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CN106303810B - Sound source direction judgment device and method based on directional sound sensor - Google Patents

Sound source direction judgment device and method based on directional sound sensor Download PDF

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CN106303810B
CN106303810B CN201510240624.5A CN201510240624A CN106303810B CN 106303810 B CN106303810 B CN 106303810B CN 201510240624 A CN201510240624 A CN 201510240624A CN 106303810 B CN106303810 B CN 106303810B
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郭杰
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Shandong Xibu Intelligent Technology Co ltd
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Qingdao Tongchan Intelligent Robot Co ltd
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Abstract

本发明提供具有方向性的声音传感器，包括声音采集腔，所述声音采集腔中部设置声音通道，所述声音通道与声音采集腔的外壁之间设置消音腔，消音腔内布置软性消音材料。所述软件消音材料优选为聚酯吸音棉。所述声音通道底部设置咪头腔，所述咪头腔内设置咪头。咪头与声音处理芯片连接，对采集的声音进行处理。本发明的声音传感器具有方向性，组成基于方向性声音传感器的声源方向判断装置或方位判断装置，可实现对目标声源的识别与追踪，实现了平面与立体环境声源方向识别，减少了电路及软件算法设计，降低了成本，具有广泛的应用前景。

Figure 201510240624

The invention provides a directional sound sensor, comprising a sound collecting cavity, a sound channel is arranged in the middle of the sound collecting cavity, a sound absorbing cavity is arranged between the sound channel and the outer wall of the sound collecting cavity, and a soft sound absorbing material is arranged in the sound absorbing cavity. The soft sound-absorbing material is preferably polyester sound-absorbing cotton. A microphone cavity is arranged at the bottom of the sound channel, and a microphone is arranged in the microphone cavity. The microphone head is connected with the sound processing chip to process the collected sound. The sound sensor of the invention has directionality, and constitutes a sound source direction judgment device or an orientation judgment device based on the directional sound sensor, which can realize the identification and tracking of the target sound source, realize the direction identification of the plane and the stereo environmental sound source, and reduce the number of The circuit and software algorithm design reduces the cost and has broad application prospects.

