JP6697174B1 - Information processing device, program, and information processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve accuracy of information indicating a current orientation of a speaker. An information processing device (10) is attached to a speaker (1) whose direction of sound generation is determined by angular displacement of rotation about a rotation axis (3), and moves along with rotation about the rotation axis (3). 4, the camera image 6 taken by the camera 4 is acquired. Then, the information processing apparatus 10 calculates the angular displacement of rotation about the rotation axis 3 based on the acquired position of the marker 5 in the camera image 6. [Selection diagram] Figure 1

Description

  The present invention relates to an information processing device, a program, and an information processing system.

  Of a plurality of people in the facility, it may be desired to deliver audio only to a specific person. In that case, the parametric speaker may be directed to the person to output sound. The parametric speaker is a speaker that can output a sound having a sharp directivity by using, for example, ultrasonic waves.

  As a technique related to a parametric speaker, for example, a voice communication device has been proposed that controls the frequency of ultrasonic waves output from the parametric speaker based on the angle of the user's ear position.

JP, 2011-55076, A

  The orientation of a directional speaker such as a parametric speaker may be controlled by a motor (eg, stepping motor). In this case, the control device that controls the speaker holds the current angular displacement of the motor as information indicating the current orientation of the speaker. Then, the control device controls the orientation of the speaker so that the motor rotates by the difference between the current angular displacement and the target angle.

  Here, if the rotation amount of the motor deviates from the rotation amount instructed by the control device due to step-out, for example, the original angular displacement and the angular displacement held by the control device do not match. As a result, the direction of the speaker may deviate from the intended direction, and the voice may not be delivered to the target person.

  In one aspect, the present case aims to improve the accuracy of information indicating the current orientation of a speaker.

In one proposal, an information processing device having a processing unit is provided.
The processing unit is attached to a speaker in which the direction in which sound is emitted is determined by the angular displacement of rotation about the rotation axis, acquires the image captured by the camera from the camera that moves with rotation, and acquires the acquired image. The angular displacement of rotation is calculated based on the position of the marker.

  According to the one aspect, it is possible to improve the accuracy of the information indicating the current orientation of the speaker.

It is a figure which shows an example of the information processing system which concerns on 1st Embodiment. It is a figure which shows an example of the system configuration of 2nd Embodiment. It is a figure which shows one structural example of the hardware of a rotation control apparatus and a controller. It is a figure which shows an example of the hardware of a host computer. It is a figure which shows an example of the relationship with the position with respect to a speaker, and a sound pressure level. It is a figure which shows an example of the installation method of a speaker. It is a block diagram which shows the function example of a rotation control apparatus and a host computer. It is a figure which shows an example of a reference | standard image. It is a figure which shows an example of the camera image for calculating the angular displacement of a horizontal direction. It is a figure which shows an example of the relationship between the angular displacement of a vertical direction, and a shooting position. It is a figure which shows an example of the camera image for calculating the angular displacement of a vertical direction. It is a figure which shows an example of the camera image for calculating the horizontal angular displacement and the vertical angular displacement. It is a figure which shows an example of a coordinate table. It is a flow chart which shows an example of the procedure of horizontal direction calibration. It is a flow chart which shows an example of a procedure of vertical direction calibration. It is a flow chart which shows an example of the procedure of bidirectional calibration. It is a figure which shows another example of the installation method of a speaker. It is a block diagram which shows the other function example of a rotation control apparatus and a host computer. It is a figure which shows an example of a marker table. It is a flow chart which shows another example of the procedure of horizontal direction calibration. It is a flow chart which shows an example of the procedure of angular displacement control.

Hereinafter, the present embodiment will be described with reference to the drawings. Note that each embodiment can be implemented by combining a plurality of embodiments as long as there is no contradiction.
[First Embodiment]
First, the first embodiment will be described.

  FIG. 1 is a diagram illustrating an example of an information processing system according to the first embodiment. In the example of FIG. 1, the information processing device 10 calculates the angular displacement of rotation of the rotary shaft 3 that determines the orientation of the speaker 1. The information processing apparatus 10 can execute the angular displacement calculation process by executing a program in which a processing procedure for calculating the angular displacement is described.

  A speaker 1 and a host computer 2 are connected to the information processing device 10. Further, the speaker 1 and the host computer 2 are connected. The speaker 1 and the host computer 2 may be connected via the information processing device 10.

  The direction in which the speaker 1 emits sound is determined by the angular displacement of rotation about the rotation axis 3. Note that, hereinafter, rotation about the rotation shaft 3 may be referred to as axial rotation. The speaker 1 is, for example, a parametric speaker that emits sound by ultrasonic waves. The speaker 1 changes its direction by the axis rotation and emits sound in a direction perpendicular to the rotation axis 3. As an example, the rotating shaft 3 is a rotating shaft extending vertically downward from the ceiling, and rotates with the rotation of the shaft of a motor such as a stepping motor. A camera 4 that moves with the rotation of the shaft is attached to the speaker 1. The camera 4 is attached to the speaker 1 so that the ceiling 4 can be photographed, for example.

  The marker 5 is a marker installed on the ceiling. The marker 5 is installed at a position shown in the image taken by the camera 4 when the angular displacement of the axis rotation is a predetermined angle (for example, 0 [°]).

  The host computer 2 controls axis rotation. For example, the host computer 2 changes the angular displacement of the axial rotation so that the angular displacement of the axial rotation becomes the target angle (that is, the speaker 1 faces the target direction). At this time, the host computer 2 stores the current angular displacement of the axial rotation and changes the angular displacement of the axial rotation by the difference between the current angular displacement and the target angle. The current angular displacement of the shaft rotation can be said to be information indicating the current orientation of the speaker 1. The command for changing the angular displacement of the shaft rotation by the host computer 2 is performed, for example, by setting the rotation amount and the rotation speed with a pulse signal.

  Here, the amount of rotation instructed by the host computer 2 may deviate from the amount of actual shaft rotation due to step-out or the like. Then, a difference occurs between the current angular displacement of the axial rotation and the actual angular displacement of the axial rotation stored in the host computer 2. Therefore, the host computer 2 and the information processing device 10 cooperate with each other to calibrate the axis rotation. The processing by the information processing device 10 described below is performed after the host computer 2 changes the angular displacement of the axial rotation so that the current angular displacement of the axial rotation stored in the host computer 2 becomes 0 [°]. Done.

  The information processing device 10 includes a storage unit 11 and a processing unit 12. The storage unit 11 is, for example, a memory or a storage device included in the information processing device 10. The processing unit 12 is, for example, a processor or an arithmetic circuit included in the information processing device 10.

  The storage unit 11 stores the reference coordinates 11a and the rotation axis coordinates 11b. The reference coordinates 11a are position coordinates of a position where the marker 5 appears when an image is captured by the camera 4 when the angular displacement of the axis rotation is 0 [°]. The rotation axis coordinates 11b are position coordinates of the rotation axis 3 in a coordinate system including an image captured by the camera 4. In the first embodiment, the rotational axis coordinate 11b is common regardless of the angular displacement of the axial rotation. The rotation axis coordinate 11b is calculated based on, for example, the marker 5 and the like shown in the image captured by the camera 4 when the angular displacement of the axis rotation is 0 [°].

  The processing unit 12 acquires from the camera 4 the camera image 6 captured by the camera 4. The processing unit 12 calculates the angular displacement of the axial rotation based on the acquired position of the marker 5 in the camera image 6. For example, the processing unit 12 detects the marker 5 shown in the camera image 6 by pattern matching. Then, the processing unit 12 calculates the angular displacement of the axial rotation based on the deviation between the position where the marker 5 is captured in the acquired camera image 6 and the position indicated by the reference coordinates 11a.

