CN108710106B - Active headrest device based on infrared positioning - Google Patents
Active headrest device based on infrared positioning Download PDFInfo
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- CN108710106B CN108710106B CN201810461755.XA CN201810461755A CN108710106B CN 108710106 B CN108710106 B CN 108710106B CN 201810461755 A CN201810461755 A CN 201810461755A CN 108710106 B CN108710106 B CN 108710106B
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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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17813—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the acoustic paths, e.g. estimating, calibrating or testing of transfer functions or cross-terms
- G10K11/17817—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the acoustic paths, e.g. estimating, calibrating or testing of transfer functions or cross-terms between the output signals and the error signals, i.e. secondary path
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17821—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the input signals only
- G10K11/17823—Reference signals, e.g. ambient acoustic environment
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1785—Methods, e.g. algorithms; Devices
- G10K11/17853—Methods, e.g. algorithms; Devices of the filter
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/10—Applications
- G10K2210/103—Three dimensional
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/10—Applications
- G10K2210/128—Vehicles
- G10K2210/1282—Automobiles
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/30—Means
- G10K2210/301—Computational
- G10K2210/3027—Feedforward
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/30—Means
- G10K2210/301—Computational
- G10K2210/3028—Filtering, e.g. Kalman filters or special analogue or digital filters
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/30—Means
- G10K2210/321—Physical
- G10K2210/3221—Headrests, seats or the like, for personal ANC systems
Abstract
The invention discloses an active headrest device based on infrared positioning, which comprises: a secondary sound source, a reference microphone, and a control system; the device further comprises: the infrared distance measuring device comprises an infrared distance measuring device and a positioning system, wherein the controller comprises an optimal control coefficient database; the number of the infrared distance measuring instruments is at least 3; the positioning system determines the position of the head of a person in the activity area according to the distance information provided by the infrared distance meter, sends the position to the control system, obtains the optimal controller coefficient from the optimal controller coefficient database according to the position of the head of the person, filters the reference signal acquired by the reference microphone according to the optimal controller coefficient, and sends the filtered reference signal to the secondary sound source, so that the secondary sound source makes a sound, and noise control is realized. The device of the invention selects the optimal controller coefficient which is designed in advance at the current position after obtaining the control target position, thereby ensuring that the head of a person can obtain stable and consistent noise control effect when moving.
Description
Technical Field
The invention relates to the field of active noise control, in particular to an active headrest device based on infrared positioning.
Background
In the field of traditional noise control, sound insulation and absorption materials are generally used for reducing noise in a space, and the method has a good control effect on high-frequency noise, but if the same control effect is achieved on low-frequency noise, the method needs larger volume and weight, and the method increases the cost and is not practical in practical situations. For low-frequency noise, the method of active noise control is usually used to reduce the low-frequency noise, that is, the method of noise reduction is achieved by emitting backward sound waves through speakers to cancel the original noise at the current position, and these speakers are called secondary sound sources. Active noise control is also referred to as "Active noise control" (ANC) in some literature.
The basic idea of active noise control was proposed in 1936, the initial objective being to cancel out the plane waves propagating in the pipe by emitting a counter-sound wave through a secondary sound source. In the field of active noise reduction earphones in which active noise control is most successfully applied, as the ear canal has a small diameter, and low frequencies are transmitted in the ear canal in a plane wave mode, the purpose of noise reduction at the eardrum can be achieved as long as a microphone at the outer side of the earphone receives noise transmitted into the ear canal from the outside and a loudspeaker diaphragm of the earphone emits sound waves with the same amplitude and the opposite phase of the noise.
However, for a three-dimensional space, since sound waves are transmitted to a target point from various directions, if noise control is performed on the whole space, the number of required secondary points is large and difficult to control, and the complexity of the system is very high, a reasonable method is to control only one or a few error points. This approach is known as local active noise control. In a headrest system, the target points are at the ears of the person. As long as make people's ears department noise effectively controlled, alright effectively promote people's travelling comfort. In an actual system, the complexity, stability and control effect of the system are comprehensively considered, a non-adaptive system is used, and the system has a good control effect at a certain time in the environment.
US 8,325,934 and US 9,640,167 both refer to a method of controlling noise at both ears of a human head in a prone position by using an active headrest system, but considering that in a real environment, the position of the human head changes, and at this time, the positions of both ears of the human (target points) change, and the secondary path changes accordingly, and the control effect of the system is reduced. The university of south ampton in the united kingdom proposes that the head position of a person can be accurately positioned by using some commercial kits aiming at the VR system, but the system is large in size and occupied space, high in cost and improved in complexity.
In summary, the active headrest system using active noise control has a general control effect when the position of the human head changes, and the system has a large volume and poor flexibility when third-party commercial software is used.
