CN109614960A - A kind of image acoustic array and three-dimensional space noise positioning device and method - Google Patents
A kind of image acoustic array and three-dimensional space noise positioning device and method Download PDFInfo
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Abstract
The invention discloses a kind of image acoustic arrays and three-dimensional space noise positioning device and method, wherein device includes acoustic array, image acquisition device, three-dimensional localization sonic transducer, Multichannel data acquisition device and processor, signal acquisition is carried out to data source by three kinds of setting acoustic array, image acquisition device, three-dimensional localization sonic transducer collectors, and three kinds of signal collections are subjected to comprehensive descision and calculating, it realizes while video plane points out noise source direction, noise source specific location is accurately positioned out, realizes the positioning of directive property noise source.
Description
Technical field
The present invention relates to image and auditory localization technical field, in particular to a kind of image acoustic array and three-dimensional space noise
Positioning device and method.
Background technique
As electronics industry and data acquisition technology continue to develop, a large amount of automated datas and image, acousto-optic acquire equipment
It comes into being and is put into practice, such as face capturing technology applies to social security and security, light source and sound source
Capturing technology be used to automate fire-fighting equipment even military field, it is seen that image, acousto-optic automation collection and capture equipment can
The field of application is very extensive.
However in existing technology, most equipment only with data mapping (such as single picture signal, sound source believe
Number or light signal) captured and handled, acoustic array, which is only able to achieve, points out noise source direction in video plane, and can not be accurate
Noise source specific location is oriented, the stationkeeping ability that comprehensive data acquisition channel carries out data source is lacked.
Summary of the invention
For this reason, it may be necessary to a kind of image acoustic array and three-dimensional space noise positioning device and method be provided, to solve existing skill
Most equipment is captured and is handled only with data mapping in art, is lacked comprehensive data acquisition channel and is carried out at integrated data
The problem of reason ability.
To achieve the above object, a kind of image acoustic array and three-dimensional space noise positioning device are inventor provided, including
Acoustic array, image acquisition device, three-dimensional localization sonic transducer, Multichannel data acquisition device and processor；
The acoustic array includes more than two sound collectors, and acoustic array is for searching noise source direction；
Described image collector is set on acoustic array, and searches direction towards the sound source of acoustic array；
The three-dimensional localization sonic transducer is used for the three-dimensional space position of locating source sound source；
The Multichannel data acquisition device is electrically connected with acoustic array, image acquisition device, three-dimensional localization sonic transducer and processor
It connects, for acquiring acoustic array, image acquisition device, the data of three-dimensional localization sonic transducer and sending data to processor；
The processor is used to receive the data of Multichannel data acquisition device and carries out data analysis.
Further, the Multichannel data acquisition device further includes 4 channel data collecting cassettes, and three-dimensional localization sonic transducer is logical
4 channel data collecting cassettes are crossed to be electrically connected with processor.
Further, the acoustic matrix is classified as fan-shaped array.
Further, described image collector selects infrared camera.
Further, described image collector is set to the center of acoustic array.
It is different from the prior art, above-mentioned technical proposal has the advantages that by the way that acoustic array, image acquisition device, three is arranged
Dimension positioning three kinds of collectors of sonic transducer carry out signal acquisition to data source, and three kinds of signal collections are carried out comprehensive descision and meter
It calculates, realizes while video plane points out noise source direction, noise source specific location is accurately positioned out, realize directive property noise
Source positioning.
To achieve the above object, inventor additionally provides a kind of image acoustic array and three-dimensional space noise localization method, packet
Include following steps: acquisition data；
The data include acoustic array data, video data and three-dimensional localization sound sensing data；
Acoustic matrix column data, video data and three-dimensional localization sound sensing data are combined；
Judge whether to navigate to sound source, if sound source can be navigated to, strength of sound source Distribution and localization is shown and sound source is joined
Number is analyzed, if sound source cannot be navigated to, resurveys data.
It further, further include at signal preanalysis processing and velocity of wave molding algorithm after acquiring acoustic array data step
Manage step.
