CN105548955A - Rapid indoor sound source positioning device and method - Google Patents
Rapid indoor sound source positioning device and method Download PDFInfo
- Publication number
- CN105548955A CN105548955A CN201610122938.XA CN201610122938A CN105548955A CN 105548955 A CN105548955 A CN 105548955A CN 201610122938 A CN201610122938 A CN 201610122938A CN 105548955 A CN105548955 A CN 105548955A
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- microphone
- sound source
- microphone sensor
- convergence face
- acoustic field
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
- G01S3/803—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from receiving transducers or transducer systems having differently-oriented directivity characteristics
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Circuit For Audible Band Transducer (AREA)
Abstract
The invention provides a rapid indoor sound source positioning device which comprises a microphone sensor array. The microphone sensor array is formed by compactly installing at least four microphone sensors back to back. The sum of the pointing angles of all the microphone sensors is 360 degrees. The intersection of the axis of each microphone sensor and the wall surface is provided with a matched convergence face which can reflect sound field signals radiated on the convergence face by a sound source to the microphone sensor. The device has the advantages that compared with the prior art, the requirement for the distances between microphones in a microphone array is low, the space required by the microphone array can be effectively reduced, and the sound source of a small device is positioned; sound field signals are collected by the reflecting faces, and therefore the influences of shielding on the measurement precision are effectively reduced; the device is higher in positioning speed, more accurate in positioning and higher in interference resistant capacity.
Description
Technical field
The present invention relates to a kind of localization method and device of sound source, especially a kind of location of indoor sound source.
Background technology
Sound source detection in recent years and location technology obtain tremendous development, and microphone array signal processing technology is also ripe day by day, has occurred a series of sonic location system based on microphone array.According to positioning principle classification, current sensor array location technology mainly contains three classes: 1) the controlled velocity of wave formation technology of peak power output; 2) High-Resolution Spectral Estimation technology; 3) based on the technology of difference time of arrival.Controlled velocity of wave technology needs to have the priori such as sound source and neighbourhood noise, so it is larger to realize difficulty.The calculated amount of High-Resolution Spectral Estimation technology is comparatively large, when number of sensors is more, can not realize real-time location.Based on time of arrival, the localization method of difference has the little feature of calculated amount, but it there are certain requirements the placement distance tool between sensor, usually require the distance between sensor to be greater than 0.5m and do not exist to block, be not suitable for the indoor auditory localization of mini-plant in this way.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of quick indoor sound source direction device, comprise microphone sensor array, described microphone sensor array by least 4 microphone sensor back-to-back compact installation form, the orientation angle sum of all microphone sensor is 360 °, the axis of each microphone sensor and metope intersection, be also provided with the convergence face matched, and the acoustic field signal on sound source radiation to convergence face can be reflexed to microphone sensor by described convergence face.
On the basis of such scheme, described convergence face is in bowl-shape, and convergence face and body of wall adopt different materials.
At the orientation method of above-mentioned a kind of quick indoor sound source direction device, its step is as follows:
Each microphone sensor obtains acoustic field signal,
Calculate intensity and the time delay of each acoustic field signal,
The intensity of more each acoustic field signal and time delay,
Determine the Sounnd source direction of acoustic field signal.
The invention has the advantages that: compared to prior art, the present invention is low to the required distance in microphone array between microphone, effectively can reduce microphone array requisite space volume, realize the auditory localization of mini-plant; Adopt reflecting surface to gather acoustic field signal, effectively lower the impact of blocking measuring accuracy; Locating speed of the present invention is faster, and location is more accurate, and jamproof ability is stronger.
Accompanying drawing explanation
Fig. 1 is microphone sensor array structure schematic diagram;
Fig. 2 is principle of the invention schematic diagram;
Fig. 3 is microphone sensor definition procedure schematic diagram.
Description of reference numerals:
1-sound source; 2-microphone sensor array; 3-converges face; 4-metope; 5-sound source path one; 6-sound source path two; 7-sound source path three;
21-microphone; 22-No. bis-microphones; 23-No. tri-microphones; 24-No. tetra-microphones.
