CN109343002A - Auditory localization identification device and method - Google Patents
Auditory localization identification device and method Download PDFInfo
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- CN109343002A CN109343002A CN201811413087.XA CN201811413087A CN109343002A CN 109343002 A CN109343002 A CN 109343002A CN 201811413087 A CN201811413087 A CN 201811413087A CN 109343002 A CN109343002 A CN 109343002A
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- 230000004807 localization Effects 0.000 title claims abstract description 53
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- 230000030808 detection of mechanical stimulus involved in sensory perception of sound Effects 0.000 description 1
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Classifications
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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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
Abstract
A kind of auditory localization identification device and method, including multiple sonic transducers, for sensing the acoustical signal of target sound source；External trigger camera, for shooting image；Electronic rotation mechanism adjusts its camera lens direction for rotating external trigger camera；Control and signal processing unit, obtain the azimuth information of target sound source for receiving and processing the output signal of the multiple sonic transducer, and the rotation of electronic rotation mechanism is controlled according to the azimuth information；And the control external trigger camera shooting, the image of the external trigger camera output is received and processed to obtain sound source type.The present invention combines auditory localization with image recognition, can not only obtain sound bearing information, moreover it is possible to identify sound source type, have many advantages, such as that function is more, contains much information, good reliability.
Description
Technical field
The present invention relates to auditory localization technology and image identification technical field more particularly to a kind of auditory localization identification devices
And method.
Background technique
It is defeated in traffic, military affairs, anti-terrorism, security administration, petrochemical industry, industrial manufacture, Storage of Goods, power generation transmission of electricity, oil gas
It various fields, the emergency event such as send to happen occasionally, the country and people's life can be effectively reduced to the timely control of emergency event
The loss of property, this is just required to the tool effectively monitored to emergency event.Emergency event is frequently accompanied by abnormal sound
The generation and propagation of sound, therefore, sound-detection are the conventional means that a kind of pair of emergency event carries out real-time monitoring.By to exception
The detection of sound can quickly determine sound bearing, but be unable to accurate judgement sound source type, thus be unfavorable for emergency event into
Row conduct monitoring at all levels and in time processing.On the other hand, each big city in China has been mounted with a large amount of monitoring camera, these spies
Head field range is very big, can only carry out wide angle shot, cannot focus-lock specific objective object in time, thus cannot be to specific objective
Object carries out cleaning and takes pictures.
Summary of the invention
In view of this, the present invention provides a kind of auditory localization identification device and method, at least partly to solve the above institute
The technical issues of proposition.
According to an aspect of the invention, there is provided a kind of auditory localization identification device, including multiple sonic transducers, outer touching
Send out camera, electronic rotation mechanism and control and signal processing unit, in which:
Multiple sonic transducers arrange for space array, for sense at different direction the acoustical signal of sound source and be converted to light/
Electric signal output；
External trigger camera, for being shot under trigger signal triggering and exporting image；
The external trigger camera is fixed thereon by electronic rotation mechanism, adjusts its mirror for rotating the external trigger camera
Head direction；
Control and signal processing unit, obtain target for receiving and processing the output signal of the multiple sonic transducer
The azimuth information of sound source controls electronic rotation mechanism according to the azimuth information and rotates to suitable position, triggers described outer
Camera shooting is triggered, receives and processes the image of the external trigger camera output to obtain sound source type.
In some embodiments of the invention, the control is used to execute the processing of following steps with signal processing unit:
Step A: according to the control of preset initialization condition, electronic rotation mechanism is rotated the camera lens direction of external trigger camera
It is arranged to pre-configured orientation；
Step B: receiving and processing the output signal of the multiple sonic transducer, to obtain target sound source relative to outer touching
Send out the azimuth information of the camera lens direction of camera；
Step C: the rotation of electronic rotation mechanism is controlled according to the azimuth information, so that the camera lens of the external trigger camera
Towards direction sound source；
Step D: outside being controlled when the electronic rotation mechanism stops rotating to external trigger camera one trigger signal of output
Triggering camera is taken pictures；
Step E: the image of the external trigger camera output is received and identified, so that it is determined that sound source type.
In some embodiments of the invention, after step E further include:
Step F: the camera lens direction of external trigger camera is reset to the pre-configured orientation by the rotation of control electronic rotation mechanism.
In some embodiments of the invention, the multiple sonic transducer is at least 3, is set in same plane and not
Collinearly.