It further, further include the positioning of noise source directive property and more identification of sound source after velocity of wave forms algorithm process step
With directional sound source and vision fusion steps, directional sound source and vision fusion steps acquire video data, noise source directive property
Positioning and more identification of sound source information.
It further, further include vision pre-treatment step after acquiring video data step.
It further, further include the analysis of multi-Channel Acoustic characteristic relation, noise source after acquiring three-dimensional localization sound sensing data
Signal is determining and threedimensional model constructs and three-dimensional overdetermined equation solves positioning step.
It is different from the prior art, above-mentioned technical proposal has the advantages that through collected sound signal, picture signal, three
Positioning sound transducing signal is tieed up, and three kinds of signal collections are subjected to comprehensive descision and calculating, realizes and points out noise source in video plane
While direction, noise source specific location is accurately positioned out, realizes the positioning of directive property noise source.
Detailed description of the invention
Fig. 1 is the attachment structure schematic diagram of image acoustic array and three-dimensional space noise positioning device in the embodiment of the present invention；
Fig. 2 is the flow diagram of image acoustic array and three-dimensional space noise localization method in the embodiment of the present invention；
Fig. 3 is the principle signal for estimating noise source position in the embodiment of the present invention based on beam forming beaforming algorithm
Figure.
Description of symbols:
101, acoustic array；102, sound collector；
201, image acquisition device；
301, three-dimensional localization sonic transducer；
401, Multichannel data acquisition device；402,4 channel data collecting cassette；
501, processor.
Specific embodiment
Technology contents, construction feature, the objects and the effects for detailed description technical solution, below in conjunction with specific reality
It applies example and attached drawing is cooperated to be explained in detail.
Referring to Fig. 1, present embodiment discloses a kind of image acoustic array and three-dimensional space noise positioning device, including acoustic matrix
Column 101, image acquisition device 201, three-dimensional localization sonic transducer 301, Multichannel data acquisition device 401 and processor 501, acoustic array
101, image acquisition device 201 and three-dimensional localization sonic transducer 301 are electrically connected with Multichannel data acquisition device 401 (in the present embodiment
In, acoustic array 101, image acquisition device 201, three-dimensional localization sonic transducer 301 can be used the modes such as cable, USB line and be attached
To realize that data are transmitted), acoustic array 101 includes more than two sound collectors 102, sound collector 102 along straight line it is symmetrical or in
The heart is symmetrical arranged, and Multichannel data acquisition device 401 is electrically connected with processor.
According to above structure, in the course of work of image acoustic array and three-dimensional space noise positioning device, acoustic array
Sound collector, image acquisition device and three-dimensional localization sonic transducer simultaneously detect signal source, and sound collector acquires signal
In-plane locating for signal source is simultaneously distinguished in source, and acquires acoustic matrix column data.The image acquisition device on acoustic array is set in sound
Video data is acquired in the signal source direction that collector is distinguished.Three-dimensional localization sonic transducer is asked by time difference column overdetermined equation
Solution orients the three-dimensional space position of source sound source, obtains three-dimensional localization sound sensing data.Subsequent acoustic matrix column data, video data and
Three-dimensional localization sound sensing data is transferred to Multichannel data acquisition device, and Multichannel data acquisition device is by acoustic matrix column data, video
Data and three-dimensional localization sound sensing data are transferred to processor, and handle data, to calculate and orient signal source institute
Locate position.
Referring to Fig. 1, Multichannel data acquisition device 401 further includes 4 channel data collecting cassettes in certain preferred embodiments
402, three-dimensional localization sonic transducer 301 is electrically connected by 4 channel data collecting cassettes 402 with processor 501.By by multichannel number
The transmitting for carrying out three-dimensional localization sound sensing data by independent 4 channel data collecting cassette 402 according to collector 401, improves three
Tie up the stability of positioning sound sensing data transmitting.
Referring to Fig. 1, image acquisition device 201 is set to the center of acoustic array 101 in certain preferred embodiments.Pass through
Image acquisition device is set to the center of acoustic array, so that acoustic array is when pointing out noise source direction on completing plane, image is adopted
Storage can be directed at the center in noise source direction, to capture the image data within the scope of the direction to the maximum extent.