Figure 201510240624

Description

Sound source direction judgment device and method based on directional sound sensor
Technical Field
The invention relates to the field of sound collection equipment, in particular to a sound source direction judgment device and method based on a directional sound sensor.
Background
At present, most audio collecting devices such as microphones and sound collectors generally adopt a spherical structure in order to receive sound propagated from various directions as much as possible, but they do not have a sound source direction determination function.
In some specific application occasions, the device needs to judge the direction and the orientation of a sound source, such as some anti-theft monitoring devices, fire safety monitoring devices, classroom real-time recording devices, robots and the like, and needs to judge the orientation of a person or an object which makes a sound, so as to realize automatic tracking of a target.
At present, most of sound source tracking methods are realized through circuits or software, accuracy cannot be guaranteed, cost is high, but no hardware device capable of judging sound direction exists, so that a sound source direction judging device and a sound source direction judging method are developed, judgment and identification of the position of a sound source are realized, and the sound source tracking method has important significance.
Disclosure of Invention
The invention provides a sound source position judging device and a sound source position judging method based on a directional sound sensor, which are used for realizing the positioning and the identification of a sound source, and the specific technical scheme is as follows:
a directional acoustic sensor characterized by: the sound collection device comprises a sound collection cavity 2, wherein a sound channel 4 is arranged in the middle of the sound collection cavity 2, a silencing cavity 1 is arranged between the sound channel 4 and the outer wall of the sound collection cavity 2, and soft silencing materials are arranged in the silencing cavity 1; the sound channel 4 bottom sets up miaow head chamber 5, set up the miaow head in the miaow head chamber 5.
Further, the software sound attenuation material is polyester sound absorption cotton.
The sound source direction judging device based on the directional sound sensors comprises 4 directional sound sensors which are arranged in the same plane, the directional sound sensors are arranged at intervals of 90 degrees by taking a certain point as a center, and the microphone heads of the sound sensors are all connected with a central processing chip 6.
The sound source direction judging device based on the directional sound sensors comprises 6 directional sound sensors which are arranged in a space, wherein the directional sound sensors are arranged at intervals of 90 degrees from a certain point to the top, the bottom, the left, the right, the front and the back, and the microphone heads of the sound sensors are all connected with a central processing chip 6.
The sound source direction judging method based on the sound source direction judging device comprises the following steps:
a: establishing a plane coordinate system by taking the centers of the directional sensors in 4 directions as an origin, and setting a quadrant;
b: the 4 directional sensors arranged in different directions respectively collect the signals of the sound source and transmit the signals to the central processing chip, and the sound signal intensities are respectively recorded as S1, S2, S3 and S4;
c: selecting the maximum two values of S1, S2, S3 and S4, and marking the maximum two values as Sx along the X-axis direction and Sy along the Y-axis direction, namely the sound source direction is closest to the sound direction of the directional sensor corresponding to the Sx and Sy, so as to obtain the quadrant where the sound source is located;
d: according to the formula
Figure BDA0000716048330000021
Calculating the included angle alpha between the sound source direction and the X axis
Figure BDA0000716048330000022
E: and determining the direction of the sound source according to the quadrant of the sound source and the included angle alpha.
The sound source direction judging method based on the sound source direction judging device comprises the following steps:
a: establishing a space coordinate system by taking the centers of the directional sensors in 6 directions as an origin, and setting a first quadrant to an eighth quadrant;
b: the 6 directional sensors arranged in different directions respectively collect signals of a sound source and transmit the signals to the central processing chip, and the sound signal intensities are respectively recorded as S1, S2, S3, S4, S5 and S6;
c: selecting two maximum values of S1, S2, S3, S4, S5 and S6, marking as Sx along the X-axis direction, marking as Sy along the Y-axis direction, and marking as Sz along the Z-axis direction, namely, the sound source direction is closest to the sound direction of the directional sensor corresponding to Sx, Sy and Sz, so as to obtain the quadrant where the sound source is located;
d: according to the formula
Figure BDA0000716048330000026
Calculating X, Y the included angle alpha between the sound source direction and the X axis in the plane
