CN103197283B - Auditory localization device based on electrical analogue coupling structure - Google Patents

Abstract

The invention relates to an auditory localization device based on an electrical analogue coupling structure. The auditory localization device comprises an input module, a coupling processing module, an output module and a postprocessing module which are connected in sequence, wherein the input module receives a sound signal and converts the sound signal into a current signal; the coupling processing module amplifies the phase of the current signal of the input module and transfers an amplified voltage signal to the output module; the output module converts the voltage into a digital signal and transfer the digital signal to the postprocessing module; and the postprocessing module calculates azimuth information of a sound source. Compared with the prior art, the auditory localization device has the advantages of compact structure, high accuracy, good signal instantaneity, wide application rage and the like.

Description

A kind of sound source locating device based on electric analogy coupled structure

Technical field

The present invention relates to acoustics positioning field, especially relate to a kind of sound source locating device based on electric analogy coupled structure.

Background technology

The people such as American scholar R.N.Miles, Robert have studied the sense of hearing orientation mechanism of Ao meter Ya palm fibre fly (Ormia ochracea) the nineties, find that the acoustic fix ranging ability of this tachinid has benefited from the hearing organ that it has coupled structure, and in have developed the silicon crystallite microphone diaphragm of a secondary in recent years, this vibrating diaphragm is shaping by silicon micromachined manufacturing technology, utilize laser diffraction technology to obtain vibration signal, thus achieve the directional property close to desirable pressure gradient microphone.

Abroad, document Investigation finds, U.S. Patent number US6963653B1, publication date is 2005.11.8, and patent name is multistage directional microphone vibrating diaphragm.This patent readme is that " this invention has microminiaturized feature, is the silicon crystallite microphone diaphragm of a secondary, and this vibrating diaphragm is shaping by silicon micromachined manufacturing technology." that patent describes a kind of differential pressure type microphone and directional property thereof, but its localization method proposed only possesses two-dimentional acoustic fix ranging function.

At home, document Investigation finds, China Patent No. CN101226235A, publication date is 2008.7.23, and patent name is the sound source three-dimensional positioning method based on mechanical coupling diaphragm.This patent is based on the construction features to miniature organism sound sensing positioning system, the further investigation of positioning principle and Nonlinear Dynamical Mechanism etc. thereof, propose a kind of mechanical model of accurate description tachinid auditory induction system, the biomechanical parameter of tachinid auditory induction system and the impact on system dynamic characteristic thereof are grasped, the vibration performance amount of system is obtained from mechanical coupling diaphragm structure, and establish characteristic quantity with the relation between Sounnd source direction information, sound wave incident angle is calculated by certain algorithm exact solution, thus obtain a kind of sound source three-dimensional positioning method, solve the theoretical question of coupled structure auditory localization in three dimensions.But the laboratory model difficulty of processing of said method is large, processing and assembly precision require higher, in addition, are also subject to the restriction of the factors such as material property, shape, processing technology, so identification of sound source precision is difficult to meet the demands.

Summary of the invention

Object of the present invention be exactly in order to overcome above-mentioned prior art exist defect and a kind of sound source locating device based on electric analogy coupled structure is provided.

Object of the present invention can be achieved through the following technical solutions:

A kind of sound source locating device based on electric analogy coupled structure, it is characterized in that, comprise the load module, coupling processing modules, output module and the post-processing module that connect successively, described load module receives acoustical signal and is converted to current signal, the phase place of the current signal of load module is amplified by described coupling processing modules, and the voltage signal of amplification is passed to output module, voltage transitions is that digital signal imports post-processing module into by described output module, and described post-processing module calculates the azimuth information of sound source.

Described load module comprises pretreatment module and three piezoelectric sensors, and described piezoelectric sensor produces voltage signal by sound-source signal excitation and is transferred to pretreatment module, and voltage signal is converted to current signal by described pretreatment module.

Described pretreatment module is provided with the voltage amplifier amplified by weak voltage signals.

Described coupling processing modules comprises three input and output branch roads in parallel and a coupling circuit, load module is connected with the input end of three input and output branch roads respectively, the output terminal of three described input and output branch roads is connected with output module respectively, and three described input and output branch roads are also connected with coupling circuit respectively.

Every bar input and output branch road all has resistance and the electric capacity of one group of parallel connection, described coupling circuit is made up of the inductance that three are connected successively, described resistance and load module are connected in series, described electric capacity and output module are connected in parallel, described electric capacity one end ground connection, the other end is connected between two adjacent inductive.

Be provided with reometer between described resistance and load module, between described electric capacity and inductance, be provided with voltage table.