Disclosure of Invention
The present invention is directed to solving the above problems, and an active headrest apparatus based on infrared positioning is proposed, which ensures that the head of a person still has a consistent noise control effect during movement without affecting the comfort of the person.
In order to achieve the above object, the present invention provides an active headrest apparatus based on infrared positioning, the apparatus comprising: a secondary sound source, a reference microphone, and a control system; the device further comprises: the infrared distance measuring device comprises an infrared distance measuring device and a positioning system, wherein the controller comprises an optimal control coefficient database; the number of the infrared distance measuring instruments is at least 3; the positioning system determines the position of the head of a person in the activity area according to the distance information provided by the infrared distance meter, sends the position to the control system, obtains the optimal controller coefficient from the optimal controller coefficient database according to the position of the head of the person, filters the reference signal acquired by the reference microphone according to the optimal controller coefficient, and sends the filtered reference signal to the secondary sound source, so that the secondary sound source makes a sound, and noise control is realized.
As an improvement of the device, the number of the infrared distance measuring instruments is 6, four of the infrared distance measuring instruments are uniformly positioned at the top of the head of the person, and the other two infrared distance measuring instruments are respectively positioned at two sides of the head of the person.
As a modification of the above apparatus, the number of the secondary sound sources is 4, and two secondary sound sources are provided on each of the right and left sides of the head of the person.
As an improvement of the above apparatus, the positioning system comprises: the device comprises a transverse distance acquisition module, a longitudinal distance acquisition module and a sending module;
the transverse distance acquisition module is used for acquiring the transverse distance from the center of the head of the person to the center point of the movable area after distance information is obtained according to the infrared distance meters on the left side and the right side of the head of the person;
the longitudinal distance acquisition module is used for selecting the infrared distance meter at the top closest to the transverse distance according to the transverse distance, measuring the distance from the top of the head to the infrared distance meter, and acquiring the longitudinal distance from the head center point of the person to the infrared distance meter at the top of the head of the person according to the size of the head of the general person;
and the sending module is used for sending the transverse distance and the longitudinal distance as the dynamic position of the head of the person in the activity area to the control system.
As an improvement of the device, the control system comprises an optimal controller coefficient database, a controller coefficient acquisition module, an A/D converter, a D/A converter, a digital signal processor and a power amplifier circuit.
The optimal control coefficient database is used for storing the number and the position of each divided mesh point in the active area and the optimal controller coefficient at the position;
the controller coefficient acquisition module is used for finding the divided position point closest to the optimal controller coefficient database and the serial number thereof from the optimal controller coefficient database according to the position information sent by the positioning system, and selecting the optimal controller coefficient at the position;
the A/D converter is used for converting an analog signal collected by the reference microphone into a digital signal to be processed and inputting the digital signal into the digital signal processor;
the digital signal processor is used for filtering and calculating the digital signal by using the optimal controller coefficient and outputting the calculated result to the D/A converter in a digital signal form;
the D/A converter is used for converting the digital signal output by the digital signal processor into an analog signal;
and the power amplifier circuit is used for amplifying the analog signal output by the D/A converter and sending the analog signal to the secondary sound source so that the secondary sound source makes a sound.
As an improvement of the above device, the optimum controller coefficient wopt is:
wopt＝-{E[RT(n)R(n)]}-1E[RT(n)d(n)] (1)
wherein the content of the first and second substances,
rl(n)＝[rl1(n),rl2(n),...rlM(n)]Tis a filter-x vector, and is,
for each filter-x signal; wherein n is the serial number of the time point, M is the number of the secondary sound sources, M is the serial number of the secondary sound source, M is more than or equal to 1 and less than or equal to M, and L isThe number of the control target points, L is the serial number of the control target points, L is not less than 1 and not more than L, L is 2, J is the length of sampling, I is the order of the controller coefficient, x (n) is the reference signal obtained at the reference point, and d (n) is the initial noise of the target points.
The invention has the advantages that:
1. compared with the prior art, the device provided by the invention judges the position of the head of the person by adopting an infrared positioning method on the premise of not occupying too much space and not increasing the complexity of a system, so that the control performance of the active headrest device on noise is improved, and the robustness is better;
2. the device of the invention selects the optimal controller coefficient which is designed in advance at the current position after obtaining the control target position, thereby ensuring that the head of a person can obtain stable and consistent noise control effect when moving.
Drawings
FIG. 1 is a schematic view of an infrared positioning based pillow apparatus of the present invention;
FIG. 2 is a feed forward active control principle;
FIG. 3 is a flow chart of a dual channel feed forward algorithm;
FIG. 4 is a graph of the noise before and after control by the system at the left ear;
fig. 5 is a graph of the noise before and after control by the system at the right ear.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
As shown in fig. 1, the present invention provides an infrared positioning-based active headrest apparatus, including: the system comprises an infrared distance meter, a secondary sound source, a reference microphone, a positioning system and a control system; the device determines the position of a control target through infrared positioning, selects a controller coefficient which is designed in advance at the current position, and can obtain stable and consistent noise control effect when the head of a person moves.
