CN110221250A - A kind of abnormal sound localization method and positioning device - Google Patents
A kind of abnormal sound localization method and positioning device Download PDFInfo
- Publication number
- CN110221250A CN110221250A CN201910567957.7A CN201910567957A CN110221250A CN 110221250 A CN110221250 A CN 110221250A CN 201910567957 A CN201910567957 A CN 201910567957A CN 110221250 A CN110221250 A CN 110221250A
- Authority
- CN
- China
- Prior art keywords
- signal
- abnormal sound
- microphone
- module
- sound
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
Abstract
The present invention relates to a kind of abnormal sound localization method and positioning devices, the correlated time delay method (HB-GCC) for mainly solving existing HB weighting does not fully consider ambient noise characteristic when calculating delay inequality (TDOA) between microphone, to be difficult to the problem of obtaining correct time delay estimated result, abnormal sound localization method includes the following steps: step 1, microphone pick voice signal；Step 2, voice signal pretreatment；Step 3 is labeled as abnormal sound；Step 4 calculates the delay inequality in microphone array between any two microphone using the HB weighting broad sense cross correlation algorithm based on contact transformation anyway；5) azimuth of sound source is calculatedPitching angle theta and distance r.Meanwhile the present invention also provides a kind of device based on the above method, which includes planar four-element microphone array module, signal acquisition module, signal pre-processing module and abnormal sound locating module.
Description
Technical field
The present invention relates to sound signal processing technologies, and in particular to a kind of abnormal sound localization method and positioning device.
Background technique
Public arena abnormal sound refers to lower sound that should not occur of certain specific normal environment, generally includes rifle
Sound, explosive sound, glass breaking sound, shriek etc..The generation of abnormal sound shows that anomalous event has occurred or indicated for anomalous event
It will occur.Therefore, being analyzed abnormal sound and positioned has maintenance public safety, prevention safety accident state of affairs expansion
Highly important meaning.
Currently, abnormal sound positioning mainly estimates (time delay using the time delay based on microphone array
Estimation, TDE) localization method, this method obtains different microphones using certain algorithm and receives between homologous signal
The time difference due to caused by transmission range is different carrys out computed position sound source.This method can substantially be divided into two steps: the first step is estimated
Sound source is counted out to the delay inequality (time delay of arrival, TDOA) between each pair of microphone；Second step, according to these
The geometric position of delay inequality and microphone array calculates the orientation of sound source.In the first step, the time delay estimation side generallyd use
Method is broad sense cross-correlation method (generalized cross correlation, GCC), but in the actual environment, due to pulse
The time delay estimation performance of the influence of noise and reverberation, GCC method can sharp-decay.Occur adding cross-correlation function thus
Power, the various improved methods for sharpening cross-correlation function peak value have ROTH (roth according to the difference of its weighted type and criterion
filter)、SCOT(smoothed coherence transform)、ECKART(eckart filter)、ML(maximum
Likelihood), PHAT (phase transform), WP (Wiener filters) and HB (Hassab-Boucher) etc. are wide
Adopted Time Delay Estimation Based.
In the above method of weighting, HB weighting broad sense cross-correlation time delay method (HB-GCC) improve TDOA precision and
Under the premise of unknown signaling noise priori knowledge, dynamically track Delay Variation etc. has preferable performance.But due to public
Occasion noise generally conforms to fractional lower-order α Stable distritation, so that the correlation function peak value using HB-GCC method will appear pseudo- peak,
The feature for showing similar abnormal sound sometimes, makes it difficult to obtain correct time delay estimated result.Therefore, HB-GCC time delay
Estimation method is using less effective in a public environment.In second step, traditional microphone array model mostly uses sky
Between the sensor array that is distributed, based on large scale array, but this method array sizes are bigger than normal, use the exception of the Array Model
Sound positioning system is inconvenient to integrate, also carrying not convenient for transportation.
Summary of the invention
The purpose of the present invention is first is that the correlated time delay method (HB-GCC) for solving existing HB weighting is calculating microphone
Between delay inequality (TDOA) when do not fully consider ambient noise characteristic, to be difficult to obtain asking for correct time delay estimated result
Topic provides a kind of abnormal sound localization method and positioning second is that solve the problems, such as that traditional microphone array moulded dimension is bigger than normal
Device, this method estimate TDOA by weighting broad sense cross-correlation (IHB-GCC) method based on the improvement HB of contact transformation anyway, with
Enhance the anti-noise ability of broad sense cross correlation algorithm processing abnormal sound in public places positioning.
