CN106303810A - Sound bearing based on directional sound sensor judgment means and method - Google Patents
Sound bearing based on directional sound sensor judgment means and method Download PDFInfo
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- CN106303810A CN106303810A CN201510240624.5A CN201510240624A CN106303810A CN 106303810 A CN106303810 A CN 106303810A CN 201510240624 A CN201510240624 A CN 201510240624A CN 106303810 A CN106303810 A CN 106303810A
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Abstract
The present invention provides tool directive sound transducer, including sound collection chamber, arranges sound channel, arrange silencing cavity between the outer wall in described sound channel and sound collection chamber in the middle part of described sound collection chamber, arranges soft quieter material in silencing cavity.Described software quieter material is preferably polyester acoustical cotton.Miaow head cavity is set bottom described sound channel, in described miaow head cavity, miaow head is set.Miaow head is connected with sound processing chip, processes the sound gathered.The sound transducer of the present invention has directivity, form Sounnd source direction judgment means based on directional sound sensor or orientation judgment means, the identification to target sound source and tracking can be realized, achieve plane and steric environment Sounnd source direction identification, decrease circuit and software algorithm design, reduce cost, be with a wide range of applications.
Description
Technical field
The present invention relates to sound collection equipment field, specifically, relate to a kind of sound bearing based on directional sound sensor
Judgment means and method.
Background technology
At present, the audio collecting device such as most mike or pick up, generally use spherical structure in order to the greatest extent may be used
What energy was many receives the sound propagated from all directions, but, the most do not possess sound bearing arbitration functions.
In some specific application scenarios, equipment needs to judge Sounnd source direction and orientation, such as some anti-thefting monitoring equipment, fire-fighting peace
Prison equipment, Classroom Record recording arrangement and robot etc., need to judge to send the people of sound or the orientation of thing, to realize mesh
Mark automatic tracing.
Method for tracing to sound source at present, is to be realized by circuit or software mostly, and accuracy cannot ensure, and relatively costly,
But there is no a kind of hardware unit that can interpolate that sound bearing, therefore, a kind of sound bearing judgment means of research and development and method, real
Now the judgement identification to the position of sound source, has great importance.
Summary of the invention
The present invention provides sound bearing based on directional sound sensor judgment means and method, in order to realize the location to sound source
With identification, its concrete technical scheme is as follows:
Directional sound sensor, its thing is levied and is: include sound collection chamber 2, arranges sound and lead in the middle part of described sound collection chamber 2
Road 4, arranges silencing cavity 1 between described sound channel 4 and the outer wall in sound collection chamber 2, arrange soft noise reduction material in silencing cavity 1
Material；Miaow head cavity 5 is set bottom described sound channel 4, in described miaow head cavity 5, miaow head is set.
Further, described software quieter material is polyester acoustical cotton.
Sounnd source direction judgment means based on directional sound sensor, including 4 directional sound being arranged in same plane
Sensor, described directional sound sensor is spaced 90 ° of arrangements centered by certain point, the miaow head of described sound transducer all with
Central processing element 6 connects.
Sound bearing based on directional sound sensor judgment means, including 6 the directional sound sensings being arranged in space
Device, the up, down, left, right, before and after 90 ° of arrangements in interval pressed centered by certain point by described directional sound sensor, described
The miaow head of sound transducer is all connected with central processing element 6.
Sounnd source direction determination methods based on Sounnd source direction judgment means, sequentially includes the following steps:
A: set up plane coordinate system with the directional sensor center in 4 directions for initial point, sets quadrant；
The directional sensor of B:4 different directions arrangement gathers the signal of sound source respectively, and transmits to central processing element, sound
Tone signal intensity is designated as S1, S2, S3, S4 respectively；
C: select in S1, S2, S3, S4 two maximum values, is designated as Sx along X-direction, is designated as Sy, i.e. along Y direction
The directional sensor sound direction that Sounnd source direction is corresponding with Sx, Sy is closest, draws quadrant residing for sound source with this；
D: according to formulaCalculate the angle α of Sounnd source direction and X-axis
E: determine Sounnd source direction according to quadrant residing for sound source and angle α.
Sound bearing based on sound bearing judgment means determination methods, sequentially includes the following steps:
A: set up space coordinates with the directional sensor center in 6 directions for initial point, sets the first to the 8th quadrant；
The directional sensor of B:6 different directions arrangement gathers the signal of sound source respectively, and transmits to central processing element, sound
Tone signal intensity is designated as S1, S2, S3, S4, S5, S6 respectively；
C: select in S1, S2, S3, S4, S5, S6 two maximum values, is designated as Sx, along Y direction along X-direction
Being designated as Sy, be designated as Sz along Z-direction, the directional sensor sound direction that i.e. Sounnd source direction is corresponding with Sx, Sy, Sz is closest,
Quadrant residing for sound source is drawn with this；
D: according to formulaCalculate Sounnd source direction and the angle α of X-axis in X, Y planeAccording to
FormulaCalculate Sounnd source direction and the angle β of X-axis in X, Z planeAccording to angle α, angle
β calculates Space Angle γ of Sounnd source direction and X-axis
E: determine Sounnd source direction according to quadrant residing for sound source and Space Angle γ.
