by the multiple sensors 100 (step S11).

[0052] Next, the wave signal processing device 10 generates a high-resolution first spectrum for the acquired signal (step S12).

[0053] Next, the wave signal processing device 10 generates a second spectrum with a lower resolution based on the generated first spectrum (step S13).

[0054] Next, the wave signal processing device 10 executes a waveform generating process (step S14). The waveform generating process in step S14 will be described in detail later.

[0055] If the processing is to be continued after step S14 (Yes in step S15), the process returns to step S11. If the processing is not to be continued after step S14 (No in step S15), the process according to the flowchart in FIG. 8 ends. For example, the processing is stopped when the scheduled number of times of processing has been performed or the scheduled processing time has elapsed. For example, the processing may be configured to be stopped in response to a user operation.

[0056] [Waveform generation processing] Next, details of the waveform generation process (step S14 in FIG. 8) by the wave signal processing device 10 will be described with reference to the drawings. FIG. 9 is a flowchart for explaining the waveform generation process. In explaining the process according to the flowchart in FIG. 9, the components of the wave signal processing device 10 will be described as the main actors in the operation.

[0057] 9, when a peak satisfying the extraction condition is detected in the second spectrum (Yes in step S111), the extractor 14 extracts the peak satisfying the extraction condition from the second spectrum for the first time frame (step S112). The peak extracted in step S112 corresponds to the peak start point (first peak) of the peak waveform. When a peak satisfying the extraction condition is not detected in the second spectrum (No in step S111), the process according to the flowchart in FIG. 9 ends (proceed to step S15 in FIG. 8).

[0058] After step S112, the tracker 15 executes a peak tracking process (step S113). The peak tracking process of step S113 will be described in detail later.

[0059] Next, the waveform generating section 16 generates a peak waveform by using the peak tracked in the peak tracking process of step S113 (step S114).

[0060] Next, the waveform generating section 16 stores the generated peak waveform (step S115). The waveform generating section 16 may output the generated peak waveform to the outside.

[0061] If a new peak that satisfies the extraction condition is detected in the second spectrum outside the tracking range based on the predicted values ​​(Yes in step S116), the process returns to step S112. Peak tracking is then performed for the newly detected peak. If a new peak that satisfies the extraction condition is not detected in the second spectrum outside the tracking range based on the predicted values ​​(No in step S116), the process according to the flowchart in FIG. 9 ends (proceed to step S15 in FIG. 8).

[0062] [Peak tracking processing] Next, the peak tracking process (step S113 in FIG. 9) by the wave signal processing device 10 will be described in detail with reference to the drawings. FIG. 10 is a flowchart for explaining the peak tracking process. The peak tracking process is executed on a high-resolution first spectrum. In explaining the process according to the flowchart in FIG. 10, a component (tracking unit 15) of the wave signal processing device 10 will be described as the main actor in the operation.

[0063] 10, first, the tracker 15 calculates the maximum frequency and the amount of frequency change for the peak (peak start point) extracted in step S112 in FIG. 9 for the target time frame (step S121). If the target time frame is the first time frame, the tracker 15 calculates the maximum frequency and the amount of frequency change for the peak start point (first peak). If the target time frame is not the first time frame, the tracker 15 calculates the maximum frequency and the amount of frequency change for the peak (second peak) extracted based on the peak start point.

[0064] Next, the tracking unit 15 calculates a predicted value of the frequency of the peak in the time frame following the target time frame based on the maximum frequency and the frequency change amount of the target time frame (step S122). The time frame following the target time frame may or may not be consecutive in time to the target time frame as long as it is after the target time frame.

[0065] When a peak that satisfies the extraction condition is detected within the tracking range based on the calculated predicted value (Yes in step S123), the tracking unit 15 extracts the detected peak (second peak) (step S124). After step S124, the process returns to step S121, and the peak tracking process is continued with the subsequent time frame as the target time frame.

[0066] If no peak satisfying the extraction condition is detected within the tracking range based on the calculated predicted value (No in step S123), different processes are executed depending on the time elapsed since the last peak was detected. If a predetermined time has not elapsed since the last peak was detected (No in step S125), the process returns to step S122 and continues the peak tracking process for the target time frame being processed. If a predetermined time has elapsed since the last peak was detected (Yes in step S125), the process according to the flowchart in FIG. 10 ends (proceed to step S114 in FIG. 9).

[0067] As described above, the wave signal processing device according to this embodiment includes a signal input unit, a first generation unit, a second generation unit, an extraction unit, a tracking unit, and a waveform generation unit. The signal input unit receives a signal derived from a wave detected by at least one sensor. The first generation unit generates a high-resolution first spectrum based on the input signal. The second generation unit generates a low-resolution second spectrum. The extraction unit generates a waveform based on a target time. FrameThe first peak satisfying the extraction condition is extracted from the second spectrum. The tracking unit tracks the second peak satisfying the extraction condition in the first spectrum for a time frame subsequent to the target time frame in which the first peak was extracted. The waveform generating unit generates a peak waveform that is time series data of frequency starting from the first peak and including a plurality of second peaks.

