CN106303810B - Sound source direction judgment device and method based on directional sound sensor - Google Patents
Sound source direction judgment device and method based on directional sound sensor Download PDFInfo
- Publication number
- CN106303810B CN106303810B CN201510240624.5A CN201510240624A CN106303810B CN 106303810 B CN106303810 B CN 106303810B CN 201510240624 A CN201510240624 A CN 201510240624A CN 106303810 B CN106303810 B CN 106303810B
- Authority
- CN
- China
- Prior art keywords
- sound
- sound source
- directional
- sensors
- quadrant
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Circuit For Audible Band Transducer (AREA)
Abstract
The invention provides a sound sensor with directivity, which comprises a sound collection cavity, wherein a sound channel is arranged in the middle of the sound collection cavity, a silencing cavity is arranged between the sound channel and the outer wall of the sound collection cavity, and a soft silencing material is arranged in the silencing cavity. The soft noise reduction material is preferably polyester sound absorption cotton. The sound channel bottom sets up miaow head chamber, the miaow head intracavity sets up the miaow head. The microphone is connected with the sound processing chip to process the collected sound. The sound sensor has directivity, forms a sound source direction judging device or a direction judging device based on the directivity sound sensor, can realize the identification and tracking of a target sound source, realizes the identification of the sound source direction in a plane and a three-dimensional environment, reduces the circuit and software algorithm design, reduces the cost and has wide application prospect.
Description
Technical Field
The invention relates to the field of sound collection equipment, in particular to a sound source direction judgment device and method based on a directional sound sensor.
Background
At present, most audio collecting devices such as microphones and sound collectors generally adopt a spherical structure in order to receive sound propagated from various directions as much as possible, but they do not have a sound source direction determination function.
In some specific application occasions, the device needs to judge the direction and the orientation of a sound source, such as some anti-theft monitoring devices, fire safety monitoring devices, classroom real-time recording devices, robots and the like, and needs to judge the orientation of a person or an object which makes a sound, so as to realize automatic tracking of a target.
At present, most of sound source tracking methods are realized through circuits or software, accuracy cannot be guaranteed, cost is high, but no hardware device capable of judging sound direction exists, so that a sound source direction judging device and a sound source direction judging method are developed, judgment and identification of the position of a sound source are realized, and the sound source tracking method has important significance.
Disclosure of Invention
The invention provides a sound source position judging device and a sound source position judging method based on a directional sound sensor, which are used for realizing the positioning and the identification of a sound source, and the specific technical scheme is as follows:
a directional acoustic sensor characterized by: the sound collection device comprises a sound collection cavity 2, wherein a sound channel 4 is arranged in the middle of the sound collection cavity 2, a silencing cavity 1 is arranged between the sound channel 4 and the outer wall of the sound collection cavity 2, and soft silencing materials are arranged in the silencing cavity 1; the sound channel 4 bottom sets up miaow head chamber 5, set up the miaow head in the miaow head chamber 5.
Further, the software sound attenuation material is polyester sound absorption cotton.
The sound source direction judging device based on the directional sound sensors comprises 4 directional sound sensors which are arranged in the same plane, the directional sound sensors are arranged at intervals of 90 degrees by taking a certain point as a center, and the microphone heads of the sound sensors are all connected with a central processing chip 6.
The sound source direction judging device based on the directional sound sensors comprises 6 directional sound sensors which are arranged in a space, wherein the directional sound sensors are arranged at intervals of 90 degrees from a certain point to the top, the bottom, the left, the right, the front and the back, and the microphone heads of the sound sensors are all connected with a central processing chip 6.
The sound source direction judging method based on the sound source direction judging device comprises the following steps:
a: establishing a plane coordinate system by taking the centers of the directional sensors in 4 directions as an origin, and setting a quadrant;
b: the 4 directional sensors arranged in different directions respectively collect the signals of the sound source and transmit the signals to the central processing chip, and the sound signal intensities are respectively recorded as S1, S2, S3 and S4;
c: selecting the maximum two values of S1, S2, S3 and S4, and marking the maximum two values as Sx along the X-axis direction and Sy along the Y-axis direction, namely the sound source direction is closest to the sound direction of the directional sensor corresponding to the Sx and Sy, so as to obtain the quadrant where the sound source is located;
d: according to the formula
Calculating the included angle alpha between the sound source direction and the X axis
E: and determining the direction of the sound source according to the quadrant of the sound source and the included angle alpha.
