EP2988527A1 - System und Verfahren zur Ortung von Schallquellen in einem dreidimensionalen Raum - Google Patents

System und Verfahren zur Ortung von Schallquellen in einem dreidimensionalen Raum Download PDF

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Publication number
EP2988527A1
EP2988527A1 EP14461561.4A EP14461561A EP2988527A1 EP 2988527 A1 EP2988527 A1 EP 2988527A1 EP 14461561 A EP14461561 A EP 14461561A EP 2988527 A1 EP2988527 A1 EP 2988527A1
Authority
EP
European Patent Office
Prior art keywords
microphones
microphone
band
sub
sound
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14461561.4A
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English (en)
French (fr)
Inventor
Jacek Paczkowski
Tomasz Nalewa
Krzysztof Kramek
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Patents Factory Ltd Sp zoo
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Patents Factory Ltd Sp zoo
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Patents Factory Ltd Sp zoo filed Critical Patents Factory Ltd Sp zoo
Priority to EP14461561.4A priority Critical patent/EP2988527A1/de
Publication of EP2988527A1 publication Critical patent/EP2988527A1/de
Withdrawn legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R3/00—Circuits for transducers, loudspeakers or microphones
    • H04R3/005—Circuits for transducers, loudspeakers or microphones for combining the signals of two or more microphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
    • H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
    • H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
    • H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2201/00—Details of transducers, loudspeakers or microphones covered by H04R1/00 but not provided for in any of its subgroups
    • H04R2201/40—Details of arrangements for obtaining desired directional characteristic by combining a number of identical transducers covered by H04R1/40 but not provided for in any of its subgroups
    • H04R2201/401—2D or 3D arrays of transducers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2201/00—Details of transducers, loudspeakers or microphones covered by H04R1/00 but not provided for in any of its subgroups
    • H04R2201/40—Details of arrangements for obtaining desired directional characteristic by combining a number of identical transducers covered by H04R1/40 but not provided for in any of its subgroups
    • H04R2201/403—Linear arrays of transducers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2201/00—Details of transducers, loudspeakers or microphones covered by H04R1/00 but not provided for in any of its subgroups
    • H04R2201/40—Details of arrangements for obtaining desired directional characteristic by combining a number of identical transducers covered by H04R1/40 but not provided for in any of its subgroups
    • H04R2201/405—Non-uniform arrays of transducers or a plurality of uniform arrays with different transducer spacing

