Sound source intelligent positioning system and method

Abstract

The invention discloses an intelligent sound source positioning system which comprises a two-axis rotating table, a sound detection device, a distance sensor and a processor unit. The two-shaft rotating table comprises a first electric rotating table with a vertically arranged rotating shaft and a second electric rotating table with a horizontally arranged rotating shaft, and the second electric rotating table is arranged on the first electric rotating table; the sound detection device comprises a hemispherical surface arranged on the second electric rotating table and sound channels uniformly arranged on the hemispherical surface; each sound channel comprises a sound guide tube, a sound insulation material surrounding the sound guide tube and a sound sensor arranged at the rear end of the sound guide tube; the distance sensor is arranged on a sound channel; control signals of the sound sensor, the distance sensor and the processor unit are input into the two-axis rotating table. According to the sound source intelligent positioning system and method, the air sound source can be intelligently positioned, a complex algorithm and a large amount of calculation are not needed, and the positioning speed is high.

Description

Technical Field

[0001] The present invention relates to the technical field of sound source localization, and in particular to a system and method for sound source localization. Background Art

[0002] Sound source localization technology has great application value and is widely used in military, industrial, civilian and other fields. There are three commonly used sound source localization methods: a positioning algorithm based on high-resolution spectrum estimation, a sound source localization method based on maximizing the output power of a directional beamformer, and a positioning algorithm based on arrival time difference. The positioning algorithm based on high-resolution spectrum estimation has certain restrictions on the collected sound signals, the algorithm is complex, and it is easily interfered by other sounds; the sound source localization method based on maximizing the output power of a directional beamformer has a long positioning time and high requirements for CPU computing performance; the most commonly used sound source localization method based on arrival time difference will produce an error accumulation effect, and cannot be accurately positioned in an environment with multiple sound fields and strong noise interference. The above three methods each have their own advantages, disadvantages and applicability, but generally require the use of algorithms to process the signals, and the problems of complex algorithms and large amount of calculations lead to poor applicability. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a sound source intelligent positioning system and method to solve the technical problem of positioning the sound source in the air, and avoid the technical problem that the existing sound positioning methods need to rely on complex algorithms to process signals and have a large amount of calculation.

[0004] The sound source intelligent positioning system of the present invention comprises a two-axis rotating platform, a sound detection device, a distance sensor and a processor unit;

[0005] The two-axis rotating platform comprises a first electric rotating platform with a vertically arranged rotating shaft and a second electric rotating platform with a horizontally arranged rotating shaft, and the second electric rotating platform is arranged on the first electric rotating platform;

[0006] The sound detection device comprises a hemispherical surface arranged on the second electric rotating table and sound channels evenly arranged on the hemispherical surface, wherein the sound channels comprise a sound guide tube, a sound insulation material surrounding the sound guide tube, and a sound sensor arranged at the rear end of the sound guide tube;

[0007] The distance sensor is arranged on the sound channel;

[0008] The detection signals of the sound sensor and the distance sensor are input into the processor unit, and the control signal of the processor unit is input into the two-axis rotating stage.

[0009] The present invention also discloses a sound source positioning method according to the above-mentioned sound source intelligent positioning system, which comprises the following steps:

[0010] 1) The sound sensors in each sound channel on the hemispherical surface output the received sound signals to the processor unit;

[0011] 2) The processor unit compares the strength of the sound signals output by each sound sensor, thereby finding the channel that receives the strongest sound signal and using this channel as the target channel for positioning calculation;

[0012] 3) The processor unit outputs a control signal to the first electric rotating table to rotate its shaft left and right by a certain angle, and during the rotation process, records the sound signal detected by the target sound channel and the corresponding rotation angle of the first electric rotating table, and then finds the rotation angle θ of the first electric rotating table when the target sound channel detects the strongest sound signal;

[0013] The processor unit controls the first electric rotating table to rotate to an angle of θ, and then outputs a control signal to the second electric rotating table to rotate the shaft of the second electric rotating table up and down by a certain angle. During the rotation process, the sound signal detected by the target sound channel and the corresponding rotation angle of the second electric rotating table are recorded, and then the rotation angle φ of the second electric rotating table when the target sound channel detects the strongest sound signal is found;

