CN105338292A - Directional sound source control device and method for video surveillance - Google Patents
Directional sound source control device and method for video surveillance Download PDFInfo
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- CN105338292A CN105338292A CN201410380045.6A CN201410380045A CN105338292A CN 105338292 A CN105338292 A CN 105338292A CN 201410380045 A CN201410380045 A CN 201410380045A CN 105338292 A CN105338292 A CN 105338292A
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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
- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
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- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a directional sound source control device and method for video surveillance. In the directional sound source control device disclosed by the invention, a sound pickup component can synchronously rotate with a camera, so that a dynamic sound source coordinate system capable of synchronously rotating with the camera can be formed, correspondingly, based on the dynamic sound source coordinate system, a calculated azimuth angle is a relative azimuth angle of a sound source relative to a lens normal of the camera, and then, the relative azimuth angle is converged within a preset angle range to achieve closed-loop control of the relative azimuth angle, and a lens visual angle range of the camera traces the direction of the sound source by means of the closed-loop control of the relative azimuth angle. Since a loop gain generated by the closed-loop control of the relative azimuth angle can inhibit a precision error generated by an azimuth angle solution algorithm, the directional sound source control device and method disclosed by the invention can be used for improving the directional accuracy without improving the accuracy of the solution algorithm, so that resources consumed for operating the algorithm can be saved.
Description
Technical field
The present invention relates to Video Supervision Technique, particularly a kind of sound source direction control device for video monitoring and method.
Background technology
Usually need to follow the tracks of specific objective in video monitoring, but due to the dynamic change often of the position of specific objective in monitoring scene, and the camera lens angular field of view of single camera is difficult to cover whole video monitoring scenes, therefore, in order to realize the tracking to specific objective, prior art provides a kind of scene all standing mode, namely, multiple camera is laid, with the Zone Full utilizing the angular field of view superposition of multiple camera to cover video monitoring scene in video monitoring scene.
But, scene all standing mode obviously can cause cost linearly to increase along with the quantity of camera, therefore, prior art additionally provides a kind of sound source direction mode, namely, the sound pickup device utilizing a position and angle to fix forms a static sound source coordinate system, when the sound-source signal that the specific objective in sound pickup device sensing video monitoring scene produces, by obtaining sound source (being also the specific objective) absolute azimuth in static sound source coordinate system to resolving of sound-source signal, and then utilize the absolute azimuth calculated to regulate camera to rotate, sound source (being also specific objective) subregion residing in video monitoring scene is covered to make the angular field of view of camera follow the trail of.
As above visible, sound source direction mode, without using the Zone Full of the angular field of view superposition covering video monitoring scene of multiple camera, thus can reduce the camera quantity laid in video monitoring scene, thus save cost.But meanwhile, in order to calculate absolute azimuth more accurately to realize accurate orientation to specific objective, the accuracy improving computation certainly will be needed, but along with the improving constantly of accuracy of algorithm, the resource that executing arithmetic consumes also can increase thereupon.
Summary of the invention
In view of this, the invention provides a kind of sound source direction control device for video monitoring and method.
A kind of sound source direction control device for video monitoring provided by the invention, comprising:
Voice pickup parts, its can with camera synchronous rotary;
Sound collection parts, it gathers the sound-source signal that voice pickup parts receive;
Parts are resolved in orientation, and it utilizes sound-source signal to resolve and obtains the azimuth of sound source compared to the camera lens normal of camera;
Converging angular parts, it is when resolving the azimuth obtained and exceeding outside the angular range that presets, produces the drive singal within the angular range that is used for azimuth to converge to and presets;
Regulate driver part, it orders about camera and voice pickup parts synchronous rotary according to drive singal.
Preferably, voice pickup parts are fixed on camera, to form the rotation synchronous with camera.
Preferably, voice pickup parts comprise at least two microphones.
Preferably, the angular range preset is less than or equal to the camera lens angular field of view of camera.
Preferably, camera is installed in rotary platform, this rotary platform drives by regulating driver part.