Definitions

  • the present invention relates to a system and method for detecting location of sound sources in a three-dimensional space.
  • the present invention relates to detecting an angle at which a sound source is located with respect to a linear microphone array.
  • EP2592846A1 discloses a method and an apparatus for processing signals of a spherical microphone array on a rigid sphere used for generating an Ambisonics representation of the sound field, wherein an equalisation filter is applied to the inverse microphone array response.
  • the aim of the development of the present invention is an improved, more accurate and resources cost effective system and method for detecting location of sound sources in a three-dimensional space.
  • An object of the present invention is a linear microphone array comprising a plurality of microphones wherein the microphones are located in at least two groups of at least two microphones whereas each group has a different spacing of the respective microphones.
  • the first group comprises seventeen microphones, while the remaining four groups comprise eight microphones each.
  • Another object of the present invention is a linear microphone system using three linear microphone arrays according to the first object of the present invention, the system being having first ends of all three microphone arrays, comprising the same arrangement of microphones, are in proximity or adjacent to each other; and the separate microphone arrays are positioned in different planes in three-dimensional space.
  • the other ends of the microphone arrays linearly extend on X, Y and Z axis respectively.
  • Further object of the present invention is a method for sound source localization using a microphone array, the method comprising the steps of: positioning the system according to the second object of the present invention in a detection area; assigning each group of microphones within each microphone array to a non-overlapping frequency band wherein the higher the frequency the lower the spacing of microphones; for each of the microphone arrays executing the steps of: filtering sounds from each microphone with band-pass filters into sub-bands; selecting active microphones depending on the selected sub-band that is associated with microphones spacing; selecting, for the selected active microphones and sub-band, appropriate samples wherein the higher the sub-band frequency the more samples are selected whereas sampling frequency is greater than the frequency of the sampled sub-band having the highest frequency; selecting angular sampling density based on band frequency; calculating a delay, for each value of angle ⁇ within a range of -90° to +90°, with which sound will arrive to each microphone from a given direction assuming a distance from a sound source is infinite; calculating a sample of sound for a
  • Another object of the present invention is a computer program comprising program code means for performing all the steps of the computer-implemented method according to the present invention when said program is run on a computer.
  • Another object of the present invention is a computer readable medium storing computer-executable instructions performing all the steps of the computer-implemented method according to the present invention when executed on a computer.
  • these quantities take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated in a computer system.
  • these signals are referred to as bits, packets, messages, values, elements, symbols, characters, terms, numbers, or the like.
  • a computer-readable (storage) medium typically may be non-transitory and/or comprise a non-transitory device.
  • a non-transitory storage medium may include a device that may be tangible, meaning that the device has a concrete physical form, although the device may change its physical state.
  • non-transitory refers to a device remaining tangible despite a change in state.
  • a microphone array according to the present invention comprises, as shown in Fig. 1 , a supporting body 101 and linearly, spatially located microphones 102A-L wherein the microphones are located in at least two groups 103A-C of at least two microphones whereas each group has a different spacing of the respective microphones.
  • the microphones 102 are preferably located on a straight line such that a first group of microphones comprises microphones spaced by for example 6,25mm, the second group of microphones comprises microphones spaced by for example 12,5mm, the third group of microphones comprises microphones spaced by for example 25mm, the fourth group of microphones comprises microphones spaced by for example 50mm and the fifth group of microphones comprises microphones spaced by for example 100mm. Therefore, there are five groups each comprising at least two microphones wherein spacing of respective microphones in groups is such that in subsequent group the spacing is for example twice of that of the preceding group.
  • the first group comprises 17 microphones, while the remaining four groups comprise eight microphones each.
  • This number is a preferred arrangement as shown by experiments and evaluation of response curve at different numbers of microphones in arrays.
  • Such an arrangement is due to different geometry spacing of the microphones for different sound frequencies.
  • a general rule is that the frequency bands of the microphones groups are non-overlapping and the higher the frequency the lower the spacing of microphones. Therefore, for sounds up to 1 KHz there are used 17 microphones spaced by 100 mm.
  • band 1..4kHz there may be used 17 microphones spaced by 50 mm
  • band 4..8kHz there may be used 17 microphones spaced by 25mm
  • band 8..15kHz there may be used 17 microphones spaced by 12.5 mm and for band over 15kHz there may be used 17 microphones spaced by 6.25 mm.
  • Fig. 2 shows five microphone arrays 203A - 203E according to the present invention, wherein active microphones are marked with a thick border 201 and inactive microphones are marked with a thin border 202.
  • the microphones are equally spaced on the drawing but in reality are spaced according to the spacing factor X to 16X as indicated in the figure.
  • the microphone array 203A on the bottom is configured for band up to 1 kHz
  • the microphone array 203B is configured for a band 1..4kHz
  • the microphone array 203C is configured for a band 4..8kHz
  • the microphone array 203D is configured for a band 8..15kHz
  • the microphone array 203E is configured for a band over 15kHz.
  • the configuration denotes herein a selection of particular active microphones whereas being active means that samples from this microphone will be taken into account in signal analysis.
  • a single linear microphone array according to the present invention allows for determining an angle, at which sound sources are located with respect to this linear microphone array. In order to obtain a full information regarding location of sound sources in 3D space, it is necessary to apply at least three microphone arrays.
  • the microphone arrays must be spaced for example by 90 degrees wherein first ends of all microphone arrays (comprising the same arrangement of microphones) are in proximity or adjacent to a virtual center of a circle as shown in Fig. 3A.
  • Fig. 3A shows a view in a single plane but the separate microphone arrays must be positioned in different planes in 3D space.
  • the other ends of microphone arrays linearly extend on X, Y and Z axis respectively (for example forming three edges of a cube as shown in Fig. 3B ).
  • Such a microphone system may be located in a corner of a room near the ceiling.
  • such a microphone system is able to determine location of each detected sound source by means of triangulation.