Embodiment
Below in conjunction with concrete case study on implementation, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
The present invention relates to and the invention provides a kind of quick indoor sound source direction device, comprise microphone sensor array, described microphone sensor array by least 4 microphone sensor back-to-back compact installation form, the orientation angle sum of all microphone sensor is 360 °, the axis of each microphone sensor and metope intersection, also be provided with the convergence face matched, the acoustic field signal on sound source radiation to convergence face can be reflexed to microphone sensor by described convergence face.
Described convergence face is in bowl-shape, and convergence face and body of wall adopt different materials.
Example is orientated as with the sound source 1 in rectangular room.As shown in Figure 1, this programme adopts 4 microphone composition microphone sensor arrays 2, and microphone has less guide angle, and guide angle is 90 degree.One to No. four microphone is settled dorsad, and the conduction angle of the microphone array of its composition covers 360 degree.Microphone output terminal is connected with audio codec.Audio codec does A/D conversion to simulated audio signal, forms digital signal sequences.Audio codec output signal is imported into digital signal processing chip, and then positions Sounnd source direction.
Relative position relation between face and microphone is converged as shown in Figure 2 in this example.Using four microphones axially with the interface point of metope as installation site, face of converging, bowl-shape convergence face is installed in this position, and the distance between this convergence face curvature to convergence face to its corresponding microphone is relevant.If each convergence face is respectively f1 to the distance of corresponding microphone sensor, f2, f3 and f4.Acoustic field signal on sound source radiation to convergence face is reflexed to microphone by convergence face.
Positioning unit is made up of digital processing chip and accessory circuit thereof.Positioning unit is gathered by digital processing chip control data, and to collecting data and acquisition time stores.
Further, at the orientation method of above-mentioned a kind of quick indoor sound source direction device, its step is as follows:
Each microphone sensor obtains acoustic field signal,
Calculate intensity and the time delay of each acoustic field signal,
The intensity of more each acoustic field signal and time delay,
Determine the Sounnd source direction of acoustic field signal.
Microphone array shown in Fig. 1 is positioned over position shown in Fig. 2, one microphone 21 towards directly over, No. two Mike 22 wind towards right side, No. three microphones 23 towards immediately below, No. four microphones 24 are towards left side.
First analyze for a microphone 21 towards sound source, sound-filed simulation model ideally can use spherical description.But in the indoor environment shown in Fig. 2, metope meeting reflected sound field signal, makes sound-filed simulation no longer meet spherical distribution.Microphone can not only receive sound source 1 along path 1 the direct sound signal come of transmission, the sound signal in path 26 that metope and the convergence face refraction of layout return and path 37 can also be received.Except directly incident except the voice signal in path 1, the sonic transmissions distance of other reflection paths will much larger than path 1.Due to the attenuation that air and metope transmit sound field, so the sound field intensity transmitted through general reflection paths will far below direct projection sound field intensity.Convergence face adopts the medium different from metope, has lower absorption coefficient, and the acoustic field signal of adjacent area is converged a sub microphone 21 by its profile design, so the intensity of voice signal through path 26 will significantly be greater than other reflected acoustic signal.The principal component of the voice signal received by a microphone 21 is the voice signal transmitted along path one and path two, and weak signal of other reflection can be regarded as ground unrest, can adopt the method in addition filtering of digital filtering.
The voice signal transmitted by path 1 and path 26 so that a microphone 21 receives:
Through path 1, signal transmission is
Through path 26, signal transmission is
Wherein
,
for the audio damping of different transmission channel,
with
for environment additive noise,
for sound-source signal,
with
for the time delay in path 1 and 2.
Voice signal received by two, three, No. four microphones 22,23,24 of sound source is dorsad analyzed
The signal that the design receives for No. four microphones 24.The reflected signal in the convergence face that No. four microphones 24 only can receive and diffuse signal.Because the intensity of irreflexive voice signal will much smaller than the voice signal transmitted through path 37, so the voice signal transferring to No. four microphones 24 through path 37 can be stated as
Through path 37, signal transmission is
Further, the coarseness analysis in sound field direction, if the principal component having more than in certain microphones to voice signal, then sound source is in the received field of this microphone.In this example, sound field is in the range of receiving of a microphone 21, is namely in the angle of 45 ° to 135 °.
