CN111443330B - Acoustic imaging method, acoustic imaging device, acoustic imaging equipment and readable storage medium - Google Patents
Acoustic imaging method, acoustic imaging device, acoustic imaging equipment and readable storage medium Download PDFInfo
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Abstract
The application discloses an acoustic imaging method, an acoustic imaging device, acoustic imaging equipment and a readable storage medium, wherein the difference of noise forms is considered, the noise forms are divided into a stable state and an unstable state, a corresponding sound field thermodynamic diagram generation strategy is configured, the target noise state at the current moment can be actively determined in the imaging process, and a final acoustic imaging diagram is generated according to the target noise state, so that the generated acoustic imaging diagram has a better effect, and a user can more conveniently position the noise position. Furthermore, the target noise state of the current moment can be actively determined according to the sound field distribution data without manual intervention of a user, so that the operation convenience is improved, the purpose of more accurately determining the current noise state is realized, and a basis is provided for subsequent acoustic imaging.
Description
Technical Field
The present application relates to the field of acoustic imaging technologies, and in particular, to an acoustic imaging method, apparatus, device, and readable storage medium.
Background
The acoustic imaging technology utilizes a microphone array technology to determine the position of a sound source, is combined with a camera, and shows the distribution state of the sound source in an image mode. The image represents the intensity of sound in color and brightness. Thereby helping people to locate the noise position quickly and solving the problem that the sound locating capability of human ears is limited.
In the acoustic field, noise can be generally classified into stationary noise and non-stationary noise according to waveform characteristics or time characteristics of the noise. The steady-state noise means that the sound is continuous in a long time, the sound intensity is relatively stable, and the sound pressure fluctuation generally does not exceed 3 dB. Non-stationary noise is noise that is discontinuous in time distribution and has its morphological characteristics, as opposed to stationary noise.
Compared with steady-state noise, the appearance time of the unsteady-state noise is generally short, and the existing acoustic imaging equipment does not distinguish the noise, so that the acoustic imaging effect is poor, and the noise position is inconvenient for a user to locate.
Disclosure of Invention
In view of the above, the present application is made to provide an acoustic imaging method, apparatus, device, and readable storage medium. The specific scheme is as follows:
a method of acoustic imaging, comprising:
determining sound field distribution data at the current moment based on the acquired audio data;
determining a noise state of the current moment as a target noise state based on the sound field distribution data of the current moment and the historical moment, wherein the noise state comprises a steady state and an unsteady state;
generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state;
and generating an acoustic imaging graph and displaying the acoustic imaging graph based on the generated sound field thermodynamic graph and the acquired video image.
Preferably, the method further comprises the following steps:
determining a sound source object in the video image at the current moment according to the sound field distribution data at the current moment;
determining the motion state of the sound source object at the current moment according to the position of the sound source object in each acquired video image;
generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state, including:
generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state by referring to the motion state of the sound source object at the current moment;
wherein the generating a policy comprises: a first generation strategy corresponding when the sound source object is moving, and a second generation strategy corresponding when the sound source object is stationary.
Preferably, the determining a sound source object in the video image at the current time according to the sound field distribution data at the current time includes:
carrying out object identification on the collected video image at each moment, and determining each object contained in the video image;
determining the sound source position in the video image at the current moment according to the sound field distribution data at the current moment;
and determining an object as a sound source object from among objects included in the video image at the current time according to the sound source position.
Preferably, the generating a sound field thermodynamic diagram according to the configured generation strategy corresponding to the target noise state by referring to the motion state of the sound source object at the current time includes:
when the target noise state is steady state:
if the motion state of the sound source object at the current moment is static, smoothing the sound field distribution data of the latest continuous n1 frames including the current moment, and generating a sound field thermodynamic diagram based on the smoothed sound field distribution data;
if the motion state of the sound source object at the current moment is motion, smoothing the sound field distribution data of the latest continuous n2 frames including the current moment, and generating a sound field thermodynamic diagram based on the smoothed sound field distribution data; n2< n 1.
Preferably, the generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state with reference to the motion state of the sound source object at the current time includes:
when the target noise state is non-steady state:
if the motion state of the sound source object at the current moment is static, generating a sound field thermodynamic diagram by using sound field distribution data at the current moment and the historical moment;
and if the motion state of the sound source object at the current moment is motion, generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current moment and the historical moment.
Preferably, the unsteady state comprises a heave state;
then, the generating a sound field thermodynamic diagram by using the sound field distribution data at the current time and the historical time includes:
randomly selecting a frame of sound field distribution data from the latest continuous n3 frames of sound field distribution data containing the current moment, generating a sound field thermodynamic diagram based on the selected frame of sound field distribution data, and marking the sound pressure level variation range of the n3 frames of sound field distribution data in the generated sound field thermodynamic diagram;
the generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current time and the historical time comprises the following steps:
in the nearest continuous n3 frames of sound field distribution data containing the current time, m1 frames of sound field distribution data are randomly selected, a corresponding sound field thermodynamic diagram is generated based on each frame of sound field distribution data in m1 frames, m1 frames of sound field thermodynamic diagrams are obtained, and m1 is larger than or equal to 2.
