WO2016019768A1 - 用于视频监控的声源定向控制装置及方法 - Google Patents

用于视频监控的声源定向控制装置及方法 Download PDF

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Publication number
WO2016019768A1
WO2016019768A1 PCT/CN2015/082570 CN2015082570W WO2016019768A1 WO 2016019768 A1 WO2016019768 A1 WO 2016019768A1 CN 2015082570 W CN2015082570 W CN 2015082570W WO 2016019768 A1 WO2016019768 A1 WO 2016019768A1
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Prior art keywords
camera
sound source
sound
azimuth
driving
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Ceased
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PCT/CN2015/082570
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English (en)
French (fr)
Inventor
毛慧
陈扬坤
俞海
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Hangzhou Hikvision Digital Technology Co Ltd
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Hangzhou Hikvision Digital Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/04—Position of source determined by a plurality of spaced direction-finders

Definitions

  • the invention relates to video monitoring technology, in particular to a sound source orientation control device and method for video monitoring.
  • the prior art provides a full coverage mode of the scene, that is, multiple cameras are deployed in the video surveillance scene to overlay all areas of the video surveillance scene with the perspective range of multiple cameras.
  • the prior art also provides a sound source orientation manner, that is, a static sound is formed by using a position and angle fixed sound pickup device.
  • the source coordinate system when the sound pickup device senses the sound source signal generated by the specific target in the video surveillance scene, the absolute solution of the sound source (that is, the specific target) in the static sound source coordinate system is obtained by solving the sound source signal.
  • the azimuth angle is then used to adjust the camera rotation using the absolute azimuth calculated by the solution so that the camera's viewing angle range tracks the partial area of the sound source (ie, the specific target) in the video surveillance scene.
  • the sound source orientation mode does not need to overlap the entire area of the video surveillance scene by using the viewing angle range of the plurality of cameras, thereby reducing the number of cameras deployed in the video surveillance scene, thereby saving costs.
  • the accuracy of the solution algorithm it is necessary to improve the accuracy of the solution algorithm, but as the accuracy of the algorithm continues to increase, the resources consumed by the algorithm are run. It will also increase.
  • the present invention provides a sound source orientation control apparatus and method for video surveillance.
  • the invention provides a sound source orientation control device for video surveillance, comprising: a sound pickup component that can rotate synchronously with a camera; a sound collection component that collects a sound source signal received by the sound pickup component; and an orientation solving component
  • the sound source signal is used to solve the azimuth of the sound source compared to the camera normal of the camera; the angle convergence component is generated when the calculated azimuth angle is outside the preset angle range Azimuth A drive signal that converges to a predetermined range of angles; an adjustment drive component that drives the camera to rotate in synchronization with the sound pickup component in accordance with the drive signal.
  • the invention provides a sound source orientation control method for video surveillance, comprising: setting a sound pickup component to be synchronously rotatable with a camera; acquiring a sound source signal received by the sound pickup component; and using the sound source signal to calculate the sound The azimuth of the source normal to the camera; when the solved azimuth exceeds a predetermined angular range, a drive signal is generated for converging the azimuth to a predetermined angular range Driving the camera in synchronization with the sound pickup unit according to the drive signal.
  • the invention also provides a sound source orientation camera for video surveillance, comprising: at least two microphones, rotating synchronously with the camera lens, for collecting sound analog signals generated by at least one sound source in the monitoring area; at least one modulus
  • the conversion chip is connected to the microphone through a wired communication, receives the sound analog signal collected by the microphone and is converted into a sound digital signal; at least one processor is built in the camera and connected to the analog to digital conversion chip through a wired communication for receiving the sound digital signal.
  • the sound pickup unit can rotate synchronously with the camera, thereby forming a dynamic sound source coordinate system that rotates synchronously with the camera.
  • the calculated azimuth angle is The relative azimuth of the sound source compared to the camera's normal to the lens, and further, by converge the relative azimuth within a predetermined range of angles, closed loop control of the relative azimuth can be achieved and The closed-loop control of the azimuth allows the camera's lens angle of view to track the position of the sound source. Since the loop gain generated by the closed-loop control of the relative azimuth can suppress the accuracy error generated by the solution algorithm, the present invention can improve the accuracy of the sound source orientation without increasing the accuracy of the solution algorithm, thereby saving operation. The resources consumed by the algorithm.
  • FIG. 1 is a schematic structural diagram of a sound source orientation control apparatus for video surveillance according to an embodiment of the present invention
  • FIG. 2a and 2b are schematic views showing a preferred arrangement of the sound pickup member in the exemplary structure shown in FIG. 1;
  • 3a and 3b are schematic diagrams showing examples of closed loop control based on a preferred arrangement as shown in FIG. 2;
  • FIG. 4 is a schematic flow chart of a sound source orientation control method for video surveillance according to an embodiment of the present invention.
  • the sound source orientation control apparatus for video monitoring in this embodiment includes: a sound pickup unit 11, a sound collection unit 12, an orientation solving unit 13, an angle convergence unit 14, a loop filter unit 15, and an adjustment. Drive component 16.
  • the sound pickup unit 11 is rotatable in synchronization with the camera 10. Wherein, since the sound pickup unit 11 has the characteristic of rotating in synchronization with the camera 10, the sound source coordinate system formed by the sound pickup unit 11 can be synchronously rotated in accordance with the rotation of the camera 10, and can form a dynamic sound that is synchronously rotated with the camera 10. Source coordinate system.
  • the sound pickup unit 11 can be fixed to the camera 10 to form a characteristic that the sound pickup unit 11 can rotate synchronously with the camera 10, and the sound pickup unit 11 fixed to the camera 10 can adopt different arrangements to realize two. Orientation of dimensional space, or higher dimensional space.
  • the sound pickup unit 11 may include a pair of microphones 11a and 11b located in the same plane, which The microphones 11a and 11b are respectively fixed to the camera 10 on both sides of the normal N of the lens 100 to form a two-dimensional plane coplanar with the normal N of the lens 100.
  • FIG. 2a and FIG. 2b only the spherical camera 100 is taken as an example, but the specific shape of the camera 100 does not affect the arrangement of the sound pickup member 11.
  • the sound pickup unit 11 may include three microphones in the same plane.