Figure BDA0000716048330000023
According to the formula
Figure BDA0000716048330000024
Calculating X, Z the included angle beta between the sound source direction and the X axis in the plane
Figure BDA0000716048330000025
Calculating the space angle gamma between the sound source direction and the X axis according to the included angle alpha and the included angle beta
E: and determining the direction of the sound source according to the quadrant of the sound source and the space angle gamma.
The sound source direction judging device and method based on the directional sound sensor provided by the invention have the following advantages that:
the method has the advantages that firstly, the direction selection function is realized, only the sound in the direction of the sound channel is received, the sound transmitted in other directions is obviously weakened, the function of the sound sensor is expanded, the method is suitable for wide occasions, and hardware support is provided for judging the direction and tracking of the sound source;
secondly, a unique silencing cavity design is adopted, and a special silencing material is matched, so that the silencing effect on sounds in other directions is good; simple structure and easy integration.
Thirdly, the method comprises the following steps: the method can realize the direction identification of the sound source in the plane and the three-dimensional environment, reduce the circuit and software algorithm design and reduce the cost.
Drawings
FIG. 1 is a schematic diagram of a directional acoustic sensor according to the present invention;
FIG. 2 is a schematic structural diagram of a sound source direction determination device based on a directional sound sensor according to the present invention;
FIG. 3 is a schematic diagram illustrating the calculation of the sound source direction determination method based on the directional sound sensor according to the present invention;
fig. 4 is a schematic diagram of the structure and calculation method of the sound source direction determination device based on the directional sound sensor according to the present invention.
Reference numbers in the figures:
1: a sound-deadening chamber; 2: a sound collection chamber; 3: a microphone; 4: a sound channel; 5: a head cavity; 6: a central processing chip; 7: a sound source.
Detailed Description
The following describes the directional acoustic sensor according to the present invention in further detail with reference to the drawings and the embodiments.
As shown in fig. 1, the sound sensor with directivity comprises a sound collection cavity 2, a sound channel 4 is arranged in the middle of the sound collection cavity 2, a sound attenuation cavity 1 is arranged between the sound channel 4 and the outer wall of the sound collection cavity 2, and a soft sound attenuation material is arranged in the sound attenuation cavity 1. The opening of the sound-deadening chamber 1 is gradually narrowed from the sound passage 4 to the outer wall of the sound-collecting chamber 2. The soft noise reduction material is preferably polyester sound absorption cotton. The sound channel 4 bottom sets up miaow head chamber 5, set up the miaow head in the miaow head chamber 5. The microphone is connected with the sound processing chip to process the collected sound.
The sound sensor with the directivity only receives the sound in the direction of the sound channel 4, most of the sound transmitted in other directions is absorbed by the silencing cavity 1, and compared with the sound transmitted from the sound channel, the sound sensor with the directivity is obviously weakened, can realize the identification and tracking of a target sound source by being matched with other equipment, and has wide application prospect.
As shown in fig. 2, the sound source direction determination device based on the directional sound sensors includes 4 directional sound sensors arranged in the same plane, the directional sound sensors are arranged at an interval of 90 ° with a certain point as the center, and the microphones of the sound sensors are all connected to the central processing chip 6.
The sound source direction judging method based on the sound source direction judging device comprises the following steps:
a: establishing a plane coordinate system by taking the centers of the directional sensors in 4 directions as an origin, and setting a quadrant;
b: the 4 directional sensors arranged in different directions respectively collect the signals of the sound source 7 and transmit the signals to the central processing chip, and the sound signal intensities are respectively recorded as S1, S2, S3 and S4;
c: selecting the two largest values of S1, S2, S3 and S4, and marking as Sx along the X-axis direction and Sy along the Y-axis direction, as shown in FIG. 3, that is, the sound source direction is closest to the sound direction of the directional sensor corresponding to Sx and Sy, so as to obtain the quadrant where the sound source is located;
d: according to the formula
Figure BDA0000716048330000031
Calculating the included angle alpha between the sound source direction and the X axis
Figure BDA0000716048330000032
E: and determining the direction of the sound source according to the quadrant of the sound source and the included angle alpha.