Preferably, the unstable state comprises a pulsed state;
then, the generating a sound field thermodynamic diagram by using the sound field distribution data at the current time and the historical time includes:
selecting a frame of peak sound field distribution data from the sound field distribution data at the current moment and the historical moment, and generating a corresponding sound field thermodynamic diagram based on the peak sound field distribution data;
the generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current time and the historical time comprises the following steps:
selecting at least two frames of peak sound field distribution data from the sound field distribution data at the determined current time and historical time, and generating corresponding sound field thermodynamic diagrams based on the selected frames of peak sound field distribution data to obtain at least two sound field thermodynamic diagrams.
Preferably, the non-steady state comprises a batch state;
then, the generating a sound field thermodynamic diagram by using the sound field distribution data at the current time and the historical time includes:
selecting continuous n4 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold from the sound field distribution data of the determined current time and historical time, selecting one frame of sound field distribution data from the n4 frames of sound field distribution data to generate a sound field thermodynamic diagram, and marking the sound pressure level variation range of the n4 frames of sound field distribution data in the generated sound field thermodynamic diagram;
the generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current moment and the historical moment comprises the following steps:
in the determined sound field distribution data of the current time and the historical time, continuous n4 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold are selected, m2 frames of sound field distribution data are selected from n4 frames of sound field distribution data to generate a sound field thermodynamic diagram, a corresponding sound field thermodynamic diagram is generated based on each frame of sound field distribution data in m2 frames, m2 sound field thermodynamic diagrams are obtained, and m2 is larger than or equal to 2.
Preferably, the generating and displaying an acoustic imaging map based on the generated acoustic field thermodynamic diagram and the acquired video image comprises:
acquiring a video image which is acquired corresponding to the determined moment and is used as a video image corresponding to the sound field thermodynamic diagram based on the determined moment of the sound field distribution data used in the sound field thermodynamic diagram generation process;
and superposing the sound field thermodynamic diagram and the corresponding video image according to a position mapping relation to obtain and display an acoustic imaging diagram.
An acoustic imaging apparatus comprising:
a sound field distribution data determination unit for determining sound field distribution data of the current time based on the acquired audio data;
the noise state determining unit is used for determining a noise state at the current moment as a target noise state based on the sound field distribution data at the current moment and the historical moment, wherein the noise state comprises a steady state and an unsteady state;
a sound field thermodynamic diagram generating unit, configured to generate a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state;
and the acoustic imaging image processing unit is used for generating and displaying an acoustic imaging image based on the generated sound field thermodynamic diagram and the acquired video image.
Preferably, the method further comprises the following steps:
a sound source object determining unit, configured to determine a sound source object in the video image at the current time according to the sound field distribution data at the current time;
the sound source object motion state determining unit is used for determining the motion state of the sound source object at the current moment according to the position of the sound source object in each acquired video image;
the process of generating the sound field thermodynamic diagram by the sound field thermodynamic diagram generating unit according to the configured generation strategy corresponding to the target noise state specifically includes: generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state by referring to the motion state of the sound source object at the current moment;
wherein the generating a policy comprises: a first generation strategy corresponding when the sound source object is moving, and a second generation strategy corresponding when the sound source object is stationary.
An acoustic imaging apparatus comprising: a memory and a processor;
the memory is used for storing programs;
the processor is used for executing the program to realize the steps of the acoustic imaging method.
A readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the acoustic imaging method as above.
By means of the technical scheme, the acoustic imaging method determines the sound field distribution data of the current moment based on the acquired audio data, and further can actively determine the noise state of the current moment as a target noise state based on the sound field distribution data of the current moment and the sound field distribution data of the historical moment, wherein the noise state can comprise a steady state and an unsteady state. The method and the device can be configured with sound field thermodynamic diagrams corresponding to a steady state and an unsteady state, and further generate the sound field thermodynamic diagrams according to the configured generation strategy corresponding to the target noise state after the target noise state of the current moment is determined, and further generate and display the acoustic imaging diagrams based on the sound field thermodynamic diagrams and the collected video images. According to the method and the device, the difference of noise forms is considered, the noise forms are divided into a stable state and an unstable state, a corresponding sound field thermodynamic diagram generation strategy is configured, the target noise state at the current moment can be actively determined in the imaging process, and a final acoustic imaging diagram is generated according to the target noise state, so that the generated acoustic imaging diagram has a better effect, and a user can more conveniently position the noise position.
Furthermore, the method and the device can actively determine the target noise state of the current moment according to the sound field distribution data without manual intervention of a user, improve the operation convenience, realize the purpose of more accurately determining the current noise state, and provide a basis for subsequent acoustic imaging.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart of an acoustic imaging method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an acoustic imaging apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an acoustic imaging apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. 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 application.
Prior to introducing aspects of the present application, some techniques for acoustic imaging are first described.
The acoustic camera uses a digital microphone array to visually present collected sounds on a screen in a color contour map (hereinafter referred to as a sound field thermodynamic diagram) to form a detection effect similar to that of a thermal imager on the temperature of an object. The acoustic camera typically presents video frames and acoustic field thermodynamic diagrams in real time at a fixed frame rate. I.e. showing the calculated sound field thermodynamic diagram of the current latest video frame and the latest audio data frame (the time of each audio data frame is fixed, such as 8 ms).