In some embodiments of the invention, the electronic rotation mechanism has a rotary freedom, described to adjust
The camera lens direction of external trigger camera.
In some embodiments of the invention, the multiple sonic transducer is at least 4, and to be arranged non-coplanarly.
In some embodiments of the invention, the electronic rotation mechanism has two perpendicular rotary freedoms, point
Camera lens direction not to adjust the external trigger camera.
In some embodiments of the invention, the electronic rotation mechanism is motor machine turntable, comprising:
First electric turntable can be rotated along first direction；And
Second electric turntable is fixed on the first electric turntable by connecting plate, can be along perpendicular with first direction
Two directions are rotated.
In some embodiments of the invention, the electronic rotation mechanism is electronic multi-shaft interlocked bar.
In some embodiments of the invention, the auditory localization identification device further includes laser range sensor, is abutted
The external trigger camera setting, Laser emission direction and the camera lens direction of external trigger camera are consistent；
The control is also used to execute following steps with signal processing unit:
The rotation of electronic rotation mechanism is controlled by the Laser emission direction setting of laser range sensor to the pre-configured orientation；
A trigger signal is exported to laser range sensor when the motor machine turntable stops rotating, to control laser
Distance measuring sensor carries out ranging；And
It receives the data of the laser range sensor and processing obtains the range information of target sound source, in conjunction with the distance
Information and azimuth information can determine the spatial position of sound source.
In some embodiments of the invention, the sonic transducer is condenser type sonic transducer, piezoelectric type sonic transducer, moves
Ring type sonic transducer or optical profile type sonic transducer.
In some embodiments of the invention, the control and signal processing unit using localization algorithm obtain target sound
Azimuth information of the source relative to the camera lens direction of external trigger camera.
In some embodiments of the invention, the auditory localization identification device further includes signal transmitting and receiving unit, for connecing
Receive the sound source information that the control is obtained with signal processing unit and be sent to user, the sound source information include described image,
Azimuth information harmony Source Type.
In some embodiments of the invention, the external trigger camera of the auditory localization identification device carries flash lamp,
The control glitter down of the control and signal processing unit.
In some embodiments of the invention, the centroid position of the multiple sonic transducer at a distance from external trigger camera not
More than 2m.
In some embodiments of the invention, the external trigger camera can be Visible Light Camera, infrared camera, laser
One of scanned imagery device.
According to another aspect of the present invention, additionally provide it is a kind of utilize auditory localization identification device as described above carry out
Method for distinguishing is known in auditory localization, comprising the following steps:
Step 1: according to the control of preset initialization condition, electronic rotation mechanism is rotated the camera lens direction of external trigger camera
It is arranged to pre-configured orientation；
Step 2: obtaining target sound source using the acoustical signal of multiple sonic transducers sensing target sound source, and by handling operation
The azimuth information of camera lens direction relative to external trigger camera；
Step 3: rotating external trigger camera according to the azimuth information, refer to the camera lens direction of the external trigger camera
To sound source；
Step 4: control external trigger camera carries out image taking, and sound source type is determined by image recognition technology.
In some embodiments of the invention, step 1 further includes that the Laser emission direction of laser range sensor is arranged
The step of to the pre-configured orientation；Step 3 further includes rotating the laser range sensor, makes its Laser emission direction and outer touching
The camera lens of camera is sent out towards the step of being consistent；Step 4 further includes controlling the laser range sensor to carry out ranging and lead to
It crosses processing operation and obtains the range information of target sound source, the space bit of sound source is determined in conjunction with the range information and azimuth information
The step of setting.
It can be seen from the above technical proposal that auditory localization identification device of the present invention and method at least have below beneficial to effect
One of fruit or in which a part:
(1) present invention combines auditory localization with image recognition, can not only obtain sound bearing information, moreover it is possible to identification sound
Source Type has many advantages, such as that function is more, contains much information, good reliability；
(2) it since the shooting orientation of camera is adjustable, takes pictures, reduces it is not necessary that camera is respectively configured in different orientation
Application cost；
(3) the sound source distance for combining sound bearing angle information and laser range sensor to measure, can determine the tool of sound source
Body spatial position, is preferably positioned；
(4) it is taken pictures using the sound bearing angle information guidance camera measured, camera quick lock in object can be made, thus
Obtain the high-definition image of object；
(5) apparatus of the present invention structure is simple, is convenient for user installation and use.
