CN1727911A - Acoustic control positioning system and method thereof - Google Patents
Acoustic control positioning system and method thereof Download PDFInfo
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- CN1727911A CN1727911A CNA2004100545955A CN200410054595A CN1727911A CN 1727911 A CN1727911 A CN 1727911A CN A2004100545955 A CNA2004100545955 A CN A2004100545955A CN 200410054595 A CN200410054595 A CN 200410054595A CN 1727911 A CN1727911 A CN 1727911A
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Abstract
A sound control positioning system consists of multiple receiver for receiving sound signal, delay estimator for calculating time delay parameter between sound signals, locator for positioning location of sound source, shifter for making sound signal have the same time delay after it is regulated , signal separator for removing out noise in signal and for separating out independent sound signal, sound sorter for finding out command corresponding to signal and sending it to controller, controlled apparatus for controlling action of controlled device , controller for receiving command and positioned location and for sending them to controlled apparatus.
Description
Technical field
The invention relates to a kind of positioning system and method, be meant a kind of acoustic control positioning system and method especially.
Background technology
Known acoustic control household electrical appliances, the person of being to use assigns steering order with sound to this electrical home appliances, and for example: send the action command of " opening electric fan ", then this electric fan will entry into service behind this action command of accepting.But known acoustic control household electrical appliances are when assigning instruction, must be closely facing to being installed on the sound receiver on this electrical equipment or saying instruction facing to the telepilot of the sound receiver that this electrical equipment is installed, therefore, the user can't control a plurality of electrical equipment with voice mode in arbitrary position in doors.So this kind acoustic control appliance system is also inconvenient in the use.
In addition, can only control the simple functions of household appliances effectively with the acoustic control household electrical appliances of knowing, as: start, shutdown, increase air quantity etc., and can't make the function that these household appliances possess tracking, and this appliance system can't be oriented the user's who sounds position, the former user who is within doors must repeat to assign multiple instruction just can make the air outlet of electric fan or air conditioner turn to oneself, so not hommization in the use.
Summary of the invention
Therefore, the purpose of this invention is to provide a kind of acoustic control positioning system, this system can control a plurality of controlled plants in the acoustic control mode.
Therefore, another object of the present invention provides a kind of acoustic control localization method, and this methodological function tracks out the position of sound source, thereby can reach the effect of location
So acoustic control positioning system of the present invention is applicable to that with a plurality of controlled plants of sound control this system comprises a plurality of receivers, postpones estimator, steady arm, shift unit, demultiplexer, database, sound classifier, a plurality of controlled device and controller.
Each receiver can receive voice signal.Be electrically connected with these a plurality of receivers and should postpone estimator, and received the voice signal that these a plurality of receivers transmit, and can calculate time delay parameter between the voice signal that per two receivers receive.And this steady arm is electrically connected with this delay estimator, and can receive time delay parameter that this delay estimator calculates to orient the position at sound source place.
This shift unit is electrically connected with this delay estimator, and can receive the time delay parameter that this delay estimator calculates, and adjusts with the voice signal that these receivers are received, and makes these voice signals after adjustment identical time delay can be arranged.This demultiplexer is electrically connected with this shift unit, and the noise remove in the signal after this shift unit can being handled, and isolates at least one independently voice signal from this signal.
This database can be stored multiple data.And this sound classifier can receive the signal that this demultiplexer analyzes, and with this database in the data comparison finding out the pairing instruction of this independent voice signal, and this controller is delivered in this instruction.These a plurality of controlled devices are electrically connected the also action of these a plurality of controlled plants of may command respectively with these a plurality of controlled plants.This controller receives the action command that this sound classifier transmits, and reaches the position that this steady arm is oriented, and these information is delivered to this order pairing controlled device.
So acoustic control localization method of the present invention is applicable to a plurality of controlled plants of sound control, comprises step:
(A) receive voice signal;
(B) calculate time delay parameter between these voice signals;
(C) time delay parameter that calculates according to step (B) position of orienting sound source, and adjust the voice signal that receives, make these a plurality of voice signals that identical time delay be arranged;
(D) with the noise remove of voice signal, and will come out, and judge whether isolated independent signal has and need the command signal analyzed from the Signal Separation in alternative sounds source, when command signal that needs are analyzed, execution in step (E) then, if not, execution in step (A) then;
(E) whether the voice signal of judging this moment is action command, if, execution in step (F) then, if not, execution in step (A) then; And
(F) this action command is delivered to pairing controlled plant.