As an example, the reference coordinates 11a indicate coordinates (x _c , y ₀ ) in the coordinate system 7 including the camera image 6, and the rotation axis coordinates 11 b indicate coordinates (x _c , y _c ) in the coordinate system 7. .. Here, it is assumed that the position coordinate of the marker 5 of the camera image 6 in the coordinate system 7 is (x, y). At this time, the angular displacement of the axis rotation is an angle θ formed by a straight line connecting the position coordinate of the marker 5 and the rotation axis coordinate 11b and a straight line connecting the reference coordinate 11a and the rotation axis coordinate 11b, and θ = tan ⁻¹ It is calculated by the formula ((x _c −x) / (y _c −y)).

  The processing unit 12 notifies the calculated angular displacement θ to the host computer 2. The host computer 2 calibrates the angular displacement of the shaft rotation based on the calculated angular displacement θ. For example, the host computer 2 may change the angular displacement of the shaft rotation by the angle θ and set the stored current angular displacement of the shaft rotation to 0 [°]. Further, for example, the host computer 2 may set the stored current angular displacement of the axis of rotation to θ.

  According to such an information processing apparatus 10, the camera image 6 is acquired from the camera 4 attached to the speaker 1. Then, based on the position of the marker 5 shown in the camera image 6, the angular displacement of the shaft rotation is calculated. Since the direction in which the speaker 1 emits sound is determined by the angular displacement of the axial rotation, the accuracy of the information indicating the current orientation of the speaker 1 is improved by calculating the angular displacement of the axial rotation.

  Further, the angular displacement of the axial rotation is calculated based on the shift between the position of the marker 5 and the reference coordinate 11a shown in the camera image 6. Accordingly, it becomes possible to detect a deviation between the current angular displacement of the axial rotation held for controlling the orientation of the speaker 1 and the actual angular displacement of the axial rotation.

  The coordinate system 7 also indicates the position of the rotary shaft 3. Then, in the coordinate system 7, the angle formed by the straight line connecting the position of the marker 5 and the position of the rotary shaft 3 shown in the camera image 6 and the straight line connecting the reference coordinate 11a and the position of the rotary shaft 3 is calculated. This improves the accuracy of calculating the deviation of the angular displacement from the predetermined angle.

  In the above example, the position of the rotary shaft 3 perpendicular to the area shown in the camera image 6 is represented by the coordinate system 7, and the angular displacement of the shaft rotation is calculated based on the position of the rotary shaft 3. On the other hand, the processing unit 12 may calculate the angular displacement of the axial rotation based on the displacement between the reference coordinates 11a and the position of the marker 5 captured in the acquired camera image 6. As a result, even if the rotation axis 3 is not perpendicular to the area shown in the camera image 6, the angular displacement of the axis rotation can be calculated.

  Further, the processing unit 12 may calculate the angular displacement of the axial rotation when the angular displacement of the axial rotation changes, and notify the host computer 2 of the calculated angular displacement. As a result, the angular displacement of the shaft rotation can be calibrated while using the speaker 1.

  Further, the processing unit 12 calculates the angular displacement of the axial rotation during the fluctuation of the angular displacement of the axial rotation, and when the absolute value of the difference between the calculated angular displacement and the target angle is equal to or less than the threshold value, the angular displacement of the axial rotation is calculated. May be stopped. As a result, the information processing apparatus 10 can control the shaft rotation.

  When the speaker 1 is a parametric speaker, the sound emitted by the speaker 1 goes straight. Therefore, by accurately calculating the information indicating the direction of the speaker 1, the direction in which the speaker 1 delivers the sound is accurately calculated.

[Second Embodiment]
Next, a second embodiment will be described. The second embodiment calibrates a speaker whose orientation is determined by two axes of rotation.

  FIG. 2 is a diagram showing an example of a system configuration of the second embodiment. The information processing system shown in FIG. 2 is installed in a facility such as a store. The target person 21 in the facility where the information processing system is installed is, for example, a person who exhibits suspicious behavior in the facility. A camera 42 and a speaker 33 are installed in the facility where the information processing system is installed. In the information processing system shown in FIG. 2, the target person 21 is detected by the camera 42, and the speaker 33 outputs a sound toward the target person 21.

  The rotation control device 100 rotates a motor for determining the orientation of the speaker 33 according to an instruction from the host computer 300. For example, the rotation control device 100 rotates the motor at the rotation speed notified from the host computer 300 by the rotation speed notified from the host computer 300. Further, the rotation control device 100 calculates the orientation of the speaker 33 (the angular displacement of the motor) using the image captured by the camera attached to the speaker 33, and notifies the host computer 300 of the orientation. The rotation control device 100 is connected to the host computer 300 via the controller 200.

  The host computer 300 detects the target person 21 and controls the speaker 33. The host computer 300 acquires an image (which may be a video) captured by the camera 42 and detects the target person 21. The host computer 300 also controls the sound output from the speaker 33 via the controller 200. For example, the host computer 300 determines the volume and content (audio file) of the sound output from the speaker 33.

  Further, the host computer 300 controls the orientation of the speaker 33 via the controller 200 and the rotation control device 100. The host computer 300 calculates the rotation speed of the motor so that the speaker 33 faces the target person 21. Then, the host computer 300 notifies the rotation control device 100 of the rotation speed and the number of rotations for causing the speaker 33 to face the target person 21.

  FIG. 3 is a diagram illustrating a configuration example of hardware of the rotation control device and the controller. The rotation control device 100 is entirely controlled by a processor 101. A memory 102 and a plurality of peripheral devices are connected to the processor 101 via a bus 107. The processor 101 may be a multiprocessor. The processor 101 is, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor). At least a part of the function realized by the processor 101 executing the program may be realized by an electronic circuit such as an ASIC (Application Specific Integrated Circuit) and a PLD (Programmable Logic Device).

  The memory 102 is used as a main storage device of the rotation control device 100. The memory 102 temporarily stores at least part of an OS program and an application program to be executed by the processor 101. Further, the memory 102 stores various data used for processing by the processor 101. As the memory 102, for example, a volatile semiconductor storage device such as a RAM (Random Access Memory) is used.

  The peripheral devices connected to the bus 107 include the storage device 103, the device connection interface 104, the motor driver 105, and the connection interface 106.

  The storage device 103 electrically and magnetically writes and reads data to and from a built-in recording medium. The storage device 103 is used as an auxiliary storage device of a computer. The storage device 103 stores an OS program, application programs, and various data. A flash memory, for example, can be used as the storage device 103.

  The camera 31 is connected to the device connection interface 104. The camera 31 is a photographing device installed in the speaker 33, for example. The camera 31 generates data of a still image or a moving image of a scene with the lens of the camera 31 directed according to an instruction from the processor 101, and stores the data in the memory 102.

  Motors 32a and 32b are connected to the motor driver 105. The motor driver 105 receives the pulse signal from the processor 101 and rotates the shafts of the motors 32a and 32b. The motors 32a and 32b are, for example, stepping motors whose axes rotate by an amount proportional to the number of pulses.

  The connection interface 106 is an interface for connecting to the controller 200. The standard used by the connection interface 106 is, for example, RS-485.

  The rotation control device 100 can realize the processing functions of the second embodiment with the above hardware configuration. Note that the information processing device 10 shown in the first embodiment can also be realized by the same hardware as the rotation control device 100 shown in FIG. Further, the processor 101 is an example of the processing unit 12 shown in the first embodiment. The memory 102 or the storage device 103 is an example of the storage unit 11 shown in the first embodiment. The camera 31 is an example of the camera 4 shown in the first embodiment.

  The rotation control device 100 realizes the processing functions of the second embodiment by executing a program recorded in a computer-readable recording medium, for example. The program describing the processing contents to be executed by the rotation control device 100 can be recorded in various recording media. For example, a program to be executed by the rotation control device 100 can be stored in the storage device 103. The processor 101 loads at least a part of the programs in the storage device 103 into the memory 102 and executes the programs. Further, the program executed by the rotation control device 100 may be recorded in a portable recording medium such as an optical disc, a memory device, a memory card. The program stored in the portable recording medium becomes executable after being installed in the storage device 103 under the control of the processor 101, for example.

