CN110716179A - Bird positioning system and method based on sound - Google Patents
Bird positioning system and method based on sound Download PDFInfo
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- 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
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Abstract
The invention discloses a bird positioning system and method based on sound, which comprises a plurality of positioning matrixes for acquiring sound, a sound extraction device for extracting the sound from the bird sound, an oscilloscope for displaying the wave form of each bird sound, a wave form analyzer for distinguishing the wave form of each bird sound and a timer, wherein the positioning matrixes are arranged in a bird gathering place, the positioning matrixes are connected with the sound extraction device, the sound extraction device is connected with the oscilloscope, the oscilloscope is connected with the wave form analyzer, and the timer is connected with the positioning matrixes. According to the bird positioning method, the bird singing is effectively acquired through the positioning array, the position information of the birds is acquired through the position information of the positioning array and the time interval difference value of the bird singing reaching the sound sensor, the real-time positioning of the birds is realized, the birds are positioned through sound, and the influence of light and obstacles on the bird positioning is reduced.
Description
Technical Field
The invention relates to the technical field of bird positioning, in particular to a bird positioning system and method based on sound.
Background
When monitoring birds in the field, especially in islands and coastal wetland areas, the position information of the birds plays an important role in the aspects of understanding the flight habits, the life habits and the like of the birds, and is helpful for accurately judging the species group of the birds. The existing positioning technology for bird positions is basically based on optical positioning, and the technology can not accurately and effectively position under the conditions of barrier existence or poor light at night, cloudy day and the like, and is greatly influenced by time and weather.
A method and a device for bird detection, identification and tracking in beach monitoring disclosed in Chinese patent document, wherein the publication No. CN109033975A discloses that the publication No. 2018, 12 and 18 months, comprises receiving video images collected in a beach panoramic observation system, decomposing the video images and sampling according to a preset time interval to obtain sampling beach images; HOG feature extraction is carried out on the beach image; receiving a large number of beach sample images in advance, and training to obtain an SVM classifier based on HOG characteristics; judging whether birds exist in the beach image by adopting the SVM classifier; performing fine-grained image processing on the beach image with the birds by adopting a Mask-CNN algorithm, and judging the category of each bird; bird tracking was performed for each bird identified using the MeanShift algorithm and each bird was numbered. The method realizes the tracking and positioning of birds through image recognition and processing, but still does not solve the problem that accurate positioning cannot be realized when light is not good or obstacles are more, and still has the problem that bird recognition and tracking positioning cannot be carried out on cloudy days or at night, and real-time positioning of birds cannot be realized.
Disclosure of Invention
The invention mainly solves the problem that birds cannot be positioned in real time in the prior art, and provides a bird positioning system and method based on sound, which are used for identifying sound of different birds and realizing real-time positioning of the birds through different sound waveforms of the different birds.
The technical problem of the invention is mainly solved by the following technical scheme: the utility model provides a birds positioning system based on sound, includes a plurality of location matrix that is used for acquireing sound, carries out birds with sound extraction of singing sound extraction device, the oscilloscope that is used for showing each birds waveform of singing, distinguishes various birds waveform of singing sound wave waveform analyzer and time-recorder, the location matrix is installed in birds gathering place, a plurality of the location matrix all is connected with singing sound extraction element, singing sound extraction element is connected with the oscilloscope, the oscilloscope is connected with the waveform analyzer, the time-recorder is connected with the location matrix. Obtain the sound signal of birds gathering place through the location matrix, the sound signal that will acquire carries out birds through the extraction element that whistles and draws, obtain the waveform of whistling of birds, distinguish different kinds of birds waveform of whistling through the waveform analysis appearance, time each kind of sound arrival location matrix's moment through the time-recorder, the time-recorder adopts atomic clock to time, it is more accurate to make birds to whistling arrival moment, to record the position of each location matrix when will fixing a position the matrix installation, the birds that records through the position of location matrix and time-recorder are whistling and arrive moment, realize the real-time location of birds, the influence of light and weather to positioner has been prevented.
