KR101793942B1 - Apparatus for tracking sound source using sound receiving device and method thereof - Google Patents

Apparatus for tracking sound source using sound receiving device and method thereof Download PDF

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KR101793942B1
KR101793942B1 KR1020150157309A KR20150157309A KR101793942B1 KR 101793942 B1 KR101793942 B1 KR 101793942B1 KR 1020150157309 A KR1020150157309 A KR 1020150157309A KR 20150157309 A KR20150157309 A KR 20150157309A KR 101793942 B1 KR101793942 B1 KR 101793942B1
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sound
sound source
difference
time
source area
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KR1020150157309A
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Korean (ko)
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KR20170054752A (en
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김오영
박종범
김하영
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주식회사 시스피아
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/8083—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems determining direction of source
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/8006—Multi-channel systems specially adapted for direction-finding, i.e. having a single aerial system capable of giving simultaneous indications of the directions of different signals
    • 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
    • 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
    • H04R2430/21—Direction finding using differential microphone array [DMA]

Abstract

The present invention relates to an apparatus and method for tracking a sound source using an acoustic receiver.
The two acoustic receivers are set as the sound source generation areas based on the respective sound level intensities reaching the plurality of acoustic receivers, and the azimuth and / or the altitude of the sound source using the distance between the sound receivers and the sound reaching the sound receiver ≪ / RTI >

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sound source tracking apparatus and method using an acoustic receiver,

The present invention relates to an apparatus and method for tracking a sound source using an acoustic receiver, and more particularly, to a system and method for tracking two or more sound sources, And an azimuth angle and / or an altitude angle of the sound source using a path difference at which sound reaches the sound receiving unit.

The sound source tracking method using the sound receiving unit (including CCTV) is as follows.

CCTV for audio / sound source tracking detects a specific sound such as a person's shouting or screaming, CCTV rotates in that direction, takes a picture, and informs the user (control room) of the warning signal.

The general procedure is as follows.

Multiple array acoustical sensors collect signal (always) -> Abnormal sound (preliminarily set threshold signal) -> Trigger occurrence (event occurrence) -> Execute signal analysis and sound source tracking algorithm -> Calculate azimuth and elevation angle of sound source - > CCTV motor rotation -> Situation recording and alarm transmission.

Although the sound source tracking algorithm is implemented in various ways, a method of accurately tracking the source of the sound source has not been provided.

Domestic registration number 10-1269189

It is an object of the present invention to provide an apparatus and an algorithm for sound (sound source) tracking.

According to the present invention, two acoustic receivers are set as sound source generating areas based on the respective sound level intensities reaching the plurality of acoustic receivers, and the azimuth angle of the sound source using the distance between the acoustic receivers and the sound reaching the acoustic receiver And the like.

Further, the present invention is characterized in that a route difference at the time of reaching one of the two acoustic receivers constituting the set sound source generating region and another acoustic receiver not constituting the sound source generating region, It is an object of the present invention to calculate an altitude angle by using the distance between any one of the sound receiving units and the other sound receiving units not constituting the sound source region.

An apparatus for tracking a sound source using an acoustic receiver according to an exemplary embodiment of the present invention includes: a plurality of sound receivers for receiving sounds from a sound generator; A sound level magnitude calculation unit for comparing sound level intensities reached to the respective sound receiving units; A sound source area setting unit for setting a sound source generation area between two sound receiving units whose sound levels are largely received based on the comparison result; A first time arrival difference of a sound wave which is a path difference at the time of reaching each of the two sound receiving sections constituting the set sound source area or two sound receiving sections constituting the set sound source area and the sound receiving section constituting the sound source area An arrival time difference calculating unit for obtaining a second time arrival difference of a sound wave which is a path difference when arriving at each of the other acoustic receivers;

An azimuth angle calculation unit for calculating an azimuth angle of the sound source using the first arrival time difference and the distance between two sound receiving units constituting the sound source area; An altitude angle calculating unit for calculating an altitude angle of the sound source by using the distance between the second arrival time difference and any one of the two sound receiving units constituting the set sound source area and another sound receiving unit not constituting the sound source area; And a control unit for controlling the respective components.

It is possible to precisely track the point where the sound source is generated by the apparatus and algorithm for sound (sound source) tracking of the present invention.

According to the present invention, two acoustic receivers are set as sound source generating areas based on the respective sound level intensities reaching the plurality of acoustic receivers, and the azimuth angle of the sound source using the distance between the acoustic receivers and the sound reaching the acoustic receiver Can be accurately calculated.

