CN111935411A - Monitoring system and monitoring method based on sound positioning - Google Patents
Monitoring system and monitoring method based on sound positioning Download PDFInfo
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- CN111935411A CN111935411A CN202011019546.3A CN202011019546A CN111935411A CN 111935411 A CN111935411 A CN 111935411A CN 202011019546 A CN202011019546 A CN 202011019546A CN 111935411 A CN111935411 A CN 111935411A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
- G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The application discloses a monitoring system and a monitoring method based on sound positioning. The monitoring system comprises a sound acquisition module, a sound positioning module, a linkage module and an image acquisition module; the sound acquisition module comprises at least two sound acquisition units, and the sound acquisition units and the image acquisition module are distributed on the same circular plane; the sound acquisition module, the sound positioning module, the linkage module and the image acquisition module are electrically connected; the at least two sound acquisition units acquire sound emitted by a sound source and transmit the sound to the sound positioning module, and the sound positioning module calculates an angle between the image acquisition module and the sound source; the linkage module controls the image acquisition module to rotate according to the angle, and the image acquisition module acquires an image at the position of the sound source. The method and the system have the advantages that the mode of monitoring through linkage of sound and images is realized, the function of the monitoring equipment is enhanced, and more effective monitoring information can be obtained.
Description
Technical Field
The application relates to the technical field of monitoring, in particular to a monitoring system and a monitoring method based on sound positioning.
Background
Along with the improvement of living standard and the popularization of networks, safety protection is more and more deeply into people. Especially, the development of information technology and improvement of living environment of people in recent years promote that the awareness of family safety precaution is unprecedentedly strengthened. Meanwhile, due to the rapid development of economy, the pace of life of people is faster and faster, and the time for taking care of and knowing the family condition is shorter and shorter. The development of modern technology also makes it possible to remotely care for children and family pets, monitor family conditions in real time, and the like. People can remotely know the family general view of the people at colleagues who work busy or travel out, and can make analysis and judgment in time according to the situation.
In the field of existing home network cameras, a known video monitoring room comprises an image acquisition part, a storage part and a transmission part, wherein the image acquisition part mainly has two modes: one is a fixed camera mode, and the other is a constant-speed rotation scanning mode, but both modes can not realize dynamic tracking of the target. Meanwhile, in practical monitoring, many abnormal events are difficult to find through video information, for example, abnormal sounds are a typical characteristic of the abnormal events. Therefore, how to achieve dynamic tracking of targets is a technical problem to be solved urgently in the field.
Disclosure of Invention
The main purpose of the present application is to provide a monitoring system and a monitoring method based on sound positioning, so as to achieve the purposes of performing position positioning and linkage through sound, and performing information acquisition and processing.
In order to achieve the above object, in a first aspect, an embodiment of the present application provides a monitoring system based on sound localization.
The monitoring system according to the application comprises: the device comprises a sound acquisition module, a sound positioning module, a linkage module and an image acquisition module;
the sound acquisition module comprises at least two sound acquisition units, and the sound acquisition units and the image acquisition module are distributed on the same circular plane;
the sound acquisition module, the sound positioning module, the linkage module and the image acquisition module are electrically connected;
the at least two sound acquisition units acquire sound emitted by a sound source and transmit the sound to the sound positioning module, and the sound positioning module calculates an angle between the image acquisition module and the sound source;
the linkage module controls the image acquisition module to rotate according to the angle, and the image acquisition module acquires an image at the position of the sound source.
Optionally, the monitoring system further includes an alarm module and a wireless communication module;
the alarm module is electrically connected with the image acquisition module, identifies the image at the sound source acquired by the image acquisition module, transmits the image to the mobile equipment end through the wireless communication module, and simultaneously gives an alarm.
Optionally, the monitoring system further includes a sound detection module, where the sound detection module is electrically connected to the sound collection module and the wireless communication module, and is configured to detect abnormal sounds collected by the sound collection module, determine an event corresponding to the abnormal sounds, and report the event type to the mobile device terminal through the wireless communication module.
Optionally, the sound collection unit is a microphone with different orientations, and the image collection module is a rotary camera.