Preferably, the positioning array comprises a plurality of sound sensors, the sound sensors are distributed and installed on a bird gathering place, each sound sensor comprises a shell, an electret vibration die, an insulation pad, a metal polar plate, a field effect tube, a diode and a sound signal conversion circuit, the sound signal conversion circuit comprises a power supply module VCC, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a capacitor C1, a capacitor C2, a capacitor C3 and a transistor VT1, one surface of the electret vibration die is abutted against the inner wall of the shell, one surface of the insulation pad is abutted against the other surface of the electret vibration die, the other surface of the insulation pad is abutted against the metal polar plate, the metal polar plate is connected with a gate of the field effect tube, the gate of the field effect tube is connected with a cathode of the diode, an anode of the diode is connected with a source of the field effect tube, and a source of the field effect, the drain of the field effect transistor is respectively connected with the first end of a resistor R1, the first end of a resistor R4, the first end of a capacitor C1 and the first end of a capacitor C2, the second end of the resistor R1 is respectively connected with a power supply module VCC, the first end of a resistor R2 and the first end of a resistor R3, the second end of the resistor R4 is grounded, the second end of the capacitor C1 is respectively connected with the second end of a resistor R2 and the base of a transistor VT1, the second end of the capacitor C2 is grounded, the second end of the resistor R3 is respectively connected with the first end of a capacitor C3 and the emitter of the transistor VT1, and the collector of the transistor VT1 and the second end of the capacitor C3 are grounded. The sound is obtained through a sound sensor, a plastic film is adopted as an electret vibration die, one surface of the plastic film is evaporated with a pure gold film, after the electret of a high-voltage electric field, the two surfaces of the plastic film are respectively provided with opposite charges, the evaporated gold surface is connected with a shell, the other surface of the plastic film is separated by an insulating pad and then is connected with a metal polar plate to form a capacitor, when the sound is transmitted to the shell, the plastic film is vibrated to cause the vibration of the capacitor to generate alternating voltage, and after the alternating voltage is subjected to RC voltage stabilizing filtering and a transistor amplifying circuit, a sound signal is converted into a digital signal.
Preferably, the wireless communication device further comprises a cloud server and a wireless communication module, wherein the cloud server is respectively connected with the waveform analyzer and the timer through the wireless communication module. The cloud server corresponds the sound waveform analyzed by the waveform analyzer to the timing time of the timer, and positions the birds to be positioned in real time.
The invention also provides a bird positioning method based on the sound, which comprises the following steps: step s 1: acquiring bird song waveforms of different types, and establishing a relation table corresponding to the bird song waveforms and birds; step s 2: installing a plurality of positioning matrixes in a bird gathering place, recording the position information of each positioning matrix, and recording the time of each sound reaching the positioning matrixes by a timer; step s 3: acquiring external sound from the positioning array by a sound extraction device to extract bird sound waveforms; step s 4: distinguishing the types of the extracted bird song waveforms; step s 5: according to the distinguished bird song waveforms, searching a corresponding relation table of the bird song waveforms and the birds, and determining the birds to be positioned; step s 6: calculating the position of the birds according to the position information of the positioning array and a timer; s 7: the cloud server determines bird position information to be positioned by combining the position information of the birds and the birds to be positioned. Different birds correspond different birds and cry the wave form, according to the wave form that waveform analyzer analyzed out, seek the relation table that birds singing the wave form and birds correspond, find the birds that need fix a position and cry the wave form, combine the time-recorder, find the birds that need fix a position and cry the moment of arriving the location array, according to the position of location array, calculate the position when birds send the singing, realize the real-time localization tracking of birds.
Preferably, in step s2, every 4 sound sensors form a positioning matrix, a spatial rectangular coordinate system is formed when the 4 sound sensors form the positioning matrix, one sound sensor is located at the origin of coordinates, the other three sound sensors are distributed on three coordinate axes, and the coordinates of the 4 sound sensors are (0,0,0), (x) respectively1,0,0)、(0,y2,0)、(0,0,z3). A space rectangular coordinate system is formed by the 4 sound sensors, and the bird position is conveniently calculated.
