CN206559473U - A kind of image collecting device and intelligent robot - Google Patents
A kind of image collecting device and intelligent robot Download PDFInfo
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- CN206559473U CN206559473U CN201720150315.3U CN201720150315U CN206559473U CN 206559473 U CN206559473 U CN 206559473U CN 201720150315 U CN201720150315 U CN 201720150315U CN 206559473 U CN206559473 U CN 206559473U
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Abstract
A kind of image collecting device and intelligent robot, wherein, the image collecting device includes：Microphone array, it is configured to generate corresponding audio electrical signal according to the acoustic signals got；Auditory localization circuit, it is connected with microphone array, its be configured to according to microphone array transmission come audio electrical signal determine sound source position information；Full-view camera, it is connected with auditory localization circuit, and it is configured to be rotated the main perspective of itself turning to sound source correspondence direction according to sound source position information.The image collecting device can be positioned to the sound source for sending sound, and highlighted the associated picture of sound source according to auditory localization result, compared to existing image collecting device, image collecting device provided by the utility model enables to user more easily to recognize the sensitive information in interactive environment, so as to improve the video interactive experience of user.
Description
Technical field
The utility model is related to acquisition technology field, specifically, is related to a kind of image collecting device and intelligent machine
Device people.
Background technology
With the raising of image sensor performance, people can obtain more and more clear and stream by image collecting device
Smooth video image.However, for existing image collecting device, it is typically the camera lens according to image collecting device
Fix direction to obtain the image of designated area and shown, when designated area is excessive, user can not often get certainly
The detail image of body area-of-interest, this also may cause user to miss some effective informations in interaction.
Utility model content
To solve the above problems, the utility model provides a kind of image collecting device, it includes：
Microphone array, it is configured to generate corresponding audio electrical signal according to the acoustic signals got；
Auditory localization circuit, it is connected with the microphone array, its be configured to according to the microphone array transmission come
Audio electrical signal determine sound source position information；
Full-view camera, it is connected with the auditory localization circuit, and it is configured to be carried out according to the sound source position information
Rotate the main perspective of itself turning to sound source correspondence direction.
According to one embodiment of the present utility model, described image harvester also includes：
Image display, it is connected with the full-view camera, and it is configured to the main view for showing the full-view camera
Angle image.
According to one embodiment of the present utility model, the microphone array includes multiple microphone units, the multiple
Microphone unit be distributed in the panoramic shooting head plane it is linear on.
According to one embodiment of the present utility model, the microphone array includes multiple microphone units, the multiple
Microphone unit is distributed in space on the same annulus of the full-view camera.
According to one embodiment of the present utility model, the multiple microphone unit equidistantly distributed on annulus.
According to one embodiment of the present utility model, the full-view camera is arranged in the center position of the annulus.
The utility model additionally provides a kind of intelligent robot, and it includes the image collector described in any one as described above
Put.
According to one embodiment of the present utility model, the microphone array and full-view camera are arranged on the intelligent machine
The head of device people.
Image collecting device provided by the utility model can be positioned to the sound source for sending sound, and according to sound source
Positioning result is highlighted the associated picture of sound source, compared to existing image collecting device, the utility model institute
The image collecting device of offer enables to user more easily to recognize the sensitive information in interactive environment, so as to improve use
The video interactive experience at family.
Other features and advantages of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages can pass through
Specifically noted structure is realized and obtained in specification, claims and accompanying drawing.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing required in description of the prior art does simple introduction：
Fig. 1 is the structural representation of the image collecting device according to the utility model one embodiment；
Fig. 2 is to commonly use schematic diagram of a scenario according to the application of the intelligent robot of the utility model one embodiment；
Fig. 3 is to commonly use schematic diagram of a scenario according to the application of the intelligent robot of the utility model another embodiment；
Fig. 4 is to commonly use schematic diagram of a scenario according to the application of the intelligent robot of the utility model further embodiment.
Embodiment
Embodiment of the present utility model is described in detail below with reference to drawings and Examples, whereby to the utility model
How application technology means solve technical problem, and reach the implementation process of technique effect and can fully understand and implement according to this.
As long as it should be noted that not constituting each feature in each embodiment and each embodiment in conflict, the utility model
It can be combined with each other, the technical scheme formed is within protection domain of the present utility model.
Meanwhile, in the following description, many details are elaborated for illustrative purposes, it is new to this practicality to provide
The thorough understanding of type embodiment.It will be apparent, however, to one skilled in the art, that the utility model can be without
Here detail or described ad hoc fashion is implemented.
