WO2020095517A1 - Control device and program - Google Patents

Abstract

A control device for a parametric speaker is provided with: a means for acquiring three-dimensional layout information related to a three-dimensional layout of a used space in which the parametric speaker is used; a means for acquiring simulation conditions including both first position information related to the position of a first area in which audible sound formed by ultrasonic waves emitted from the parametric speaker is to be generated and second position information related to the position of a second area in which the traveling of the ultrasonic waves is to be inhibited; a means for selecting, on the basis of a combination of the three-dimensional layout information, first position information and second position information, that one of a plurality of paths between the parametric speaker and a target person along which the audible sound is to be generated in the first area and along which the audible sound is not to be generated in the second area; and a means for producing, on the basis of a selection result of the selecting means, a control signal for controlling the path of the ultrasonic waves emitted from the parametric speaker.

Description

Control device and program

The present invention relates to a control device and a program.

Parametric speakers are configured to reproduce sound in the audible range by emitting an ultrasonic beam. Since the ultrasonic beam has high directivity, a sound source can be formed in a specific area.

For example, Japanese Unexamined Patent Application Publication No. 2012-29096 discloses a technique in which a specific target person selectively hears a sound by reflecting the sound on a structure.

However, according to the technology disclosed in Japanese Unexamined Patent Publication No. 2012-29096, when a person other than the target person (hereinafter referred to as “non-target person”) exists on the path of ultrasonic waves, the voice reaches the non-target person. Whether or not the sound reaches only the target person depends on the position of the non-target person.

In other words, conventional parametric loudspeakers may not be able to meet the demand that only specific people hear the sound.

The purpose of the present invention is to deliver audio only to a specific target regardless of the position of the non-target.

One aspect of the present invention is
A control device for a parametric speaker,
A means for acquiring three-dimensional layout information regarding a three-dimensional layout of a use space in which the parametric speaker is used,
First position information regarding the position of the first region where an audible sound formed by the ultrasonic waves emitted from the parametric speaker should be generated, and second position information regarding the position of the second region where the progress of the ultrasonic wave should be prohibited. And means for acquiring simulation conditions including
Based on the combination of the three-dimensional layout information, the first position information, and the second position information, the audible sound is output in the first region from a plurality of paths between the parametric speaker and the target person. Means for selecting a path that is generated and in which the audible sound is not generated in the second area,
A means for generating a control signal for controlling a path of an ultrasonic wave emitted from the parametric speaker based on a selection result of the selecting means,
It is a control device.

According to the present invention, the voice can be delivered only to a specific target person regardless of the position of the non-target person.

It is a block diagram which shows the structure of an audio system. It is explanatory drawing of the outline | summary of the direction change mechanism 36 of FIG. It is an explanatory view of the outline of this embodiment. It is a figure which shows the data structure of the spatial information data table of this embodiment. It is a sequence diagram of control of the parametric speaker of the present embodiment. 6 is a detailed flowchart of the space simulation of FIG. 5. It is a figure which shows the example of the screen displayed in the process of FIG. It is explanatory drawing of selection of the route of FIG. It is an explanatory view of the outline of the modification 1. It is an explanatory view of the outline of the modification 2. It is an explanatory view of the outline of the modification 3. It is an explanatory view of the outline of the modification 4. It is a figure which shows the data structure of an audio file. FIG. 11 is a schematic diagram showing a configuration of a parametric speaker 30 of Modification Example 8. FIG. 11 is a schematic diagram showing a traveling direction of ultrasonic waves radiated from a parametric speaker 30 of Modification Example 8. FIG. 11 is a schematic diagram showing a configuration of a reflecting member of Modification 9.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In addition, in the drawings for describing the embodiments, the same components are denoted by the same reference symbols in principle, and repeated description thereof will be omitted.

(1) Configuration of Audio System The configuration of the audio system will be described. FIG. 1 is a block diagram showing the configuration of an audio system.

As shown in FIG. 1, the audio system 1 includes a control device 10 and a parametric speaker 30,

The controller 10 is configured to control the parametric speaker 30.

The parametric speaker 30 is configured to emit an audible sound beam using ultrasonic waves under the control of the control device 10.

(1-1) Configuration of Control Device The configuration of the control device 10 will be described with reference to FIG.

As shown in FIG. 1, the control device 10 includes a storage device 11, a processor 12, an input / output interface 13, and a communication interface 14.

The storage device 11 is configured to store programs and data. The storage device 11 is, for example, a combination of a ROM (Read Only Memory), a RAM (Random Access Memory), and a storage (for example, a flash memory or a hard disk).

The programs include, for example, the following programs.
-OS (Operating System) program-Application program that executes control processing of the parametric speaker 30

The data includes, for example, the following data.
-Database referred to in information processing-Data obtained by executing information processing (that is, execution result of information processing)

The processor 12 is configured to realize the function of the control device 10 by activating a program stored in the storage device 11. The processor 12 is an example of a computer.
For example, the processor 12 generates a control signal for the parametric speaker 30 and outputs the control signal to the parametric speaker 30 via the communication interface 14.

The input / output interface 13 is configured to obtain a user instruction from an input device connected to the control device 10 and output information to an output device connected to the control device 10.
The input device is, for example, a keyboard, a pointing device, a touch panel, or a combination thereof.
The output device is, for example, a display.

