CN104730495B - Portable sound source locating device and its localization method of use - Google Patents
Portable sound source locating device and its localization method of use Download PDFInfo
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- CN104730495B CN104730495B CN201510180039.0A CN201510180039A CN104730495B CN 104730495 B CN104730495 B CN 104730495B CN 201510180039 A CN201510180039 A CN 201510180039A CN 104730495 B CN104730495 B CN 104730495B
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- 238000000034 method Methods 0.000 title claims description 31
- 230000004807 localization Effects 0.000 title claims description 15
- 238000012545 processing Methods 0.000 claims abstract description 29
- 230000005236 sound signal Effects 0.000 claims abstract description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The present invention relates to a kind of portable sound source locating device, it includes to rotate and changing the cylindrical stent of axial direction, be arranged at cylindrical stent two bottom surfaces circumferentially by several microphones of collected sound signal, it is arranged at the laser designator in the bottom surface center of cylindrical stent, it is arranged at the display with coordinate on another bottom surface of cylindrical stent, the data collecting system being connected with each microphone, it is connected with data collecting system and the data gathered is handled and the data processing module of output control signal, the output end of data processing module is connected with display and cylindrical stent respectively.The portable sound source positioning device structure of the present invention is simple, compact, preferably portability, and precision is higher, it is adaptable to simple sund source and many sound source situations.
Description
Technical field
The present invention relates to a kind of portable sound source locating device for being positioned to simple sund source or many sound sources, and should
The localization method that device is used.
Background technology
Existing sound source locating device usually requires a fairly large number of voice collection device（Microphone etc.）So that its volume
Larger, portability is poor.Meanwhile, its sound localization method used mainly has：1st, the auditory localization side based on velocity of wave formation method
Method；Its basic thought is：By the way that the output of each array element is weighted into summation, regulation microphone receiving array direction finding maximum is defeated
Go out the point of power direction, the point is point source of sound.This method needs number of microphone more, while the treating capacity of data is larger,
Therefore can not be applied to real-time system.It is also desirable to the priori of sound-source signal and ambient noise, therefore there is one to be fixed to precision
Ring.2nd, the method for positioning is estimated based on time delay：This method is directed to simple sund source mostly.And in reality it is mostly many sound source environment,
So practicality is poor.Determine that sound source position is mainly positioned by geometry location method or object function search based on time delay estimation
Method.So, both approaches require that amount of calculation is larger, and sound source position is had certain limitations.
The content of the invention
It is an object of the invention to provide the amount of calculation of a kind of portable sound source locating device simple in construction and its use it is small,
The localization method having a wide range of application.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：
A kind of portable sound source locating device, including can rotate and change the cylindrical stent of axial direction, be arranged at
Two bottom surfaces of described cylindrical stent circumferentially by several microphones in collected sound signal, be arranged at it is described
The laser designator in the bottom surface center of cylindrical stent, the tool being arranged on another bottom surface of described cylindrical stent
The display for having coordinate, the data collecting system and described data collecting system phase that are connected with the microphone described in each
Connect and simultaneously the data gathered are handled and the data processing module of output control signal, described data processing module
Output end is connected with described display and described cylindrical stent respectively.
Described display is LED screen.
Described portable sound source locating device includes 4-6 described microphones.
It is preferred that, described portable sound source locating device includes the microphone described in 5, wherein transaudient described in 3
Device is located on the circumference for the bottom surface that described laser designator is set on described cylindrical stent and is uniformly distributed, another 2 institutes
The microphone stated, which is located at, is provided with the bottom surface of described display and is distributed in one bar diameter on described cylindrical stent
Two ends.
The origin of coordinates that the laser signal that described laser designator is sent passes through on described display, and it is described
The laser signal that laser designator is sent is parallel with the axis direction of described cylindrical stent.