Effect of the present invention is that the user need not be in ad-hoc location and promptly can control a plurality of controlled plants in the acoustic control mode, and in addition, the present invention more can be used to be used as antitheft security system, to orient the position of thief's invasion.
Description of drawings
Fig. 1 is the system architecture diagram according to the preferred embodiment of acoustic control positioning system of the present invention and method;
Fig. 2 is the synoptic diagram of the preferred embodiment, and the position of a plurality of controlled plants and a plurality of receivers is described; With
Fig. 3 is the process flow diagram of the preferred embodiment.
Embodiment
About aforementioned and other technology contents, characteristics and effect of the present invention,, will more be expressly understood by following cooperation DETAILED DESCRIPTION OF THE PREFERRED with reference to the accompanying drawings.
As shown in Figure 1, acoustic control positioning system of the present invention and method are applicable to a plurality of controlled plants 10 of control, comprise four receivers 1, one and postpone estimator 2, steady arm 3, controller 4, shift unit 5, demultiplexer 6,7, databases 8 of sound classifier (Sound Classification) and four controlled devices 9.
With reference to figure 2, the action of these a plurality of controlled plants 10 of information Control that these a plurality of controlled devices 9 are electrically connected with these a plurality of controlled plants 10 respectively and can send according to this controller 4.In the present embodiment, these a plurality of controlled plants 10 comprise video camera 101, electric fan 102, air conditioner 103 and have the televisor 104 of rotary seat 105, should be appreciated that controlled plant of the present invention is not limited thereto.
The multiple voice data of this database 8 storages, this multiple voice data can be pre-recorded or obtained by the data of collecting other speech database by the user.And this multiple voice data includes general action command, for example: " opening electric fan ", " high wind ", " weak wind ", " pass electric fan ", " opening TV ", " increase channel ", " volume increasing " etc. are used for controlling the instruction of these a plurality of controlled plants 10, in addition, this voice data also comprises the sound such as alarm song that alarm bell sound, the broken sound of glass, automobile send.
In the present embodiment, each receiver 1 is a microphone, and these a plurality of receivers 1 are installed on four corners of ceiling within doors respectively.Yet, it should be noted that also visual use situation should a plurality of receivers 1 be installed on hug on ladder way, the gate in addition environment such as open air in.And these a plurality of receivers 1 are electrically connected with this shift unit 5 and this delay estimator 2 respectively, and each receiver 1 can receive a voice signal and the voice signal that receives is sent to this shift unit 5 and this delay estimator 2.Quantity that it should be noted that receiver 1 is not as limit, as long as there is plural receiver 1 all can realize purpose of the present invention.
This delay estimator 2 receives the voice signal that these a plurality of receivers 1 transmit, and can utilize the method for simple crosscorrelation (Cross-correlation) to calculate time delay (Time Delay) parameter between the voice signal that per two receivers 1 receive.And the time delay parameter that calculates delivered to this steady arm 3 and this shift unit 5.
This steady arm 3 can utilize the time delay parameter that receives to orient the position at sound source place, and the localization method that this steady arm 3 is adopted can use, for example: a kind of in the method that is proposed among U.S. Patent No. 5778082,6243322B1 and the 6469732B1, or " MUSIC Algorithm " method of in the PhD dissertation " ASignal Subspace Approach to Multiple Emitter Location and SpectralEstimation " that was proposed in California stanford university in 1981, being proposed of R.O.Schmidt.
This shift unit 5 is electrically connected with this demultiplexer 6, and because the sound source of sounding might not just be positioned at the center of four receivers 1, so the voice signal that this four receiver 1 receives will produce the delay of different sizes, so the function of this shift unit 5 promptly is to utilize the time delay parameter that receives from this delay estimator 2 that the voice signal that this four receiver 1 receives is adjusted, make these voice signals after adjustment, identical time delay can be arranged, analyze in order to follow-up demultiplexer 6.
This demultiplexer 6 receives by the signal after 5 processing of this shift unit, but because these a plurality of signals contain the composition of noise, so this demultiplexer 6 can be with the noise remove in the signal, in addition, interior at one time not only sound source is sounded, for example: when a user sends the sound of " opening TV ", the broken sound of glass may be arranged simultaneously, and the signal that has mixed these two kinds of sound will import this demultiplexer 6 into simultaneously, and this demultiplexer 6 will receive the signal of this mixing, and utilize the separate statistical property of different signal sources to isolate the signal of each signal source before mixing.