Detailed description of the invention
Fig. 1 is the schematic diagram of first embodiment of the invention auditory localization identification device；
Fig. 2 is the schematic diagram of second embodiment of the invention auditory localization identification device.
In above-mentioned attached drawing, appended drawing reference meaning is as follows:
1- sonic transducer；
2- external trigger camera；
3- motor machine turntable；
The electronic horizontal rotating disc of 31-, 32- electric vertical turntable, 33- connecting plate；
4- control and signal processing unit；
5- antenna；
6- laser range sensor；
7- strut；
8- pedestal；
9- signal wire.
Specific embodiment
The invention discloses a kind of auditory localization identification device and methods, auditory localization are combined with image recognition, no
It is only capable of obtaining sound bearing information, moreover it is possible to it identifies sound source type, can also further obtain sound source distance, the more, information with function
The advantages that amount is big, good reliability.
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 auditory localization identification device and method are provided.Fig. 1 is
The schematic diagram of first embodiment of the invention auditory localization identification device.As shown in Figure 1, the present embodiment auditory localization identification device packet
Include multiple sonic transducers 1, external trigger camera 2, motor machine turntable 3, control and signal processing unit 4, in which:
Multiple sonic transducers 1 are arranged for space array, for sensing the acoustical signal of sound source at different direction and being converted to
The output of optical electrical signal；
External trigger camera 2, for being shot under trigger signal triggering and exporting image；
Motor machine turntable 3 fixes the external trigger camera 2 thereon, adjusts its camera lens for rotating external trigger camera 2
Direction；
Control and signal processing unit, obtain target for receiving and processing the output signal of the multiple sonic transducer
The azimuth information of sound source controls the rotation of electronic rotation mechanism according to the azimuth information；And the control external trigger
Camera shooting receives and processes the image of the external trigger camera output to obtain sound source type.
Each component part of the present embodiment auditory localization identification device is described in detail individually below.
In the present embodiment, the number of sonic transducer 1 is 4, is set in same level and is not arranged collinearly, can be with
Carry out sound source two-dimensional planar location, can also be certainly 3 or more.In other embodiments, multiple sound sensing
Plane where device can also be not inclined-plane at any angle in the horizontal plane.
In various embodiments, sonic transducer for example can be condenser type sonic transducer, piezoelectric type sonic transducer, moving-coil
Formula sonic transducer or optical profile type sonic transducer etc..
In the present embodiment, motor machine turntable 3 has the rotary freedom of horizontal direction, to adjust external trigger camera
Horizontal camera lens direction.Certainly in other embodiments, motor machine turntable 3 can also be that the rotation of other non-horizontal directions is free
Degree, as long as can satisfy the adjustment requirement to external trigger camera shooting direction.It is readily appreciated that, the structure of motor machine turntable
Rotation function can be realized using the conventional structure such as motor and transmission shaft.The external trigger camera 2 can be visible light phase
Machine, infrared camera or laser scanning imaging device etc..
Control is specifically used for executing following steps with signal processing unit 4:
Step A: it rotates according to preset initialization condition control motor machine turntable by the camera lens direction of external trigger camera
It is arranged to pre-configured orientation；
Step B: receiving and processing the output signal of the multiple sonic transducer, to obtain target sound source relative to outer touching
Send out the azimuth information of the camera lens direction of camera 2；
Step C: the rotation of motor machine turntable is controlled according to the azimuth information, so that the mirror of the external trigger camera 2
Head direction is directed toward sound source；
Step D: trigger signal is exported to external trigger camera 2 and is taken pictures to control external trigger camera；
Step E: the image that the external trigger camera 2 exports is received and identified, so that it is determined that sound source type.
In the present embodiment, control can carry out auditory localization by Time Delay Estimation Algorithms with signal processing unit 4, specifically
For, in combination with the delay inequality of the received target sound source signal of each sonic transducer and each sonic transducer and external trigger camera
Position, azimuth information of the target sound source relative to external trigger camera is calculated, and then again by the camera lens of external trigger camera
Azimuth information of the target sound source relative to the camera lens direction of external trigger camera is determined towards (initial direction).Certainly do not limit to
In this, the azimuth that target sound source can also be obtained by other localization algorithms relative to the camera lens direction of external trigger camera is believed
Breath, since those localization algorithms are routine techniques in this field, and therefore not to repeat here.
It is readily appreciated that, the rotation angle of motor machine turntable in the horizontal direction can be determined according to the azimuth information,
To make the camera lens of external trigger camera towards direction sound source.