The technical solution of the invention is as follows:
A kind of abnormal sound localization method, includes the following steps:
Step 1, microphone pick voice signal, the microphone is at least four, and is distributed in the same plane；
Step 2, voice signal pretreatment；
2.1) voice signal of microphone pick is removed into DC component and trend term；
2.2) to step 2.1, treated that voice signal filters out high frequency spurs；
2.3) by step 2.2 treated voice signal using spectrum-subtraction removal Hz noise and harmonic wave, then to sound
Signal is normalized, the signal x (n) that obtains that treated；
Step 3 is labeled as abnormal sound；
3.1) pretreated signal is subjected to sub-frame processing；
3.2) determined based on signal-to-noise ratio, mark abnormal sound；
Calculate the mean power of every frame signalL is frame length；
Calculate the mean power of ambient noisex0It (n) is ambient noise signal；
Signal to Noise Ratio (SNR)=P/N is calculated, signal-to-noise ratio is detected in a manner of permanent early warning, if it exceeds pre-determined threshold, then
Labeled as abnormal sound；
Multiple sound clips of multiple microphones are intercepted at the same data point after abnormal marking point；
Step 4 is calculated any two in microphone array using the HB weighting broad sense cross correlation algorithm based on contact transformation anyway
Delay inequality between microphone；
4.1) in the sound clip of step 3.2) interception, the voice signal x of microphone 1 and microphone 2 is chosen1(n), x2
(n), contact transformation anyway is carried out to it；
X1(n)=arctan [kx1(n)]
X2(n)=arctan [kx2(n)]
Wherein, k is the parameter for controlling nonlinear transformation degree, k > 0；
4.2) signal X is calculated with Fourier transformation1(n) autopower spectral densitySignal X2(n) from power
Spectrum densitySignal X1(n) with signal X2(n) cross-spectral densityω is angular frequency, then HB-GCC
Weighting function are as follows:
Wherein: 0.5≤λ≤1；
Cross-spectral density function after weightingChange are as follows:
4.3) cumulative weighting is done to the cross-spectral density function between 2 signal of microphone 1 and microphone, add up weighting letter
Number are as follows:
Wherein: m is frame number；
It is rightFourier inversion is sought, i.e.,
J is imaginary unit；
4.4) peak detection, cross-correlation functionτ value at peak position is between microphone 1 and microphone 2
Delay inequality τ21；
4.5) the delay inequality τ between any number of microphones is calculated to step 4.4) referring to step 4.1)31,τ41,τ32,
τ42,τ43；
5) azimuth of sound source is calculatedPitching angle theta and distance r；
C=340m/s in formula, L microphone array side length.
Further, in step 4.2), λ changes with the change of signal-to-noise ratio；
In formula: σ indicate site environment under signal-to-noise ratio, signal-to-noise ratio according toSetting,It indicates
The variance of signal,Indicate the variance of ambient noise under site environment；σ0、σ1、λ0And λ1It is in the light of actual conditions determining normal
Number, and λ1> λ0、σ1≥σ0。
Further, in step 3.1), pretreated signal is subjected to sub-frame processing specifically: using short frame length and short
Frame moves, and frame shifting is set as the 1/4 of frame length.
Further, in step 2.2), high frequency spurs are filtered out by low-pass filter.
Further, the above method further includes step 6):
The sound source position information that step 5) obtains is transferred to bluetooth module, then azimuth information is issued to by bluetooth module
Display module is shown.
Meanwhile the present invention also provides a kind of abnormal sound positioning devices comprising planar four-element microphone array module, letter
Number acquisition module, signal pre-processing module and abnormal sound locating module；The planar four-element microphone array module includes passing
Sound device and preamplifier；The microphone is multiple, and is respectively provided in one plane；Planar four-element microphone array module
It is changed into analog electrical signal output for receiving voice signal, and by acoustical signal；The signal acquisition module and preamplifier
Connection, for converting digital signal for analog electrical signal；The signal pre-processing module is connect with signal acquisition module, thereon
It is stored with computer program, the step 2) of the above method is realized when which is executed by processor；The abnormal sound positioning mould
Block is connect with signal pre-processing module, is stored thereon with computer program, which realizes the above method when being executed by processor
Step 3) to step 5).
It further, further include bluetooth module and display module；The bluetooth module is used for abnormal sound locating module
The location data issued is transmitted to display module, and for the display module for showing abnormal sound orientation, the display module can
For hand-held display terminal.
Further, above-mentioned apparatus further includes power module, and the power module is used to provide electric energy to other modules, main
It to be made of battery compartment, battery pack, battery charger and power-switching circuit, the battery pack is arranged in battery compartment, institute
Battery pack is stated to connect with battery charger and power-switching circuit, apparatus of the present invention are battery powered, facilitate out using and
It carries.
