An array variable unmanned aerial vehicle hangs a microphone array

Abstract

This invention discloses a variable-form drone-mounted microphone array, comprising a mounting device, a housing, an extension device, a power management module, a control module, an attitude sensing device, a data acquisition module, and a wireless communication device. The mounting device is connected between the drone and the housing. The extension device, power management module, control module, attitude sensing device, and data acquisition module are integrated within the housing. The extension device includes an extension motor, a transmission device, and an array linkage. Multiple microphone sensors are mounted on the array linkage, and its top end is movably connected to the top end of the housing. This invention enables the array to be mounted via the mounting device, allowing the array to be close to the sound source and unaffected by the drone's radiated sound signals. The variable-form array is achieved through the extension device, allowing the array shape to be changed according to the drone's position relative to the desired sound source, thereby achieving optimal array pickup performance and significantly improving the drone's sound pickup quality.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV-mounted microphone array with variable array configuration. Background Technology

[0002] Drones have a significant advantage when performing automated target search. While visual target search is already widely used, auditory target search has always been a very challenging problem.

[0003] Because sound signals propagate outdoors following the inverse square law, the power of the sound signal decreases by 6 dB for every doubling of distance. If a drone is used to search for sound-emitting targets on the ground, the sound signal from the ground target will be very weak by the time it reaches the drone, due to the drone's distance from the ground. Furthermore, the high-power sound signal generated by the drone itself will further reduce the signal-to-noise ratio of the observed signal at the drone's location. Traditional methods are almost ineffective at sound pickup.

[0004] Guided by the inverse square law of sound, if the array is very close to the sound source and far from the drone noise source, on the one hand, the expected sound power of the source signal in the array's observed signal will increase; on the other hand, the influence of the drone's radiated sound signal will be weakened. By using a suspended array, both benefits can be achieved, effectively solving the problem of drone sound pickup.

[0005] During sound pickup by a microphone array, the array's pickup performance depends on many factors. In the scenario of drone sound pickup, it depends on the position of the sound source relative to the drone and the array's geometry. Arrays with variable shapes can change their shape according to the drone's position relative to the desired sound source, achieving optimal array pickup performance. This provides a flexible way to improve the pickup quality of suspended arrays.

[0006] In summary, existing drones have the drawback of being unable to effectively pick up sound. Summary of the Invention

[0007] The purpose of this invention is to provide a drone-mounted microphone array with a variable array configuration to solve the problems existing in the prior art and to significantly improve the sound pickup quality of the drone.

[0008] To achieve the above objectives, the present invention provides the following solution:

[0009] This invention provides a variable-formation drone-mounted microphone array, including a mounting device, a housing, an extension device, a power management module, a control module, an attitude sensing device, a data acquisition module, and a wireless communication device;

[0010] The hoisting device is connected between the UAV and the device shell, and is used to realize operations such as lowering, hovering and retrieving the array;

[0011] The extension device, power management module, control module, attitude sensing device, and data acquisition module are integrated within the device housing. The extension device includes an extension motor, a transmission device, and an array link. Multiple microphone sensors are mounted on the array link. The top of the array link is movably connected to the top of the device housing. The extension motor controls the extension angle of the array link through the transmission device.

[0012] The power management module draws power from the battery to provide different power voltages for each device.

[0013] The control module is used to control the working status of each device;

[0014] The attitude sensing device is used to sense the attitude of the array and its coordinates in physical space.

[0015] The data acquisition module is used to acquire signals observed by the microphone array and process them as required.

[0016] The wireless communication device is used for data transmission between the array and the host computer.

[0017] Preferably, the hoisting device includes a hoisting motor and a hoisting reel. The hoisting motor is fixed to the UAV via a motor frame, and the hoisting reel is fixed to the UAV via a reel frame. A hoisting rope is wound around the reel axle, and the movable end of the hoisting rope is connected to the top of the device housing. The hoisting motor controls the hoisting array of the hoisting reels.

[0018] Preferably, a motor gear is provided on the output shaft of the wire-laying motor, and a steering gear is provided on the axle of the wire-laying reel. The motor gear meshes with the steering gear to transmit power.

[0019] Preferably, there are four array links, which are evenly distributed around the outer periphery of the device housing.

[0020] Preferably, the transmission device includes a drive wheel, three clustered wheels, a transmission belt, four worms, and four worm wheels. The power output end of the extended motor is connected to the drive wheel. The drive wheel is connected to the three clustered wheels via the transmission belt. A worm is connected to the top of the drive wheel and the top of the three clustered wheels. Each worm is connected to a corresponding worm wheel. The worm wheel shaft of each worm wheel is connected to the top of the top of each array link.