Preferably, control is also used to execute following steps with signal processing unit: controlling electricity after completing once photo taking
The camera lens of external trigger camera towards pre-configured orientation is reset to, can simplify and obtain target sound source every time by dynamic machine carousel rotation
The calculating process of azimuth information.It is readily appreciated that, in the case where this no step, is obtaining target sound source relative to external trigger
When the azimuth information of the camera lens direction of camera, it should be calculated in conjunction with the camera lens direction of current external trigger camera.
In the present embodiment, which further includes laser range sensor 6, is fixed on external trigger camera
On 2, Laser emission direction and the camera lens direction of external trigger camera are consistent, in the control of control and signal processing unit 4
Lower carry out ranging.Certain laser range sensor 6 can also be set at the other positions of the external trigger camera 2, as long as
It can be consistent with the camera lens direction of external trigger camera.
Control at this time is also used to execute following steps with signal processing unit: control motor machine turntable is rotated Laser Measuring
Laser emission direction away from sensor is arranged to the pre-configured orientation；To Laser Measuring when the motor machine turntable stops rotating
A trigger signal is exported away from sensor, carries out ranging to control laser range sensor；And receive the laser ranging sensing
The data of device and processing obtains the range information of target sound source, the sky of sound source is determined in conjunction with the range information and azimuth information
Between position.
Also included flash lamp guarantees in the control glitter down of control and signal processing unit 4 in dusk on external trigger camera 2
The clear bright of image is shot in dark situation.By control and signal processing unit 4 using existing image recognition technology come externally
The image that triggering camera 2 exports is identified, so that it is determined that sound source type, e.g. explosion etc..
In the present embodiment, which further includes signal transmitting and receiving unit (being not drawn into figure), for connecing
Receive the sound source information that control is obtained with signal processing unit 4 and be sent to user, sound source information include image, azimuth information, away from
From information harmony Source Type etc..Specifically, which includes antenna 5, can be carried out wireless communication.In the present embodiment
In, which is installed on a bracket 8 with pedestal 7.Control passes through signal wire with signal processing unit 4
9 carry out data, signal biography with sonic transducer 1, external trigger camera 2, motor machine turntable 3, laser range sensor 6 and antenna 5
It is defeated.
The present embodiment additionally provides a kind of using above-mentioned auditory localization identification device progress auditory localization knowledge method for distinguishing, packet
Include following steps:
Step 1: rotating according to preset initialization condition control motor machine turntable by the camera lens direction of external trigger camera
It is arranged to pre-configured orientation；
Further, in the present embodiment, it is further fixed on laser range sensor on external trigger camera, this step further includes
The camera lens in the Laser emission direction and external trigger camera that make laser range sensor is towards the step of being consistent.
Step 2: obtaining target sound source using the acoustical signal of multiple sonic transducers sensing target sound source, and by handling operation
The azimuth information of camera lens direction relative to external trigger camera；According to description above, it can specifically pass through Time Delay Estimation Algorithms
The azimuth information is obtained etc. localization algorithm is commonly used.
Step 3: rotating external trigger camera according to the azimuth information, refer to the camera lens direction of the external trigger camera
To sound source；
In the present embodiment, this step further includes rotary laser distance measuring sensor, makes its Laser emission direction and external trigger
The camera lens of camera is towards the step of being consistent.
Step 4: control external trigger camera carries out image taking, and sound source type is determined by image recognition technology.
In the present embodiment, this step further include: control the laser range sensor and carry out ranging and by processing operation
The range information of target sound source is obtained, the spatial position of sound source is determined in conjunction with the range information and azimuth information.
Auditory localization identification device provided in this embodiment and method can obtain sound bearing information, sound simultaneously as a result,
The sound source informations such as Source Type and target sound source distance, can there is very big potential using value.
So far, first embodiment of the invention auditory localization identification device and method introduction finish.
Second embodiment
In second exemplary embodiment of the invention, a kind of auditory localization identification device is provided.Fig. 2 is the present invention
The schematic diagram of second embodiment auditory localization identification device.As shown in Fig. 2, the auditory localization identification device phase with first embodiment
Than the difference of the present embodiment auditory localization identification device is:
The quantity of sonic transducer 1 is 6, and to be arranged non-coplanarly, can carry out the three dimension location of sound source, certainly
It is also possible to 4,5 or more.
