CN106597450B - A kind of acoustic detection and positioning system - Google Patents
A kind of acoustic detection and positioning system Download PDFInfo
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- CN106597450B CN106597450B CN201611126986.2A CN201611126986A CN106597450B CN 106597450 B CN106597450 B CN 106597450B CN 201611126986 A CN201611126986 A CN 201611126986A CN 106597450 B CN106597450 B CN 106597450B
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- acoustic
- waveguide tube
- positioning system
- acoustic waveguide
- array
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of acoustic detection and positioning systems, comprising: acoustic sensor array and acoustic waveguide tube array, wherein acoustic sensor array includes N number of sound sensing unit, wherein N >=2；Acoustic waveguide tube array includes M root acoustic waveguide tube, wherein M >=2, and every acoustic waveguide tube connects corresponding sound sensing unit in both ends open and the circular tube shaped of connection, one end, and the other end is placed in air；The acoustical signal propagated in air is received after entering the acoustic waveguide tube of acoustic waveguide tube array by the sound sensing unit of acoustic sensor array.Acoustic detection of the present invention and positioning system are small in size, light-weight, and easy to carry, acoustic sensor array is compact-sized, and the otherness that external environment influences each sound sensing unit is small, and the accuracy of measurement of system is high.
Description
Technical field
The present invention relates to sound field of sensing technologies more particularly to a kind of acoustic detections based on acoustic waveguide tube array and positioning to be
System.
Background technique
Acoustic detection and location technology are related to acoustics, electronics, sensor technology, signal processing technology, computerized algorithm etc.
Multiple subjects and multiple technologies are a kind of technologies of typical multidisciplinary height intersection fusion.Acoustic detection and location technology are in ring
The multiple fields such as border, medical treatment, industry, traffic, military affairs have important application, have obtained and have paid much attention to both at home and abroad and grind extensively
Study carefully.
Acoustic detection and location technology are divided into active and passive type two types, common Ultrasonic Nondestructive and doctor
The universal ultrasonic imaging diagnosis of institute belongs to active acoustic detection location technology, passive type acoustic detection and location technology application range
It is wider, comprising: environment noise monitoring, the intelligent robot sense of hearing, laser processing procedure monitoring, running state of rotating machine detection,
The Detection And Tracking of the low small slow targets such as underground piping leak detection, helicopter/unmanned plane/cannon/bullet.Existing passive type
Acoustic detection and the positioning device overwhelming majority are a stent-type acoustic sensor array, it be by multiple discrete sound sensing units by
It is fixed on according to certain spatial arrangement and constitutes on special rigid support.The spatial position as locating for each sonic transducer is not
Together, the time and intensity that the sound wave that the same sound source issues reaches each sonic transducer is different, therefore each sonic transducer detects
The acoustic signals arrived have intensity difference and phase difference.Based on these differences, can be realized as in conjunction with complicated signal processing algorithm
Auditory localization.The intensity difference and phase difference that adjacent sonic transducer generates are bigger, and acoustic source location accuracy is higher.
In order to improve positioning accuracy, on the one hand need on the other hand to need adjacent sound to pass comprising more sound sensing unit
Feel unit spacing it is larger so that this stent-type acoustic detection with positioning device size is big, cable is more, weight is big, inconvenience
It needs to be fixed on a commanding elevation when carrying, being not suitable for miniaturization, use to carry out acoustic detection positioning or need vehicle-mounted moved
Dynamic formula detection.
This stent-type acoustic detection has another disadvantage that from positioning device is in different spaces in acoustic sensor array
Environmental condition that the sonic transducer of position is subject to such as temperature, humidity, air pressure, wind speed, wind direction etc. may be different, therefore, not in unison
The environmental impact factor that the output signal of sensor is included may be different, and this environmental disturbances are difficult to eliminate, will directly affect
The positioning accuracy of device.
Summary of the invention
(1) technical problems to be solved
In view of above-mentioned technical problem, the present invention provides a kind of acoustic detection and positioning system based on acoustic waveguide tube array,
With overcome existing stent-type acoustic detection with positioning device volume is big, weight is big, it is not readily portable, be not suitable for miniaturization, positioning accurate
The disadvantages of degree is easily affected by environment.