  The controller 200 has a hub 201 for connecting the host computer 300 and peripheral devices. The hub 201 is connected to the host computer 300 according to a standard such as USB (Universal Serial Bus). Peripheral devices connected to the hub 201 include a serial bus 202, a DAC (Digital Analog Converter) 204, and a connection interface 206.

The serial bus 202 is a bus for connecting the hub 201 and the DPOT (Digital POTentiometer) 203. The standard used by the serial bus 202 is, for example, I ² C (registered trademark). The DPOT 203 is a variable resistor whose resistance value changes according to a signal. The resistance value of the DPOT 203 controls the current flowing through the AMP (AMPlifier) 205.

  The DAC 204 converts the digital signal from the host computer 300 into an analog signal and outputs it to the AMP 205. The AMP 205 amplifies the analog signal input from the DAC 204 with a current and outputs the amplified signal to the speaker 33.

  The speaker 33 outputs a sound corresponding to the signal input from the AMP 205. The speaker 33 is, for example, a parametric speaker, and outputs sound by ultrasonic waves.

  The connection interface 206 is an interface for connecting to the rotation control device 100. The standard used by the connection interface 206 is the same as that of the connection interface 106.

  FIG. 4 is a diagram illustrating an example of hardware of the host computer. The host computer 300 is entirely controlled by the processor 301. A memory 302 and a plurality of peripheral devices are connected to the processor 301 via a bus 311. The processor 301 may be a multiprocessor. The processor 301 is, for example, a CPU, MPU, or DSP. At least a part of the function realized by the processor 301 executing the program may be realized by an electronic circuit such as an ASIC or PLD.

  The memory 302 is used as a main storage device of the host computer 300. The memory 302 temporarily stores at least part of an OS program and an application program to be executed by the processor 301. Further, the memory 302 stores various data used for processing by the processor 301. As the memory 302, for example, a volatile semiconductor storage device such as a RAM is used.

  Peripheral devices connected to the bus 311 include a storage device 303, a graphic processing device 304, a device connection interface 305, an input interface 306, an optical drive device 307, a device connection interface 308, a connection interface 309, and a network interface 310.

  The storage device 303 electrically or magnetically writes or reads data to or from a built-in recording medium. The storage device 303 is used as an auxiliary storage device of a computer. The storage device 303 stores an OS program, application programs, and various data. As the storage device 303, for example, a HDD (Hard Disk Drive) or SSD (Solid State Drive) can be used.

  The monitor 41 is connected to the graphic processing device 304. The graphic processing device 304 displays an image on the screen of the monitor 41 according to an instruction from the processor 301. As the monitor 41, there is a display device using an organic EL (Electro Luminescence), a liquid crystal display device, or the like.

  The camera 42 is connected to the device connection interface 305. According to the instruction from the processor 301, the camera 42 generates data of a still image or a moving image of the scene where the lens of the camera 42 is pointed, and stores the data in the memory 302.

  The keyboard 43 and the mouse 44 are connected to the input interface 306. The input interface 306 transmits signals sent from the keyboard 43 and the mouse 44 to the processor 301. The mouse 44 is an example of a pointing device, and another pointing device can be used. Other pointing devices include touch panels, tablets, touch pads, trackballs, and the like.

  The optical drive device 307 uses laser light or the like to read the data recorded on the optical disc 45. The optical disc 45 is a portable recording medium on which data is recorded so that it can be read by reflection of light. The optical disc 45 includes a DVD (Digital Versatile Disc), a DVD-RAM, a CD-ROM (Compact Disc Read Only Memory), and a CD-R (Recordable) / RW (ReWritable).

  The device connection interface 308 is a communication interface for connecting peripheral devices to the host computer 300. For example, the device connection interface 308 can be connected to the memory device 46 and the memory reader / writer 47. The memory device 46 is a recording medium having a function of communicating with the device connection interface 308. The memory reader / writer 47 is a device that writes data in the memory card 48 or reads data from the memory card 48. The memory card 48 is a card-type recording medium.

  The connection interface 309 is an interface for connecting to the controller 200. The standard used by the connection interface 309 is the same as the standard used by the hub 201.

  The network interface 310 is connected to the network 20. The network interface 310 transmits / receives data to / from another computer or communication device via the network 30.

  The host computer 300 can realize the processing functions of the second embodiment with the above hardware configuration. The host computer 300 realizes the processing functions of the second embodiment by executing a program recorded in a computer-readable recording medium, for example. The program describing the processing contents to be executed by the host computer 300 can be recorded in various recording media. For example, a program to be executed by the host computer 300 can be stored in the storage device 303. The processor 301 loads at least a part of the program in the storage device 303 into the memory 302 and executes the program. Further, the program to be executed by the host computer 300 may be recorded in a portable recording medium such as the optical disc 45, the memory device 46, the memory card 48 or the like. The program stored in the portable recording medium becomes executable after being installed in the storage device 303 under the control of the processor 301, for example. Also, the processor 301 can directly read and execute the program from the portable recording medium.

Next, the nature of the speaker 33 will be described.
FIG. 5 is a diagram showing an example of the relationship between the position with respect to the speaker and the sound pressure level. The difference between the speaker 40 having no directivity and the speaker 33 which is a parametric speaker will be described below. Note that in FIG. 5, the level of the sound pressure level of the sound emitted from the speakers 33 and 40 is represented by the density of the points, where the dark points indicate the high sound pressure level, and the light points indicate the sound pressure level. Is low.

  The sound emitted by the speaker 40 is transmitted in all directions and is attenuated as the distance increases. Therefore, the sound pressure level is high in the vicinity of the speaker 40, and the sound pressure level decreases as the distance from the speaker 40 increases. In this case, even if the speaker 40 faces the target person 21, if the distance between the speaker 40 and the target person 21 is large, the target person 21 may have difficulty or cannot hear the sound produced by the speaker 40.

  On the other hand, the sound emitted from the speaker 33 goes straight by ultrasonic waves. Here, since the ultrasonic waves do not spread, the amount of sound attenuation due to the increased distance is small. Therefore, the sound pressure level is high on the straight line in the direction in which the speaker 33 is facing, and the sound pressure level is low in directions other than the direction in which the speaker 33 is facing. Therefore, when the speaker 33 faces the target person 21, the target person 21 can hear the sound emitted by the speaker 33 even if the distance between the speaker 33 and the target person 21 is large. In this way, the speaker 33 delivers the sound only to the specific person (target person 21).

  Here, the orientation of the speaker 33 is determined by the angular displacement of each of the rotations about the two rotation axes (two axis rotations). The angular displacements of the two shaft rotations change as the motors 32a and 32b rotate. The host computer 300 stores the current angular displacements of the two shaft rotations, and sets the axes of the motors 32a and 32b so that the angular displacements of the shaft rotations vary by the difference between the current angular displacement and the target angle. Rotate.

  At this time, the rotation amount instructed by the host computer 300 and the actual rotation amount of the motors 32a and 32b may deviate due to step-out. Then, a difference occurs between the current angular displacement of the axial rotation and the actual angular displacement of the axial rotation stored in the host computer 300. The direction of the speaker 33 deviates from the target direction by the difference thus generated. When the orientation of the speaker 33 deviates from the target direction, the width of the speaker 33 that can deliver the voice is small, and thus the voice may not be delivered to the target person 21.

  Therefore, in the second embodiment, the rotation control device 100 and the host computer 300 cooperate with each other to calibrate the deviation of the orientation of the speaker 33. In the following, as an example, the host computer 300 is calibrated so that the angular displacements of the two axis rotations and the actual angular displacements of the two axis rotations are 0 [°].