The communication interface 14 is configured to control communication between the control device 10 and the parametric speaker 30.

(1-2) Configuration of Parametric Speaker The configuration of the parametric speaker 30 will be described with reference to FIG.

As shown in FIG. 1, the parametric speaker 30 includes a drive unit 32, a communication interface 34, a plurality of ultrasonic transducers 35, and a direction changing mechanism 36.

The driving unit 32 is configured to generate an ultrasonic emission signal for driving the ultrasonic transducer 35 and a driving signal for driving the direction changing mechanism 36 according to the control signal output from the control device 10. To be done.

The communication interface 34 is configured to control communication between the parametric speaker 30 and the control device 10.

The plurality of ultrasonic transducers 35 are configured to emit an audible sound beam by using ultrasonic waves by vibrating based on the ultrasonic wave emission signal generated by the drive unit 32.

The direction changing mechanism 36 is configured to change the emitting direction of the ultrasonic waves (for example, the direction of the emitting surface 35a) based on the drive signal generated by the drive unit 32. The direction changing mechanism 36 is, for example, an actuator.

(1-2-1) Outline of Direction Changing Mechanism An outline of the direction changing mechanism 36 of this embodiment will be described. FIG. 2 is an explanatory view of the outline of the direction changing mechanism 36 of FIG.

As shown in FIG. 2A, the plurality of ultrasonic transducers 35 are arranged, for example, on a radiation surface 35a defined by the XY plane. When the plurality of ultrasonic transducers 35 vibrate, ultrasonic waves are emitted in the normal direction (Z direction) of the XY plane.

As shown in FIG. 2B, the direction changing mechanism 36 pivotally supports the radiation surface 35a at the support points 36a.

As shown in FIG. 2C, the radiation surface 35a is configured to be fixed in the X direction and to change its orientation in the Y direction and the Z direction at the support point 36a. Thereby, the emission direction of the ultrasonic waves emitted from the plurality of ultrasonic transducers 35 changes.

(2) Outline of this embodiment An outline of this embodiment will be described. FIG. 3 is an explanatory diagram of the outline of the present embodiment.

As shown in FIG. 3, the parametric speaker 30 is arranged at the position Ps (xs, ys, zs) of the used space SP, and the target person TL is present at the position Pt (xt, yt, zt).
There are a plurality of reflecting members RM1 to RM4 in the used space SP. Among the plurality of reflection members RM1 to RM4, the reflection attribute of the reflection members RM1 to RM3 is specular reflection, and the reflection attribute of the reflection member RM4 is diffuse reflection. The ultrasonic reflectances rf1 to rf4 of the plurality of reflecting members RM1 to RM4 are, for example, as follows.
・ Rf1 = 40%
・ RF2 = 50%
・ RF3 = 30%
・ RF4 = 20%

The control device 10 selects a path satisfying a predetermined selection condition from a plurality of paths PA1 to PA3 by executing a spatial simulation. Each of the paths PA1 to PA3 includes the position Ps (xs, ys, zs) of the parametric speaker 30 and the position Pt (xt, yt, zt) of the subject TL, and at least between the positions Ps and Pt. It includes reflection at one of the reflecting members RM1 to RM4.

The audible sound beam emitted from the parametric speaker 30 travels along the path selected by the control device 10 and reaches the position Pt by being reflected by at least one of the plurality of reflecting members RM1 to RM4. .. As a result, the target person TL located at the position Pt (coordinates {xt, yt, zt}) can hear the audible sound emitted from the aerial sound source formed along the audible sound beam.
For example, when the control device 10 selects the path PA1, the target person TL can hear an audible sound that cannot be heard by the non-target person NT from the direction of the reflecting member RM1. In this case, the target person TL can feel that a sound source exists at the reflection point of the reflection member RM1.

(3) Data Structure of Spatial Information Data Table The data structure of the spatial information data table of this embodiment will be described. FIG. 4 is a diagram showing the data structure of the spatial information data table of this embodiment.

The spatial information data table of FIG. 4 is stored in the storage device 11, for example.

Spatial information is stored in the spatial information data table. The spatial information is three-dimensional layout information regarding the three-dimensional layout of the used space SP.
The spatial information data table includes a "coordinate" field and a "reflection characteristic" field. Each field is associated with each other.

The coordinate information is stored in the "coordinate" field. The coordinate information represents, for example, three-dimensional coordinates that define a region (for example, a start point and an end point) of the reflecting member existing in the used space SP. The coordinate information is represented by, for example, a used space coordinate system whose origin is an arbitrary position in the used space SP (for example, a point Po (0,0,0) in FIG. 3).

“Reflection characteristic” field stores reflection characteristic information regarding the reflection characteristic. The "reflection property" field includes a plurality of subfields ("reflection attribute" field, "reflectance" field, and "reflection angle" field).

The “reflection attribute” field stores reflection attribute information regarding the reflection attribute.
The reflection attribute information indicates, for example, any of the following.
・ Specular reflection ・ Diffuse reflection

The reflectance rf of the ultrasonic wave is stored in the “reflectance” field. Formula 1 shows the relationship between the sound pressure V0 of the ultrasonic waves incident on the reflecting member, the sound pressure V1 of the ultrasonic waves reflected by the reflecting member, and the reflectance rf.
V0 = V1 * rf (Equation 1)

The reflection angle of the ultrasonic wave is stored in the "reflection angle" field. The reflection angle is determined according to the direction of the reflection member at the position indicated by each coordinate.