Claims (6)

1.方向性声音传感器，其物征在于：包括声音采集腔(2)，所述声音采集腔(2)中部设置声音通道(4)，所述声音通道(4)与声音采集腔(2)的外壁之间设置消音腔(1)，消音腔(1)内布置软性消音材料；所述消音腔(1)开口由声音通道(4)向声音采集腔(2)的外壁逐渐变窄；所述声音通道(4)底部设置咪头腔(5)，所述咪头腔(5)内设置咪头。1. A directional sound sensor, which is characterized in that it comprises a sound collection cavity (2), a sound channel (4) is arranged in the middle of the sound collection cavity (2), and the sound channel (4) is connected to the sound collection cavity (2) A muffler cavity (1) is arranged between the outer walls of the muffler, and a soft muffler material is arranged in the muffler cavity (1); the opening of the muffler cavity (1) gradually narrows from the sound channel (4) to the outer wall of the sound collection cavity (2); A microphone head cavity (5) is arranged at the bottom of the sound channel (4), and a microphone head is arranged in the microphone head cavity (5). 2.根据权利要求1所述的方向性声音传感器，其物征在于：所述软性 消音材料为聚酯吸音棉。2. The directional sound sensor according to claim 1, characterized in that the soft sound-absorbing material is polyester sound-absorbing cotton. 3.基于权利要求1所述的方向性声音传感器的声源方向判断装置，其特征在于：包括排列于同一平面内的4个方向性声音传感器，所述方向性声音传感器以某一点为中心间隔90°排列，所述声音传感器的咪头均与中央处理芯片(6)连接。3. The sound source direction judgment device based on the directional sound sensor according to claim 1, characterized in that it comprises four directional sound sensors arranged in the same plane, and the directional sound sensors are spaced at a certain point as the center Arranged at 90°, the microphone heads of the sound sensor are all connected to the central processing chip (6). 4.基于权利要求1所述的方向性声音传感器的声源方位判断装置，其特征在于：包括排列于空间内的6个方向性声音传感器，所述方向性声音传感器以某一点为中心按上、下、左、右、前、后间隔90°排列，所述声音传感器的咪头均与中央处理芯片(6)连接。4. The sound source orientation determination device based on the directional sound sensor according to claim 1, characterized in that it comprises 6 directional sound sensors arranged in the space, and the directional sound sensor is pressed up with a certain point as the center , bottom, left, right, front and back are arranged at 90° intervals, and the microphone heads of the sound sensor are all connected with the central processing chip (6). 5.基于权利要求3所述的声源方向判断装置的声源方向判断方法，其特征在于：按以下步骤进行：5. based on the sound source direction judgment method of the sound source direction judgment device according to claim 3, it is characterized in that: carry out according to the following steps: A：以4个方向的方向性传感器中心为原点建立平面坐标系，设定象限；A: Establish a plane coordinate system with the center of the directional sensor in four directions as the origin, and set the quadrant; B：4个不同方向排列的方向性传感器分别采集声源的信号，并传输至中央处理芯片，声音信号强度分别记为S1、S2、S3、S4；B: Four directional sensors arranged in different directions collect the signals of the sound source respectively, and transmit them to the central processing chip. The sound signal strengths are recorded as S1, S2, S3, and S4 respectively; C：选出S1、S2、S3、S4中最大的两个值，沿X轴方向的记为Sx，沿Y轴方向的记为Sy，即声源方向与Sx、Sy对应的方向性传感器声方向最接近，以此得出声源所处象限；C: Select the two largest values in S1, S2, S3, and S4, denoted as Sx along the X-axis direction, and denoted as Sy along the Y-axis direction, that is, the directional sensor sound corresponding to the sound source direction and Sx, Sy The direction is closest to obtain the quadrant of the sound source; D：根据公式
Figure FDA0003193041710000021
计算声源方向与X轴的夹角α,
Figure FDA0003193041710000022
D: According to the formula
Figure FDA0003193041710000021
Calculate the angle α between the sound source direction and the X axis,
Figure FDA0003193041710000022
 E：根据声源所处象限与夹角α确定声源方向。E: Determine the direction of the sound source according to the quadrant where the sound source is located and the included angle α. 6.基于权利要求4所述的声源方位判断装置的声源方位判断方法，其特征在于：按以下步骤进行：6. Based on the sound source orientation judgment method of the sound source orientation judgment device according to claim 4, it is characterized in that: carry out according to the following steps: A：以6个方向的方向性传感器中心为原点建立空间坐标系，设定第一至第八象限；A: Establish a spatial coordinate system with the center of the directional sensor in 6 directions as the origin, and set the first to eighth quadrants; B：6个不同方向排列的方向性传感器分别采集声源的信号，并传输至中央处理芯片，声音信号强度分别记为S1、S2、S3、S4、S5、S6；B: 6 directional sensors arranged in different directions collect the signal of the sound source respectively, and transmit it to the central processing chip, and the sound signal strength is recorded as S1, S2, S3, S4, S5, S6 respectively; C：选出S1、S2、S3、S4、S5、S6中最大的两个值，沿X轴方向的记为Sx，沿Y轴方向的记为Sy，沿Z轴方向的记为Sz，即声源方向与Sx、Sy、Sz对应的方向性传感器声方向最接近，以此得出声源所处象限；C: Select the two largest values in S1, S2, S3, S4, S5, and S6. The ones along the X-axis are marked as Sx, those along the Y-axis are marked as Sy, and those along the Z-axis are marked as Sz, namely The sound source direction is closest to the sound direction of the directional sensor corresponding to Sx, Sy, and Sz, so as to obtain the quadrant of the sound source; D：根据公式
Figure FDA0003193041710000023
计算X、Y平面内声源方向与X轴的夹角α,
Figure FDA0003193041710000024
根据公式
Figure FDA0003193041710000025
计算X、Z平面内声源方向与X轴的夹角β，
Figure FDA0003193041710000026
根据夹角α、夹角β计算声源方向与X轴的空间角γ；D: According to the formula
Figure FDA0003193041710000023
Calculate the angle α between the sound source direction and the X axis in the X and Y planes,
Figure FDA0003193041710000024
According to the formula
Figure FDA0003193041710000025
Calculate the angle β between the sound source direction and the X axis in the X and Z planes,
Figure FDA0003193041710000026
Calculate the spatial angle γ between the sound source direction and the X axis according to the included angle α and the included angle β; E：根据声源所处象限与空间角γ确定声源方向。E: Determine the direction of the sound source according to the quadrant where the sound source is located and the spatial angle γ.
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CN108414072A (en) * 2017-11-07 2018-08-17 四川大学 A kind of true three dimensional sound is recorded and play system
CN108254721A (en) * 2018-04-13 2018-07-06 歌尔科技有限公司 A kind of positioning sound source by robot and robot
CN111157950B (en) * 2019-11-15 2023-12-05 海菲曼（天津）科技有限公司 Sound positioning method based on sensor
CN115359805B (en) * 2022-07-15 2025-09-30 深圳职业技术大学 Sound signal array acquisition method, system, terminal, medium and acquisition device

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