Described output module comprises the A/D converter, conditioner, the collector that connect successively, voltage signal is converted to digital signal by described A/D converter, and this digital signal is sampled to signal by collector after conditioner conditioning, oscillography shows and preserve.

Described post-processing module amplifies rear phase differential according to three that obtain, and adopts coupled processing method to calculate the azimuth information of sound source.

Described sound bearing information refers to the geometric relationship between sound source incident direction and piezoelectric sensor, the longitude θ namely in the spherical coordinate system determined by piezoelectric sensor and latitude α.

The processing procedure that described coupled processing method refers to adopt the mode analog mechanical of sound-electric analogy to be coupled.

Mechanical couplings and which couple analogy relation as shown in the table:

Mechanical couplings

Which couple

m	C
		c	1/R
k	1/L c
		f	I
x	U

In mechanical couplings structure as shown in Figure 2.D ₁, D ₂, D ₃be three sound reception vibrating diaphragms, vibrating diaphragm area is S, B ₁, B ₂, B ₃be three connecting rods, the fulcrum of connecting rod is O, is k by rigidity between connecting rod ₃spring connect.

Adopt the mode of sound-electric analogy, above-mentioned structural drawing can analogize to circuit diagram, as shown in Figure 3.They all have the identical differential equation:

$\left[\begin{array}{ccc}m& 0& 0\\ 0& m& 0\\ 0& 0& m\end{array}\right]\left[\begin{array}{c}{\stackrel{\·\·}{x}}_1\\ {\stackrel{\·\·}{x}}_2\\ {\stackrel{\·\·}{x}}_3\end{array}\right]\left[\begin{array}{ccc}c& 0& 0\\ 0& c& 0\\ 0& 0& c\end{array}\right]\left[\begin{array}{c}{\stackrel{\·}{x}}_1\\ {\stackrel{\·}{x}}_2\\ {\stackrel{\·}{x}}_3\end{array}\right]+\left[\begin{array}{ccc}{k}_1+{2k}_3& k_3& k_3\\ k_3& k_1+{2k}_3& k_3\\ k_3& k_3& k_1+{2k}_3\end{array}\right]\left[\begin{array}{c}{x}_1\\ x_2\\ x_3\end{array}\right]\left[\begin{array}{c}{f}_1\\ f_2\\ f_3\end{array}\right]---\left(1\right)$

In mechanical coupling approach, the transport function between system input acoustic pressure p and each vibrating diaphragm displacement for:

$\left[\begin{array}{c}{H}_{x_{1}p}\\ H_{x_{2}p}\\ H_{x_{3}p}\end{array}\right]=\left[\begin{array}{ccc}{A}_1/B& A_2/B& A_2/B\\ A_2/B& A_1/B& A_2/B\\ A_2/B& A_2/B& A_1/B\end{array}\right]\left[\begin{array}{c}{e}^{{\mathrm{s\τ}}_1}\\ e^{{\mathrm{s\τ}}_2}\\ e^{{\mathrm{s\τ}}_3}\end{array}\right],---\left(2\right)$

for time delay correlation parameter, matrix parameter is:

$\frac{A_1}{B}=\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+{4k}_3)}+\frac{2}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+k_3)}$ ， (3)

$\frac{A_2}{B}=\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+{4k}_3)}-\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+k_3)}$

Wherein, f is the predominant frequency of sound source, and ω=2 π f, i are imaginary unit, s=i ω/f; M is the quality of mechanical coupling diaphragm, corresponding to the size C of electric capacity in circuit; C is the damping of vibrating diaphragm and sound bearing medium, the 1/R reciprocal of the size of resistance in corresponding circuits; k ₁for the equivalent stiffness of vibrating diaphragm, k ₃the rigidity of spring between connecting rod, 1/Lc, x reciprocal all corresponding to the size of inductance in circuit are the displacement of vibrating diaphragm, the voltage U in corresponding circuits, for the first order derivative of displacement x, for the second derivative of displacement x;

S ₁, s ₂, s ₃be respectively three piezoelectric sensors, H ₁₃for piezoelectric sensor s ₁with s ₃between transport function, H ₂₃for piezoelectric sensor s ₂with s ₃between transport function, can obtain according to above-mentioned formula:

$H_{13}=\frac{H_{x_{1}p}}{H_{x_{3}p}}$

$H_{23}=\frac{H_{x_{2}p}}{H_{x_{3}p}},---\left(4\right)$

So just establish H ₁₃, H ₂₃with time delay (τ ₁, τ ₂, τ ₃) between relation.

