CN109799497B - Sound source positioning method and sound wave navigator - Google Patents
Sound source positioning method and sound wave navigator Download PDFInfo
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- CN109799497B CN109799497B CN201711128485.2A CN201711128485A CN109799497B CN 109799497 B CN109799497 B CN 109799497B CN 201711128485 A CN201711128485 A CN 201711128485A CN 109799497 B CN109799497 B CN 109799497B
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Abstract
The embodiment of the invention provides a sound source positioning method and a sound wave navigator, wherein the method comprises the following steps: the ultrasonic transmitting device transmits an ultrasonic signal and a synchronous signal to the ultrasonic receiving device; the ultrasonic receiving device receives the ultrasonic signal and the synchronous signal and converts the ultrasonic signal into a sensor signal; the ultrasonic receiving device processes the sensor signal and the synchronous signal to obtain a processing result; and the ultrasonic receiving device displays the processing result. The embodiment of the invention can solve the problem of poor positioning accuracy of the traditional sound source positioning method.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a sound source positioning method and a sound wave navigator.
Background
In China, the research and clinical application of computer and robot assisted surgery mainly focuses on the field of applied surgical surgery, and in other fields such as orthopedics, deep research has not been developed in China. At present, infrared navigation technology is mainly used in the market, the price of a foreign computer aided navigation system is too high and greatly exceeds the bearing capacity of most hospitals in China, only a few hospitals in the first-line cities such as Beijing, Hangzhou and the like purchase infrared navigation systems for orthopedic surgery, and the infrared navigation systems are expensive in manufacturing cost and have higher requirements on use sites. The sound wave navigation has low cost, does not need the support of a large instrument, is simple and convenient to use, and has no research application in the fields of orthopedics and the like at present.
Disclosure of Invention
The embodiment of the invention provides a sound source positioning method and sound source positioning equipment, which are used for solving the application problem of sound wave navigation in the fields of orthopedics and the like.
In a first aspect, an embodiment of the present invention provides a method for sound source localization, including:
the ultrasonic transmitting device transmits an ultrasonic signal and a synchronous signal to the ultrasonic receiving device;
the ultrasonic receiving device receives the ultrasonic signal and the synchronous signal and converts the ultrasonic signal into a sensor signal;
the ultrasonic receiving device processes the sensor signal and the synchronous signal to obtain a processing result;
the ultrasonic receiving device displays the processing result;
wherein the sensor signal includes multiple sets of redundant information.
Optionally, the sending of the ultrasonic signal and the synchronization signal to the ultrasonic receiving device by the ultrasonic sending device includes: the ultrasonic transmitting device generates a driving signal and generates a distribution driving signal according to the driving signal, and the distribution driving signal is used for driving a sound source; the ultrasonic transmitting device generates the synchronous signal according to the driving signal and the distribution driving signal, and transmits the synchronous signal to the ultrasonic receiving device.
Optionally, the processing, by the ultrasonic receiving apparatus, of the sensor signal and the synchronization signal to obtain a processing result includes: digitizing the sensor signal to obtain a digital signal; and processing the digital signal and the synchronous signal to obtain the processing result.
Optionally, the digitizing the sensor signal to obtain a digital signal includes: conditioning the sensor signal to obtain a conditioned signal; and carrying out A/D conversion on the conditioning signal to obtain a digital signal.
Optionally, the processing the digital signal and the synchronization signal to obtain the processing result includes: calculating a time delay between the digital signal and the synchronization signal by a generalized mutual algorithm; calculating a sound source fuzzy position by combining the geometric relation and the time delay; and calculating the accurate position of the sound source by combining the multiple groups of redundant information, wherein the accurate position of the sound source is the processing result.
In a second aspect, an embodiment of the present invention further provides an acoustic wave navigator, including:
the ultrasonic transmitting device is used for transmitting an ultrasonic signal and a synchronous signal to the ultrasonic receiving device;
and the ultrasonic receiving device is used for receiving the ultrasonic signal and the synchronous signal.