[0068] In this embodiment, the start point (first peak) of the peak waveform is extracted in the low-resolution second spectrum, and the peak (second peak) subsequent to the start point (first peak) is tracked in the high-resolution first spectrum. Therefore, according to this embodiment, the processing load for extracting the start point (first peak) of the peak waveform can be reduced, thereby reducing the processing load for processing signals derived from wave motion. Also, according to this embodiment, tracking of the peak (second peak) subsequent to the start point (first peak) is performed in the high-resolution first spectrum, so that the processing load can be reduced without degrading the frequency estimation accuracy.

[0069] In one aspect of this embodiment, the first generation unit converts the time domain input signal into a frequency spectrum, which is a frequency domain signal, for each time frame. The first generation unit arranges the frequency spectrum in a time series to generate the first spectrum. The second generation unit uses the first spectrum to calculate a representative value of the amplitude of the frequency for each bin obtained by cutting the first spectrum at a unit frequency for each unit time, and generates a second spectrum based on the calculated representative value. The tracking unit sequentially extracts second peaks that satisfy the extraction condition in the first spectrum for multiple time frames subsequent to the target time frame. The tracking unit tracks multiple second peaks subsequent to the first peak by sequentially extracting second peaks that satisfy the extraction condition in the first spectrum.

[0070] In this embodiment, the first peak (starting point) is extracted from the second spectrum having low time and frequency resolution, and therefore, according to this embodiment, the load of the process of extracting the first peak (starting point) can be reduced.

[0071] In one aspect of this embodiment, the first generation unit converts the input signal in the time domain into a frequency spectrum, which is a signal in the frequency domain, for each time frame. The second generation unit thins out frequency components of the frequency spectrum and arranges the frequency spectrum from which the frequency components have been thinned out in a time series to generate a second spectrum. The first generation unit locally generates the first spectrum by increasing the resolution around where the first peak and the second peak are extracted. The tracking unit sequentially extracts second peaks that satisfy the extraction condition in the locally generated first spectrum for multiple time frames subsequent to the target time frame. The tracking unit tracks multiple second peaks subsequent to the first peak by sequentially extracting second peaks that satisfy the extraction condition in the locally generated first spectrum.

[0072] In this embodiment, in order to increase the resolution of time and frequency around the peak during peak tracking, it is not necessary to generate a first spectrum with high resolution over the entire frequency range, and therefore, according to this embodiment, it is possible to reduce the processing load in generating a spectrum.

[0073] In one aspect of this embodiment, the extraction unit is Frame For a first peak extracted from a bin, the tracking unit calculates a peak frequency at which the amplitude within the bin is maximum and an amount of frequency change. The tracking unit estimates a frequency prediction value of a peak subsequent to the first peak based on the peak frequency and the amount of frequency change. The tracking unit detects a second peak that satisfies an extraction condition from a time frame subsequent to the target time frame within a tracking range according to the estimated frequency prediction value. The tracking unit tracks the second peak subsequent to the first peak by sequentially detecting the second peak subsequent to the second peak for time frames subsequent to the time frame in which the second peak was detected.

[0074] In this embodiment, the position of the second peak in the subsequent time frame is estimated based on the peak frequency and the frequency change (slope) in the preceding time frame, which results in higher robustness against noise compared to the method of extracting peaks based only on the maximum value.

[0075] In one aspect of this embodiment, when a predetermined time has elapsed since the last detection of the second peak, the tracking unit determines that the last detected second peak is the last third peak. The waveform generating unit generates a peak waveform starting from the first peak, passing through multiple second peaks, and ending at the third peak.

[0076] In this embodiment, the end of the peak waveform is extracted according to the time elapsed since the second peak was last detected. Therefore, according to this embodiment, by ending tracking of the peak waveform according to the elapsed time, it is possible to avoid continuing to track the peak uselessly, thereby reducing the peak tracking process. Also, according to this embodiment, the end of the peak waveform is clearly determined according to the elapsed time, so the length (time length) of the peak waveform can be clearly determined.

[0077] In one aspect of this embodiment, the spectrum generating unit Frame At least one of a representative value and a variance regarding the amplitude of the time frame included in the bin is calculated. The extraction conditions include at least one of a first extraction condition, a second extraction condition, a third extraction condition, a fourth extraction condition, and a fifth extraction condition. The first extraction condition is a condition that the representative value is equal to or greater than a first threshold. The second extraction condition is a condition that the value obtained by dividing the representative value by the noise level is equal to or greater than a second threshold. The third extraction condition is a condition that the sharpness of the representative value is equal to or greater than a third threshold. The fourth extraction condition is a condition that the variance is equal to or less than a fourth threshold. The fifth extraction condition is a condition that the representative value has a maximum value. According to this embodiment, the peak is extracted based on a clear extraction condition, and the quality of the extracted peak is maintained, so that the processing load consumed for extracting unnecessary peaks can be reduced.

[0078] In one aspect of this embodiment, the waveform generating unit, for the overlapping peak waveforms, leaves one peak waveform and deletes the others. For peak waveforms whose time length is less than a predetermined length, the waveform generating unit deletes the peak waveform. According to this aspect, by deleting unnecessary peak waveforms, it is possible to reduce the area for storing the peak waveforms.