Preferably, in step s2, the timer counts the time of each of the 4 sound sensors, and calculates the difference between the arrival times of the sounds at the respective sensors, and the calculation formula is:
Δt10＝t1-t0；
Δt20＝t2-t0；
Δt30＝t3-t0；
wherein, t0For the moment when the sound reaches the sound sensor located at the origin, t1For the moment when the sound reaches the sound sensor located on the x-axis, t2For the moment at which sound reaches the sound sensor located on the y-axis, t3Δ t is the time at which sound reaches the sound sensor located on the z-axis10Δ t is the difference between the sound arrival time of the sound sensor located at the x-axis and the sound arrival time of the sound sensor located at the origin20Δ t is the difference between the sound arrival time of the sound sensor located at the y-axis and the sound arrival time of the sound sensor located at the origin30Is the difference between the sound arrival time of the sound sensor located at the z-axis and the sound arrival time of the sound sensor located at the origin.
Preferably, in step s6, assuming that the bird sounds with the coordinates of (x, y, z), there are:
wherein t ist0Time interval for birds to sound at the location to reach the sound sensor at the origin, tt1Time interval for birds to sound at the x-axis sound sensor, tt2Time interval for birds to sound at the position to reach the sound sensor on the y-axis, tt3The time interval between the arrival of the bird at the sound sensor on the z-axis, and c is the speed of sound propagation through the air. Assuming that a space rectangular coordinate system formed by 4 sound sensors forms a space coordinate according to the position of the bird making the sound, the distance from the bird to each sound sensor is known, and the time interval of the bird making the sound to reach the sound sensors is calculated according to the propagation speed of the sound in the air.
Preferably, since the bird song is emitted from the same position at the same time, the difference in arrival time of the sounds received by the sensors and the time interval between the sounds arriving at the sensors are in the following relationship:
Preferably, the position of the bird at which the bird sounds is calculated according to the relationship between the difference value of the arrival time of the sound received by each sensor and the time interval between the arrival of the sound at each sensor, and the calculation formula is as follows:
and calculating the values of coordinates x, y and z of the position where the bird buzzes according to the calculation formula, so as to realize the positioning of the bird. The time interval difference of the bird singing sound reaching the sound sensor is calculated according to the known time difference of the bird singing sound reaching the sound sensor, the position information of the bird singing sound is calculated according to the time interval difference of the bird singing sound reaching the sound sensor and the position of the sound sensor, and the positioning tracking of the bird is achieved.
The invention has the beneficial effects that: (1) bird singing is effectively obtained through a positioning array; (2) acquiring the position information of the birds through the position information of the positioning array and the time interval difference value of the bird singing sound reaching the sound sensor, and realizing the real-time positioning of the birds; (3) through sound to birds location, reduced the influence of light and barrier to birds location.
Drawings
Fig. 1 is a schematic system structure diagram according to the first embodiment.
Fig. 2 is a schematic structural diagram of an acoustic sensor according to the first embodiment.
FIG. 3 is a flowchart of a bird locating method according to the first embodiment.
Fig. 4 is a schematic distribution diagram of the acoustic sensors according to the first embodiment.
In the figure, 1 is a cloud server, 2 is a timer, 3 is a positioning matrix, 4 is a sound extraction device, 5 is an oscilloscope, 6 is a waveform analyzer, 7 is a shell, 8 is an electret vibration die, 9 is an insulating pad, 10 is a metal polar plate, 11 is a field effect tube, and 12 is a diode.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
The first embodiment is as follows: the utility model provides a birds positioning system based on sound, as shown in figure 1, including a plurality of location matrix 3 that is used for acquireing sound, carry out birds sound extraction device 4 that sounds was drawed with sound, an oscilloscope 5 for showing each birds sound wave form, wave form analysis appearance 6 that distinguishes various birds sound wave forms, cloud server 1, wireless communication module and time-recorder 2, location matrix 3 is installed at birds gathering place, a plurality of location matrix 3 all is connected with the input of sound extraction device 4, the output of sound extraction device 4 is connected with oscilloscope 5, oscilloscope 5 is connected with wave form analysis appearance 6's input, time-recorder 2 is connected with location matrix 3, wave form analysis appearance 6's output and time-recorder 2 all are connected with cloud server 1 through wireless communication module.
