Three-dimensional space sound source positioning and measuring device and method

Abstract

The invention aims to provide a three-dimensional space sound source positioning and measuring device and method. The device comprises three platforms which are perpendicular to one another, each platform is provided with a microphone array serving as a recognition device, and the distance between the platforms can be adjusted through a telescopic shaft. And the processor automatically calculates the three-dimensional coordinates of the sound source by using a geometric algorithm based on the two-dimensional plane angle and platform spacing data of the sound source measured by each identification device. The method comprises the following steps: setting a space coordinate system; acquiring two-dimensional plane angle data of a sound source through a recognition device; calculating the three-dimensional coordinates of the sound source through a geometric algorithm; and the optimal solution of the three-dimensional coordinates of the sound source is determined through error analysis. According to the invention, through a low-cost microphone array combination and optimization algorithm, rapid and automatic positioning of a three-dimensional sound source is realized with relatively low cost. Experimental verification shows that the error range can be effectively analyzed through Monte Carlo simulation, actual measurement coordinates are located in a simulation error interval, and the reliability of the method is verified. The device is suitable for industrial noise monitoring, equipment abnormal sound positioning and other scenes, and has the advantages of high efficiency, economy and easy deployment.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental monitoring, and particularly relates to a three-dimensional space sound source localization measurement device and method. Background Art

[0002] Noise and abnormal sounds are very common in daily life and industrial production. To solve these noise problems, it is first necessary to identify the noise and locate where the noise is coming from and what equipment or components are causing it. Sound source localization technology is a technology for determining the source position of a sound in space. In the production and life of modern industrialized society, for the sound source localization problems in many scenarios, the human ear can no longer meet the requirements of precise localization. Although the acoustic cameras and precise positioning acoustic devices at home and abroad are already mature, there are deficiencies such as high usage costs and great technical difficulties. However, by combining different simple microphone arrays, not only can the requirements for the accuracy of sound source identification be met, but also the equipment usage and labor costs can be effectively reduced. Summary of the Invention

[0003] The purpose of the present invention is to provide a three-dimensional space sound source localization measurement device and method, which can automatically and quickly measure the position of a certain sound source in space at a relatively low cost.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] In the first aspect, the present invention provides a three-dimensional space sound source localization measurement device, including: Platform 1, Platform 2, Platform 3, Identification Device (4), Identification Device (5), Identification Device (6), Telescopic Shaft (7), Telescopic Shaft (8), and a processor; the Identification Device (4) is installed on Platform 1, the Identification Device (5) is installed on Platform 2, and the Identification Device (6) is installed on Platform 3; the processor is connected to the Identification Device (4), Identification Device (5), and Identification Device (6).

[0006] The three-dimensional space sound source localization measurement device includes Platform 1, Platform 2, and Platform 3 arranged perpendicular to each other, and Telescopic Shaft (7) and Telescopic Shaft (8) for connecting Platform 1, Platform 2, and Platform 3. Platform 2 is connected to Platform 1 through Telescopic Shaft (7) and to Platform 3 through Telescopic Shaft (8).

[0007] The three-dimensional space sound source localization measurement device, the Identification Devices (4), (5), (6) are R6+1 microphone arrays, which can directly output the angle of the measured sound source in its two-dimensional plane and send the data to the processor.

[0008] The three-dimensional space sound source localization measurement device, the processor can automatically calculate the three-dimensional space coordinates of the sound source according to the structures of Platforms 1, 2, and 3 and the angle data received from the Identification Devices (4), (5), and (6).

[0009] On the other hand, the present invention provides a three-dimensional space sound source localization measurement method, including the following steps:

[0010] First, set the zero point of the space coordinates, obtain the distance between the identification device (5) and the identification device (6), and obtain the distance between the identification device (4) and the identification device (5);

[0011] Secondly, obtain the angles of the sound source in the respective two-dimensional planes of the identification devices (4), (5), and (6);

[0012] Finally, the processor calculates to obtain the three-dimensional space coordinates of the sound source.