(4) Control of Parametric Speaker The control of the parametric speaker 30 of this embodiment will be described. FIG. 5 is a sequence diagram of control of the parametric speaker of this embodiment. FIG. 6 is a detailed flowchart of the space simulation of FIG. FIG. 7 is a diagram showing an example of a screen displayed in the process of FIG. FIG. 8 is an explanatory diagram of selecting the route of FIG.

As shown in FIG. 5, the control device 10 executes acquisition of spatial information (S110).
Specifically, the processor 12 acquires the spatial information given by the user of the control device 10 via the input / output interface 13.
The processor 12 updates the spatial information data table (FIG. 4) using the acquired spatial information.

After step S110, the control device 10 executes acquisition of condition information (S111).
Specifically, the processor 12 displays the screen P10 (FIG. 7) on the display.

The screen P10 includes an operation object B100 and field objects F100a to F100g.
The field objects F100a to F100g receive user instructions for designating simulation conditions.
The field object F100a is an object that receives a user instruction for specifying speaker position information (that is, the coordinates of the position Ps) of the parametric speaker 30 in the used space SP.
The field object F100b is an object that receives a user instruction for designating first position information of a target area (an example of “first area”) in which the target person TL is present in the used space SP.
The field object F100c is an object that receives a user instruction to specify the second position information (that is, the coordinates of the position Pn) of the prohibited area (an example of the “second area”) in which the audible sound is not generated in the used space SP. ..
The field object F100d is an object that receives a user instruction for designating a volume (an example of “sound pressure condition information”).
The field object F100e is an object that receives a user instruction for designating the upper limit number of reflections.
The field object F100f is an object that receives a user instruction for designating a sound direction. The sound direction is the direction of the sound perceived by the target person TL (that is, the traveling direction of the sound with reference to the target person TL).
The field object F100g is an object that receives a user instruction for designating a reflection attribute.
The operation object B100 is an object that receives a user instruction for starting reproduction of sound by the parametric speaker 30.

The user inputs the coordinates of the position Ps to the field object F100a, the coordinates of the position Pt to the field object F100b, the coordinates of the position Pn to the field object F100c, and specifies the desired sound volume to the field object F100d. Further, when the operation object B100 is operated, the processor 12 stores the condition information (speaker position information, first position information, second position information, and volume information regarding the volume) input to the field objects F100a to F100d. Remember.

After step S111, the control device 10 executes a space simulation (S112) according to the flowchart of FIG.

As shown in FIG. 6, the control device 10 executes a route population search (S1120).
Specifically, the processor 12 refers to the speaker position information, the first position information, and the spatial information data table (FIG. 4) to search for a route population (hereinafter referred to as “route population”). To do. The route population is a route connecting the position of the parametric speaker 30 indicated by the speaker position information and the target region indicated by the first position information.

After step S1120, the control device 10 executes calculation of the sound pressure attenuation rate (S1121).
Specifically, the processor 12 determines, for each route included in the route population, the reflection position (reflection member RM1 to reflection member RM1 to RM4) based on the three-dimensional coordinates of the reflection members RM1 to RM4 included in the spatial information acquired in step S110. RM4).
The processor 12 determines, for each route included in the route population, the ratio of the sound pressure of the target region to the output sound pressure (( Hereinafter, the "first sound pressure attenuation rate") and the ratio of the sound pressure in the prohibited area to the output sound pressure (hereinafter referred to as "second sound pressure attenuation rate") are calculated.

After step S1121, the control device 10 executes calculation of sound pressure in the target area (S1122).
Specifically, the processor 12 calculates the first sound pressure SPt of the target area based on the first sound pressure attenuation rate and the output sound pressure calculated in step S1121.

After step S1122, the control device 10 executes calculation of sound pressure in the prohibited area (S1123).
Specifically, the processor 12 calculates the second sound pressure SPn in the prohibited area based on the second sound pressure attenuation rate and the output sound pressure calculated in step S1121.

After step S1123, the control device 10 executes route selection (S1124).
Specifically, the processor 12 has a first sound pressure SPt that is equal to or higher than a predetermined first threshold TH1 and a second sound pressure SPn that is equal to or lower than a second threshold TH2 that is lower than the first threshold TH1 in the route population. The route that is is extracted (see FIG. 8).
The processor 12 selects a path whose sound pressure satisfies a predetermined selection condition from the extracted paths. The selection condition is, for example, at least one of the following.
-The path where the first sound pressure SPt is the maximum-The path where the first sound pressure SPt is the closest to the predetermined value-The path where the first sound pressure SPt is within the predetermined range-The path where the second sound pressure SPn is the minimum The path where the second sound pressure SPn is closest to the predetermined value. The path where the second sound pressure SPn is included in the predetermined range.

After step S112, the control device 10 generates a control signal (S113).
Specifically, the storage device 11 stores an audio file.
The processor 12 calculates the direction of the parametric speaker 30 for emitting ultrasonic waves along the path selected in step S112.
The processor 12 generates a drive signal for directing the ultrasonic wave emission direction to the calculated direction.
The processor 12 generates an ultrasonic radiation signal based on the output sound pressure.
The processor 12 refers to the audio file stored in the storage device 11 and transmits a control signal (a combination of a drive signal and an ultrasonic emission signal) for controlling the parametric speaker 30 to the parametric speaker 30.