[0079] Second embodiment Next, a wave signal processing device according to a second embodiment will be described with reference to the drawings. The wave signal processing device of this embodiment estimates the time change in position and speed (hereinafter referred to as trajectory) of a moving body having a wave source of the wave based on the wave detected by a plurality of sensors. In this embodiment, it is assumed that the moving body has at least one wave source, and each wave source emits a single wave. In this embodiment, it is assumed that the Doppler shift amount is the same for all wave sources for the same moving body. In this embodiment, the frequency band of the wave detected by the sensor is a bandwidth capable of detecting changes due to the Doppler effect.

[0080] (composition) 11 is a block diagram showing an example of the configuration of a wave signal processing device 20 of this embodiment. The wave signal processing device 20 includes a signal input unit 21, a first generating unit 22, a second generating unit 23, an extracting unit 24, a tracking unit 25, a waveform generating unit 26, and a trajectory estimating unit 27. The first generating unit 22 and the second generating unit 23 constitute a spectrum generating unit 220. In the following, the first generating unit 22 and the second generating unit 23 are described as having different configurations, but the first generating unit 22 and the second generating unit 23 may be unified as the spectrum generating unit 220. In the following, the description of the same points as in the first embodiment will be simplified, and the description will focus on the points different from the first embodiment.

[0081] The wave signal processing device 20 is connected to a plurality of sensors 200 arranged at intervals, as in the first embodiment. The sensors 200 have a similar configuration to the sensor 100 in the first embodiment. A system formed by the wave signal processing device 20 and the plurality of sensors 200 is also called a signal processing system.

[0082] The signal input unit 21 has the same configuration as the signal input unit 11 of the first embodiment. The signal input unit 21 acquires signals (also called input signals) derived from waves detected by the multiple sensors 200. The signal input unit 21 also acquires the positions of the sensors 200 capable of detecting waves from a wave source. When the positions of the sensors 200 are registered in advance in a storage unit (not shown) of the wave signal processing device 20, the signal input unit 21 acquires the positions of the sensors 200 registered in advance. The signal input unit 21 may be connected to the multiple sensors 200 by wire or wirelessly. For example, the signal input unit 21 may be connected to the multiple sensors 200 via a network (not shown).

[0083] FIG. 12 is a conceptual diagram showing an example of the arrangement of the multiple sensors 200. In a space in which the multiple sensors 200 are arranged, a moving body 210 having a wave source moves. A trajectory accompanying the movement of the moving body 210 is a trajectory R of an estimation target. The multiple sensors 200 may be arranged in any manner as long as the position of each sensor 200 can be specified. For example, the multiple sensors 200 may be arranged at equal intervals or at any intervals. In addition, the positional relationship between the multiple sensors 200 may change as long as the position of each sensor 200 can be determined. For example, a microphone or a vibration sensor mounted on a mobile terminal capable of specifying position information by a GPS (Global Positioning System) or the like may be used as the sensor 200. In the following, it is assumed that the moving body 210 moves linearly at a constant speed in the space in which the multiple sensors 200 are arranged in a unit period used for estimating the trajectory R of the moving body 210 having a wave source.

[0084] The first generating unit 22 has a configuration similar to that of the first generating unit 12 of the first embodiment. The first generating unit 22 performs a Fourier transform on a time domain input signal in units (also called time frames) that comply with a certain rule, and generates time series data (also called frequency spectra) in the frequency domain. The first generating unit 22 generates a high-resolution spectrum (also called a first spectrum) using the generated multiple frequency spectra.

[0085] The second generating unit 23 has a similar configuration to the second generating unit 13 of the first embodiment. The second generating unit 23 reduces the resolution of the first spectrum generated by the first generating unit 22 to generate a low-resolution spectrum (also called the second spectrum). The second generating unit 23 sets a block (also called a bin) that integrates a plurality of frames for each unit time and unit frequency based on the first spectrum. The second generating unit 23 calculates a representative value of the amplitude (intensity, energy) of the frames included in the bin to generate the second spectrum.

[0086] The extraction unit 24 has the same configuration as the extraction unit 14 in the first embodiment. The extraction unit 24 extracts a peak that satisfies an extraction condition from each bin based on the amplitude (intensity, energy) of each bin. The extraction unit 24 extracts a peak that satisfies an extraction condition from each bin based on the amplitude (intensity, energy) of each bin. Frame In chronological order, time Frame The extracting unit 24 extracts peaks from multiple bins (time bins) that have a common time bin of the second spectrum. The extracting unit 24 extracts the peak start point (first peak) of the peak waveform from the time bin of the second spectrum. Of the peaks that make up the peak waveform, the peak (second peak) that follows the peak start point is tracked by the tracking unit 25.

[0087] The tracker 25 has the same configuration as the tracker 15 of the first embodiment. The tracker 25 calculates the frequency (peak frequency) at which the amplitude is maximum within each bin from which the peak start point is extracted. The tracker 25 calculates the amount of change in frequency (also called the amount of frequency change) within each bin from which the peak start point is extracted.