Sound bearing based on directional sound sensor judgment means provided by the present invention and method, have the advantage that
The first, there is set direction function, only receive the sound with sound channel direction, the sound substantially quilt that other direction is propagated
Weaken, extend the function of sound transducer, it is adaptable to occasion widely, prop up from hardware for judging that sound bearing and tracking carry
Hold；
The second, use unique silencing cavity design, coordinate specific quieter material, the sound good muffling effect to other directions；Knot
Structure is simple, easy of integration.
3rd: plane and steric environment Sounnd source direction identification can be realized, decrease circuit and software algorithm design, reduce cost.
Accompanying drawing explanation
Fig. 1 is the sound transducer structural representation of the directivity of the present invention；
Fig. 2 is the Sounnd source direction judgment means structural representation based on directional sound sensor of the present invention；
Fig. 3 is that the Sounnd source direction determination methods based on directional sound sensor of the present invention calculates schematic diagram；
Fig. 4 is sound bearing based on directional sound sensor judgment means structure and the computational methods schematic diagram of the present invention.
Label in figure:
1: silencing cavity；2: sound collection chamber；3: miaow head；4: sound channel；5: miaow head cavity；6: central processing element；7:
Sound source.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the directive sound transducer of tool of the present invention is described in further detail by embodiment.
As it is shown in figure 1, have directive sound transducer, including sound collection chamber 2, set in the middle part of described sound collection chamber 2
Put sound channel 4, silencing cavity 1 is set between described sound channel 4 and the outer wall in sound collection chamber 2, arranges soft in silencing cavity 1
Property quieter material.Described silencing cavity 1 opening is become narrow gradually to the outer wall in sound collection chamber 2 by sound channel 4.Described software disappears
Sound material is preferably polyester acoustical cotton.Miaow head cavity 5 is set bottom described sound channel 4, in described miaow head cavity 5, miaow head is set.
Miaow head is connected with sound processing chip, processes the sound gathered.
The present invention has directive sound transducer and only receives and the sound on sound channel 4 direction, the sound that other direction is propagated
Sound major part is absorbed by silencing cavity 1, compares the sound transmitted from sound channel, hence it is evident that weaken, and therefore, this sound transducer has
Directivity, coordinates miscellaneous equipment to use, can realize the identification to target sound source and tracking, be with a wide range of applications.
As in figure 2 it is shown, Sounnd source direction judgment means based on directional sound sensor, including 4 be arranged in same plane
Directional sound sensor, described directional sound sensor is spaced 90 ° of arrangements, described sound transducer centered by certain point
Miaow head be all connected with central processing element 6.
Sounnd source direction determination methods based on Sounnd source direction judgment means, is carried out according to the following procedure:
A: set up plane coordinate system with the directional sensor center in 4 directions for initial point, sets quadrant；
The directional sensor of B:4 different directions arrangement gathers the signal of sound source 7 respectively, and transmits to central processing element,
Sound signal intensity is designated as S1, S2, S3, S4 respectively；
C: select in S1, S2, S3, S4 two maximum values, is designated as Sx along X-direction, is designated as Sy along Y direction, as
Shown in Fig. 3, the directional sensor sound direction that i.e. Sounnd source direction is corresponding with Sx, Sy is closest, draws quadrant residing for sound source with this；
D: according to formulaCalculate the angle α of Sounnd source direction and X-axis
E: determine Sounnd source direction according to quadrant residing for sound source and angle α.
Claims (6)
1. directional sound sensor, its thing is levied and is: include that sound collection chamber (2), described sound collection chamber (2) middle part are arranged
Sound channel (4), arranges silencing cavity (1), silencing cavity between the outer wall of described sound channel (4) and sound collection chamber (2)
(1) soft quieter material is arranged in；Described sound channel (4) bottom arranges miaow head cavity (5), sets in described miaow head cavity (5)
Put miaow head.
The directive sound transducer of tool the most according to claim 1, its thing levies and is: described software quieter material is polyester
Acoustical cotton.
3. Sounnd source direction judgment means based on the directional sound sensor described in claim 1, it is characterised in that: include being arranged in
4 directional sound sensors in same plane, described directional sound sensor is spaced 90 ° of arrangements centered by certain point,
The miaow head of described sound transducer is all connected with central processing element (6).
4. sound bearing judgment means based on the directional sound sensor described in claim 1, it is characterised in that: include being arranged in
6 directional sound sensors in space, described directional sound sensor centered by certain point by upper and lower, left and right,
The arrangement of 90 ° of forward and backward interval, the miaow head of described sound transducer is all connected with central processing element (6).
