CN100466011C - Electric evidence obtaining for vehicle breaking rule to whistle, electric policeman system and evidence obtaining method - Google Patents
Electric evidence obtaining for vehicle breaking rule to whistle, electric policeman system and evidence obtaining method Download PDFInfo
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- CN100466011C CN100466011C CNB2007100571830A CN200710057183A CN100466011C CN 100466011 C CN100466011 C CN 100466011C CN B2007100571830 A CNB2007100571830 A CN B2007100571830A CN 200710057183 A CN200710057183 A CN 200710057183A CN 100466011 C CN100466011 C CN 100466011C
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Abstract
This invention relates to one electron evidence keeping method in traffic management field, which comprises the following steps: fixing camera head and microphone array on road monitor points; collecting the array sound information and each camera receive image information by use of micro processor module and identifying the sound information; if identifying flute sound, basing current time and storing the image information sequence and sound information sequence onto memory; the micro processor sends the flute time image information sequence and sound information sequence for sound source positioning and image information marketing according to microphone array by upper machine.
Description
Technical field
The invention belongs to field of traffic control, more specifically saying so relates to a kind of electronic police system, and relates to the electronic evidence-collecting way that a kind of this system adopts.
Background technology
Along with the development with traffic management technology of improving constantly of scientific and technological level, using electronic equipments such as electronic police and electronic cards jaws equipment to monitor road traffic condition automatically in a large number at traffic block port and crossing is a kind of important means that improves traffic management level.Existing electronic police system is mostly at video evidence obtaining and design, and mainly adopted video acquisition, picture to catch automatically and equipment such as storage automatically.For example, application number is 200610097851 patented claim, the acquisition methods of a kind of vehicles peccancy digital video signal and high-resolution digital photo is proposed, by adopting the technical grade digital camera working in automatically under the control of software under video or the photograph duty, change automatically when realizing breaking rules and regulations and take the purpose that obtains the clear number of degrees sign indicating number of high-resolution photograph.And for example the patent No. is that 200520071856 utility model discloses and a kind ofly is used for that vehicle-mounted inspection is driven over the speed limit, the portable mobile electron police of illegal parking, and its evidence obtaining means adopt video camera and radar.
At present, urban construction and road traffic fast development, the automobile noise of blowing a whistle has become public hazards, has influence on citizen's living quality and city image, has caused that functional department fully payes attention to, and the horn-blowing control rules have all been issued in a lot of cities.But relevant rules of forbidding that automobile is blown a whistle are difficult to the execution of really being implemented, one of them very important reasons be that existing electronic police system can't be obtained certain believable evidence to horning against traffic regulation, and without conclusive evidence be difficult to the management and the law enforcement.Obviously, existing electronic police system can't satisfy the requirement of vehicle horning against traffic regulation evidence obtaining.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of electronic police system that can tightly collect evidence to the vehicle horning against traffic regulation phenomenon is proposed, and the electronic evidence-collecting method that a kind of this kind electronic police system adopts proposed, the electronic police system and the electronic evidence-collecting method that utilize the present invention to propose can carry out automatic evidence-collecting to horning against traffic regulation.
The violation whistling electronic evidence-collecting method for vehicle that the present invention proposes comprises the following steps:
The first step: at road monitoring point camera and Mike's battle array are installed, and it is linked to each other with microprocessor module with video acquisition module by the audio collection module respectively;
Second step: microprocessor module is gathered the acoustic information of Mike's battle array reception in real time with the image information of each camera reception and with its temporary transient preservation;
The 3rd step: microprocessor module carries out whistling identification to the acoustic information that is collected in real time, if recognize whistling, is benchmark with time at that time then, stores into image information sequence and the acoustic information sequence that receives in this time period of blowing a whistle in the storer respectively;
The 4th step: microprocessor transmits image information sequence and the acoustic information sequence that this section blown a whistle and received in the time to host computer;
The 5th step: host computer carries out auditory localization according to the acoustic information from the collection of Mike's battle array;
The 6th step: the whistling sound source position that host computer calculates according to the relative position relation between Mike's battle array and the camera and previous step, mark whistling sound source position on the image information of being gathered.
The invention allows for the technical scheme of the electronic evidence-collecting device that adopts this kind method:
A kind of electronic evidence-collecting device, comprise Mike's battle array, audio collection module, camera, video acquisition module, microprocessor module and the storer that is subjected to the control of microprocessor, wherein Mike's battle array is made of two or more microphones, links to each other with microprocessor module by the audio collection module; At least one camera links to each other with microprocessor module by video acquisition module; Microprocessor module according to the acoustic information Real time identification automobile whistling of gathering from Mike's battle array, and stores image information sequence and the acoustic information sequence that receives in each time period of blowing a whistle in the storer into respectively.