[0088] The tracker 25 detects, from the first spectrum, a peak (second peak) subsequent to the peak start point extracted from each bin, based on the peak start point extracted from each bin and the peak frequency and frequency change amount for each bin.

[0089] The tracking unit 25 extracts a peak that satisfies an extraction condition from the first spectrum within a range (also called a tracking range) according to the frequency predicted value. For example, the tracking range is set based on a frequency band in which a Doppler shift may occur due to the movement of a wave source and the frequency predicted value.

[0090] Once the tracking range is set, the extraction unit 24 extracts a new peak start point that satisfies the extraction condition outside the tracking range in a time frame subsequent to the target time frame. Extraction of a new peak start point by the extraction unit 24 can be started at any timing as long as the tracking range is set. The tracking unit 25 tracks the peaks for the newly extracted peak start points in the subsequent time frame in the same way as for the peaks (peak start points) extracted in the target time frame.

[0091] If no peak is extracted in the consecutive time frames, the tracking unit 25 extracts a peak of the tracked wave that satisfies the extraction condition in the first spectrum within the tracking range of the last extracted peak. The tracking unit 25 continues tracking the peak until a preset predetermined time has elapsed. For example, if no peak is extracted before the predetermined time has elapsed, the tracking range may be expanded as time passes. If the predetermined time has elapsed without a peak being extracted, the tracking unit 25 determines that the peak last extracted up to that point is the end (also called the peak end).

[0092] The waveform generating unit 26 has the same configuration as the waveform generating unit 16 of the first embodiment. The waveform generating unit 26 generates time series data (peak waveform) of the frequency of the peaks from the peak start point to the peak end point for the wave tracked by the tracker 25.

[0093] The waveform generating unit 26 deletes overlapping waveforms from among the multiple peak waveforms generated. For example, the waveform generating unit 26 may combine partially overlapping waveforms from among the multiple peak waveforms generated. For example, the waveform generating unit 26 may delete a peak waveform if the length (time length) of the peak waveform is less than a predetermined length. The waveform generating unit 26 outputs the generated peak waveform to the trajectory estimating unit 27. The peak waveform generated by the waveform generating unit 26 is used to estimate the trajectory R of the moving body 210 having a wave source.

[0094] Among the peak waveforms extracted by the waveform generating unit 26, a waveform based on a signal from the wave source of the moving body 210, the object of estimating the trajectory R, ​​is called a Doppler shift. If it is assumed that the moving body 210 has a single wave source and peak waveforms due to noise are not observed, all the generated peak waveforms correspond to a Doppler shift. If it is assumed that the moving body has multiple wave sources and peak waveforms due to noise are observed, all the generated peak waveforms include Doppler shifts and noise components related to the multiple wave sources.

[0095] The trajectory estimation unit 27 estimates parameters (also called trajectory parameters) related to the trajectory of the moving body for each of the selected sensors 200 by fitting the acquired peak waveform to a theoretical formula f of the Doppler shift. The trajectory estimation unit 27 estimates trajectory parameters such as the speed v of the moving body 210 having a wave source, the frequency f0 of the wave emitted by the wave source, the shortest distance a between the moving body 210 and the sensor 200, and the time t0 at which the moving body approaches the sensor 200 closest. It is assumed that the moving body moves at a constant speed along the trajectory R at a speed v in the time frame under verification. The trajectory estimation unit 27 estimates the trajectory parameters by fitting the theoretical formula f of the Doppler shift in the following formula 2-1 to the peak waveform. In the following formula 2-1, θ(t) is the angle (also called the wave source direction) between the straight line connecting the moving body and the sensor 100 and the trajectory R of the moving body having the wave source at time t. In the following formula 1, c is the speed of the wave in the observation environment. TIFF0007616379000001.tif19150

[0096] The trajectory estimation unit 27 uses the estimated trajectory parameters to estimate wave source direction candidates (hereinafter also referred to as wave source direction candidates) for all pairs of peak waveforms from among the peak waveforms measured by the three sensors 200. The trajectory estimation unit 27 uses the estimated wave source direction candidates to estimate candidates for the trajectory of the moving body (hereinafter also referred to as trajectory candidates).

[0097] For example, the trajectory estimation unit 27 estimates wave source direction candidates for all pairs of peak waveforms using the trajectory parameters estimated for each peak waveform. The trajectory estimation unit 27 calculates wave source direction candidates φmn for the sensors 100-m and 100-n (m and n are natural numbers) using the following equation 2-2. TIFF0007616379000002.tif9150

[0098] In the above formula 2-2, m indicates the identification number of the sensor 200-m, and n indicates the identification number of the sensor 200-n. tm indicates the time (also called the starting point time) when the moving object 210 is closest to the sensor 200-m, and am indicates the distance between the sensor 200-m and the moving object 210 at the starting point time tm. Similarly, t n indicates the time when the moving object 210 comes closest to the sensor 200-n (also called the end time), and a n is the end time t n The distance between the sensor 200-n and the moving object 210 in the direction of the wave source φ is shown. mn The clockwise direction is positive with respect to the line segment connecting the two sensors 200. m From the end time t n It is assumed that the moving body 210 moves at a constant speed in a straight line during the time up to .