Adopt localization method to calculate and obtain real-time Sounnd source direction information, the formula of its geometric relationship is:

$\frac{({\mathrm{\τ}}_3-{\mathrm{\τ}}_2)c_0}{\sqrt{3}d}=\sin \mathrm{\θ}\sin \mathrm{\α}=D_1$

$\frac{({\mathrm{\τ}}_2-{\mathrm{\τ}}_1)+({\mathrm{\τ}}_3-{\mathrm{\τ}}_1)}{3d}{c}_0=\sin \mathrm{\θ}\cos \mathrm{\α}=D_2---\left(5\right)$

In conjunction with (4) and (5), position angle and H can be obtained ₁₃, H ₂₃between relation, concrete formula is:

$\sin \mathrm{\θ}=\sqrt{D_1^2+D_2^2}$

$\sin \mathrm{\α}=\frac{D_1}{\sqrt{D_1^2+D_2^2}},---\left(6\right)$

Wherein:

$D_1=\frac{c_0}{i\sqrt{3}\mathrm{\ωd}}\ln \frac{\frac{1}{L_c}{H}_{13}+\frac{1}{L_c}{H}_{23}+(-{\mathrm{C\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})}{\frac{1}{L_c}{H}_{13}+(-{\mathrm{C\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})H_{23}+\frac{1}{L_c}},---\left(7\right)$

$D_2=\frac{c_0}{i3\mathrm{\ωd}}\ln [\frac{\frac{1}{L_c}{H}_{13}+(-{\mathrm{C\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})H_{23}+\frac{1}{L_c}}{({-\mathrm{C\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})H_{13}+\frac{1}{L_c}{H}_{23}+\frac{1}{L_c}}$ ， (8)

$+\ln \frac{\frac{1}{L_c}{H}_{13}+\frac{1}{L_c}{H}_{23}+({-\mathrm{C\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})}{({-\mathrm{C\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})H_{13}+\frac{1}{L_c}{H}_{23}+\frac{1}{L_c}}]$

In above-mentioned formula, c ₀for the sound propagation velocity in medium, be a known constant, d is the radius of piezoelectric sensor to central point.

Compared with prior art, the present invention has the following advantages:

1, instead of mechanical couplings by which couple, overcome processing difficulties and mismachining tolerance in mechanical couplings, achieve the function that phase place is amplified, thus achieve station-keeping ability.

2, the simple components such as coupling parameter resistance, inductance, electric capacity realizes, and each element easily mates and realizes.

3, coupling parameter can be optimized, to adapt to different measurement requirements.

4, the branch road that is coupled is three input and output branch roads, thus obtains two groups of effective transport functions, and can be used in the location in three dimensions, precision increases relative to mechanical system.

Accompanying drawing explanation

Fig. 1 is structured flowchart of the present invention.

Fig. 2 is mechanical construction drawing referenced by the present invention.

Fig. 3 is coupling module circuit diagram of the present invention.

Fig. 4 is coupling module current signal excitation figure in the embodiment of the present invention.

Fig. 5 is coupling module voltage signal response diagram in the embodiment of the present invention.

Fig. 6 is that orientation diagram arranged by piezoelectric sensor of the present invention.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

As shown in Figure 1, a kind of sound source locating device based on electric analogy coupled structure, comprise the load module 1, coupling processing modules 2, output module 3 and the post-processing module 4 that connect successively, described load module 1 receives acoustical signal and is converted to current signal, the phase place of the current signal of load module 1 is amplified by described coupling processing modules 2, and amplification is obtained voltage signal and pass to output module 3, voltage transitions is that digital signal imports post-processing module 4 into by described output module 3, and described post-processing module 4 calculates the azimuth information of sound source.

Described load module 1 comprises pretreatment module and three piezoelectric sensors, and described piezoelectric sensor produces voltage responsive by sound-source signal excitation, and voltage responsive is converted to current signal by described pretreatment module.Described pretreatment module can be selected to increase voltage amplifier, regulates suitable voltage magnitude, does not make voltage waveform distort simultaneously, and faint voltage signal is exaggerated, and voltage amplifier filtering can also reduce signal disturbing within the specific limits.

Described output module 3 comprises A/D converter, conditioner, collector, and voltage signal is converted to digital signal by described A/D converter, and described collector is to signal sampling, oscillography display and preserve.

Described post-processing module, according to the phase differential after three amplifications, adopts coupled processing method to calculate the azimuth information of sound source.