It further, further include data memory module, the data memory module is for storing abnormal sound signal and determining
Position result.
Further, the microphone is four, and is distributed in four vertex of rectangle plane, and such setting can be fine
Be applied to size is small, outer casing thickness is thin device.
Compared with prior art, the invention has the following advantages that
1. the improvement HB based on contact transformation anyway that the method for the present invention provides weights broad sense cross correlation algorithm (HB-GCC) energy
Inhibit the spike in ambient noise well, there is good toughness under environment in public places.
2. planar four-element microphone array module provided by the invention and the auditory localization algorithm based on the Array Model
It can be applied to the device that size is small, outer casing thickness is thin well.
3. miniaturization abnormal sound positioning device provided by the invention has the characteristics that small in size, low in energy consumption, while device
It is battery powered, facilitates out using and carrying.
4. the method for the present invention and device positioning accuracy are high, inhibit ambient noise ability strong, device volume is small, low in energy consumption, energy
Enough abnormal sounds to public arena are accurately positioned, and to maintenance public safety, prevention safety accident state of affairs expansion has very heavy
The meaning wanted.
Detailed description of the invention
Fig. 1 is the functional block diagram of abnormal sound positioning device of the present invention；
Fig. 2 is abnormal sound localization method flow chart of the present invention；
Fig. 3 is the auditory localization algorithm schematic diagram proposed by the invention based on planar four-element location model；
Fig. 4 is planar four-element microphone array schematic diagram of the present invention；
Fig. 5 is collected frame abnormal sound (shot) exemplary diagram of apparatus of the present invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be appreciated that embodiment described herein
It is only used for describing and explaining invention, is not intended to limit the present invention.
For public arena ambient noise complexity, the correlated time delay method (HB-GCC) of HB weighting is calculating microphone
Between delay inequality (TDOA) the problem of not fully considering ambient noise characteristic, it is abnormal that the present invention provides a kind of public arenas
Sound localization method and miniaturization positioning device, this method weight broad sense cross-correlation by the improvement HB based on contact transformation anyway
(IHB-GCC) method estimates TDOA, to enhance the anti-noise energy of broad sense cross correlation algorithm processing abnormal sound in public places positioning
Power.Secondly, mostly using the sensor array of spatial distribution for traditional abnormal sound positioning device, it is larger, not square that there are volumes
The problem of Portable belt, provides a kind of planar four-element microphone array model, and provides a kind of abnormal sound based on this model
Positioning device.The method of the present invention and device positioning accuracy are high, inhibit ambient noise ability strong, and device volume is small, low in energy consumption, can
The abnormal sound of public arena is accurately positioned, to maintenance public safety, the prevention safety accident state of affairs expands with particularly significant
Meaning.
Fig. 2 is abnormal sound localization method flow chart；Fig. 3 is for planar four-element microphone array model shown in Fig. 4
The auditory localization algorithm schematic diagram proposed；Fig. 4 is planar four-element microphone array model schematic provided by the invention, this hair
The miniaturization abnormal sound positioning device of bright offer arranges microphone according to above-mentioned model.Below with reference to Fig. 2, Fig. 3, Fig. 4 to this
The implementation steps of inventive method elaborate.