(2) technical solution
According to an aspect of the invention, there is provided a kind of acoustic detection and positioning system, comprising: acoustic sensor array and
Acoustic waveguide tube array, wherein acoustic sensor array includes N number of sound sensing unit, wherein N >=2；Acoustic waveguide tube array includes M root
Acoustic waveguide tube, wherein M >=2, every acoustic waveguide tube connect corresponding sound and sense in both ends open and the circular tube shaped of connection, one end
Unit, the other end are placed in air；The acoustical signal propagated in air is sensed after entering the acoustic waveguide tube of acoustic waveguide tube array by sound
The sound sensing unit of device array receives.
(3) beneficial effect
It can be seen from the above technical proposal that acoustic detection of the invention and positioning system at least have the advantages that it
One of:
(1) with existing stent-type acoustic detection compared with positioning device, the present invention uses compact-sized sound sensor array
It arranges, each sound sensing unit in acoustic sensor array is apart close, in conjunction with acoustic waveguide tube array, desired signal transmission line
It is few, it can be realized acoustic detection and the miniaturization of positioning system, allow that light-weighted acoustic detection and positioning system is made, be suitable for micro-
Type UAV system platform and individual soldier carry, and use more flexible, have a wide range of application；
(2) with existing stent-type acoustic detection compared with positioning device, the acoustic sensor array in the present invention is compact-sized,
So that each sound sensing unit local environment is essentially identical, thus the difference for effectively inhibiting each sound sensing unit affected by environment
Property, improve the acoustic fix ranging precision of system；
(3) by adjusting acoustic waveguide tube length, so that it is met the condition of resonance under specific acoustic wave wavelength, wavelength may be implemented
The acoustic detection and positioning system of selectivity；
(4) each sound sensing unit is placed in same plane, apart close, is conducted sound wave to sound by acoustic waveguide tube
Sensing unit, and one end that acoustic waveguide tube is placed in air forms the equivalent array of large aperture, and sound wave is made to generate biggish biography
Delay is broadcast, to realize the modulation of the phase of sound wave.
Detailed description of the invention
Fig. 1 is the structural decomposition diagram of acoustic detection and positioning system in first embodiment of the invention；
Fig. 2 is the schematic diagram of acoustic detection and positioning system in second embodiment of the invention；
Fig. 3 is the structural schematic diagram of acoustic waveguide tube in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of connector in the embodiment of the present invention；
Fig. 5 is the positioning schematic of acoustic detection and positioning system in the embodiment of the present invention.
[main element]
1- acoustic sensor array；2- acoustic waveguide tube array；
101- sound sensing unit；102- cable；201- acoustic waveguide tube；202- vibrating diaphragm；
3- signal processing chip；
4- connector；
401- tubular protrusion array；402- accommodation space array；403- flowering structure body；
5- bracket.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
First embodiment:
In first exemplary embodiment of the invention, a kind of acoustic detection and positioning system are provided.Fig. 1 is the present invention
The structural decomposition diagram of acoustic detection and positioning system in first embodiment, referring to Fig. 1, a kind of acoustic detection and positioning system,
It include: acoustic sensor array 1, acoustic waveguide tube array 2, signal processing chip 3, connector 4.
Acoustic sensor array 1 includes N number of sound sensing unit 101, and wherein N >=2, the sound sensing unit can be discrete
Sonic transducer is also possible to integrated sonic transducer on a single die.
Acoustic waveguide tube array 2 includes M root acoustic waveguide tube 201, wherein M >=2, and every acoustic waveguide tube is in both ends open and is connected to
Circular tube shaped, one end connects corresponding sound sensing unit 101, and the other end is placed in air.All acoustic waveguide tubes are placed in sky
One end in gas is arranged according to preset geometry formation, to form acoustic waveguide tube array 2.The acoustical signal propagated in air enters
It is received after acoustic waveguide tube 201 by sound sensing unit 101.
In the acoustic detection and positioning system of the present embodiment, the corresponding acoustic waveguide tube 201 of each sound sensing unit 101.