  • the sound pickup unit 11 may include at least four non-coplanar microphones, wherein for each of the four microphones, it may be similar to FIG. 2a. And as shown in FIG. 2b, respectively fixed to the camera 10 on both sides of the normal N of the lens 100 to form a two-dimensional plane coplanar with the normal N of the lens 100, but only a two-dimensional plane formed by each of the two microphones The angles are different, that is, they are not parallel to each other.
  • the sound collecting section 12 collects the sound source signal received by the sound pickup section 11.
  • the audio signal picked up by the sound pickup unit 11 is usually an analog signal.
  • the main function of the sound collection unit 12 is to sample the analog signal to obtain a digitized sound.
  • the source signal for example, the sound collecting component 12 may be a sampling circuit having an analog-to-digital conversion function, and may be an analog-to-digital conversion circuit.
  • the azimuth solving unit 13 uses the sound source signal to calculate the azimuth of the sound source compared to the lens normal of the camera.
  • the azimuth solving component 13 can perform the solution of the sound source signal by using any existing solution algorithm. Since the sound pickup component 11 forms a dynamic sound source coordinate system that rotates synchronously with the camera, the azimuth angle obtained according to any one of the solution algorithms is based on the dynamic sound source coordinate system as a reference coordinate, so that the camera is used only.
  • the lens normal is the coordinate axis of the dynamic sound source coordinate system, and the azimuth calculated by the azimuth solving component 13 is the azimuth of the sound source compared to the camera normal of the camera.
  • the orientation calculation component 13 can be a processor.
  • the angle convergence member 14 generates a drive signal for converging the azimuth angle to within a predetermined angular range when the calculated azimuth angle is outside the predetermined angular range. Wherein, if the solved azimuth angle exceeds the preset angle range in the forward direction, the driving signal generated by the angle convergence component 14 indicates that the adjustment camera and the sound pickup component are rotated in the reverse direction, so that the sound source is The azimuth corner is within a predetermined range of angles.
  • the driving signal generated by the angle convergence member 14 indicates that the adjustment camera and the sound pickup member are rotated in the forward direction, which also makes The azimuth of the sound source is within a predetermined range of angles.
  • the angle convergence member 14 may not need to generate a drive signal when the solved azimuth does not exceed a predetermined angular range.
  • the loop filter component 15 is located between the angle convergence component 14 and the adjustment drive component 16.
  • the adjustment driving section 16 drives the camera 10 and the sound pickup section 11 to rotate in synchronization in accordance with the driving signal.
  • the main function of the adjustment driving component 16 is to rotate the camera 10 and the sound pickup component 11 in the correct direction according to the driving signal, so that the azimuth angle of the sound source can fall within a preset angle range, of course, except
  • the adjustment drive member 16 can further adjust other parameters such as the speed of rotation according to actual needs; in addition, the adjustment drive member 16 can be realized by any of the components having driving capability, such as a servo device, and the camera 10 can
  • the camera is mounted on the rotating pan/tilt driven by the adjustment driving member 16 so that the camera 10 has a degree of freedom of rotation, so that the camera 10 can be rotated as long as the adjustment driving member 16 drives the rotation of the pan/tilt head, and accordingly, is fixed to the camera 10.
  • the sound pickup unit 11 can be rotated in synchronization with the camera 10.
  • the adjustment drive member 16 can be a drive motor.
  • the sound pickup unit 11 that can rotate in synchronization with the camera 10 can form a dynamic sound source coordinate system that rotates with the camera, and thus based on the dynamic sound
  • the source coordinate system, the azimuth obtained by the azimuth solving unit 13 is the relative azimuth of the sound source compared to the normal N of the lens 100 of the camera 10, and thus, by the cooperation of the angle convergence member 14 and the adjustment driving member 16,
  • the relative azimuth can be converge to a predetermined range of angles to achieve closed-loop control of the relative azimuth, and the closed-loop control of the relative azimuth causes the lens 100 to view the sound source range of the lens 100.
  • the closed-loop control of the relative azimuth can inevitably generate the loop gain K to suppress the accuracy error generated by the solving algorithm in the conventional open-loop mode, that is, the open-loop precision error E.
  • the accuracy of the sound source orientation can be improved without increasing the accuracy of the solution algorithm, thereby saving resources consumed by the running algorithm.
  • the loop gain K can be adjusted by the loop filter unit 15, and theoretically, the loop gain K infinity can be achieved, and the closed loop precision error X ⁇ E/K obtained by suppressing the loop gain K approaches zero.
  • the convergence target of the above closed-loop control is an angular range instead of a single angle value, because the lens angle of view of the camera has a certain angular range as long as the sound source (ie, the specific target monitored) is in the angular range of the lens 100 perspective. Therefore, the azimuth angle of the sound source compared to the normal line N of the lens 100 of the camera 10 does not have to be adjusted, so that the requirement for the closed loop precision error X ⁇ E/K can be reduced, and preferably, the closed loop precision error X ⁇ E /K remains within the pre-set angle range.
  • the dynamic sound source coordinate system is exemplarily shown in the XY coordinate system in FIGS. 3a and 3b
  • a predetermined angle is assumed.
  • the range is [-5°, 5°]
  • the loop error X ⁇ E/K is in the range of [-5°, 5°] by adjusting the loop gain K.
  • the sound is as shown in Figure 3a.
  • the source S moves to a position of -45° of the normal 100 of the lens 100 of the camera 10 (coincident with the Y-axis of the dynamic sound source coordinate system), and then the drive signal generated by the angle convergence member 14 is transmitted to the adjustment through the loop filter unit 15.
  • the driving member 16 is driven by the adjustment driving member 16 to rotate the camera 10 and the pair of microphones 11a and 11b in the negative direction by rotating the pan/tilt, as shown in FIG. 3b, so that the lens 100 normal N of the camera 10 is tracked to the sound source.
  • S is within the error range of [-5°, 5°].
  • a driving signal for driving the camera lens to rotate toward the second microphone when the processor determines that the azimuth is close to the second microphone and away from the first microphone; when the processor determines that the azimuth is close to the first microphone and is far away In the second microphone, a drive signal for driving the camera lens to rotate in the direction of the first microphone is generated.