Optionally, the ultrasonic wave receiving apparatus includes: the receiving sensor array is used for receiving the ultrasonic signals and converting the ultrasonic signals into sensor signals; the positioning navigation host is used for receiving the synchronous signal and processing the synchronous signal and the sensor signal to obtain a processing result; wherein the sensor signal includes multiple sets of redundant information.
Optionally, the positioning and navigation host includes: the signal conditioning module is used for conditioning the sensor signal to obtain a conditioning signal; the A/D conversion module is used for carrying out A/D conversion on the conditioning signal to obtain a digital signal; the signal processor is used for processing the digital signal and the synchronous signal to obtain a processing result; the display module is used for displaying the processing result; wherein the signal processor comprises: a first calculation module for calculating a time delay between the digital signal and the synchronization signal by a generalized mutual algorithm; the second calculation module is used for calculating the fuzzy position of the sound source by combining the geometric relation and the time delay; and the third calculation module is used for calculating the accurate position of the sound source by combining the multiple groups of redundant information, and the accurate position of the sound source is the processing result.
Optionally, the ultrasonic wave transmitting device includes: the transmitting transducer is used as a sound source and used for radiating ultrasonic signals under driving; the ultrasonic driving device is used for driving the transmitting transducer to radiate ultrasonic signals and sending synchronous signals to the ultrasonic receiving device while radiating the ultrasonic signals.
Optionally, the ultrasonic drive device comprises: a signal generator for generating a driving signal; the multi-channel distributor generates a distribution driving signal according to the driving signal and is used for driving the transmitting transducer; a synchronization signal generator that generates the synchronization signal from the driving signal and the distribution driving signal; and the sending module is used for sending the synchronous signal to the ultrasonic receiving device.
The embodiment of the invention has the following beneficial effects:
the sound wave navigator provided by the embodiment of the invention applies a sound wave navigation system to the fields of orthopedics and the like, can meet the requirement on sound source positioning in the operation, has a much lower sound wave navigation price than infrared navigation, has lower requirements on use sites, is also suitable for hospitals with common conditions, and is beneficial to the use of doctors in the operation and the treatment of patients.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for positioning a sound source according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of step 101 in FIG. 1;
FIG. 3 is a schematic flow chart of step 103 in FIG. 1;
fig. 4 is a schematic structural diagram of an acoustic wave navigator provided in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flow of a method for sound source localization is shown, which includes the following specific steps:
in an alternative embodiment, referring to fig. 2, said step 101 comprises:
in the embodiment of the present invention, the ultrasonic wave emitting device generates the driving signal for driving the sound source to radiate the ultrasonic wave signal, and since the sound source is generally a plurality of sound sources during the actual use process, the driving signal needs to be distributed to generate the distributed driving signal for driving each sound source.
in the embodiment of the present invention, while the driving sound source radiates the ultrasonic signal, the ultrasonic transmitter further needs to generate a synchronization signal according to the driving signal and the allocation driving signal, and transmit the synchronization signal to the ultrasonic receiver. By means of the synchronization signal, the ultrasonic receiving device can simultaneously locate each sound source.
Optionally, the driving signal, the distribution driving signal, and the synchronization signal are all square waves of 40kHz, and the embodiment of the present invention does not specifically limit the type and frequency of the signals.
102, an ultrasonic receiving device receives an ultrasonic signal and a synchronous signal and converts the ultrasonic signal into a sensor signal;
in the embodiment of the present invention, due to the working principle of the receiving sensor, the received ultrasonic signal is converted into an analog signal, i.e. a sensor signal.
103, processing the sensor signal and the synchronous signal by the ultrasonic receiving device to obtain a processing result;
in an alternative embodiment, referring to fig. 3, said step 103 comprises:
in the embodiment of the invention, the sensor signal is conditioned, so that the signal is clearer and is convenient for subsequent A/D conversion.
in the embodiment of the invention, the analog signal is converted into the digital signal through A/D conversion, so that the subsequent signal processing is facilitated.
in the embodiment of the present invention, the time delay between the transmission and the reception of the ultrasonic signal is obtained by a generalized mutual algorithm.
in the embodiment of the invention, the spatial position of the sound source can be calculated through a mathematical geometric model according to the geometric relation and the time delay, but the calculation result is not accurate due to single calculation, and only the fuzzy position of the sound source can be obtained.
