WO2021003639A1 - Sound localization method and device based on time difference localization - Google Patents
Sound localization method and device based on time difference localization Download PDFInfo
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- WO2021003639A1 WO2021003639A1 PCT/CN2019/095096 CN2019095096W WO2021003639A1 WO 2021003639 A1 WO2021003639 A1 WO 2021003639A1 CN 2019095096 W CN2019095096 W CN 2019095096W WO 2021003639 A1 WO2021003639 A1 WO 2021003639A1
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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
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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- the present invention relates to the field of sound positioning, in particular to a sound positioning method and equipment based on time difference positioning.
- the level of intelligence of equipment has gradually become an integral part of the product life cycle.
- Various positioning systems are becoming more and more important in our daily lives.
- the sound location system that is, the system that determines the position of the target to be measured by the sound source in space
- the sound location system has a wide range of applications in geological prospecting, personnel search and rescue, target tracking, video phone, video conference and other systems. Therefore, in order to facilitate the laser tracker to switch the laser target at a longer distance, it is necessary to further improve the intelligence of the laser tracker.
- the present invention proposes a sound localization method based on time difference positioning, which uses multiple collection points to synchronously collect audio signals, and processes the collected signals to obtain the time difference between the signals; using the time difference and the collection point
- the location information is calculated to obtain the location information of the sound source and the reference point.
- the multiple collection points are located on the same plane and are evenly distributed. Start timing after receiving the audio signal for the first time, record the time of each audio signal received afterwards, and use the corresponding time as the time difference between the collection point where the audio signal is received and the collection point where the audio signal is first received
- the space coordinate system is established by taking the centers of the 4 collection points as the origin, and the collection points are located on the positive and negative semi-axes of the x and y axes, and are at the same distance from the origin; calculated according to the following formula:
- C is the speed of sound
- x is the position of the sound source in the X direction in the coordinate system
- y is the position of the sound source in the Y direction in the coordinate system
- z is the position of the sound source in the Z direction in the coordinate system
- L is the collection point
- R is the distance from the sound source to the origin of the coordinate
- R 1 is the distance between the collection point 1 and the sound source
- R 2 is the distance between the collection point 2 and the sound source
- R 3 is the distance between the collection point 3 and the sound source
- R 4 is the distance between the collection point 4 and the sound source
- ⁇ 21 is the time difference between the collection point 1 and the collection point 2 receiving the same signal
- ⁇ 31 is the time difference between the collection point 1 and the collection point 3 receiving the same signal
- ⁇ 41 is the time difference between the collection point 1 and the collection point 4 receiving the same signal
- a sound location device for the laser tracker includes the laser tracker body, multiple receiving modules, processing modules and communication modules.
- the synchronously received audio information is preprocessed and transmitted to the processing module.
- the processing module processes the signal data, calculates the location information of the sound source and the reference point, and sends the location information to the host computer through the communication module.
- a sound source module which includes a buzzer, a microprocessor, and a communication module; after the microprocessor recognizes the received sound command, it controls the buzzer to emit an audio signal with encoded information.
- the receiving module includes a receiver, an amplifying circuit, a filter circuit, and an A/D conversion module. The receiver is used to receive audio signals. The audio signals are amplified, filtered and A/D converted in sequence and then transmitted to the processing module.
- the receiver is an omnidirectional microphone or a piezoelectric acoustic sensor.
- the beneficial effect of the present invention is that the positioning method of the present invention can achieve high positioning accuracy, and when it is applied to a laser tracker, it can achieve long-distance positioning, switch the laser target, and the sound source module can be mounted on the target. , Flexible use, and overall improvement of the intelligence of the laser tracker.
- Figure 1 is an embodiment of a positioning method
- Figure 2 is a schematic diagram of the structure of the positioning device
- Figure 3 is a schematic diagram of the sound source module structure
- Figure 4 is an embodiment of the amplifying circuit
- Figure 5 is an embodiment of the filter circuit.