In a second aspect, an embodiment of the present application further provides a monitoring method, where the monitoring method includes the following steps:
(1) arranging the image acquisition system and at least two sound acquisition units on the same circular plane;
(2) collecting the sound emitted by a sound source through at least two sound collecting units;
(3) calculating the angle between a sound source and an image acquisition system according to the sound intensity acquired by at least two sound acquisition units;
(4) and controlling the image acquisition system to rotate according to the angle, and acquiring the image of the sound source position.
Optionally, after the step of collecting the image of the sound source position, the method further includes identifying the collected image, transmitting the image to the mobile device, and simultaneously sending out an alarm sound.
Optionally, after the sound collection unit collects the sound emitted by the sound source, the method further includes detecting the abnormal sound, determining an event corresponding to the abnormal sound, and reporting the determination result to the mobile device.
Optionally, the image capturing system and the two sound capturing units are arranged on the same circular plane, and step (3) includes:
(a) assuming that the sound source is located on the same plane as the sound collection unit and the image collection system, the distance between the sound source and the image collection systemA distance L from the first sound collection unit1The distance between the sound source and the second sound collecting unit is L2，L1And L2The sound intensity collected by the sound collection unit is calculated;
(b) taking the circle center O of a circular plane as a reference point, setting the position of a first sound acquisition unit as A, the position of a second sound acquisition unit as B, the position of a sound source as C, and the position of an image acquisition system as D, wherein the deflection angle between the first sound acquisition unit and the image acquisition system is angle AOD, the deflection angle between the first sound acquisition unit and the second sound acquisition unit is angle AOB, angle AOD and angle
The sizes of the first sound acquisition unit, the second sound acquisition unit and the image acquisition system are known according to the set positions of the system, and the distances from the center of a circle of the first sound acquisition unit, the second sound acquisition unit and the image acquisition system are all circle radiuses R; if the deflection angle between the first sound acquisition unit and the sound source is ≈ AOC, the deflection angle between the sound source and the image acquisition system is = COD = AOD +/AOC;
(c) according to the cosine law, the distance between the first sound collecting unit and the second sound collecting unit
(ii) a In the case of a-ABC, the,
obtaining an angle CAB;
(d) the method comprises the steps of obtaining & lt CAO by & lt CAO & gt & lt CAB & lt OAB, knowing & lt OAB according to system setting, obtaining & lt CAO, knowing each parameter of delta AOC, obtaining & lt AOC, and further obtaining azimuth & lt COD.
Optionally, after rotating in the horizontal direction according to the azimuth angle, the image acquisition system rotates in the vertical direction at intervals of 30-45 degrees to acquire images.
Optionally, the image capturing system and the three sound capturing units are arranged on the same circular plane, and step (3) includes:
(a) let L be the distance from the sound source to the first sound collection unit1The distance between the sound source and the second sound collecting unit is L2The distance between the sound source and the third sound collecting unit is L3，L1、L2And L3The sound intensity collected by the sound collection unit is calculated;
(b) setting the position of an image acquisition system as A, the position of a first sound acquisition unit as B, the position of a second sound acquisition unit as C, the position of a third sound acquisition unit as D, the position of a sound source as F and the projection point of the sound source position on the circular plane as E by taking the circle center O of the circular plane as a reference point, wherein the pitch angle between the image acquisition system and the sound source is < EOF and the azimuth angle is < EOA;
(c) according to the system setting, the distances among the first sound collection unit, the second sound collection unit, the third sound collection unit and the image collection system are known, the radius of a circular plane is R, and the projection distance EF = h from the sound source to the circular plane is defined as follows:
in Δ BDE, BE, DE, BD =2R are all fixed values, then:
in Δ BCE, BE and DE are fixed values, BC is set to L as the system setting is known4And then:
in Δ CDE, CE and DE are fixed values, and CD rootAccording to the system setting known, set to L5And then:
the projection distance h from a sound source to a circular plane can BE obtained by DEC = DEB +. BEC, and then the values of DE, BE and CE are obtained;
(d) in Δ BDE, OE is the midline, then
According to
Obtaining a pitch angle EOF between the image acquisition system and the sound source;
(e) in delta DOE, OE, DE and OD are known to obtain a & lt DOE, a deflection angle & lt AOD between a third sound collection unit and an image collection system is set to be known according to the system, and then an azimuth angle & lt AOE & lt AOD & lt DOE between the image collection system and a sound source is obtained.