And 1035, calculating an accurate sound source position by combining the plurality of groups of redundant information, wherein the accurate sound source position is a processing result.
In the embodiment of the invention, as the receiving sensor array is adopted, a plurality of measurement results can be obtained for a single ultrasonic signal emitted by the sound source, the accurate position of the sound source in the space can be obtained by carrying out a plurality of times of calculation through the redundant information, and the accurate position of the sound source is the processing result.
104, displaying a processing result by the ultrasonic receiving device;
in the embodiment of the invention, the ultrasonic receiving device displays the result after acquiring the accurate position of the sound source, so that a doctor can observe and use the ultrasonic receiving device conveniently. The embodiment of the present invention does not specifically limit the display mode.
Referring to fig. 4, there is shown a structure of an acoustic wave navigator 400 including:
an ultrasonic wave transmitting device 402 for transmitting an ultrasonic wave signal and a synchronizing signal to the ultrasonic wave receiving device 401;
an ultrasonic receiving device 401 for receiving an ultrasonic signal and a synchronization signal;
alternatively, the ultrasonic wave receiving apparatus 401 includes:
the receiving sensor array 4011 is configured to receive an ultrasonic signal and convert the ultrasonic signal into a sensor signal;
the positioning navigation host 4012 is configured to receive the synchronization signal, and process the synchronization signal and the sensor signal to obtain a processing result;
the positioning and navigation host 4012 includes:
the signal conditioning module 4013 is configured to condition the sensor signal to obtain a conditioned signal;
the a/D conversion module 4014 is configured to perform an a/D conversion on the conditioned signal to obtain a digital signal;
the signal processor 4015 is configured to process the digital signal and the synchronization signal to obtain a processing result;
a display module 4019 configured to display a processing result;
further, the signal processor 4015 includes:
a first calculation module 4016 for calculating a time delay between the digital signal and the synchronization signal by a generalized mutual algorithm;
the second calculation module 4017 is configured to calculate a sound source fuzzy position by combining the geometric relationship and the time delay;
and the third calculating module 4018 is configured to calculate an accurate sound source position by combining multiple sets of redundant information, where the accurate sound source position is a processing result.
Optionally, the ultrasonic wave emitting device 402 includes:
a transmitting transducer 4021 as a sound source for radiating an ultrasonic signal under driving;
the ultrasonic driving device 4022 is configured to drive the transmitting transducer 4021 to radiate an ultrasonic signal, and is further configured to transmit a synchronization signal to the ultrasonic receiving device while radiating the ultrasonic signal.
Wherein the ultrasonic drive 4022 comprises:
a signal generator 4023 for generating a driving signal;
the demultiplexer 4024 generates a distribution driving signal according to the driving signal, and is used for driving the transmitting transducer;
a synchronizing signal generator 4025 generating a synchronizing signal from the driving signal and the distributed driving signal;
a sending module 4026, configured to send the synchronization signal to the ultrasonic receiving apparatus 401.
