EP3843419A1 - Procédé de commande d'un réseau de microphones et dispositif de commande d'un réseau de microphone - Google Patents

Procédé de commande d'un réseau de microphones et dispositif de commande d'un réseau de microphone Download PDF

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Publication number
EP3843419A1
EP3843419A1 EP20209487.6A EP20209487A EP3843419A1 EP 3843419 A1 EP3843419 A1 EP 3843419A1 EP 20209487 A EP20209487 A EP 20209487A EP 3843419 A1 EP3843419 A1 EP 3843419A1
Authority
EP
European Patent Office
Prior art keywords
directional characteristic
opening angle
sound
width
microphone
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.)
Granted
Application number
EP20209487.6A
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German (de)
English (en)
Other versions
EP3843419B1 (fr
Inventor
Alexander Krüger
Renato Pellegrini
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sennheiser Electronic GmbH and Co KG
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Sennheiser Electronic GmbH and Co KG
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Publication of EP3843419A1 publication Critical patent/EP3843419A1/fr
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Publication of EP3843419B1 publication Critical patent/EP3843419B1/fr
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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
    • 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
    • H04R1/326—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only for 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
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
    • H04R2430/23—Direction finding using a sum-delay beam-former

Definitions

  • the invention relates to a method for controlling a microphone array.
  • the invention also relates to a device for controlling a microphone array.
  • WO2019 / 211487A1 proposed a microphone arrangement which consists of a circular arrangement of shotgun microphones that point radially outward. Because no time-variable control of the sound beam along the dimension perpendicular to the detection plane is required for flat acoustic detection areas, the directivity of the microphones is used directly as a fixed directional effect in relation to this dimension. With regard to the dimension of the plane, however, such an array enables time-variant acoustic beam steering with an almost unchangeable beam pattern (beam pattern) in all directions.
  • a typical example of such a large planar detection area combined with a high level of background noise is the recording of individual ball-kicking noises or the referee's whistle during a soccer game. For such a task is the possible Detection area of the soccer field.
  • a football stadium there is typically a high level of background noise during a game, which emanates mainly from the stands around the field of play.
  • a special feature of ball sports in general is the fact that both the ball and the players usually move very quickly and therefore a high speed is required for the beam steering in order to be able to detect the noise of the ball kicking.
  • the microphone array should not be positioned on the field, but can, for. B. are located on the edge of the field.
  • an automatic tracking system (tracking system, tracker) supplies position and speed data of various target objects, which are referred to as tracking data.
  • tracking data The most important target in this context is the ball.
  • the tracking data has a delay (latency) and an uncertainty of that delay.
  • the tracking data for controlling the beam direction are usually provided with a certain latency, which is caused, for example, by image processing algorithms used in the context of visual tracking or by the transmission of the tracking data itself from the tracking system to the microphone array.
  • a certain latency is caused, for example, by image processing algorithms used in the context of visual tracking or by the transmission of the tracking data itself from the tracking system to the microphone array.
  • the latency of the tracking data is time-invariant and, more importantly, is usually not precisely known.
  • tracking systems can usually not specify the exact position of the tracked objects, but can only specify the position with a certain positional accuracy, for example in the form of a confidence interval.
  • the propagation of sound is associated with a delay.
  • the sound needs a certain time to propagate from the object triggering the sound event to the microphone arrangement.
  • this effect can be viewed as a kind of "negative latency" with regard to the tracking data processing, for which the beam control has to wait until the sound corresponding to a certain position has arrived at the microphone array.
  • the "negative latency" is variable over time due to the sound propagation, because it corresponds to the distance between the sound object and the microphone array.
  • German Patent and Trademark Office researched the following documents in the priority German patent application: US 6,914,854 B1 and EP 2 942 975 A1 .
  • Claim 8 relates to a computer-readable data carrier with instructions stored thereon which are suitable for programming a computer or processor in such a way that it executes the steps of the method. Further advantageous embodiments are described in claims 2-7 and 10-12.
  • the latency (including the latency uncertainty) of the tracking data and the sound propagation are taken into account by changing the width of the steered audio beam (beam) over time so that the beam is still as narrow as possible, but as wide as necessary, around the desired Object sound certainly completely closed capture.
  • the beam width depends on the following parameters: the tracking data, ie the speed of the moving object and its distance from the microphone array, as well as the time taken until the tracking data arrives (tracking latency).