As shown in Figure 3, described coupling processing modules 2 comprises three input and output branch roads 201 in parallel and a coupling circuit 202, three of load module 1 export correspondence respectively and are connected with three input and output branch roads, input and output branch road one end ground connection, other end butt coupling loop 202 and output module 3.Described every bar input and output branch road all has resistance and the electric capacity (R1 and C1, R2 and C2, R3 and C3) of one group of parallel connection, and described coupling circuit 202 has three inductance L connected _c1, L _c2, L _c3.Current source Is _i, i=1,2,3 is not actual current source, but simulation is from the current input signal of load module 1.Three described input and output branch roads are connected to reometer and voltage table, I respectively _i, V _i, i=1,2,3 difference test input electric current and output voltages.

Core of the present invention is the amplification being realized signal phase difference by coupled circuit, and the coupled circuit parameter of the present embodiment is:

Component symbol	Parameter	Size	Unit
				R1，R2，R3	Resistance value	156	Kilo-ohm (k Ω)
C1，C2，C3	Capacitance	1.53	Millifarad (mF)
				L c1，L c2，L c3	Inductance value	0.4	Milihenry (mH)
Is1，Is2，Is3	Current value	1	Ampere (A)
				(θ，α)	Incident angle	See the following form	Degree (°)
d	Radius sensor	0.05	Rice (m)
				c0	The velocity of sound	340	Meter per second (m/s)

Note, parameter used does not represent here is optimized parameter, only as to the explanation of coupling amplification phase differential and the condition of checking.

As shown in Figure 4,5, input current (Fig. 4) does not have difference of vibration and very little phase differential, and after overcoupled circuits, output voltage (Fig. 5) has little amplitude and more obvious phase differential.Obviously, phase differential obtains amplification.

As shown in Figure 6, piezoelectric sensor s1, s2, s3 be arranged in xy plane 1,2, on 3, sound source is S, and the incident angle of sound source is (θ, α).Parameter in upper table is substituted into respectively formula (1), (2), (3), by resolving of transport function between output current, incident angle can be solved by formula (4), (5), (6), choose the mean value that resolves as positioning result, as shown in the table:

(θ, α) [input]	Simulation result	Maximum error
			(30°，87°)	(31.197°，85.864°)	1.136°
(30°，84°)	(31.578°，83.007°)	1.578°
			(30°，81°)	(31.377°，80.140°)	1.377°
(30°，78°)	(31.093°，77.268°)	1.093°

The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments within the spirit and principles in the present invention, equivalently to replace and improvement etc., all should be included within protection scope of the present invention.

Claims (5)

1. the sound source locating device based on electric analogy coupled structure, it is characterized in that, comprise the load module, coupling processing modules, output module and the post-processing module that connect successively, described load module receives acoustical signal and is converted to current signal, phase difference amplification between three of load module output signal by described coupling processing modules, and pass to output module by amplifying the voltage signal obtained, voltage transitions is that digital signal imports post-processing module into by described output module, and described post-processing module calculates the azimuth information of sound source;

Described load module comprises pretreatment module and three piezoelectric sensors, and described piezoelectric sensor produces voltage signal by sound-source signal excitation and is transferred to pretreatment module, and voltage signal is converted to current signal by described pretreatment module;

Described coupling processing modules comprises three input and output branch roads in parallel and a coupling circuit, load module is connected with the input end of three input and output branch roads respectively, the output terminal of three described input and output branch roads is connected with output module respectively, and three described input and output branch roads are also connected with coupling circuit respectively;

Every bar input and output branch road all has resistance and the electric capacity of one group of parallel connection, described coupling circuit is made up of the inductance that three are connected successively, described resistance and load module are connected in series, described electric capacity and output module are connected in parallel, described electric capacity one end ground connection, the other end is connected between two adjacent inductive.

2. a kind of sound source locating device based on electric analogy coupled structure according to claim 1, is characterized in that, described pretreatment module is provided with the voltage amplifier amplified by weak voltage signals.

3. a kind of sound source locating device based on electric analogy coupled structure according to claim 1, is characterized in that, be provided with reometer between described resistance and load module, be provided with voltage table between described electric capacity and inductance.

4. a kind of sound source locating device based on electric analogy coupled structure according to claim 1, it is characterized in that, described output module comprises the A/D converter, conditioner, the collector that connect successively, voltage signal is converted to digital signal by described A/D converter, and this digital signal is sampled to signal by collector after conditioner conditioning, oscillography shows and preserve.