In the video monitoring system and the monitoring method based on sound positioning provided by the embodiment of the application, at least two sound acquisition units are adopted to acquire sound emitted by a sound source, the sound positioning module is used for positioning the position of the sound source, the azimuth angle and the prone angle of the sound are calculated, the linkage module is used for driving the image acquisition module to rotate, the image acquisition of the position of the sound source is realized, the mode of monitoring the linkage of the sound and the image is realized, the function of monitoring equipment is enhanced, and more effective monitoring information can be obtained. Simultaneously, this application adopts the mode that a plurality of sound acquisition units and image acquisition module combine, simple structure, and is with low costs, suitable popularization and application on a large scale.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic diagram of a first monitoring system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a second monitoring system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a third monitoring system according to an embodiment of the present application;
FIG. 4 is a flow chart of a first monitoring method according to an embodiment of the present application;
FIG. 5 is a flow chart of a second monitoring method according to an embodiment of the present application;
FIG. 6 is a flow chart of a third monitoring method according to an embodiment of the present application;
FIG. 7 is a diagram of a sound localization plane model according to an embodiment of the present application;
fig. 8 is a perspective view of a sound localization stereo model according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but 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.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "connected," "disposed," and "communicating" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, the monitoring system based on sound localization of the present application includes: the system comprises a sound acquisition module 1, a sound positioning module 2, a linkage module 3 and an image acquisition module 4;
the sound acquisition module 1 comprises at least two sound acquisition units, and the sound acquisition units and the image acquisition module 4 are distributed on the same circular plane;
the sound collection module 1, the sound positioning module 2, the linkage module 3 and the image collection module 4 are electrically connected;
at least two sound collection units collect the sound emitted by the sound source and transmit the sound to the sound positioning module, and the sound positioning module 2 calculates the angle between the image collection module 4 and the sound source;
the linkage module 3 controls the image acquisition module 4 to rotate according to the angle, and the image acquisition module 4 acquires the image at the sound source position.
In the embodiment of the application, the sound that adopts two at least sound collection units to send the sound source is gathered, realizes the location to the sound source position through sound positioning module, calculates the azimuth and the prone angle that sound place, recycles linkage module drive image acquisition module and rotates, realizes the image acquisition to the sound source position, has realized the mode that sound and image linkage were monitored, has strengthened supervisory equipment's function, can obtain more effectual monitoring information. Simultaneously, this application adopts the mode that a plurality of sound acquisition units and image acquisition module combine, simple structure, and is with low costs, suitable popularization and application on a large scale.
Specifically, in some embodiments of the present application, the sound collecting units are microphones with different orientations, and the image collecting module is a rotary camera. The sound source part refers to a sound source emitted within a space effective range (the range is limited by the collection distance of the sound collection module, namely the sound collection distance of the microphone). Microphone and rotatory camera all install on supervisory equipment, distribute it setting on same disc, help the angle calculation of back sound orientation module to rotatory camera position and sound source position. Meanwhile, after the sound positioning module determines the rotation angle of the image acquisition module, the linkage module is used for driving the rotary camera to rotate, and specifically, the linkage module is an electrode movement mechanism.
Optionally, referring to fig. 2, the monitoring system of the embodiment of the present application further includes an alarm module 5 and a wireless communication module 6; the alarm module 5 is electrically connected with the image acquisition module 4, the alarm module 5 identifies the image at the sound source acquired by the image acquisition module 4, and transmits the image to the mobile equipment end through the wireless communication module 6, and meanwhile, the alarm module 5 gives out alarm sound.
Because the image acquisition system among the monitored control system can only gather the image, for more convenience of customers learns the unusual condition in family, this application still can utilize alarm module to send the chimes of doom outside carrying out image acquisition to can convey information transfer to the mobile device end of connection in real time, make other people in the family in time learn the unusual emergence and handle convenient and fast.
Optionally, referring to fig. 3, the monitoring system according to the embodiment of the present application further includes a sound detection module 7, where the sound detection module 7 is electrically connected to the sound collection module 1 and the wireless communication module 6, and is configured to detect abnormal sounds collected by the sound collection module 1, determine an event corresponding to the abnormal sounds, and report the event type to the mobile device end through the wireless communication module 6.
In the embodiment of the application, the collected sound source can be judged and distinguished through the sound detection module, if the sound detection module detects baby crying, old people falling down and the like, event information can be correspondingly generated, and the event type is reported to the mobile equipment terminal, so that the abnormal condition at home can be more clearly known. Specifically, the identification of the baby crying and the falling voice of the old people is carried out by adopting an identification mode in the prior art, and the invention is not particularly limited.