As replenishing of technique scheme, microprocessor module can also carry out auditory localization according to the relative position relation between Mike's battle array and the camera with from the acoustic information of Mike's battle array collection, the whistling sound source position is labeled on the image information of being gathered, and the image information behind the storage mark.
In order to make the whistling auditory localization more accurate, the electronic evidence-collecting device can also comprise wind transducer and air velocity transducer, and microprocessor module is to the whistling auditory localization time, and the wind speed and direction information of utilizing the time period of blowing a whistle to gather compensates auditory localization.
The present invention is based on above-mentioned electronic evidence-collecting device, the complete violation whistling electronic police system for vehicle of one cover is also proposed, this system comprises Mike's battle array, audio collection module, camera, video acquisition module, microprocessor module, information transmission interface, host computer and the storer that is subjected to the control of microprocessor, wherein Mike's battle array is made of two or more microphones, links to each other with microprocessor module by the audio collection module; At least one camera links to each other with microprocessor module by video acquisition module; Microprocessor module according to the acoustic information Real time identification automobile whistling of gathering from Mike's battle array, and stores image information sequence and the acoustic information sequence that receives in each time period of blowing a whistle in the storer into respectively.
Electronic police system of the present invention can also have auditory localization and image labeling function, auditory localization and image labeling function can be finished by microprocessor module: microprocessor module carries out auditory localization according to the relative position relation between Mike's battle array and the camera with from the acoustic information of Mike's battle array collection, and the whistling sound source position is labeled on the image information of being gathered.
Realize being difficult to degree and the consideration of equipment cost aspect from technology, as preferred embodiment more, auditory localization and image labeling function are preferably finished by host computer: by information transmission interface each that stored blown a whistle the image information sequence of time period and acoustic information sequence transmission to host computer by microprocessor module, host computer carries out auditory localization according to the relative position relation between Mike's battle array and the camera with from the acoustic information of Mike's battle array collection, the whistling sound source position is labeled on the image information of being gathered, and the image information behind the storage mark.
In order to make auditory localization more accurate, violation whistling electronic police system for vehicle can also comprise wind transducer and air velocity transducer, microprocessor module or host computer are to the whistling auditory localization time, and the wind speed and direction information of utilizing the time period of blowing a whistle to gather compensates auditory localization.
The present invention has following beneficial effect:
The present invention has thoroughly solved the difficult problem of horning against traffic regulation punishment evidence obtaining, the evidence that collects horning against traffic regulation that not only can strict logic, and automatic violation whistling electronic police system is provided.A lot of traffic hazards all are accompanied by the sound of blowing a whistle, so violation whistling electronic police system provided by the invention also has indirect accident record function.
Description of drawings
The structural representation of Fig. 1 detector of the present invention.Among the figure, the 1st, support, the 2nd, link frame, the 3,4, the 5th, video camera, 6,7,8, the 9th, microphone, the 10th, air velocity transducer 11 is wind transducers.
The structured flowchart of Fig. 2 violation whistling electronic police system for vehicle of the present invention.
Fig. 3 violation whistling electronic evidence-collecting method for vehicle process flow diagram of the present invention.
Fig. 4-8 is the circuit theory diagrams of the embodiment of the invention.
Embodiment
Mike's battle array comprises a plurality of microphone arrangement with certain predetermined layout, and these microphones are used for catching from all directions and originate from the sound wave of the different point in space, and Mike's battle array is generally used for speech processing system.Speech processing system is when going back original sound, needs for elimination neighbourhood noise etc., the needs basis is carried out auditory localization from the voice messaging of each sound channel of Mike's battle array collection, seeking the direction of pointing to sound source has play a part important in spatial filtering, in some cases, the direction of sensing sound source is used to the aftertreatment of the sound signal of speaker's tracking and record.Carry out auditory localization by Mike's battle array, prior art has had multiple application mode.For example patent of invention 02800828.6 discloses a kind of method and apparatus that is used for video conference system, and it adopts the array that comprises two microphones and stillcamera automatically to find out speaker's position and electricity operation video image to produce the effect of movable translation-inclination-convergent-divergent (" PTZ ") camera.Adopt computer vision algorithms make to detect, locate and follow the trail of personage in the visual field of the stillcamera that is in wide-angle.Employing includes only the microphone array of the microphone of opening two horizontal intervals as the auditory localization device, and the estimation sound lag of utilizing this microphone array to obtain is selected just the talker.The multichannel audio information that the present invention also utilizes Mike's battle array to collect is carried out auditory localization.