The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (3)
1. A method of sound source localization, comprising:
the ultrasonic transmitting device transmits an ultrasonic signal and a synchronous signal to the ultrasonic receiving device;
a receiving sensor array in the ultrasonic receiving device receives the ultrasonic signal and converts the ultrasonic signal into a sensor signal;
a positioning navigation host in the ultrasonic receiving device receives the synchronous signal and processes the sensor signal and the synchronous signal to obtain a processing result;
the ultrasonic receiving device displays the processing result;
wherein the sensor signals comprise a plurality of sets of redundant information;
the processing the sensor signal and the synchronous signal to obtain a processing result includes:
digitizing the sensor signal to obtain a digital signal;
processing the digital signal and the synchronous signal to obtain a processing result;
the digitizing the sensor signal to obtain a digital signal includes:
conditioning the sensor signal to obtain a conditioned signal;
performing A/D conversion on the conditioning signal to obtain a digital signal;
the processing the digital signal and the synchronous signal to obtain the processing result includes:
calculating a time delay between the digital signal and the synchronization signal by a generalized mutual algorithm;
calculating the fuzzy position of the sound source in the space by combining the geometric relation and the time delay;
calculating for multiple times by combining the multiple groups of redundant information to obtain the accurate position of the sound source in the space, wherein the accurate position of the sound source is the processing result;
the ultrasonic wave transmitting device sends an ultrasonic wave signal and a synchronous signal to an ultrasonic wave receiving device, and comprises:
the ultrasonic transmitting device generates a driving signal and generates a distribution driving signal according to the driving signal, and the distribution driving signal is used for driving a sound source;
the ultrasonic transmitting device generates the synchronous signal according to the driving signal and the distribution driving signal and transmits the synchronous signal to the ultrasonic receiving device;
the drive signal, the distribution drive signal and the synchronization signal are all square waves of 40 kHz.
2. An acoustic wave navigator, characterized by comprising:
the ultrasonic transmitting device is used for transmitting an ultrasonic signal and a synchronous signal to the ultrasonic receiving device;
an ultrasonic receiving device for receiving the ultrasonic signal and the synchronization signal;
the ultrasonic wave receiving apparatus includes:
the receiving sensor array is used for receiving the ultrasonic signals and converting the ultrasonic signals into sensor signals;
the positioning navigation host is used for receiving the synchronous signal and processing the synchronous signal and the sensor signal to obtain a processing result;
wherein the sensor signals comprise a plurality of sets of redundant information;
the positioning navigation host comprises:
the signal conditioning module is used for conditioning the sensor signal to obtain a conditioning signal;
the A/D conversion module is used for carrying out A/D conversion on the conditioning signal to obtain a digital signal;
the signal processor is used for processing the digital signal and the synchronous signal to obtain a processing result;
the display module is used for displaying the processing result;
wherein the signal processor comprises:
a first calculation module for calculating a time delay between the digital signal and the synchronization signal by a generalized mutual algorithm;
the second calculation module is used for calculating the fuzzy position of the sound source in the space by combining the geometric relation and the time delay;
the third calculation module is used for performing multiple calculations by combining the multiple groups of redundant information to obtain the accurate position of the sound source in the space, wherein the accurate position of the sound source is the processing result;
the ultrasonic driving device comprises:
a signal generator for generating a driving signal;
the multi-channel distributor generates a distribution driving signal according to the driving signal and is used for driving the transmitting transducer;
a synchronization signal generator that generates the synchronization signal from the driving signal and the distribution driving signal;
the sending module is used for sending the synchronous signal to the ultrasonic receiving device;
the drive signal, the distribution drive signal and the synchronization signal are all square waves of 40 kHz.
3. The acoustic navigator according to claim 2, wherein said ultrasonic wave transmission means comprises:
the transmitting transducer is used as a sound source and used for radiating ultrasonic signals under driving;
the ultrasonic driving device is used for driving the transmitting transducer to radiate ultrasonic signals and sending synchronous signals to the ultrasonic receiving device while radiating the ultrasonic signals.
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| JP4963063B2 (en) * | 2004-06-09 | 2012-06-27 | インターナショナル・ビジネス・マシーンズ・コーポレーション | Distance measuring system, distance measuring method, information processing apparatus, program, and recording medium |
| JP5200228B2 (en) * | 2006-08-22 | 2013-06-05 | 国立大学法人愛媛大学 | Position measuring device |
| CN104898111B (en) * | 2015-06-18 | 2017-10-31 | 苏州触达信息技术有限公司 | A kind of alignment system based on localization by ultrasonic, wearable device and localization method |
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Effective date of registration: 20230814 Address after: 100035 No. 31 East Xinjiekou street, Beijing, Xicheng District Patentee after: Beijing Jishuitan Hospital Affiliated to Capital Medical University Address before: Contemporary MOMA T5-2203, No.1 Xiangheyuan Road, Dongcheng District, Beijing, 100035 Patentee before: Zhang Haohua |