After step S113, the parametric speaker 30 emits an audible sound beam (S130).
Specifically, the drive unit 32 supplies the drive signal transmitted from the control device 10 in step S113 to the direction changing mechanism 36.
The direction changing mechanism 36 directs the radiation direction of the ultrasonic transducer 35 to the direction determined in step S113 based on the drive signal.
The drive unit 32 supplies the ultrasonic wave emission signals transmitted from the control device 10 in step S113 to the plurality of ultrasonic wave transducers 35.
Each ultrasonic transducer 35 vibrates based on the ultrasonic radiation signal.

According to this embodiment, the process proceeds along the route determined in step S113. As a result, this allows the target person TL to hear the sound without letting the non-target person NT hear the sound.

(5) Modified Example A modified example of the present embodiment will be described.

(5-1) Modification 1
Modification 1 will be described. Although the present embodiment has shown an example in which the target person hears the audible sound by using the specular reflection, the first modification is an example in which the target person TL hears the audible sound by using the diffuse reflection.

(5-1-1) Outline of Modification 1 The outline of Modification 1 will be described. FIG. 9 is an explanatory diagram of the outline of the first modification.

As shown in FIG. 9, the difference between the first modification and the present embodiment is that, of the reflecting members RM1 to RM4, a path including the reflecting member RM4 having a specular reflection characteristic is selected.

The control device 10 selects a path including the reflection attribute “diffuse reflection” from the plurality of paths by executing the space simulation.
Each of the paths PA1 to PA3 includes the position Ps (xs, ys, zs) of the parametric speaker 30 and the coordinates of the reflection point (that is, the coordinates of a part of the reflection member RM4).

(5-1-2) Control of Parametric Speaker of Modification 1 The control of the parametric speaker 30 of Modification 1 will be described.

In step S111 (FIG. 5), the user inputs the coordinates of the position Ps to the field object F100a, the coordinates of the position Pt to the field object F100b, the coordinates of the position Pn to the field object F100c, and the field object F100d. When the desired volume is designated, the field object F100g is designated as “specular reflection”, and the operation object B100 is operated, the control device 10 causes the control device 10 to input the condition information (input to the field objects F100a to F100d and F100g ( The speaker position information, the first position information, the second position information, the volume information, and the reflection attribute “specular reflection”) are stored in the storage device 11.

In step S1120 (FIG. 6), the processor 12 refers to the spatial information data table (FIG. 4) and identifies the record in which “specular reflection” is stored in the “reflection attribute” field.
Between the position Ps of the parametric speaker 30 indicated by the speaker position information and the target region indicated by the first position information, among the paths passing through the position indicated by the coordinates stored in the “coordinates” field of the specified record, the processor 12 determines. The route connecting the points is specified as the route population.

According to the first modification, the audible sound beam emitted from the parametric speaker 30 travels along the path selected by the control device 10 and is diffusely reflected by the reflecting member RM4 to reach the position Pt. .. As a result, the target person TL located at the position Pt (coordinates {xt, yt, zt}) can hear the audible sound emitted from the sound source formed on the reflecting member RM4. In other words, the target person TL can feel as if the sound is coming from the reflection member RM4.

(5-2) Modification 2
Modification 2 will be described. Modification 2 is an example in which the target person TL moves.

(5-2-1) Outline of Modification 2 An outline of Modification 2 will be described. FIG. 10 is an explanatory diagram of the outline of the second modification.

As shown in FIG. 10A, the differences between the second modification and the second embodiment are as follows.
-Point where the target person TL moves-Point where the sensor 50 is arranged in the used space SP

The sensor 50 is configured to detect the position of the subject TL. The sensor 50 is, for example, at least one of the following.
・ Infrared sensor ・ Image sensor ・ Ultrasonic sensor

The control device 10 executes a spatial simulation based on the coordinates (xt, yt, zt) of the position Pt detected by the sensor 50 at predetermined time intervals, thereby determining a predetermined path from among the plurality of paths PA1 to PA3. Select paths that meet the selection criteria.

The audible sound beam emitted from the parametric speaker 30 travels along a path selected by the control device 10 and is reflected by at least one of the plurality of reflecting members RM1 to RM4, so that the audible sound beam is tuned in time series. The changing positions Pt0 (xt0, yt0, zt0) to Pt2 (xt2, yt2, zt2) are reached (FIG. 10B). As a result, the target person TL can hear the audible sound (however, the audible sound that cannot be heard by the non-target person NT) emitted from the aerial sound source formed along the audible sound beam while moving within the use space SP. it can.

(5-2-2) Control of Parametric Speaker of Modified Example 2 Control of the parametric speaker 30 of Modified Example 2 will be described.

In step S111 (FIG. 5), the user inputs the coordinates of the position Ps to the field object F100a, the coordinates of the position Pn to the field object F100c, specifies the desired volume for the field object F100d, and sets the operation object. When B100 is operated, the control device 10 stores the condition information (speaker position information, second position information, and volume information) input to the field objects F100a, F100c, and F100d in the storage device 11.

According to the second modification, even when the target person TL moves, the same effect as this embodiment can be obtained.