  • the convergence target of the closed-loop control with a preset angle range actually makes the closed-loop control have a certain tolerance to the above-mentioned relative azimuth variation amplitude, thereby preventing the rotation of the camera 10 and the sound pickup component 11 from the sound source.
  • Frequent jitter caused by small fluctuations in orientation to improve the stability of sound source orientation For example, if in the example shown in FIGS. 3a and 3b, if the sound source S moves to a position of ⁇ 4° or even a smaller angle of the normal N of the lens 100 of the camera 10, the angle convergence member 14 does not generate a drive. signal.
  • the predetermined range of angles is preferably less than or equal to the range of viewing angles of the lens 100 of the camera 10 to ensure that the closed loop control can always be targeted within an angular range of the source of view of the lens 100.
  • the present embodiment Based on the principle similar to the above-described sound source orientation control device, the present embodiment also provides a sound source orientation control method for video surveillance.
  • the sound source orientation control method for video surveillance in this embodiment includes:
  • Step 400 setting the sound pickup component to be rotatable in synchronization with the camera.
  • step 400 may form a rotation synchronized with the camera by fixing the sound pickup component to the camera, and the sound pickup device fixed to the camera may adopt a different arrangement to realize a two-dimensional space or a higher dimension.
  • the specific arrangement of the sound pickup device can be referred to the description of the sound source orientation control device portion, and details are not described herein again.
  • Step 401 Acquire a sound source signal received by the sound pickup component, and then perform step 402.
  • Step 402 Calculate the azimuth of the sound source compared to the lens normal of the camera by using the sound source signal, and then perform step 403.
  • Step 403 it is determined whether the azimuth obtained by the solution is outside the preset angle range, and if so, step 404 is performed, otherwise returns to step 401;
  • Step 404 when the calculated azimuth angle is outside the preset angle range, generating a driving signal for converging the azimuth angle to a preset angle range, and then performing step 405.
  • the step 404 can perform the solution of the sound source signal by using any existing solution algorithm. Since the sound pickup component forms a dynamic sound source coordinate system that rotates synchronously with the camera, the azimuth angle obtained according to any one of the solution algorithms is based on the dynamic sound source coordinate system as a reference coordinate, and thus, as long as the camera The lens normal is the coordinate axis of the dynamic sound source coordinate system, and the azimuth angle calculated in step 404 is the azimuth angle of the sound source compared to the camera normal of the camera.
  • Step 405 Perform loop filtering on the generated driving signal, and then perform step 406.
  • Step 406 Driving the camera and the sound pickup unit to rotate synchronously according to the driving signal, and then returning to step 401.
  • the camera can be installed in the rotating pan/tilt driven by step 406 so that the camera has a degree of freedom of rotation, so that in the case where the sound pickup member is fixed to the camera, step 406 is rotated by driving the rotating pan/tilt equipped with the camera.
  • the camera is driven to rotate so that the sound pickup unit fixed to the camera can also rotate in synchronization with the camera.
  • step 401 - step 406 can be iteratively executed cyclically.
  • the sound pickup device has the characteristic of being rotatable synchronously with the camera, and can thereby form a dynamic sound source coordinate system that rotates synchronously with the camera, and thus based on the
  • the azimuth obtained by the solution is the relative azimuth of the sound source compared to the camera normal of the camera, and thus, by converge the relative azimuth angle within a predetermined angle range, Closed-loop control of the relative azimuth, and by the closed-loop control of the relative azimuth, the lens viewing angle range of the camera tracks the position of the sound source.
  • the closed-loop precision error X obtained after the loop gain K is suppressed is obviously smaller than the open-loop precision error E generated by the solution algorithm. Therefore, by the closed-loop control of the above relative azimuth, The accuracy of the sound source orientation can be improved without increasing the accuracy of the solution algorithm, thereby saving the resources consumed by running the algorithm.
  • the loop gain K can be adjusted by the loop filtering performed in step 404 in the above process, and theoretically, the loop gain K infinity can be achieved, and the loop gain K can be suppressed.
  • the resulting closed-loop accuracy error X ⁇ E/K approaches zero.
  • the convergence target of the above closed-loop control is an angular range instead of a single angle value, which can reduce the requirement of the closed-loop precision error X ⁇ E/K, and preferably keeps the closed-loop precision error X ⁇ E/K at a predetermined value. It can be within the angle range.
  • the convergence target of the closed-loop control with a preset angle range actually makes the closed-loop control have a certain tolerance to the above-mentioned relative azimuth variation amplitude, thereby avoiding the rotation of the camera and the sound pickup component with the sound source orientation. Frequent jitter caused by small fluctuations to improve the stability of sound source orientation.
  • the predetermined range of angles is preferably less than or equal to the range of lens angles of the camera to ensure that the closed loop control is always targeted within an angular range of the sound source at the perspective of the lens.
  • the embodiment of the present application further provides a sound source orientation camera for video surveillance, comprising: at least two microphones, rotating synchronously with the camera lens, and used for sound analog signals generated by at least one sound source; at least one analog to digital conversion The circuit establishes a connection relationship with the microphone, receives the sound analog signal collected by the microphone, and converts The sound digital signal; at least one processor, built in the camera, and the analog-to-digital conversion circuit establishes a connection relationship for receiving the sound digital signal, and calculating the azimuth of the sound source compared to the camera lens normal, wherein The azimuth angle is greater than a preset angle range, and the driving signal is generated according to the azimuth angle and sent to the driving motor; the driving motor is connected to the processor for receiving the driving signal, and controlling the movement of the gimbal according to the driving signal; the pan/tilt, and the camera The lens connection is used to drive the camera lens to rotate according to the driving of the driving motor.
  • the microphone is mounted on the camera lens, and the number of the microphones is two, three or four.
  • the drive signal includes a speed parameter of the pan-tilt rotation and an adjustment parameter of the azimuth.
  • generating the driving signal according to the azimuth angle includes: when the processor determines that the azimuth is close to the second microphone and is away from the first microphone, generating a driving lens for driving The direction of the second microphone changes the driving signal in the normal direction of the lens; when the processor determines that the azimuth is close to the first microphone and away from the second microphone, generating a lens for driving the camera lens to change the lens normal toward the direction of the first microphone Directional drive signal.