- a sound localization method based on time difference positioning uses multiple collection points to synchronously collect audio signals, and process the collected signals to obtain the time difference between the signals; use the time difference and the position information of the collection point to calculate the sound Positioning information of the source and reference point.
- the multiple collection points are located on the same plane and are evenly distributed. Start timing after receiving the audio signal for the first time, record the time of each audio signal received afterwards, and use the corresponding time as the time difference between the collection point where the audio signal is received and the collection point where the audio signal is first received
- FIG. 1 An embodiment of the present invention is shown in Fig. 1, taking the centers of four collection points as the origin to establish a spatial coordinate system, and the collection points are located on the positive and negative semi-axes of the x and y axes, and are at the same distance from the origin; according to the following distance relationship :
- C is the speed of sound
- x is the position of the sound source in the X direction in the coordinate system
- y is the position of the sound source in the Y direction in the coordinate system
- z is the position of the sound source in the Z direction in the coordinate system
- L is the collection point
- R is the distance from the sound source to the origin of the coordinate
- R 1 is the distance between the collection point 1 and the sound source
- R 2 is the distance between the collection point 2 and the sound source
- R 3 is the distance between the collection point 3 and the sound source
- R 4 is the distance between the collection point 4 and the sound source
- ⁇ 21 is the time difference between the collection point 1 and the collection point 2 receiving the same signal
- ⁇ 31 is the time difference between the collection point 1 and the collection point 3 receiving the same signal
- ⁇ 41 is the time difference between the collection point 1 and the collection point 4 receiving the same signal
- the azimuth can be calculated from the x and y values:
- a sound positioning device for the laser tracker includes the laser tracker body, multiple receiving modules, processing modules, and communication modules , Multiple receiving modules preprocess the synchronously received audio information and transmit it to the processing module.
- the processing module processes the signal data and calculates the positioning information of the sound source and the reference point, and sends the positioning information to the host computer through the communication module .
- the sound source module includes a buzzer, a microprocessor, and a communication module; after the microprocessor recognizes the received sound command, it controls the buzzer to emit a code Audio signal of information.
- the receiving module includes a receiver, an amplifying circuit, a filter circuit, and an A/D conversion module. The receiver is used to receive audio signals. The audio signals are amplified, filtered and A/D converted in sequence and then transmitted to the processing module.
- the receiver is an omnidirectional microphone or a piezoelectric acoustic sensor.
- the latter stage uses an operational amplifier to amplify the received signal to meet the requirements of the latter circuit.
- the circuit diagram is shown in Figure 4. .
- the center frequency is very stable and is less affected by the external environment; the center frequency is very easy to adjust, only need to adjust R6 to adjust the center frequency; the frequency selection characteristic is very good, the bandwidth is very narrow, the bandwidth is very adjustable, and it can be adjusted only by adjusting C5 Bandwidth; the peripheral circuit is simple, and the implementation is simple; it is very convenient to connect to the subsequent circuit, because the output of the band-pass filter is connected to the external interrupt of the microcontroller, and the external interrupt is triggered by the falling edge, and when there is a useful signal input to the LM567, the LM567 will output a drop along.
Abstract
A sound localization method and device based on time difference localization. A plurality of collection points are used to synchronously collect audio signals, and the collected signals are processed to obtain the time difference between the signals; and the time difference and position information of the collection points are used for calculation to obtain localization information of a sound source and a datum point. A localization device for a sound localization method based on time difference localization is applied to a laser tracker, and same comprises a plurality of receiving modules, a processing module and a communication module, wherein the plurality of receiving modules pre-process synchronously received audio information and then transmit the pre-processed audio information to the processing module, the processing module processes signal data and calculates localization information of a sound source and a datum point, and the communication module sends the localization information to an upper machine. The sound localization method based on time difference localization can achieve a relatively high localization precision, and can realize remote localization and switching of a laser target when the sound localization method is applied to a laser tracker; moreover, a sound source module can be carried on a target and is used flexibly, such that the degree of intelligence of the laser tracker is increased as a whole.