In the second modification, the sensor 50 may acquire the position of the non-target person NT. In this case, the sensor 50 distinguishes the target person TL from the non-target vehicle NL based on the acquired signal (for example, image information when the sensor 50 is an image sensor).

(5-3) Modification 3
Modification 3 will be described. Modification 3 is an example in which the parametric speaker 30 is movable.

(5-3-1) Outline of Modification 3 An outline of Modification 3 will be described. FIG. 11 is an explanatory diagram of the outline of the third modification.

As shown in FIG. 11, the difference between the third modification and the third embodiment is that the parametric speaker 30 moves.
Specifically, the processor 12 is configured to control the position Ps of the parametric speaker 30.
The parametric speaker 30 is configured to move under the control of the processor 12. For example, the parametric speaker 30 is configured to move in any of the following modes.
The parametric speaker 30 is arranged on the rail and moves along the rail.
The parametric speaker 30 has casters and moves when the casters rotate.
The parametric speaker 30 is arranged in a moving body (for example, a drone) and moves along with the movement of the moving body.

(5-3-2) Control of Parametric Speaker of Modification 3 The control of the parametric speaker 30 of Modification 3 will be described.

In step S111 (FIG. 5), the user inputs the coordinates of the position Pt in the field object F100b, the coordinates of the position Pn in the field object F100c, specifies the desired volume in the field object F100d, and sets the operation object. When B100 is operated, the control device 10 stores the condition information (first position information, second position information, volume information, and reflection attribute “specular reflection”) input to the field objects F100b to F100d in the storage device 11. To do.

In step S1120 (FIG. 6), the processor 12 identifies a route connecting the position Ps of the parametric speaker 30 and the target region indicated by the first position information as a route population.

In step S113 (FIG. 5), the processor 12 calculates the coordinates (xs1, ys1, zs1) of the position Ps of the parametric speaker 30 for emitting the ultrasonic wave along the path selected in step S112.
The processor 12 generates a drive signal for moving the parametric speaker 30 to the calculated position Ps. The drive signal includes the calculated coordinates (xs1, ys1, zs1).

In step S130, the parametric speaker 30 moves to the coordinates (xs1, ys1, zs1) included in the drive signal.

According to Modification 3, the same effect as that of the present embodiment can be obtained without changing the radiation direction of the parametric speaker 30.

(5-4) Modification 4
Modification 4 will be described. Modification 4 is an example in which a plurality of parametric speakers 30 are used.

(5-4-1) Outline of Modification 4 An outline of Modification 4 will be described. FIG. 12 is an explanatory diagram of the outline of the modified example 4.

As shown in FIG. 12, a difference between the fourth modification and the present embodiment is that a plurality of parametric speakers 30a to 30b are arranged in the used space SP.

The control device 10 selects a path satisfying a predetermined selection condition from a plurality of paths PA1 to PA3 by executing a spatial simulation.

The audible sound beam emitted from at least one of the parametric speakers 30a-30b travels along a path selected by the control device 10 and is reflected by at least one of the plurality of reflecting members RM1-RM4. , Reach position Pt. As a result, the target person TL located at the position Pt (coordinates {xt, yt, zt}) can hear the audible sound emitted from the aerial sound source formed along the audible sound beam.

(5-4-2) Control of Parametric Speaker of Modification 4 Control of the parametric speaker 30 of Modification 4 will be described.

In step S1120 (FIG. 6), the processor 12 refers to the speaker position information of each parametric speaker 30a to 30b, the first position information, and the spatial information data table (FIG. 4) to search for a route population. To do. The route population is a route connecting between the positions of the parametric speakers 30a and 30b indicated by the speaker position information and the target region indicated by the first position information.

In step S113, the processor 12 calculates the direction of each parametric speaker 30a-30b for emitting ultrasonic waves along the path selected in step S112.
The processor 12 generates a drive signal for directing the ultrasonic wave emission direction to the calculated direction.
The processor 12 generates an ultrasonic radiation signal based on the output sound pressure.
The processor 12 transmits a control signal (combination of a drive signal and an ultrasonic wave emission signal) for controlling each of the parametric speakers 30a to 30b to each of the parametric speakers 30a to 30b.

According to the modified example 4, since a plurality of parametric speakers 30a to 30b are used, the available routes increase. This can reduce the probability that an appropriate route does not exist.

In Modification 4, the control device 10 may cause the plurality of parametric speakers 30a to 30b to simultaneously emit ultrasonic waves.
For example, the processor 12 makes a difference in ultrasonic waves emitted from the plurality of parametric speakers 30a to 30b (for example, a difference in sound pressure, a difference in arrival time of sound, and peaks (peaks) and notches (peaks) of the head-related transfer function. Emit with at least one notch). In this case, the target person TL can experience the perception of sound from a plurality of sound images. In particular, it is possible to provide at least one sense of localization in the up / down direction, the left / right direction, and the front / rear direction by the synthetic sound image.

(5-5) Modification 5
Modification 5 will be described. Modification 5 is an example in which the parametric speaker 30 is controlled according to a user instruction.