[0099] The trajectory estimation unit 27 estimates a wave source direction candidate for each pair of peak waveforms according to the positional relationship between the two sensors 200 and the trajectory. There are four cases (Case A, Case B, Case C, and Case D) for the positional relationship between the two sensors 200 and the trajectory. The trajectory estimation unit 27 estimates a trajectory candidate for each of the four wave source direction candidates estimated for each case. The wave source direction candidates φ according to the positional relationship between the two sensors 200 (sensor 200-1, sensor 200-2) and the trajectory are described below. 12 Regarding the estimation of , we will explain four cases separately.

[0100] Case A is a case in which both sensors 200 are positioned above the trajectory R of the moving body 210. In case A, the distance a1 between the sensor 200-1 and the moving body 210 at time t1 when the moving body 210 is closest to the sensor 200-1 is positive. The distance a2 between the sensor 200-2 and the moving body at time t2 when the moving body 210 is closest to the sensor 200-2 is also positive. In case A, the wave source direction candidate φ 12 is positive.

[0101] Case B is a case where the sensor 200-1 is located below and the sensor 200-2 is located above the trajectory R of the moving body 210. In case B, the distance a1 between the sensor 200-1 and the moving body 210 at time t1 when the moving body 210 is closest to the sensor 200-1 is negative. The distance a2 between the sensor 200-2 and the moving body 210 at time t2 when the moving body 210 is closest to the sensor 200-2 is positive. In case B, the wave source direction candidate φ 12 is positive.

[0102] Case C is a case where both the sensor 200-1 and the sensor 200-2 are located below the trajectory R of the moving body. In case C, the distance a1 between the sensor 200-1 and the moving body 210 at the time t1 when the moving body 210 is closest to the sensor 200-1 is negative. The distance a2 between the sensor 200-2 and the moving body 210 at the time t2 when the moving body 210 is closest to the sensor 200-2 is negative. In case C, the wave source direction candidate φ 12 is negative.

[0103] Case D is a case where the sensor 200-1 is located above and the sensor 200-2 is located below the trajectory R of the moving object. In case D, the distance a1 between the sensor 200-1 and the moving object 210 at the time t1 when the moving object 210 is closest to the sensor 200-1 is positive. The distance a2 between the sensor 200-2 and the moving object 210 at the time t2 when the moving object 210 is closest to the sensor 200-2 is negative. In case D, the wave source direction candidate φ 12 is negative.

[0104] The trajectory estimation unit 27 estimates wave source direction candidates in the above-mentioned four cases for all combinations of two sensors 200 selected from the three sensors 200. The trajectory estimation unit 27 estimates three overlapping trajectory candidates for all combinations of the three sensors 200. The trajectory estimation unit 27 estimates the three overlapping trajectory candidates for all combinations of the three sensors 200 as the trajectory R of the moving body 210. Note that the three overlapping trajectory candidates do not necessarily match perfectly. In such a case, the trajectory estimation unit 27 may select three closest trajectory candidates from the estimated multiple trajectory candidates to estimate the trajectory R. For example, the trajectory estimation unit 27 estimates the trajectory R by selecting one of the three selected trajectory candidates or averaging the three selected trajectory candidates. The direction as seen from the sensor 200-n and the sensor 200-m in the estimated trajectory R is defined as φ. Rnm The trajectory estimation unit 27 estimates, for example, an average value or a median value of the velocities estimated for all combinations of the three sensors 200 as the velocity on the trajectory R.

[0105] The trajectory R estimated by the trajectory estimation unit 27 is used to estimate the position of the moving body 210 in the next verification time frame (also called a verification frame). For example, it is assumed that the trajectory R in the current verification frame traces a trajectory R' that is extended without changing direction in the next verification frame. In this case, the position of a representative point in the trajectory R' is estimated as the position of the moving body 210 in the next verification frame. For example, the position of the representative point is set to the midpoint of the trajectory R'. Also, the speed of the moving body 210 estimated in the current verification frame is v R , half the length (time length s) of the next verification frame is set to s / 2. In this case, the position of the moving object 210 in the next verification frame is calculated by moving in the direction φ R12 s|v R For example, when verifying the next verification frame, the trajectory estimation unit 27 may select a signal detected by the sensor 200 that is close to the position of the moving object 210 estimated by such a method.

[0106] For example, the trajectory R of the moving body 210 estimated by the trajectory estimation unit 27 is displayed on the screen of a display device (not shown). For example, the trajectory R of the moving body 210 estimated by the trajectory estimation unit 27 may be output to a system (not shown) that performs processing based on the estimated trajectory R, ​​or may be stored in a database (not shown).

[0107] FIG. 13 is a conceptual diagram showing an example of displaying the trajectory R of the moving body 210 estimated by the wave signal processing device 20 on the screen of the display device 250. FIG. 13 shows an example in which the moving body 210, such as an automobile or a bicycle, moves on a road in a district where a plurality of sensors 200 are arranged. For example, the trajectory R of the moving body 210 is displayed on a map including the route along which the moving body 210 moves. For example, the trajectory R of the moving body 210 is displayed on a map including the route of the moving body 210 according to the type of the moving body 210, such as an automobile, a ship, or a submarine. For example, the moving body 210 is an ambulance that runs while emitting a siren, a ship that runs while sounding a horn, a bicycle that runs while sounding a buzzer, etc. A motorcycle or an automobile that runs while emitting an exhaust sound of a certain frequency can also be a target of the moving body 210.