Further, the present invention is characterized in that a route difference at the time of reaching one of the two acoustic receivers constituting the set sound source generating region and another acoustic receiver not constituting the sound source generating region, It is possible to accurately calculate the altitude angle using the distance between any one of the sound receiving units and the other sound receiving units that do not configure the sound source region.

1 is a block diagram illustrating a configuration of a sound source tracking apparatus using an acoustic receiver according to an embodiment of the present invention.
2 is a flowchart showing a sound source tracking method using an acoustic receiver according to an embodiment of the present invention.
3 is a view showing a sound source tracking system using an acoustic receiver according to an embodiment of the present invention.
4 is a diagram illustrating a method of tracking a sound source using an acoustic receiver according to an embodiment of the present invention.
5 is a drawing showing the source track
6 is a plan view and a front view of an installed sound receiving unit
7 is a view showing the sound source generation area setting and the azimuth angle etc. according to the sound level level
8A / 8B / 8C are diagrams showing specific examples of the azimuth angle calculation
9 is a view showing the altitude angle calculation

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

Also, when a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

Among the terms used in the present invention, sound includes sound.

The sound generator in the present invention may be interpreted as including a sound generator and / or a sound generator.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of a sound source tracking apparatus using an acoustic receiver according to an embodiment of the present invention. Referring to FIG.

As shown in the figure, a plurality of sound receiving units 100 for receiving sounds from a sound generating unit 300;

A sound level magnitude calculation unit for comparing sound level intensities reached to the respective sound receiving units; A sound source area setting unit for setting a sound source generation area between two sound receiving units whose sound levels are largely received based on the comparison result; A first time arrival difference of a sound wave which is a path difference at the time of reaching each of the two sound receiving sections constituting the set sound source area or two sound receiving sections constituting the set sound source area and the sound receiving section constituting the sound source area An arrival time difference calculating unit for obtaining a second time arrival difference of a sound wave which is a path difference when arriving at each of the other acoustic receivers; An azimuth angle calculation unit for calculating an azimuth angle of the sound source using the first arrival time difference and the distance between two sound receiving units constituting the sound source area; And an altitude angle calculating unit for calculating an altitude angle of the sound source by using the distance between any one of the two sound receiving units configuring the second arrival time difference and the set sound source area and another sound receiving unit not configuring the sound source area, ; A control unit for controlling the respective components, and a platform 200 for storing a predetermined value and an operation program.

The sound (sound) receiver 100 is provided with three or four sound source area range setting sections for clearly distinguishing between the sound source area range setting based on the angle by the two sound receiving sections and the time difference arrival (TDOA) It is preferable that they are provided at equal intervals.

2 is a flowchart illustrating an audio source tracking method using an audio receiver according to an embodiment of the present invention.

As shown in the figure, a plurality of (three or four) sound receiving units are provided. (S 201)

And compares the maximum value of the sound level intensity reached to each of the sound receiving units and sets the area between the two sound receiving units having a large sound level as the area where the sound source is generated. (S 203, S 205)

A first distance L between a first time arrival difference d of a sound wave which is a path difference when arriving at each sound receiving unit and two sound receiving units which constitute the sound source region, The azimuth angle of the sound source is obtained by substituting it into a predetermined formula. (S 207)

A second time arrival difference d1 of a sound wave which is a path difference at the time of reaching one of the two sound receiving units constituting the set sound source region and the other sound receiving units not constituting the sound source region, The second distance L1 between any one of the two sound receiving units constituting the sound source region and the other sound receiving unit not constituting the sound source region is substituted into a predetermined formula to obtain the altitude angle of the sound source.

The first time arrival difference d of the sound wave which is the path difference is a time difference between sonic velocity sensors, d = c

Figure 112015109315807-pat00001
Here, the azimuth angle? Value is sin? = D / L by the formula of an equilateral triangle based on the first distance L value between the sensors by knowing the d value.

The azimuth angle of the final sound source may be calculated by reflecting a predetermined coordinate correction value in order to consider that the coordinate axes are distorted after the azimuth is calculated.

Further, the second time arrival difference d1 of the sound wave which is the path difference is the time difference between the sonic velocity sensors, d1 = c

Figure 112015109315807-pat00002
ego,

Here, the elevation angle? Value is cos? = D1 / L1 by the formula of a right triangle based on the second distance L1 value between sensors by knowing the d1 value.

The technical idea and features of the present invention will be described in detail with reference to the related drawings.