[0021] The present invention achieves the following beneficial technical effects compared to the prior art:

[0022] The present invention provides a variable array drone-mounted microphone array, which uses a slinging device to suspend the array, allowing the array to be close to the sound source and unaffected by the radiated sound signal of the drone; the array shape is variable through an unfolding device, which can change the shape of the array according to the position of the drone relative to the desired sound source, thereby achieving the best array pickup performance and significantly improving the drone's sound pickup quality. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the UAV-mounted microphone array with variable array configuration in this invention;

[0025] Figure 2 This is a schematic diagram of the transmission device in this invention;

[0026] In the diagram: 1-UAV, 2-Lying device, 3-Device casing, 4-Extension device, 5-Power management module, 6-Control module, 7-Attitude sensing device, 8-Data acquisition module, 9-Wireless communication device, 10-Extension motor, 11-Drive wheel, 12-Drive wheel, 13-Transmission belt, 14-Worm, 15-Worm wheel, 16-Array link, 17-Microphone sensor. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The purpose of this invention is to provide a drone-mounted microphone array with a variable array configuration to solve the problems existing in the prior art.

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] The variable-form drone-mounted microphone array in this embodiment, such as Figures 1-2As shown, it includes a hoisting device 2, a device housing 3, an expansion device 4, a power management module 5, a control module 6, an attitude sensing device 7, a data acquisition module 8, and a wireless communication device 9;

[0031] The hoisting device 2 is connected between the UAV 1 and the device shell 3, and is used to realize operations such as lowering, hovering and retrieving the array;

[0032] The expansion device 4, power management module 5, control module 6, attitude sensing device 7 and data acquisition module 8 are integrated into the device housing 3. The expansion device 4 includes an expansion motor 9, a transmission device and an array link 16. Multiple microphone sensors 17 are provided on the array link 16. The top of the array link 16 is movably connected to the top of the device housing 3. The expansion motor 9 controls the unfolding angle of the array link 16 through the transmission device.

[0033] The power management module 5 draws power from the battery to provide different power voltages for each device.

[0034] Control module 6 is used to control the working status of each device, control the hoisting device 2 to lower, hover, and retract the array, control the expansion device 4 to unfold into what array shape, and control whether the data acquisition device starts acquiring data.

[0035] Attitude sensing device 7 is used to sense the attitude of the array and its coordinates in physical space; attitude sensing device 7 is an existing device that can output the angle of the array relative to the geomagnetic north via a serial port, including azimuth, pitch and roll angles.

[0036] Data acquisition module 8 is used to acquire signals observed by the microphone array and process them as required;

[0037] The wireless communication device 9 is used for data transmission between the array and the host computer.

[0038] In this specific embodiment, the lifting device 2 includes a lifting motor and a lifting reel. The lifting motor is fixed to the UAV 1 via a motor frame, and the lifting reel is fixed to the UAV 1 via a reel frame. A lifting rope is wound around the reel axle, and the movable end of the lifting rope is connected to the top of the device housing 3. The lifting motor controls the lifting array of the lifting reel. A motor gear is provided on the output shaft of the lifting motor, and a steering gear is provided on the axle of the lifting reel. The motor gear and the steering gear mesh to transmit power. In use, the lifting motor is controlled by the control module 6 to adjust the lifting and lowering posture of the lifting rope.

[0039] In this specific embodiment, four array links 16 are provided. The four array links 16 are evenly distributed around the outer periphery of the device housing 3. A vertical storage groove is provided on the device housing 3. In the non-expanded state, the array links 16 are stored in the storage groove.

[0040] In this specific embodiment, the transmission device includes a drive wheel 11, three clustered wheels 12, a transmission belt 13, four worms 14, and four worm wheels 15. The power output end of the extension motor 10 is connected to the drive wheel 11. The drive wheel 11 is connected to the three clustered wheels 12 via the transmission belt 13. A worm 14 is connected to the top of the drive wheel 11 and the three clustered wheels 12 respectively. Each worm 14 is connected to a corresponding worm wheel 15. The worm wheel shaft of each worm wheel 15 is connected to the top of the top of each array link 16. During operation, the extension motor 10 rotates, driving the drive wheel 11 to rotate. The rotation of the drive wheel 11 transmits power to the three clustered wheels 12 via the transmission belt 13. The rotation of the drive wheel 11 and the clustered wheels 12 causes the worms 14 on them to rotate in tandem. The worms 14 are vertically arranged, causing the worm wheels 15 that cooperate with them to rotate. The rotation of the worm wheels 15 drives the worm wheel shaft to rotate, thereby driving the array link 16 to rotate around the worm wheel shaft, thus realizing the expansion and contraction of the array link 16.