5. a kind of sound source locating device based on electric analogy coupled structure according to claim 1, is characterized in that, described post-processing module amplifies rear phase differential according to three that obtain, and adopts coupled processing method to calculate the azimuth information of sound source;

Described sound bearing information refers to the geometric relationship between sound source incident direction and piezoelectric sensor, the longitude θ namely in the spherical coordinate system determined by piezoelectric sensor and latitude α;

The processing procedure that described coupled processing method refers to adopt the mode analog mechanical of sound-electric analogy to be coupled, in mechanical coupling approach, the transfer function H between system input acoustic pressure and each vibrating diaphragm displacement _x1p, H _x2ph _x3pfor:

$\left[\begin{array}{c}{H}_{x_{1}p}\\ H_{x_{2}p}\\ H_{x_{3}p}\end{array}\right]=\left[\begin{array}{ccc}{A}_1/B& A_2/B& A_2/B\\ A_2/B& A_1/B& A_2/B\\ A_2/B& A_2/B& A_1/B\end{array}\right]\left[\begin{array}{c}{e}^{e{\mathrm{\τ}}_1}\\ e^{{\mathrm{s\τ}}_2}\\ e^{{\mathrm{s\τ}}_3}\end{array}\right],---\left(1\right)$

for time delay correlation parameter, matrix parameter is:

$\frac{A_1}{B}=\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+4k_3)}+\frac{2}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+k_3)},$

(2)

$\frac{A_2}{B}=\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+4k_3)}-\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+k_3)}$

Wherein, f is the predominant frequency of sound source, and ω=2 π f, i are imaginary unit, s=i ω/f; M is the quality of mechanical coupling diaphragm, corresponding to the size C of electric capacity in circuit; C is the damping of vibrating diaphragm and sound bearing medium, the 1/R reciprocal of the size of resistance in corresponding circuits; k ₁for the equivalent stiffness of vibrating diaphragm, k ₃for the rigidity of spring between connecting rod, all corresponding to the 1/L reciprocal of the size of inductance in circuit _c;

S ₁, s ₂, s ₃be respectively three piezoelectric sensors, H ₁₃for piezoelectric sensor s ₁with s ₃between transport function, H ₂₃for piezoelectric sensor s ₂with s ₃between transport function, can obtain according to above-mentioned formula:

$H_{13}=\frac{H_{x_{1}p}}{H_{x_{3}p}}$

$H_{23}=\frac{H_{x_{2}p}}{H_{x_{3}p}},---\left(3\right)$

Establish H ₁₃, H ₂₃with time delay (τ ₁, τ ₂, τ ₃) between relation;

Adopt localization method to calculate and obtain real-time Sounnd source direction information, the formula of its geometric relationship is:

$\frac{({\mathrm{\τ}}_3-{\mathrm{\τ}}_2)c_0}{\sqrt{3}d}=\sin \mathrm{\θ}\sin \mathrm{\α}=D_1$

$\frac{({\mathrm{\τ}}_2-{\mathrm{\τ}}_1)+({\mathrm{\τ}}_3-{\mathrm{\τ}}_1)}{3d}{c}_0=\sin \mathrm{\θ}\cos \mathrm{\α}=D_2---\left(4\right)$

In conjunction with (3) and (4), position angle and H can be obtained ₁₃, H ₂₃between relation, concrete formula is:

$\sin \mathrm{\θ}=\sqrt{D_1^2+D_2^2}$

$\sin \mathrm{\α}=\frac{D_1}{\sqrt{D_1^2+D_2^2}},---\left(5\right)$

Wherein:

$D_1=\frac{c_0}{i\sqrt{3}\mathrm{\ωd}}\ln \frac{\frac{1}{L_c}{H}_{13}+\frac{1}{L_c}{H}_{23}+(-C{\mathrm{\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})}{\frac{1}{{L:}_c}{H}_{13}+(-C{\mathrm{\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_s})H_{23}+\frac{1}{L_c}},---\left(6\right)$

$\begin{array}{c}{D}_2=\frac{c_0}{i3\mathrm{\ωd}}\ln [\frac{\frac{1}{L_c}{H}_{13}+(-C{\mathrm{\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})H_{23}+\frac{1}{L_c}}{(-C{\mathrm{\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})H_{13}+\frac{1}{L_c}{H}_{23}+\frac{1}{L_c}}\\ +\ln \frac{\frac{1}{L_c}{H}_{13}+\frac{1}{L_c}{H}_{23}+(-C{\mathrm{\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})}{(-C{\mathrm{\ω}}^2+\frac{\mathrm{i\ω}}{R}+\frac{2}{L_c})H_{13}+\frac{1}{L_c}{H}_{23}+\frac{1}{L_c}}]\end{array},---\left(7\right)$

In above-mentioned formula, c ₀for the sound propagation velocity in medium, be a known constant, d is the radius of piezoelectric sensor to central point.