Each sound source signal after the separation then utilizes the mode of feature extraction (Feature Extraction) to judge that what person is a command signal, and can utilize the frequency height of sound or the feature that the amplitude waveform of sound is used as these sound source signals at this, as: the volume change of the broken sound of glass is rapid and frequency is higher, the zero crossing rate of the voice that the people sends (Zero-Crossing Rate) then can be higher, and amplitude is time Gaussian distribution (Sub-gaussian Distribution).And demultiplexer 6 of the present invention can adopt U.S. Patent No. 6424960B 1, European patent No.EP0990306 or R.M.Everson and S.J.Roberts in 2000 at Journalof VLSI Signal Processing-Systems for Signal, Image, and VideoTechnology, Vol.26, the technical scheme that proposes in " On-line Blind Source Separationof Non-Stationary Signals " that pp.15-24 proposes.
Sound classifier 7 can receive the signal that this demultiplexer 6 analyzes, and with this database 8 in voice signal relatively, to find out the pairing instruction of this voice signal, and this instruction delivered to this controller 4, and this sound classifier 7 for example adopts, Tong Zhang in calendar year 2001 at IEEE Transactions on Speech and Audio Processing, Vol.9, the method for " Audio Content Analysis for On-line AudiovisualData Segmentation and Classification " that pp.441-457 proposed or other can reach the audio recognition method of identical effect.
This controller 4 comprises wireless transmitter module, and each controlled device 9 all comprises a wireless receiving module, and the signal that the wireless transmitter module that these a plurality of wireless receiving modules can receive this controller 4 sends, and this wireless transmitter module, the employed transmission technology of wireless receiving module comprise modes such as radio frequency transmission, infrared transmission.This controller 4 receives the action command that this sound classifier 7 transmits, and reaches the position that this steady arm 3 is oriented, and these information is delivered to this through this wireless transmitter module order pairing wireless receiving module.
Flow process of the present invention is as shown in Figure 3: step S1 is that these receivers 1 receive the voice signal that the user sends respectively, for example: " opening TV ".Step S2 is the time delay parameter that this delay estimator 2 calculates the voice signal that is received by these four receivers 1, and result of calculation is delivered to this shift unit 5 and this steady arm 3.Step S3 is the position that this steady arm 3 is oriented sound source, and the positional information of orienting is delivered to this controller 4.And when execution in step S3, also execution in step S4 simultaneously, step S4 is that this shift unit 5 is adjusted four voice signals that receiver 1 receives, and makes these a plurality of voice signals that identical time delay be arranged.
Step S5 is this demultiplexer 6 with the noise remove of the voice signal that receives, and will come out from the Signal Separation in alternative sounds source, and judging the sound that whether isolated independent signal has needs analysis, still all is some noise sound, as: motor rotation sound, tweedle.When sound that needs are analyzed, then jump to step S6, if not, then rebound step S1.
And step S6 to be this sound classifier 7 judge that according to the information of this database 8 voice signal of this moment is to belong to which action command, correspond to the instruction that this database 8 is stored if having, then jump to step S7, if do not have corresponding, then rebound step S1.Step S7 is that this controller 4 is delivered to pairing controlled plant 10 with this action command.Step S8 then is that this controlled plant 10 is carried out the pairing action of this action command.For example: if be installed in the positional information that controlled device 9 on this TV 104 receives this action command of " opening TV " and user.Then this controlled device 9 will be opened this TV 104, and control this rotary seat 105 and make this TV 104 can turn to the direction of user's position.
The present invention more can be used as anti-thefting facility except can be used for controlling the electrical home appliances, and for example: in the glass invasion that a thief breaks window was got home, then when execution in step S1, these a plurality of receivers 1 can receive the voice signal of the broken sound of glass.And execution in step S2～S9 in regular turn, then when execution in step S3, will orient the position of sending the broken sound of glass, i.e. thief's position.And when execution in step S6, judging the pairing action command of the broken sound of this glass is to activate this video camera 101.Then when step S7, this controller 4 will be controlled this video camera 101 and rotate to the position of sending the broken sound of the glass image with the picked-up thief.In addition, the user also can additionally set the pairing action command of the broken sound of glass and can activate alarm bell or online with other security system.