[0013] In the three-dimensional space sound source localization measurement method, the processor calculates and processes to obtain the three-dimensional space coordinates (x, y, z) of the sound source according to the distance and angle data by using the following formula:

[0014]

[0015] In the formula, t 56 is the distance between the identification device (5) and the identification device (6), t 45 is the distance between the identification device (4) and the identification device (5), α is the angle of the sound source in the two-dimensional plane of the identification device (6), β is the angle of the sound source in the two-dimensional plane of the identification device (5), γ is the angle of the sound source in the two-dimensional plane of the identification device (4), and x, y, z are the spatial position coordinates of the sound source. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly introduced below. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is the flowchart of the three-dimensional space sound source localization measurement method according to the embodiment of the present invention;

[0018] Figure 2 is the schematic diagram of the three-dimensional space sound source localization measurement device according to the embodiment of the present invention;

[0019] Figure 3 is the physical display diagram of the three-dimensional space sound source localization measurement according to the embodiment of the present invention. Detailed Embodiments

[0020] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0021] An embodiment of the present invention provides a three-dimensional space sound source identification device, as Figure 2 shown. The device includes a platform, identification device (4), identification device (5), identification device (6), telescopic shafts (7), telescopic shafts (8), a bracket, and a processor. The identification device (5) is installed on platform two, and the telescopic shafts (7) and (8) are used to drive the platform and the identification devices (4), (5), and (6) to rotate; the processor is respectively connected to the identification devices (4), (5), and (6).

[0022] In the above embodiment, platform two is connected to platform one through telescopic shaft (7) and connected to platform three through telescopic shaft (8).

[0023] In the above embodiment, the identification devices (4), (5), and (6) are used to measure two-dimensional plane angles, and the processor receives the two-dimensional plane angle data measured by the identification devices (4), (5), and (6) and processes it to obtain the sound source position coordinates in the three-dimensional space.

[0024] In the above embodiment, the panels of the identification devices (4), (5), and (6) are displayed in a 0° to 360° distribution. The 270° on the panel of the identification device (5) is pointed to the direction where the identification device (6) is located. Taking the identification device (5) as the zero point of the space coordinate system, the 0° direction is taken as the positive direction of the y-axis, the direction where the identification device (6) is located is taken as the positive direction of the x-axis, and the upward direction of the identification device (5) is taken as the positive direction of z.

[0025] In the above embodiment, the workbench includes platform one, platform two, and platform three arranged perpendicular to each other, identification devices (4), (5), (6), telescopic shafts (7), telescopic shafts (8), and a processor; the identification device (4) is installed on platform one, the identification device (5) is installed on platform two, and the identification device (6) is installed on platform three; the processor is connected to the identification devices (4), (5), and (6).

[0026] As a preferred example, the recognition devices (4), (5) and (6) are R6+1 microphone arrays, with 8Bit (256 levels) adjustable color and 5Bit (32 levels) brightness adjustment, making it more convenient to check whether the position of the plane angle formed between the sound source and the recognition device is correct during the experiment.

[0027] In the above embodiment, after the processor receives the two-dimensional plane angle data measured by the recognition devices (4), (5) and (6), it outputs them into three tables according to α, β, and γ through a built-in specific algorithm.

[0028] In the above embodiment, α is the plane angle formed between the sound source and the recognition device (6), β is the plane angle formed between the sound source and the recognition device (5), and γ is the plane angle formed between the sound source and the recognition device (4).

[0029] In the above embodiment, the recognition device (5) is set as the zero point of the space coordinate system, and the distances between the recognition device (5) and the recognition device (4), and the recognition device (6) are respectively set as t 45 、t 56 , the height of the bracket is set as h, the position of the sound source is (x, y, z). The position of the sound source needs to be manually measured before the experiment based on the aforementioned placement position, and a mathematical model is established under ideal conditions on the mathematical software Geography. Taking the recognition device (5) as the origin, let it be B, the recognition device (6) is in the positive direction of x, let it be A, and the distance between the recognition device (5) and (6) is t 56 , the recognition device (4) is in the negative direction of x, let it be C, and the distance between the recognition device (4) and (5) is t 45 , then locate the position of the sound source D, make the projection points E and F of the sound source point D on the xoz plane and the xoy plane, and obtain the plane angles α, β, and γ formed between the sound source and the recognition devices (6), (5) and (4) under ideal conditions according to the projection points.

[0030] In the above embodiment, the ideal condition is to simplify the sound source into a point model, without considering the influence of external sounds and echoes, and without considering the diameters of the three recognition devices.

[0031] In the above embodiment, the three groups of angle data obtained are integrated and averaged using Excel software, and the following formula is used to calculate the position coordinates (x, y, z) of the sound source under experimental conditions:

[0032]

[0033] In the above embodiments, during the experiment, the ambient noise in the surrounding environment should be relatively low compared to the noise of the sound source. After the experiment, the coordinate of the sound source position under ideal conditions should be compared with the actually measured coordinate of the sound source position for error analysis.

[0034] First, define the measured values and errors. The defined measured value variables (such as t 45 、t 56 、α、β、γ) are from experimental or given hypothetical data. Define the error range for each measured value, where length represents the error range of the length measured values (such as t 45 、t 56 ).