The key of acoustic imaging is that a video picture is displayed in superposition with a sound field thermodynamic diagram. Video has a frame rate concept, for example, the frame rate is 25fps, that is, 25 photos can be acquired per second. Similarly, audio is also framed, e.g., 8ms for one frame, then 1s has 125 frames. Each frame of audio data is calculated by an algorithm to obtain corresponding sound field distribution data, namely sound intensity information of each point in space. The division of the space is determined by an array, an algorithm, etc. If the space is divided at intervals of 3 degrees in both horizontal angle and pitch angle, m points are obtained through final division. The sound field distribution data refers to the m × n pieces of data. Finally, each point of the space is mapped into a camera picture, namely, a video picture and a sound field thermodynamic diagram are displayed on a screen in an overlapping mode.
Based on the aforementioned drawbacks of the prior art, the applicant has first conceived a solution that provides an entry for a user to select "steady-state mode" and "unsteady-state mode" on an acoustic imaging apparatus, i.e., manually switching the modes by the user, and then generating a sound field thermodynamic diagram based on the mode selected by the user, and superimposing video images to obtain an acoustic imaging diagram.
However, further research finds that the above-mentioned method requires manual selection by a user, which increases the operation difficulty of the user, and meanwhile, the user cannot accurately judge the noise state at the current time, which further causes mismatching between the selected mode and the current actual noise, and the generated acoustic imaging graph has a poor effect.
Based on this, the embodiment of the present application provides a new acoustic imaging scheme, and the detailed reference is made to the following description.
As described in conjunction with fig. 1, the acoustic imaging method of the present application may include the steps of:
and S100, determining sound field distribution data at the current moment based on the collected audio data.
Specifically, the scheme can be based on the microphone matrix and collect audio data in real time. Based on the collected audio data, the sound field distribution data at the current moment, i.e. the sound intensity information of each point in space, can be determined.
The audio data may be divided into frames, each frame of audio data may be used to calculate corresponding sound field distribution data, and the sound field distribution data of the corresponding frame may be determined based on each frame of audio data collected historically.
Step S110, based on the sound field distribution data of the current time and the historical time, determining the noise state of the current time as a target noise state.
Wherein the noise states include stationary and non-stationary states.
Specifically, by analyzing the sound field distribution data at the current time and the historical time, the target noise state at the current time can be determined.
In this embodiment, the target noise state may be determined in a rule matching manner, that is, sound field distribution rules corresponding to a steady state and an unsteady state are configured in advance, and then matching may be performed according to a set matching rule based on the sound field distribution data at the current time and the sound field distribution data at the historical time, so as to obtain a matched noise state as the target noise state at the current time.
In addition, neural network models may be employed to classify noise states. Specifically, the sound field distribution training data may be used as a training sample in advance, and the neural network model may be trained by using a corresponding noise state as a sample label, so as to obtain the trained neural network model. And then, inputting the sound field distribution data of the current time and the historical time into the trained neural network model, and obtaining the noise state output by model classification as the target noise state of the current time.
And step S120, generating a sound field thermodynamic diagram according to the configured generation strategy corresponding to the target noise state.
Specifically, the sound field thermodynamic diagram generation strategies corresponding to the steady state and the unsteady state can be configured in advance, and further after the target noise state is determined, the sound field thermodynamic diagram can be generated according to the generation strategy corresponding to the target noise state.
The generation strategy corresponding to the target noise state is set based on the morphological characteristics of the target noise state, so that the generated sound field thermodynamic diagram can be more matched with the target noise state, namely, the result is more accurate.
And S130, generating an acoustic imaging graph and displaying the acoustic imaging graph based on the generated sound field thermodynamic diagram and the acquired video image.
After the sound field thermodynamic diagram is generated, the sound field thermodynamic diagram and the video images acquired at the corresponding moment can be overlaid to generate an acoustic imaging diagram, and the acoustic imaging diagram is displayed through a screen.
The acoustic imaging method disclosed by the embodiment of the application determines the sound field distribution data of the current moment based on the acquired audio data, and further can actively determine the noise state of the current moment as a target noise state based on the sound field distribution data of the current moment and the historical moment, wherein the noise state can comprise a steady state and an unsteady state. The method and the device can be configured with sound field thermodynamic diagrams corresponding to a steady state and an unsteady state, and further generate the sound field thermodynamic diagrams according to the configured generation strategy corresponding to the target noise state after the target noise state of the current moment is determined, and further generate and display the acoustic imaging diagrams based on the sound field thermodynamic diagrams and the collected video images. According to the method and the device, the difference of noise forms is considered, the noise forms are divided into a stable state and an unstable state, a corresponding sound field thermodynamic diagram generation strategy is configured, the target noise state at the current moment can be actively determined in the imaging process, and a final acoustic imaging diagram is generated according to the target noise state, so that the generated acoustic imaging diagram has a better effect, and a user can more conveniently position the noise position.
Furthermore, the method and the device can actively determine the target noise state of the current moment according to the sound field distribution data without manual intervention of a user, improve the operation convenience, realize the purpose of more accurately determining the current noise state, and provide a basis for subsequent acoustic imaging.
In another embodiment of the present application, an alternative implementation of the step S120 is introduced, wherein the sound field thermodynamic diagram is generated according to a configured generation strategy corresponding to the target noise state.
The target noise states can be divided into two broad categories, namely: steady state and non-steady state. For unsteady noise, it can be further subdivided into: undulation, impulse, intermittent.
Wherein the content of the first and second substances,
the rolling noise is random noise, such as thermal noise, which is ubiquitous in both the time domain and the frequency domain. Intermittent noise refers to noise that remains above background noise for a duration of greater than or equal to 1 second and suddenly drops to the background noise level multiple times during a measurement. Many industrial noises in the construction industry, the maintenance industry, etc. are intermittent noises. The impulse noise refers to a sudden burst and a fast disappearing sound, such as a table knocking sound and an electric spark sound.