[0108] (operation) Next, the operation of the wave signal processing device 20 of this embodiment will be described with reference to the drawings. Fig. 14 is a flowchart for explaining an outline of the operation of the wave signal processing device 20. The processing according to the flowchart of Fig. 14 will be described with the wave signal processing device 20 as the subject of the operation.

[0109] In FIG. 14, first, the wave signal processing device 20 acquires signals derived from waves detected by the multiple sensors 200 (step S21).

[0110] Next, the wave signal processing device 20 generates a high-resolution first spectrum for the acquired signal (step S22).

[0111] Next, the wave signal processing device 20 generates a second spectrum with a lower resolution based on the generated first spectrum (step S23).

[0112] Next, the wave signal processing device 20 executes a waveform generation process (step S24). The waveform generation process in step S24 is similar to the waveform generation process in the first embodiment (FIG. 9).

[0113] Next, the wave signal processing device 20 executes a trajectory estimation process using the peak waveform generated by the waveform generation process (step S25). The trajectory estimation process in step S25 will be described in detail later.

[0114] If the processing is to be continued after step S25 (Yes in step S26), the process returns to step S21. If the processing is not to be continued after step S25 (No in step S26), the process according to the flowchart in FIG. 14 ends. For example, the processing is stopped when the scheduled number of times of processing has been performed or the scheduled processing time has elapsed. For example, the processing may be configured to be stopped in response to a user operation.

[0115] [Trajectory Estimation Processing] Next, the trajectory estimation process by the wave signal processing device 20 (FIG. 14 Step S25) will be described with reference to the drawings. FIG. 25 is a flowchart for explaining the trajectory estimation process. 15 The process according to this flowchart will be described with the component of the wave signal processing device 20 (trajectory estimation unit 27) acting as the subject of the operation.

[0116] In FIG. 15, first, the orbit estimation unit 27 estimates orbit parameters by fitting a peak waveform assumed to have the same wave source to a theoretical equation for Doppler shift (step S251).

[0117] Next, the trajectory estimation unit 27 estimates wave source direction candidates for all pairs of peak waveforms using the estimated trajectory parameters (step S252).

[0118] Next, the trajectory estimation unit 27 estimates trajectory candidates for all pairs of peak waveforms based on the estimated wave source direction candidates (step S253).

[0119] Next, the trajectory estimation unit 27 estimates the overlapping trajectory candidates among the estimated trajectory candidates for the combination of the three sensors as the trajectory of the moving body (step S254). For example, the trajectory of the moving body estimated by the trajectory estimation unit 27 is displayed on the screen of a display device (not shown). For example, the trajectory of the moving body estimated by the trajectory estimation unit 27 may be output to an arbitrary system (not shown) that performs processing based on the estimated trajectory, or may be stored in a database (not shown).

[0120] As described above, the wave signal processing device according to this embodiment includes a signal input unit, a first generation unit, a second generation unit, an extraction unit, a tracking unit, a waveform generation unit, and a trajectory estimation unit. The signal input unit receives a signal derived from a wave detected by at least one sensor. The first generation unit generates a high-resolution first spectrum based on the input signal. The second generation unit generates a low-resolution second spectrum. The extraction unit extracts a target time Frame a first peak satisfying the extraction condition is extracted from the second spectrum. The tracking unit tracks a second peak satisfying the extraction condition in the first spectrum for a time frame subsequent to the target time frame in which the first peak was extracted. The waveform generating unit generates a peak waveform that is time series data of frequency starting from the first peak and including a plurality of second peaks. The trajectory estimating unit estimates the trajectory of a moving body having a wave source based on at least one peak waveform.

[0121] In this embodiment, the process of extracting the start point (first peak) of the peak waveform is reduced, while the process of tracking the peak (second peak) subsequent to the start point (first peak) is performed with high accuracy. In this embodiment, based on a peak waveform composed of a peak (second peak) tracked with high accuracy, the trajectory of a moving body having a wave source of the wave that is the source of the peak waveform is estimated. According to this embodiment, the process of estimating the trajectory of a moving body having a wave source based on the peak waveform can be reduced without reducing accuracy.

[0122] In this embodiment, an example has been described in which the parameters related to the trajectory of a moving object (also called trajectory parameters) are estimated by fitting the peak waveform to the theoretical formula f of the Doppler shift for each of a plurality of selected sensors. For example, if the positive or negative angle between a line passing between two sensors and the trajectory of the wave source is known, a single trajectory can be estimated by fitting the peak waveform to the theoretical formula f of the Doppler shift for the two sensors.