Preferably, comprise further: loop filtering parts, it is at converging angular parts and regulate between driver part.
A kind of sound source direction control method for video monitoring provided by the invention, comprising:
Step a0, voice pickup parts are set to can with camera synchronous rotary;
The sound-source signal that step a1, collection voice pickup parts receive;
Step a2, utilize sound-source signal to resolve to obtain the azimuth of sound source compared to the camera lens normal of camera;
Step a3, when resolving the azimuth obtained and exceeding outside the angular range that presets, produce the drive singal within the angular range that is used for azimuth to converge to and presets;
Step a4, foundation drive singal order about camera and voice pickup parts synchronous rotary.
Preferably, step a0 makes voice pickup parts and camera synchronous rotary by voice pickup parts are fixed on camera.
Preferably, voice pickup parts comprise at least two microphones.
Preferably, the angular range preset is less than or equal to the camera lens angular field of view of camera.
Preferably, step a4 orders about camera and sound pick-up part synchronous rotary by driving the rotary platform being equiped with camera to rotate.
Preferably, comprise further: before performing step a4, loop filtering is carried out to the drive singal that step a3 produces.
As above visible, in the present invention, voice pickup parts can with camera synchronous rotary, thus the dynamic sound source coordinate system with camera synchronous axial system can be formed, correspondingly, based on this dynamic sound source coordinate system, resolving the azimuth obtained is just the relative bearing of sound source compared to the camera lens normal of camera, and then, restraining in the angular range preset by making this relative bearing angle, can to realize the closed-loop control of this relative bearing and by making the closed-loop control of this relative bearing the camera lens angular field of view of camera follow the trail of orientation residing for sound source.Due to the trueness error that the loop gain produced the closed-loop control of this relative bearing can suppress computation to produce, thus the present invention can improve the accuracy of sound source direction without the need to the accuracy improving computation, thus can save the resource that executing arithmetic consumes.
Accompanying drawing explanation
Fig. 1 is the example arrangement schematic diagram for the sound source direction control device of video monitoring in the embodiment of the present invention;
Fig. 2 a and Fig. 2 b is the preferred arrangement schematic diagram of voice pickup parts in example arrangement as shown in Figure 1;
Fig. 3 a and Fig. 3 b is the closed-loop control example schematic based on preferred arrangement as shown in Figure 2;
Fig. 4 is the exemplary flow schematic diagram for the sound source direction control method of video monitoring in the embodiment of the present invention.
Embodiment
For making object of the present invention, technical scheme and advantage clearly understand, to develop simultaneously embodiment referring to accompanying drawing, the present invention is described in more detail.
Refer to Fig. 1, the sound source direction control device for video monitoring in the present embodiment comprises: voice pickup parts 11, sound collection parts 12, orientation are resolved parts 13, converging angular parts 14, loop filtering parts 15 and regulated driver part 16.
Voice pickup parts 11 can with camera 10 synchronous rotary.Wherein, because voice pickup parts 11 have the characteristic with camera 10 synchronous rotary, thus the sound source coordinate system that formed of voice pickup parts 11 can along with the rotation of camera 10 synchronous axial system, from the dynamic sound source coordinate system that can be formed with camera 10 synchronous axial system.
In practical application, voice pickup parts 11 can be fixed on camera 10, with formed voice pickup parts 11 can with the characteristic of camera 10 synchronous rotary, and, the sound pickup device 11 being fixed on camera 10 can adopt different arrangements, to realize the orientation of two-dimensional space or more higher dimensional space.
Wherein, if desired sound pickup device 11 realizes the sound source direction within the scope of 180 ° of two-dimensional space, then refer to Fig. 2 a and Fig. 2 b, voice pickup parts 11 can comprise a pair microphone 11a and 11b being positioned at same plane, and this is fixed on camera 10, with the two dimensional surface formed and camera lens 100 normal N is coplanar to microphone 11a and 11b respectively at the both sides of camera lens 100 normal N.It should be noted that, be only for spherical camera 100, but the concrete shape of camera 100 does not affect the arrangement of sound pickup device 11 in Fig. 2 a and Fig. 2 b.