[0014] 4) When the first electric rotating platform rotates by an angle θ and the second electric rotating platform rotates by an angle φ, the distance sensor detects the distance r from the sound source;

[0015] 5) The processor calculates the position coordinates (x, y, z) of the sound source in the two-axis rotation table coordinate system according to the following formula:

[0016] x=r cosωcos(θ+θ'),

[0017] y=r cosωsin(θ+θ'),

[0018] z=rsinω

[0019] ω=arc tan(tan(φ+φ')sin(θ+θ'))

[0020] The origin O of the two-axis rotating table coordinate system OXYZ is the center of the hemisphere, the X-axis of the coordinate system passes through the origin O and is parallel to the horizontal axis of the second rotating table, the Z-axis of the coordinate system is the vertical axis of the first electric rotating table, and the Y-axis passes through the origin O and is perpendicular to the X-axis and the Y-axis; r is the distance from the sound source to the origin O, ω is the angle between r and OXY, θ' is the angle between the projection of the axis of the target sound channel on the OXY plane and the X-axis in the zero rotation state of the two-axis rotating table; φ' is the angle between the projection of the axis of the target sound channel on the OYZ plane and the Y-axis in the zero rotation state of the two-axis rotating table.

[0021] Beneficial effects of the present invention:

[0022] The sound source intelligent positioning system and method of the present invention can intelligently position the sound source in the air without the need for complex algorithms and a large amount of calculations, and the positioning speed is fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the three-dimensional structure of the sound source intelligent positioning system.

[0024] Figure 2 Schematic diagram of the structure of the sound channel. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] The sound source intelligent positioning system in this embodiment includes a two-axis rotating table, a sound detection device, a distance sensor and a processor unit.

[0027] The two-axis rotating table comprises a first electric rotating table 1 with a vertically arranged rotating shaft and a second electric rotating table 2 with a horizontally arranged rotating shaft, and the second electric rotating table is arranged on the first electric rotating table.

[0028] The sound detection device includes a hemispherical surface 3 disposed on the second electric rotating table and a sound channel 4 evenly arranged on the hemispherical surface, wherein the sound channel includes a sound guide tube 41, a sound insulation material 42 surrounding the sound guide tube, and a sound sensor 43 disposed at the rear end of the sound guide tube. In the sound channel in this embodiment, due to the sound insulation function of the sound insulation material 42, the intensity of the sound sensor acting on the sound sensor from different directions of the sound channel is the same, the intensity of the sound acting on the sound sensor 43 in the axial direction of the sound channel is greater, and the emphasis on the sound channel in other directions is relatively weak, so that the sound sensor 43 can sense the strength of the sound signal to determine the direction of the sound source.

[0029] The distance sensor 5 is arranged on the sound channel.

[0030] The detection signals of the sound sensor and the distance sensor are input to the processor unit 6, and the control signal of the processor unit is input to the two-axis rotating table.

[0031] According to the sound source positioning method of the above-mentioned sound source intelligent positioning system, it comprises the following steps:

[0032] 1) The sound sensors in each sound channel on the hemispherical surface output the received sound signals to the processor unit.

[0033] 2) The processor unit compares the strength of the sound signals output by each sound sensor to find the channel that receives the strongest sound signal and uses this channel as the target channel for positioning calculation.

[0034] 3) The processor unit outputs a control signal to the first electric rotating table to rotate its shaft left and right by a certain angle. During the rotation process, the sound signal detected by the target sound channel and the corresponding rotation angle of the first electric rotating table are recorded, and then the rotation angle θ of the first electric rotating table when the target sound channel detects the strongest sound signal is found.

[0035] The processor unit controls the first electric rotating table to rotate to an angle of θ, and then outputs a control signal to the second electric rotating table to make the rotating shaft of the second electric rotating table rotate up and down by a certain angle. During the rotation process, the sound signal detected by the target sound channel and the corresponding rotation angle of the second electric rotating table are recorded, and then the rotation angle φ of the second electric rotating table when the target sound channel detects the strongest sound signal is found.

[0036] In a specific implementation, an angle sensor may be arranged on the two-axis rotating table to detect the rotation angles of the first electric rotating table and the second electric rotating table, and the detection signal may be fed back to the processor unit to realize error angle correction.

[0037] 4) When the first electric rotating table rotates by an angle θ and the second electric rotating table rotates by an angle φ, the distance sensor detects the distance r from the sound source.