Description
本发明涉及声音定位领域，尤其涉及一种基于时差定位的声音定位方法及设备。The present invention relates to the field of sound positioning, in particular to a sound positioning method and equipment based on time difference positioning.
随着科技的发展，工业自动化水平的不断提高，设备的智能化程度的高低逐渐成为产品生存周期长短的不可分割的组成部分。各种定位系统在我们的日常生活中越来越重要。其中，声音定位系统(即确定声源待测目标在空间中的位置的系统)在地质勘探、人员搜救、目标跟踪、可视电话、视频会议等系统中有着广泛的应用。因此，为了方便激光跟踪仪在较远的距离切换激光靶标，需要进一步提高激光跟踪仪的智能化程度。With the development of technology and the continuous improvement of the level of industrial automation, the level of intelligence of equipment has gradually become an integral part of the product life cycle. Various positioning systems are becoming more and more important in our daily lives. Among them, the sound location system (that is, the system that determines the position of the target to be measured by the sound source in space) has a wide range of applications in geological prospecting, personnel search and rescue, target tracking, video phone, video conference and other systems. Therefore, in order to facilitate the laser tracker to switch the laser target at a longer distance, it is necessary to further improve the intelligence of the laser tracker.
发明内容Summary of the invention
为了解决上述问题，本发明提出一种基于时差定位的声音定位方法，使用多个采集点同步采集声频信号，对采集到的信号进行处理得到各信号之间的时间差；利用所述时间差及采集点位置信息进行计算，得出声源与基准点的定位信息。In order to solve the above problems, the present invention proposes a sound localization method based on time difference positioning, which uses multiple collection points to synchronously collect audio signals, and processes the collected signals to obtain the time difference between the signals; using the time difference and the collection point The location information is calculated to obtain the location information of the sound source and the reference point.
优选的，所述多个采集点位于同一平面，且均匀分布。首次接收到声频信号后开始计时，记录之后每一次接收到声频信号的时间，将对应时间作为接收到该声频信号的采集点相对于首次接收到声频信号的采集点的时间差Preferably, the multiple collection points are located on the same plane and are evenly distributed. Start timing after receiving the audio signal for the first time, record the time of each audio signal received afterwards, and use the corresponding time as the time difference between the collection point where the audio signal is received and the collection point where the audio signal is first received
更优选的，以4个采集点中心为原点，建立空间坐标系，采集点分别位于x、y轴的正负半轴，且离原点距离相等；按照以下公式计算：More preferably, the space coordinate system is established by taking the centers of the 4 collection points as the origin, and the collection points are located on the positive and negative semi-axes of the x and y axes, and are at the same distance from the origin; calculated according to the following formula:
其中：among them:
式中，C为声速；x为声源在坐标系中X向的位置；y为声源在坐标系中Y向的位置；z为声 源在坐标系中Z向的位置；L为采集点与采集点之间的距离间隔；R为声源到坐标原点的距离；R
1为采集点1与声源的距离；R
2为采集点2与声源的距离；R
3为采集点3与声源的距离；R
4为采集点4与声源的距离；τ
21为采集点1与采集点2接收同一信号的时间差；τ
31为采集点1与采集点3接收同一信号的时间差；τ
41为采集点1与采集点4接收同一信号的时间差；
Where C is the speed of sound; x is the position of the sound source in the X direction in the coordinate system; y is the position of the sound source in the Y direction in the coordinate system; z is the position of the sound source in the Z direction in the coordinate system; L is the collection point The distance between the collection point and the collection point; R is the distance from the sound source to the origin of the coordinate; R 1 is the distance between the collection point 1 and the sound source; R 2 is the distance between the collection point 2 and the sound source; R 3 is the distance between the collection point 3 and the sound source The distance of the sound source; R 4 is the distance between the collection point 4 and the sound source; τ 21 is the time difference between the collection point 1 and the collection point 2 receiving the same signal; τ 31 is the time difference between the collection point 1 and the collection point 3 receiving the same signal; τ 41 is the time difference between the collection point 1 and the collection point 4 receiving the same signal;
将上述两式结合计算得到声源位置信息。Combine the above two formulas to calculate the sound source position information.