  • sampling frequency which is greater than the high frequency of the sampled band in case the frequency is specific or greater than the low frequency of the sampled band in case the band is and open range eg. above 15KHz.
  • the sampling frequency is for example 48kHz
  • the sampling frequency is for example 96kHz
  • the sampling frequency is for example 192kHz.
  • the analysis is executed in a full band, which requires a sampling frequency of 192kHz. For a band over 15kHz all samples will be analyzed, for a band in range of 8..15kHz every second sample will be analyzed while for a band below 8kHz every fourth sample will be analyzed (in order to decrease samples frequency). Similarly, all microphones will be sampled but only samples from the active microphones will be subject to sub-band analysis (in case of sampling frequency there is a different division into groups that in case of microphones spatial location).
  • Fig. 4 presents a diagram of the method according to the present invention wherein the system of Fig. 3B is applied.
  • the method starts at step 401 from filtering sounds from each microphone with band-pass filters.
  • Fig. 5 depicts an exemplary division of an acoustic band. All bands are analyzed simultaneously, therefore sampled. However, for a given sub-band analysis there are selected only microphones that are appropriate for the selected band. Samples from some microphones will be used only for a single sub-band while some other will be used for more sub-bands, for example the edge microphone, spaced by 6,25 mm from another, will be used in all sub-bands.
  • the appropriate microphones are selected at step 402.
  • Fig. 2 there are five bands into which a sub-band falls thereby defining the active microphones. For example a sub-band 12 of 10-11 KHz falls into the band 8..15kHz therefore spacing of active microphones is assumed as 203D and these microphones are appropriate for this sub-band.
  • step 403 for the selected set of microphones and sub-band there are selected appropriate samples (eg. all in case of over 15kHz band, every second sample for a band of 8..15kHz and every fourth sample for a band below 8kHz).
  • appropriate samples eg. all in case of over 15kHz band, every second sample for a band of 8..15kHz and every fourth sample for a band below 8kHz.
  • step 404 there is selected angular sampling density based on the band frequency.
  • a round angle is divided into kk sections (selection of an angle between samples).
  • step 405 For each value of angle ⁇ within a range of -90° to 90° there is, at step 405, calculated a delay, with which sound will arrive to each microphone from a given direction (it is assumed at this stage that a distance from a sound source is infinite; under such an assumption the delay of sound between microphones depends only on direction).
  • a reference point is the leftmost microphone.
  • the leftmost microphone shall be taken as a reference microphone and for sounds from the right, the rightmost microphone shall be taken as a reference microphone.
  • step 406 there is calculated a sample of sound for a given direction by adding sound of all 17 microphones taking delays into account (only 17 microphones are active regardless of the sampled frequency).
  • the delay equals 0 and for the remaining microphones it is derived from their distance to the reference microphone and the angle at which sound approaches.
  • M t is a sound sample
  • i the number of the microphone (wherein the first microphone is the reference microphone (leftmost or rightmost) and the second is the next active microphone etc.)
  • t is the number of a sound sample for the reference microphone.
  • a further step is addition of absolute values of sound samples for all directions.
  • a vector of data comprising information on signal strength arriving from each of the tested directions.
  • a sample graphical representation of the signal strength data is shown in Fig. 6 .
  • the plot 601 shows two local maxima 602, 603 that indicate two sound sources: one for an angle of about 45° and the other for an angle of about 135°.
  • the curve 601 may be filtered in order to easier find the local maxima.
  • the bottom part of the plot may be discarded as noise. It may be assumed that data for further analysis shall be above 1/3 of the maximum value.
  • angles local maxima are present. These angles are the result of identification of directions from which sound source emit sound (this process determines direction for a single microphone array), step 408.
  • the method according to the present invention allows for detection of an angle at which a sound source is present with respect to a microphone array. Since the quality of detection depends on microphones placement and sound frequencies, it is necessary to apply division into sub-bands and selection of microphones for each sub-band. Three such microphone arrays allow to detect a sound source in a three-dimensional space with respect to the microphone system.
  • a final sound source location may be determined.
  • Fig. 8 shows an installation of the system in a room
  • one microphone array is parallel to the floor in X axis and the angle it detects is alpha.
  • the second microphone array is also parallel to the floor but in the Y axis and the angle it detects is beta.
  • the third microphone array is perpendicular to the floor and hence the other microphone arrays and the angle it detects is gamma.
  • the alpha, beta and gamma angles point a location in 3D space from which sound arrives. The zero point is the location of the microphone arrays system.
  • Each of the alpha, beta, gamma angles denotes a plane in a 3D space whereas the planes intersect at a point wherein the sound source is located.
  • Fig. 7 presents a diagram of the system according to the present invention.
  • the system comprises the microphone array arrangement 702 shown in Fig. 3 and an appropriate sampling module 703 managed by a controller 705.
  • the system may be realized using dedicated components or custom made FPGA or ASIC circuits.
  • the system comprises a data bus 701 communicatively coupled to a memory 704. Additionally, other components of the system are communicatively coupled to the system bus 701 so that they may be managed by the controller 705.
  • the memory 704 may store computer program or programs executed by the controller 705 in order to execute steps of the method according to the present invention.
  • controller 705 is configured to executed step of the method described with reference to Fig. 4 .
  • the present invention results in a useful determination of sound location that may for example be used in surveillance systems. Such results are concrete and tangible thus not abstract. Therefore, the invention provides a useful, concrete and tangible result.
  • data acquired by different microphones are processed within a dedicated machine. Hence, the machine or transformation test is fulfilled and that the invention is not abstract.
  • the aforementioned method for detecting location of sound sources in a three-dimensional space may be performed and/or controlled by one or more computer programs.
  • Such computer programs are typically executed by utilizing the computing resources in a computing device.
  • Applications are stored on a non-transitory medium.
  • An example of a non-transitory medium is a non-volatile memory, for example a flash memory or volatile memory, for example RAM.
  • the computer instructions are executed by a processor.
  • These memories are exemplary recording media for storing computer programs comprising computer-executable instructions performing all the steps of the computer-implemented method according the technical concept presented herein.