If desired sound pickup device 11 realizes the sound source direction within the scope of two-dimensional space 360 °, then voice pickup parts 11 can comprise three microphones at same plane.
If desired sound pickup device 11 realizes the orientation in three-dimensional and three-dimensional above space, then voice pickup parts 11 can comprise at least four not coplanar microphones, wherein, for every two microphones in four microphones, camera 10 can be fixed on respectively at the both sides of camera lens 100 normal N as being similar to shown in Fig. 2 a and Fig. 2 b, to form the two dimensional surface coplanar with camera lens 100 normal N, the angle being the two dimensional surface that every two microphones are formed respectively is different, is namely not parallel to each other.
Sound collection parts 12 gather the sound-source signal that voice pickup parts 11 receive.Wherein, for the situation that voice pickup parts 11 realize based on microphone, voice pickup parts 11 the audio signal of picking up be generally analog signal, now, the Main Function of sound collection parts 12 is to analog signal sampling, to obtain digitized sound-source signal, such as, sound collection parts 12 can select the sample circuit with analog-digital conversion function.
Orientation is resolved parts 13 and is utilized sound-source signal to resolve to obtain the azimuth of sound source compared to the camera lens normal of camera.Wherein, orientation is resolved parts 13 and can be adopted any one existing computation enforcement resolving sound-source signal.What formed due to voice pickup parts 11 is dynamic sound source coordinate system with camera synchronous axial system, therefore, the azimuth obtained according to any one computation is all be reference coordinate with this dynamic sound source coordinate, thus, as long as with the reference axis that the camera lens normal of camera is this dynamic sound source coordinate system, then orientation is resolved parts 13 and is resolved the azimuth obtained and be the azimuth of sound source compared to the camera lens normal of camera.
Converging angular parts 14, when resolving the azimuth obtained and exceeding outside the angular range that presets, produce the drive singal within the angular range that is used for azimuth to converge to and presets.Wherein, the azimuth obtained if resolve exceeds outside the angular range that presets in the forward direction, the drive singal that then converging angular parts 14 produce represents to rotate along inverse direction and regulates camera and sound pick-up part, within the angular range azimuth of sound source being dropped on preset.Otherwise in like manner, the azimuth obtained if resolve exceeds outside the angular range that presets in backward direction, the drive singal that then converging angular parts 14 produce represents to rotate along direction and regulates camera and sound pick-up part, within the angular range making the azimuth of sound source drop on equally to preset.In addition, when resolving the azimuth obtained and not exceeding outside the angular range that presets, then converging angular parts 14 can without the need to producing drive singal.
Loop filtering parts 15 are at converging angular parts 14 and regulate between driver part 16.
Driver part 16 is regulated to order about camera 10 and sound pick-up part 11 synchronous rotary according to drive singal.Wherein, the main effect of driver part 16 is regulated to be according to drive singal, camera 10 and sound pick-up part 11 are rotated in the proper direction, with within the angular range making the azimuth of sound source drop on to preset, certainly, except regulating direction of rotation, regulate driver part 16 also can regulate other parameters such as the speed of rotation according to actual needs further; In addition, driver part 16 is regulated any one has a driving force by such as servomechanism installation etc. parts to realize, camera 10 can be installed in by the rotary platform regulating driver part 16 to drive, to make camera 10, there is rotary freedom, thus as long as regulate driver part 16 to drive rotary platform to rotate, camera 10 can rotate, correspondingly, be fixed on camera 10 voice pickup parts 11 can with camera 10 synchronous axial system.