The detector that the present invention adopts as shown in Figure 1,3 cameras (3,4,5) and 4 microphones (6,7,8,9) be installed in jointly on the same support 1,4 microphones are connected with support 1 by link frame 2 respectively, wherein microphone 6, microphone 7, microphone 8 horizontal positioned, the central point 80cm of distance bracket 1, common formation Mike battle array, camera 3, camera 4, camera 5 also is installed on the support 1, camera 3, camera 4, camera 5, microphone 6, microphone 7, microphone 8 is staggered the installation on same surface level, each adjacent camera becomes 60 degree angles respectively with microphone link frame 2, and microphone 9 is installed in the central point vertical direction 80cm place of support 1.
In the present embodiment, 3 cameras and Mike's battle array are integrated on the same support, in the practical application, also can distinguish independent installation.But install in any case, system when carrying out auditory localization and image labeling, the relative position information of each microphone and the relative position information of Mike's battle array and each camera in the Mike's battle array that all needs to know for sure.The present invention also installs air velocity transducer 10 and wind transducer 11 in cantilever tip.The wind speed and direction sensor is not the necessary electron device of the embodiment of the invention, and utilizing their collection wind directions and wind velocity signal purpose is in order more accurately to carry out the auditory localization compensation.
Fig. 2 is the structured flowchart of violation whistling electronic police system for vehicle of the present invention.Violation whistling electronic police system for vehicle of the present invention comprises the electronic evidence-collecting device that can be installed in the road monitoring point and is used for computing, determines sound source position and carries out computing machine (or being called host computer) two parts of image labeling that the electronic evidence-collecting device comprises Mike's battle array, audio collection module, one or more camera, video acquisition module, microprocessor module, storer etc.Mike's battle array links to each other with microprocessor module by the audio collection module; One or more cameras link to each other with microprocessor module by video acquisition module.
Microprocessor module is according to the acoustic information Real time identification automobile whistling of gathering from Mike's battle array, and image information sequence and the acoustic information sequence that receives in each time period of blowing a whistle stored in the storer respectively.The definition of the time period of blowing a whistle here is: to recognize the moment that whistling violating the regulations exists is time reference, one period blink of intercepting after this moment, as one minute, perhaps before this moment and intercept one period blink afterwards, each 30 second before and after for example getting.Microprocessor module can have multiple way of realization, for example, utilizes single-chip microcomputer as master controller, utilizes DSP or voice recognition chip to finish identification to the vehicle horning against traffic regulation whistling.
The sound identifying function of microprocessor module is to realize like this, at first the acoustical signature of blowing a whistle of various vehicles is extracted and set up the voice recognition model database of blowing a whistle, and it is pre-deposited the microprocessor that is used for whistling identification in the electronic evidence-collecting device, in DSP or voice recognition chip.When the microprocessor that is used for whistling identification carries out real-time whistling identification, whether the sound of the surrounding environment that at least one microphone in the Mike's battle array that collects is picked up is compared with the voice recognition model database of blowing a whistle, have vehicle to blow a whistle in the surrounding environment this moment thereby judge.If not then continue identification, if have, it then is benchmark with the current time, the image of this time period and the wind speed and direction information (if using the wind speed and direction sensor) of acoustic information (the multichannel digital sound information of Mike's battle array) and air velocity transducer and wind transducer record are stored in the storer, continue then the acoustic information in the surrounding environment is carried out Real time identification.
The electronic evidence-collecting device is installed in road monitoring point place, data communication interface between electronic evidence-collecting device and the computing machine can be designed to various ways, for example, if near road monitoring point, be provided as the industrial computer of host computer, electronic evidence-collecting device and industrial computer can pass through RS233 between the two, communications such as USB, receive the acoustic information and the image information that collect in each time period of blowing a whistle that the transmission of electronic evidence-collecting device comes by industrial computer, and carry out whistling auditory localization and image labeling, at this moment, industrial computer is called host computer for the microprocessor module of electronic evidence-collecting device.Industrial computer carries out data communication by the control center of cable network or wireless network and vehicle supervision department again.If host computer is not set near the road monitoring point, as the computer installation of host computer control center in vehicle supervision department, the electronic evidence-collecting device can also pass through industrial field bus, Ethernet interface communication or adopt communication and compunication, the image information sequence and the acoustic information sequence that receive in the time period is blown a whistle in the computing machine transmission can be handled also transmission process at times in real time.In this case by the computer realization auditory localization and the image labeling function that are arranged in the control center of vehicle supervision department.