1) microphone pick voice signal, sample frequency fsNot less than 100KHz；Microphone is four, and is distributed in same
In plane；
It 2) will be with sample rate fsCollected voice signal removes DC component by signal pre-processing module and eliminates
The order parameter of gesture item, trend term can select 2~3 ranks；It then is f by cutoff frequencydLow-pass filter to filter out high frequency miscellaneous
Wave, then 50Hz Hz noise and its harmonic wave are subtracted using spectrum-subtraction；Then signal is normalized, obtains that treated
Signal x (n)；
3) signal after pretreatment is sent into abnormal sound locating module, and signal first enters framing unit and carries out at framing
Reason, it is contemplated that signal it is non-stationary, moved using short frame length and short frame, frame shifting is set as the 1/4 of frame length；Calculate the flat of every frame signal
Equal powerL is frame length, similarly calculates the mean power of ambient noisex0(n) it is
Ambient noise signal；Signal to Noise Ratio (SNR)=P/N is calculated, signal-to-noise ratio is detected in a manner of permanent early warning (CFAR), if it exceeds
Pre-determined threshold, then be labeled as abnormal sound, and detection threshold passes through the empirical value usually tested and sets；
Four sound pieces of four microphones are intercepted at the same data point after abnormal marking point (abnormal sound position)
Section, fragment data points no less than 1024；
4) microphone array is calculated using improvement HB weighting broad sense cross-correlation (IHB-GCC) algorithm based on contact transformation anyway
In delay inequality between any two microphone, specific step is as follows；
4.1) in four sound clips that step 3 intercepts, the voice signal x of microphone 1 and microphone 2 is chosen1(n), x2
(n), contact transformation anyway is carried out to it,
X1(n)=arctan [kx1(n)]
X2(n)=arctan [kx2(n)]
Wherein, k is the parameter (k > 0) for controlling nonlinear transformation degree；
4.2) signal X is calculated with Fourier transformation1(n) autopower spectral densitySignal X2(n) from power
Spectrum densitySignal X1(n) with signal X2(n) cross-spectral densityω is frequency, by HB-GCC's
Weighting function modification are as follows:
Wherein: 0.5≤λ≤1, wherein λ changes with the change of signal-to-noise ratio；
In formula: σ indicate site environment under signal-to-noise ratio, signal-to-noise ratio according toSetting, whereinTable
Show the variance of signal,Indicate the variance of ambient noise under site environment；σ0、σ1、λ0And λ1It is in the light of actual conditions determining normal
Number, and λ1> λ0、σ1≥σ0；
Cross-spectral density function after weightingChange are as follows:
4.3) cumulative weighting is done to the cross-spectral density function between two microphone signals, add up weighting function are as follows:
Wherein: m is frame number；
It is rightFourier inversion is sought, i.e.,
In formula, j is imaginary unit,For the cross-correlation function between microphone 1 and microphone 2, τ is delay inequality.
4.4) peak detection calculates cross-correlation functionPeak position at τ value, as microphone 1 and transaudient
Delay inequality τ between device 221；
4.5) the delay inequality τ between any two microphone is calculated referring to step 4.1) to step 4.4)31,τ41,τ32,τ42,
τ43；
5) using the orientation for calculating abnormal sound based on planar four-element array auditory localization algorithm, specific step is as follows；
5.1) according to planar four-element microphone array model, the path difference between microphone is expressed as；
Wherein, d21Indicate microphone 1 and 2 between path difference, other successively in push away, L be four-element array side length, sound source
The elevation angle is θ, and azimuth is
5.2) since the sound source distance of measured target is generally several hundred rice, and the side length of microphone array is tens centimetres,
Therefore target sound source distance is far longer than sound pick-up array side length, i.e. r > > L, then distance r and orientation can be expressed as；
C=340m/s in formula；L is four-element array side length；
6) the sound source position information that abnormal sound locating module calculates is transferred to bluetooth by data transmission unit
Module, then azimuth information is issued to display module by bluetooth module.
As shown in Figure 1, the present invention also provides a kind of miniaturization abnormal sound positioning devices comprising planar four-element is transaudient
Device array module, signal acquisition module, signal pre-processing module, abnormal sound locating module, data memory module, power supply mould
Block, bluetooth module, display module etc..
Planar four-element microphone array module is used to receive voice signal mainly by microphone and preamplifier, will
Acoustical signal is changed into electric signal output.Signal acquisition module is mainly made of 4 channel modulus converters (ADC) and peripheral circuit,
Digital signal is converted by analog signal.Signal pre-processing module pre-processes collected voice signal, filters out direct current
Component and trend term, while design has filter to filter out high frequency spurs interference and 50Hz Hz noise.Abnormal sound locating module
It is transmitted including framing unit, signal-to-noise ratio computation and judging unit, microphone delay inequality computing unit, auditory localization unit and data
Unit etc..Framing unit carries out short frame length to signal and short frame moves framing, and it is flat that signal-to-noise ratio computation and judging unit calculate signal frame
Equal power and signal-to-noise ratio, and based on permanent alarm mode, mark abnormal sound；Microphone delay inequality computing unit is according to step 4
When improvement HB weighting broad sense cross-correlation (IHB-GCC) method based on contact transformation anyway calculates any two-way voice signal
Prolong difference；Auditory localization unit calculates sound source according to the auditory localization algorithm based on planar four-element microphone array described in step 5
Azimuth.Data transmission unit is by collected 4 tunnel transmission of sound signals to data memory module, the positioning that will be calculated
As a result bluetooth module and data memory module are transmitted to.