As mentioned above, acoustic control positioning system of the present invention is because of having acoustic control function and positioning function simultaneously, so the user need not be in ad-hoc location or send action command towards a certain specific direction is a plurality of controlled plants of may command, and because can detect the position of sound source, so the visual use situation of these a plurality of controlled plants is adjusted to the position of this user or sound source, in addition, the present invention more can be used to be used as antitheft security system, so not only having convenience in the use has more security function, so can reach purpose of the present invention really.
Described above only is the preferred embodiments of the present invention, rather than limits practical range of the present invention with this, and the simple equivalent of being done in the application's scope and description of the invention content changes and revises, and all should still belong in the scope that patent of the present invention contains.
The simple declaration of accompanying drawing element numbers
1 receiver
2 postpone estimator
3 locators
4 controllers
5 shift units
6 demultiplexers
7 sound classifier
8 databases
9 controlled devices
10 controlled plants
101 video cameras
102 electric fans
103 air conditioners
104 televisors
105 rotary seats
S1～S9 step
Claims (18)
1. an acoustic control positioning system is applicable to a plurality of controlled plants of sound control, comprising:
A plurality of receivers, each receiver can receive voice signal;
Postpone estimator, be electrically connected with these a plurality of receivers, and receive the voice signal that these a plurality of receivers transmit, and can calculate time delay parameter between the voice signal that per two receivers receive;
Steady arm is electrically connected with this delay estimator, and can receive time delay parameter that this delay estimator calculates to orient the position at sound source place;
Shift unit is electrically connected with this delay estimator, and can receives the time delay parameter that this delay estimator calculates, and adjusts with the voice signal that these a plurality of receivers are received, and makes these a plurality of voice signals have identical time delay after adjustment;
Demultiplexer is electrically connected with this shift unit, and the noise remove in the signal after this shift unit can being handled, and goes out at least one independently voice signal from this Signal Separation;
Database is stored multiple data;
Sound classifier can receive the signal that this demultiplexer analyzes, and with this database in data relatively, finding out the pairing instruction of this independent voice signal, and this controller is delivered in this instruction;
A plurality of controlled devices are electrically connected the also action of these a plurality of controlled plants of may command respectively with these a plurality of controlled plants; And
Controller receives the action command that this sound classifier transmits, and this steady arm position of orienting, and should a plurality of information delivers to this and order pairing controlled device.
2. acoustic control positioning system according to claim 1, wherein, this demultiplexer is to utilize the separate statistical property in unlike signal source to isolate different independent signals.
3. acoustic control positioning system according to claim 1, wherein, this demultiplexer is to utilize the mode of feature extraction to judge which independent signal is a command signal.
4. acoustic control positioning system according to claim 1, wherein, this demultiplexer is to utilize the frequency of sound to judge that just which independent signal is a command signal.
5. acoustic control positioning system according to claim 1, wherein, this demultiplexer is to utilize the amplitude waveform of sound to judge which independent signal is a command signal.
6. acoustic control positioning system according to claim 1, wherein, each receiver is a microphone.
7. acoustic control positioning system according to claim 1, wherein, this controller is to utilize the mode of wire transmission that this action command is delivered to pairing controlled device.
8. acoustic control positioning system according to claim 1, wherein, this controller comprises wireless transmitter module, and each controlled device all comprises a wireless receiving module, and the signal that sends of these a plurality of wireless receiving modules wireless transmitter module that can receive this controller.
9. acoustic control positioning system according to claim 8, wherein, this wireless transmitter module and the employed transmission technology of each wireless receiving module are radio frequency transmission.
10. acoustic control positioning system according to claim 8, wherein, this wireless transmitter module and the employed transmission technology of each wireless receiving module are infrared transmission.
11. an acoustic control localization method is applicable to a plurality of controlled plants of sound control, comprises step:
(A) receive voice signal;
(B) calculate time delay parameter between these a plurality of voice signals;
(C) time delay parameter that calculates according to step (B) position of orienting sound source, and adjust the voice signal that receives, make these a plurality of voice signals have identical time delay;
(D) with the noise remove of voice signal, and will come out, and judge whether isolated independent signal has and need the command signal analyzed from the Signal Separation in alternative sounds source, when command signal that needs are analyzed, then execution in step (E) if not, is then returned step (A);
(E) judge whether voice signal at this moment is an action command, if then execution in step (F) if not, is then returned step (A); With
(F) this action command is delivered to pairing controlled plant.