  • calculating the azimuth of the sound source compared to the camera lens normal includes: the microphone and the camera lens form a dynamic sound source coordinate system, and the processor uses the sound source orientation algorithm to calculate the sound source compared to the camera lens normal Azimuth.
  • the method includes: the processor filters the driving signal by using the loop filter, and if the azimuth angle is within a preset angular range, the driving signal is not generated. If the azimuth angle is greater than a predetermined range of angles, a unique corresponding drive signal is generated.
  • the various functional units provided by the embodiments of the present application may be operated in a mobile terminal, a computer terminal, or the like, or may be stored as part of a storage medium.
  • embodiments of the present invention may provide a camera that may be any one of the camera groups.
  • the camera may also be replaced with a device having an imaging or recording function.
  • the camera may execute the program code of the following steps in the sound source orientation control method for video monitoring: collecting a sound source signal received by the sound pickup component, wherein the sound pickup component rotates synchronously with the camera; Calculating, by using the sound source signal, an azimuth of the sound source compared to a lens normal of the camera; when the azimuth angle exceeds a preset angle range, generating is configured to converge the azimuth angle to the preset angle a driving signal within the range; driving the camera to rotate synchronously with the sound pickup unit according to the driving signal.
  • the camera may comprise: one or more processors, memory, and transmission means.
  • the memory can be used to store software programs and modules, such as the sound source orientation control method for video surveillance and the program instructions/modules corresponding to the device in the embodiment of the present invention, and the processor runs the software program and the module stored in the memory. Thus, various functional applications and data processing are performed, that is, the above-described sound source orientation control method for video monitoring is implemented.
  • the memory may include a high speed random access memory, and may also include non-volatile memory such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory.
  • the memory can further include memory remotely located relative to the processor, which can be connected to the terminal over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the above transmission device is for receiving or transmitting data via a network.
  • Specific examples of the above network may include a wired network and a wireless network.
  • the transmission device includes a Network Interface Controller (NIC) that can be connected to other network devices and routers via a network cable to communicate with the Internet or a local area network.
  • the transmission device is a Radio Frequency (RF) module for communicating with the Internet wirelessly.
  • NIC Network Interface Controller