In the above-described embodiments, acoustic array is distributed in the four of the center along single center using fan-shaped array, sound collector
Week, by the way that fan-shaped array is arranged, convenient for center aligned signal source when acoustic array positioning plane.In other examples, acoustic matrix
The planar array along the setting of single straight line can also be used in column, by arranging sound collector along single straight line, convenient for expanding detection
The length direction in face expands area of detection.
In certain preferred embodiments, infrared camera is can be used in image acquisition device, by using infrared camera, is convenient for
Have the signal source of heat source in the region of insufficient light or searching, improves image acoustic array and three-dimensional space noise positioning device
Detectivity.
In the above-described embodiments, the detection direction of acoustic array and image acquisition device, which can be used, manually adjusts or using motor
The mode of driving is adjusted.
In the above-described embodiments, acoustic array and video collector are using 64 road acoustic arrays and 1 road video heads composition image sound
Array hardware device, wherein 64 road acoustic arrays are using fan-shaped array composition, each one fans uniformly distributed 7 sonic transducers on side,
The center point arranges one, reaches round rapid coke and receives convenient for comprehensive sound, while arranging a video probe, energy in the center point
Enough video detection objects, acoustic array, sonic transducer are that video collector is assembled using bracket.
In the above-described embodiments, the electronics that computer, cloud computing platform etc. have data-handling capacity can be used in processor
Equipment.
In the above-described embodiments, sonic transducer and three-dimensional sonic transducer are to dismount according to demand, for different objects
Response frequency range is replaced.Mainly based on the good reputation SR10B acoustic emission sensor of Beijing, it responds 1HZ-15KHZ.When for
When not knowing object sound range, wideband SR800 acoustic emission sensor can be used, its response range is 50KHz-800KHz.It is three-dimensional
Narrowband response frequency sonic transducer can be selected according to sonic transducer response frequency by positioning sonic transducer, more be obtained in this way in concentration response
Obtain more preferable temporal resolution.
Referring to Fig. 2, present embodiment discloses a kind of image acoustic array and three-dimensional space noise localization method, including it is as follows
Step:
S101: acquisition data；
S110: the data of acquisition are combined；
S111: judge whether to navigate to signal source；
S112: if signal source can be navigated to, showing strength of sound source Distribution and localization and analyze sound source parameter, if
Sound source cannot be navigated to, then resurveys data.
Specific image acoustic array and three-dimensional space noise localization method can be with are as follows:
1) using acoustic matrix column data, video data and the three-dimensional localization sound sensing data of detecting devices acquisition target direction；
2) the acoustic matrix column data of acquisition, video data and three-dimensional localization sound sensing data are combined；
3) by collected data judge whether that signal source can be navigated to；
If 4) signal source can be navigated to, analyzed to signal source intensity distribution locating and displaying and to signal source parameter,
If signal source cannot be navigated to, data are resurveyed.
It is integrated by collected sound signal, picture signal, three-dimensional localization sound transducing signal, and by three kinds of signal collections
Judgement and calculating, realize while video plane points out noise source direction, noise source specific location are accurately positioned out, realization refers to
The positioning of tropism noise source.
Referring to Figure 2 together and Fig. 3 further includes in the above-described embodiments that signal preanalysis processing and velocity of wave molding are calculated
Method processing, steps are as follows:
S101: acquisition data；
S102: acoustic array data-signal preanalysis processing；
S103: acoustic array data wave short-term training type algorithm process；
S110: the data of acquisition are combined；
S111: judge whether to navigate to signal source；
S112: if signal source can be navigated to, showing strength of sound source Distribution and localization and analyze sound source parameter, if
Sound source cannot be navigated to, then resurveys data.