为进一步提高激光跟踪仪的智能化，将上述方法加以应用，一种用于激光跟踪仪的声音定位设备，包括激光跟踪仪本体、多个接收模块、处理模块和通信模块，多个接收模块将同步接收的声频信息预处理后传输至处理模块，处理模块对信号数据进行处理，并计算得出声源与基准点的定位信息，通过通信模块将定位信息发送至上位机。In order to further improve the intelligence of the laser tracker, the above method is applied. A sound location device for the laser tracker includes the laser tracker body, multiple receiving modules, processing modules and communication modules. The synchronously received audio information is preprocessed and transmitted to the processing module. The processing module processes the signal data, calculates the location information of the sound source and the reference point, and sends the location information to the host computer through the communication module.
优选的，还包括声源模块，所述声源模块包括蜂鸣器、微处理器和通信模块；微处理器识别接收的发声命令后，控制蜂鸣器发出带有编码信息的声频信号。所述接收模块包括接收器、放大电路、滤波电路和A/D转换模块，接收器用于接收声频信号，声频信号依次经放大、滤波和A/D转换后传输至处理模块。Preferably, it further includes a sound source module, which includes a buzzer, a microprocessor, and a communication module; after the microprocessor recognizes the received sound command, it controls the buzzer to emit an audio signal with encoded information. The receiving module includes a receiver, an amplifying circuit, a filter circuit, and an A/D conversion module. The receiver is used to receive audio signals. The audio signals are amplified, filtered and A/D converted in sequence and then transmitted to the processing module.
优选的，所述接收器为全向麦克风或压电式声敏传感器。Preferably, the receiver is an omnidirectional microphone or a piezoelectric acoustic sensor.
本发明的有益效果在于：本发明所述定位方法能够取得较高的定位精度，将其应用于激光跟踪仪上，能够实现较远距离定位，切换激光靶标，同时声源模块能够搭载于靶标上，使用灵活，整体提高激光跟踪仪的智能化程度。The beneficial effect of the present invention is that the positioning method of the present invention can achieve high positioning accuracy, and when it is applied to a laser tracker, it can achieve long-distance positioning, switch the laser target, and the sound source module can be mounted on the target. , Flexible use, and overall improvement of the intelligence of the laser tracker.
图1是一个定位方法的实施例；Figure 1 is an embodiment of a positioning method;
图2是定位设备结构示意图；Figure 2 is a schematic diagram of the structure of the positioning device;
图3是声源模块结构示意图；Figure 3 is a schematic diagram of the sound source module structure;
图4是放大电路的一个实施例；Figure 4 is an embodiment of the amplifying circuit;
图5是滤波电路的一个实施例。Figure 5 is an embodiment of the filter circuit.
为了使本领域的技术人员更好地理解本发明的技术方案，下面结合附图和具体实施例对本发明作进一步的详细说明。In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
一种基于时差定位的声音定位方法，使用多个采集点同步采集声频信号，对采集到的信号进行处理得到各信号之间的时间差；利用所述时间差及采集点位置信息进行计算，得出声源与基准点的定位信息。A sound localization method based on time difference positioning uses multiple collection points to synchronously collect audio signals, and process the collected signals to obtain the time difference between the signals; use the time difference and the position information of the collection point to calculate the sound Positioning information of the source and reference point.