As shown in fig. 2, the positioning matrix 3 includes a plurality of sound sensors, the plurality of sound sensors are distributed and installed in a bird gathering place, the sound sensors include a housing 7, an electret vibration die 8, an insulating pad 9, a metal plate 10, a fet 11, a diode 12, and a sound signal conversion circuit, the sound signal conversion circuit includes a power supply module VCC, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a capacitor C1, a capacitor C2, a capacitor C3, and a transistor VT1, one surface of the electret vibration die 8 abuts against an inner wall of the housing 7, one surface of the insulating pad 9 abuts against the other surface of the electret vibration die 8, the other surface of the insulating pad 9 abuts against the metal plate 10, the metal plate 10 is connected to a gate of the fet 11, a gate of the fet 11 is connected to a cathode of the diode 12, an anode of the diode 12 is connected to a source of the fet 11, and a source, the drain of the field effect transistor 11 is connected to the first end of the resistor R1, the first end of the resistor R4, the first end of the capacitor C1, and the first end of the capacitor C2, the second end of the resistor R1 is connected to the power supply module VCC, the first end of the resistor R2, and the first end of the resistor R3, the second end of the resistor R4 is grounded, the second end of the capacitor C1 is connected to the second end of the resistor R2 and the base of the transistor VT1, the second end of the capacitor C2 is grounded, the second end of the resistor R3 is connected to the first end of the capacitor C3 and the emitter of the transistor VT1, and the collector of the transistor VT1 and the second end of the capacitor C3 are grounded.
In the concrete application, one side of electret vibration mould 8 of the sound sensor is evaporated with a pure gold film, after electret by high-voltage electric field, the two sides of the plastic film are respectively provided with opposite charges, the evaporated gold surface is connected with the shell 7, the other side is separated by an insulating pad 9 and then connected with a metal polar plate 10 to form a capacitor, when the external sound is transmitted to the sound sensor, the electret vibration mould 8 is equivalent to a microphone, the sound waveform causes the electret vibration mould 8 to vibrate, the capacitor generates an alternating voltage, after passing through a field effect tube 11, the impedance of the alternating voltage is reduced, a resistor R1 is a pull-up resistor and plays a role in current limiting, a resistor R4 and a capacitor C1 form an RC filter circuit, the sound signal waveform output by the field effect tube 11 is filtered, a transistor VT1 plays a role of an amplifier, the alternating voltage is amplified, and the wave crest and wave trough characteristics of the sound signal waveform are more obvious, the output sound signal waveform is transmitted to a sound extraction device 4, the sound extraction device 4 removes impurities in the sound signal waveform, the sound signal waveform belonging to birds is reserved, the bird sound waveform is transmitted to an oscilloscope 5 to be conveniently checked by workers, the waveform is transmitted to a waveform analyzer 6, the bird sound waveform needing to be positioned is screened out, the screened bird sound waveform needing to be positioned is transmitted to a cloud server 1 through a wireless communication module, when each sound sensor receives a sound signal, a timer 2 counts time once and transmits the timing result to the cloud server 1, the timer 2 counts time by adopting an atomic clock, the timing accuracy is improved, the positioning error is reduced, the cloud server 1 calculates the position when the birds make sound according to the bird sound waveform needing to be positioned and the time when the sound reaches the sound sensor, realize the localization tracking of birds.
A bird locating method based on sound, as shown in fig. 3, comprising the steps of: step s 1: acquiring bird song waveforms of different types, establishing bird song waveforms anda relation table corresponding to birds; step s 2: installing a plurality of positioning matrixes 3 in a bird gathering place, recording the position information of each positioning matrix 3, and recording the time of each sound reaching the positioning matrixes 3 by a timer 2; every 4 sound sensors form a positioning array 3, a space rectangular coordinate system is formed when 4 sound sensors form the positioning array 3, one sound sensor is positioned at the origin of coordinates, the other three sound sensors are distributed on three coordinate axes, and the coordinates of the 4 sound sensors are respectively (0,0,0) and (x)1,0,0)、(0,y2,0)、(0,0,z3) Where the acoustic sensor coordinate at the origin is (0,0,0) and the acoustic sensor coordinate at the x-axis is (x)10,0), the acoustic sensor coordinate on the y-axis is (0, y)20), the acoustic sensor coordinate on the z-axis is (0,0, z)3) The timer 2 counts the sound arrival times of the 4 sound sensors, respectively, and calculates the difference between the sound arrival times of the sensors, and the calculation formula is as follows:
Δt10＝t1-t0；
Δt20＝t2-t0；
Δt30＝t3-t0；
wherein, t0For the moment when the sound reaches the sound sensor located at the origin, t1For the moment when the sound reaches the sound sensor located on the x-axis, t2For the moment at which sound reaches the sound sensor located on the y-axis, t3Δ t is the time at which sound reaches the sound sensor located on the z-axis10Δ t is the difference between the sound arrival time of the sound sensor located at the x-axis and the sound arrival time of the sound sensor located at the origin20Δ t is the difference between the sound arrival time of the sound sensor located at the y-axis and the sound arrival time of the sound sensor located at the origin30Is the difference between the sound arrival time of the sound sensor located at the z-axis and the sound arrival time of the sound sensor located at the origin.