Next, a method of installing the speaker 33 will be described.
FIG. 6 is a diagram showing an example of a method of installing the speaker. The speaker 33 is installed on the ceiling by the base 34 and the pillars 35. The base 34 is a circular base installed on the ceiling. A pillar 35 and a marker 36 are installed on the base 34.

  The column 35 is a columnar column extending vertically downward from the center of the base 34. The column 35 is rotated by the motor 32a. The rotation of the support column 35 by the motor 32a is a variation in angular displacement of rotation about a rotation shaft 37a that extends vertically through the center of the base 34. The fluctuation of the angular displacement of the rotation about the rotation axis 37a may be referred to as the horizontal rotation, and the angular displacement of the rotation about the rotation axis 37a may be referred to as the horizontal angular displacement.

  A speaker 33 is installed on the column 35. The speaker 33 is rotated by the shaft of the motor 32b. The rotation of the speaker 33 by the motor 32b is a variation in the angular displacement of rotation about a rotation shaft 37b extending perpendicularly to the support column 35. The fluctuation of the angular displacement of the rotation about the rotation axis 37b may be referred to as the vertical rotation, and the angular displacement of the rotation about the rotation axis 37b may be referred to as the vertical angular displacement. A camera 31 is installed on the speaker 33. Here, the camera 31 is installed on the speaker 33 so that the lens faces the base 34 and the ceiling when the vertical angular displacement is 0 [°].

  The marker 36 is a marker having a different pattern from the portion of the base 34 where the marker 36 is not installed. The marker 36 is installed at a position shown in the image (reference image) captured by the camera 31 when both the horizontal angular displacement and the vertical angular displacement are 0 [°].

Hereinafter, the functions of the rotation control device 100 and the host computer 300 will be described in detail.
FIG. 7 is a block diagram showing functional examples of the rotation control device and the host computer. The rotation control device 100 has a storage unit 120, a motor control unit 130, an image analysis unit 140, and an angle calculation unit 150.

  The storage unit 120 stores the coordinate table 121. The coordinate table 121 stores the position coordinates of the marker 36 in the reference image. The coordinate table 121 also stores the position coordinates of the rotation axis 37a in the reference image. The motor control unit 130 rotates the motors 32a and 32b according to an instruction from the host computer 300.

  The image analysis unit 140 acquires an image from the camera 31 and identifies the position coordinates of the marker 36. For example, the image analysis unit 140 acquires the image captured by the camera 31. The image analysis unit 140 detects the marker 36 from the acquired image by pattern matching and identifies the position coordinate of the marker 36.

  The angle calculator 150 calculates the angular displacement in the horizontal direction and the angular displacement in the vertical direction. The angle calculation unit 150 calculates the angular displacement in the horizontal direction based on the position coordinates of the marker 36 in the reference image, the position coordinates of the rotation axis 37a, and the position coordinates of the marker 36 identified by the image analysis unit 140. Further, the angle calculation unit 150 calculates the displacement of the marker 36 on the image based on the position coordinate of the marker 36 in the reference image and the position coordinate of the marker 36 specified by the image analysis unit 140. The angle calculation unit 150 converts the displacement of the marker 36 on the image into the displacement in the real space. Then, the angle calculation unit 150 calculates the angular displacement in the vertical direction based on the displacement in the real space and the distance from the base 34 to the rotation axis 37b.

  The host computer 300 has a storage unit 320 and a rotation command unit 330. The storage unit 320 stores the current angular displacement 321. The current angular displacement 321 is the current horizontal angular displacement and vertical angular displacement recorded based on the rotational command sent to the rotation control device 100 by the rotational command unit 330 in the past.

  The rotation command unit 330 specifies the rotation speed and the rotation speed, and causes the rotation control device 100 to rotate the motors 32a and 32b. For example, the rotation command unit 330 refers to the current angular displacement 321, and calculates the angle of the difference from the target angle. The rotation command unit 330 calculates the number of rotations of the motors 32a and 32b such that the rotation in the horizontal direction and the rotation in the vertical direction occur by the calculated difference angle. The rotation command unit 330 notifies the rotation control device 100 of the calculated rotation speed and causes the rotation control device 100 to rotate the motors 32a and 32b. The rotation command unit 330 sets the current angular displacement 321 to a target angle.

  The line connecting the respective elements shown in FIG. 7 shows a part of the communication path, and a communication path other than the illustrated communication path can be set. Further, the function of each element shown in FIG. 7 can be realized, for example, by causing a computer to execute a program module corresponding to the element.

Next, a method of calculating the angular displacement using the image captured by the camera 31 will be described.
FIG. 8 is a diagram showing an example of the reference image. The reference image 51 is an image captured by the camera 31 when the horizontal angular displacement and the vertical angular displacement are 0 [°]. As an example of the coordinate system for indicating the position coordinates of the marker 36 and the rotation axis 37a in the reference image 51, the upper left of the reference image 51 is the origin, the axis extending to the right of the reference image 51 is the x axis, and the reference image 51 A coordinate system 50 is defined with the axis extending downward as the y-axis.

The position coordinate (reference coordinate) in the coordinate system 50 of the marker 36 shown in the reference image 51 is (x _c , y ₀ ). Here, there is a case where the position indicating the rotation axis 37a is not on the reference image 51 (that is, the center of the base 34 is not shown on the reference image 51). In that case, for example, the position coordinates of the rotation axis 37a are calculated based on the marker 36 and the base 34 shown in the reference image 51. The position coordinates (rotation axis coordinates) of the rotation axis 37a calculated in this way are defined as (x _c , y _c ).

  In the following, when the horizontal angular displacement and the vertical angular displacement indicated by the current angular displacement 321 are both 0 [°], based on the deviation of the position coordinates of the marker 36 shown in the image captured by the camera 31, Thus, the horizontal angular displacement and the vertical angular displacement are calculated. First, a method of calculating the horizontal angular displacement will be described.

FIG. 9 is a diagram showing an example of a camera image for calculating the angular displacement in the horizontal direction. The camera image 52 is an image captured by the camera 31 when the angular displacement in the horizontal direction is θ _h . In the example shown in FIG. 9, it is assumed that there is no deviation in the vertical angular displacement (that is, the vertical angular displacement is 0 [°]).

The position coordinate of the marker 36 shown in the camera image 52 in the coordinate system 50 is (x _h , y _h ). In this case, the angular displacement θ _h in the horizontal direction is an angle formed by a straight line connecting the reference coordinates and the rotation axis coordinates and a straight line connecting the position coordinates of the marker 36 shown in the camera image 52 and the rotation axis coordinates. Therefore, the angular displacement θ _{h in the} horizontal direction is calculated by the following formula.

  Next, a method of calculating the vertical angular displacement will be described.

FIG. 10 is a diagram showing an example of the relationship between the angular displacement in the vertical direction and the shooting position. The example of FIG. 10 shows the difference in the position taken by the camera 31 when the angular displacement in the vertical direction is 0 [°] and θ _v .

  When the angular displacement in the vertical direction is 0 [°], the camera 31 shoots at the shooting position 38a. That is, the shooting position 38a is shown in the center of the reference image 51. At this time, a straight line passing through the center of the lens of the camera 31 and the photographing position 38a is perpendicular to the base 34. Here, the speaker center 39 is assumed to be a foot of a perpendicular line drawn from the rotation axis 37b with respect to a straight line passing through the center of the lens of the camera 31 and the photographing position 38a.

When the angular displacement in the vertical direction is θ _v , the camera 31 shoots at the shooting position 38b. That is, the photographing position 38b is a position where the straight line passing through the speaker center 39 and the center of the lens of the camera 31 intersects with the base 34. At this time, the vertical angular displacement θ _v is equal to the angle formed by the perpendicular line drawn from the speaker center 39 to the base 34 and the straight line connecting the photographing position 38 b and the speaker center 39. Therefore, the angular displacement θ _{v in the} vertical direction is calculated by the following formula.