The sound source direction judging method based on the sound source direction judging device comprises the following steps:
a: establishing a space coordinate system by taking the centers of the directional sensors in 6 directions as an origin, and setting a first quadrant to an eighth quadrant;
b: the 6 directional sensors arranged in different directions respectively collect signals of a sound source and transmit the signals to the central processing chip, and the sound signal intensities are respectively recorded as S1, S2, S3, S4, S5 and S6;
c: selecting two maximum values of S1, S2, S3, S4, S5 and S6, marking as Sx along the X-axis direction, marking as Sy along the Y-axis direction, and marking as Sz along the Z-axis direction, namely, the sound source direction is closest to the sound direction of the directional sensor corresponding to Sx, Sy and Sz, so as to obtain the quadrant where the sound source is located;
d: according to the formula
Calculating X, Y the included angle alpha between the sound source direction and the X axis in the plane
According to the formula
Calculating X, Z the included angle beta between the sound source direction and the X axis in the plane
Calculating the space angle gamma between the sound source direction and the X axis according to the included angle alpha and the included angle beta
E: and determining the direction of the sound source according to the quadrant of the sound source and the space angle gamma.
The sound source direction judging device and method based on the directional sound sensor provided by the invention have the following advantages that:
the method has the advantages that firstly, the direction selection function is realized, only the sound in the direction of the sound channel is received, the sound transmitted in other directions is obviously weakened, the function of the sound sensor is expanded, the method is suitable for wide occasions, and hardware support is provided for judging the direction and tracking of the sound source;
secondly, a unique silencing cavity design is adopted, and a special silencing material is matched, so that the silencing effect on sounds in other directions is good; simple structure and easy integration.
Thirdly, the method comprises the following steps: the method can realize the direction identification of the sound source in the plane and the three-dimensional environment, reduce the circuit and software algorithm design and reduce the cost.
Drawings
FIG. 1 is a schematic diagram of a directional acoustic sensor according to the present invention;
FIG. 2 is a schematic structural diagram of a sound source direction determination device based on a directional sound sensor according to the present invention;
FIG. 3 is a schematic diagram illustrating the calculation of the sound source direction determination method based on the directional sound sensor according to the present invention;
fig. 4 is a schematic diagram of the structure and calculation method of the sound source direction determination device based on the directional sound sensor according to the present invention.
Reference numbers in the figures:
1: a sound-deadening chamber; 2: a sound collection chamber; 3: a microphone; 4: a sound channel; 5: a head cavity; 6: a central processing chip; 7: a sound source.
Detailed Description
The following describes the directional acoustic sensor according to the present invention in further detail with reference to the drawings and the embodiments.
As shown in fig. 1, the sound sensor with directivity comprises a sound collection cavity 2, a sound channel 4 is arranged in the middle of the sound collection cavity 2, a sound attenuation cavity 1 is arranged between the sound channel 4 and the outer wall of the sound collection cavity 2, and a soft sound attenuation material is arranged in the sound attenuation cavity 1. The opening of the sound-deadening chamber 1 is gradually narrowed from the sound passage 4 to the outer wall of the sound-collecting chamber 2. The soft noise reduction material is preferably polyester sound absorption cotton. The sound channel 4 bottom sets up miaow head chamber 5, set up the miaow head in the miaow head chamber 5. The microphone is connected with the sound processing chip to process the collected sound.
The sound sensor with the directivity only receives the sound in the direction of the sound channel 4, most of the sound transmitted in other directions is absorbed by the silencing cavity 1, and compared with the sound transmitted from the sound channel, the sound sensor with the directivity is obviously weakened, can realize the identification and tracking of a target sound source by being matched with other equipment, and has wide application prospect.
As shown in fig. 2, the sound source direction determination device based on the directional sound sensors includes 4 directional sound sensors arranged in the same plane, the directional sound sensors are arranged at an interval of 90 ° with a certain point as the center, and the microphones of the sound sensors are all connected to the central processing chip 6.