Step s 3: acquiring external sound from the positioning array 3 by a sound extraction device 4 to extract bird sound waveforms; step s 4: distinguishing the types of the extracted bird song waveforms; step s 5: according to the distinguished bird song waveforms, searching a corresponding relation table of the bird song waveforms and the birds, and determining the birds to be positioned; step s 6: according to the position information of the positioning array 3 and the timer 2, the position of the bird is calculated, and if the coordinates of the position of the bird when the bird sounds are (x, y, z), the following conditions exist:
wherein t ist0Time interval for birds to sound at the location to reach the sound sensor at the origin, tt1Time interval for birds to sound at the x-axis sound sensor, tt2Time interval for birds to sound at the position to reach the sound sensor on the y-axis, tt3The time interval between the arrival of the bird at the sound sensor on the z-axis, and c is the speed of sound propagation through the air.
Since bird sounds are emitted from the same position at the same time, the difference in arrival time of sounds received by the sensors and the time interval between the sounds arriving at the sensors are related as follows:
Δt10＝tt1-tt0，
Δt20＝tt2-tt0，
Δt30＝tt3-tt0。
according to the relationship between the arrival time difference of the sound received by each sensor and the time interval of the sound arriving at each sensor, the position of the bird at which the bird sounds is calculated by the following formula:
according to the above formula, where t0、t1、t2、t3、x1、y2、z3And c is a known parameter, and the values of coordinates x, y and z of the position of the bird when the bird sounds can be calculated, so that the bird can be positioned.
Step s 7: the cloud server 1 determines bird position information to be positioned by combining the position information of the birds and the birds to be positioned.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.
Claims (9)
1. A bird locating system based on a chime, comprising:
the bird singing detection device comprises a plurality of positioning matrixes for acquiring sound, a singing extraction device for extracting bird singing from the sound, an oscilloscope for displaying the singing waveforms of various birds, a waveform analyzer for distinguishing the singing waveforms of various birds and a timer, wherein the positioning matrixes are arranged in a bird gathering place, the positioning matrixes are all connected with the singing extraction device, the singing extraction device is connected with the oscilloscope, the oscilloscope is connected with the waveform analyzer, and the timer is connected with the positioning matrixes.
2. The bird positioning system according to claim 1, wherein the positioning matrix comprises a plurality of sound sensors, the sound sensors are distributed and installed in a bird gathering place, the sound sensors comprise a housing, an electret vibration die, an insulating pad, a metal plate, a field effect transistor, a diode and a sound signal conversion circuit, the sound signal conversion circuit comprises a power supply module VCC, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a capacitor C1, a capacitor C2, a capacitor C3 and a transistor VT1, one surface of the electret vibration die is abutted against the inner wall of the housing, one surface of the insulating pad is abutted against the other surface of the electret vibration die, the other surface of the insulating pad is abutted against the metal plate, the metal plate is connected with the gate of the field effect transistor, the gate of the field effect transistor is connected with the cathode of the diode, the anode of the diode is connected with the source of the field effect transistor, the source of the field effect transistor is grounded, the drain of the field effect transistor is connected with the first end of the resistor R1, the first end of the resistor R4, the first end of the capacitor C1 and the first end of the capacitor C2, the second end of the resistor R1 is connected with the power supply module VCC, the first end of the resistor R2 and the first end of the resistor R3, the second end of the resistor R4 is grounded, the second end of the capacitor C1 is connected with the second end of the resistor R2 and the base of the transistor VT1, the second end of the capacitor C2 is grounded, the second end of the resistor R3 is connected with the first end of the capacitor C3 and the emitter of the VT1, and the collector of the transistor VT1 and the second end of the capacitor C3 are grounded.