As above visible, be used in the sound source direction control device of video monitoring at the present embodiment, the dynamic sound source coordinate system rotated with camera can be formed with the voice pickup parts 11 of camera 10 synchronous rotary, thus based on this dynamic sound source coordinate system, orientation is resolved parts 13 and is resolved the azimuth that obtains just for sound source is compared to the relative bearing of camera lens 100 normal N of camera 10, thus, by converging angular parts 14 with regulate the coordinating of driver part 16, convergence in the angular range that this relative bearing angle can be made to preset, to realize the closed-loop control to this relative bearing, and by making camera lens 100 angular field of view of camera 10 follow the trail of orientation residing for sound source to the closed-loop control of this relative bearing.
According to control theory, loop gain K must be produced to the closed-loop control of this relative bearing, to suppress the trueness error produced by computation in traditional open loop approach, i.e. open loop trueness error E.Wherein, the closed-loop precision error X that open loop trueness error E and loop gain K obtains after suppressing meets X=E/ (1+K), consider under normal conditions, K>>1, therefore X=E/ (1+K) can be simplified shown as X ≈ E/K.As can be seen here, the closed-loop precision error X that loop gain K obtains after suppressing obviously is less than the open loop trueness error E that computation produces.Therefore, by the closed-loop control to above-mentioned relative bearing, the accuracy without the need to improving computation can improve the accuracy of sound source direction, thus can save the resource that executing arithmetic consumes.In addition, for loop gain K, can be regulated by loop filtering parts 15, can reach in theory loop gain K infinitely great, loop gain K is suppressed after the closed-loop precision error X ≈ E/K that obtains level off to zero.
And, the convergence target of above-mentioned closed-loop control is angular range but not single angle value, this is because, the camera lens visual angle of camera has certain angular range, as long as sound source (specific objective namely monitored) is in the angular range at camera lens 100 visual angle, sound source is not just to adjust compared to the azimuth of camera lens 100 normal N of camera 10, thus, the requirement to closed-loop precision error X ≈ E/K can be reduced, preferably, in the angular range making closed-loop precision error X ≈ E/K remain on to preset.
Refer to Fig. 3 a and Fig. 3 b (exemplarily representing dynamic sound source coordinate system with X-Y coordinate system in Fig. 3 a and Fig. 3 b), based on the arrangement of voice pickup parts 11 as shown in Figure 2, suppose that the angular range preset is [-5 °, 5 °], and make closed-loop error X ≈ E/K be in angular range by regulation loop gain K to be [-5 °, 5 °] in, first, as shown in Figure 3 a, sound source S moves to-45 ° of positions of camera lens 100 normal N (overlapping with the Y-axis of dynamic sound source coordinate system) of camera 10, then, the drive singal that converging angular parts 14 produce is passed to by loop filtering parts 15 and regulates driver part 16, and order about camera 10 and a pair microphone 11a and 11b synchronous axial system in a negative direction by adjustment driver part 16 by rotary platform, as shown in Figure 3 b, make the camera lens 100 normal N tracking of camera 10 to [-5 ° of sound source S place angle, 5 °] error range in.
In addition, in fact the convergence target being closed-loop control with the angular range preset makes the amplitude of variation of closed-loop control to above-mentioned relative bearing there is certain tolerance, thus, the frequent shake that the rotation of camera 10 and sound pick-up part 11 causes with the fuctuation within a narrow range of sound bearing can be avoided, to improve the stability of sound source direction.Such as, if in example as best shown in figures 3 a and 3b, if sound source S move to camera lens 100 normal N of camera 10 ± 4 °, even more low-angle position time, converging angular parts 14 do not produce drive singal.Correspondingly, the angular range preset preferably is less than or equal to camera lens 100 angular field of view of camera 10, to guarantee in closed-loop control can be in camera lens 100 visual angle moment angular range with sound source for target.
More than to the sound source direction control device for video monitoring in the present embodiment.Based on the principle similar to above-mentioned sound source direction control device, the present embodiment additionally provides a kind of sound source direction control method for video monitoring.
Refer to Fig. 4, the sound source direction control method for video monitoring in the present embodiment comprises:
Step 400, voice pickup parts are set to can with camera synchronous rotary.