Host computer is handled the blow a whistle information of time period of each group, the process of handling comprises two steps, at first the whistling sound source that goes out to blow a whistle of the installation site information calculations by Mike's battle array and the three dimensions relative position relation of Mike's battle array, the location algorithm principle that the embodiment of the invention adopts is as follows:
Four identical microphone S
1, S
2, S
3, S
4Be placed in the measured zone, these sensor location coordinates are respectively S
1(x
1, y
1, z
1), S
2(x
2, y
2, z
2), S
3(x
3, y
3, z
3), S
4(x
4, y
4, z
4).(when z) having located the sound source generation, sound wave passes to microphone to arbitrfary point T in measured zone, produces four acoustical signal S respectively for x, y
1(t), S
2(t), S
3(t) S
4(t).Microprocessor on each microphone is at first carved t
1, t
2, t
3, t
4, and give host computer.The real time that sound source arrives four microphones is t
p+ t
1, t
p+ t
2, t
p+ t
3, t
p+ t
4T wherein
pFor sound event began to four times that microphone begins to sample simultaneously of supposition, four microphones need have same sampling time benchmark.Host computer is gathered simultaneously from the other wind speed of measured zone, the signal of wind transducer, and obtains local wind vector V
w(v
x, v
y, v
z).Also can obtain local sound propagation velocity C by suitable sensor host computer.So following system of equations (1) is arranged to be set up
(x
1-x)
2+(y
1-y)
2+(z
1-z)
2＝[(c+v
1)·(t
P+t
1)]
2
(x
2-x)
2+(y
2-y)
2+(z
2-z)
2＝[(c+v
2)·(t
p+t
2)]
2
(x
3-x)
2+(y
3-y)
2+(z
3-z)
2＝[(c+v
3)·(t
p+t
3)]
2
(x
4-x)
2+(y
4-y)
2+(z
4-z)
2＝[(c+v
4)·(t
p+t
4)]
2
(1)
V wherein
1, v
2, v
3, v
4Be respectively wind vector V
w(v
x, v
y, v
z) at vector TS
1,TS
2, TS
3, TS
4On projection.They are calculated by relational expression (2).
System of equations (1) is carried out cancellation t
pProcessing, obtain system of equations (3)
(3)
T wherein
21=t
2-t
1, t
31=t
3-t
1, t
41=t
4-t
1, constitute sound source time corresponding difference vector Δ T
m(t
21, t
31, t
41).
System of equations (3) is about variable x, y, z, equation of higher degree group, the mistiming vector Δ T of the corresponding sound source position that obtains by observation
m(t
21, t
31, t
41) can in the hope of the position T of sound source (x, y, y).For four microphone position coordinates arbitrarily, wind speed V
wAnd local velocity of sound C, find the solution with numerical solution.
Above equation passes through numerical methods of solving by host computer, draw the sound source position coordinate, the acoustical signal of being accepted on each microphone with Mike's battle array carry out suitable digital signal processing and calculate signal characteristic peaks constantly the substitution equation all by host computer automatically operation finish.When considering implementation cost air velocity transducer and wind transducer can be installed, wind speed is brought calculating into 0 value.
After obtaining the position coordinates of whistling sound source, use three dimensional virtual technique to come out the locus of point source of sound is virtual by the relative position relation between Mike's battle array and the camera, utilize camera position information and angle lens information to make the Softcam visual angle, use virtual technology with the virtual sound source position point that comes out of virtual camera visual angle shooting, draw this two dimensional image on the camera photographic images, obtain this two-dimensional coordinate on the camera photographic images, this coordinate is marked on the image of the camera real scene shooting of (calculating the moment of the employed acoustic information of sound source position) with constantly.The vehicle of whistling sound source position mark is exactly the vehicle of blowing a whistle at that time on the image.The time and space consistance that Here it is utilizes acoustics position judgment and optical position to judge.