When the target noise state is steady state:
one way, a sound field thermodynamic diagram may be generated based on sound field distribution data at a current time.
In addition, the sound field distribution data of the latest continuous q1 frames including the current time can be smoothed, and a sound field thermodynamic diagram can be generated based on the smoothed sound field distribution data.
Through the smoothing processing, the generated sound field thermodynamic diagram can be smoother, and the sound field thermodynamic diagram is convenient for users to watch.
When the target noise state is a rolling state:
since the noise in fluctuation state is close to random noise, the sound pressure level fluctuation is more than 3dB and less than 10dB when the sound level meter is used for dynamic measurement in a slow gear in observation time. In consideration of such morphological characteristics of rolling noise, the following method may be adopted in the present embodiment to generate a sound field thermodynamic diagram:
randomly selecting one or more frames of sound field distribution data from the latest continuous q2 frames of sound field distribution data containing the current moment, and generating a corresponding sound field thermodynamic diagram based on the selected sound field distribution data. If a frame of sound field distribution data is selected, generating a corresponding sound field thermodynamic diagram; and if multiple frames of sound field distribution data are selected, generating corresponding multiple sound field thermodynamic diagrams.
Further, the sound pressure level variation range of the sound field distribution data of the q2 frames can be marked in the sound field thermodynamic diagram to prompt the user of the possible variation range of the sound pressure level of the fluctuating noise, so that the user can more intuitively know the current fluctuating noise.
When the target noise state is a pulse state:
due to the characteristics of impulse noise, such as burstiness, short duration and high energy, the following method may be adopted to generate the sound field thermodynamic diagram in this embodiment:
and selecting one or more frames of peak sound field distribution data from the sound field distribution data at the determined current time and historical time, and generating a corresponding sound field thermodynamic diagram based on the selected frames of peak sound field distribution data.
When the peak sound field distribution data is selected, the peak sound field distribution data may be selected randomly, or one or more frames of peak sound field distribution data closest to the current time may be selected.
When the target noise state is a discontinuous state:
considering that the intermittent noise is characterized in that the sound pressure level is maintained above the background noise for 1 second or more and suddenly drops to the background noise level multiple times, the following manner may be adopted in the present embodiment to generate the sound field thermodynamic diagram:
and selecting continuous q3 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold from the sound field distribution data of the determined current time and historical time, and selecting one or more frames of sound field distribution data from the q3 frames of sound field distribution data to generate a sound field thermodynamic diagram.
If a frame of sound field distribution data is selected, generating a corresponding sound field thermodynamic diagram; and if multiple frames of sound field distribution data are selected, generating corresponding multiple sound field thermodynamic diagrams.
Further, the sound pressure level variation range of the sound field distribution data of the q3 frames can be marked in the sound field thermodynamic diagram to prompt the user of the possible variation range of the sound pressure level of the intermittent noise, so that the user can more intuitively know the current intermittent noise.
In another embodiment of the present application, an alternative implementation of the step S120 is introduced, wherein the sound field thermodynamic diagram is generated according to a configured generation strategy corresponding to the target noise state.
In the embodiment, different sound field thermodynamic diagram generation strategies can be designed according to different motion states of the sound source, considering that the sound source may be static or moving in actual conditions.
Based on this, in the present embodiment, the following processing steps may be further added before generating the sound field thermodynamic diagram:
and S1, determining the sound source object in the video image at the current moment according to the sound field distribution data at the current moment.
An alternative implementation can be described with reference to the following:
firstly, object recognition is carried out on the collected video image at each moment, and each object contained in the video image is determined.
Further, the sound source position in the video image at the present time is determined based on the sound field distribution data at the present time.
Still further, an object as a sound source object is specified from among objects included in the video image at the current time based on the sound source position.
Optionally, one object closest to the sound source position may be selected from the objects included in the video image at the current time as an object of the sound source object.
And S2, determining the motion state of the sound source object at the current moment according to the position of the sound source object in each acquired video image.
Wherein the motion state may include motion and rest.
On this basis, the step S120 may specifically include:
and generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state by referring to the motion state of the sound source object at the current moment.
Wherein generating the policy may include: a first generation strategy corresponding when the sound source object is moving, and a second generation strategy corresponding when the sound source object is stationary. That is, in this embodiment, the generation strategy is further divided into a first generation strategy and a second generation strategy according to the motion state of the sound source object, and the first generation strategy and the second generation strategy correspond to the motion state and the stationary state of the sound source object, respectively.
Next, an implementation process of generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to a target noise state by referring to a motion state of the sound source object at the current time when the target noise state is a steady state or an unsteady state is described.
When the target noise state is steady state:
1) if the motion state of the sound source object at the current moment is static:
one way, a sound field thermodynamic diagram may be generated based on sound field distribution data at a current time.
In addition, smoothing processing may be performed on the sound field distribution data of the latest continuous n1 frames including the current time, and a sound field thermodynamic diagram may be generated based on the smoothed sound field distribution data.
Through the smoothing processing, the generated sound field thermodynamic diagram can be smoother and is convenient for users to watch.
2) If the motion state of the sound source object at the current moment is motion:
one way, a sound field thermodynamic diagram may be generated based on sound field distribution data at a current time.