12. acoustic control localization method according to claim 11 wherein, in step (D), is to utilize the separate statistical property in unlike signal source to isolate different independent signals.
13. acoustic control localization method according to claim 11 wherein, in step (D), is to utilize the mode of feature extraction to judge which independent signal is a command signal.
14. acoustic control localization method according to claim 11 wherein, in step (D), is to utilize the frequency of sound to judge that just which independent signal is a command signal.
15. acoustic control localization method according to claim 11 wherein, in step (D), is to utilize the amplitude waveform of sound to judge which independent signal is a command signal.
16. acoustic control localization method according to claim 11 wherein, in step (F), is to utilize the wireless radiofrequency transmission manner that this action command is delivered to pairing controlled plant.
17. acoustic control localization method according to claim 11 wherein, in step (F), is to utilize the infrared and radio transmission manner that this action command is delivered to pairing controlled plant.
18. acoustic control localization method according to claim 11 wherein, in step (F), is to utilize the mode of wire transmission that this action command is delivered to pairing controlled plant.
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| CNA2004100545955A CN1727911A (en) | 2004-07-26 | 2004-07-26 | Acoustic control positioning system and method thereof |
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| CNA2004100545955A CN1727911A (en) | 2004-07-26 | 2004-07-26 | Acoustic control positioning system and method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101512374B (en) * | 2006-11-09 | 2012-04-11 | 松下电器产业株式会社 | Sound source position detector |
| CN104952456A (en) * | 2014-03-24 | 2015-09-30 | 联想(北京)有限公司 | Voice processing method and electronic equipment |
| CN105866741A (en) * | 2016-06-23 | 2016-08-17 | 合肥联宝信息技术有限公司 | Home control device and home control method on basis of sound source localization |
| CN107144819A (en) * | 2017-04-10 | 2017-09-08 | 北京猎户星空科技有限公司 | A kind of sound localization method, device and electronic equipment |
| CN107146614A (en) * | 2017-04-10 | 2017-09-08 | 北京猎户星空科技有限公司 | A kind of audio signal processing method, device and electronic equipment |
| US9830810B2 (en) | 2014-12-23 | 2017-11-28 | Asustek Computer Inc. | Infrared control system and operation method thereof |
| CN108028047A (en) * | 2015-06-30 | 2018-05-11 | 弗劳恩霍夫应用研究促进协会 | Method and apparatus for generating database |
| WO2020108346A1 (en) * | 2018-11-26 | 2020-06-04 | Ningbo Geely Automobile Research & Development Co., Ltd. | A system and method for managing a ventilation outlet |
-
2004
- 2004-07-26 CN CNA2004100545955A patent/CN1727911A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101512374B (en) * | 2006-11-09 | 2012-04-11 | 松下电器产业株式会社 | Sound source position detector |
| CN104952456A (en) * | 2014-03-24 | 2015-09-30 | 联想(北京)有限公司 | Voice processing method and electronic equipment |
| US9830810B2 (en) | 2014-12-23 | 2017-11-28 | Asustek Computer Inc. | Infrared control system and operation method thereof |
| CN108028047A (en) * | 2015-06-30 | 2018-05-11 | 弗劳恩霍夫应用研究促进协会 | Method and apparatus for generating database |
| US11880407B2 (en) | 2015-06-30 | 2024-01-23 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Method and device for generating a database of noise |
| CN105866741A (en) * | 2016-06-23 | 2016-08-17 | 合肥联宝信息技术有限公司 | Home control device and home control method on basis of sound source localization |
| CN107144819A (en) * | 2017-04-10 | 2017-09-08 | 北京猎户星空科技有限公司 | A kind of sound localization method, device and electronic equipment |
| CN107146614A (en) * | 2017-04-10 | 2017-09-08 | 北京猎户星空科技有限公司 | A kind of audio signal processing method, device and electronic equipment |
| CN107144819B (en) * | 2017-04-10 | 2019-11-26 | 易视星空科技无锡有限公司 | A kind of sound localization method, device and electronic equipment |
| WO2020108346A1 (en) * | 2018-11-26 | 2020-06-04 | Ningbo Geely Automobile Research & Development Co., Ltd. | A system and method for managing a ventilation outlet |
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