The detector of present embodiment adopts the Mike's battle array that is made of four microphones, and in actual applications, the number of microphone is not fixed, the minimum Mike's battle array that is made of two microphones can be arranged to, patent of invention 02800828.6 as mentioned above.In the prior art, the number that is used for the microphone of auditory localization has had 6,8 etc., and its space layout mode also is diversified.Generally speaking, distance should not be too near between the microphone in Mike's battle array, and during apart from each other, antijamming capability is stronger, and it is many more that the number of microphone is provided with, the acoustic information that may obtain also many more, auditory localization also can be more accurate.
In the present embodiment, the electronic evidence-collecting device just is used for discerning whistling, and an acoustic information and an image information of gathering with each time period of blowing a whistle be transferred in the host computer, is finished the function of auditory localization and image labeling by the host computer machine.In actual applications, if the microprocessor module of electronic evidence-collecting device designs the DSP that special execution auditory localization and image labeling function are arranged in addition, if add controlled zoom camera and controlled The Cloud Terrace, the electronic evidence-collecting device just can be controlled camera at that time sound source was carried out track up more accurately, detail characteristic with the vehicle that obtains more to blow a whistle, more help the law enforcement of traffic control department, what store in the storer so is exactly more accurate sound source position information and be not only multichannel digital audio signal, can be transferred to host computer by various data transfer meanses equally certainly and carry out image labeling and handle.
Traffic control department can punish the vehicle that is marked according to the mark on each camera image in accordance with the law, seeks the detail characteristics such as license plate numbers that are marked vehicle from image.
Physical circuit is realized referring to seeing Fig. 4-8.
Present embodiment adopts the dual micro processor structure: master controller is C8051F040, utilizes voice recognition chip HL7300 to carry out voice recognition, and storage chip is FLASH, and the USB communication chip is C8051F340.
1) P4.7 of C8051F040～4.0 pin, P5.0～5.2 foot control system voice recognition chips operation, P5.4～P5.7, P6.0～6.7 are read voice recognition data and are deposited single-chip microcomputer in.P1.0～P1.7 is a FLASH storer control port, and P2.0～2.7 are the FLASH FPDP.P0.0～0.1 is and C8051F340 serial communication interface, receive No. four microphones (MIC0, MIC1, MIC2, MIC3) acquired signal and carry out AD by interface (18～21) and be converted to digital signal and handle and store, the data of single-chip microcomputer (52～54 pin) receiver, video capture card are handled and are stored.
2) speech recognition circuit is formed with master chip HL7003, and the speech recognition circuit that HL7003 forms has two kinds of main operator schemes: word logging mode and word recognition mode.Except these two kinds of patterns, HL7003 can also detect button and produce output signal in signal.All operation is all handled by the HL7003 internal processes, any in No. four microphones leaded up to circuit and inserted 27 pin of HL7003, P4.7～4.0 ports by single-chip microcomputer C8051F040, P5.0～5.2 port controlling voice recognition chips operation, C8051F040 also controls the storage of signal by the recognition result of HL7003.
3) FLASH is a mass-memory unit, is used to store the sound data file relevant with the whistling that recognizes.
4) the C8051F340 chip is used for the USB communication, by USB interface with as the computing machine communications exchange data of host computer.
Need to prove, the invention belongs to a kind of component invention, be a kind of innovation and creation that on technology is used, have novelty, wherein related Mike's battle array, camera, wind direction and air velocity transducer, video acquisition module, image capture module, voice recognition technology, auditory localization technology, image labeling technology etc. all belong to prior art and existing various ways and application.Here the detailed explanation that just has been center deployment with embodiments of the invention, the imbody of described optimal way or some characteristic, should be understood to this instructions only is to describe the present invention by the mode that provides embodiment, in fact on some details of forming, construct and using, can change to some extent, comprise the combination and the assembly of parts, these distortion and application all should belong in the scope of the present invention.
Claims (6)
1. electronic evidence-collecting device, the storer that comprises Mike's battle array, audio collection module, camera, video acquisition module, microprocessor module and be subjected to microprocessor module control, wherein,
Mike's battle array is made of two or more microphones, links to each other with microprocessor module by the audio collection module;
At least one camera links to each other with microprocessor module by video acquisition module;
Microprocessor module, according to the acoustic information Real time identification automobile whistling of gathering from Mike's battle array, store into the image information sequence and the acoustic information sequence that receive in each time period of blowing a whistle in the storer respectively, and carry out auditory localization according to the relative position relation between Mike's battle array and the camera with from the acoustic information of Mike's battle array collection, the whistling sound source position is labeled on the image information of being gathered in the same time period of blowing a whistle, and the image information behind the storage mark.