  • RF Radio Frequency
  • the memory is used to store preset action conditions and information of the preset rights user, and an application.
  • the processor can call the memory stored information and the application by the transmitting device to execute the program code of the method steps of each of the alternative or preferred embodiments of the above method embodiments.
  • Embodiments of the present invention also provide a storage medium.
  • the foregoing storage medium may be used to save program code executed by the sound source orientation control method for video surveillance provided by the foregoing method embodiment and the device embodiment.
  • the foregoing storage medium may be located in any one of the camera groups.
  • the storage medium disposed in the camera is configured to store program code for performing the following steps: acquiring a sound source signal received by the sound pickup unit, wherein the sound pickup unit and the camera Synchronous rotation; using the sound source signal to calculate an azimuth angle of the sound source compared to the camera normal of the camera; when the azimuth angle exceeds the preset angle range, generating is used to converge the azimuth angle to the a driving signal within a preset angle range; driving the camera to rotate synchronously with the sound pickup unit according to the driving signal.
  • the storage medium may also be provided as program code for storing various preferred or optional method steps provided by the sound source orientation control method for video monitoring.

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Abstract

本发明公开了一种用于视频监控的声源定向控制装置及方法。在本发明中，声音拾取部件可与摄像头同步旋转，因而能够形成随摄像头同步转动的动态声源坐标系，相应地，基于该动态声源坐标系，解算得到的方位角就为声源相比于摄像头的镜头法线的相对方位角，进而，通过使该相对方位角向预先设定的角度范围内收敛，即可实现对该相对方位角的闭环控制、并通过对该相对方位角的闭环控制使摄像头的镜头视角范围追踪声源所处方位。由于对该相对方位角的闭环控制产生的环路增益能够抑制方位角解算算法产生的精度误差，因而本发明无需提高解算算法的精确度即可提高定向的准确性，从而能够节省运行算法所消耗的资源。

Description

用于视频监控的声源定向控制装置及方法 技术领域
本发明涉及视频监控技术，特别涉及一种用于视频监控的声源定向控制装置及方法。
背景技术
在视频监控中通常需要对特定目标进行跟踪，但由于特定目标在监控场景中的位置往往是动态变化的，而单个摄像头的镜头视角范围又难以覆盖全部的视频监控场景，因此，为了实现对特定目标的跟踪，现有技术提供了一种场景全覆盖方式，即，在视频监控场景中布放多个摄像头，以利用多个摄像头的视角范围叠加覆盖视频监控场景的全部区域。
然而，场景全覆盖方式显然会导致成本随着摄像头的数量而线性增加，因此，现有技术还提供了一种声源定向方式，即，利用一位置和角度固定的声音拾取装置形成一静态声源坐标系，当声音拾取装置感测视频监控场景中的特定目标产生的声源信号时，通过对声源信号的解算得到声源(也即特定目标)在静态声源坐标系中的绝对方位角，然后再利用解算出的绝对方位角调节摄像头转动，以使摄像头的视角范围追踪覆盖声源(也即特定目标)在视频监控场景中所处的部分区域。
如上可见，声源定向方式无需利用多个摄像头的视角范围叠加覆盖视频监控场景的全部区域，因而能够减少在视频监控场景中布放的摄像头数量，从而节省成本。但与此同时，为了更准确地解算出绝对方位角以实现对特定目标的准确定向，势必需要提高解算算法的精确度，但随着算法的精确度的不断提高，运行算法所消耗的资源也会随之增加。
发明内容
有鉴于此，本发明提供一种用于视频监控的声源定向控制装置及方法。
本发明提供的一种用于视频监控的声源定向控制装置，包括：声音拾取部件，其可与摄像头同步旋转；声音采集部件，其采集声音拾取部件接收到的声源信号；方位解算部件，其利用声源信号解算得到声源相比于摄像头的镜头法线的方位角；角度收敛部件，其在解算得到的方位角超出预先设定的角度范围之外时，产生用于将方位角 收敛至预先设定的角度范围之内的驱动信号；调节驱动部件，其依据驱动信号驱使摄像头与声音拾取部件同步旋转。
本发明提供的一种用于视频监控的声源定向控制方法，包括：将声音拾取部件设置为可与摄像头同步旋转；采集声音拾取部件接收到的声源信号；利用声源信号解算得到声源相比于摄像头的镜头法线的方位角；在解算得到的方位角超出预先设定的角度范围之外时，产生用于将方位角收敛至预先设定的角度范围之内的驱动信号；依据驱动信号驱使摄像头与声音拾取部件同步旋转。
本发明还提供了一种用于视频监控的声源定向的摄像机，包括：至少2个麦克风，与摄像机镜头同步旋转，用于采集监控区域至少一个声源产生的声音模拟信号；至少一个模数转换芯片，与麦克风通过有线通讯连接，接收麦克风采集的声音模拟信号并转换为声音数字信号；至少一个处理器，内置于摄像机，与模数转换芯片通过有线通讯连接，用于接收声音数字信号，计算得到声源相比于摄像机镜头法线的方位角；其中，当方位角大于预先设定的角度范围，根据方位角生成唯一对应的驱动信号，并发送至云台；云台，与摄像机镜头连接，用于接收驱动信号，旋转摄像机镜头以改变摄像机镜头法线方向。