The problem of being merely able to regularly gather the image of a direction for existing image collecting device, the utility model
There is provided a kind of new image collecting device and a kind of intelligent robot for being provided with above-mentioned image collecting device.Wherein, Fig. 1
Show the structural representation of the image collecting device of this in the present embodiment.
As shown in figure 1, the image collecting device that the present embodiment is provided is preferably included：Microphone array 101, sound source are fixed
Position circuit 102, full-view camera 103 and image display 104.Wherein, microphone array 101 can obtain sound wave letter
Number, and the acoustic signals got are converted into corresponding audio electrical signal, so as to realize the sound-electric conversion of signal.
In the present embodiment, microphone array 101 preferably includes four microphone units, wherein, each microphone unit
Independently it can generate corresponding audio electrical signal according to the acoustic signals got.It is pointed out that new in this practicality
In the other embodiment of type, the quantity for the microphone unit that microphone array 101 is included can be configured to according to actual needs
Other reasonable values, the utility model not limited to this.
Auditory localization circuit 102 is electrically connected with microphone array 101, its can be transmitted according to microphone array 101 come
Audio electrical signal determine the sound source position information of the sound source for sending above-mentioned acoustic signals.Auditory localization circuit 102 and panorama
Camera 103 is electrically connected, and it can be by the sound source position information transfer itself generated to full-view camera 103.
In the present embodiment, full-view camera 103 preferably includes image sensor cell and angle regulating unit, wherein,
Image sensor cell is arranged in angle regulating unit, and angle regulating unit is electrically connected with auditory localization circuit 102.Angle is adjusted
Section unit receive auditory localization circuit 102 transmit come auditory localization information after, understand according to the auditory localization information come
Direction to image sensor cell is adjusted, and the main perspective of image sensor cell is turned to the side corresponding to sound source
To such image sensor unit also can just get the associated picture corresponding to sound source on direction, that is, obtain panoramic shooting
The main perspective image of head.
As shown in figure 1, the image collecting device provided in the present embodiment preferably also includes image display
104.Wherein, image display 104 is connected with full-view camera 103, and it can show the main perspective figure of full-view camera 103
Picture.
It is pointed out that in other embodiment of the present utility model, according to actual needs, image collecting device may be used also
Not configure image display, the utility model not limited to this.
Existing auditory localization technology mainly includes controllable ripple formation technology and high-resolution based on peak power output
Power estimation technology.Wherein, based on peak power output controllable ripple formation technology basic thought be by each array element collection come
Signal is weighted summation and forms wave beam, and the wave beam is guided by searching for the possible position of sound source, and modification weights cause audio
The power of the output signal of sensor array is maximum.
In the present embodiment, auditory localization circuit 102, which is preferably used, reaches that time difference method comes in multi-modal input data
Audio-frequency information carry out auditory localization.Specifically, when a neighbouring sound source of microphone array 101 sends sound wave, microphone
Multiple microphone units included in array 101 will be respectively received above-mentioned sound wave.Due to the installation of each microphone unit
Position is different, therefore the sound wave that above-mentioned sound source is sent reaches that the time of each microphone unit also there will be difference.
For the image collecting device that the present embodiment is provided, its microphone array 101 and full-view camera 103 are excellent
Selection of land is arranged on the head of intelligent robot.Specifically, the microphone unit that microphone array 101 is included can be distributed in entirely
The plane of scape camera 103 it is linear on, i.e., the microphone wind unit that microphone array 101 is included is distributed in same straight line
On.
Fig. 2 shows an application scenarios of the intelligent robot that the present embodiment is provided.As shown in Fig. 2 meeting place
Be distributed with 105 multiple seats (such as seat A, seat B, seat C, seat D ...).When user's hair on a certain seat
Yan Shi, its sound wave sent reaches each microphone unit and acquired in each microphone unit in microphone array 101.
Time that each microphone unit in microphone array 101 is reached due to sound wave it is different (such as during user's speech on seat A,
Its sound wave sent will reach the microphone unit of the leftmost side in microphone array 101 at first, then gradually arrive from left to right
Up to follow-up microphone unit), and this species diversity will also embody in the audio electrical signal that each microphone unit is generated.