Specific image acoustic array and three-dimensional space noise localization method can be with are as follows:
1) using acoustic matrix column data, video data and the three-dimensional localization sound sensing data of detecting devices acquisition target direction；
2) signal preanalysis processing is done to acoustic matrix column data, preanalysis processing is specifically included with system noise vs at any time,
Filtering inhibits random noise, then acoustic matrix column data is amplified in gain, and the comparison such as array sound process of convolution increases same characteristic signal；
3) velocity of wave for carrying out beaforming algorithm to acoustic matrix column data forms algorithm process；
4) the acoustic matrix column data of acquisition, video data and three-dimensional localization sound sensing data are combined；
5) by collected data judge whether that signal source can be navigated to；
If 6) signal source can be navigated to, analyzed to signal source intensity distribution locating and displaying and to signal source parameter,
If signal source cannot be navigated to, data are resurveyed.
By doing signal preanalysis processing to acoustic matrix column data, and beaforming algorithm is carried out to acoustic matrix column data
Velocity of wave forms algorithm process, acoustic matrix column data is further processed, so that processor is convenient for positioning.
Referring to Fig. 2, further including the positioning of noise source directive property and more identification of sound source and directive property sound in the above-described embodiments
It is merged with vision in source, the specific steps are as follows:
S101: acquisition data；
S102: acoustic array data-signal preanalysis processing；
S103: acoustic array data wave short-term training type algorithm process；
S104: the positioning of acoustic array data-signal directive property and more identification of sound source；
S105: directional sound source is merged with vision；
S110: the data of acquisition are combined；
S111: judge whether to navigate to signal source；
S112: if signal source can be navigated to, showing strength of sound source Distribution and localization and analyze sound source parameter, if
Sound source cannot be navigated to, then resurveys data.
Specific image acoustic array and three-dimensional space noise localization method can be with are as follows:
1) using acoustic matrix column data, video data and the three-dimensional localization sound sensing data of detecting devices acquisition target direction；
2) signal preanalysis processing is done to acoustic matrix column data, preanalysis processing is specifically included with system noise vs at any time,
Filtering inhibits random noise, then acoustic matrix column data is amplified in gain, and the comparison such as array sound process of convolution increases same characteristic signal；
3) velocity of wave for carrying out beaforming algorithm to acoustic matrix column data forms algorithm process；
4) directive property positioning and more identification of sound source are carried out to acoustic matrix column data, specifically included: acoustic array data-signal according to
After multi channel signals velocity of wave forms algorithm process, by channel signal power and deflection, reasoning determines that sound source is directed toward orientation, realizes
Full airspace directional sound source positioning；Meanwhile because being acoustic array, there are different sonic transducers to different sound source response differences,
Therefore acoustic array can identify more auditory localizations through the function treatment again through velocity of wave molding algorithm simultaneously；
5) it carries out directional sound source to acquisition acoustic matrix column data and video data to merge with vision, sprocket bit sound source acquisition sound
Source direction airspace coordinate obtains visual pattern with image acquisition device and merges processing, and the Sounnd source direction of visual pattern into
Row fitting strength of sound source variation diagram, discloses sound source position and power changes；
6) the acoustic matrix column data of acquisition, video data and three-dimensional localization sound sensing data are combined；
7) by collected data judge whether that signal source can be navigated to；
If 8) signal source can be navigated to, analyzed to signal source intensity distribution locating and displaying and to signal source parameter,
If signal source cannot be navigated to, data are resurveyed.
By carrying out directive property positioning and more identification of sound source to acoustic matrix column data and acquiring acoustic matrix column data and video data
Be combined, convenient for handling in advance acoustic array and video data, in order to the later period to three-dimensional localization sound sensing data into
Row integration
Referring to Fig. 2, further including vision pre-treatment step in the above-described embodiments, the specific steps are as follows:
S101: acquisition data；
S106: vision pretreatment is done to video data；
S110: the data of acquisition are combined；
S111: judge whether to navigate to signal source；
S112: if signal source can be navigated to, showing strength of sound source Distribution and localization and analyze sound source parameter, if
Sound source cannot be navigated to, then resurveys data.