优选的，所述多个采集点位于同一平面，且均匀分布。首次接收到声频信号后开始计时，记录之后每一次接收到声频信号的时间，将对应时间作为接收到该声频信号的采集点相对于首次接收到声频信号的采集点的时间差Preferably, the multiple collection points are located on the same plane and are evenly distributed. Start timing after receiving the audio signal for the first time, record the time of each audio signal received afterwards, and use the corresponding time as the time difference between the collection point where the audio signal is received and the collection point where the audio signal is first received
本发明的一个实施例如图1所示，以4个采集点中心为原点，建立空间坐标系，采集点分别位于x、y轴的正负半轴，且离原点距离相等；按照以下距离关系式：An embodiment of the present invention is shown in Fig. 1, taking the centers of four collection points as the origin to establish a spatial coordinate system, and the collection points are located on the positive and negative semi-axes of the x and y axes, and are at the same distance from the origin; according to the following distance relationship :
其中，各参数关系为：Among them, the relationship between the parameters is:
式中，C为声速；x为声源在坐标系中X向的位置；y为声源在坐标系中Y向的位置；z为声源在坐标系中Z向的位置；L为采集点与采集点之间的距离间隔；R为声源到坐标原点的距离；R
1为采集点1与声源的距离；R
2为采集点2与声源的距离；R
3为采集点3与声源的距离；R
4为采集点4与声源的距离；τ
21为采集点1与采集点2接收同一信号的时间差；τ
31为采集点1与采集点3接收同一信号的时间差；τ
41为采集点1与采集点4接收同一信号的时间差；
Where C is the speed of sound; x is the position of the sound source in the X direction in the coordinate system; y is the position of the sound source in the Y direction in the coordinate system; z is the position of the sound source in the Z direction in the coordinate system; L is the collection point The distance between the collection point and the collection point; R is the distance from the sound source to the origin of the coordinate; R 1 is the distance between the collection point 1 and the sound source; R 2 is the distance between the collection point 2 and the sound source; R 3 is the distance between the collection point 3 and the sound source The distance of the sound source; R 4 is the distance between the collection point 4 and the sound source; τ 21 is the time difference between the collection point 1 and the collection point 2 receiving the same signal; τ 31 is the time difference between the collection point 1 and the collection point 3 receiving the same signal; τ 41 is the time difference between the collection point 1 and the collection point 4 receiving the same signal;
将上述两式结合得到：Combine the above two formulas to get:
求解上述方程组可得到：Solving the above equations can get:
由上式中第一式减去第二式可得：From the first formula minus the second formula in the above formula, we can get:
带入各参数关系式中，解得：Bringing into each parameter relational formula, the solution is:
方位角计算可由x，y值计算得到：The azimuth can be calculated from the x and y values:
由公式z＝Rcosθ得：From the formula z=Rcosθ:
至此，目标的直角坐标系下坐标(x，y，z)，球坐标系下坐标(R，θ，φ)均可求得。So far, the coordinates (x, y, z) in the rectangular coordinate system of the target and the coordinates (R, θ, φ) in the spherical coordinate system can be obtained.
如图2所示，为进一步提高激光跟踪仪的智能化，将上述方法加以应用，一种用于激光跟踪仪的声音定位设备，包括激光跟踪仪本体、多个接收模块、处理模块和通信模块，多个接收模块将同步接收的声频信息预处理后传输至处理模块，处理模块对信号数据进行处理，并计算得出声源与基准点的定位信息，通过通信模块将定位信息发送至上位机。As shown in Figure 2, in order to further improve the intelligence of the laser tracker, the above method is applied. A sound positioning device for the laser tracker includes the laser tracker body, multiple receiving modules, processing modules, and communication modules , Multiple receiving modules preprocess the synchronously received audio information and transmit it to the processing module. The processing module processes the signal data and calculates the positioning information of the sound source and the reference point, and sends the positioning information to the host computer through the communication module .
优选的，还包括声源模块，如图3所示，所述声源模块包括蜂鸣器、微处理器和通信模块；微处理器识别接收的发声命令后，控制蜂鸣器发出带有编码信息的声频信号。所述接收模块包括接收器、放大电路、滤波电路和A/D转换模块，接收器用于接收声频信号，声频信号依次经放大、滤波和A/D转换后传输至处理模块。Preferably, it further includes a sound source module, as shown in FIG. 3, the sound source module includes a buzzer, a microprocessor, and a communication module; after the microprocessor recognizes the received sound command, it controls the buzzer to emit a code Audio signal of information. The receiving module includes a receiver, an amplifying circuit, a filter circuit, and an A/D conversion module. The receiver is used to receive audio signals. The audio signals are amplified, filtered and A/D converted in sequence and then transmitted to the processing module.