In the first example of the modified example 5, in step S111 (FIG. 5), the user inputs the coordinates of the position Ps to the field object F100a, the coordinates of the position Pt to the field object F100b, and the position Pn to the field object F100c. When the desired volume is specified in the field object F100d, the desired upper limit number is specified in the field object F100e, and the operation object B100 is operated, the processor 12 is input to the field objects F100a to F100e. The condition information (speaker position information, first position information, second position information, volume information, and the upper limit number of reflections) is stored in the storage device 11.

In step S1120, the processor 12 searches the route population by referring to the speaker position information, the first position information, the spatial information data table (FIG. 4), and the upper limit number of reflections. The route population is a route connecting the position of the parametric speaker 30 indicated by the speaker position information and the target region indicated by the first position information, and the number of reflections by the reflecting members RM1 to RM4 is equal to or less than the upper limit number. It is a route.

In the second example of the modified example 5, in step S111 (FIG. 5), the user inputs the coordinates of the position Ps to the field object F100a, the coordinates of the position Pt to the field object F100b, and the position Pn to the field object F100c. When the desired volume is specified in the field object F100d, the desired sound direction is specified in the field object F100f, and the operation object B100 is operated, the processor 12 is input to the field objects F100a to F100e. The condition information (speaker position information, first position information, second position information, volume information, and sound direction information regarding sound direction) is stored in the storage device 11.

In step S1120, the processor 12 searches the route population by referring to the speaker position information, the first position information, the spatial information data table (FIG. 4), and the sound direction information. The route population is a route connecting between the position of the parametric speaker 30 indicated by the speaker position information and the target area indicated by the first position information, and the sound traveling direction and sound direction based on the target person TL. This is a route that matches the sound direction indicated by the information.

(5-6) Modification 6
Modification 6 will be described. Modification 6 is an example in which an ultrasonic wave path is selected based on information included in an audio file.

(5-6-1) Data Structure of Audio File The data structure of the audio file of Modification 6 will be described. FIG. 13 is a diagram showing a data structure of an audio file.

The audio file of FIG. 13A stores the source audio information which is the source of the audible sound reproduced by the ultrasonic waves emitted from the parametric speaker 30.
The audio file includes a "playback time" field and a "sound direction parameter" field. Each field is associated with each other.

Information related to the playback time is stored in the "playback time" field.

The sound direction parameter regarding the sound direction is stored in the "sound direction parameter" field. As shown in FIG. 13B, the sound direction parameter is represented by a coordinate system (for example, an XYZ coordinate system) with the subject TL as a reference.

(5-6-2) Control of Parametric Speaker of Modification 6 The control of the parametric speaker 30 of Modification 6 will be described.

In step S1120, the processor 12 searches the route population by referring to the speaker position information, the first position information, the spatial information data table (FIG. 4), and the audio file (FIG. 13A). The route population is a route connecting the position of the parametric speaker 30 indicated by the speaker position information and the target region indicated by the first position information, and the sound indicated by the information in the “sound direction parameter” field of the audio file. It is a route toward the target person TL in the direction.

According to the sixth modification, the ultrasonic wave path is selected based on the sound direction parameter included in the audio file. As a result, the audible sound can be heard by the target person TL through a route suitable for the audible sound represented by the audio file.

(5-7) Modification 7
Modification 7 will be described. Modification 7 is an example of controlling the reflecting member.

Actuators are arranged on the reflecting members RM1 to RM4 of the modification 7. The actuator is configured to change the reflection direction of the reflection members RM1 to RM4 (for example, the direction of the reflection surface of the reflection members RM1 to RM4).

In step S113 (FIG. 5), the processor 12 determines the reflection member based on the timing at which the ultrasonic wave is emitted from the parametric speaker 30 at step S130 and the timing at which the ultrasonic wave reaches each of the reflection members RM1 to RM4. The drive timing of the actuators arranged in RM1 to RM4 is determined.
The processor 12 transmits a drive signal to the actuators arranged on the reflecting members RM1 to RM4 at the determined drive timing.

The actuators arranged on the reflecting members RM1 to RM4 change the direction of the reflecting surface based on the drive signal transmitted from the control device 10 in synchronization with the emission of ultrasonic waves from the parametric speaker 30 in step S130.

According to the modified example 7, the same effect as this embodiment can be obtained without changing the direction of the parametric speaker 30.

(5-8) Modification 8
Modification 8 will be described. Modification 8 is a modification in which the radiation direction is controlled using an acoustic metamaterial.

(5-8-1) Configuration of Parametric Speaker of Modification 8 The configuration of the parametric speaker 30 of Modification 8 will be described. FIG. 14 is a schematic diagram showing the configuration of the parametric speaker 30 of the modified example 8. FIG. 15 is a schematic diagram showing the traveling direction of ultrasonic waves emitted from the parametric speaker 30 of the modification 8.

As shown in FIG. 14A, the parametric speaker 30 of Modification 8 further includes an acoustic metamaterial 37. The acoustic metamaterial 37 has a dimension (hereinafter referred to as “thickness”) in the radial direction (Z direction).
The acoustic metamaterial 37 is arranged at a position separated in the radiation direction (Z direction) with the radiation surface 35a as a reference.

As shown in FIG. 14B, the acoustic metamaterial 37 of the first example of the modified example 8 includes a plurality of waveguides 37a to 37b. The waveguide 37a includes a movable waveguide member 37aa. The waveguide 37b includes a movable waveguide member 37ba.