[0123] (Third embodiment) Next, a wave signal processing device according to a third embodiment will be described with reference to the drawings. The wave signal processing device of this embodiment has a simplified configuration of the wave signal processing devices of the first and second embodiments. Fig. 16 is a block diagram showing an example of the configuration of a wave signal processing device 30 of this embodiment. The wave signal processing device 30 includes a spectrum generating section 32, an extracting section 34, a tracking section 35, and a waveform generating section 36.

[0124] The spectrum generating unit 32 generates a first spectrum with high resolution and a second spectrum with low resolution based on an input signal derived from a wave motion detected by at least one sensor. Frame A first peak satisfying the extraction condition is extracted from the second spectrum. A tracking unit 35 tracks a second peak satisfying the extraction condition in the first spectrum for a time frame subsequent to the target time frame in which the first peak was extracted. A waveform generating unit 36 ​​generates a peak waveform that is time series data of frequency starting from the first peak and including a plurality of second peaks.

[0125] In this embodiment, the start point of a peak waveform is extracted in the low-resolution second spectrum, and the peak subsequent to the start point is tracked in the high-resolution first spectrum. Therefore, according to this embodiment, the process of extracting the start point of a peak waveform is reduced, thereby reducing the load on the processing of signals derived from wave motion.

[0126] (Hardware) Here, a hardware configuration for executing processing by the wave signal processing device according to each embodiment of the present disclosure will be described using as an example an information processing device 90 in Fig. 17. Note that the information processing device 90 in Fig. 17 is an example configuration for executing processing by the wave signal processing device according to each embodiment, and does not limit the scope of the present disclosure.

[0127] As shown in Fig. 17, an information processing device 90 includes a processor 91, a main storage device 92, an auxiliary storage device 93, an input / output interface 95, and a communication interface 96. In Fig. 17, the interface is abbreviated as I / F (Interface). The processor 91, the main storage device 92, the auxiliary storage device 93, the input / output interface 95, and the communication interface 96 are connected to each other via a bus 98 so as to be able to communicate data with each other. In addition, the processor 91, the main storage device 92, the auxiliary storage device 93, and the input / output interface 95 are connected to a network such as the Internet or an intranet via the communication interface 96.

[0128] The processor 91 loads a program stored in the auxiliary storage device 93 or the like into the main storage device 92. The processor 91 executes the program loaded into the main storage device 92. In this embodiment, a configuration may be adopted in which a software program installed in the information processing device 90 is used. The processor 91 executes processing by the wave signal processing device according to this embodiment.

[0129] The main memory device 92 has an area in which a program is loaded. The processor 91 loads a program stored in the auxiliary memory device 93 or the like in the main memory device 92. The main memory device 92 is realized by a volatile memory such as a dynamic random access memory (DRAM). Furthermore, a non-volatile memory such as a magnetoresistive random access memory (MRAM) may be configured / added to the main memory device 92.

[0130] The auxiliary storage device 93 stores various data such as programs. The auxiliary storage device 93 is realized by a local disk such as a hard disk or a flash memory. Note that it is also possible to configure the main storage device 92 to store various data and omit the auxiliary storage device 93.

[0131] The input / output interface 95 is an interface for connecting the information processing device 90 to peripheral devices based on standards and specifications. The communication interface 96 is an interface for connecting to external systems and devices through a network such as the Internet or an intranet based on standards and specifications. The input / output interface 95 and the communication interface 96 may be a common interface for connecting to external devices.

[0132] Input devices such as a keyboard, a mouse, and a touch panel may be connected to the information processing device 90 as necessary. These input devices are used to input information and settings. When a touch panel is used as an input device, the display screen of the display device may also serve as an interface for the input device. Data communication between the processor 91 and the input devices may be mediated by an input / output interface 95.

[0133] The information processing device 90 may be equipped with a display device for displaying information. When the display device is equipped, the information processing device 90 is preferably equipped with a display control device (not shown) for controlling the display of the display device. The display device may be connected to the information processing device 90 via the input / output interface 95.

[0134] The information processing device 90 may also be provided with a drive device. The drive device mediates between the processor 91 and a recording medium (program recording medium) for reading data and programs from the recording medium, writing the processing results of the information processing device 90 to the recording medium, and the like. The drive device may be connected to the information processing device 90 via an input / output interface 95.

[0135] The above is an example of a hardware configuration for enabling the wave signal processing device according to each embodiment of the present invention. The hardware configuration in FIG. 17 is an example of a hardware configuration for executing the arithmetic processing of the wave signal processing device according to each embodiment, and does not limit the scope of the present invention. In addition, a program for causing a computer to execute the processing related to the wave signal processing device according to each embodiment is also included in the scope of the present invention. Furthermore, a program recording medium on which the program according to each embodiment is recorded is also included in the scope of the present invention. The recording medium can be realized, for example, by an optical recording medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disc). The recording medium may be realized by a semiconductor recording medium such as a USB (Universal Serial Bus) memory or an SD (Secure Digital) card. In addition, the recording medium may be realized by a magnetic recording medium such as a flexible disk or other recording medium. When the program executed by the processor is recorded on a recording medium, the recording medium corresponds to a program recording medium.

[0136] The components of the wave signal processing device of each embodiment may be combined in any manner, and the components of the wave signal processing device of each embodiment may be realized by software or by a circuit.

