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A sound source localization, sound source technology, applied in the direction of localization, measurement devices, instruments, etc., can solve the problems affecting the accuracy of the measurement, the error of the measurement result, and the error of the sound source target positioning accuracy.
Inactive Publication Date: 2013-04-10
HEBEI UNIV OF TECH
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[0003] Most of the existing sound source localization devices can only locate the sound source target in an ideal environment without background noise, and their structures are redundant and complex
Because the sound wave is very sensitive, the measured sound field is easily disturbed by the measuring device itself, thus affecting the accuracy of the measurement
If the number of sensors in the microphone array is large and the structure is relatively complex, it not only requires higher production costs, but also directly affects the free diffusion of sound waves, which will lead to errors in measurement results in severe cases
In addition, due to the influence of factors such as pitch angle and distance in three-dimensional space, there will be large errors in the positioning accuracy of sound source targets
The "highway sound source localization control system" reported by CN201166703 adopts an array structure of five elements and five faces, and its localization accuracy is ideal only in the far-field situation of a large pitch angle, and it is impossible to realize sound source location at any position in three-dimensional space. Accurate positioning
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Embodiment 1
[0078] The positioning calculation method in the upper computer system 3 of a sound source localization device is as follows:
[0079] exist Figure 10 In the structure of the regular tetrahedron array shown, the four vertices S of the regular tetrahedron 1 , S 2 , S 3 and S 4 There are four microphones respectively, O is the origin of the Cartesian coordinate system, and is also the center of the bottom surface of the regular tetrahedron. Let Q be the target point, the coordinates are Q(x, y, z), and the distance from the origin of the coordinates to the target point OQ is r meters, the projection of OQ on the XOY plane is OQ', define the angle between OQ' and the X-axis as α, and the angle between OQ and the Z-axis is β;
[0080] Suppose S 1 The distance to the coordinate origin O is a=0.141 meters, then the coordinates of the four microphones are:
[0081] S 1 =(a,0,0), S 2 = ( - ...
Embodiment 2
[0090] Except that the distance r from the designed sound source to the microphone array is 2.07 meters, and the spacing d of each microphone is 23 centimeters, that is Others are the same as embodiment 1, and finally draw the azimuth angle formula of the sound source as:
[0091] α ≈ arctan ( 3 d 42 - d 43 d 42 + d 43 - 2 d 41 ) .
Embodiment 3
[0093] Except that the distance r from the designed sound source to the microphone array is 3 meters, and the spacing d of each microphone is 24 cm, that is Others are the same as embodiment 1, and finally draw the azimuth angle formula of the sound source as:
[0094] α ≈ arctan ( 3 d 42 - d 43 d 42 + d 43 - 2 d 41 ) .
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Abstract
The invention relates to a sound source positioning device, applying sound waves to position through the match of a plurality of directions, which is a three-dimensional space sound resource object positioning device. The sound resource positioning device is composed of a hearing transducer, a sound resource signal microprocessor and an upper computer system, wherein the hearing transducer is a microphone array of a four-dimension regular tetrahedron structure; four microphones are respectively positioned on the four top points of the regular tetrahedron structure; the sound resource signal microprocessor is composed of a sound signal amplifier module, an analysis latch module and a communication transmission module; the upper computer system is composed of a positioning calculation method and peripheral equipment; and the hardware parts of each part and each module are all connected with each other through wires. The sound resource positioning device realizes accurate positioning to sound resources at any position in a three-dimensional space, is constructed into an all-around hearing scene, has the advantages of simple structure and higher precision, and has an anti-noise ability.
Description
Technical field [0001] The technical solution of the present invention involves the device that is located by determining the cooperation of multiple directions. Specifically, it is a sound source positioning device. Background technique [0002] Nowadays, with the continuous expansion of bionic technology applications, the hearing perception technology based on the speaker array has gradually become an important topic in many research fields such as mobile robot navigation, voice signal enhancement, and underwater target perception.It can be said that hearing is one of the important signs of the new generation of smart robots, and it is an important means to realize the interaction of "human-machine-environment".Because the sound has the characteristics of bypassing obstacles, in the multi -information acquisition system, the hearing can cooperate with the vision to make up for its limitation of limited vision and cannot pass through non -light obstacles.In addition, in the "aud...
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