3. The bird locating system based on the chirping sound according to claim 1, further comprising a cloud server and a wireless communication module, wherein the cloud server is respectively connected with the waveform analyzer and the timer through the wireless communication module.
4. A bird song-based locating method, applicable to a bird song-based locating system according to any one of claims 1 to 3, comprising the steps of:
step s 1: acquiring bird song waveforms of different types, and establishing a relation table corresponding to the bird song waveforms and birds;
step s 2: installing a plurality of positioning matrixes in a bird gathering place, recording the position information of each positioning matrix, and recording the time of each sound reaching the positioning matrixes by a timer;
step s 3: acquiring external sound from the positioning array by a sound extraction device to extract bird sound waveforms;
step s 4: distinguishing the types of the extracted bird song waveforms;
step s 5: according to the distinguished bird song waveforms, searching a corresponding relation table of the bird song waveforms and the birds, and determining the birds to be positioned;
step s 6: calculating the position of the bird according to the position information of the positioning array and the timer;
step s 7: the cloud server determines bird position information to be positioned by combining the position information of the birds and the birds to be positioned.
5. A bird song-based positioning method according to claim 4, wherein in step s2, every 4 sound sensors form a positioning matrix, a rectangular spatial coordinate system is formed when 4 sound sensors form the positioning matrix, one sound sensor is located at the origin of coordinates, the other three sound sensors are distributed on three coordinate axes, and the coordinates of the 4 sound sensors are (0,0,0), (x) respectively1,0,0)、(0,y2,0)、(0,0,z3)。
6. A bird locating method according to claim 5, wherein in step s2, the timer counts 4 sound sensors, and the difference between the arrival times of the sounds at the sensors is calculated by the following formula:
Δt10＝t1-t0；
Δt20＝t2-t0；
Δt30＝t3-t0；
wherein, t0For the moment when the sound reaches the sound sensor located at the origin, t1For the moment when the sound reaches the sound sensor located on the x-axis, t2For the moment at which sound reaches the sound sensor located on the y-axis, t3Δ t is the time at which sound reaches the sound sensor located on the z-axis10Δ t is the difference between the sound arrival time of the sound sensor located at the x-axis and the sound arrival time of the sound sensor located at the origin20Δ t is the difference between the sound arrival time of the sound sensor located at the y-axis and the sound arrival time of the sound sensor located at the origin30Is the difference between the sound arrival time of the sound sensor located at the z-axis and the sound arrival time of the sound sensor located at the origin.
7. A bird song-based positioning method according to claim 6, wherein in step s6, assuming that the bird song is at the position coordinates (x, y, z), there are:
wherein t ist0Time interval for birds to sound at the location to reach the sound sensor at the origin, tt1Time interval for birds to sound at the x-axis sound sensor, tt2Time interval for birds to sound at the position to reach the sound sensor on the y-axis, tt3The time interval between the arrival of the bird at the sound sensor on the z-axis, and c is the speed of sound propagation through the air.
8. A bird song-based positioning method of claim 7, wherein the bird songs are emitted from the same location at the same time, so that the difference in arrival times of the sounds received by the sensors and the time interval at which the sounds arrive at the sensors are related as follows:
Δt10＝tt1-tt0，
Δt20＝tt2-tt0，
Δt30＝tt3-tt0。
9. the bird positioning method based on the sound according to claim 8, wherein the position where the bird sounds is calculated according to the relationship between the difference of arrival time of the sound received by each sensor and the time interval of arrival of the sound at each sensor, and the calculation formula is as follows:
and calculating the values of coordinates x, y and z of the position where the bird buzzes according to the calculation formula, so as to realize the positioning of the bird.
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Cited By (2)
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| CN111239256A (en) * | 2020-03-16 | 2020-06-05 | 吉林大学 | Acoustic emission source positioning method suitable for three-dimensional structure |
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