Specific image acoustic array and three-dimensional space noise localization method can be with are as follows:
1) using acoustic matrix column data, video data and the three-dimensional localization sound sensing data of detecting devices acquisition target direction；
2) vision pretreatment done to video data, preanalysis processing is specifically included with system noise vs at any time, filtering or
Random noise, then gain is inhibited to amplify acoustic matrix column data, the comparison such as array sound process of convolution increases same characteristic signal；
3) by collected data judge whether that signal source can be navigated to；
If 4) signal source can be navigated to, analyzed to signal source intensity distribution locating and displaying and to signal source parameter,
If signal source cannot be navigated to, data are resurveyed.
By doing vision pretreatment to video data, so that video data is able to be converted to can be converted and into one
The digital signal combined is walked, convenient for the processing of video data.
Referring to Fig. 2, further including the analysis of multi-Channel Acoustic characteristic relation, noise source signal determination and three in the above-described embodiments
Dimension module building and three-dimensional overdetermined equation solve positioning, the specific steps are as follows:
S101: acquisition data；
S107: multi-Channel Acoustic characteristic relation is analyzed；
S108: determination and threedimensional model building to noise source signal；
S109: three-dimensional overdetermined equation solves positioning；
S110: the data of acquisition are combined；
S111: judge whether to navigate to signal source；
S112: if signal source can be navigated to, showing strength of sound source Distribution and localization and analyze sound source parameter, if
Sound source cannot be navigated to, then resurveys data.
Specific image acoustic array and three-dimensional space noise localization method can be with are as follows:
1) using acoustic matrix column data, video data and the three-dimensional localization sound sensing data of detecting devices acquisition target direction；
2) analysis of multi-Channel Acoustic characteristic relation is carried out to noise source signal；
3) determination of noise source signal and threedimensional model are constructed；
4) by the threedimensional model of building, three-dimensional overdetermined equation is carried out using time difference column overdetermined equation and solves positioning；
5) the acoustic matrix column data of acquisition, video data and three-dimensional localization sound sensing data are combined；
6) by collected data judge whether that signal source can be navigated to；
If 7) signal source can be navigated to, analyzed to signal source intensity distribution locating and displaying and to signal source parameter,
If signal source cannot be navigated to, data are resurveyed.
By carrying out the analysis of multi-Channel Acoustic characteristic relation, the determination to noise source signal and threedimensional model structure to noise source signal
The threedimensional model for building and relying on building carries out three-dimensional overdetermined equation using time difference column overdetermined equation and solves positioning, is determining to believe
The definite three-dimensional data of three-dimensional localization sound sensing data is provided before number source, improves the detection efficiency of signal source.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or the terminal device that include a series of elements not only include those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or end
The intrinsic element of end equipment.In the absence of more restrictions, being limited by sentence " including ... " or " including ... "
Element, it is not excluded that there is also other elements in process, method, article or the terminal device for including the element.This
Outside, herein, " being greater than ", " being less than ", " being more than " etc. are interpreted as not including this number；" more than ", " following ", " within " etc. understand
Being includes this number.
It should be understood by those skilled in the art that, the various embodiments described above can provide as method, apparatus or computer program production
Product.Complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in these embodiments
Form.The all or part of the steps in method that the various embodiments described above are related to can be instructed by program relevant hardware come
It completes, the program can store in the storage medium that computer equipment can be read, for executing the various embodiments described above side
All or part of the steps described in method.The computer equipment, including but not limited to: personal computer, server, general-purpose computations
It is machine, special purpose computer, the network equipment, embedded device, programmable device, intelligent mobile terminal, smart home device, wearable
Smart machine, vehicle intelligent equipment etc.；The storage medium, including but not limited to: RAM, ROM, magnetic disk, tape, CD, sudden strain of a muscle
It deposits, USB flash disk, mobile hard disk, storage card, memory stick, webserver storage, network cloud storage etc..
The various embodiments described above are referring to the method according to embodiment, equipment (system) and computer program product
Flowchart and/or the block diagram describes.It should be understood that can be realized by computer program instructions every in flowchart and/or the block diagram
The combination of process and/or box in one process and/or box and flowchart and/or the block diagram.It can provide these computers
Program instruction generates a machine to the processor of computer equipment, so that the finger executed by the processor of computer equipment
It enables and generates to specify in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of function.