The size of the acoustic waveguide tube array is greater than the size of acoustic sensor array, it is preferred that in order to make the sound in acoustic waveguide tube array
Waveguide is placed in the equivalent array that one end in air forms large aperture, and sound wave is made to generate biggish propagation delay, the sound wave
The size of conduit array is much larger than the size of acoustic sensor array.
The quantity of the acoustic waveguide tube 201 is no less than the quantity of the sound sensing unit 101, extra acoustic waveguide tube 201
It can be used for replacing the acoustic waveguide tube connecting with sound sensing unit 101, to constitute different geometry formation；In the present embodiment, sound
The number of sensing unit 101 is 4, and the number of acoustic waveguide tube 201 is 4.
Signal processing chip 3 is electrically connected with acoustic sensor array 1 by the realization of cable 102, for acoustic sensor array 1
It powers and the electric signal generated to each sound sensing unit 101 of acoustic sensor array 1 is handled.
The structure of connector 4 is as shown in figure 4, for being fixedly connected with the acoustic waveguide tube 201 and the sound sensing unit
101, and make the sense sound face of sound sensing unit 101 described in the connectivity port face of the acoustic waveguide tube 201.
Specifically, there is tubular protrusion array 401 in the upper end of the connector 4, and lower end has one-to-one with tubular protrusion
Accommodation space array 402, tubular protrusion are used to install one end of 201 face sound sensing unit 101 of acoustic waveguide tube, and accommodation space is used
Each sound sensing unit in installation acoustic sensor array；Tubular protrusion is mutually communicated with accommodation space, is guaranteed through each sound
The sound wave that waveguide is propagated can be on independent action to corresponding sound sensing unit；The connector further includes flowering structure body
403, it is mounted on 4 bottom of connector, for the acoustic sensor array to be fixed on to the accommodation space array of the connector 4
In 402.
Wherein, the sound sensing unit 101 can be piezoelectric type sonic transducer, condenser type sonic transducer, electromagnetic type sound and pass
One of sensor, optical profile type sonic transducer.Specifically, the optical profile type sonic transducer, can be fibre-optical acoustic sensor；It is described
Condenser type sonic transducer can be electret capacitor type sonic transducer.The fibre-optical acoustic sensor by optical fiber sonic probe, light source,
With photodetector by optical fiber carry out light connects, the signal processing chip respectively with the light source of the fibre-optical acoustic sensor and
Photodetector is electrically connected, for handling to light source power supply and to the electric signal of photodetector generation.
In addition, the acoustic waveguide tube 201, can be metal catheter, metal can be one of copper, aluminium, aluminium alloy.
In the present embodiment, each acoustic waveguide tube in the acoustic waveguide tube array, specification is identical, and bore is equal,
Equal length, or different length is chosen according to preset value.
Preferably, each acoustic waveguide tube in the acoustic waveguide tube array, length meet the sound wave of specific wavelength
Condition of resonance, to realize the acoustic detection and positioning of wavelength selectivity.
Each acoustic waveguide tube in the acoustic waveguide tube array is placed in the port in air in bell shape, and
It is provided with vibrating diaphragm 202, as shown in Figure 3.Each acoustic waveguide tube in the acoustic waveguide tube array, is placed in the port in air
Towards the same direction.
The present invention using acoustic waveguide tube by acoustic signals to be measured according to the path transmission of setting to sonic transducer, sound wave letter
Almost without loss during propagation number in acoustic waveguide tube, and its can not be kept well original by external interference
Physical characteristic.On the other hand, by using the port of bell shape, and vibrating diaphragm is set on the port of bell shape,
Acoustical signal to be measured can effectively be received, be advantageously implemented the detection of weak acoustic signal, thus increase acoustic detection and positioning away from
From.These features based on acoustic waveguide tube form equivalent array using acoustic waveguide tube, to replace traditional sonic transducer space battle array
Column, to release constraint of the acoustic positioning system to sonic transducer placement.
Fig. 5 is the positioning schematic of acoustic detection and positioning system in the embodiment of the present invention.From figure 1 it appears that each
Sound sensing unit is placed in same plane, apart close, is conducted sound wave to sound sensing unit by acoustic waveguide tube, and sound wave
One end that conduit is placed in air forms the equivalent array of large aperture, so that sound wave is generated biggish propagation delay, to realize
The modulation of the phase of sound wave.