Based on the same technical concept, referring to fig. 4, an embodiment of the present application further provides a monitoring method, including the following steps:
s101: arranging the image acquisition system and at least two sound acquisition units on the same circular plane;
s102: collecting the sound emitted by a sound source through at least two sound collecting units;
s103: calculating the angle between a sound source and an image acquisition system according to the sound intensity acquired by at least two sound acquisition units;
s104: and controlling the image acquisition system to rotate according to the angle, and acquiring the image of the sound source position.
Specifically, in some embodiments of the present application, the image capturing system is a rotary camera, the sound capturing units are microphones, directions of the microphones in the at least two sound capturing units are different, and the microphones and the rotary camera are arranged on the same circular plane. The microphone and the position between the rotary cameras are fixed, so that the sound source and the cameras can be positioned through sound information collected by the microphone in the later period.
Specifically, as is known, the human ear has strong positioning capability, and positioning of sound is achieved in bionics. The microphone in the application is an ear, and on one hand, the microphone is used as a sound collecting unit to collect sound; and on the other hand, the distance measurement of the sound source position is carried out.
Under the condition that the microphone power is constant, the distance between the sound source and the microphone is different, the collected sound intensity is also different, and therefore, a functional relation between the intensity and the distance can be fitted to be y = f (x), wherein y represents the distance, and x represents the sound intensity. Specifically, the distance is determined by the sound intensity, which is a conventional technical means in the field, and is not described herein again.
After the distance between the sound source and the sound collecting unit is determined, the angle relation between the image collecting system and the sound source can be obtained according to a specific calculation mode, and then the image collecting system can be controlled to rotate by a corresponding angle, so that the collection of the position image of the sound source is realized.
Optionally, referring to fig. 5, a second monitoring method according to an embodiment of the present application includes the following steps:
s201: arranging the image acquisition system and at least two sound acquisition units on the same circular plane;
s202: collecting the sound emitted by a sound source through at least two sound collecting units;
s203: calculating the angle between a sound source and an image acquisition system according to the sound intensity acquired by at least two sound acquisition units;
s204: controlling the image acquisition system to rotate according to the angle, and acquiring the image of the sound source position;
s205: and identifying the acquired image, transmitting the acquired image to a mobile equipment terminal, and simultaneously giving out an alarm sound.
Optionally, referring to fig. 6, a third monitoring method according to an embodiment of the present application includes the following steps:
s301: arranging the image acquisition system and at least two sound acquisition units on the same circular plane;
s302: collecting the sound emitted by a sound source through at least two sound collecting units;
s303: calculating the angle between a sound source and an image acquisition system according to the sound intensity acquired by at least two sound acquisition units;
s304: controlling the image acquisition system to rotate according to the angle, and acquiring the image of the sound source position;
s305: identifying the acquired image, transmitting the image to a mobile equipment terminal, and simultaneously giving out an alarm sound;
s306: and synchronously reporting the event information corresponding to the judged abnormal sound to the mobile equipment terminal.
Optionally, the image capturing system and the two sound capturing units are arranged on the same circular plane, referring to fig. 7, and step (3) includes:
(a) assuming that the sound source, the sound collection unit and the image collection system are located on the same plane, the distance from the sound source to the first sound collection unit is L1The distance between the sound source and the second sound collecting unit is L2，L1And L2The sound intensity collected by the sound collection unit is calculated;
(b) taking the circle center O of a circular plane as a reference point, setting the position of a first sound acquisition unit as A, the position of a second sound acquisition unit as B, the position of a sound source as C, and the position of an image acquisition system as D, wherein the deflection angle between the first sound acquisition unit and the image acquisition system is angle AOD, the deflection angle between the first sound acquisition unit and the second sound acquisition unit is angle AOB, angle AOD and angle
The sizes of the first sound acquisition unit, the second sound acquisition unit and the image acquisition system are known according to the set positions of the system, and the distances from the center of a circle of the first sound acquisition unit, the second sound acquisition unit and the image acquisition system are all circle radiuses R; the first soundThe deflection angle between the acquisition unit and the sound source is ≦ AOC, and the deflection angle between the sound source and the image acquisition system is ≦ COD ≦ AOD + (AOC);
(c) according to the cosine law, the distance between the first sound collecting unit and the second sound collecting unit
(ii) a In the case of a-ABC, the,
obtaining an angle CAB;
(d) the method comprises the steps of obtaining & lt CAO by & lt CAO & gt & lt CAB & lt OAB, knowing & lt OAB according to system setting, obtaining & lt CAO, knowing each parameter of delta AOC, obtaining & lt AOC, and further obtaining azimuth & lt COD.
