Sound emitting and collecting apparatus
A sound emitting and collecting apparatus that can accomplish stable echo removal if the relative positions of a loudspeaker and a microphone change is provided. A control section 52 inputs information of an arm rotation angle from a sensor 54 . The control section 52 reads the filter coefficient corresponding to the input rotation angle from memory 53 and sets the coefficient in an adaptive filter 412 A. When the arm rotates, the installing position of a microphone is changed and an acoustic transmission system changes, but a preset (or in the installing environment, updated) filter coefficient is set, whereby stable echo removal can be accomplished.
1. A sound emitting and collecting apparatus comprising:
a sound emitting section that emits a sound based on a sound emitting signal;
a sound collection section that collects a sound and generates a sound collection signal;
an echo canceller having an adaptive filter for filtering the sound emitting signal and generating a pseudo echo signal, the echo canceller subtracting the pseudo echo signal from the sound collection signal to remove an echo component;
a movable section on which the sound collection section is provided;
a detection section that detects a movement and a move amount of the movable section;
a storage section that stores a table defining a relationship between the move amount of the movable section and a filter coefficient of the adaptive filter; and
a setting section, when the detection section detects the movement of the movable section, that inputs the move amount of the movable section from the detection section, reads the filter coefficient corresponding to the move amount of the movable section from the storage section, and sets the read filter coefficient in the adaptive filter,
wherein the echo canceller includes a delay circuit for giving a delay to the sound emitting signal and inputting the delayed signal into the adaptive filter;
wherein the table further defines the relationship between the move amount of the movable section and a delay amount of the delay circuit; and
wherein the setting section reads the delay amount corresponding to the move amount of the movable section from the storage section and sets the read delay amount in the delay circuit.
2. The sound emitting and collecting apparatus according to claim 1 ,
wherein the echo canceller includes a coefficient update section for updating the filter coefficient of the adaptive filter based on the sound emitting signal and a residual signal in which the echo component is removed from the sound collection signal;
wherein the table further defines a relationship between the move amount of the movable section and an update parameter in the coefficient update section, the update parameter for updating the filter coefficient of the adaptive filter; and
wherein the setting section reads the update parameter corresponding to the move amount of the movable section from the storage section and sets the read update parameter in the coefficient update section.