3 is a diagram illustrating a sound source tracking system using an acoustic receiver according to an embodiment of the present invention.

As shown in the figure, the acoustic receiver 100 and the platform are installed and shown in detail.

4 is a block diagram of a program and a method for implementing a sound source tracking method using an acoustic receiver according to an embodiment of the present invention.

Algorithm, the source of the sound source, the azimuth and elevation angle of the sound source are calculated, and the CCTV is rotated to the corresponding region to shoot.

FIG. 5 is a view showing a sound source tracking, showing a sound source, an azimuth angle, and an altitude angle.

6 is a top view and a front view of an installed sound receiving unit.

FIG. 7 is a view showing a sound source generation area setting and an azimuth angle according to a sound level level, and FIGS. 8A, 8B, and 8C are views showing specific examples of the azimuth calculation.

As shown in FIG. 7, the sound receiving unit (mic 1-3) receives a sound through a microphone having a constant interval and sets the sound source region by comparing the maximum value of the intensity of a signal arriving at each sensor , A zone with a sound source is set as a sound source zone). Generally, the intensity of a signal varies depending on the distance between a sound source and each microphone. Therefore, analyzing the signal received from each microphone shows that the sound is generated near the microphone having the highest signal strength.

Applying this principle to the sound source tracking algorithm is as follows.

When a sound source exceeding a predetermined threshold is generated, two sensors (mic 2, 3 in the embodiment) that are directly close to the sound source among the three microphone arrays are selected and divided into zones.

As shown in FIGS. 8A and 8B, when the sound source generation area is set, the azimuth angle of the sound source is calculated using the time difference between the sensors (TDOA) as a next step.

The distance between the sensors (mic 2, 3) at the angle set in the sound source area is a mechanical value (L), and the velocity value C of the sound wave when the medium is air is C = 331.42 + (0.6 * T), the sound velocity can be obtained by knowing the temperature value (T) at the time of measurement. Multiplying the sound velocity value by the time difference between the sensors results in a path difference and can finally calculate the two-dimensional azimuth angle (?) Of the sound source.

Further, the calculation of the path difference according to the direction in the calculation of the azimuth angle is as follows.

If the position of the sound source is far from the distance between the sensors, the sound waves reaching the sensor from the sound source can be assumed as plane waves. Then, if the sound source is not in the front, a path difference occurs when the sound from the sound source reaches the sensor as shown in FIG. 8B.

The path difference d is equal to the time difference between the sonic velocity sensors of the medium. d = c

Figure 112015109315807-pat00003

Therefore, the path difference d can be obtained. Here, since the path difference d value is known and the distance L between the sensors is known, the azimuth angle (&thetas;) can finally be calculated by the formula of the right triangle. sin? = d / L,

On the other hand, since the coordinate axes are distorted after the value of [theta] is calculated, the geometric coordinate correction value of FIG. 8C can be taken to calculate the final azimuth angle of the sound source.

The correction value will be described with reference to Fig. 8B.

Since the microphone array installed in CCTV does not coincide with the axis of the Cartesian coordinate system, the coordinate correction value is considered because the linear conversion should be performed to the coordinate system where one axis coincides.

Referring to FIG. 8B, when a sound is generated at a 40-degree portion based on a 0-degree partial reference, a sound source generation region is determined by sensors 1 and 2. In the next procedure, theta (θ) value is determined by the time difference algorithm. However, since the sensor 2 is rotated about 30 degrees from the Y axis when viewed from the Y axis, it is difficult to take the coordinate point.

Therefore, it is considered that 40 degrees is estimated as the azimuth angle by adding 30 degrees of the angle of correction (the angle of inclination) to the path difference 10 degrees (d)

Fig. 9 is a view showing an altitude angle calculation.

When calculating the elevation angle, one of the two microphones (mic 2 and mic 3 comprising the sound source area in FIG. 7) and the other sensor (mic 1 in FIG. 7) use. As with the azimuth calculation, the method can calculate altitude angles using sound velocity and time difference in two dimensions.

Similarly to the azimuth calculation formula, the altitude angle calculation formula can be used to calculate the altitude angle (θ) by calculating the path difference d1 and using the formula of the right angle triangle.

That is, the time difference d1 of the sound wave as the path difference is the time difference between the sonic velocity sensors,

d1 = c

Figure 112015109315807-pat00004
ego,

Here, the value of d1 is known and the altitude angle [theta] [theta] is calculated by the formula of a right triangle based on the L1 value of the inter-sensor (any one of two acoustic receivers constituting the sound source area and the other acoustic receiver not constituting the sound source area) Value, cos? = D1 / L1 can be obtained.