At this time motor machine turntable 3 can be set to two rotary freedoms for having perpendicular, to adjust separately outer touching
The camera lens direction of camera is sent out, so that camera lens is towards sound source is more pointedly directed toward, can completely obtain sound source image, carry out sound
The accurate judgement of Source Type.As an example, in the present embodiment, motor machine turntable 3 includes electronic horizontal rotating disc 31, Neng Gouyan
Horizontal direction is rotated；And electric vertical turntable 32, electronic horizontal rotating disc 31 is fixed on by connecting plate 33, it can be along perpendicular
Histogram is to being rotated, and wherein external trigger camera 2 is fixed on electric vertical turntable 32.
At this point, can determine electronic after obtaining azimuth of the sound source relative to the camera lens direction of external trigger camera
Machine carousel is in horizontal, vertical direction rotation angle, to make the camera lens of external trigger camera towards direction sound source.In order to right
Sound source is accurately positioned relative to the position of external trigger camera, the centroid position of multiple sonic transducer and external trigger camera it
Between distance should be no more than 2m.
So far, second embodiment of the invention auditory localization identification device introduction finishes.
So far, attached drawing is had been combined the embodiment of the present invention is described in detail.It should be noted that in attached drawing or saying
In bright book text, the implementation for not being painted or describing is form known to a person of ordinary skill in the art in technical field, and
It is not described in detail.In addition, the above-mentioned definition to each element and method be not limited in mentioning in embodiment it is various specific
Structure, shape or mode, those of ordinary skill in the art simply can be changed or be replaced to it, such as motor machine turntable
It can also be replaced by other electronic rotation mechanisms such as electronic multi-shaft interlocked bar.
In conclusion the present invention provides a kind of auditory localization identification device and method, by auditory localization and image recognition phase
In conjunction with sound bearing information can not only be obtained, moreover it is possible to identify sound source type, obtain sound source distance, have that function is more, information content
Greatly, the advantages that good reliability.
In addition, unless specifically described or the step of must sequentially occur, there is no restriction in the above institute for the sequence of above-mentioned steps
Column, and can change or rearrange according to required design.And above-described embodiment can be based on the considerations of design and reliability, that
This mix and match is used using or with other embodiments mix and match, i.e., the technical characteristic in different embodiments can be freely combined
Form more embodiments.
Control and the function of signal processing unit can by means of include several different elements hardware and by means of
Properly programmed computer is realized.Various component embodiments of the invention can be implemented in hardware, either at one or
The software module run on multiple processors is realized, or is implemented in a combination thereof.It will be understood by those of skill in the art that
Microprocessor or digital signal processor (DSP) can be used in practice to realize that correlation according to an embodiment of the present invention is set
The some or all functions of some or all components in standby.The present invention is also implemented as described here for executing
Method some or all device or device programs (for example, computer program and computer program product).This
The program that the realization of sample is of the invention can store on a computer-readable medium, or can have one or more signal
Form.Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or with any other
Form provides.
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 (10)
1. a kind of auditory localization identification device, which is characterized in that including multiple sonic transducers, external trigger camera, electric rotary machine
Structure and control and signal processing unit, in which:
Multiple sonic transducers are arranged for space array, for sensing the acoustical signal of sound source at different direction and being converted to optical electrical letter
Number output；
External trigger camera, for being shot under trigger signal triggering and exporting image；
The external trigger camera is fixed thereon by electronic rotation mechanism, adjusts its camera lens court for rotating the external trigger camera
To；
Control and signal processing unit, obtain target sound source for receiving and processing the output signal of the multiple sonic transducer
Azimuth information, according to the azimuth information control electronic rotation mechanism rotate to suitable position, trigger the external trigger
Camera shooting receives and processes the image of the external trigger camera output to obtain sound source type.
2. auditory localization identification device according to claim 1, which is characterized in that the control is used with signal processing unit
In execution following steps:
Step A: the camera lens direction of external trigger camera is arranged according to preset initialization condition control electronic rotation mechanism rotation
To pre-configured orientation；
Step B: receiving and processing the output signal of the multiple sonic transducer, to obtain target sound source relative to external trigger phase
The azimuth information of the camera lens direction of machine；
Step C: the rotation of electronic rotation mechanism is controlled according to the azimuth information, so that the camera lens direction of the external trigger camera
It is directed toward sound source；
Step D: a trigger signal is exported to control external trigger to external trigger camera when the electronic rotation mechanism stops rotating
Camera is taken pictures；
Step E: the image of the external trigger camera output is received and identified, so that it is determined that sound source type.