The sound source direction judging method based on the sound source direction judging device comprises the following steps:
a: establishing a plane coordinate system by taking the centers of the directional sensors in 4 directions as an origin, and setting a quadrant;
b: the 4 directional sensors arranged in different directions respectively collect the signals of the sound source 7 and transmit the signals to the central processing chip, and the sound signal intensities are respectively recorded as S1, S2, S3 and S4;
c: selecting the two largest values of S1, S2, S3 and S4, and marking as Sx along the X-axis direction and Sy along the Y-axis direction, as shown in FIG. 3, that is, the sound source direction is closest to the sound direction of the directional sensor corresponding to Sx and Sy, so as to obtain the quadrant where the sound source is located;
d: according to the formula
Calculating the included angle alpha between the sound source direction and the X axis
E: and determining the direction of the sound source according to the quadrant of the sound source and the included angle alpha.
Claims (6)
1. A directional acoustic sensor characterized by: the sound collection device comprises a sound collection cavity (2), wherein a sound channel (4) is arranged in the middle of the sound collection cavity (2), a silencing cavity (1) is arranged between the sound channel (4) and the outer wall of the sound collection cavity (2), and soft silencing materials are arranged in the silencing cavity (1); the opening of the sound attenuation cavity (1) is gradually narrowed from the sound channel (4) to the outer wall of the sound collection cavity (2); the sound channel (4) bottom sets up miaow head chamber (5), set up the miaow head in miaow head chamber (5).
2. A directional sound sensor according to claim 1, characterised in that: the soft sound-deadening material is polyester sound-absorbing cotton.
3. The sound source direction determination device of a directional sound sensor according to claim 1, wherein: the microphone comprises 4 directional sound sensors which are arranged in the same plane, the directional sound sensors are arranged at intervals of 90 degrees by taking a certain point as a center, and the microphones of the sound sensors are all connected with a central processing chip (6).
4. The sound source direction determination device of a directional sound sensor according to claim 1, wherein: the microphone comprises 6 directional sound sensors arranged in a space, wherein the directional sound sensors are arranged at an interval of 90 degrees from a certain point to the top, the bottom, the left, the right, the front and the back, and the microphone heads of the sound sensors are all connected with a central processing chip (6).
5. The sound source direction determination method of the sound source direction determination device according to claim 3, characterized in that: the method comprises the following steps:
a: establishing a plane coordinate system by taking the centers of the directional sensors in 4 directions as an origin, and setting a quadrant;
b: the 4 directional sensors arranged in different directions respectively collect the signals of the sound source and transmit the signals to the central processing chip, and the sound signal intensities are respectively recorded as S1, S2, S3 and S4;
c: selecting the maximum two values of S1, S2, S3 and S4, and marking the maximum two values as Sx along the X-axis direction and Sy along the Y-axis direction, namely the sound source direction is closest to the sound direction of the directional sensor corresponding to the Sx and Sy, so as to obtain the quadrant where the sound source is located;
d: according to the formula
Calculating the included angle alpha between the sound source direction and the X axis,
e: and determining the direction of the sound source according to the quadrant of the sound source and the included angle alpha.