  • Fig. 1 shows a sketched sequence of position measurement, sound event and arrival of the sound at the microphone array using the example of a soccer game.
  • Fig. 1 a the position of a ball 10 on a playing field and its speed along the trajectory Tr 0 on which the ball is moving is determined by an automatic video tracking system at a first point in time t TR. However, its tracking data is not yet available at this point in time. Outside the field of play, e.g. B. behind a goal 30, there is a microphone array 40.
  • the video tracking system can also measure positions and speeds of players 20 or the referee.
  • Fig. 1 b At a second, initially unknown point in time t E, the player 20 hits the ball 10, a sound event occurring, the sound waves 50 of which are to be picked up by the microphone array 40.
  • the ball changes its movement and follows e.g. B. the new trajectory Tr 1 .
  • the sound waves take some time to arrive at the microphone array.
  • the microphone array 40 therefore aligns its directional characteristic accordingly in order to pick up the sound waves 50 of the sound event in a targeted manner.
  • the beam can be steered with practically no delay.
  • the beam formation can alternatively take place in an external computer or processor. This then receives the tracking data from the tracker and the audio data from the microphone array.
  • the tracking data relate to a position of the ball at time t TR , while the sound waves originate from the sound event at time t E. If the time of the sound propagation corresponds to the tracking latency, as in the case described above, the tracking data and the sound match. Otherwise, the sound event will be generated at an earlier or later point in time and thus at a different position. Since the position, the trajectory Tr 0 (ie the direction of movement) and the speed of the ball at the time t TR are known from the tracking data, and the tracking latency and the tracking accuracy are known or can at least be estimated, the ball position can be used for Time t E can be calculated or estimated. The beam can then be made so wide that the location of the sound event at time t E is also recorded.
  • r MAX v S * d TRACK (with the speed of sound v S and the tracking latency d TRACK ).
  • the array therefore already receives the information at the time t 0 as to where it should sensibly orient itself at the later time ts in order, if necessary, to capture the sound of the sound event or the acoustic object. This information is therefore suitably temporarily stored between the times t 0 and ts.
  • the acoustic beam for reported positions with a distance of r MAX or greater can be made as narrow as possible, and in particular narrower than with conventional microphone arrays.
  • the width of the acoustic beam can also be controlled adaptively in order to take these uncertainties into account. In general, it then makes sense to enlarge the beam width the more rapidly the object that generates the sound moves and the smaller the distance between the object and the array.
  • Fig. 2 shows a plan view of a playing field in a first situation.
  • the aim is to detect a ball kick noise by a microphone arrangement which is located at a point P Ar, for example 3 m behind the goal 30.
  • the direction in which the ball is moving is not necessarily known. It is also known that the tracking system has a latency d TRACK that z. B. 0.1s.
  • the ball After the tracking time t TR , the ball is hit by a player at the event time t E , the sound event to be recorded being the ball-kicking sound, which is deflected in the process.
  • Fig. 2 three different possible trajectories of the ball are shown by different trajectories Tr 1 , Tr 2 , Tr 3 , in which the ball kicking noise takes place at different points and the sound of the ball kicking noise, taking into account the sound propagation through the air, at time to am Array arrives. It is assumed here that the ball has the same speed v BALL on all three possible trajectories.
  • the corresponding positions where the ball can be kicked are denoted by p 1, K , p 2, K and p 3, K.
  • a challenge for beam width control is therefore to fully capture the sound of the ball kicking noise while maintaining the narrowest possible beam to avoid the ambient sound, e.g. B. to suppress the diffuse noise of the audience stands as well as possible.
  • FIG Fig. 2 For this purpose, at the point in time to when the tracking data arrives, first of all the area B Tr of the possible true ball position at the tracking point in time t TR is constructed, which is shown in FIG Fig. 2 is represented by a dashed circle. Its radius r Tr of z. B. 3 m results from the ball movement, starting from the tracking position p TR , for the duration of the tracking latency d TRACK at a speed of v BALL .
  • a simple choice of the beam width could be as narrow as possible to close the dashed circle capture. However, this method would overestimate the actual required beam width and thus be unnecessarily inaccurate.
  • vs is the speed of sound and r is the distance from the microphone array to the tracking position
  • the area B real of the possible ball position becomes smaller when the distance from the tracking position p TR to the array increases, when the ball speed v BALL decreases , or when the maximum latency of the tracker decreases.
  • the tracking accuracy can also be included in the control of the beam width, the beam width having to be increased the more inaccurately the tracking is.
  • the smaller the calculated area B real of the possible ball position the smaller the beam width and the less ambient noises are unintentionally recorded.
  • the increased focusing according to the invention therefore leads to an improved audio signal quality.
  • Fig. 3 shows a plan view of a playing field in a second situation.