“D ^* ” in the upper expression of Expression (2) is the distance between the base 34 and the speaker center 39. Further, “d ^* ” in the upper expression of Expression (2) is the distance between the foot of the perpendicular line drawn from the speaker center 39 to the base 34 and the photographing position 38b. Here, the upper equation of the equation (2) is approximated by the lower equation of the equation (2).

  “D” in the lower expression of the expression (2) is the distance between the base 34 and the rotation shaft 37b. That is, “D” is the distance between the base 34 and the speaker center 39 when the vertical angular displacement is 0 [°]. Further, "d" in the lower expression of the expression (2) is the distance between the shooting position 38a and the shooting position 38b. That is, “d” is the distance between the foot of the perpendicular line drawn from the speaker center 39 to the base 34 and the photographing position 38b when the vertical angular displacement is 0 [°].

That is, “D ^* ” in the upper expression of the equation (2) is approximated by “D” in the lower expression of the equation (2), and “d ^* ” in the upper expression of the equation (2) becomes the expression (2 ) Lower equation "d" is approximated. The difference between “D ^* ” and “D” and the difference between “d ^* ” and “d” become smaller as the vertical angular displacement θ _v becomes smaller. Therefore, the motor control unit 130 repeats the calibration of the angular displacement in the vertical direction until θ _v becomes equal to or less than the threshold. This reduces the error due to the difference between “D ^* ” and “D” and the difference between “d ^* ” and “d”.

  The distance D between the base 34 and the rotary shaft 37b is specified in advance from the position of the rotary shaft 37b. Further, the distance d between the shooting position 38a and the shooting position 38b is calculated as follows using the image taken by the camera 31.

FIG. 11 is a diagram showing an example of a camera image for calculating the angular displacement in the vertical direction. The camera image 53 is an image captured by the camera 31 when the angular displacement in the vertical direction is θ _v . In the example shown in FIG. 11, it is assumed that there is no deviation in the horizontal angular displacement (that is, the horizontal angular displacement is 0 [°]).

The position coordinate of the marker 36 in the camera image 53 in the coordinate system 50 is (x _c , y _v ). In this case, the displacement d _v of the marker 36 in the image captured by the camera 31 is calculated by the following formula.

Here, in the camera image 53, the photographing position 38a also appears at a position displaced from the center by the displacement of the marker 36. That is, the distance d between the photographing position 38a and the photographing position 38b is equal to the displacement d _v converted into the displacement in the real space. Therefore, the distance d between the shooting position 38a and the shooting position 38b is calculated by the following formula.

“K” in Expression (4) is a ratio of the displacement in the image captured by the camera 31 to the displacement in the real space, and is calculated in advance from the resolution of the camera 31 or the like. By substituting the distance d between the shooting position 38a and the shooting position 38b calculated in this way into the equation (2), the angular displacement θ _v in the vertical direction is calculated.

Next, a method of calculating the horizontal angular displacement and the vertical angular displacement when both the horizontal angular displacement and the vertical angular displacement are deviated will be described.
FIG. 12 is a diagram showing an example of a camera image for calculating the horizontal angular displacement and the vertical angular displacement. The camera image 54 is an image captured by the camera 31 when the horizontal angular displacement is θ _h and the vertical angular displacement is θ _v .

The position coordinate of the marker 36 in the camera image 54 in the coordinate system 50 is (x _hv , y _hv ). Here, due to the deviation of the vertical angular displacement, a deviation occurs between the position of the rotation axis 37a and the reference coordinate with respect to the position of the marker 36 shown in the camera image 54. However, in order to simplify the calculation, the angular displacement θ _h in the horizontal direction is formed by a straight line connecting the reference coordinates and the rotation axis coordinates and a straight line connecting the position coordinates of the marker 36 shown in the camera image 54 and the rotation axis coordinates. It is approximated by a corner. That is, the reference coordinates are regarded as the position of the rotation axis 37a with respect to the position of the marker 36 shown in the camera image 54.

The difference between the position of the rotation axis 37a and the reference coordinate with respect to the position of the marker 36 shown in the camera image 54 becomes smaller as the horizontal angular displacement θ _h becomes smaller. Therefore, the motor control unit 130 repeats the calibration of the angular displacement in the vertical direction until θ _h becomes equal to or less than the threshold value. As a result, the error due to the difference between the position of the rotary shaft 37a and the reference coordinate with respect to the position of the marker 36 shown in the camera image 54 is reduced.

The horizontal angular displacement θ _h is calculated by the following formula.

The vertical angular displacement θ _v is calculated based on the displacement d _hv of the marker 36 in the y-axis direction in the image captured by the camera 31. The displacement d _hv is the position of the marker 36 in the camera image 54 when the horizontal angular displacement θ _h is 0 [°] (that is, the position where the marker 36 is rotated by θ _h around the rotation axis coordinate). And the reference coordinate. In the camera image 54, the position of the marker 36 when the angular displacement θ _h in the horizontal direction is 0 [°] is on the straight line connecting the reference coordinate and the rotation axis coordinate, and the marker shown in the rotation image coordinate and the camera image 54. It is a position separated from the rotation axis coordinate by a distance r from the position coordinate of 36. The distance r between the rotation axis coordinate and the position coordinate of the marker 36 shown in the camera image 54 is calculated by the following formula.

Therefore, the displacement d _hv is calculated by the following formula.

Using the displacement d _hv calculated in this way, the distance d between the shooting position 38a and the shooting position 38b is calculated by the following equation, similar to equation (4).

By substituting the distance d between the shooting position 38a and the shooting position 38b calculated in this way into the equation (2), the angular displacement θ _v in the vertical direction is calculated.
Next, the data stored in the storage unit 120 will be described in detail.

  FIG. 13 is a diagram showing an example of the coordinate table. The coordinate table 121 has columns of “location” and “coordinate”. In the “location” column, the location used to calculate the angular displacement is set. In the "coordinates" column, the position coordinates of the location used to calculate the angular displacement are set.

For example, in the coordinate table 121, a record indicating the rotation axis coordinates, in which the "location" field is "rotation axis center" and the "coordinates" field is "(x _c , y _c )", is registered. Further, for example, in the coordinate table 121, a record indicating the reference coordinates in which the “location” column is “reference position” and the “coordinate” column is “(x _c , y ₀ )” is registered.

Hereinafter, the procedure of calibration by the rotation control device 100 and the host computer 300 will be described in detail.
FIG. 14 is a flowchart showing an example of the procedure of horizontal calibration. Hereinafter, the process illustrated in FIG. 14 will be described in order of step number.

[Step S101] The rotation command unit 330 acquires the current angular displacement 321 from the storage unit 320.
[Step S102] The rotation command unit 330 calculates the number of rotations of the motors 32a and 32b (horizontal / vertical motors) such that the current angular displacement 321 becomes 0 [°]. Then, the rotation command unit 330 commands the rotation control device 100 to rotate the motors 32a and 32b by the calculated rotation number. Further, the rotation command unit 330 sets the current angular displacement 321 to 0 [°].

[Step S103] The motor control unit 130 rotates the motors 32a and 32b by the number of rotations designated in step S102.
[Step S104] The image analysis unit 140 acquires an image captured by the camera 31 (for example, the camera image 52).

[Step S105] The image analysis unit 140 detects the marker 36 from the camera image 52 by pattern matching. Then, the image analysis unit 140 identifies the position coordinates (for example, (x _h , y _h )) of the marker 36 in the coordinate system 50.