So far, a kind of acoustic detection of first embodiment of the invention is finished with positioning system introduction.
Second embodiment:
In second exemplary embodiment of the invention, a kind of acoustic detection and positioning system are provided.Fig. 2 is the present invention
The schematic diagram of acoustic detection and positioning system in second embodiment.As shown in Fig. 2, acoustic detection and positioning system with first embodiment
It compares, the present embodiment acoustic detection and the difference of positioning system are:
The acoustic waveguide tube 201 is flexible conduit, and the flexible conduit can be plastic catheter, rubber catheter, silicon rubber
One of conduit, teflon catheter；
The acoustic waveguide tube array further includes a bracket 5, is placed in one end in air for fixing flexible conduit.Specifically
, the bracket is rigid, bracket with foldable.
In order to achieve the purpose that brief description, any technical characteristic narration for making same application in above-mentioned first embodiment
All and in this, without repeating identical narration.
So far, a kind of acoustic detection of second embodiment of the invention is finished with positioning system introduction.
In conclusion acoustic detection of the invention and positioning system are small in size, light-weight, easy to carry, acoustic sensor array
Compact-sized, the otherness that external environment influences each sound sensing unit is small, and the accuracy of measurement of system is high.
It should be noted that in attached drawing or specification text, the implementation for not being painted or describing is affiliated technology
Form known to a person of ordinary skill in the art, is not described in detail in field.In addition, the above-mentioned definition to each element and method is simultaneously
It is not limited only to various specific structures, shape or the mode mentioned in embodiment, those of ordinary skill in the art can carry out letter to it
It singly changes or replaces, such as:
(1) connector 4 can also form assembly form with acoustic sensor array 1；
It should also be noted that, can provide the demonstration of the parameter comprising particular value herein, but these parameters are without definite etc.
In corresponding value, but analog value can be similar in acceptable error margin or design constraint.The side mentioned in embodiment
It is only the direction with reference to attached drawing to term, such as "upper", "lower", "front", "rear", "left", "right" etc., is not used to limit this
The protection scope of invention.And above-described embodiment can based on the considerations of design and reliability, be mixed with each other collocation use or and its
He uses embodiment mix and match, i.e., the technical characteristic in different embodiments can freely form more embodiments.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (13)
1. a kind of acoustic detection and positioning system characterized by comprising
Acoustic sensor array (1), including N number of sound sensing unit (101), wherein N >=2；And
Acoustic waveguide tube array (2), including M root acoustic waveguide tube (201), wherein M >=2, every acoustic waveguide tube are in both ends open and company
Logical circular tube shaped, one end connect corresponding sound sensing unit (101), and the other end is placed in air；The acoustic waveguide tube array
(2) size is greater than the size of acoustic sensor array (1)；
Connector (4) for connecting the acoustic waveguide tube (201) and the sound sensing unit (101), and makes the acoustic waveguide tube
(201) the sense sound face of sound sensing unit (101) described in connectivity port face；The connector (4) includes accommodation space array
(402), it is located at the lower end of the connector (4), for installing each sound sensing unit (101)；
Wherein, the acoustical signal propagated in air enters after the acoustic waveguide tube (201) of acoustic waveguide tube array by acoustic sensor array
Sound sensing unit (101) receives；The acoustical signal generates propagation delay in the acoustic waveguide tube (201), to realize to institute
State the phase-modulation of acoustical signal.
2. acoustic detection according to claim 1 and positioning system, which is characterized in that M >=N.
3. acoustic detection according to claim 1 and positioning system, which is characterized in that in the acoustic waveguide tube array (2)
Each acoustic waveguide tube (201), length meet the condition of resonance of the sound wave of specific wavelength, to realize the sound wave of wavelength selectivity
Detection and positioning.
4. acoustic detection according to claim 1 and positioning system, which is characterized in that in the acoustic waveguide tube array (2)
Each acoustic waveguide tube (201) is placed in the port in air in bell shape.