Auditory localization circuit 102 is connected with each microphone unit in microphone array 101, and it can be according to microphone
Each microphone unit transmits next audio electrical signal to determine sound source position information in array 101.Specifically, this implementation
In example, auditory localization circuit 102 can be transmitted according to each microphone unit come time difference of audio electrical signal determine
Go out Sounnd source direction, so as to realize the auditory localization to audio signal.
It is pointed out that in other embodiment of the present utility model, auditory localization circuit 102 can also use other
Reasonable manner come transmitted according to each microphone unit in microphone array 101 come audio electrical signal determine sound source
Positional information, the utility model not limited to this.For example, in one embodiment of the present utility model, auditory localization circuit 102 is also
Above-mentioned sound source position can be determined using the location technology such as based on space or based on the location technology of steerable beam formation
Information.
Certainly, in other embodiment of the present utility model, image collecting device can also use other rational deployment sides
Formula is arranged on intelligent robot, the utility model not limited to this.For example, in one embodiment of the present utility model, figure
As the microphone array 101 and full-view camera 103 in harvester can also by the way of such as Fig. 3 or as shown in Figure 4 come
Configured.
As shown in Figure 3 and Figure 4, microphone array 103 is distributed in space on the same annulus of full-view camera 103,
And full-view camera 103 is then located at the center position of the annulus.For the application scenarios shown in Fig. 3, in meeting place
Seat be located at the both sides of image collecting device respectively, such microphone array can equally get the user on each seat
The acoustic signals sent, and the main perspective of itself can also be turned to corresponding sound source by full-view camera by rotating
Direction.And for the application scenarios shown in Fig. 4, meeting place is then a circle, above-mentioned image collecting device then position
In the center of the circle, such image collecting device actively can equally adjust the main view angular direction of itself to sound source side
To.
It is pointed out that in other embodiment of the present utility model, full-view camera 103 can also be using other conjunctions
The mode of reason realizes, the utility model not limited to this.For example in one embodiment of the present utility model, full-view camera
103 can also be realized using that can gather the camera in 360 ° of directions simultaneously, and such panorama full-view camera 103 also just can be with
Arrangement angles adjustment unit is not needed, but is directly extracted from 360 ° itself got of panoramic picture and corresponds to sound source side
Upward image obtains main perspective image.
As can be seen that image collecting device provided by the utility model can be to sending the sound of sound from foregoing description
Source is positioned, and is highlighted the associated picture of sound source according to auditory localization result, compared to existing image
Harvester, image collecting device provided by the utility model enables to user more easily to recognize in interactive environment
Sensitive information so that improve user video interactive experience.
When in applied to minutes scene, image collecting device provided by the utility model can utilize microphone
Array and sound source positioning circuit are positioned to spokesman on one's own initiative, and obtain using full-view camera the correlation of spokesman
Image, so that participant being capable of associated picture that is clearer, quickly seeing spokesman.Similarly, when application is regarded
When in frequency interaction scenarios, image collecting device provided by the utility model can equally effectively improve the video interactive body of user
Test.
When in applied to monitoring camera scene, image collecting device provided by the utility model can be to abnormal sound
Sound carries out quickly positioning and the image to sound source position carries out automatic capture, so as to contribute to monitoring personnel more accurate and effective
Ground is monitored to target place.
It should be understood that embodiment disclosed in the utility model is not limited to specific structure disclosed herein, and answer
When the equivalent substitute for extending to these features that those of ordinary skill in the related art are understood.It is to be further understood that herein
The term used only its purpose for being configured to describe specific embodiment, and be not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means special characteristic, the structure described in conjunction with the embodiments
Or characteristic is included at least one embodiment of the present utility model.Therefore, the phrase " one that specification various places throughout occurs
Individual embodiment " or " embodiment " might not refer both to same embodiment.
Although it is configured to illustrate principle of the utility model in one or more applications above-mentioned example, for ability
For the technical staff in domain, in the case of without departing substantially from principle of the present utility model and thought, hence it is evident that can in form, usage
And implement details on various modifications may be made and without paying creative work.Therefore, the utility model is by appended claim
Book is limited.
Claims (8)
1. a kind of image collecting device, it is characterised in that including：
Microphone array, it is configured to generate corresponding audio electrical signal according to the acoustic signals got；
Auditory localization circuit, it is connected with the microphone array, its be configured to according to the microphone array transmit come sound
Frequency electric signal determines sound source position information；
Full-view camera, it is connected with the auditory localization circuit, and it is configured to be rotated according to the sound source position information
So that the main perspective of itself is turned into sound source correspondence direction.