The waveguide members 37aa to 37ba are arranged in a direction (X direction) orthogonal to the emission direction of ultrasonic waves (Z direction). The waveguide members 37aa to 37ba are configured to move in at least one of the X direction and the Y direction under the control of the control device 10.
When the waveguide member 37aa moves, the distance of the waveguide 37a in the traveling direction (Z direction) of the ultrasonic wave (hereinafter referred to as "waveguide length") changes.
When the waveguide member 37ba moves, the waveguide length of the waveguide 37b changes.

When the waveguide members 37aa to 37ba are arranged at positions that form different waveguide lengths, a difference in waveguide length occurs between the waveguide members 37aa to 37ba. Due to this difference in the waveguide length, a phase difference is generated between the ultrasonic waves passing through the respective waveguides 37a and 37b. That is, the acoustic metamaterial 37 is configured to give a phase difference to the ultrasonic waves emitted from the emission surface 35a. The phase difference provided by the acoustic metamaterial 37 is determined by the waveguide length of each waveguide 37a-37b. In other words, the acoustic metamaterial 37 has an acoustic coefficient corresponding to the waveguide length of each of the waveguides 37a and 37b.

As shown in FIG. 14C, the acoustic metamaterial 37 of the second example of modification 8 has waveguides 37a and 37b.
Each of the waveguides 37a to 37b has a variable aperture size in a part of a direction (at least one of the X direction and the Y direction) orthogonal to the radiation direction of the ultrasonic waves (Z direction). FIG. 14C illustrates a waveguide 37a having an opening dimension Wa and a waveguide 37a having an opening dimension Wb.
Due to the difference in the aperture size of each waveguide 37a-37b, an amplitude difference is generated between the ultrasonic waves passing through each waveguide 37a-37b. That is, the acoustic metamaterial 37 is configured to give an amplitude difference to the ultrasonic waves emitted from the emitting surface 35a. The amplitude difference provided by the acoustic metamaterial 37 is determined by the aperture size of each waveguide 37a-37b. In other words, the acoustic metamaterial 37 has an acoustic coefficient according to the opening size of each of the waveguides 37a and 37b.

As shown in FIG. 15, the ultrasonic wave USW0 radiated from the radiation surface 35a is given at least one of a phase difference and an amplitude difference according to the acoustic coefficient of the acoustic metamaterial 37 when passing through the acoustic metamaterial 37. Be done. The traveling direction of the ultrasonic wave USW1b provided with at least one of the phase difference and the amplitude difference shifts to at least one of the X direction and the Y direction. As a result, the ultrasonic wave advances in a direction different from that of the ultrasonic wave USW1a to which neither the phase difference nor the amplitude difference is given.

(5-8-2) Control of Parametric Speaker of Modified Example 8 Control of the parametric speaker 30 of Modified Example 8 will be described.

In the first example of the modified example 8, in step S130 (FIG. 5), the drive unit 32 supplies the drive signal transmitted from the control device 10 in step S113 to the acoustic metamaterial 37.
Each of the waveguide members 37aa to 37ba moves based on the drive signal transmitted from the drive unit 32. As a result, there is a difference in the waveguide length of the ultrasonic waves between the waveguides 37a and 37b. This difference causes a phase difference between the ultrasonic waves passing through the acoustic metamaterial 37. As a result, the ultrasonic waves emitted from the acoustic metamaterial 37 travel in a different direction from the ultrasonic waves incident on the acoustic metamaterial 37.

In the second example of the modified example 8, in step S130 (FIG. 5), the drive unit 32 supplies the drive signal transmitted from the control device 10 in step S113 to the acoustic metamaterial 37.
Each of the waveguide members 37aa to 37ba changes the aperture size based on the drive signal transmitted from the drive unit 32. This causes an amplitude difference between the ultrasonic waves of the waveguides 37a and 37b. As a result, the ultrasonic waves emitted from the acoustic metamaterial 37 travel in a different direction from the ultrasonic waves incident on the acoustic metamaterial 37.

According to the modified example 8, the same effect as this embodiment can be obtained without changing the orientation of the parametric speaker 30.

(5-9) Modification 9
Modification 9 will be described. Modification 9 is an example of controlling the reflection direction of the reflection member.

(5-9-1) Configuration of Reflecting Member of Modification 9 Modification 9 will be described. FIG. 16 is a schematic diagram showing the configuration of the reflecting member of Modification 9.

As shown in FIG. 16A, the reflection member RM of the first example of Modification 9 has a variable reflection angle under the control of the control device 10.

As shown in FIG. 16B, the reflective member RM according to the second example of Modification 9 includes an acoustic metamaterial 37. The acoustic metamaterial 37 has an acoustic coefficient that changes according to the control of the control device 10, similarly to the modification 8.

(5-9-2) Control of Reflecting Member of Modification 9 The control of the reflecting member RM of Modification 9 will be described.

In step S113 (FIG. 5), the processor 12 supplies a drive signal to the reflecting member RM.

As shown in FIG. 16A, the reflecting member RM of the first example of Modification 9 rotates based on the drive signal supplied by the processor 12. As a result, the reflection angle of the reflecting member RM changes.

As shown in FIG. 16B, the acoustic metamaterial 37 of the second example of modification 9 is deformed so as to change the thickness D based on the drive signal supplied by the processor 12. As a result, the reflection angle of the reflecting member RM changes.