如上可见，在本发明中，声音拾取部件可与摄像头同步旋转，因而能够形成随摄像头同步转动的动态声源坐标系，相应地，基于该动态声源坐标系，解算得到的方位角就为声源相比于摄像头的镜头法线的相对方位角，进而，通过使该相对方位角向预先设定的角度范围内收敛，即可实现对该相对方位角的闭环控制、并通过对该相对方位角的闭环控制使摄像头的镜头视角范围追踪声源所处方位。由于对该相对方位角的闭环控制所产生的环路增益能够抑制解算算法产生的精度误差，因而本发明无需提高解算算法的精确度即可提高声源定向的准确性，从而能够节省运行算法所消耗的资源。
为了实现上述以及相关目的，本发明的一个或多个方面包括后面将详细说明并在权利要求中特别指出的特征。下面的说明以及附图详细说明了本发明的某些示例性方面。然而，这些方面指示的仅仅是可使用本发明的原理的各种方式中的一些方式。此外，本发明旨在包括所有这些方面以及它们的等同物。
附图说明
通过参考以下结合附图的说明及权利要求书的内容，并且随着对本发明的更全面理解，本发明的其它目的及结果将更加明白及易于理解。在附图中：
图1为本发明实施例中用于视频监控的声源定向控制装置的示例性结构示意图；
图2a和图2b为如图1所示的示例性结构中声音拾取部件的优选布置方式示意图；
图3a和图3b为基于如图2所示优选布置方式的闭环控制实例示意图；
图4为本发明实施例中用于视频监控的声源定向控制方法的示例性流程示意图。
具体实施方式
为使本发明的目的、技术方案及优点更加清楚明白，以下参照附图并举实施例，对本发明进一步详细说明。
请参见图1，本实施例中用于视频监控的声源定向控制装置包括：声音拾取部件11、声音采集部件12、方位解算部件13、角度收敛部件14、环路滤波部件15、以及调节驱动部件16。
声音拾取部件11可与摄像头10同步旋转。其中，由于声音拾取部件11具有与摄像头10同步旋转的特性，因而声音拾取部件11所形成的声源坐标系能够随着摄像头10的转动而同步转动，从能够形成随摄像头10同步转动的动态声源坐标系。
实际应用中，声音拾取部件11可以固定于摄像头10、以形成声音拾取部件11可与摄像头10同步旋转的特性，而且，固定于摄像头10的声音拾取部件11可以采用不同的布置方式，以实现二维空间、或者更高维空间的定向。
其中，若需要声音拾取部件11实现二维空间的180°范围内的声源定向，则请参见图2a和图2b，声音拾取部件11可以包括位于同一平面内的一对麦克风11a和11b，该对麦克风11a和11b分别于镜头100法线N的两侧固定于摄像头10、以形成与镜头100法线N共面的二维平面。需要说明的是，图2a和图2b中仅仅是以球形的摄像头100为例，但摄像头100的具体形状并不影响声音拾取部件11的布置方式。
若需要声音拾取部件11实现二维空间360°范围内的声源定向，则声音拾取部件11可以包括三个麦克风在同一平面。
若需要声音拾取部件11实现三维及三维以上空间的定向，则声音拾取部件11可以包括至少四个不共面的麦克风，其中，对于四个麦克风中的每两个麦克风，可以像类似于图2a和图2b所示的那样分别于镜头100法线N的两侧固定于摄像头10，以形成与镜头100法线N共面的二维平面，只是每两个麦克风所分别形成的二维平面的角度不同，即互不平行。
声音采集部件12采集声音拾取部件11接收到的声源信号。其中，对于声音拾取部件11基于麦克风来实现的情况，声音拾取部件11所拾取到的音频信号通常为模拟信号，此时，声音采集部件12的主要作用在于对模拟信号采样、以得到数字化的声源信号，例如，声音采集部件12可以选用具有模数转换功能的采样电路，可以是模数转换电路。
方位解算部件13利用声源信号解算得到声源相比于摄像头的镜头法线的方位角。其中，方位解算部件13可以采用任意一种现有的解算算法实施对声源信号的解算。由于声音拾取部件11形成的是随摄像头同步转动的动态声源坐标系，因此，按照任意一种解算算法得到的方位角都是以该动态声源坐标系为参考坐标，从而，只要以摄像头的镜头法线为该动态声源坐标系的坐标轴，则方位解算部件13解算得到的方位角即为声源相比于摄像头的镜头法线的方位角。方位计算部件13可以是处理器。
角度收敛部件14在解算得到的方位角超出预先设定的角度范围之外时，产生用于将方位角收敛至预先设定的角度范围之内的驱动信号。其中，若解算得到的方位角在正向方向上超出预先设定的角度范围之外，则角度收敛部件14产生的驱动信号表示沿反向方向转动调节摄像头和声音拾取部件，使得声源的方位角落在预先设定的角度范围之内。反之同理，若解算得到的方位角在反向方向上超出预先设定的角度范围之外，则角度收敛部件14产生的驱动信号表示沿正向方向转动调节摄像头和声音拾取部件，同样使得声源的方位角落在预先设定的角度范围之内。另外，在解算得到的方位角未超出预先设定的角度范围之外时，则角度收敛部件14可以无需产生驱动信号。
环路滤波部件15位于角度收敛部件14与调节驱动部件16之间。
调节驱动部件16依据驱动信号驱使摄像头10和声音拾取部件11同步旋转。其中，调节驱动部件16主要的作用是依据驱动信号使摄像头10和声音拾取部件11在正确的方向上旋转、以使声源的方位角能够落在预先设定的角度范围之内，当然，除了调节旋转方向之外，调节驱动部件16也可以根据实际需要进一步调节旋转的速度等其它参数；另外，调节驱动部件16可以由例如伺服装置等任一种具有驱动能力的部件来实现，摄像头10可以装设于由调节驱动部件16驱动的转动云台，以使摄像头10具有旋转自由度，从而，只要调节驱动部件16驱动转动云台旋转，摄像头10即可发生转动，相应地，固定于摄像头10的声音拾取部件11即可与摄像头10同步转动。调节驱动部件16可以是驱动马达。
如上可见，在本实施例用于视频监控的声源定向控制装置中，可与摄像头10同步旋转的声音拾取部件11能够形成随摄像头转动的动态声源坐标系，因而基于该动态声 源坐标系，方位解算部件13解算得到的方位角就为声源相比于摄像头10的镜头100法线N的相对方位角，从而，通过角度收敛部件14与调节驱动部件16的配合，即可使该相对方位角向预先设定的角度范围内收敛，以实现对该相对方位角的闭环控制、并通过对该相对方位角的闭环控制使摄像头10的镜头100视角范围追踪声源所处方位。
按照控制理论，对该相对方位角的闭环控制必然能够产生环路增益K，以抑制传统的开环方式中由解算算法产生的精度误差，即开环精度误差E。其中，开环精度误差E与环路增益K抑制后得到的闭环精度误差X满足X＝E/(1+K)，考虑到在通常情况下，K>>1，因此可以将X＝E/(1+K)简化表示为X≈E/K。由此可见，环路增益K抑制后得到的闭环精度误差X显然小于解算算法产生的开环精度误差E。因此，通过对上述相对方位角的闭环控制，无需提高解算算法的精确度即可提高声源定向的准确性，从而能够节省运行算法所消耗的资源。另外，对于环路增益K，可以由环路滤波部件15予以调节，理论上可以达到环路增益K无穷大、使环路增益K抑制后得到的闭环精度误差X≈E/K趋近于零。
而且，上述闭环控制的收敛目标为角度范围、而非单一角度值，这是因为，摄像头的镜头视角具有一定的角度范围，只要声源(即监控的特定目标)处在镜头100视角的角度范围内，声源相比于摄像头10的镜头100法线N的方位角就不是必须要调整，从而，可以降低对闭环精度误差X≈E/K的要求，优选地，使闭环精度误差X≈E/K保持在预先设定的角度范围内即可。