[0041] The variable-formation drone-mounted microphone array of this invention operates as follows:

[0042] 1. Drone 1 takes off and flies to a certain height of about 30 meters. It then connects to the array via wireless communication between radio stations and prepares to carry out the array lowering task.

[0043] 2. The host computer software issues a "lower array" command, and the array is lowered by the hoisting motor driving the reel to rotate. When the array is lowered to a height of about 20 meters, the host computer software issues a "hover array" command, and the array stops lowering and prepares to start the array expansion task.

[0044] 3. The host computer software issues an "array expansion" command and provides an initial expansion angle. The suspended array is then deployed via a motor that drives gears, which in turn drive array linkage 16. The linkage extends to the given angle, forming a specially shaped array composed of multiple microphone sensors 17 on the linkage. The array is now ready to begin picking up sound.

[0045] 4. The host computer software issues the "array pickup" command, the suspended array begins to pick up sound, and completes the preliminary analysis of the signal. The sound signal and attitude signal are synchronously transmitted back to the host computer. The computer completes the data analysis, provides the optimal deployment angle of the array link 16 in real time, and provides the user terminal with useful information such as sound source location and sound source type.

[0046] 5. The suspended array adjusts its parameters according to the optimal array shape parameters transmitted back from the host computer, and continuously transmits signals to the host computer to complete the analysis.

[0047] 6. When the host computer software detects that the power of the suspended array is insufficient, it prompts the user to retract the array. The user issues a retraction command through the host computer software. The array first retracts the extension linkage, and then retracts the drone via the built-in reel.

[0048] This invention has illustrated its principles and implementation methods using specific examples. The descriptions of these embodiments are merely illustrative of the method and its core ideas; furthermore, those skilled in the art will recognize that modifications may be made to the specific implementation methods and application scope based on the principles of this invention. Therefore, the content of this specification should not be construed as limiting the invention.

Claims

1. A variable array unmanned aerial vehicle dangled microphone array, characterized in that: The device comprises a hanging device, a device shell, an extension device, a power management module, a control module, a posture sensing device, a data acquisition module and a wireless communication device; The hanging device is connected between the unmanned aerial vehicle and the device shell, and is used to realize the lowering, hovering and retracting operations of the array; The extension device, the power management module, the control module, the posture sensing device and the data acquisition module are integrated in the device shell, the extension device comprises an extension motor, a transmission device and an array connecting rod, a plurality of microphone sensors are arranged on the array connecting rod, the top end of the array connecting rod is movably connected with the top end of the device shell, and the extension motor controls the unfolding angle of the array connecting rod through the transmission device; The array connecting rod is provided with four array connecting rods which are evenly distributed in the circumferential direction of the outer periphery of the device shell; the transmission device comprises a driving wheel, three driven wheels, a transmission belt, four worms and four worm gears, the power output end of the extension motor is connected with the driving wheel, the driving wheel is connected with the three driven wheels through the transmission belt, the top of the driving wheel and the three driven wheels is respectively connected with a worm, each worm is connected with a worm gear, and the worm shafts of the worm gears are respectively connected with the top ends of the array connecting rods; The power management module takes power from the battery and provides different required power voltages for each device; The control module is used to control the working state of each device; The posture sensing device is used to sense the posture of the array and the coordinates in the physical space; sound signals and posture signals are synchronously transmitted back to the host computer, the computer completes data analysis, and the optimal array connecting rod unfolding angle is given in real time; The data acquisition module is used to collect signals observed by the microphone array and complete processing according to requirements; The wireless communication device is used for data transmission between the array and the host computer; The device shell is provided with a vertical storage groove, and the array connecting rod is stored in the storage groove in the non-unfolded state.

2. The variable array unmanned aerial vehicle dolly microphone array of claim 1, wherein: The hanging device comprises a hanging motor and a hanging line wheel, the hanging motor is fixed on the unmanned aerial vehicle through a motor bracket, the hanging line wheel is fixed on the unmanned aerial vehicle through a line wheel bracket, a hanging rope is wound around the wheel shaft, the movable end of the hanging rope is connected with the top end of the device shell, and the hanging line wheel is controlled by the hanging motor to hang the array.

3. The variable array unmanned aircraft drop microphone array of claim 2, wherein: The output shaft of the hanging motor is provided with a motor gear, the wheel shaft of the hanging line wheel is provided with a steering gear, and the motor gear is engaged with the steering gear to realize power transmission.

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