As a result, the ultrasonic waves incident on the reflecting member RM are reflected in the direction according to the drive signal.

According to the modified example 9, the same effect as that of the present embodiment can be obtained without changing the orientation of the parametric speaker 30.

(6) Other Modifications Other modifications will be described.

When the spatial information data table (FIG. 4) is stored in the storage device 11 in advance, step S110 (FIG. 5) can be omitted.

The control device 10 may execute step S113 after searching the path from the start to the end of the reproduction of the sound source in step S112 (FIG. 5). That is, the control device 10 may start the control of the parametric speaker 30 after selecting the ultrasonic path for the entire period from the reproduction of the sound source to the start thereof.
In particular, in FIG. 10, when the movement path of the target person TL can be specified in advance (for example, when the target person TL is on a moving body moving along a rail), the control device 10 controls the sound source The control of the parametric speaker 30 may be started after the ultrasonic wave path is selected in consideration of the displacement of the first position information (xt, yt, zt) of the target person TL for the entire period from the reproduction to the start. ..

The control device 10 may search the route while playing the sound source in step S112 (FIG. 5). That is, the control device 10 may repeatedly execute steps S112 to S113 while reproducing the sound source.

In the above embodiment, an example in which the acoustic coefficient is changed by deforming the acoustic metamaterial 37 has been described, but the present embodiment is not limited to this. The acoustic coefficient can also be changed by at least one of the following methods.
-Changing the thickness of the acoustic metamaterial 37-Changing the distance between the acoustic metamaterial and the ultrasonic transducer 35

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited to the above embodiments. Further, the above-described embodiment can be variously modified and changed without departing from the gist of the present invention. Further, the above-described embodiments and modified examples can be combined.

1: audio system 10: control device 11: storage device 12: processor 13: input / output interface 14: communication interface 30: parametric speaker 32: drive unit 34: communication interface 35: ultrasonic transducer 36: direction changing mechanism 37: acoustic meta Material 50: Sensor

Claims (18)

A control device for a parametric speaker,
A means for acquiring three-dimensional layout information regarding a three-dimensional layout of a use space in which the parametric speaker is used,
First position information regarding the position of the first region where an audible sound formed by the ultrasonic waves emitted from the parametric speaker should be generated, and second position information regarding the position of the second region where the progress of the ultrasonic wave should be prohibited. And means for acquiring simulation conditions including
Based on the combination of the three-dimensional layout information, the first position information, and the second position information, the audible sound is output in the first region from a plurality of paths between the parametric speaker and the target person. Means for selecting a path that is generated and in which the audible sound is not generated in the second area,
A means for generating a control signal for controlling a path of an ultrasonic wave emitted from the parametric speaker based on a selection result of the selecting means,
Control device. The means for selecting selects a path in which the first sound pressure in the first area is equal to or higher than a first threshold value and the second sound pressure in the second area is equal to or lower than a second threshold value lower than the first threshold value. To do
The control device according to claim 1. The means for selecting selects a route that passes through the first region and does not pass through the second region,
The control device according to claim 1. The simulation condition includes an upper limit number of reflections in a reflecting member existing in the used space,
The means for selecting selects a path including reflections of not more than the upper limit number of times,
The control device according to any one of claims 1 to 3. The simulation condition includes sound pressure condition information indicating the first sound pressure of the first region,
The three-dimensional layout information includes reflection characteristic information regarding a reflection characteristic of a reflection member existing in the used space,
The means for selecting selects the path with reference to the sound pressure condition information and the reflection characteristic information.
The control device according to any one of claims 1 to 4. The reflection characteristic information indicates at least one of an attenuation rate of the ultrasonic wave and a reflection angle of the ultrasonic wave,
The control device according to claim 5. The reflection characteristic information indicates an attribute of either specular reflection or diffuse reflection,
The control device according to claim 5 or 6. The means for acquiring the simulation condition acquires the sound pressure condition information from the source audio information,
The control device according to any one of claims 5 to 7. A means for detecting the position of the subject,
The means for acquiring the simulation condition refers to the information on the detected position as the first position information,
The control device according to any one of claims 1 to 8. The generating means generates a drive signal for changing a radiation direction of the parametric speaker,
The control device according to any one of claims 1 to 9. The generating means generates a drive signal for changing the direction of the emitting surface of the parametric speaker,
The control device according to claim 10. The generating means generates a drive signal for changing the position of the parametric speaker,
The control device according to claim 10. The generating unit individually generates control signals for a plurality of parametric speakers,
The control device according to any one of claims 1 to 12. The generating means generates a drive signal for changing the direction of the reflecting surface of the reflecting member existing in the used space,
The control device according to any one of claims 1 to 13. The generating unit generates a control signal for controlling an acoustic coefficient of an acoustic metamaterial arranged in the parametric speaker,
The control device according to any one of claims 1 to 14. The generating unit generates a control signal for controlling the acoustic coefficient of the acoustic metamaterial arranged in the reflecting member existing in the used space,
The control device according to any one of claims 1 to 15. A program for causing a computer to function as each unit according to any one of claims 1 to 16. A parametric speaker connectable to the control device according to claim 1.
With multiple ultrasonic transducers,
Based on the control signal, a direction changing mechanism for changing the direction of the emission surface of the ultrasonic transducers,
Parametric speaker.

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