2. electronic evidence-collecting device according to claim 1, it is characterized in that, described electronic evidence-collecting device also comprises wind transducer and air velocity transducer, and microprocessor module is to the whistling auditory localization time, and the wind speed and direction information of utilizing the time period of blowing a whistle to gather compensates auditory localization.
3. violation whistling electronic police system for vehicle, the storer that comprises Mike's battle array, audio collection module, camera, video acquisition module, microprocessor module, information transmission interface, host computer and be subjected to microprocessor module control, wherein, Mike's battle array is made of two or more microphones, links to each other with microprocessor module by the audio collection module;
At least one camera links to each other with microprocessor module by video acquisition module;
Microprocessor module, according to the acoustic information Real time identification automobile whistling of gathering from Mike's battle array, store into the image information sequence and the acoustic information sequence that receive in each time period of blowing a whistle in the storer respectively, and carry out auditory localization according to the relative position relation between Mike's battle array and the camera with from the acoustic information of Mike's battle array collection, the whistling sound source position is labeled on the image information of being gathered in the same time period of blowing a whistle, and the image information behind the storage mark.
4. violation whistling electronic police system for vehicle according to claim 3, it is characterized in that, microprocessor module is blown a whistle the image information sequence of time period and acoustic information sequence transmission to host computer by information transmission interface with each that stored, host computer replaces microprocessor module to carry out auditory localization according to the relative position relation between Mike's battle array and the camera with from the acoustic information of Mike's battle array collection, the whistling sound source position is labeled on the image information of being gathered in the same time period of blowing a whistle, and the image information behind the storage mark.
5. according to claim 3 or 4 described violation whistling electronic police system for vehicle, it is characterized in that, described violation whistling electronic police system for vehicle also comprises wind transducer and air velocity transducer, microprocessor module or host computer are to the whistling auditory localization time, and the wind speed and direction information of utilizing the time period of blowing a whistle to gather compensates auditory localization.
6. a violation whistling electronic evidence-collecting method for vehicle comprises the following steps:
The first step: at road monitoring point camera and Mike's battle array are installed, and it is linked to each other with microprocessor module with the audio collection module by video acquisition module respectively;
Second step: microprocessor module is gathered the acoustic information of Mike's battle array reception in real time with the image information of each camera reception and with its temporary transient preservation;
The 3rd step: microprocessor module carries out whistling identification to the acoustic information that is collected in real time, if recognize whistling, is benchmark with time at that time then, stores into image information sequence and the acoustic information sequence that receives in this time period of blowing a whistle in the storer respectively;
The 4th step: image information sequence that microprocessor module receives in host computer transmits this time period of blowing a whistle and acoustic information sequence;
The 5th step: host computer carries out auditory localization according to the acoustic information from the collection of Mike's battle array;
The 6th step: the whistling sound source position that host computer calculates according to the relative position relation between Mike's battle array and the camera and previous step, mark whistling sound source position on the image information of being gathered.
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| CNB2007100571830A CN100466011C (en) | 2007-04-23 | 2007-04-23 | Electric evidence obtaining for vehicle breaking rule to whistle, electric policeman system and evidence obtaining method |
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| CNB2007100571830A CN100466011C (en) | 2007-04-23 | 2007-04-23 | Electric evidence obtaining for vehicle breaking rule to whistle, electric policeman system and evidence obtaining method |
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| US5047995A (en) * | 1980-01-17 | 1991-09-10 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Detection of moving objects |
| JP2001023079A (en) * | 1999-07-05 | 2001-01-26 | Matsushita Electric Ind Co Ltd | Device for recognizing and warning violation vehicle |
| CN1300042A (en) * | 1999-12-14 | 2001-06-20 | 松下电器产业株式会社 | Method and apparatus for parallelly deducing multiple sound source direction and monitoring sound grade of every moving sound source |
-
2007
- 2007-04-23 CN CNB2007100571830A patent/CN100466011C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5047995A (en) * | 1980-01-17 | 1991-09-10 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Detection of moving objects |
| JP2001023079A (en) * | 1999-07-05 | 2001-01-26 | Matsushita Electric Ind Co Ltd | Device for recognizing and warning violation vehicle |
| CN1300042A (en) * | 1999-12-14 | 2001-06-20 | 松下电器产业株式会社 | Method and apparatus for parallelly deducing multiple sound source direction and monitoring sound grade of every moving sound source |
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| CN101042803A (en) | 2007-09-26 |
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