The localization method that a kind of above-mentioned portable sound source locating device is used, including：
（1）Described cylindrical stent is placed in initial position, passes through the microphone pick voice signal described in each；
（2）Each voice signal gathered sends into described data processing module by described data collecting system；
（3）Described data processing module calculates the time delay value of the voice signal described in each respectively, and will calculate gained
Time delay value bring sound source position analytic formula into, try to achieve sound source coordinate；
（4）Show according to the sound source coordinate tried to achieve in the described enterprising rower of display and obtain indicating point；
（5）The cylindrical stent described in regulation is rotated to indicating positions so that aobvious described in described indicating positions
Show that the origin of coordinates of device coincides with indicating obtained sign point in described initial position, now, described laser hair
The direction indicated by laser signal gone out is direction where sound source.
Described portable sound source locating device has monophone source module and many sound source patterns；
Under described monophone source module, described step（3）In, described time delay is asked for using general cross correlation
Value, so as to according to described sound source position analytic formula, try to achieve sound source coordinate；
Under described many sound source patterns, described step（3）In, the voice signal gathered to described microphone leads to
Cross Short Time Fourier Transform to carry out time frequency analysis and obtain maximum point, choose described maximum point and described sound is believed
Number carry out time domain interception and frequency domain filtering processing, the time delay of the voice signal described in each is asked for further according to the signal after processing
Value, so as to according to described sound source position analytic formula, try to achieve sound source coordinate.
Under described monophone source module, repeatedly choose the voice signal that the described microphones of n are gathered, n be less than
The positive integer of described microphone number, often chooses the voice signal that a n described microphone is gathered, then utilizes broad sense
Cross-correlation method asks for described time delay value, the required value of described sound source coordinate is solved further according to geometrical relationship, so as to obtain many
Individual described sound source coordinate required value, then the required value of multiple described sound source coordinates is done average and obtains described sound source and sits
Mark.
Under described many sound source patterns, redundancy check is carried out to it and leaves out repetition after trying to achieve described sound source coordinate
Sound source coordinate.
Because above-mentioned technical proposal is used, the present invention has following advantages compared with prior art：1st, the present invention's is portable
Formula sound source locating device is simple in construction, compact, preferably portability；2nd, portable sound source locating device of the invention is used
Localization method amount of calculation it is small, can fast and accurately obtain sound source position, and simple sund source environment, many sound source environment are applicable,
Precision is higher.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of the portable sound source locating device of the present invention.
The schematic flow sheet of localization method of the accompanying drawing 2 for the present invention in many sound source patterns.
In the figures above：1st, cylindrical stent；2nd, microphone；3rd, laser designator；4th, display；5th, data acquisition system
System；6th, data processing module.
Embodiment
The invention will be further described for shown embodiment below in conjunction with the accompanying drawings.
Embodiment one：Referring to shown in accompanying drawing 1.A kind of portable sound source locating device, including cylindrical stent 1, several
Microphone 2, laser designator 3, display 4, data collecting system 5 and data processing module 6.
Cylindrical stent 1 is in cylinder, and it has the side of two bottom surfaces of two relative rounded bottom surfaces and a connection
Face.The cylindrical stent 1 can rotate and change its axial direction, for example, can set drive device, and with one bottom surface
Center rotated for pivot.
Microphone 2 is used for collected sound signal, and it is arranged on the circumference of two bottom surfaces of cylindrical stent 1, and quantity is
4-6, in the present embodiment, 5 microphones 2 are set altogether, wherein 3 microphones 2 are located at a bottom surface of cylindrical stent 1
On circumference and it is uniformly distributed, another 2 microphones 2 are located on another bottom surface of cylindrical stent 1 and are distributed in one bar diameter
Two ends, and a microphone 2, axis direction of the line of the two along cylindrical stent 1 are respectively taken on two bottom surfaces.
Laser designator 3 is used to send laser, and it is arranged on the center of a bottom surface of cylindrical stent 1, for example, set
Center in that bottom surface with 3 microphones 2, and the axis direction phase of the laser that it is sent and cylindrical stent 1
It is parallel.