3. auditory localization identification device according to claim 2, which is characterized in that after step E further include:
Step F: the camera lens direction of external trigger camera is reset to the pre-configured orientation by the rotation of control electronic rotation mechanism.
4. auditory localization identification device according to claim 1, it is characterised in that:
The multiple sonic transducer is at least 3, is set in same plane and not conllinear；
The electronic rotation mechanism has a rotary freedom, to adjust the camera lens direction of the external trigger camera.
5. auditory localization identification device according to claim 1, it is characterised in that:
The multiple sonic transducer is at least 4, and to be arranged non-coplanarly；
The electronic rotation mechanism has two perpendicular rotary freedoms, adjusts the camera lens of the external trigger camera respectively
Direction.
6. auditory localization identification device according to claim 5, which is characterized in that the electronic rotation mechanism is motor
Tool turntable, comprising:
First electric turntable can be rotated along first direction；And
Second electric turntable is fixed on the first electric turntable by connecting plate, can be along the second party perpendicular with first direction
To being rotated.
7. auditory localization identification device according to claim 1, it is characterised in that:
The auditory localization identification device further includes laser range sensor, is arranged against the external trigger camera, laser hair
It penetrates direction and the camera lens direction of external trigger camera is consistent；
The control is also used to execute following steps with signal processing unit:
The rotation of electronic rotation mechanism is controlled by the Laser emission direction setting of laser range sensor to the pre-configured orientation；
A trigger signal is exported to laser range sensor when the motor machine turntable stops rotating, to control laser ranging
Sensor carries out ranging；And
It receives the data of the laser range sensor and processing obtains the range information of target sound source, in conjunction with the range information
It can determine the spatial position of sound source with azimuth information.
8. auditory localization identification device according to claim 1, it is characterised in that:
The sonic transducer is condenser type sonic transducer, piezoelectric type sonic transducer, moving-coil type sonic transducer or optical profile type sound sensing
Device；And/or
The electronic rotation mechanism is electronic multi-shaft interlocked bar；And/or
The control and signal processing unit using localization algorithm obtain camera lens court of the target sound source relative to external trigger camera
To azimuth information；And/or
The auditory localization identification device further includes signal transmitting and receiving unit, is obtained for receiving the control with signal processing unit
Sound source information and be sent to user, the sound source information includes described image, distance, azimuth information harmony Source Type；With/
Or
The external trigger camera of the auditory localization identification device carries flash lamp, in the control of the control and signal processing unit
Glitter down；And/or
The centroid position of the multiple sonic transducer is no more than 2m at a distance from external trigger camera；And/or
The external trigger camera can be one of Visible Light Camera, infrared camera, laser scanning imaging device.
9. a kind of auditory localization identification device using as described in claim 1 to 8 any one carries out auditory localization identification
Method, which comprises the following steps:
Step 1: the camera lens direction of external trigger camera being arranged according to preset initialization condition control electronic rotation mechanism rotation
To pre-configured orientation；
Step 2: using the acoustical signal of multiple sonic transducers sensing target sound source, and by processing operation, to obtain target sound source opposite
In the azimuth information of the camera lens direction of external trigger camera；
Step 3: rotating external trigger camera according to the azimuth information, make the camera lens of the external trigger camera towards direction sound
Source；
Step 4: control external trigger camera carries out image taking, and sound source type is determined by image recognition technology.
10. according to the method described in claim 9, it is characterized by:
Further include the steps that in step 1 by the Laser emission direction setting of laser range sensor to the pre-configured orientation；
Preferably, further including rotating the laser range sensor in step 3, make its Laser emission direction and external trigger camera
Camera lens towards be consistent the step of；
Preferably, further including controlling the laser range sensor to carry out ranging and obtain mesh by handling operation in step 4
Mark the range information of sound source, the step of can determine the spatial position of sound source in conjunction with the range information and azimuth information；
Preferably, after step 4 further include: step 5: control electronic rotation mechanism is rotated the camera lens court of external trigger camera
To the step of resetting to the pre-configured orientation.
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| CN201811413087.XA CN109343002A (en) | 2018-11-23 | 2018-11-23 | Auditory localization identification device and method |
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| CN201811413087.XA CN109343002A (en) | 2018-11-23 | 2018-11-23 | Auditory localization identification device and method |
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