Data memory module is made of DDR memory, flash memory chip and respective peripheral circuit；DDR memory passes through
External storage interface is articulated on embeded processor, and as the memory of processor operation, Flash flash memory is deposited as non-volatile
Reservoir saves abnormal sound signal and positioning result.Power module is for giving other modules to provide electric energy, mainly by battery compartment,
18650 batteries, battery charger and power-switching circuit composition, battery pack are arranged in battery compartment, and battery pack passes through battery
Charging circuit and power-switching circuit are connect with external circuit, carry out charging operations.Bluetooth module is by CSR chip, onboard snakelike
The peripheral circuits such as electric wire composition, the location data for issuing abnormal sound locating module are transmitted to display module.Show mould
Block is hand-held display terminal, for receiving the location data of bluetooth module transmission, and shows abnormal sound orientation.
The working principle of abnormal sound positioning device provided by the invention is: 1) in planar four-element microphone array model
Four microphones are distributed in four vertex of rectangle, select four microphones the reason is that taking between microphone data and positioning performance
The balance obtained；2) signal of microphone pick is removed into DC component and trend term；High frequency spurs are filtered out by low-pass filter,
The power frequency interference signals and its harmonic wave of 50Hz are filtered out with spectrum-subtraction；Then signal is normalized, after obtaining pretreatment
Signal x (n)；3) to pretreated signal x (n) carry out sub-frame processing, it is contemplated that signal it is non-stationary, using short frame length
It is moved with short frame；Determined based on signal-to-noise ratio, marks abnormal sound, intercept 4 backward at the same data piont mark of 4 road sound sequences
A sound clip；4) any two are calculated using improvement HB weighting broad sense cross-correlation (IHB-GCC) algorithm based on contact transformation anyway
Delay inequality (TDOA) between microphone；4.1) contact transformation anyway is carried out to two-way sound clip, inhibits the point in signal noise
Peak pulse；4.2) weighting function changed with signal-to-noise ratio is designed based on HB weighting function；4.3) multiframe weighting function weights；4.4)
Weight broad sense cross-correlation calculation delay inequality；4.5) step 4.1) -4.4 is repeated) calculate the delay inequality of any two-way sound clip；5
Using the orientation for calculating abnormal sound based on planar four-element array auditory localization algorithm.
Claims (10)
1. a kind of abnormal sound localization method, which comprises the steps of:
Step 1, microphone pick voice signal, the microphone is at least four, and is distributed in the same plane；
Step 2, voice signal pretreatment；
2.1) voice signal of microphone pick is removed into DC component and trend term；
2.2) to step 2.1, treated that voice signal filters out high frequency spurs；
2.3) by step 2.2 treated voice signal using spectrum-subtraction removal Hz noise and harmonic wave, then to voice signal
It is normalized, the signal x (n) that obtains that treated；
Step 3 is labeled as abnormal sound；
3.1) pretreated signal is subjected to sub-frame processing；
3.2) determined based on signal-to-noise ratio, mark abnormal sound；
Calculate the mean power of every frame signalL is frame length；
Calculate the mean power of ambient noisex0It (n) is ambient noise signal；
Signal to Noise Ratio (SNR)=P/N is calculated, signal-to-noise ratio is detected in a manner of permanent early warning, if it exceeds pre-determined threshold, then mark
For abnormal sound；
Multiple sound clips of multiple microphones are intercepted at the same data point after abnormal marking point；
Step 4, calculated using the HB weighting broad sense cross correlation algorithm based on contact transformation anyway it is any two transaudient in microphone array
Delay inequality between device；
4.1) in the sound clip of step 3.2) interception, the voice signal x of microphone 1 and microphone 2 is chosen1(n), x2(n),
Anyway contact transformation is carried out to it；
X1(n)=arctan [kx1(n)]
X2(n)=arctan [kx2(n)]
Wherein, k is the parameter for controlling nonlinear transformation degree, k > 0；
4.2) signal X is calculated with Fourier transformation1(n) autopower spectral densitySignal X2(n) auto-power spectrum is close
DegreeSignal X1(n) with signal X2(n) cross-spectral densityω is angular frequency, then HB-GCC plus
Weight function are as follows:
Wherein: 0.5≤λ≤1；
Cross-spectral density function after weightingChange are as follows:
4.3) cumulative weighting is done to the cross-spectral density function between 2 signal of microphone 1 and microphone, add up weighting function
Are as follows:
Wherein: m is frame number；
It is rightFourier inversion is sought, i.e.,
Wherein: j is imaginary unit；
4.4) peak detection, cross-correlation functionτ value at peak position is the time delay between microphone 1 and microphone 2
Poor τ21；
4.5) the delay inequality τ between any number of microphones is calculated to step 4.4) referring to step 4.1)31,τ41,τ32,τ42,τ43；
5) azimuth of sound source is calculatedPitching angle theta and distance r；
In formula, C=340m/s, L microphone array side length.