Display 4 uses LED screen, and it is arranged on another bottom surface of cylindrical stent 1, that is, be provided with 2 it is transaudient
On that bottom surface of device 2.There is perpendicular coordinate, the axial direction of the coordinate and cylindrical stent 1 is perpendicular on the display 4,
And the origin of coordinates is located at the center of the bottom surface at the place of display 4 so that the laser signal that laser designator 3 is sent is by aobvious
Show the origin of coordinates on device 4.
Data collecting system 5 and data processing module 6 be able to can also be built in cylindrical stent 1 with external.Data are adopted
Collecting system 5 is connected with each microphone 2, so as to obtain the voice signal that microphone 2 is collected.And data processing mould
Block 6 is connected with data collecting system 5 again, so that the voice signal of acquisition is reached data processing module 6 by data collecting system 5
Middle carry out respective handling.The output control signal by its output end according to the result of data processing of data processing module 6, should
Control signal is divided into two parts, is on the one hand connected with display 4 and transmits signal, is on the other hand connected with cylindrical stent 1
Connect and transmit signal.
The portable sound source locating device indicates sound source position by following localization method：
First, cylindrical stent 1 is placed in initial position, then passes through each collected sound signal of microphone 2；
Then, each voice signal gathered is sent into data processing module 6 by data collecting system 5 and carries out corresponding position
Reason, so as to obtain sound source coordinate；
Then, data processing module 6 exports to display 4 and includes the control signal of sound source coordinate, so that according to being tried to achieve
Sound source coordinate the enterprising rower of display 4 show obtain indicate point；
Now, data processing module 6 is again to the output control signal of cylindrical stent 1, so as to rotate regulation cylindrical stent 1
To indicating positions so that in indicating positions, the origin of coordinates of display 4 is with indicating obtained sign point phase in initial position
Overlap.Then now, the direction indicated by laser signal that laser is sent is direction where sound source.
During the processing voice signal of data processing module 6 obtains sound source coordinate, existing sound source can be used
Analysis method, but most preferably method be：Data processing module 6 calculates the time delay value of each voice signal respectively, and will calculate
The time delay value of gained brings sound source position analytic formula into, tries to achieve sound source coordinate.
The portable sound source locating device has monophone source module and many sound source patterns, corresponds respectively to simple sund source and many sound
The situation in source.
Under monophone source module, time delay value is asked for using general cross correlation, so as to according to sound source position analytic formula, ask
Obtain sound source coordinate.In order to improve precision, following methods can be used：Repeatedly choose the voice signal that n microphone 2 is gathered, n
For the positive integer less than the number of microphone 2.Often choose the voice signal that a n microphone 2 is gathered, then it is mutual using broad sense
Pass method asks for time delay value, and the required value of sound source coordinate is solved further according to geometrical relationship, so that multi-acoustical coordinate required value is obtained,
Again the required value of multi-acoustical coordinate is done average and obtain sound source coordinate.For example, n takes 4,4 microphones 2 are chosen every time and are gathered
Voice signal, ask for respective time delay value, respectively Δ t using general cross correlation11、Δt12、Δt13、Δt14, according to this
A little time delay values can solve a sound source coordinate S1, it is a required value of sound source coordinate.Still further choose 4 microphones 2
The voice signal of collection, can equally solve the required value S of a sound source coordinate2.Five sound source coordinates can be obtained altogether
Required value, respectively S1、S2、S3、S4、S5, the required value of these sound source coordinates is done averagely obtain final sound source coordinate S=
（S1+S2+S3+S4+S5）/ 5, so as to improve the precision of sound source coordinate.
Under many sound source patterns, as shown in Figure 2, the voice signal that microphone 2 is gathered is pre-processed, by short
When Fourier transformation（STFT）Time frequency analysis is carried out, time-frequency figure is obtained, Local Extremum can be substantially obtained from figure, so as to
To obtain maximum point.Corresponding maximum point is chosen, time domain interception is carried out to voice signal and frequency domain filtering is handled, then root
The time delay value of each voice signal can be asked for according to the signal after processing.