[Step S106] The angle calculator 150 calculates the angular displacement θ _h in the horizontal direction. For example, the angle calculation unit 150 calculates the angular displacement θ _h in the horizontal direction by substituting the reference coordinates shown in the coordinate table 121 and the position coordinates of the marker 36 specified in step S105 into equation (1).

[Step S107] The angle calculator 150 notifies the host computer 300 of the horizontal angular displacement θ _h calculated in step S106.
[Step S108] The rotation command unit 330 calculates the number of rotations of the motor 32a (horizontal motor) such that rotation in the horizontal direction occurs by −θ _h . Then, the rotation command unit 330 commands the rotation control device 100 to rotate the motor 32a by the calculated rotation speed.

[Step S109] The motor control unit 130 rotates the motor 32a by the number of rotations designated in step S108.
In this way, when the marker 36 is captured in the image captured by the camera 31 installed in the speaker 33 and the horizontal displacement is 0 [°], the marker 36 is captured in the image captured by the camera 31. The angular displacement in the horizontal direction is calculated based on the deviation from the position of the image. The calculation of the horizontal angular displacement is performed after the motor 32a rotates so that the horizontal angular displacement indicated by the current angular displacement 321 becomes 0 [°]. Therefore, the deviation between the horizontal angular displacement indicated by the current angular displacement 321 and the actual horizontal angular displacement is calculated.

  Then, the motor 32a rotates by the calculated horizontal angular displacement, so that the deviation between the horizontal angular displacement indicated by the current angular displacement 321 and the actual horizontal angular displacement is eliminated. As a result, the orientation of the speaker 33 is set accurately.

FIG. 15 is a flowchart showing an example of the procedure of vertical direction calibration. Hereinafter, the process illustrated in FIG. 15 will be described in order of step number.
[Step S111] The rotation command unit 330 acquires the current angular displacement 321 from the storage unit 320.

  [Step S112] The rotation command unit 330 calculates the number of rotations of the motors 32a and 32b (horizontal / vertical motors) such that the current angular displacement 321 becomes 0 [°]. Then, the rotation command unit 330 commands the rotation control device 100 to rotate the motors 32a and 32b by the calculated rotation speed. Further, the rotation command unit 330 sets the current angular displacement 321 to 0 [°].

[Step S113] The motor control unit 130 rotates the motors 32a and 32b by the amount designated in step S112.
[Step S114] The motor control unit 130 sets the number of repetitions a to 0 (a = 0).

[Step S115] The motor control unit 130 increases the value of the number of repetitions a by 1 (a = a + 1).
[Step S116] The image analysis unit 140 acquires an image captured by the camera 31 (for example, the camera image 53).

[Step S117] The image analysis unit 140 detects the marker 36 from the camera image 53 by pattern matching. Then, the image analysis unit 140 identifies the position coordinates (for example, (x _c , y _v )) of the marker 36 in the coordinate system 50.

[Step S118] The angle calculation unit 150 substitutes the reference coordinates shown in the coordinate table 121 and the position coordinates of the marker 36 specified in step S117 into the equation (3), thereby making it possible to obtain the image captured by the camera 31. The displacement d _{v of the} marker 36 is calculated.

[Step S119] The angle calculator 150 calculates the angular displacement θ _v in the vertical direction. For example, the angle calculation unit 150 calculates the distance d between the shooting position 38a and the shooting position 38b by substituting the displacement d _v calculated in step S118 into the equation (4). Then, the angle calculation unit 150 calculates the angular displacement θ _v in the vertical direction by substituting the calculated distance d and the distance D between the base 34 and the rotation axis 37b into the equation (2).

[Step S120] The angle calculation unit 150 notifies the host computer 300 of the vertical angular displacement θ _v calculated in step S118.
[Step S121] The rotation command unit 330 calculates the number of rotations of the motor 32b (vertical motor) such that rotation in the vertical direction occurs by −θ _v . Then, the rotation command unit 330 commands the rotation control device 100 to rotate the motor 32b by the calculated rotation speed.

[Step S122] The motor control unit 130 rotates the motor 32b by the number of rotations designated in step S121.
[Step S123] The motor control unit 130 determines whether the angular displacement θ _{v in} the vertical direction is less than or equal to a threshold value or the number of repetitions a is greater than or equal to a specified value. When the motor control unit 130 determines that the angular displacement θ _v in the vertical direction is less than or equal to the threshold value or the number of repetitions a is greater than or equal to the specified value, the processing ends. If the motor control unit 130 determines that the vertical angular displacement θ _v is greater than the threshold value and the number of repetitions a is less than the specified value, the process proceeds to step S115.

  In this way, the displacement of the marker 36 shown in the camera image is converted into the displacement of the shooting position in the real space. Then, the vertical angular displacement is calculated based on the displacement of the photographing position in the real space and the distance between the base 34 and the rotation shaft 37b. This makes it possible to calculate the angular displacement of rotation about the rotation axis 37b that is parallel to the base 34. Note that the calculated angular displacement in the vertical direction is an approximate value, but the error is eliminated by repeating the calibration.

FIG. 16 is a flowchart showing an example of the procedure of bidirectional calibration. Hereinafter, the process illustrated in FIG. 16 will be described in order of step number.
[Step S131] The rotation command unit 330 acquires the current angular displacement 321 from the storage unit 320.

  [Step S132] The rotation command unit 330 calculates the number of rotations of the motors 32a and 32b (horizontal / vertical motors) such that the current angular displacement 321 becomes 0 [°]. Then, the rotation command unit 330 commands the rotation control device 100 to rotate the motors 32a and 32b by the calculated rotation speed. Further, the rotation command unit 330 sets the current angular displacement 321 to 0 [°].

[Step S133] The motor control unit 130 rotates the motors 32a and 32b by the number of rotations designated in step S132.
[Step S134] The motor control unit 130 sets the number of repetitions a to 0 (a = 0).

[Step S135] The motor control unit 130 increases the value of the number of repetitions a by 1 (a = a + 1).
[Step S136] The image analysis unit 140 acquires an image captured by the camera 31 (for example, the camera image 54).

[Step S137] The image analysis unit 140 detects the marker 36 from the camera image 54 by pattern matching. Then, the image analysis unit 140 identifies the position coordinates (for example, (x _hv , y _hv )) of the marker 36 in the coordinate system 50.

[Step S138] The angle calculator 150 calculates the angular displacement θ _h in the horizontal direction. For example, the angle calculation unit 150 calculates the angular displacement θ _h in the horizontal direction by substituting the reference coordinates shown in the coordinate table 121 and the position coordinates of the marker 36 specified in step S137 into equation (5).

[Step S139] The angle calculation unit 150 calculates the displacement d _hv of the marker 36 on the image. For example, the angle calculation unit 150 substitutes the reference coordinates shown in the coordinate table 121 and the position coordinates of the marker 36 specified in step S137 into the equation (6), whereby the rotation axis coordinates and the marker 36 appearing in the camera image 54. The distance r from the position coordinate of is calculated. The angle calculation unit 150 substitutes the calculated distance r, the reference coordinates and the rotation axis coordinates shown in the coordinate table 121 into the equation (7), so that the marker 36 in the image taken by the camera 31 in the y-axis direction. The displacement d _hv is calculated.

[Step S140] The angle calculator 150 calculates the angular displacement θ _v in the vertical direction. For example, the angle calculation unit 150 calculates the distance d between the shooting position 38a and the shooting position 38b by substituting the displacement d _hv calculated in step S139 into the equation (8). Then, the angle calculator 150 calculates the angular displacement θ _v in the vertical direction by substituting the calculated distance d into the equation (2).

[Step S141] The angle calculation unit 150 notifies the host computer 300 of the horizontal angular displacement θ _h calculated in step S138 and the vertical angular displacement θ _v calculated in step S140.