Wherein, due to voice pickup parts have can with the characteristic of camera synchronous rotary, thus the sound source coordinate system that formed of voice pickup parts can along with the rotation of camera synchronous axial system, from the dynamic sound source coordinate system that can be formed with camera synchronous axial system.In practical application, step 400 can by being fixed on camera to be formed the rotation synchronous with camera by voice pickup parts, and, what be fixed on the sound pickup device of camera can adopt different arrangements, to realize the orientation of two-dimensional space or more higher dimensional space, the concrete arrangement of sound pickup device with reference to the description of sound source direction control device part, can repeat no more herein.
The sound-source signal that step 401, collection voice pickup parts receive, then performs step 402.
Step 402, utilize sound-source signal to resolve to obtain the azimuth of sound source compared to the camera lens normal of camera, then perform step 403.
Step 403, judge that whether resolve the azimuth obtained exceeds outside the angular range that presets, if so, then performs step 404, otherwise returns step 401;
Step 404, when resolving the azimuth obtained and exceeding outside the angular range that presets, produces the drive singal within the angular range that is used for azimuth to converge to and presets, then performs step 405.
Wherein, step 404 can adopt any one existing computation to implement resolving sound-source signal.What formed due to voice pickup parts is dynamic sound source coordinate system with camera synchronous axial system, therefore, the azimuth obtained according to any one computation is all be reference coordinate with this dynamic sound source coordinate, thus, as long as with the reference axis that the camera lens normal of camera is this dynamic sound source coordinate system, then step 404 is resolved the azimuth obtained and is the azimuth of sound source compared to the camera lens normal of camera.
Step 405, to produce drive singal carry out loop filtering, then perform step 406.
Step 406, foundation drive singal order about camera and sound pick-up part synchronous rotary, then return step 401.
Wherein, camera can be installed in driven by step 406 rotary platform, to make camera have rotary freedom, thus, voice pickup parts are fixed on to the situation of camera, step 406 rotates by driving the rotary platform being equiped with camera to rotate to order about camera, thus the voice pickup parts making to be fixed on camera also can with camera synchronous rotary.
So far, the flow process of said method.Wherein, in this flow process, step 401-step 406 can by the execution that circulates repeatedly.
As above visible, be used in the sound source direction control method of video monitoring at the present embodiment, sound pickup device have can with the characteristic of camera synchronous rotary, and dynamic sound source coordinate system with camera synchronous axial system can be formed with this, thus based on this dynamic sound source coordinate system, resolving the azimuth obtained is just the relative bearing of sound source compared to the camera lens normal of camera, thus, restrain in the angular range preset by making this relative bearing angle, can to realize the closed-loop control to this relative bearing, and by making the camera lens angular field of view of camera follow the trail of orientation residing for sound source to the closed-loop control of this relative bearing.
Derive according to the description above in sound source direction control device part, the closed-loop precision error X that loop gain K obtains after suppressing obviously is less than the open loop trueness error E that computation produces, therefore, by the closed-loop control to above-mentioned relative bearing, accuracy without the need to improving computation can improve the accuracy of sound source direction, thus can save the resource that executing arithmetic consumes.In addition, with sound source direction control device part in like manner, for loop gain K, the loop filtering that can be performed by the step 404 in above-mentioned flow process is regulated, can reach in theory loop gain K infinitely great, loop gain K is suppressed after the closed-loop precision error X ≈ E/K that obtains level off to zero.
And the convergence target of above-mentioned closed-loop control is angular range but not single angle value, the requirement to closed-loop precision error X ≈ E/K can be reduced, preferably, in angular range closed-loop precision error X ≈ E/K being remained on preset.And, in fact the convergence target being closed-loop control with the angular range preset makes the amplitude of variation of closed-loop control to above-mentioned relative bearing there is certain tolerance, thus, the frequent shake that the rotation of camera and sound pick-up part causes with the fuctuation within a narrow range of sound bearing can be avoided, to improve the stability of sound source direction.Correspondingly, the angular range preset preferably is less than or equal to the camera lens angular field of view of camera, to guarantee in closed-loop control can be in camera lens visual angle moment angular range with sound source for target.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within the scope of protection of the invention.