The infrared distance measuring instruments measure the distance from a target (human head) to each infrared distance measuring instrument at intervals; preferably, the number of the infrared distance measuring instruments is 6, four infrared distance measuring instruments are uniformly positioned at the top of the head of the person, and the rest two infrared distance measuring instruments are respectively positioned at two sides of the head of the person.
The reference microphone is used for acquiring a noise signal related to the noise to be controlled and inputting the noise signal to the control system;
and the secondary sound source is used for converting the analog signal sent by the control system into a sound signal, so that the amplitude of the sent sound is the same as that of the original sound when the sent sound reaches a target, and the phase of the sent sound is opposite to that of the original sound, thereby achieving the purpose of noise control.
The positioning system is used for processing the distance signal measured by the infrared distance measuring instrument, analyzing the distance signal to obtain the position information of the central point of a target (the head of a person), and providing the position information for the control system;
firstly, acquiring data once at a certain interval by an infrared distance meter, and roughly judging the transverse distance from the center of the head of a person to the center point of an active area after distance information is obtained according to the left side and the right side;
then selecting the top infrared distance meter closest to the transverse distance according to the transverse distance, measuring the distance from the top of the head to the infrared distance meter, and deducing the distance from the head center point of the person to the infrared distance meter at the top of the head of the person according to the size of the head of the general person;
by using Kalman filtering or other signal processing methods, the dynamic position of the head of a person in an activity area is obtained, and the position of the center point of the head of the person is determined so as to reduce the noise at the ears of the person.
The control system comprises an optimal controller coefficient database, a controller coefficient acquisition module, an A/D converter, a D/A converter, a digital signal processor and a power amplifier circuit.
The optimal controller coefficient database is used for storing the number and the position of each divided mesh point in the area and the optimal controller coefficient at the position:
a plurality of mesh points are first divided within the active area and numbered at each mesh point location.
Fig. 2 is a control principle of an active feed-forward system, and fig. 3 is a flow chart of a feed-forward control method for a control system of a secondary source. First measuring secondary sound sources to respective levelsSetting the path information of the positions of the human head and the ears under the position to obtain a secondary path transfer function glmWhere l, m are subscripts for the speaker and microphone (error points), respectively.
In general, when measuring the secondary path, each speaker is caused to emit white noise, and the noise is received at an error point (at both human ears), and an estimate of the secondary path model is obtained by an algorithm for system identification.
The method comprises the following steps of carrying out system design on preset controller coefficients at each position by using a criterion based on minimum mean square, wherein the optimization target in the system design is that residual noise e (n) at a target point (at two ears of a human head) is d (n) + y (n) is minimum, wherein d (n) and y (n) are initial noise of the target point and sounds from all secondary sound sources to an error point respectively, and obtaining the optimal controller coefficient at the position:
wopt＝-{E[RT(n)R(n)]}-1E[RT(n)d(n)] (1)
wherein the content of the first and second substances,
rl(n)＝[rl1(n)rl2(n)...rlM(n)]Tis a filter-x vector, and is,
is the respective filter-x signal. Wherein n is a time point serial number, M is a secondary sound source serial number, M is not less than 1 and not more than M, L is a control target point number, L is a control target point serial number, L is not less than 1 and not more than L, L is 2 in the system, J is a sampling length, I is an order of a controller coefficient, x (n) is a reference signal acquired at a reference point, and d (n) is target point initial noise.
Respectively calculating the optimal controller coefficient w of the control system at each positionoptAll of them are stored in the control system.
The controller coefficient acquisition module is used for finding the divided position point closest to the optimal control coefficient database and the serial number thereof from the optimal control coefficient database according to the position information obtained by the positioning system, and selecting the optimal controller coefficient at the position;
the A/D converter is used for converting an analog signal collected by the reference microphone into a digital signal to be processed and inputting the digital signal into the digital signal processor;
the digital signal processor completes calculation and filtering operation, based on the principle of sound wave superposition, according to the selected optimal controller coefficient, the reference signal is digitally filtered by the control system and then sends out reverse sound waves through the secondary sound source, sm(n)＝wm Tx (n) is the sound emitted by the mth secondary source, wherein x (n) is a reference signal vector consisting of reference signals x (n), and after the signal reaches a target point, the original noise at the target point is counteracted according to the superposition principle, so that the purpose of noise control is realized.
The D/A converter converts the digital signal output by the digital signal processor into an analog signal;
the power amplifier circuit amplifies the analog signal output by the D/A converter and sends the analog signal to the secondary sound source, so that the secondary sound source makes a sound, and the purpose of noise control is achieved.