After time delay value is obtained, you can according to sound source position analytic formula, sound source coordinate is tried to achieve.And sound source position parsing is public
Formula is accordingly studied, and can be selected according to actual conditions.
However, in above-mentioned many sound source patterns, different extreme points had both likely corresponded to same sound source, it is also possible to corresponding to not
Same sound source, it is therefore desirable to redundancy check is carried out to it after sound source coordinate is tried to achieve, so as to leave out the sound source coordinate of repetition, acquisition sound
The final result of source coordinate, the final result is just shown on display 4.
The portable sound source locating device has monophone source module and many sound source patterns, can be selected for different application environments
Take corresponding pattern.It can apply in the fields such as the noise source positioning of automotive field, ambient noise monitoring.For example in automobile
In field, the capital equipment of the existing outer sound field of measurement automobile is mostly based on velocity of wave formation method.Its basic thought is：Pass through
The output of each array element is weighted summation, the point in regulation microphone receiving array direction finding peak power output direction, the point
As point source of sound.This method needs number of microphone more, while the treating capacity of data is larger, therefore can not be applied to real-time system
System.It is also desirable to the priori of sound-source signal and ambient noise, therefore have certain influence on precision.When also a class is based on
Prolong the method for estimation positioning, it is directed to simple sund source mostly.And in reality it is mostly many sound source environment, so practicality is poor.
Meanwhile, determine that sound source position mainly searches for positioning mode by geometry location method or object function based on time delay estimation, both
Method requires that amount of calculation is larger, and sound source position is had certain limitations.Thus, portable sound source locating device of the invention
Beneficial effect is：
1st, device volume is reduced：The sound source locating device is simple in construction, effectively reduces device volume.Improve portability
With applicability.
2nd, device precision is improved：The sound source locating device can efficiently reduce the quantity of microphone 2, and can be according to difference
The quantity of microphone 2 is chosen in required precision, can also reduce cost；
3rd, arithmetic speed is improved：On the basis of precision is ensured, the localization method that the sound source locating device is used can subtract
Few data processing amount, raising arithmetic speed, are easy to, to the real-time monitoring of sound source, be especially adapted for use in the monitoring of many sound sources；
4th, visual result is presented：Sound source information is presented in the way of the display of display 4 and laser designator 3 are indicated, significantly
Improve its intuitive.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all according to the present invention
The equivalent change or modification that Spirit Essence is made, should all be included within the scope of the present invention.
Claims (9)
1. a kind of portable sound source locating device, it is characterised in that：It includes to rotate and changing the cylinder of axial direction
Support, be arranged at described cylindrical stent two bottom surfaces circumferentially by several microphones in collected sound signal,
It is arranged at the laser designator in the bottom surface center of described cylindrical stent, is arranged at the another of described cylindrical stent
The display with coordinate on individual bottom surface, the data collecting system being connected with the microphone described in each, with described number
It is connected according to acquisition system and the data gathered is handled and the data processing module of output control signal, described number
It is connected respectively with described display and described cylindrical stent according to the output end of processing module.
2. portable sound source locating device according to claim 1, it is characterised in that：Described display is LED screen.
3. portable sound source locating device according to claim 1, it is characterised in that：It includes transaudient described in 4-6
Device.
4. portable sound source locating device according to claim 3, it is characterised in that：It includes the microphone described in 5,
Microphone wherein described in 3 is located on the circumference for the bottom surface that described laser designator is set on described cylindrical stent simultaneously
It is uniformly distributed, the microphone described in another 2, which is located on described cylindrical stent, to be provided with the bottom surface of described display simultaneously
It is distributed in the two ends of one bar diameter.
5. portable sound source locating device according to claim 1, it is characterised in that：Described laser designator is sent
Laser signal by the origin of coordinates on described display, and the laser signal that is sent of described laser designator and institute
The axis direction for the cylindrical stent stated is parallel.