优选的，所述接收器为全向麦克风或压电式声敏传感器。Preferably, the receiver is an omnidirectional microphone or a piezoelectric acoustic sensor.
在本实施中，由于麦克风接收到的信号在不经过放大时信号很小，不易检测，故后级利用运算放大器将接收的信号进行放大，以达到后级电路的要求，电路图如图4所示。放大电路采用把运算放大器接成同相比例放大电路，放大倍数由R5和R8共同决定，放大倍数Au＝R5/R8+1,通过调节R5可以很方便的改变放大倍数。In this implementation, because the signal received by the microphone is very small when it is not amplified, it is difficult to detect, so the latter stage uses an operational amplifier to amplify the received signal to meet the requirements of the latter circuit. The circuit diagram is shown in Figure 4. . The amplifying circuit adopts the operational amplifier connected to the same-phase amplifying circuit, the magnification is determined by R5 and R8 together, the magnification is Au=R5/R8+1, and the magnification can be easily changed by adjusting R5.
使用锁相环的选频功能的实现滤波功能，将接收到的信号经过带通滤波器后，选择需要的声频信号，一种可选的电路图如图5所示。中心频率很稳定，受外界环境影响比较小；中心频率很方便调节，只需要调节R6就可以调节中心频率；选频特性很好，带宽很窄，带宽很好调节，只需调节C5就可以调节带宽；外围电路简单，实现简单；很方便和后级电路连接，因为带通滤波器的输出接单片机的外部中断，外部中断为下降沿触发，而当有有用信号输入LM567时LM567会输出一个下降沿。Use the frequency selection function of the phase-locked loop to realize the filtering function. After the received signal is passed through the band-pass filter, the required audio signal is selected. An optional circuit diagram is shown in Figure 5. The center frequency is very stable and is less affected by the external environment; the center frequency is very easy to adjust, only need to adjust R6 to adjust the center frequency; the frequency selection characteristic is very good, the bandwidth is very narrow, the bandwidth is very adjustable, and it can be adjusted only by adjusting C5 Bandwidth; the peripheral circuit is simple, and the implementation is simple; it is very convenient to connect to the subsequent circuit, because the output of the band-pass filter is connected to the external interrupt of the microcontroller, and the external interrupt is triggered by the falling edge, and when there is a useful signal input to the LM567, the LM567 will output a drop along.
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above-disclosed are only preferred embodiments of the present invention. Of course, the scope of rights of the present invention cannot be limited by this. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.
Claims (8)
- 一种基于时差定位的声音定位方法，其特征在于，使用多个采集点同步采集声频信号，对采集到的信号进行处理得到各信号之间的时间差；利用所述时间差及采集点位置信息进行计算，得出声源与基准点的定位信息。A sound location method based on time difference positioning, characterized in that multiple collection points are used to synchronously collect audio signals, and the collected signals are processed to obtain the time difference between the signals; the time difference and the location information of the collection point are used for calculation , Get the location information of the sound source and the reference point.
- 根据权利要求1所述的一种基于时差定位的声音定位方法，其特征在于，所述多个采集点位于同一平面，且均匀分布。The sound localization method based on time difference positioning according to claim 1, wherein the multiple collection points are located on the same plane and are evenly distributed.