Fig. 4 and 5 are graphs comparing noise power spectra before and after actual control at both ears. The spectrum of the noise at the left and right ears is shown in solid lines before operation of the system and in dashed lines after operation of the system. The system realizes effective control on low-frequency noise below 700Hz, and the integral noise reduction is respectively 9.4dB and 9.9 dB.
It should be noted that, since the control system uses the optimal control coefficient in any position, the optimal and stable control effect can be obtained in the region where the human head can move.
It should be noted that the infrared positioning based active headrest apparatus described in the present invention can be implemented in various ways, such as hardware, software, or a combination of software and hardware. The hardware platform may be an FPGA, PLD or other application specific integrated circuit ASIC. The software platform includes a DSP, ARM, or other microprocessor. A combination of software and hardware, e.g. part of the modules are implemented in DSP software and part of the modules, e.g. FFT, are implemented in hardware accelerators.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. An active headrest apparatus based on infrared positioning, the apparatus comprising: the system comprises a plurality of secondary sound sources, a reference microphone, a control system, a plurality of infrared distance meters and a positioning system, wherein the number of the infrared distance meters is at least 3;
the positioning system is used for determining the position of the head of the person in the activity area according to the distance information provided by the infrared distance meters and sending the position to the control system;
the control system is used for acquiring an optimal controller coefficient from the optimal controller coefficient database according to the position of the head of a person, filtering a reference signal acquired by a reference microphone according to the optimal controller coefficient, and then sending the filtered reference signal to a secondary sound source to make the secondary sound source emit sound, so that noise control is realized;
the control system comprises an optimal controller coefficient database, an optimal controller coefficient acquisition module, an A/D converter, a D/A converter, a digital signal processor and a power amplifier circuit;
the optimal control coefficient database is used for storing the number and the position of each divided mesh point in the active area and the optimal controller coefficient at the position;
the optimal controller coefficient acquisition module is used for finding the divided position point closest to the optimal controller coefficient acquisition module and the serial number thereof from the optimal controller coefficient database according to the position information sent by the positioning system, and selecting the optimal controller coefficient at the position;
the A/D converter is used for converting an analog signal collected by the reference microphone into a digital signal to be processed and inputting the digital signal into the digital signal processor;
the digital signal processor is used for filtering and calculating the digital signal by using the optimal controller coefficient and outputting the calculated result to the D/A converter in a digital signal form;
the D/A converter is used for converting the digital signal output by the digital signal processor into an analog signal;
and the power amplifier circuit is used for amplifying the analog signal output by the D/A converter and sending the analog signal to the secondary sound source so that the secondary sound source makes a sound.
2. The active headrest apparatus based on infrared positioning as claimed in claim 1, wherein the number of the infrared distance measuring instruments is 6, four of them are uniformly located on the top of the head of the person, and the other two are respectively located on both sides of the head of the person.
3. Active headrest apparatus based on infrared localization as claimed in claim 1 or 2, characterized in that the number of secondary sound sources is 4, two on each of the left and right sides of the human head.
4. Active headrest apparatus based on infrared positioning according to claim 1 or 2, characterized in that the positioning system comprises: the device comprises a transverse distance acquisition module, a longitudinal distance acquisition module and a sending module;
the transverse distance acquisition module is used for acquiring the transverse distance from the center of the head of the person to the center point of the movable area after distance information is obtained according to the infrared distance meters on the left side and the right side of the head of the person;
the longitudinal distance acquisition module is used for selecting the infrared distance meter at the top closest to the transverse distance according to the transverse distance, measuring the distance from the top of the head to the infrared distance meter, and acquiring the longitudinal distance from the center point of the head of the person to the infrared distance meter at the top of the head of the person according to the size of the head of the general person;
and the sending module is used for sending the transverse distance and the longitudinal distance as the dynamic position of the head of the person in the activity area to the control system.
5. The active infrared positioning-based headrest apparatus of claim 1Characterized in that the optimal controller coefficient woptComprises the following steps:
wopt＝-{E[RT(n)R(n)]}-1E[RT(n)d(n)] (1)
wherein the content of the first and second substances,
rl(n)＝[rl1(n),rl2(n),...rlM(n)]Tis a filter-x vector, and is,
for each filter-x signal; wherein n is a time point serial number, M is a secondary sound source serial number, M is equal to or greater than 1 and equal to or less than M, L is a control target point number, L is a control target point serial number, L is equal to or greater than 1 and equal to or less than L, L is 2, J is a sampling length, I is an order of a controller coefficient, x (n) is a reference signal acquired at a reference point, and d (n) is target point initial noise.
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| CN112233643A (en) * | 2020-10-15 | 2021-01-15 | 南京南大电子智慧型服务机器人研究院有限公司 | Method for inhibiting water bed effect of self-adaptive feedback active control system |
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