When there are only two sound collection units, only a rough localization of the spatial sound source is possible, assuming that the sound source is located on the same plane as the sound collection units and the image collection system. More specifically, in order to prevent the blank picture from being shot, the image acquisition system rotates at an azimuth angle in the horizontal direction and then rotates at intervals of 30-45 degrees in the vertical direction to acquire images, so that abnormal events are monitored.
Specifically, as an embodiment of the present application, if the image capturing system and the two sound capturing units are uniformly arranged on the same circular plane, and the sound source, the sound capturing units and the image capturing system are located on the same plane, the distance from the sound source to the first sound capturing unit is L1The distance between the sound source and the second sound collecting unit is L2，L1And L2The sound intensity collected by the sound collection unit is calculated;
the circle center O of a circular plane is taken as a datum point, the position of a first sound collection unit is set to be A, the position of a second sound collection unit is set to be B, the position of a sound source is set to be C, the position of an image collection system is set to be D, the deflection angle between the first sound collection unit and the image collection system is ═ AOD =120 degrees, the deflection angle between the first sound collection unit and the second sound collection unit is ═ AOB =120 degrees, and the first sound collection unit, the second sound collection unit and the image collection unit are arrangedThe distances from the system to the center of the circle are all circle radiuses R; the deflection angle between the first sound collection unit and the sound source is °AOC, and then the deflection angle between the sound source and the image collection system
；
According to the cosine law, the distance between the first sound collecting unit and the second sound collecting unit
(ii) a In the case of a-ABC, the,
obtaining an angle CAB;
the method comprises the steps of obtaining & lt CAO by & lt CAO & gt & lt CAB & lt OAB, knowing & lt OAB according to system setting, obtaining & lt CAO, knowing a delta AOC parameter, obtaining & lt AOC, and further obtaining an azimuth & lt COD.
In this embodiment, the image acquisition system and the two sound acquisition units are uniformly arranged on the same circular plane, and meanwhile, it is assumed that the sound source, the sound acquisition units and the image acquisition system are located on the same plane; and a two-point positioning mode is adopted, so that the calculation mode is simplified, and the method is simpler and more convenient. The embodiment is suitable for the household application range, and if the sound acquisition unit and the image acquisition system are arranged near the crib, the sound acquisition unit and the sound source can be determined to be positioned in the same plane, and the baby cry can be effectively monitored and identified and the images are acquired; or the monitoring system is placed at an indoor position where accidents are easy to happen, such as a desk side, a bathroom door and the like. Meanwhile, for sound positioning by adopting two sound acquisition units, in order to overcome space positioning errors possibly caused by the two sound acquisition units, the image acquisition system rotates in the horizontal direction according to the azimuth angle and then rotates in the vertical direction at intervals of 30-45 degrees to acquire images, so that abnormal events are ensured to be monitored.
Optionally, in order to improve the positioning accuracy, the above-mentioned scheme is optimized, referring to fig. 8, the image acquisition system and the three sound acquisition units are arranged on the same circular plane, and step (3) includes:
(a) let L be the distance from the sound source to the first sound collection unit1The distance between the sound source and the second sound collecting unit is L2The distance between the sound source and the third sound collecting unit is L3，L1、L2And L3The sound intensity collected by the sound collection unit is calculated;
(b) setting the position of an image acquisition system as A, the position of a first sound acquisition unit as B, the position of a second sound acquisition unit as C, the position of a third sound acquisition unit as D, the position of a sound source as F and the projection point of the sound source position on the circular plane as E by taking the circle center O of the circular plane as a reference point, wherein the pitch angle between the image acquisition system and the sound source is < EOF and the azimuth angle is < EOA;
(c) according to the system setting, the distances among the first sound collection unit, the second sound collection unit, the third sound collection unit and the image collection system are known, the radius of a circular plane is R, and the projection distance EF = h from the sound source to the circular plane is defined as follows:
in Δ BDE, BE, DE, BD =2R are all fixed values, then:
in Δ BCE, BE and DE are fixed values, BC is set to L as the system setting is known4Then, then
；
In Δ CDE, CE and DE are fixed values, and CD is set to be known according to the system, L5And then:
the projection distance h from a sound source to a circular plane can BE obtained by DEC = DEB +. BEC, and then the values of DE, BE and CE are obtained;
(d) in Δ BDE, OE is the midline, then
According to
Obtaining a pitch angle EOF between the image acquisition system and the sound source;
(e) in delta DOE, OE, DE and OD are known to obtain a & lt DOE, a deflection angle & lt AOD between a third sound collection unit and an image collection system is set to be known according to the system, and then an azimuth angle & lt AOE & lt AOD & lt DOE between the image collection system and a sound source is obtained.