  • the distance r 'from the tracking position p' TR to the array P Ar is greater here.
  • the tracking latency d TRACK is the same, so that the real area B 'of the possible ball position is smaller than in FIG Fig. 2 , while the conventionally (without considering the sound propagation) calculated area B ' Tr of the possible ball position remains unchanged.
  • the result is an angle of ⁇ ' ⁇ 23 °.
  • a basic idea of the proposed beam width control is that from the occurrence of the sound event at the sound source to the point in time at which the sound reaches the microphone array, a certain time has already passed during which the sound source has already moved on.
  • Fig. 4 shows, in one embodiment of the invention, a block diagram of a device according to the invention.
  • the device 200 contains a first input interface 210 for position information, which contains at least the position p TR and the speed of a moving object 10 and can come from a tracking system, as well as a second input interface 220 with several inputs for microphone signals AS in, 1 , ... , AS in, N , which come from several microphone capsules.
  • the device 200 contains a calculation unit 230 for calculating a directional characteristic from the plurality Microphone signals by means of beamforming (beamforming), the directional characteristic having at least one preferred direction of high sensitivity corresponding to the position information.
  • beamforming beamforming
  • the directional characteristic or the beam can thus be aligned with the position obtained by the tracking system in order to record the sound arriving from this direction.
  • the calculation unit 230 recalculates the directional characteristic at least for each newly arriving position information item. For example, updated position information can be received from the tracking system at regular intervals of, for example, 40 ms to a maximum of 100 ms.
  • the distance r between the tracking position and the position of the microphone array is taken into account by forming a beam that is as narrow as possible for large distances r> r MAX, as described above.
  • Known methods are used for this purpose, e.g. B. Delay, superimposition and filtering of the microphone signals.
  • the width or the opening angle (azimuth angle) of the directional characteristic is variable and depends on the speed of the moving object 10. In this case, a higher speed of the moving object 10 leads to a greater width or a greater opening angle of the directional characteristic.
  • the minimum width or the minimum opening angle of the directional characteristic is achieved, which is then also not undershot (eg 5 ° -10 °).
  • the variable directional characteristic can be achieved by z. B.
  • the filters can be modified in a filter-and-sum beamformer. For this purpose, changed filter coefficients can be used, which can be called up from a memory 235 in which they are stored.
  • the delay values for the individual microphone signals can be modified.
  • delay values that are appropriate for the direction can also be retrieved from the memory 235.
  • other values can be changed that determine the beam width or the aperture angle, e.g. B. Weighting factors for ambisonic signals in a modal beamformer.
  • Fig. 5 shows, in one embodiment of the invention, a flow chart of a method according to the invention. It is an automatically executed method 100 for controlling a microphone array 40.
  • the method 100 comprises the steps of receiving 110 position information, which contains a position p TR and a speed of a moving object 10, from a tracking system, and receiving 120 a plurality of microphone signals AS in, 1 , ..., AS in, N of several microphone capsules.
  • the microphone signals contain sound from a sound event emanating from the moving object 10.
  • a directional characteristic is calculated from the plurality of microphone signals, the directional characteristic being based on beamforming and having at least one preferred direction of high sensitivity in accordance with the position information.
  • the width or the opening angle ⁇ of the directional characteristic is variable over time and depends on the speed of the moving object 10 from, whereby a higher speed of the moving object leads to a larger width or a larger opening angle of the directional characteristic.
  • the width or the opening angle of the directional characteristic is also changed 140 as a function of the tracking latency, a greater tracking latency leading to a greater width or a larger opening angle of the directional characteristic.
  • the width or the opening angle of the directional characteristic is also changed 150 as a function of the distance of the movable object 10 from the microphone array, a greater distance leading to a smaller width or a smaller opening angle of the directional characteristic, and the width or the opening angle of the directional characteristic does not fall below a minimum value.
  • different of the microphone capsules are located in different microphones, each with a directional effect, the angle of the directional characteristic being calculated in only one dimension and the angle of the directional characteristic being determined by the directional effect of the microphones in another dimension.
  • updated position information is received from the tracking system 110 at regular intervals of a maximum of 100 ms.
  • B. can be video-based, and the width or the opening angle ⁇ of the beam of the directional characteristic is adapted to the updated position information.
  • the invention can be implemented with a configurable computer or processor.
  • the configuration is carried out by means of a computer-readable data carrier with instructions stored thereon which are suitable for programming the computer or processor in such a way that it carries out the steps of the method described above.