In addition, the sound field distribution data of the latest continuous n2 frames including the current time may be smoothed, and a sound field thermodynamic diagram may be generated based on the smoothed sound field distribution data.
In consideration of the fact that the sound field distribution data fluctuates largely with respect to the stationary state when the sound source object moves, n2< n1 can be set.
When the target noise state is non-steady state:
1) if the motion state of the sound source object at the current moment is static:
the sound field thermodynamic diagram can be generated by utilizing the sound field distribution data at the current time and the historical time.
2) If the motion state of the sound source object at the current moment is motion:
at least two sound field thermodynamic diagrams can be generated by utilizing the sound field distribution data at the current time and the historical time.
For unsteady noise, if the sound source object is still in motion, the difficulty of locating the noise position by the user is greatly increased. Therefore, in the embodiment, at least two sound field thermodynamic diagrams can be generated when the sound source object is in a motion state, so that a user can capture the change of the noise position through more sound field thermodynamic diagrams, and the noise position can be more conveniently located.
Further, the generation process of the acoustic-field thermodynamic diagram is described in detail below according to the specific subdivision of the unsteady noise.
When the target noise state is a rolling state:
because the fluctuation noise is close to random noise, the sound pressure level fluctuation is more than 3dB and less than 10dB when the sound level meter is used for dynamic measurement in a slow gear in observation time. In consideration of such morphological characteristics of the rolling noise, the following manner may be adopted in the present embodiment to generate the sound field thermodynamic diagram:
1) if the motion state of the sound source object at the current moment is static:
randomly selecting one frame of sound field distribution data from the latest continuous n3 frames of sound field distribution data containing the current moment, and generating a corresponding sound field thermodynamic diagram based on the selected sound field distribution data.
Further, the sound pressure level variation range of the n3 frames of sound field distribution data can be marked in the sound field thermodynamic diagram to indicate the possible variation range of the sound pressure level of the fluctuating noise for the user to more intuitively understand the current fluctuating noise.
2) If the motion state of the sound source object at the current moment is motion:
in the sound field distribution data of the latest continuous n3 frames including the current time, m1 frames of sound field distribution data are randomly selected, and a corresponding sound field thermodynamic diagram is generated based on each frame of sound field distribution data in m1 frames, so that m1 sound field thermodynamic diagrams are obtained. m1 is more than or equal to 2.
Further, the sound pressure level variation range of the n3 frames of sound field distribution data can be marked in the sound field thermodynamic diagram to indicate the possible variation range of the sound pressure level of the fluctuating noise for the user to more intuitively understand the current fluctuating noise.
When the target noise state is a pulse state:
due to the characteristics of impulse noise, such as burstiness, short duration, and high energy, the following method may be adopted in this embodiment to generate the acoustic field thermodynamic diagram.
1) If the motion state of the sound source object at the current moment is static:
and selecting a frame of peak sound field distribution data from the sound field distribution data of the determined current time and historical time, and generating a corresponding sound field thermodynamic diagram based on the peak sound field distribution data.
When the peak sound field distribution data is selected, the peak sound field distribution data may be selected randomly or a frame of peak sound field distribution data closest to the current time may be selected.
2) If the motion state of the sound source object at the current moment is motion:
selecting at least two frames of peak sound field distribution data from the sound field distribution data at the determined current time and historical time, and generating corresponding sound field thermodynamic diagrams based on the selected frames of peak sound field distribution data to obtain at least two sound field thermodynamic diagrams.
When the peak sound field distribution data is selected, the peak sound field distribution data may be selected randomly, or at least two frames of peak sound field distribution data closest to the current time may be selected.
When the target noise state is a discontinuous state:
considering that the intermittent noise is characterized in that the sound pressure level is maintained above the background noise for 1 second or more and suddenly drops to the background noise level multiple times, the following manner may be adopted in the present embodiment to generate the sound field thermodynamic diagram:
1) if the motion state of the sound source object at the current moment is static:
and selecting continuous n4 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold from the sound field distribution data of the determined current time and historical time, and selecting one frame of sound field distribution data from the n4 frames of sound field distribution data to generate a sound field thermodynamic diagram.
Further, the sound pressure level variation range of the n4 frames of sound field distribution data can be marked in the generated sound field thermodynamic diagram, so that a user can more intuitively know the current intermittent noise.
2) If the motion state of the sound source object at the current moment is motion:
in the determined sound field distribution data of the current time and the historical time, continuous n4 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold are selected, m2 frames of sound field distribution data are selected from n4 frames of sound field distribution data to generate a sound field thermodynamic diagram, a corresponding sound field thermodynamic diagram is generated based on each frame of sound field distribution data in m2 frames, m2 sound field thermodynamic diagrams are obtained, and m2 is larger than or equal to 2.
Further, the sound pressure level variation range of the n4 frames of sound field distribution data can be marked in each generated sound field thermodynamic diagram, so that a user can more intuitively know the current intermittent noise.
According to the generating method of the thermal diagram of the sound field described in the foregoing embodiments, in this embodiment, the foregoing step S130 is described, and an optional implementation manner of generating the acoustic imaging diagram may specifically include:
acquiring a video image which is acquired corresponding to the determined moment and is used as a video image corresponding to the sound field thermodynamic diagram based on the determined moment of the sound field distribution data used in the sound field thermodynamic diagram generation process; and superposing the sound field thermodynamic diagram and the corresponding video image according to a position mapping relation to obtain and display an acoustic imaging diagram.