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  • Health & Medical Sciences (AREA)
  • Otolaryngology (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • General Health & Medical Sciences (AREA)
  • Circuit For Audible Band Transducer (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
EP14461561.4A 2014-08-21 2014-08-21 System und Verfahren zur Ortung von Schallquellen in einem dreidimensionalen Raum Withdrawn EP2988527A1 (de)

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Application Number Priority Date Filing Date Title
EP14461561.4A EP2988527A1 (de) 2014-08-21 2014-08-21 System und Verfahren zur Ortung von Schallquellen in einem dreidimensionalen Raum

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EP14461561.4A EP2988527A1 (de) 2014-08-21 2014-08-21 System und Verfahren zur Ortung von Schallquellen in einem dreidimensionalen Raum

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10455321B2 (en) 2017-04-28 2019-10-22 Qualcomm Incorporated Microphone configurations
EP3852387A1 (de) * 2020-01-16 2021-07-21 Nederlandse Organisatie voor toegepast- natuurwetenschappelijk Onderzoek TNO Schallerfassungsvorrichtung
US11297426B2 (en) 2019-08-23 2022-04-05 Shure Acquisition Holdings, Inc. One-dimensional array microphone with improved directivity
US11297423B2 (en) 2018-06-15 2022-04-05 Shure Acquisition Holdings, Inc. Endfire linear array microphone
US11302347B2 (en) 2019-05-31 2022-04-12 Shure Acquisition Holdings, Inc. Low latency automixer integrated with voice and noise activity detection
US11303981B2 (en) 2019-03-21 2022-04-12 Shure Acquisition Holdings, Inc. Housings and associated design features for ceiling array microphones
US11310596B2 (en) 2018-09-20 2022-04-19 Shure Acquisition Holdings, Inc. Adjustable lobe shape for array microphones
US11310592B2 (en) 2015-04-30 2022-04-19 Shure Acquisition Holdings, Inc. Array microphone system and method of assembling the same
US11438691B2 (en) 2019-03-21 2022-09-06 Shure Acquisition Holdings, Inc. Auto focus, auto focus within regions, and auto placement of beamformed microphone lobes with inhibition functionality
US11445294B2 (en) 2019-05-23 2022-09-13 Shure Acquisition Holdings, Inc. Steerable speaker array, system, and method for the same
US11523212B2 (en) 2018-06-01 2022-12-06 Shure Acquisition Holdings, Inc. Pattern-forming microphone array
US11552611B2 (en) 2020-02-07 2023-01-10 Shure Acquisition Holdings, Inc. System and method for automatic adjustment of reference gain
US11558693B2 (en) 2019-03-21 2023-01-17 Shure Acquisition Holdings, Inc. Auto focus, auto focus within regions, and auto placement of beamformed microphone lobes with inhibition and voice activity detection functionality
US11678109B2 (en) 2015-04-30 2023-06-13 Shure Acquisition Holdings, Inc. Offset cartridge microphones
US11706562B2 (en) 2020-05-29 2023-07-18 Shure Acquisition Holdings, Inc. Transducer steering and configuration systems and methods using a local positioning system
US11785380B2 (en) 2021-01-28 2023-10-10 Shure Acquisition Holdings, Inc. Hybrid audio beamforming system