By calculating
with
signal coherency
estimate that the delay inequality of the voice signal received by a microphone is
.Process is as follows
According to
value, can which be direct path in decision paths 1 and path 26.In this example, path 1 is the direct path of a microphone 21.
Due to the directionality of microphone, the strongest acoustic field signal shown in Fig. 2 received by No. four microphones 24 is the reflected signal of metope.Although the physical distance of a microphone 21 and No. four microphones 24 is comparatively near, the voice signal received by them length through path significantly different.In like manner the path of acoustic field signal that arrives of each microphones and delay inequality all can be significantly different.
The fine granularity analysis in further sound field direction, on the basis in coarseness detection sound field direction, then locates Sounnd source direction further.For 45 ° to 135 ° angles pointed by a microphone 21.For determining the time delay situation that sound source is positioned at 45 ° to 90 ° regions or 90 ° to 135 ° regions and also needs to detect further No. two microphones 22 and No. four microphones 24 further.
By detecting sound coherence received by a microphone and No. four microphones, can judge that sound through the time delay of different path transmission is
In like manner, a microphone 21 can be obtained and the signal time delay received by No. two microphones 22 is
When
time, differentiate that sound source is positioned at 45 ° to 90 ° regions
When
time, differentiate that sound source is positioned at 90 ° to 135 ° regions
Further, increase the quantity of microphone sensor, reduce the receiving area of each microphone, the angle residing for sound source can be differentiated more accurately.
Claims (3)
1. a quick indoor sound source direction device, comprise microphone sensor array, it is characterized in that, described microphone sensor array by least 4 microphone sensor back-to-back compact installation form, the orientation angle sum of all microphone sensor is 360 °, the axis of each microphone sensor and metope intersection, be also provided with the convergence face matched, and the acoustic field signal on sound source radiation to convergence face can be reflexed to microphone sensor by described convergence face.
2. the quick indoor sound source direction device of one according to claim 1, is characterized in that, described convergence face is in bowl-shape, and convergence face and body of wall adopt different materials.
3. the orientation method of a kind of quick indoor sound source direction device according to claim 1, its step is as follows:
Each microphone sensor obtains acoustic field signal,
Calculate intensity and the time delay of each acoustic field signal,
The intensity of more each acoustic field signal and time delay,
Determine the Sounnd source direction of acoustic field signal.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110718236A (en) * | 2019-10-12 | 2020-01-21 | 吴郁君 | Urban environment big data comprehensive collaborative management operation platform |
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| CN105190351A (en) * | 2013-03-13 | 2015-12-23 | 英特尔公司 | Sonic-assisted localization of wireless devices |
| EP2991382A1 (en) * | 2014-08-29 | 2016-03-02 | Huawei Technologies Co., Ltd. | Sound signal processing method and apparatus |
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| CN1777819A (en) * | 2003-04-22 | 2006-05-24 | 皇家飞利浦电子股份有限公司 | Object position estimation system, apparatus and method |
| WO2006013512A1 (en) * | 2004-07-26 | 2006-02-09 | Koninklijke Philips Electronics, N.V. | Low cost acoustic responder location system |
| CN102227918A (en) * | 2008-12-17 | 2011-10-26 | 雅马哈株式会社 | Sound collection device |
| CN102378918A (en) * | 2009-01-20 | 2012-03-14 | 索尼特技术公司 | Acoustic position-determination system |
| CN202135299U (en) * | 2011-07-05 | 2012-02-01 | 江苏华博创意产业有限公司 | Columnar focused directional sound box |
| CN105190351A (en) * | 2013-03-13 | 2015-12-23 | 英特尔公司 | Sonic-assisted localization of wireless devices |
| EP2991382A1 (en) * | 2014-08-29 | 2016-03-02 | Huawei Technologies Co., Ltd. | Sound signal processing method and apparatus |
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Application publication date: 20160504 |