Wherein the determination time of the sound field distribution data is the same as the acquisition time of the audio data upon which the sound field distribution data is determined. That is, when synthesizing an acoustic imaging map, the sound field thermodynamic map and the corresponding video image need to be data at the same time.
It can be understood that if the generated sound field thermodynamic diagram is one, the final synthesis displays an acoustic imaging diagram; and if the generated sound field thermodynamic diagrams are multiple, finally synthesizing and displaying multiple acoustic imaging diagrams.
The following describes the acoustic imaging apparatus provided in the embodiments of the present application, and the acoustic imaging apparatus described below and the acoustic imaging method described above may be referred to correspondingly.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an acoustic imaging apparatus disclosed in an embodiment of the present application.
As shown in fig. 2, the apparatus may include:
a sound field distribution data determining unit 11 configured to determine sound field distribution data of a current time based on the acquired audio data;
a noise state determining unit 12, configured to determine, based on the sound field distribution data at the current time and the historical time, a noise state at the current time as a target noise state, where the noise state includes a steady state and an unsteady state;
a sound field thermodynamic diagram generating unit 13 configured to generate a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state;
and the acoustic imaging graph processing unit 14 is used for generating and displaying an acoustic imaging graph based on the generated sound field thermodynamic diagram and the acquired video image.
The acoustic imaging device of the application determines the sound field distribution data of the current moment based on the collected audio data, and further can actively determine the noise state of the current moment as a target noise state based on the sound field distribution data of the current moment and the sound field distribution data of the historical moment, wherein the noise state can comprise a steady state and an unsteady state. According to the method and the device, sound field thermodynamic diagrams corresponding to a steady state and an unsteady state can be configured, then after a target noise state at the current moment is determined, the sound field thermodynamic diagrams are generated according to the configured generation strategy corresponding to the target noise state, and then an acoustic imaging diagram is generated and displayed based on the sound field thermodynamic diagrams and the collected video images. According to the method and the device, the difference of noise forms is considered, the noise forms are divided into a stable state and an unstable state, a corresponding sound field thermodynamic diagram generation strategy is configured, the target noise state at the current moment can be actively determined in the imaging process, and a final acoustic imaging diagram is generated according to the target noise state, so that the generated acoustic imaging diagram has a better effect, and a user can more conveniently position the noise position.
Furthermore, the method and the device can actively determine the target noise state of the current moment according to the sound field distribution data without manual intervention of a user, improve the operation convenience, realize the purpose of more accurately determining the current noise state, and provide a basis for subsequent acoustic imaging.
Further optionally, the acoustic imaging apparatus may further include:
a sound source object determining unit, configured to determine a sound source object in the video image at the current time according to the sound field distribution data at the current time;
the sound source object motion state determining unit is used for determining the motion state of the sound source object at the current moment according to the position of the sound source object in each acquired video image;
the process of generating the sound field thermodynamic diagram by the sound field thermodynamic diagram generating unit according to the configured generation strategy corresponding to the target noise state specifically includes: generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state by referring to the motion state of the sound source object at the current moment;
wherein the generating a policy comprises: a first generation strategy corresponding when the sound source object is moving, and a second generation strategy corresponding when the sound source object is stationary.
Optionally, the sound source object determining unit may include:
the object identification unit is used for carrying out object identification on the collected video image at each moment and determining each object contained in the video image;
a sound source position determining unit for determining a sound source position in the video image at the current time based on the sound field distribution data at the current time;
and the sound source position comparison unit is used for determining an object as a sound source object in each object contained in the video image at the current moment according to the sound source position.
Optionally, the generating unit of the sound field thermodynamic diagram, referring to the motion state of the sound source object at the current time, and according to the configured generation strategy corresponding to the target noise state, may generate the sound field thermodynamic diagram by a process including:
when the target noise state is steady state:
if the motion state of the sound source object at the current moment is static, smoothing the sound field distribution data of the latest continuous n1 frames including the current moment, and generating a sound field thermodynamic diagram based on the smoothed sound field distribution data;
if the motion state of the sound source object at the current moment is motion, smoothing the sound field distribution data of the latest continuous n2 frames including the current moment, and generating a sound field thermodynamic diagram based on the smoothed sound field distribution data; n2< n 1.
Further, when the target noise state is non-steady state:
if the motion state of the sound source object at the current moment is static, generating a sound field thermodynamic diagram by using sound field distribution data at the current moment and the historical moment;
and if the motion state of the sound source object at the current moment is motion, generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current moment and the historical moment.
Alternatively, the unsteady state may comprise a heave state;
the process of generating a sound field thermodynamic diagram by the sound field thermodynamic diagram generating unit using the sound field distribution data at the current time and the historical time may include:
randomly selecting a frame of sound field distribution data from the latest continuous n3 frames of sound field distribution data containing the current moment, generating a sound field thermodynamic diagram based on the selected frame of sound field distribution data, and marking the sound pressure level variation range of the n3 frames of sound field distribution data in the generated sound field thermodynamic diagram;
the process of generating at least two sound field thermodynamic diagrams by the sound field distribution data at the current time and the historical time by the sound field thermodynamic diagram generating unit may include:
in the nearest continuous n3 frames of sound field distribution data containing the current time, m1 frames of sound field distribution data are randomly selected, a corresponding sound field thermodynamic diagram is generated based on each frame of sound field distribution data in m1 frames, m1 frames of sound field thermodynamic diagrams are obtained, and m1 is larger than or equal to 2.