2. abnormal sound localization method according to claim 1, it is characterised in that: in step 4.2), λ changes with signal-to-noise ratio
Become and changes；
In formula: σ indicate site environment under signal-to-noise ratio, signal-to-noise ratio according toSetting,Indicate signal
Variance,Indicate the variance of ambient noise under site environment；σ0、σ1、λ0And λ1It is in the light of actual conditions determining constant, and λ1
> λ0、σ1≥σ0。
3. abnormal sound localization method according to claim 2, which is characterized in that, will be pretreated in step 3.1)
Signal carries out sub-frame processing specifically: is moved using short frame length and short frame, frame shifting is set as the 1/4 of frame length.
4. abnormal sound localization method according to claim 1 or 2 or 3, it is characterised in that: in step 2.2), by low
Bandpass filter filters out high frequency spurs.
5. abnormal sound localization method according to claim 4, which is characterized in that further include step 6): step 5) is obtained
The sound source position information taken is transferred to bluetooth module, and then azimuth information is issued to display module and shown by bluetooth module.
6. a kind of abnormal sound positioning device, it is characterised in that: including planar four-element microphone array module, signal acquisition mould
Block, signal pre-processing module and abnormal sound locating module；
The planar four-element microphone array module includes microphone and preamplifier；The microphone is multiple, and is all provided with
It sets in one plane；Planar four-element microphone array module is changed into simulation electricity for receiving voice signal, and by acoustical signal
Signal output；
The signal acquisition module is connect with preamplifier, for converting digital signal for analog electrical signal；
The signal pre-processing module is connect with signal acquisition module, is stored thereon with computer program, and the program is by processor
The step 2) of claim 1 is realized when execution；
The abnormal sound locating module is connect with signal pre-processing module, is stored thereon with computer program, which is located
Manage realizes the step 3) of claim 1 to step 5) when device executes.
7. abnormal sound positioning device according to claim 6, it is characterised in that: further include bluetooth module and display mould
Block；The bluetooth module is used to the location data that abnormal sound locating module issues being transmitted to display module, the display mould
For block for showing abnormal sound orientation, the display module is hand-held display terminal.
8. abnormal sound positioning device according to claim 6 or 7, it is characterised in that: it further include power module, the electricity
Source module is used to provide electric energy to other modules, mainly by battery compartment, battery pack, battery charger and power-switching circuit group
At the battery pack is arranged in battery compartment, and the battery pack is connect with battery charger and power-switching circuit.
9. abnormal sound positioning device according to claim 8, it is characterised in that: the microphone is four, and is distributed
On four vertex of rectangle plane.
10. abnormal sound positioning device according to claim 9, it is characterised in that: it further include data memory module, it is described
Data memory module is for storing abnormal sound signal and positioning result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910567957.7A CN110221250A (en) | 2019-06-27 | 2019-06-27 | A kind of abnormal sound localization method and positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910567957.7A CN110221250A (en) | 2019-06-27 | 2019-06-27 | A kind of abnormal sound localization method and positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110221250A true CN110221250A (en) | 2019-09-10 |
Family
ID=67815115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910567957.7A Pending CN110221250A (en) | 2019-06-27 | 2019-06-27 | A kind of abnormal sound localization method and positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110221250A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703202A (en) * | 2019-10-22 | 2020-01-17 | 哈尔滨工程大学 | Underwater pulsed sound positioning system based on multi-acoustic wave glider and unmanned surface vehicle |
| CN110807901A (en) * | 2019-11-08 | 2020-02-18 | 西安联丰迅声信息科技有限责任公司 | Non-contact industrial abnormal sound detection method |
| CN111024208A (en) * | 2019-11-26 | 2020-04-17 | 中国船舶重工集团有限公司第七一0研究所 | Vertical array sound pressure gradient beam forming and signal detecting method |