[0038] 5) The processor calculates the position coordinates (x, y, z) of the sound source in the two-axis rotation table coordinate system according to the following formula:

[0039] x=r cosωcos(θ+θ'),

[0040] y=r cosωsin(θ+θ'),

[0041] z=rsinω

[0042] ω=arc tan(tan(φ+φ')sin(θ+θ'))

[0043] The origin O of the two-axis rotating table coordinate system OXYZ is the center of the hemisphere, the X-axis of the coordinate system passes through the origin O and is parallel to the horizontal axis of the second rotating table, the Z-axis of the coordinate system is the vertical axis of the first electric rotating table, and the Y-axis passes through the origin O and is perpendicular to the X-axis and the Y-axis; r is the distance from the sound source to the origin O, ω is the angle between r and OXY, θ' is the angle between the projection of the axis of the target sound channel on the OXY plane and the X-axis in the zero rotation state of the two-axis rotating table; φ' is the angle between the projection of the axis of the target sound channel on the OYZ plane and the Y-axis in the zero rotation state of the two-axis rotating table.

[0044] The sound source intelligent positioning system and method in this embodiment can intelligently position the sound source in the air without the need for complex algorithms and a large amount of calculations, and the positioning speed is fast.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A sound source intelligent positioning system, characterized in that: It includes a two-axis rotating table, a sound detection device, a distance sensor and a processor unit; The two-axis rotating platform comprises a first electric rotating platform with a vertically arranged rotating shaft and a second electric rotating platform with a horizontally arranged rotating shaft, and the second electric rotating platform is arranged on the first electric rotating platform; The sound detection device comprises a hemispherical surface arranged on the second electric rotating table and sound channels evenly arranged on the hemispherical surface, wherein the sound channels comprise a sound guide tube, a sound insulation material surrounding the sound guide tube, and a sound sensor arranged at the rear end of the sound guide tube; The distance sensor is arranged on the sound channel; The control signals of the sound sensor, the distance sensor and the processor unit are input into the two-axis rotating table.

2. A sound source localization method according to claim 1 or the sound source intelligent localization system, characterized in that: The following steps are involved: 1) The sound sensors in each sound channel on the hemispherical surface output the received sound signals to the processor unit; 2) The processor unit compares the strength of the sound signals output by each sound sensor, thereby finding the channel that receives the strongest sound signal and using this channel as the target channel for positioning calculation; 3) The processor unit outputs a control signal to the first electric rotating table to rotate its shaft left and right by a certain angle, and during the rotation process, records the sound signal detected by the target sound channel and the corresponding rotation angle of the first electric rotating table, and then finds the rotation angle θ of the first electric rotating table when the target sound channel detects the strongest sound signal; The processor unit controls the first electric rotating table to rotate to an angle of θ, and then outputs a control signal to the second electric rotating table to rotate the shaft of the second electric rotating table up and down by a certain angle. During the rotation process, the sound signal detected by the target sound channel and the corresponding rotation angle of the second electric rotating table are recorded, and then the rotation angle φ of the second electric rotating table when the target sound channel detects the strongest sound signal is found; 4) When the first electric rotating table rotates by an angle θ and the second electric rotating table rotates by an angle φ, the distance sensor detects the distance r from the sound source; 5) The processor calculates the position coordinates (x, y, z) of the sound source in the two-axis rotation stage coordinate system according to the following formula: x=r cosωcos(θ+θ'), y=r cosωsin(θ+θ'), z=rsinω ω=arc tan(tan(φ+φ')sin(θ+θ')) The origin O of the two-axis rotating table coordinate system OXYZ is the center of the hemisphere, the X-axis of the coordinate system passes through the origin O and is parallel to the horizontal axis of the second rotating table, the Z-axis of the coordinate system is the vertical axis of the first electric rotating table, and the Y-axis passes through the origin O and is perpendicular to the X-axis and the Y-axis; r is the distance from the sound source to the origin O, ω is the angle between r and OXY, θ' is the angle between the projection of the axis of the target sound channel on the OXY plane and the X-axis in the zero rotation state of the two-axis rotating table; φ' is the angle between the projection of the axis of the target sound channel on the OYZ plane and the Y-axis in the zero rotation state of the two-axis rotating table.

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