6. The sound source direction determination method of the sound source direction determination device according to claim 4, characterized in that: the method comprises the following steps:
a: establishing a space coordinate system by taking the centers of the directional sensors in 6 directions as an origin, and setting a first quadrant to an eighth quadrant;
b: the 6 directional sensors arranged in different directions respectively collect signals of a sound source and transmit the signals to the central processing chip, and the sound signal intensities are respectively recorded as S1, S2, S3, S4, S5 and S6;
c: selecting two maximum values of S1, S2, S3, S4, S5 and S6, marking as Sx along the X-axis direction, marking as Sy along the Y-axis direction, and marking as Sz along the Z-axis direction, namely, the sound source direction is closest to the sound direction of the directional sensor corresponding to Sx, Sy and Sz, so as to obtain the quadrant where the sound source is located;
d: according to the formula
The angle alpha between the direction of the sound source in the plane and the X-axis is calculated X, Y,
according to the formula
The angle beta between the direction of the sound source and the X axis in the plane is calculated X, Z,
calculating a space angle gamma between the sound source direction and the X axis according to the included angle alpha and the included angle beta;
e: and determining the direction of the sound source according to the quadrant of the sound source and the space angle gamma.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510240624.5A CN106303810B (en) | 2015-05-13 | 2015-05-13 | Sound source direction judgment device and method based on directional sound sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510240624.5A CN106303810B (en) | 2015-05-13 | 2015-05-13 | Sound source direction judgment device and method based on directional sound sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106303810A CN106303810A (en) | 2017-01-04 |
| CN106303810B true CN106303810B (en) | 2021-09-10 |
Family
ID=57631871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510240624.5A Active CN106303810B (en) | 2015-05-13 | 2015-05-13 | Sound source direction judgment device and method based on directional sound sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106303810B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2772167Y (en) * | 2004-12-14 | 2006-04-12 | 朱铭 | Long-distance directional audiphone |
| CN103064061A (en) * | 2013-01-05 | 2013-04-24 | 河北工业大学 | Sound source localization method of three-dimensional space |
| CN103760479A (en) * | 2014-01-10 | 2014-04-30 | 三峡大学 | Portable corona positioning instrument |
| CN204929164U (en) * | 2015-05-13 | 2015-12-30 | 青岛通产智能机器人有限公司 | Sound sensor with directionality |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102926841A (en) * | 2011-08-11 | 2013-02-13 | 王长顺 | Motorcycle silencer |
| US9368117B2 (en) * | 2012-11-14 | 2016-06-14 | Qualcomm Incorporated | Device and system having smart directional conferencing |
-
2015
- 2015-05-13 CN CN201510240624.5A patent/CN106303810B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2772167Y (en) * | 2004-12-14 | 2006-04-12 | 朱铭 | Long-distance directional audiphone |
| CN103064061A (en) * | 2013-01-05 | 2013-04-24 | 河北工业大学 | Sound source localization method of three-dimensional space |
| CN103760479A (en) * | 2014-01-10 | 2014-04-30 | 三峡大学 | Portable corona positioning instrument |
| CN204929164U (en) * | 2015-05-13 | 2015-12-30 | 青岛通产智能机器人有限公司 | Sound sensor with directionality |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106303810A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106303810B (en) | Sound source direction judgment device and method based on directional sound sensor | |
| US8090117B2 (en) | Microphone array and digital signal processing system | |
| US8755536B2 (en) | Stabilizing directional audio input from a moving microphone array | |
| CN107613428B (en) | Sound processing method and device and electronic equipment | |
| CN204929164U (en) | Sound sensor with directionality | |
| CN112188368A (en) | Method and system for directionally enhancing sound | |
| CN102707262A (en) | Sound localization system based on microphone array | |
| CN103278801A (en) | Noise imaging detection device and detection calculation method for transformer substation | |
| CN103856877B (en) | A kind of acoustic control information detecting method and electronic equipment | |
| JP6977448B2 (en) | Device control device, device control program, device control method, dialogue device, and communication system | |
| CN110322892B (en) | Voice pickup system and method based on microphone array | |
| CN102901949A (en) | Two-dimensional spatial distribution type relative sound positioning method and device | |
| Uziel et al. | Networked embedded acoustic processing system for smart building applications | |
| CN106328130A (en) | Robot voice addressed rotation system and method | |
| CN105675122B (en) | A kind of noise source position method for quickly identifying | |
| CN102707260A (en) | Sound positioning signal sensor | |
| CN208444161U (en) | Robot auditory localization and identification device | |
| Shivappa et al. | Role of head pose estimation in speech acquisition from distant microphones | |
| US20140269198A1 (en) | Beamforming Sensor Nodes And Associated Systems | |
| CN111157950B (en) | Sound positioning method based on sensor | |
| JP2011033369A (en) | Conference device | |
| EP3661233B1 (en) | Wearable beamforming speaker array | |
| Goseki et al. | Combination of microphone array processing and camera image processing for visualizing sound pressure distribution | |
| CN205588317U (en) | Sound localization can be carried out and robot head pivoted device is linked | |
| Sledevič et al. | An evaluation of hardware-software design for sound source localization based on SoC |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
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. |