| CN111207305A (en) * | 2020-02-25 | 2020-05-29 | 上海电机学院 | Signal time delay estimation method for positioning leakage point of boiler pipeline |
| CN111596262A (en) * | 2020-05-07 | 2020-08-28 | 武汉大学 | Vector hydrophone and multi-target direction estimation method based on vector hydrophone |
| CN112362348A (en) * | 2020-10-27 | 2021-02-12 | 华北电力大学（保定） | Acoustic monitoring method for faults of roller bearings of belt conveyor |
| CN113763679A (en) * | 2021-08-24 | 2021-12-07 | 杭州意能电力技术有限公司 | Method and device for monitoring abnormal sound of gas insulated closed type combined electrical apparatus |
| CN114999537A (en) * | 2022-06-22 | 2022-09-02 | 歌尔科技有限公司 | Abnormal sound signal detection method, device and equipment and readable storage medium |
| CN116338583A (en) * | 2023-04-04 | 2023-06-27 | 北京华控智加科技有限公司 | Method for determining noise source inside equipment based on distributed microphone array |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7113605B2 (en) * | 2003-03-31 | 2006-09-26 | Microsoft Corporation | System and process for time delay estimation in the presence of correlated noise and reverberation |
| KR20090017211A (en) * | 2007-08-14 | 2009-02-18 | 엘지전자 주식회사 | Method of tracing the sound source and apparatus thereof |
| CN102324237A (en) * | 2011-05-30 | 2012-01-18 | 深圳市华新微声学技术有限公司 | Microphone array voice wave beam formation method, speech signal processing device and system |
| CN102522082A (en) * | 2011-12-27 | 2012-06-27 | 重庆大学 | Recognizing and locating method for abnormal sound in public places |
| CN102707262A (en) * | 2012-06-20 | 2012-10-03 | 太仓博天网络科技有限公司 | Sound localization system based on microphone array |
| CN102854494A (en) * | 2012-08-08 | 2013-01-02 | Tcl集团股份有限公司 | Sound source locating method and device |
| CN103837858A (en) * | 2012-11-23 | 2014-06-04 | 中国科学院声学研究所 | Far field direction of arrival estimation method applied to plane array and system thereof |
| CN104076331A (en) * | 2014-06-18 | 2014-10-01 | 南京信息工程大学 | Sound source positioning method for seven-element microphone array |
| CN104991573A (en) * | 2015-06-25 | 2015-10-21 | 北京品创汇通科技有限公司 | Locating and tracking method and apparatus based on sound source array |
| CN107102296A (en) * | 2017-04-27 | 2017-08-29 | 大连理工大学 | A kind of sonic location system based on distributed microphone array |
| CN109669159A (en) * | 2019-02-21 | 2019-04-23 | 深圳市友杰智新科技有限公司 | Auditory localization tracking device and method based on microphone partition ring array |
-
2019
- 2019-06-27 CN CN201910567957.7A patent/CN110221250A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7113605B2 (en) * | 2003-03-31 | 2006-09-26 | Microsoft Corporation | System and process for time delay estimation in the presence of correlated noise and reverberation |
| KR20090017211A (en) * | 2007-08-14 | 2009-02-18 | 엘지전자 주식회사 | Method of tracing the sound source and apparatus thereof |
| CN102324237A (en) * | 2011-05-30 | 2012-01-18 | 深圳市华新微声学技术有限公司 | Microphone array voice wave beam formation method, speech signal processing device and system |
| CN102522082A (en) * | 2011-12-27 | 2012-06-27 | 重庆大学 | Recognizing and locating method for abnormal sound in public places |
| CN102707262A (en) * | 2012-06-20 | 2012-10-03 | 太仓博天网络科技有限公司 | Sound localization system based on microphone array |
| CN102854494A (en) * | 2012-08-08 | 2013-01-02 | Tcl集团股份有限公司 | Sound source locating method and device |
| CN103837858A (en) * | 2012-11-23 | 2014-06-04 | 中国科学院声学研究所 | Far field direction of arrival estimation method applied to plane array and system thereof |
| CN104076331A (en) * | 2014-06-18 | 2014-10-01 | 南京信息工程大学 | Sound source positioning method for seven-element microphone array |
| CN104991573A (en) * | 2015-06-25 | 2015-10-21 | 北京品创汇通科技有限公司 | Locating and tracking method and apparatus based on sound source array |
| CN107102296A (en) * | 2017-04-27 | 2017-08-29 | 大连理工大学 | A kind of sonic location system based on distributed microphone array |
| CN109669159A (en) * | 2019-02-21 | 2019-04-23 | 深圳市友杰智新科技有限公司 | Auditory localization tracking device and method based on microphone partition ring array |
Non-Patent Citations (3)
| Title |
|---|
| 朱超; 屈晓旭; 娄景艺: "《基于广义互相关的时延估计算法研究》", 《通信技术》 * |
| 李伟红; 汤海兵; 龚卫国: "《公共场所异常声源定位中时延估计方法研究》", 《仪器仪表学报》 * |
| 韩冰 主编: "《数字音视频处理》", 31 October 2018, 西安电子科技大学出版社 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703202A (en) * | 2019-10-22 | 2020-01-17 | 哈尔滨工程大学 | Underwater pulsed sound positioning system based on multi-acoustic wave glider and unmanned surface vehicle |
| CN110703202B (en) * | 2019-10-22 | 2022-06-21 | 哈尔滨工程大学 | Underwater pulsed sound positioning system based on multi-acoustic wave glider and unmanned surface vehicle |