[Step S142] The rotation instruction unit 330 calculates the number of rotations of the motor 32a (horizontal motor) such that the rotation in the horizontal direction occurs by −θ _h . The rotation command unit 330 also calculates the number of rotations of the motor 32b (vertical motor) such that rotation in the vertical direction occurs by −θ _v . Then, the rotation command unit 330 commands the rotation control device 100 to rotate the motors 32a and 32b by the calculated rotation speed.

[Step S143] The motor control unit 130 rotates the motors 32a and 32b by the number of rotations designated in step S142.
[Step S144] The motor control unit 130 determines whether the horizontal angular displacement θ _h is less than or equal to a threshold value and the vertical angular displacement θ _v is less than or equal to a threshold value. When the motor control unit 130 determines that the horizontal angular displacement θ _h is less than or equal to the threshold value and the vertical angular displacement θ _v is less than or equal to the threshold value, the process proceeds to step S145. If the motor control unit 130 determines that the horizontal angular displacement θ _h is greater than the threshold value or the vertical angular displacement θ _v is greater than the threshold value, the process proceeds to step S135.

  [Step S145] The motor control unit 130 determines whether or not the number of repetitions a is a specified value or more. When the motor control unit 130 determines that the number of repetitions a is equal to or greater than the specified value, the process ends. Further, when the motor control unit 130 determines that the number of repetitions a is less than the specified value, the process proceeds to step S135.

  In this way, both the horizontal angular displacement and the vertical angular displacement are calculated. Although the calculated horizontal angular displacement and vertical angular displacement are approximate values, the error is eliminated by repeating the calibration.

  According to the rotation control device 100 of the second embodiment, the angular displacement is calculated based on the position of the marker 36 shown in the camera images 52, 53, 54. This improves the accuracy of the information indicating the current orientation of the speaker 33.

  Further, the angular displacement of the shaft rotation is calculated based on the deviation between the position of the marker 36 and the reference coordinates shown in the camera images 52, 53, 54. This makes it possible to detect the deviation between the current angular displacement 321 and the actual angular displacement of the shaft rotation.

  Further, in the coordinate system 50, the angle formed by the straight line connecting the position of the marker 36 and the position of the rotating shaft 37a, which is reflected in the camera image 52, and the straight line connecting the reference coordinate and the position of the rotating shaft 37a is calculated. This improves the accuracy of calculating the deviation of the horizontal angular displacement from the predetermined angle.

  Further, the angular displacement in the vertical direction is calculated based on the displacement between the reference coordinates and the position of the marker 36 shown in the camera image 53. As a result, the angular displacement can be calculated even when the rotation axis 37b is not perpendicular to the area shown in the camera image 53.

  The speaker 33 is a parametric speaker. By accurately calculating the information indicating the direction of the speaker 33, which is a parametric speaker, the direction in which the speaker 33 delivers the sound is accurately calculated.

[Third Embodiment]
Next, a third embodiment will be described. In the third embodiment, calibration is performed without returning the angular displacement to a predetermined angle.

  In the second embodiment, the marker 36 is placed at a position shown in the image captured when the horizontal angular displacement is 0 [°]. In the third embodiment, a plurality of markers (four as an example) are installed on the base so that the calibration can be performed even when the horizontal angular displacement is other than 0 [°]. In addition, in the third embodiment, the calibration of the angular displacement in the horizontal direction is performed.

  FIG. 17: is a figure which shows another example of the installation method of a speaker. In the third embodiment, a base 34a is used instead of the base 34 shown in FIG. The base 34a is a circular base installed on the ceiling. A pillar 35 and markers 36a, 36b, 36c, 36d are installed on the base 34a.

  The markers 36a, 36b, 36c, 36d are markers having a different pattern from the portions of the base 34a where the markers 36a, 36b, 36c, 36d are not installed. The patterns of the markers 36a, 36b, 36c, 36d are different from each other. The marker 36a is installed at a position shown in the image captured by the camera 31 when the horizontal angular displacement is 0 [°]. The marker 36b is installed at a position shown in an image taken by the camera 31 when the horizontal angular displacement is 90 [°]. The marker 36c is installed at a position shown in the image taken by the camera 31 when the angular displacement in the horizontal direction is 180 [°]. The marker 36d is installed at a position shown in the image captured by the camera 31 when the horizontal angular displacement is 270 [°].

  In the second embodiment, the deviation of the angular displacement in the horizontal direction from 0 [°] is calculated by the deviation of the marker 36 shown in the camera image. On the other hand, in the third embodiment, the deviation of the horizontal angular displacement from the angle corresponding to the marker shown in the camera image is calculated by the deviation of the markers 36a, 36b, 36c, 36d shown in the camera image.

  The rotation control device used in the third embodiment is realized by the hardware configuration of FIG. 3 similarly to the rotation control device 100 of the second embodiment. In the following, the same reference numerals as the hardware of rotation control device 100 are used as the hardware of the rotation control device used in the third embodiment.

Next, the function of the rotation control device used in the third embodiment will be described.
FIG. 18 is a block diagram showing another example of functions of the rotation control device and the host computer. The rotation control device 100a has a storage unit 120a, a motor control unit 130, an image analysis unit 140a, and an angle calculation unit 150a.

  The storage unit 120a stores a coordinate table 121 and a marker table 122. The marker table 122 stores information (for example, a feature amount) for distinguishing each of the markers 36a, 36b, 36c, 36d.

  The image analysis unit 140a identifies the type and position coordinates of the marker shown in the camera image. For example, the image analysis unit 140a acquires the image captured by the camera 31. The image analysis unit 140a detects any of the markers 36a, 36b, 36c, and 36d from the acquired image by pattern matching using the feature amount shown in the marker table 122. The image analysis unit 140a identifies the type and position coordinates of the detected marker.

  The angle calculator 150a calculates the angular displacement in the horizontal direction. For example, the angle calculation unit 150a calculates the angle between the straight line connecting the reference coordinates and the rotation axis coordinates and the straight line connecting the rotation axis coordinates and the position coordinates of the marker specified by the image analysis unit 140a. Then, the angle calculation unit 150a calculates the horizontal angular displacement by adding the angle corresponding to the marker specified by the image analysis unit 140a to the calculated angle.

  The line connecting the respective elements shown in FIG. 18 indicates a part of the communication path, and a communication path other than the illustrated communication path can be set. Further, the function of each element shown in FIG. 18 can be realized, for example, by causing a computer to execute a program module corresponding to the element.

Next, the data stored in the storage unit 120a will be described in detail.
FIG. 19 is a diagram showing an example of the marker table. The marker table 122 has columns of “feature amount” and “angle”. In the "feature amount" column, the feature amount for detecting each of the markers 36a, 36b, 36c, 36d by pattern matching is set. In the "angle" field, the angles at which the markers 36a, 36b, 36c, 36d are captured by the camera 31 are set.

Hereinafter, the procedure of calibration by the rotation control device 100a and the host computer 300 will be described in detail.
FIG. 20 is a flowchart showing another example of the horizontal calibration procedure. Hereinafter, the process illustrated in FIG. 20 will be described in order of step number.

  [Step S151] The rotation command unit 330 calculates the number of rotations of the motors 32a and 32b (horizontal / vertical motors) such that the current angular displacement 321 becomes the target angle. Then, the rotation command unit 330 commands the rotation control device 100 to rotate the motors 32a and 32b by the calculated rotation speed. Further, the rotation command unit 330 sets the current angular displacement 321 to the target angle.

[Step S152] The motor control unit 130 rotates the motors 32a and 32b by the number of rotations designated in step S151.
[Step S153] The image analysis unit 140a acquires a camera image captured by the camera 31.

  [Step S154] The image analysis unit 140a detects any of the markers 36a, 36b, 36c, and 36d from the image acquired in step S153 by pattern matching using the feature amount shown in the marker table 122. The image analysis unit 140a identifies the type and position coordinates of the detected marker.