6. the localization method that a kind of portable sound source locating device as claimed in claim 1 is used, it is characterised in that：Described
Method includes：
（1）Described cylindrical stent is placed in initial position, passes through the microphone pick voice signal described in each；
（2）Each voice signal gathered sends into described data processing module by described data collecting system；
（3）Described data processing module calculates the time delay value of the voice signal described in each respectively, and by obtained by calculating when
Prolong value and bring sound source position analytic formula into, try to achieve sound source coordinate；
（4）Show according to the sound source coordinate tried to achieve in the described enterprising rower of display and obtain indicating point；
（5）The cylindrical stent described in regulation is rotated to indicating positions so that the display described in described indicating positions
The origin of coordinates coincided with indicating obtained sign point in described initial position, now, what described laser was sent
Direction indicated by laser signal is direction where sound source.
7. the localization method that portable sound source locating device according to claim 6 is used, it is characterised in that：It is described just
The formula sound source locating device of taking has monophone source module and many sound source patterns；
Under described monophone source module, described step（3）In, described time delay value is asked for using general cross correlation, from
And according to described sound source position analytic formula, try to achieve sound source coordinate；
Under described many sound source patterns, described step（3）In, the voice signal that described microphone is gathered is passed through short
When Fourier transformation carry out time frequency analysis and obtain maximum point, choose described maximum point and described voice signal entered
Row time domain is intercepted and frequency domain filtering processing, and the time delay value of the voice signal described in each is asked for further according to the signal after processing, from
And according to described sound source position analytic formula, try to achieve sound source coordinate.
8. the localization method that portable sound source locating device according to claim 7 is used, it is characterised in that：Described
Under monophone source module, the voice signal that n described microphones are gathered repeatedly is chosen, n is less than described microphone number
Positive integer, often choose the voice signal that n described microphones are gathered, then asked for using general cross correlation described
Time delay value, the required value of described sound source coordinate is solved further according to geometrical relationship, so as to obtain multiple described sound source coordinates
Required value, then the required value of multiple described sound source coordinates is done average and described sound source coordinate is obtained.
9. the localization method that portable sound source locating device according to claim 7 is used, it is characterised in that：Described
Under many sound source patterns, the sound source coordinate that redundancy check is carried out to it after described sound source coordinate and leaves out repetition is tried to achieve.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965194B (en) * | 2015-07-29 | 2017-05-03 | 渤海大学 | Indoor multi-sound-source positioning device and method simulating binaural effect |
| CN107331392A (en) * | 2017-06-30 | 2017-11-07 | 北京小米移动软件有限公司 | Position indicating method, device and computer-readable recording medium |
| CN108983149B (en) * | 2018-07-30 | 2022-02-22 | 中国空气动力研究与发展中心低速空气动力研究所 | Rotary microphone sound source positioning method |
| CN109471145B (en) * | 2018-10-17 | 2022-12-06 | 中北大学 | Double-sound positioning attitude determination method based on quaternary acoustic array platform |
| WO2020133061A1 (en) * | 2018-12-27 | 2020-07-02 | 深圳市柔宇科技有限公司 | Control method and display terminal |
| CN111103568A (en) * | 2019-12-10 | 2020-05-05 | 北京声智科技有限公司 | Sound source positioning method, device, medium and equipment |
| CN110954867B (en) * | 2020-02-26 | 2020-06-19 | 星络智能科技有限公司 | Sound source positioning method, intelligent sound box and storage medium |
| CN111538352A (en) * | 2020-04-10 | 2020-08-14 | 南京信息职业技术学院 | Sound searching guide method |
| CN113759314A (en) * | 2021-09-01 | 2021-12-07 | 浙江讯飞智能科技有限公司 | Sound source visualization method, device and system and computer readable storage medium |
| CN115050367B (en) * | 2022-08-12 | 2022-11-04 | 清华大学苏州汽车研究院（相城） | Method, device, equipment and storage medium for positioning speaking target |
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