Through installing 3 sound collection units, can pinpoint the sound source of space optional position, the slewing mechanism that links after the location rotates the snap shot of image acquisition system and reports.
Specifically, in some embodiments of the present application, the image capturing system and the three sound capturing units are uniformly arranged on the same circular plane, and the distance from the sound source to the first sound capturing unit is set to be L1The distance between the sound source and the second sound collecting unit is L2The distance between the sound source and the third sound collecting unit is L3，L1、L2And L3The sound intensity collected by the sound collection unit is calculated;
setting the position of an image acquisition system as A, the position of a first sound acquisition unit as B, the position of a second sound acquisition unit as C, the position of a third sound acquisition unit as D, the position of a sound source as F and the projection point of the sound source position on the circular plane as E by taking the circle center O of the circular plane as a reference point, wherein the pitch angle between the image acquisition system and the sound source is < EOF and the azimuth angle is < EOA;
the radius of the circular plane is R, and the projection distance EF = h from the sound source to the circular plane, the projection distances from the sound collecting units to the sound source are respectively
，
，
；
In Δ BDE, BE, DE, BD =2R are all fixed values, then:
in Δ BCE, BE, DE are fixed values,
and then:
in Δ CDE, CE and DE are fixed values, and CD is set to be known according to the system, L5And then:
the projection distance h from a sound source to a circular plane can BE obtained by DEC = DEB +. BEC, and then the values of DE, BE and CE are obtained;
(d) in Δ BDE, OE is the midline, then
According to
Obtaining a pitch angle EOF between the image acquisition system and the sound source;
(e) in delta DOE, OE, DE and OD are known to obtain a & lt DOE, a deflection angle & lt AOD between a third sound collection unit and an image collection system is set to be known according to the system, and then an azimuth angle & lt AOE & lt AOD & lt DOE between the image collection system and a sound source is obtained.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A monitoring system based on sound localization, comprising: the device comprises a sound acquisition module, a sound positioning module, a linkage module and an image acquisition module;
the sound acquisition module comprises at least two sound acquisition units, and the sound acquisition units and the image acquisition module are distributed on the same circular plane;
the sound acquisition module, the sound positioning module, the linkage module and the image acquisition module are electrically connected;
the sound collection units collect the sound emitted by the sound source and transmit the sound to the sound positioning module, and the sound positioning module calculates the angle between the image collection module and the sound source;
the linkage module controls the image acquisition module to rotate according to the angle, and the image acquisition module acquires an image at the position of a sound source.
2. The sound localization-based monitoring system of claim 1, further comprising an alarm module and a wireless communication module;
the alarm module is electrically connected with the image acquisition module, identifies the image at the sound source acquired by the image acquisition module, transmits the image to the mobile equipment end through the wireless communication module, and simultaneously gives out an alarm sound.
3. The monitoring system based on sound positioning as claimed in claim 2, further comprising a sound detection module, wherein the sound detection module is electrically connected to the sound collection module and the wireless communication module, and is configured to detect abnormal sounds collected by the sound collection module, determine an event corresponding to the abnormal sounds, and report the event type to the mobile device terminal through the wireless communication module.
4. The system according to any one of claims 1-3, wherein the sound capturing units are microphones of different orientations and the image capturing module is a rotating camera.
5. A monitoring method based on sound positioning is characterized by comprising the following steps:
(1) arranging the image acquisition system and at least two sound acquisition units on the same circular plane;
(2) collecting the sound emitted by a sound source through at least two sound collection units;
(3) calculating the angle between a sound source and an image acquisition system according to the sound intensity acquired by at least two sound acquisition units;
(4) and controlling the image acquisition system to rotate according to the angle, and acquiring the image of the sound source position.