  [Step S155] The angle calculation unit 150a forms an angle between the straight line connecting the reference coordinate and the rotation axis coordinate and the straight line connecting the rotation axis coordinate and the position coordinate of the marker specified in step S154 (center of the marker). Angle indicating the deviation from) is calculated.

[Step S156] The angle calculation unit 150a calculates the angular displacement θ _h in the horizontal direction by adding the angle calculated in step S155 to the angle corresponding to the type of the marker specified in step S154.

[Step S157] The angle calculation unit 150a notifies the host computer 300 of the horizontal angular displacement θ _h calculated in step S156.
[Step S158] The rotation command unit 330 acquires the horizontal angular displacement θ _h ^* indicated by the current angular displacement 321.

[Step S159] The rotation command unit 330 determines whether the absolute value of the difference between θ _h and θ _h ^* (| θ _h −θ _h ^* |) is equal to or greater than a threshold value. If the rotation command unit 330 determines that the absolute value of the difference between θ _h and θ _h ^* is greater than or equal to the threshold value, the process proceeds to step S160. If the rotation command unit 330 determines that the absolute value of the difference between θ _h and θ _h ^* is less than the threshold value, the process ends.

[Step S160] The rotation command unit 330 sets the horizontal angular displacement indicated by the current angular displacement 321 to θ _h .
In this way, each time the motors 32a and 32b rotate, the horizontal angular displacement is calculated, and the horizontal angular displacement is calibrated by the calculated angular displacement. As a result, the horizontal angular displacement is calibrated without returning the horizontal angular displacement to 0 [°]. Therefore, it becomes possible to calibrate the angular displacement while using the speaker 33.

  According to the third embodiment, the accuracy of the information indicating the current orientation of the speaker 33 is improved, as in the second embodiment. Furthermore, in the third embodiment, when horizontal rotation occurs, the horizontal angular displacement is calculated and the calculated angular displacement is notified to the host computer 300. This allows the angular displacement to be calibrated while using the speaker 33.

[Fourth Embodiment]
Next, a fourth embodiment will be described. In the fourth embodiment, the rotation control device controls the angular displacement in the horizontal direction. The procedure of the fourth embodiment will be described below using the same reference numerals as those in the third embodiment.

FIG. 21 is a flowchart showing an example of the procedure of angular displacement control. Hereinafter, the process illustrated in FIG. 21 will be described in order of step number.
[Step S171] The rotation command unit 330 notifies the rotation control device 100a of the target angle φ _h .

[Step S172] The motor control unit 130 starts the rotation of the motor 32a.
[Step S173] The image analysis unit 140a acquires a camera image captured by the camera 31.

  [Step S174] The image analysis unit 140a detects any of the markers 36a, 36b, 36c, and 36d from the image acquired in step S173 by pattern matching using the feature amount shown in the marker table 122. The image analysis unit 140a identifies the type and position coordinates of the detected marker.

  [Step S175] The angle calculation unit 150a makes an angle between the straight line connecting the reference coordinate and the rotation axis coordinate and the straight line connecting the rotation axis coordinate and the position coordinate of the marker specified in step S174 (the center of the marker). Angle indicating the deviation from) is calculated.

[Step S176] The angle calculation unit 150a calculates the angular displacement θ _h in the horizontal direction by adding the angle calculated in step S175 to the angle corresponding to the type of the marker specified in step S174.

[Step S177] The angle calculation unit 150a determines whether or not the absolute value of the difference between φ _h and θ _h (| φ _h −θ _h |) is less than or equal to the threshold value. When the angle calculation unit 150a determines that the absolute value of the difference between φ _h and θ _h is less than or equal to the threshold value, the process proceeds to step S178. When the angle calculation unit 150a determines that the absolute value of the difference between φ _h and θ _h is larger than the threshold value, the process proceeds to step S173.

[Step S178] The motor control unit 130 stops the rotation of the motor 32a.
[Step S179] The angle calculation unit 150a notifies the host computer 300 of the horizontal angular displacement θ _h calculated in step S176.

[Step S180] The rotation command unit 330 sets the horizontal angular displacement indicated by the current angular displacement 321 to θ _h .
In this way, the angular displacement in the horizontal direction is calculated during the rotation of the motor 32a, and the motor 32a stops when the calculated angular displacement in the horizontal direction reaches the target angle. As a result, the rotation control device 100a can control the angular displacement in the horizontal direction to a desired angle.

  According to the fourth embodiment, similarly to the second embodiment, the accuracy of the information indicating the current orientation of the speaker 33 is improved. Further, in the fourth embodiment, the horizontal angular displacement is calculated during the horizontal rotation, and the horizontal rotation is performed when the absolute value of the difference between the calculated angular displacement and the target angle is equal to or less than the threshold value. Stop. This allows the rotation control device 100a to control the rotation in the horizontal direction.

  Although the embodiment has been illustrated above, the configuration of each unit described in the embodiment can be replaced with another having the same function. Further, other arbitrary components and steps may be added. Further, any two or more configurations (features) of the above-described embodiments may be combined.

1 Speaker 2 Host Computer 3 Rotation Axis 4 Camera 5 Marker 6 Camera Image 7 Coordinate System 10 Information Processing Device 11 Storage Unit 11a Reference Coordinate 11b Rotation Axis Coordinate 12 Processing Unit

Claims (8)

Attached to a speaker direction for emitting sound by angular displacement of the rotation about the rotation axis is determined, the camera moves with the rotation, acquires an image captured by the camera, on the obtained image A processing unit that calculates the angular displacement of the rotation based on a shift between the position where the marker appears and the position where the marker appears when the image is captured by the camera at the predetermined angular displacement of the rotation.
Information processing device having a. The processing unit is a straight line connecting the position of the marker in the coordinate system including the acquired image and the position of the rotation axis in the coordinate system, and the angular displacement of the rotation in the coordinate system is at the predetermined angle. Calculating the angular displacement of the rotation based on an angle formed by a straight line connecting the position of the marker and the position of the rotation axis in the coordinate system shown in the image captured by the camera,
The information processing apparatus according to claim 1 . The processing unit is based on a displacement between a position where the marker appears when an image is captured by the camera at an angular displacement of the rotation at the predetermined angle and a position where the marker appears in the acquired image. , Calculating the angular displacement of the rotation,
The information processing apparatus according to claim 1 . When the angular displacement of the rotation changes, the processing unit calculates the angular displacement of the rotation and notifies the calculated angular displacement to a host computer that controls the rotation.
The information processing apparatus according to claim 1 or 2 wherein. The processing unit calculates the angular displacement of the rotation while the angular displacement of the rotation is changing, and when the absolute value of the difference between the calculated angular displacement and the target angle is equal to or less than a threshold value, the angular displacement of the rotation. Stop the fluctuation of
The information processing apparatus according to claim 1 or 2 wherein. The speaker is a parametric speaker,
The information processing apparatus according to any one of claims 1 to 5. On the computer,
Attached to a speaker, the direction of which sound is determined by angular displacement of rotation about a rotation axis, is attached to a speaker, from a camera that moves with the rotation, acquires an image captured by the camera,
The angular displacement of the rotation is calculated based on the deviation between the position where the marker is captured in the acquired image and the position where the marker is captured when the image is captured by the camera at a predetermined angular displacement of the rotation. calculate,
A program that executes a process. A speaker in which the direction in which sound is emitted is determined by the angular displacement of rotation about the rotation axis;
An image captured by the camera is acquired from a camera that is attached to the speaker and that moves with the rotation, and a position where a marker appears in the acquired image and the angular displacement of the rotation are at a predetermined angle. An information processing device that calculates an angular displacement of the rotation based on a shift from a position where the marker appears when an image is captured by a camera ,
A host computer that controls the rotation and calibrates the angular displacement of the rotation based on the calculated angular displacement;
Information processing system having.

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