2. image collecting device as claimed in claim 1, it is characterised in that also include：
Image display, it is connected with the full-view camera, and it is configured to the main perspective figure for showing the full-view camera
Picture.
3. image collecting device as claimed in claim 1 or 2, it is characterised in that the microphone array includes multiple Mikes
Wind unit, the multiple microphone unit be distributed in the panoramic shooting head plane it is linear on.
4. image collecting device as claimed in claim 1 or 2, it is characterised in that the microphone array includes multiple Mikes
Wind unit, the multiple microphone unit is distributed in space on the same annulus of the full-view camera.
5. image collecting device as claimed in claim 4, it is characterised in that the multiple microphone unit is in first-class of annulus
Away from distribution.
6. image collecting device as claimed in claim 5, it is characterised in that the full-view camera is arranged in the annulus
Center position.
7. a kind of intelligent robot, it is characterised in that including image collecting device such as according to any one of claims 1 to 6.
8. intelligent robot as claimed in claim 7, it is characterised in that the microphone array and full-view camera are arranged on
The head of the intelligent robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720150315.3U CN206559473U (en) | 2017-02-20 | 2017-02-20 | A kind of image collecting device and intelligent robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720150315.3U CN206559473U (en) | 2017-02-20 | 2017-02-20 | A kind of image collecting device and intelligent robot |
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| Publication Number | Publication Date |
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| CN206559473U true CN206559473U (en) | 2017-10-13 |
Family
ID=60010469
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| CN201720150315.3U Active CN206559473U (en) | 2017-02-20 | 2017-02-20 | A kind of image collecting device and intelligent robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109089087A (en) * | 2018-10-18 | 2018-12-25 | 广州市盛光微电子有限公司 | The audio-visual linkage of multichannel |
| CN109614960A (en) * | 2019-01-21 | 2019-04-12 | 莆田学院 | A kind of image acoustic array and three-dimensional space noise positioning device and method |
| CN109877842A (en) * | 2017-12-06 | 2019-06-14 | 湘潭宏远电子科技有限公司 | A kind of robot interactive system |
| CN110557554A (en) * | 2018-06-01 | 2019-12-10 | 深圳市冠旭电子股份有限公司 | Image switching device and system |
| CN110858883A (en) * | 2018-08-24 | 2020-03-03 | 深圳市冠旭电子股份有限公司 | Intelligent sound box and use method thereof |
| CN111142070A (en) * | 2018-11-02 | 2020-05-12 | 广州灵派科技有限公司 | Sound source-based tracking system, tracking method and video system |
| CN112153538A (en) * | 2020-09-24 | 2020-12-29 | 京东方科技集团股份有限公司 | Display device, panoramic sound implementation method thereof and nonvolatile storage medium |
| CN112311999A (en) * | 2019-07-26 | 2021-02-02 | 上海龙旗科技股份有限公司 | Intelligent video sound box device and camera visual angle adjusting method thereof |
-
2017
- 2017-02-20 CN CN201720150315.3U patent/CN206559473U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877842A (en) * | 2017-12-06 | 2019-06-14 | 湘潭宏远电子科技有限公司 | A kind of robot interactive system |
| CN110557554A (en) * | 2018-06-01 | 2019-12-10 | 深圳市冠旭电子股份有限公司 | Image switching device and system |
| CN110557554B (en) * | 2018-06-01 | 2023-04-18 | 深圳市冠旭电子股份有限公司 | Image switching device and system |
| CN110858883A (en) * | 2018-08-24 | 2020-03-03 | 深圳市冠旭电子股份有限公司 | Intelligent sound box and use method thereof |
| CN109089087A (en) * | 2018-10-18 | 2018-12-25 | 广州市盛光微电子有限公司 | The audio-visual linkage of multichannel |
| CN111142070A (en) * | 2018-11-02 | 2020-05-12 | 广州灵派科技有限公司 | Sound source-based tracking system, tracking method and video system |
| CN109614960A (en) * | 2019-01-21 | 2019-04-12 | 莆田学院 | A kind of image acoustic array and three-dimensional space noise positioning device and method |
| CN112311999A (en) * | 2019-07-26 | 2021-02-02 | 上海龙旗科技股份有限公司 | Intelligent video sound box device and camera visual angle adjusting method thereof |
| CN112153538A (en) * | 2020-09-24 | 2020-12-29 | 京东方科技集团股份有限公司 | Display device, panoramic sound implementation method thereof and nonvolatile storage medium |
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