Optionally, the non-steady state may comprise a pulsed state;
the process of generating a sound field thermodynamic diagram by the sound field thermodynamic diagram generating unit using the sound field distribution data at the current time and the historical time may include:
selecting a frame of peak sound field distribution data from the sound field distribution data at the current moment and the historical moment, and generating a corresponding sound field thermodynamic diagram based on the peak sound field distribution data;
the process of generating at least two sound field thermodynamic diagrams by the sound field distribution data at the current time and the historical time by the sound field thermodynamic diagram generating unit may include:
selecting at least two frames of peak sound field distribution data from the sound field distribution data at the determined current time and historical time, and generating corresponding sound field thermodynamic diagrams based on the selected frames of peak sound field distribution data to obtain at least two sound field thermodynamic diagrams.
Alternatively, the non-steady state may comprise a batch state;
the process of generating a sound field thermodynamic diagram by the sound field thermodynamic diagram generating unit using the sound field distribution data at the current time and the historical time may include:
selecting continuous n4 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold from the sound field distribution data of the determined current time and historical time, selecting one frame of sound field distribution data from the n4 frames of sound field distribution data to generate a sound field thermodynamic diagram, and marking the sound pressure level variation range of the n4 frames of sound field distribution data in the generated sound field thermodynamic diagram;
the process of generating at least two sound field thermodynamic diagrams by the sound field distribution data at the current time and the historical time by the sound field thermodynamic diagram generating unit may include:
in the determined sound field distribution data of the current time and the historical time, continuous n4 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold are selected, m2 frames of sound field distribution data are selected from n4 frames of sound field distribution data to generate a sound field thermodynamic diagram, a corresponding sound field thermodynamic diagram is generated based on each frame of sound field distribution data in m2 frames, m2 sound field thermodynamic diagrams are obtained, and m2 is larger than or equal to 2.
Optionally, the process of generating and displaying the acoustic imaging map by the acoustic imaging map processing unit based on the generated acoustic field thermodynamic map and the acquired video image may include:
acquiring a video image which is acquired corresponding to the determined moment and is used as a video image corresponding to the sound field thermodynamic diagram based on the determined moment of the sound field distribution data used in the sound field thermodynamic diagram generation process;
and superposing the sound field thermodynamic diagram and the corresponding video image according to a position mapping relation to obtain and display an acoustic imaging diagram.
The acoustic imaging device provided by the embodiment of the application can be applied to acoustic imaging equipment, such as an acoustic camera and the like. Alternatively, fig. 3 shows a block diagram of a hardware structure of the acoustic imaging apparatus, and referring to fig. 3, the hardware structure of the acoustic imaging apparatus may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete mutual communication through the communication bus 4;
the processor 1 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement embodiments of the present invention, etc.;
the memory 3 may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory stores a program and the processor can call the program stored in the memory, the program for:
determining sound field distribution data at the current moment based on the acquired audio data;
determining a noise state of the current moment as a target noise state based on the sound field distribution data of the current moment and the historical moment, wherein the noise state comprises a steady state and a non-steady state;
generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state;
and generating an acoustic imaging graph and displaying the acoustic imaging graph based on the generated sound field thermodynamic graph and the acquired video image.
Alternatively, the detailed function and the extended function of the program may be as described above.
Embodiments of the present application further provide a readable storage medium, which may store a program adapted to be executed by a processor, where the program is configured to:
determining sound field distribution data at the current moment based on the acquired audio data;
determining a noise state of the current moment as a target noise state based on the sound field distribution data of the current moment and the historical moment, wherein the noise state comprises a steady state and an unsteady state;
generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state;
and generating an acoustic imaging graph and displaying the acoustic imaging graph based on the generated sound field thermodynamic graph and the acquired video image.
Alternatively, the detailed function and the extended function of the program may be as described above.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, the embodiments may be combined as needed, and the same and similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. An acoustic imaging method, comprising:
determining sound field distribution data at the current moment based on the acquired audio data;
determining a noise state of the current moment as a target noise state based on the sound field distribution data of the current moment and the historical moment, wherein the noise state comprises a steady state and an unsteady state;
generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state;
generating an acoustic imaging diagram and displaying the acoustic imaging diagram based on the generated sound field thermodynamic diagram and the acquired video image;
wherein, still include:
determining a sound source object in the video image at the current moment according to the sound field distribution data at the current moment;
determining the motion state of the sound source object at the current moment according to the position of the sound source object in each acquired video image;
generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state, including:
generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state by referring to the motion state of the sound source object at the current moment;
wherein the generating a policy comprises: a first generation strategy corresponding when the sound source object is moving, and a second generation strategy corresponding when the sound source object is stationary.
2. The method according to claim 1, wherein determining the sound source object in the video image at the current time according to the sound field distribution data at the current time comprises:
carrying out object identification on the collected video image at each moment, and determining each object contained in the video image;
determining the sound source position in the video image at the current moment according to the sound field distribution data at the current moment;
and determining an object as a sound source object from among objects included in the video image at the current time according to the sound source position.
3. The method according to claim 1, wherein the generating a sound field thermodynamic diagram according to the configured generation strategy corresponding to the target noise state with reference to the motion state of the sound source object at the current time comprises:
when the target noise state is steady state:
if the motion state of the sound source object at the current moment is static, smoothing the sound field distribution data of the nearest continuous n1 frames containing the current moment, and generating a sound field thermodynamic diagram based on the smoothed sound field distribution data;
if the motion state of the sound source object at the current moment is motion, smoothing the sound field distribution data of the nearest continuous n2 frames containing the current moment, and generating a sound field thermodynamic diagram based on the smoothed sound field distribution data; n2< n 1.