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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)
EP20209487.6A 2019-12-16 2020-11-24 Procédé de commande d'un réseau de microphones et dispositif de commande d'un réseau de microphone Active EP3843419B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019134541.3A DE102019134541A1 (de) 2019-12-16 2019-12-16 Verfahren zur Steuerung eines Mikrofonarrays und Vorrichtung zur Steuerung eines Mikrofonarrays

Publications (2)

Publication Number Publication Date
EP3843419A1 true EP3843419A1 (fr) 2021-06-30
EP3843419B1 EP3843419B1 (fr) 2022-12-28

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EP20209487.6A Active EP3843419B1 (fr) 2019-12-16 2020-11-24 Procédé de commande d'un réseau de microphones et dispositif de commande d'un réseau de microphone

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US (1) US11303997B2 (fr)
EP (1) EP3843419B1 (fr)
DE (1) DE102019134541A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6914854B1 (en) 2002-10-29 2005-07-05 The United States Of America As Represented By The Secretary Of The Army Method for detecting extended range motion and counting moving objects using an acoustics microphone array
WO2007037700A1 (fr) * 2005-09-30 2007-04-05 Squarehead Technology As Capture audio directionnelle
EP2942975A1 (fr) 2014-05-08 2015-11-11 Panasonic Corporation Appareil de commande de directivité, procédé de commande de directivité, support de stockage et système de commande de directivité
WO2019211487A1 (fr) 2018-05-04 2019-11-07 Sennheiser Electronic Gmbh & Co. Kg Réseaux de microphones

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100493172B1 (ko) * 2003-03-06 2005-06-02 삼성전자주식회사 마이크로폰 어레이 구조, 이를 이용한 일정한 지향성을갖는 빔 형성방법 및 장치와 음원방향 추정방법 및 장치
DE102004005998B3 (de) * 2004-02-06 2005-05-25 Ruwisch, Dietmar, Dr. Verfahren und Vorrichtung zur Separierung von Schallsignalen
WO2007007446A1 (fr) * 2005-07-14 2007-01-18 Yamaha Corporation Système de haut-parleurs en réseau et système de microphones en réseau
CN106486147A (zh) * 2015-08-26 2017-03-08 华为终端（东莞）有限公司 指向性录音方法、装置及录音设备

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6914854B1 (en) 2002-10-29 2005-07-05 The United States Of America As Represented By The Secretary Of The Army Method for detecting extended range motion and counting moving objects using an acoustics microphone array
WO2007037700A1 (fr) * 2005-09-30 2007-04-05 Squarehead Technology As Capture audio directionnelle
EP2942975A1 (fr) 2014-05-08 2015-11-11 Panasonic Corporation Appareil de commande de directivité, procédé de commande de directivité, support de stockage et système de commande de directivité
WO2019211487A1 (fr) 2018-05-04 2019-11-07 Sennheiser Electronic Gmbh & Co. Kg Réseaux de microphones

Also Published As

Publication number Publication date
EP3843419B1 (fr) 2022-12-28
US20210185433A1 (en) 2021-06-17
DE102019134541A1 (de) 2021-06-17
US11303997B2 (en) 2022-04-12

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