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Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11832053B2 (en) 2015-04-30 2023-11-28 Shure Acquisition Holdings, Inc. Array microphone system and method of assembling the same
US11678109B2 (en) 2015-04-30 2023-06-13 Shure Acquisition Holdings, Inc. Offset cartridge microphones
US11310592B2 (en) 2015-04-30 2022-04-19 Shure Acquisition Holdings, Inc. Array microphone system and method of assembling the same
US10455321B2 (en) 2017-04-28 2019-10-22 Qualcomm Incorporated Microphone configurations
US11523212B2 (en) 2018-06-01 2022-12-06 Shure Acquisition Holdings, Inc. Pattern-forming microphone array
US11800281B2 (en) 2018-06-01 2023-10-24 Shure Acquisition Holdings, Inc. Pattern-forming microphone array
US11770650B2 (en) 2018-06-15 2023-09-26 Shure Acquisition Holdings, Inc. Endfire linear array microphone
US11297423B2 (en) 2018-06-15 2022-04-05 Shure Acquisition Holdings, Inc. Endfire linear array microphone
US11310596B2 (en) 2018-09-20 2022-04-19 Shure Acquisition Holdings, Inc. Adjustable lobe shape for array microphones
US11303981B2 (en) 2019-03-21 2022-04-12 Shure Acquisition Holdings, Inc. Housings and associated design features for ceiling array microphones
US11778368B2 (en) 2019-03-21 2023-10-03 Shure Acquisition Holdings, Inc. Auto focus, auto focus within regions, and auto placement of beamformed microphone lobes with inhibition functionality
US11438691B2 (en) 2019-03-21 2022-09-06 Shure Acquisition Holdings, Inc. Auto focus, auto focus within regions, and auto placement of beamformed microphone lobes with inhibition functionality
US11558693B2 (en) 2019-03-21 2023-01-17 Shure Acquisition Holdings, Inc. Auto focus, auto focus within regions, and auto placement of beamformed microphone lobes with inhibition and voice activity detection functionality
US11445294B2 (en) 2019-05-23 2022-09-13 Shure Acquisition Holdings, Inc. Steerable speaker array, system, and method for the same
US11800280B2 (en) 2019-05-23 2023-10-24 Shure Acquisition Holdings, Inc. Steerable speaker array, system and method for the same
US11302347B2 (en) 2019-05-31 2022-04-12 Shure Acquisition Holdings, Inc. Low latency automixer integrated with voice and noise activity detection
US11688418B2 (en) 2019-05-31 2023-06-27 Shure Acquisition Holdings, Inc. Low latency automixer integrated with voice and noise activity detection
US11750972B2 (en) 2019-08-23 2023-09-05 Shure Acquisition Holdings, Inc. One-dimensional array microphone with improved directivity
US11297426B2 (en) 2019-08-23 2022-04-05 Shure Acquisition Holdings, Inc. One-dimensional array microphone with improved directivity
WO2021145769A1 (en) 2020-01-16 2021-07-22 Nederlandse Organisatie Voor Toegepast- Natuurwetenschappelijk Onderzoek Tno Sound detection device
EP3852387A1 (de) * 2020-01-16 2021-07-21 Nederlandse Organisatie voor toegepast- natuurwetenschappelijk Onderzoek TNO Schallerfassungsvorrichtung
US11552611B2 (en) 2020-02-07 2023-01-10 Shure Acquisition Holdings, Inc. System and method for automatic adjustment of reference gain
US11706562B2 (en) 2020-05-29 2023-07-18 Shure Acquisition Holdings, Inc. Transducer steering and configuration systems and methods using a local positioning system
US11785380B2 (en) 2021-01-28 2023-10-10 Shure Acquisition Holdings, Inc. Hybrid audio beamforming system

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