5. acoustic detection according to claim 4 and positioning system, which is characterized in that the port setting being placed in air
There is vibrating diaphragm.
6. acoustic detection according to claim 4 and positioning system, which is characterized in that the port being placed in air towards
The same direction.
7. acoustic detection according to claim 1 and positioning system, which is characterized in that the connector (4) further include:
Tubular protrusion array (401) is located at the upper end of connector (4), for installing acoustic waveguide tube (201) face sound sensing unit
(101) one end；
Flowering structure body (403) is mounted on connector (4) bottom, for the acoustic sensor array (1) to be fixed on the receiving
In space array (402)；
Tubular protrusion is mutually communicated with accommodation space, guarantees that the sound wave propagated through each acoustic waveguide tube (201) being capable of independent action
Onto corresponding sound sensing unit (101).
8. acoustic detection according to any one of claim 1 to 7 and positioning system, which is characterized in that the sound sensing is single
First (101) are one in piezoelectric type sonic transducer, condenser type sonic transducer, electromagnetic type sonic transducer or optical profile type sonic transducer
Kind.
9. acoustic detection according to claim 8 and positioning system, which is characterized in that
The condenser type sonic transducer is electret capacitor type sonic transducer；Or
The optical profile type sonic transducer is fibre-optical acoustic sensor.
10. acoustic detection according to any one of claim 1 to 7 and positioning system, which is characterized in that the acoustic waveguide tube
It (201) is metal catheter or flexible conduit.
11. acoustic detection according to claim 10 and positioning system, which is characterized in that
The metal catheter is one of copper conductor tube, aluminum tubular conductor or aluminum alloy conduit；Or
The flexible conduit is one of plastic catheter, rubber catheter, silicon catheter or teflon catheter.
12. acoustic detection according to claim 11 and positioning system, which is characterized in that when the acoustic waveguide tube is led for flexibility
Guan Shi, the acoustic waveguide tube array (2) further include:
Bracket (5) is placed in one end in air for fixing the flexible conduit.
13. acoustic detection according to claim 9 and positioning system, which is characterized in that the acoustic detection and positioning system are also
Include:
Signal processing chip；
Optical fiber sonic probe, light source and the photodetector of the fibre-optical acoustic sensor pass through optical fiber light connects, the signal processing
Chip is electrically connected with the light source and photodetector respectively, for light source power supply and to the electric signal of photodetector generation
It is handled.
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| CN201611126986.2A CN106597450B (en) | 2016-12-09 | 2016-12-09 | A kind of acoustic detection and positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611126986.2A CN106597450B (en) | 2016-12-09 | 2016-12-09 | A kind of acoustic detection and positioning system |
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| CN106597450B true CN106597450B (en) | 2019-07-30 |
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| CN101957443A (en) * | 2010-06-22 | 2011-01-26 | 嘉兴学院 | Sound source localizing method |
| CN102177443A (en) * | 2008-08-21 | 2011-09-07 | 工业研究有限公司 | An acoustic transducer for swath beams |
| CN102378918A (en) * | 2009-01-20 | 2012-03-14 | 索尼特技术公司 | Acoustic position-determination system |
| CN103262569A (en) * | 2010-10-06 | 2013-08-21 | 伯斯有限公司 | Modular acoustic horns and horn arrays |
| CN105139847A (en) * | 2015-08-14 | 2015-12-09 | 东南大学 | Enhanced acoustic focusing device |
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2016
- 2016-12-09 CN CN201611126986.2A patent/CN106597450B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102177443A (en) * | 2008-08-21 | 2011-09-07 | 工业研究有限公司 | An acoustic transducer for swath beams |
| CN102378918A (en) * | 2009-01-20 | 2012-03-14 | 索尼特技术公司 | Acoustic position-determination system |
| CN101957443A (en) * | 2010-06-22 | 2011-01-26 | 嘉兴学院 | Sound source localizing method |
| CN103262569A (en) * | 2010-10-06 | 2013-08-21 | 伯斯有限公司 | Modular acoustic horns and horn arrays |
| CN105139847A (en) * | 2015-08-14 | 2015-12-09 | 东南大学 | Enhanced acoustic focusing device |
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