| CN110807901A (en) * | 2019-11-08 | 2020-02-18 | 西安联丰迅声信息科技有限责任公司 | Non-contact industrial abnormal sound detection method |
| CN111024208A (en) * | 2019-11-26 | 2020-04-17 | 中国船舶重工集团有限公司第七一0研究所 | Vertical array sound pressure gradient beam forming and signal detecting method |
| CN111207305A (en) * | 2020-02-25 | 2020-05-29 | 上海电机学院 | Signal time delay estimation method for positioning leakage point of boiler pipeline |
| CN111596262B (en) * | 2020-05-07 | 2023-03-10 | 武汉敏声新技术有限公司 | Vector hydrophone and multi-target direction estimation method based on vector hydrophone |
| CN111596262A (en) * | 2020-05-07 | 2020-08-28 | 武汉大学 | Vector hydrophone and multi-target direction estimation method based on vector hydrophone |
| CN112362348A (en) * | 2020-10-27 | 2021-02-12 | 华北电力大学（保定） | Acoustic monitoring method for faults of roller bearings of belt conveyor |
| CN113763679A (en) * | 2021-08-24 | 2021-12-07 | 杭州意能电力技术有限公司 | Method and device for monitoring abnormal sound of gas insulated closed type combined electrical apparatus |
| CN113763679B (en) * | 2021-08-24 | 2022-11-29 | 杭州意能电力技术有限公司 | Method and device for monitoring abnormal sound of gas insulated enclosed type combined electrical apparatus |
| CN114999537A (en) * | 2022-06-22 | 2022-09-02 | 歌尔科技有限公司 | Abnormal sound signal detection method, device and equipment and readable storage medium |
| CN116338583A (en) * | 2023-04-04 | 2023-06-27 | 北京华控智加科技有限公司 | Method for determining noise source inside equipment based on distributed microphone array |
| CN116338583B (en) * | 2023-04-04 | 2023-09-01 | 北京华控智加科技有限公司 | Method for determining noise source inside equipment based on distributed microphone array |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110221250A (en) | A kind of abnormal sound localization method and positioning device | |
| CN103439689B (en) | Microphone position estimating system in a kind of distributed mike wind array | |
| Cevher et al. | Vehicle speed estimation using acoustic wave patterns | |
| CN102147458B (en) | Method and device for estimating direction of arrival (DOA) of broadband sound source | |
| CN108731886B (en) | A kind of more leakage point acoustic fix ranging methods of water supply line based on iteration recursion | |
| CA2407855C (en) | Interference suppression techniques | |
| WO2019061439A1 (en) | Improved sound source positioning method based on progressive serial orthogonalized blind source separation algorithm, and system for implementing same | |
| CN104898091B (en) | Microphone array self calibration sonic location system based on iteration optimization algorithms | |
| US20120051548A1 (en) | Microphone array subset selection for robust noise reduction | |
| CN103426440A (en) | Voice endpoint detection device and voice endpoint detection method utilizing energy spectrum entropy spatial information | |
| CN103165137B (en) | Speech enhancement method of microphone array under non-stationary noise environment | |
| JP2014085673A (en) | Method for intelligently controlling volume of electronic equipment, and mounting equipment | |
| Sun et al. | Joint DOA and TDOA estimation for 3D localization of reflective surfaces using eigenbeam MVDR and spherical microphone arrays | |
| CN109188362B (en) | Microphone array sound source positioning signal processing method | |
| Zhao et al. | Open-lake experimental investigation of azimuth angle estimation using a single acoustic vector sensor | |
| CN107167770A (en) | A kind of microphone array sound source locating device under the conditions of reverberation | |
| CN109068235A (en) | Method for accurately calculating arrival direction of the sound at microphone array | |
| US20130148814A1 (en) | Audio acquisition systems and methods | |
| CN104535964A (en) | Helmet type microphone array sound source positioning method based on low-frequency diffraction delay inequalities | |
| Gaubitch et al. | On near-field beamforming with smartphone-based ad-hoc microphone arrays | |
| Liu et al. | Single-mode wild area surveillance sensor with ultra-low power design based on microphone array | |
| US20210368264A1 (en) | Microphone array apparatus for bird detection and identification | |
| CN104569956B (en) | A kind of distance measuring method and equipment | |
| Xu et al. | Sound Source Localization of Firearms Based on TDOA Optimization Algorithm | |
| Wang et al. | Microphone array for hearing aid and speech enhancement applications |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190910 |
|
| RJ01 | Rejection of invention patent application after publication |