These computer program instructions, which may also be stored in, to be able to guide computer equipment computer operate in a specific manner and sets
In standby readable memory, so that the instruction being stored in the computer equipment readable memory generates the manufacture including command device
Product, command device realization refer in one or more flows of the flowchart and/or one or more blocks of the block diagram
Fixed function.
These computer program instructions can also be loaded into computer equipment, so that executing on a computing device a series of
Operating procedure is to generate computer implemented processing, so that the instruction executed on a computing device is provided for realizing in process
The step of function of being specified in figure one process or multiple processes and/or block diagrams one box or multiple boxes.
Although the various embodiments described above are described, once a person skilled in the art knows basic wounds
The property made concept, then additional changes and modifications can be made to these embodiments, so the above description is only an embodiment of the present invention,
It is not intended to limit scope of patent protection of the invention, it is all to utilize equivalent structure made by description of the invention and accompanying drawing content
Or equivalent process transformation, being applied directly or indirectly in other relevant technical fields, similarly includes in patent of the invention
Within protection scope.
Claims (10)
1. a kind of image acoustic array and three-dimensional space noise positioning device, which is characterized in that including acoustic array, image acquisition device,
Three-dimensional localization sonic transducer, Multichannel data acquisition device and processor；
The acoustic array includes more than two sound collectors, and acoustic array is for searching noise source direction；
Described image collector is set on acoustic array, and searches direction towards the sound source of acoustic array；
The three-dimensional localization sonic transducer is used for the three-dimensional space position of locating source sound source；
The Multichannel data acquisition device is electrically connected with acoustic array, image acquisition device, three-dimensional localization sonic transducer and processor, is used
In acquisition acoustic array, image acquisition device, the data of three-dimensional localization sonic transducer and data are sent to processor；
The processor is used to receive the data of Multichannel data acquisition device and carries out data analysis.
2. image acoustic array according to claim 1 and three-dimensional space noise positioning device, which is characterized in that the multi-pass
Track data collector further includes 4 channel data collecting cassettes, and three-dimensional localization sonic transducer passes through 4 channel data collecting cassettes and processor
Electrical connection.
3. image acoustic array according to claim 1 and three-dimensional space noise positioning device, which is characterized in that the acoustic matrix
It is classified as fan-shaped array.
4. image acoustic array according to claim 1 and three-dimensional space noise positioning device, which is characterized in that described image
Collector selects infrared camera.
5. image acoustic array according to claim 1 and three-dimensional space noise positioning device, which is characterized in that described image
Collector is set to the center of acoustic array.
6. a kind of image acoustic array and three-dimensional space noise localization method, which comprises the steps of: acquisition data；
The data include acoustic array data, video data and three-dimensional localization sound sensing data；
Acoustic matrix column data, video data and three-dimensional localization sound sensing data are combined；
Judge whether to navigate to sound source, if sound source can be navigated to, strength of sound source Distribution and localization is shown and to sound source parameter into
Row analysis, if sound source cannot be navigated to, resurveys data.
7. image acoustic array according to claim 6 and three-dimensional space noise localization method, which is characterized in that in acquisition sound
It further include signal preanalysis processing and velocity of wave molding algorithm process step after array data step.
8. image acoustic array according to claim 7 and three-dimensional space noise localization method, which is characterized in that velocity of wave at
It further include that the positioning of noise source directive property and more identification of sound source and directional sound source merge step with vision after type algorithm process step
Suddenly, directional sound source and vision fusion steps acquisition video data, the positioning of noise source directive property and more identification of sound source information.
9. image acoustic array according to claim 6 and three-dimensional space noise localization method, which is characterized in that regarded in acquisition
It further include vision pre-treatment step after frequency data step.
10. image acoustic array according to claim 6 and three-dimensional space noise localization method, which is characterized in that acquiring
Further include after three-dimensional localization sound sensing data the determining analysis of multi-Channel Acoustic characteristic relation, noise source signal and threedimensional model building and
Three-dimensional overdetermined equation solves positioning step.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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