[0035] Then, set the parameters of the Monte Carlo simulation. In this setting, the number of simulation samples is 10,000, and initialize the variables x, y, z for storing the results to save the calculation results of each simulation.

[0036] Secondly, calculate the true values (without considering errors), and use the given measured values t 45 、t 56 、α、β、γ to calculate the theoretical true values x, y, z.

[0037] Again, this is the core part of the Monte Carlo simulation: for each simulation, randomly generate measured values with errors, and use these measured values with errors to calculate x, y, z. After each simulation, the calculated values of x, y, z will be stored in the corresponding arrays (x, y, z).

[0038] Finally, after the simulation ends, the true values of x, y, z and the error ranges of x, y, z will be output.

[0039] Next, take a specific experiment as an example to introduce the implementation process of the above embodiments.

[0040] Arrange the recognition devices (4), recognition devices (5) and recognition devices (6) according to the above embodiments, and place the sound source position arbitrarily. Before the experiment starts, it is measured that t 56 =0.662m, t 45 =0.586m, the height h of the microphone stand is 0.989m, and the actual coordinates of the sound source are (x, y, z)=(0.435, 0.328, -0.197). As Figure 3As shown, during the experiment, in a quiet environment, the sound source is regarded as the only sound-emitting object, and the influence of the sound source echo is not considered. After the experiment, the three groups of angle data received on the processor are integrated and averaged to obtain α = 38.08°, β = 311.7°, γ = 260.88°. Substituting these values into formula (1) of the above embodiment, the experimental coordinates of the sound source are obtained as (0.446, 0.397, -0.178). By comparing the experimental coordinates with the actual coordinates and analyzing the error, according to the Monte Carlo simulation, the error interval of x is [0.234, 0.615], the error interval of y is [0.181, 0.644], and the error interval of z is [-0.367, 0.0197]. The actual coordinates are within the error range obtained by the simulation. Thus, it can be seen that this experiment can verify the three-dimensional sound source localization measurement method described above.

[0041] Those of ordinary skill in the art can understand that all or part of the processes in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above various methods.

Claims

1. A three-dimensional sound source localization measurement device, characterized in that: include: Platform 1, platform 2, platform 3, an identification device (4), an identification device (5), an identification device (6), a telescopic shaft (7), a telescopic shaft (8), and a processor; the identification device (4) is mounted on platform (1), the identification device (5) is mounted on platform 2, and the identification device (6) is mounted on platform 3; the processor is connected to the identification device (4), the identification device (5), and the identification device (6).

2. The three-dimensional sound source localization measurement device according to claim 1, characterized in that: The platform comprises a platform 1, a platform 2 and a platform 3 which are arranged perpendicular to each other, and a telescopic shaft (7) and a telescopic shaft (8) for connecting the platform 1, the platform 2 and the platform 3. The platform 2 is connected to the platform 1 via the telescopic shaft (7), and is connected to the platform 3 via the telescopic shaft (8).

3. The three-dimensional sound source localization measurement device according to claim 1, characterized in that: The identification devices (4), (5) and (6) are R6+1 microphone arrays, which can directly output the angle of the measured sound source in its two-dimensional plane and send the data to the processor.

4. The three-dimensional sound source localization measurement device according to claim 1, characterized in that: The processor can automatically calculate the three-dimensional spatial coordinates of the sound source based on the structures of the first, second and third platforms and the angle data received from the recognition devices (4), (5) and (6).

5. A three-dimensional sound source localization measurement method, characterized in that: The following steps are involved: Setting a spatial coordinate zero point, obtaining the distance between the identification device (5) and the identification device (6), and obtaining the distance between the identification device (4) and the identification device (5); Obtaining the angle of the sound source in each of the two-dimensional planes of the recognition devices (4), (5), and (6); The processor calculates and obtains the three-dimensional spatial coordinates of the sound source.

6. The three-dimensional sound source localization measurement method according to claim 5, characterized in that: The processor calculates and processes the three-dimensional spatial coordinates (x, y, z) of the sound source using the following formula based on the distance and angle data: Where, t 56 is the distance between the identification device (5) and the identification device (6), t 45 is the distance between the recognition device (4) and the recognition device (5), α is the angle of the sound source in the two-dimensional plane of the recognition device (6), β is the angle of the sound source in the two-dimensional plane of the recognition device (5), γ is the angle of the sound source in the two-dimensional plane of the recognition device (4), and x, y, z are the spatial position coordinates of the sound source.

Images