The elevation angle can be calculated directly without the correction value since the coordinate axis is the same as the basic axis.

As described above, the present invention relates to an apparatus and method for tracking a sound source using an acoustic receiver, and more particularly, to an apparatus and method for tracking a sound source using an acoustic receiver, And an azimuth angle and / or an altitude angle of the sound source using the distance between the sound receiving units and the path difference at which the sound reaches the sound receiving unit.

The present invention can be applied to a sound generator provided in the streetlight and / or a vehicle in consideration of a comparison result between an image obtained through a streetlight and a video surveillance device provided in a vehicle and a previously stored image, and / or external environment information (wind, Selectively or both of them are operated to notify a dangerous situation, and a control method thereof.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: sound receiving unit, 200: platform, 300: sound source generating unit

Claims (6)

A plurality of sound receiving units for receiving sounds from the sound generating units;
A sound level magnitude calculation unit for comparing sound level intensities reached to the respective sound receiving units;
A sound source area setting unit for setting a sound source generation area between two sound receiving units whose sound levels are largely received based on the comparison result;
A first time arrival difference of a sound wave which is a path difference at the time of reaching each of the two sound receiving sections constituting the set sound source area or two sound receiving sections constituting the set sound source area and the sound receiving section constituting the sound source area An arrival time difference calculating unit for obtaining a second time arrival difference of a sound wave which is a path difference when arriving at each of the other acoustic receivers;
An azimuth angle calculator for calculating azimuth angles of the sound source using the distance between the first time arrival difference and the two sound receivers constituting the sound source area;
Calculating an altitude angle of the sound source by using the distance between the second time arrival difference and any one of the two sound receiving units constituting the set sound source area and the other sound receiving units not constituting the sound source area, ; And
And a control unit for controlling the respective components,
The sound receiving unit is provided with three or four sound source area range setting units at equal intervals to distinguish between a sound source area range setting by an angle and a time difference of arrival (TDOA) reaching two sensors for setting an area,
Wherein a setta value is determined by a time difference algorithm, and an azimuth estimated value is generated by adding a path difference and a correction angle. delete A plurality of acoustic receivers;
Comparing sound level intensities arriving at the respective sound receiving units;
Setting a sound source area between two sound receiving units having a large sound level as a result of the comparison;
A first distance between a first time arrival difference of a sound wave which is a path difference at the time of reaching each of the two sound receiving sections constituting the set sound source area and a first distance between two sound receiving sections constituting the sound source area is substituted into a predetermined formula, ;
A second time arrival difference of a sound wave which is a path difference at the time of reaching each of the two sound reception units constituting the set sound source area and the other sound reception units which do not constitute the sound source area, And a second distance between a sound receiving unit of one of the two sound receiving units and another sound receiving unit not forming the sound source region into a predetermined formula to obtain an altitude angle of the sound source,
The first time arrival difference d of the sound wave which is the path difference is a time difference between sonic velocity sensors, d = c
Figure 112017002902544-pat00018
ego,
Here, the d value is calculated and the azimuth angle &thetas; is sin [theta] = d / L by the formula of the right triangle based on the first distance L value between the sensors,
The azimuth angle of the final sound source is calculated by reflecting a predetermined coordinate correction value in order to consider that the coordinate axis is changed after the azimuth is calculated,
The second time arrival difference d1 of the sound wave as the path difference is a time difference between sonic velocity sensors, d1 = c
Figure 112017002902544-pat00019
ego,
Here, the altitude angle? Is calculated by a formula of a right triangle based on the second distance L 1 between the sensors by calculating the value d 1, cos? = D 1 / L 1,
Wherein a setta value is determined by a time difference algorithm, and an azimuth estimated value is generated by adding a path difference and a correction angle. delete delete delete
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KR102176098B1 (en) * 2019-01-28 2020-11-10 김영언 Method and apparatus for recognizing sound source
KR102227489B1 (en) * 2019-07-10 2021-03-15 김영언 Apparatus and method for visualizing sound source
KR102226405B1 (en) * 2020-11-02 2021-03-11 김영언 Method and apparatus for recognizing sound source, and computer readable storage medium
KR20230086053A (en) * 2021-12-08 2023-06-15 주식회사 유에스엔케이 A sound source sensing device and sound source sensing method capable of determining the location of a sound source

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