[0137] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above-mentioned embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. [Explanation of symbols]

[0138] 10, 20, 30 Wave signal processing device 11, 21 Signal input section 12, 22 1st generation part 13, 23 Second generation part 14, 24, 34 Extraction part 15, 25, 35 Tracking section 16, 26, 36 waveform generator 27 Orbit estimation part 32 Spectral Generation Unit 100, 200 Sensors 120, 220 Spectral generation unit

Claims

1. a spectrum generating means for generating a first spectrum having a high resolution and a second spectrum having a low resolution based on an input signal derived from a wave motion detected by at least one sensor; an extraction means for extracting a first peak that satisfies an extraction condition from the second spectrum in a target time frame; a tracking means for tracking a second peak that satisfies the extraction condition in the first spectrum with respect to a time frame subsequent to the target time frame in which the first peak is extracted; and a waveform generating means for generating a peak waveform which is time series data of frequency starting from the first peak and including a plurality of the second peaks.

2. The spectrum generating means Transforming the time-domain input signal into a frequency spectrum, which is a frequency-domain signal, for each time frame; arranging the frequency spectrum in a time series to generate the first spectrum; using the first spectrum, calculating a representative value of the amplitude of a frequency for each bin obtained by cutting the first spectrum at each unit frequency for each unit time, and generating the second spectrum based on the calculated representative value; The tracking means includes: The wave signal processing device according to claim 1 , wherein the second peaks that satisfy the extraction condition are sequentially extracted in the first spectrum for a plurality of time frames that follow the target time frame, thereby tracking the plurality of second peaks that follow the first peak.

3. The spectrum generating means Transforming the time-domain input signal into a frequency spectrum, which is a frequency-domain signal, for each time frame; decimating frequency components of the frequency spectrum; arranging the frequency spectrum, from which frequency components have been thinned out, in a time series to generate the second spectrum; increasing the resolution of the periphery of the extracted first peak and the extracted second peak to locally generate the first spectrum; The tracking means includes: 2 . The wave signal processing device according to claim 1 , wherein the second peaks following the first peak are tracked by sequentially extracting the second peaks that satisfy the extraction condition in the locally generated first spectrum for a plurality of time frames following the target time frame.

4. The extraction means includes: Calculating a peak frequency at which the amplitude within the bin is maximum and a frequency change amount for the first peak extracted from the bin of the target time frame; The tracking means includes: estimating a frequency prediction value of a peak subsequent to the first peak based on the peak frequency and the frequency change amount, and detecting the second peak that satisfies the extraction condition from the time frame subsequent to the target time frame within a tracking range according to the estimated frequency prediction value; 4. A wave signal processing device according to claim 2 or 3, which tracks the second peak following the first peak by sequentially detecting second peaks following the second peak in time frames following the time frame in which the second peak was detected.

5. The tracking means includes: When a predetermined time has elapsed since the last detection of the second peak, it is determined that the last detected second peak is a terminal third peak; The waveform generating means The wave signal processing device according to claim 1 , wherein the peak waveform is generated by starting from the first peak, passing through a plurality of the second peaks, and ending at the third peak.

6. The spectrum generating means Calculating at least one of a central value and a variance of the amplitude of frames included in a bin of the target time frame; The extraction conditions are: A first extraction condition that the representative value is equal to or greater than a first threshold value; A second extraction condition is that a value obtained by dividing the representative value by a noise level is equal to or greater than a second threshold value; A third extraction condition that the sharpness of the representative value is equal to or greater than a third threshold value; A fourth extraction condition that the variance is equal to or smaller than a fourth threshold value; The wave signal processing device according to claim 1 , further comprising at least one of a first extraction condition and a fifth extraction condition that the representative value has a maximum value.

7. The waveform generating means Regarding the overlapping peak waveforms, one of the peak waveforms is left and the other peak waveforms are deleted; The wave signal processing device according to claim 1 , wherein, when the time length of the peak waveform is less than a predetermined length, the peak waveform is deleted.

8. 8. A wave signal processing device according to claim 1, further comprising a trajectory estimation means for estimating a trajectory of a moving body having a wave source of the wave, based on at least one of the peak waveforms.

9. The computer generating a first spectrum having a high resolution and a second spectrum having a low resolution based on an input signal derived from a wave motion detected by at least one sensor; extracting a first peak that satisfies an extraction condition from the second spectrum in a target time frame; tracking a second peak that satisfies the extraction condition in the first spectrum with respect to a time frame subsequent to the target time frame in which the first peak is extracted; A wave signal processing method for generating a peak waveform, which is time-series data of frequency starting from the first peak and including a plurality of the second peaks.

10. generating a first spectrum having a high resolution and a second spectrum having a low resolution based on an input signal derived from a wave motion detected by at least one sensor; extracting a first peak that satisfies an extraction condition from the second spectrum in a target time frame; a process of tracking a second peak that satisfies the extraction condition in the first spectrum with respect to a time frame subsequent to the target time frame in which the first peak is extracted; and generating a peak waveform, which is time-series data of frequency starting from the first peak and including a plurality of the second peaks.

Images