Claims (12)
1., for a sound source direction control device for video monitoring, it is characterized in that, comprising:
Voice pickup parts, its can with camera synchronous rotary;
Sound collection parts, it gathers the sound-source signal that voice pickup parts receive;
Parts are resolved in orientation, and it utilizes sound-source signal to resolve and obtains the azimuth of sound source compared to the camera lens normal of camera;
Converging angular parts, it is when resolving the azimuth obtained and exceeding outside the angular range that presets, produces the drive singal within the angular range that is used for azimuth to converge to and presets;
Regulate driver part, it orders about camera and voice pickup parts synchronous rotary according to drive singal.
2. sound source direction control device according to claim 1, is characterized in that, voice pickup parts are fixed on camera, to form the rotation synchronous with camera.
3. sound source direction control device according to claim 2, is characterized in that, voice pickup parts comprise at least two microphones.
4. sound source direction control device according to claim 1, is characterized in that, the angular range preset is less than or equal to the camera lens angular field of view of camera.
5. sound source direction control device according to claim 1, is characterized in that, camera is installed in rotary platform, this rotary platform drives by regulating driver part.
6. sound source direction control device according to claim 1, is characterized in that, comprise further:
Loop filtering parts, it is at converging angular parts and regulate between driver part.
7., for a sound source direction control method for video monitoring, it is characterized in that, comprising:
Step a0, voice pickup parts are set to can with camera synchronous rotary;
The sound-source signal that step a1, collection voice pickup parts receive;
Step a2, utilize sound-source signal to resolve to obtain the azimuth of sound source compared to the camera lens normal of camera;
Step a3, when resolving the azimuth obtained and exceeding outside the angular range that presets, produce the drive singal within the angular range that is used for azimuth to converge to and presets;
Step a4, foundation drive singal order about camera and voice pickup parts synchronous rotary.
8. sound source direction control method according to claim 7, is characterized in that, step a0 makes voice pickup parts and camera synchronous rotary by voice pickup parts are fixed on camera.
9. sound source direction control method according to claim 8, is characterized in that, voice pickup parts comprise at least two microphones.
10. sound source direction control method according to claim 7, is characterized in that, the angular range preset is less than or equal to the camera lens angular field of view of camera.
11. sound source direction control methods according to claim 7, is characterized in that, step a4 orders about camera and sound pick-up part synchronous rotary by driving the rotary platform being equiped with camera to rotate.
12. sound source direction control methods according to claim 7, is characterized in that, comprise further:
Before performing step a4, loop filtering is carried out to the drive singal that step a3 produces.
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| CN201410380045.6A CN105338292B (en) | 2014-08-04 | 2014-08-04 | Sound source direction control device and method for video monitoring |
| PCT/CN2015/082570 WO2016019768A1 (en) | 2014-08-04 | 2015-06-26 | Sound source orientation control apparatus and method for video surveillance |
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| CN201410380045.6A CN105338292B (en) | 2014-08-04 | 2014-08-04 | Sound source direction control device and method for video monitoring |
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| CN108234854A (en) * | 2018-02-08 | 2018-06-29 | 杭州里德通信有限公司 | Intelligent radio listens acoustic and thermal to sense camera |
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| CN113165598A (en) * | 2020-02-29 | 2021-07-23 | 华为技术有限公司 | Vehicle unlocking method, system, device, vehicle and storage medium |
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| CN111818240B (en) * | 2020-08-06 | 2023-04-18 | Oppo（重庆）智能科技有限公司 | Video shooting auxiliary device and video shooting device |
| CN113075614A (en) * | 2021-03-17 | 2021-07-06 | 武汉创现科技有限公司 | Sound source direction-finding device for cruise device, cruise device and intelligent garbage can |
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| Publication number | Publication date |
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| WO2016019768A1 (en) | 2016-02-11 |
| CN105338292B (en) | 2019-05-24 |
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