请参见图3a和图3b(图3a和图3b中以X-Y坐标系示例性地表示动态声源坐标系)，基于如图2所示的声音拾取部件11的布置方式，假设预先设定的角度范围为[-5°,5°]，并通过调节环路增益K而使闭环误差X≈E/K处于角度范围为[-5°,5°]内，首先，如图3a所示，声源S移动至摄像头10的镜头100法线N(与动态声源坐标系的Y轴重合)的-45°位置处，然后，角度收敛部件14产生的驱动信号通过环路滤波部件15传递至调节驱动部件16，并由调节驱动部件16通过转动云台驱使摄像头10和一对麦克风11a和11b在负方向上同步转动，如图3b所示，使摄像头10的镜头100法线N追踪至声源S所在角度的[-5°,5°]的误差范围内。
当处理器判断得到方位角接近第二麦克风且远离第一麦克风时，生成用于驱动摄像机镜头以朝着第二麦克风的方向转动的驱动信号；当处理器判断得到方位角接近第一麦克风且远离第二麦克风时，生成用于驱动摄像机镜头以朝着第一麦克风的方向转动的驱动信号。
另外，以预先设定的角度范围为闭环控制的收敛目标实际上使得闭环控制对上述相对方位角的变化幅度存在一定的容忍度，从而，能够避免摄像头10和声音拾取部件11的旋转随声源方位的小幅波动而引起的频繁抖动，以提高声源定向的稳定性。例如，若在如图3a和3b所示的实例中，若声源S移动至摄像头10的镜头100法线N的±4°、甚至更小角度的位置处时，角度收敛部件14不产生驱动信号。相应地，预先设定的角度范围优选地小于或等于摄像头10的镜头100视角范围，以确保闭环控制能够时刻以声源处于镜头100视角的角度范围内为目标。
以上是对本实施例中用于视频监控的声源定向控制装置。基于与上述声源定向控制装置相似的原理，本实施例还提供了一种用于视频监控的声源定向控制方法。
请参见图4，本实施例中用于视频监控的声源定向控制方法包括：
步骤400、将声音拾取部件设置为可与摄像头同步旋转。
其中，由于声音拾取部件具有可与摄像头同步旋转的特性，因而声音拾取部件所形成的声源坐标系能够随着摄像头的转动而同步转动，从能够形成随摄像头同步转动的动态声源坐标系。实际应用中，步骤400可以通过将声音拾取部件固定于摄像头来形成与摄像头同步的旋转，而且，固定于摄像头的声音拾取装置的可以采用不同的布置方式，以实现二维空间、或者更高维空间的定向，声音拾取装置的具体布置方式可以参照声源定向控制装置部分的描述，此处不再赘述。
步骤401、采集声音拾取部件接收到的声源信号，然后执行步骤402。
步骤402、利用声源信号解算得到声源相比于摄像头的镜头法线的方位角，然后执行步骤403。
步骤403、判断解算得到的方位角是否超出预先设定的角度范围之外，若是，则执行步骤404，否则返回步骤401；
步骤404，在解算得到的方位角超出预先设定的角度范围之外时，产生用于将方位角收敛至预先设定的角度范围之内的驱动信号，然后执行步骤405。
其中，步骤404可以采用任意一种现有的解算算法实施对声源信号的解算。由于声音拾取部件形成的是随摄像头同步转动的动态声源坐标系，因此，按照任意一种解算算法得到的方位角都是以该动态声源坐标系为参考坐标，从而，只要以摄像头的镜头法线为该动态声源坐标系的坐标轴，则步骤404解算得到的方位角即为声源相比于摄像头的镜头法线的方位角。
步骤405、对产生的驱动信号进行环路滤波，然后执行步骤406。
步骤406、依据驱动信号驱使摄像头和声音拾取部件同步旋转，然后返回步骤401。
其中，摄像头可以装设于由步骤406驱动的转动云台、以使摄像头具有旋转自由度，从而，对于声音拾取部件固定于摄像头的情况，步骤406通过驱动装设有摄像头的转动云台转动来驱使摄像头旋转，从而使得固定于摄像头的声音拾取部件也能够与摄像头同步旋转。
至此，上述方法的流程。其中，在该流程中，步骤401-步骤406可以被反复地循环执行。
如上可见，在本实施例用于视频监控的声源定向控制方法中，声音拾取装置具有可与摄像头同步旋转的特性，并能够以此形成随摄像头同步转动的动态声源坐标系，因而基于该动态声源坐标系，解算得到的方位角就为声源相比于摄像头的镜头法线的相对方位角，从而，通过使该相对方位角向预先设定的角度范围内收敛，能够以实现对该相对方位角的闭环控制，并通过对该相对方位角的闭环控制使摄像头的镜头视角范围追踪声源所处方位。
按照前文在声源定向控制装置部分的描述推导，环路增益K抑制后得到的闭环精度误差X显然小于解算算法产生的开环精度误差E，因此，通过对上述相对方位角的闭环控制，无需提高解算算法的精确度即可提高声源定向的准确性，从而能够节省运行算法所消耗的资源。另外，与声源定向控制装置部分同理，对于环路增益K，可以由上述流程中的步骤404执行的环路滤波予以调节，理论上可以达到环路增益K无穷大、使环路增益K抑制后得到的闭环精度误差X≈E/K趋近于零。
而且，上述闭环控制的收敛目标为角度范围、而非单一角度值，可以降低对闭环精度误差X≈E/K的要求，优选地，使闭环精度误差X≈E/K保持在预先设定的角度范围内即可。以及，以预先设定的角度范围为闭环控制的收敛目标实际上使得闭环控制对上述相对方位角的变化幅度存在一定的容忍度，从而，能够避免摄像头和声音拾取部件的旋转随声源方位的小幅波动而引起的频繁抖动，以提高声源定向的稳定性。相应地，预先设定的角度范围优选地小于或等于摄像头的镜头视角范围，以确保闭环控制能够时刻以声源处于镜头视角的角度范围内为目标。
本申请实施例还提供了一种用于视频监控的声源定向的摄像机，包括：至少2个麦克风，与摄像机镜头同步旋转，用于至少一个声源产生的声音模拟信号；至少一个模数转换电路，与麦克风通过建立连接关系，接收麦克风采集的声音模拟信号并转换 为声音数字信号；至少一个处理器，内置于摄像机，与模数转换电路通过机建立连接关系，用于接收声音数字信号，计算得到声源相比于摄像机镜头法线的方位角，其中，当方位角大于预先设定的角度范围，根据方位角生成驱动信号，并发送至驱动马达；驱动马达，与处理器连接，用于接收驱动信号，根据驱动信号控制云台运动；云台，与摄像机镜头连接，用于根据驱动马达的驱动，带动摄像机镜头转动。
可选地，麦克风安装于摄像机镜头上，麦克风的数量是2个、3个或者4个。
可选地，驱动信号包括云台旋转的速度参数和方位角的调节参数。
可选地，当方位角大于预先设定的角度范围，根据方位角生成驱动信号包括：当处理器判断得到方位角接近第二麦克风且远离第一麦克风时，生成用于驱动摄像机镜头以朝着第二麦克风的方向改变镜头法线方向的驱动信号；当处理器判断得到方位角接近第一麦克风且远离第二麦克风时，生成用于驱动摄像机镜头以朝着第一麦克风的方向改变镜头法线方向的驱动信号。
可选地，计算得到声源相比于摄像机镜头法线的方位角包括：麦克风和摄像机镜头形成动态声源坐标系，处理器利用声源定向算法，计算得到声源相比于摄像机镜头法线的方位角。
可选地，处理器根据方位角生成一个对应的驱动信号后，包括：处理器利用环路滤波器对驱动信号进行滤波处理，若方位角处于预先设定的角度范围，则不生成驱动信号，若方位角大于预先设定的角度范围，则生成唯一对应的驱动信号。
本申请实施例所提供的各个功能单元可以在移动终端、计算机终端或者类似的运算装置中运行，也可以作为存储介质的一部分进行存储。
由此，本发明的实施例可以提供一种摄像机，该摄像机可以是摄像机群中的任意一个摄像机设备。可选地，在本实施例中，上述摄像机也可以替换成具有摄像或者录像功能的设备。