4. The method according to claim 1, wherein the generating a sound field thermodynamic diagram according to the configured generation strategy corresponding to the target noise state with reference to the motion state of the sound source object at the current time comprises:
when the target noise state is non-stationary:
if the motion state of the sound source object at the current moment is static, generating a sound field thermodynamic diagram by using sound field distribution data at the current moment and the historical moment;
and if the motion state of the sound source object at the current moment is motion, generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current moment and the historical moment.
5. The method of claim 4, wherein the non-steady state comprises a heave state;
then, the generating a sound field thermodynamic diagram by using the sound field distribution data at the current time and the historical time includes:
randomly selecting a frame of sound field distribution data from the latest continuous n3 frames of sound field distribution data containing the current moment, generating a sound field thermodynamic diagram based on the selected frame of sound field distribution data, and marking the sound pressure level variation range of the n3 frames of sound field distribution data in the generated sound field thermodynamic diagram;
the generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current time and the historical time comprises the following steps:
in the nearest continuous n3 frames of sound field distribution data including the current moment, m1 frames of sound field distribution data are randomly selected, a corresponding sound field thermodynamic diagram is generated based on each frame of sound field distribution data in m1 frames, m1 frames of sound field thermodynamic diagrams are obtained, and m1 is larger than or equal to 2.
6. The method of claim 4, wherein the non-steady state comprises a pulsed state;
then, the generating a sound field thermodynamic diagram by using the sound field distribution data at the current time and the historical time includes:
selecting a frame of peak sound field distribution data from the sound field distribution data at the current moment and the historical moment, and generating a corresponding sound field thermodynamic diagram based on the peak sound field distribution data;
the generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current time and the historical time comprises the following steps:
selecting at least two frames of peak sound field distribution data from the sound field distribution data at the determined current time and historical time, and generating corresponding sound field thermodynamic diagrams based on the selected frames of peak sound field distribution data to obtain at least two sound field thermodynamic diagrams.
7. The method of claim 4, wherein the non-steady state comprises a batch state;
then, the generating a sound field thermodynamic diagram by using the sound field distribution data at the current time and the historical time includes:
selecting continuous n4 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold from the sound field distribution data of the determined current time and historical time, selecting one frame of sound field distribution data from the n4 frames of sound field distribution data to generate a sound field thermodynamic diagram, and marking the sound pressure level variation range of the n4 frames of sound field distribution data in the generated sound field thermodynamic diagram;
the generating at least two sound field thermodynamic diagrams by using the sound field distribution data at the current time and the historical time comprises the following steps:
in the determined sound field distribution data of the current time and the historical time, continuous n4 frames of sound field distribution data with the latest sound pressure level larger than a set sound pressure level threshold are selected, m2 frames of sound field distribution data are selected from n4 frames of sound field distribution data to generate a sound field thermodynamic diagram, a corresponding sound field thermodynamic diagram is generated based on each frame of sound field distribution data in m2 frames, m2 sound field thermodynamic diagrams are obtained, and m2 is larger than or equal to 2.
8. The method according to any one of claims 1-7, wherein the generating and displaying an acoustic imaging map based on the generated sound field thermodynamic map and the acquired video image comprises:
acquiring a video image which is acquired corresponding to the determined moment and is used as a video image corresponding to the sound field thermodynamic diagram based on the determined moment of the sound field distribution data used in the sound field thermodynamic diagram generation process;
and superposing the sound field thermodynamic diagram and the corresponding video image according to a position mapping relation to obtain and display an acoustic imaging diagram.
9. An acoustic imaging apparatus, comprising:
a sound field distribution data determination unit for determining sound field distribution data of the current time based on the acquired audio data;
the noise state determining unit is used for determining a noise state at the current moment as a target noise state based on the sound field distribution data at the current moment and the historical moment, wherein the noise state comprises a steady state and an unsteady state;
a sound field thermodynamic diagram generating unit, configured to generate a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state;
the acoustic imaging graph processing unit is used for generating and displaying an acoustic imaging graph based on the generated sound field thermodynamic diagram and the acquired video image;
a sound source object determining unit, configured to determine a sound source object in the video image at the current time according to the sound field distribution data at the current time;
the sound source object motion state determining unit is used for determining the motion state of the sound source object at the current moment according to the position of the sound source object in each acquired video image;
the process of generating the sound field thermodynamic diagram by the sound field thermodynamic diagram generating unit according to the configured generation strategy corresponding to the target noise state specifically includes: generating a sound field thermodynamic diagram according to a configured generation strategy corresponding to the target noise state by referring to the motion state of the sound source object at the current moment;
wherein the generating a policy comprises: a first generation strategy corresponding when the sound source object is moving, and a second generation strategy corresponding when the sound source object is stationary.
10. An acoustic imaging apparatus, comprising: a memory and a processor;
the memory is used for storing programs;
the processor, for executing the program, realizes the steps of the acoustic imaging method according to any one of claims 1 to 8.
11. A readable storage medium, having stored thereon a computer program, wherein the computer program, when being executed by a processor, carries out the steps of the acoustic imaging method as set forth in any one of claims 1 to 8.
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