5. Sounnd source direction determination methods based on the Sounnd source direction judgment means described in claim 3, it is characterised in that: according to the following steps
Carry out:
A: set up plane coordinate system with the directional sensor center in 4 directions for initial point, sets quadrant；
The directional sensor of B:4 different directions arrangement gathers the signal of sound source respectively, and transmits to central processing element, and sound is believed
Number intensity is designated as S1, S2, S3, S4 respectively；
C: select in S1, S2, S3, S4 two maximum values, is designated as Sx along X-direction, is designated as Sy, i.e. along Y direction
The directional sensor sound direction that Sounnd source direction is corresponding with Sx, Sy is closest, draws quadrant residing for sound source with this；
D: according to formulaCalculate the angle of Sounnd source direction and X-axis
E: determine Sounnd source direction according to quadrant residing for sound source and angle α.
6. sound bearing determination methods based on the sound bearing judgment means described in claim 4, it is characterised in that: according to the following steps
Carry out:
A: set up space coordinates with the directional sensor center in 6 directions for initial point, sets the first to the 8th quadrant；
The directional sensor of B:6 different directions arrangement gathers the signal of sound source respectively, and transmits to central processing element, and sound is believed
Number intensity is designated as S1, S2, S3, S4, S5, S6 respectively；
C: select in S1, S2, S3, S4, S5, S6 two maximum values, is designated as Sx, along Y direction along X-direction
Being designated as Sy, be designated as Sz along Z-direction, the directional sensor sound direction that i.e. Sounnd source direction is corresponding with Sx, Sy, Sz is closest,
Quadrant residing for sound source is drawn with this；
D: according to formulaCalculate Sounnd source direction and the angle of X-axis in X, Y planeAccording to formulaCalculate Sounnd source direction and the angle of X-axis in X, Z planeAccording to angle α, angle β meter
Calculate Space Angle γ of Sounnd source direction and X-axis
E: determine Sounnd source direction according to quadrant residing for sound source and Space Angle γ.
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| CN201510240624.5A CN106303810B (en) | 2015-05-13 | 2015-05-13 | Sound source direction judgment device and method based on directional sound sensor |
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| CN201510240624.5A CN106303810B (en) | 2015-05-13 | 2015-05-13 | Sound source direction judgment device and method based on directional sound sensor |
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| CN106303810B CN106303810B (en) | 2021-09-10 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108254721A (en) * | 2018-04-13 | 2018-07-06 | 歌尔科技有限公司 | A kind of positioning sound source by robot and robot |
| CN108414072A (en) * | 2017-11-07 | 2018-08-17 | 四川大学 | A kind of true three dimensional sound is recorded and play system |
| CN109144092A (en) * | 2017-06-16 | 2019-01-04 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane during flying householder method, device and unmanned plane |
| CN111157950A (en) * | 2019-11-15 | 2020-05-15 | 西安海的电子科技有限公司 | Sound positioning method based on sensor |
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| CN102926841A (en) * | 2011-08-11 | 2013-02-13 | 王长顺 | Motorcycle silencer |
| CN103064061A (en) * | 2013-01-05 | 2013-04-24 | 河北工业大学 | Sound source localization method of three-dimensional space |
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| US20140136203A1 (en) * | 2012-11-14 | 2014-05-15 | Qualcomm Incorporated | Device and system having smart directional conferencing |
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| CN2772167Y (en) * | 2004-12-14 | 2006-04-12 | 朱铭 | Long-distance directional audiphone |
| CN102926841A (en) * | 2011-08-11 | 2013-02-13 | 王长顺 | Motorcycle silencer |
| US20140136203A1 (en) * | 2012-11-14 | 2014-05-15 | Qualcomm Incorporated | Device and system having smart directional conferencing |
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| CN109144092A (en) * | 2017-06-16 | 2019-01-04 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane during flying householder method, device and unmanned plane |
| CN108414072A (en) * | 2017-11-07 | 2018-08-17 | 四川大学 | A kind of true three dimensional sound is recorded and play system |
| CN108254721A (en) * | 2018-04-13 | 2018-07-06 | 歌尔科技有限公司 | A kind of positioning sound source by robot and robot |
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| CN111157950B (en) * | 2019-11-15 | 2023-12-05 | 海菲曼（天津）科技有限公司 | Sound positioning method based on sensor |
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Effective date of registration: 20211108 Address after: No. 1555, East Zhonghua Road, Heze Development Zone, Shandong Province 274000 Patentee after: SHANDONG XIBU INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 266071 household 21e, building a, Shenye center, No. 9, Shandong Road, Shinan District, Qingdao, Shandong Province Patentee before: QINGDAO TONGCHAN INTELLIGENT ROBOT CO.,LTD. |