在本实施例中，上述摄像机可以执行用于视频监控的声源定向控制方法中以下步骤的程序代码：采集声音拾取部件接收到的声源信号，其中，所述声音拾取部件与摄像头同步旋转；利用所述声源信号解算得到声源相比于摄像头的镜头法线的方位角；在所述方位角超出预设角度范围时，生成用于将所述方位角收敛至所述预设角度范围之内的驱动信号；根据所述驱动信号驱使所述摄像头与所述声音拾取部件同步旋转。
可选地，该摄像机可以包括：一个或多个处理器、存储器、以及传输装置。
其中，存储器可用于存储软件程序以及模块，如本发明实施例中的用于视频监控的声源定向控制方法和装置对应的程序指令/模块，处理器通过运行存储在存储器内的软件程序以及模块，从而执行各种功能应用以及数据处理，即实现上述的用于视频监控的声源定向控制方法。存储器可包括高速随机存储器，还可以包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器可进一步包括相对于处理器远程设置的存储器，这些远程存储器可以通过网络连接至终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
上述的传输装置用于经由一个网络接收或者发送数据。上述的网络具体实例可包括有线网络及无线网络。在一个实例中，传输装置包括一个网络适配器(Network Interface Controller，NIC)，其可通过网线与其他网络设备与路由器相连从而可与互联网或局域网进行通讯。在一个实例中，传输装置为射频(Radio Frequency，RF)模块，其用于通过无线方式与互联网进行通讯。
其中，具体地，存储器用于存储预设动作条件和预设权限用户的信息、以及应用程序。
处理器可以通过传输装置调用存储器存储的信息及应用程序，以执行上述方法实施例中的各个可选或优选实施例的方法步骤的程序代码。
本发明的实施例还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以用于保存上述方法实施例和装置实施例所提供的用于视频监控的声源定向控制方法所执行的程序代码。
可选地，在本实施例中，上述存储介质可以位于摄像机群中的任意一个摄像机中。
可选地，在本实施例中，设置在摄像机中的存储介质被设置为存储用于执行以下步骤的程序代码：采集声音拾取部件接收到的声源信号，其中，所述声音拾取部件与摄像头同步旋转；利用所述声源信号解算得到声源相比于摄像头的镜头法线的方位角；在所述方位角超出预设角度范围时，生成用于将所述方位角收敛至所述预设角度范围之内的驱动信号；根据所述驱动信号驱使所述摄像头与所述声音拾取部件同步旋转。
可选地，在本实施例中，存储介质还可以被设置为存储用于视频监控的声源定向控制方法提供的各种优选地或可选的方法步骤的程序代码。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内。

Claims (16)

  1. 一种用于视频监控的声源定向控制装置，其特征在于，包括：
    声音拾取部件，其可与摄像头同步旋转；
    声音采集部件，其采集声音拾取部件接收到的声源信号；
    方位解算部件，其利用声源信号解算得到声源相比于摄像头的镜头法线的方位角；
    角度收敛部件，其在解算得到的方位角超出预先设定的角度范围之外时，产生用于将方位角收敛至预先设定的角度范围之内的驱动信号,预先设定的角度范围小于或等于摄像头的镜头视角范围；
    调节驱动部件，其依据驱动信号驱使摄像头与声音拾取部件同步旋转。
  2. 根据权利要求1所述的声源定向控制装置，其特征在于，声音拾取部件固定于摄像头、以形成与摄像头同步的旋转。
  3. 根据权利要求2所述的声源定向控制装置，其特征在于，声音拾取部件包括至少两个麦克风。
  4. 根据权利要求1所述的声源定向控制装置，其特征在于，摄像头装设于转动云台、该转动云台由调节驱动部件驱动。
  5. 根据权利要求1所述的声源定向控制装置，其特征在于，进一步包括：
    环路滤波部件，其位于角度收敛部件与调节驱动部件之间。
  6. 一种用于视频监控的声源定向控制方法，其特征在于，包括：
    将声音拾取部件设置为可与摄像头同步旋转；
    采集声音拾取部件接收到的声源信号；
    利用声源信号解算得到声源相比于摄像头的镜头法线的方位角；
    在解算得到的方位角超出预先设定的角度范围之外时，产生用于将方位角收敛至预先设定的角度范围之内的驱动信号，预先设定的角度范围小于或等于摄像头的镜头视角范围；
    依据驱动信号驱使摄像头与声音拾取部件同步旋转。
  7. 根据权利要求6所述的声源定向控制方法，其特征在于，通过将声音拾取部件固定于摄像头而使声音拾取部件与摄像头同步旋转。
  8. 根据权利要求7所述的声源定向控制方法，其特征在于，声音拾取部件包括至少两个麦克风。
  9. 根据权利要求6所述的声源定向控制方法，其特征在于，依据驱动信号驱使摄像头与声音拾取部件同步旋转包括：
    通过驱动装设有摄像头的转动云台转动来驱使摄像头和声音拾取部件同步旋转。
  10. 根据权利要求6所述的声源定向控制方法，其特征在于，在依据驱动信号驱使摄像头与声音拾取部件同步旋转之前，该方法还包括：
    将所述驱动信号进行环路滤波。
  11. 一种用于视频监控的声源定向的摄像机，其特征在于，包括：
    至少2个麦克风，与摄像机镜头同步旋转，用于采集至少一个声源产生的声音模拟信号；
    至少一个模数转换电路，与所述麦克风建立连接关系，接收麦克风采集的声音模拟信号并转换为声音数字信号；
    至少一个处理器，内置于所述摄像机，与所述模数转换电路建立连接关系，用于接收所述声音数字信号，计算得到所述声源相比于摄像机镜头法线的方位角，其中，当所述方位角大于预先设定的角度范围，根据所述方位角生成驱动信号，并发送至驱动马达；
    所述驱动马达，与所述处理器连接，用于接收所述驱动信号，根据所述驱动信号控制云台运动；
    所述云台，与所述摄像机镜头连接，用于根据驱动马达的驱动，带动所述摄像机镜头转动。
  12. 根据权利要求11所述的摄像机，其特征在于，所述麦克风安装于摄像机镜头上，所述麦克风的数量是2个、3个或者4个。
  13. 根据权利要求11所述的摄像机，其特征在于，所述驱动信号包括所述云台旋转的速度参数和所述方位角的调节参数。
  14. 根据权利要求11所述的摄像机，其特征在于，当所述方位角大于预先设定的角度范围，根据所述方位角生成驱动信号包括：
    当所述处理器判断得到所述方位角接近第二麦克风且远离第一麦克风时，生成用于驱动所述摄像机镜头以朝着所述第二麦克风的方向转动的驱动信号；
    当所述处理器判断得到所述方位角接近第一麦克风且远离第二麦克风时，生成用于所述驱动摄像机镜头以朝着所述第一麦克风的方向转动的驱动信号。
  15. 根据权利要求11所述的摄像机，其特征在于，计算得到所述声源相比于摄像机镜头法线的方位角包括：
    所述麦克风和摄像机镜头形成动态声源坐标系，处理器利用声源定向算法，计算得到所述声源相比于摄像机镜头法线的方位角。
  16. 根据权利要求11所述的摄像机，其特征在于，所述处理器根据所述方位角生成一个对应的驱动信号后，包括：
    所述处理器利用环路滤波器对所述驱动信号进行滤波处理，若所述方位角处于预先设定的角度范围，则不生成所述驱动信号，若所述方位角大于所述预先设定的角度范围，则生成唯一对应的所述驱动信号。
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