- 根据权利要求2所述的一种基于时差定位的声音定位方法，其特征在于，以4个采集点中心为原点，建立空间坐标系，采集点分别位于x、y轴的正负半轴，且离原点距离相等；按照以下公式计算：A sound localization method based on time difference positioning according to claim 2, characterized in that the center of the four collection points is used as the origin to establish a spatial coordinate system, and the collection points are located on the positive and negative semi-axes of the x and y axes, and The distance from the origin is equal; calculated according to the following formula:
其中：among them:
式中，C为声速；x为声源在坐标系中X向的位置；y为声源在坐标系中Y向的位置；z为声源在坐标系中Z向的位置；L为采集点与采集点之间的距离间隔；R为声源到坐标原点的距离；R 1为采集点1与声源的距离；R 2为采集点2与声源的距离；R 3为采集点3与声源的距离；R 4为采集点4与声源的距离；τ 21为采集点1与采集点2接收同一信号的时间差；τ 31为采集点1与采集点3接收同一信号的时间差；τ 41为采集点1与采集点4接收同一信号的时间差； Where C is the speed of sound; x is the position of the sound source in the X direction in the coordinate system; y is the position of the sound source in the Y direction in the coordinate system; z is the position of the sound source in the Z direction in the coordinate system; L is the collection point The distance between the collection point and the collection point; R is the distance from the sound source to the origin of the coordinate; R 1 is the distance between the collection point 1 and the sound source; R 2 is the distance between the collection point 2 and the sound source; R 3 is the distance between the collection point 3 and the sound source The distance of the sound source; R 4 is the distance between the collection point 4 and the sound source; τ 21 is the time difference between the collection point 1 and the collection point 2 receiving the same signal; τ 31 is the time difference between the collection point 1 and the collection point 3 receiving the same signal; τ 41 is the time difference between the collection point 1 and the collection point 4 receiving the same signal;将上述两式结合计算得到声源位置信息。Combine the above two formulas to calculate the sound source position information. - 根据权利要求1所述的一种基于时差定位的声音定位方法，其特征在于，首次接收到声频信号后开始计时，记录之后每一次接收到声频信号的时间，将对应时间作为接收到该声频信号的采集点相对于首次接收到声频信号的采集点的时间差。The sound localization method based on time difference positioning according to claim 1, characterized in that the time is started after receiving the audio signal for the first time, and each time the audio signal is received after recording, the corresponding time is regarded as the time when the audio signal is received The time difference between the collection point and the collection point where the audio signal was first received.
- 一种用于激光跟踪仪的声音定位设备，包括激光跟踪仪本体，其特征在于，还包括多个接收模块、处理模块和通信模块，多个接收模块将同步接收的声频信息预处理后传输至处理模块，处理模块对信号数据进行处理，并计算得出声源与基准点的定位信息，通过通信模块将定位信息发送至上位机。A sound positioning device for a laser tracker includes a laser tracker body, which is characterized in that it also includes a plurality of receiving modules, a processing module, and a communication module. The plurality of receiving modules preprocess the synchronously received audio information and transmit it to Processing module, the processing module processes the signal data, calculates the positioning information of the sound source and the reference point, and sends the positioning information to the upper computer through the communication module.
- 根据权利要求5所述的一种用于激光跟踪仪的声音定位设备，其特征在于，还包括声源模块，所述声源模块包括蜂鸣器、微处理器和通信模块；微处理器识别接收的发声命令后，控制蜂鸣器发出带有编码信息的声频信号。A sound location device for a laser tracker according to claim 5, further comprising a sound source module, the sound source module including a buzzer, a microprocessor, and a communication module; the microprocessor recognizes After receiving the sound command, control the buzzer to send out an audio signal with coded information.
- 根据权利要求5所述的一种用于激光跟踪仪的声音定位设备，其特征在于，所述接收模块包括接收器、放大电路、滤波电路和A/D转换模块，接收器用于接收声频信号，声频信号依次经放大、滤波和A/D转换后传输至处理模块。A sound location device for laser trackers according to claim 5, wherein the receiving module includes a receiver, an amplifier circuit, a filter circuit, and an A/D conversion module, and the receiver is used to receive audio signals, The audio signal is sequentially amplified, filtered and A/D converted and then transmitted to the processing module.
- 根据权利要求5所述的一种用于激光跟踪仪的声音定位设备，其特征在于，所述接收器为全向麦克风或压电式声敏传感器。A sound location device for a laser tracker according to claim 5, wherein the receiver is an omnidirectional microphone or a piezoelectric acoustic sensor.
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