6. The monitoring method based on sound localization as claimed in claim 5, wherein after the step of collecting the image of the sound source location, the method further comprises identifying and transmitting the collected image to the mobile device, and sounding an alarm.
7. The monitoring method based on sound localization as claimed in claim 5, wherein after the sound collection unit collects the sound emitted by the sound source, the method further comprises detecting the abnormal sound, determining an event corresponding to the abnormal sound, and reporting the determination result to the mobile device.
8. The monitoring method based on sound localization as claimed in claim 5, wherein the image capturing system and the two sound capturing units are arranged on the same circular plane, and the step (3) comprises:
(a) assuming that the sound source, the sound collection unit and the image collection system are located on the same plane, the distance from the sound source to the first sound collection unit is L1The distance between the sound source and the second sound collecting unit is L2，L1And L2The sound intensity collected by the sound collection unit is calculated;
(b) taking the circle center O of a circular plane as a reference point, setting the position of a first sound acquisition unit as A, the position of a second sound acquisition unit as B, the position of a sound source as C, and the position of an image acquisition system as D, wherein the deflection angle between the first sound acquisition unit and the image acquisition system is angle AOD, the deflection angle between the first sound acquisition unit and the second sound acquisition unit is angle AOB, angle AOD and angle
The sizes of the first sound acquisition unit, the second sound acquisition unit and the image acquisition system are known according to the set positions of the system, and the distances from the center of a circle of the first sound acquisition unit, the second sound acquisition unit and the image acquisition system are all circle radiuses R; if the deflection angle between the first sound acquisition unit and the sound source is ≈ AOC, the deflection angle between the sound source and the image acquisition system is = COD = AOD +/AOC;
(c) according to the cosine law, the distance between the first sound collecting unit and the second sound collecting unit
(ii) a In the case of a-ABC, the,
obtaining an angle CAB;
(d) the method comprises the steps of obtaining & lt CAO by & lt CAO & gt & lt CAB & lt OAB, knowing & lt OAB according to system setting, obtaining & lt CAO, knowing each parameter of delta AOC, obtaining & lt AOC, and further obtaining azimuth & lt COD.
9. The method of claim 8, wherein the image capturing system is rotated at an azimuth angle in the horizontal direction and then rotated at 30-45 ° intervals in the vertical direction to capture images.
10. The monitoring method based on sound localization as claimed in claim 5, wherein the image capturing system and the three sound capturing units are arranged on the same circular plane, and the step (3) comprises:
(a) let L be the distance from the sound source to the first sound collection unit1The distance between the sound source and the second sound collecting unit is L2The distance between the sound source and the third sound collecting unit is L3，L1、L2And L3The sound intensity collected by the sound collection unit is calculated;
(b) setting the position of an image acquisition system as A, the position of a first sound acquisition unit as B, the position of a second sound acquisition unit as C, the position of a third sound acquisition unit as D, the position of a sound source as F and the projection point of the sound source position on the circular plane as E by taking the circle center O of the circular plane as a reference point, wherein the pitch angle between the image acquisition system and the sound source is < EOF and the azimuth angle is < EOA;
(c) according to the system setting, the distances among the first sound collection unit, the second sound collection unit, the third sound collection unit and the image collection system are known, the radius of a circular plane is R, and the projection distance EF = h from the sound source to the circular plane is defined as follows:
in Δ BDE, BE, DE, BD =2R are all fixed values, then:
in Δ BCE, BE and DE are fixed values, BC is set to L as the system setting is known4Then, then
；
In Δ CDE, CE and DE are fixed values, and CD is set to be known according to the system, L5And then:
the projection distance h from a sound source to a circular plane can BE obtained by DEC = DEB +. BEC, and then the values of DE, BE and CE are obtained;
(d) in Δ BDE, OE is the midline, then
According to
Obtaining a pitch angle EOF between the image acquisition system and the sound source;
(e) in delta DOE, OE, DE and OD are known to obtain a & lt DOE, a deflection angle & lt AOD between a third sound collection unit and an image collection system is set to be known according to the system, and then an azimuth angle & lt AOE & lt AOD & lt DOE between the image collection system and a sound source is obtained.
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