CN-116719036-B - Sound-ball linkage abnormal sound positioning method

CN116719036BCN 116719036 BCN116719036 BCN 116719036BCN-116719036-B

Abstract

The invention provides a sound-ball linkage abnormal sound positioning method, which comprises the steps of firstly arranging an air sonar beside a monitoring ball machine, then continuously collecting sound signals through the air sonar, detecting abnormal sounds, calculating the sound source position of the abnormal sounds, and finally guiding the ball machine to turn to the direction of abnormal sound production according to the sound source position. According to the invention, by improving the linkage technology of the sonar array and the spherical camera, the response time of the spherical camera to an abnormal sound source is greatly reduced, and only the relative positions of the sonar array and the camera are required to be calibrated, so that the workload is reduced and the linkage precision is improved.

Inventors

BAI JISHENG
CHEN JIANFENG
JIA YAFEI
XIANG BIN

Assignees

西北工业大学
西安联丰迅声信息科技有限责任公司

Dates

Publication Date: 20260508
Application Date: 20230515

Claims (7)

1. The sound ball linkage abnormal sound positioning method is characterized by comprising the following steps of: Step 1, arranging an air sonar beside a monitoring ball machine; step 2, continuously collecting sound signals through an air sonar and detecting abnormal sounds, wherein the step 2 comprises the following steps: (1) Calculating environmental characteristic data in real time; (2) Calculating the channel number of the highest sound decibel value in the current frame and related environmental characteristic data; (3) Judging whether the highest value of the sound decibel value in the current frame is larger than a preset value of a set decibel threshold, if so, entering the next step, otherwise, returning to the step (1); (4) Calculating the time domain energy ratio of the sound in the current frame and the previous frame; (5) Judging whether the time domain energy ratio is larger than a preset threshold, if so, entering the next step, otherwise, returning to the step (1); (6) Calculating the frequency domain energy ratio of the sound in the current frame; (7) Judging whether the frequency domain energy ratio is larger than a preset threshold, if the value is larger than the preset value, triggering an alarm, otherwise returning to the step (1); Step 3, calculating the sound source position of the abnormal sound; And 4, guiding the ball machine to turn to the abnormal sounding direction according to the sound source position.
2. The sound ball linkage abnormal sound positioning method according to claim 1, wherein the step 1 is to arrange the air sonar within 50cm above or below the monitoring ball machine.
3. The sound ball linkage abnormal sound positioning method according to claim 2 is characterized in that the frequency domain energy ratio is used for judging the ratio of the detection frequency band range to the full frequency band range energy, wherein the adjustment range of the lower limit of the detection frequency band is 0-10 KHz, the numerical value input is required to be an integer and smaller than the upper limit, the adjustment range of the upper limit of the detection frequency band is 0-10 KHz, the numerical value input is required to be an integer and larger than the lower limit, and the difference value between the lower limit of the detection frequency band and the upper limit of the detection frequency band is larger than 100Hz.
4. The sound ball linkage abnormal sound localization method according to claim 1, wherein the step 3 uses the array airspace information to conduct sound source localization by adopting a conventional beam forming technology, calculates sound source direction information, and sends the sound source direction information to the monitoring dome camera.
5. The sound localization method of claim 4, wherein the sound localization step comprises performing sound localization by beam forming, wherein N acoustic sensors form a receiving array, performing weighted summation on a weight vector w i (θ) selected and set for each path of received signal x i (t) to obtain an output y (t, θ) of the array, assuming that the target signal is a narrowband signal and the signal center frequency is f, performing input of beam forming The sampled data of all array elements and the vector of the complex weighting coefficient are respectively expressed as x (T) = [ x 1 (t)x 2 (t)…x N (t)] T and w (theta) = [ w 1 (θ)w(θ)…w N (θ)] T ), the form of the inner product of the vector for beam forming output is expressed as y (T, theta) = w H (θ)x(t)＝x H (T) w (theta), wherein the superscript is expressed by a complex conjugate operator, the superscript T is expressed by a vector or a transpose of a matrix, the superscript H is expressed by a complex conjugate transpose of the vector or the matrix, the power spectrum of the beam forming output end is expressed as P (theta) = E [ |y (T, theta) | 2 ]＝w H (theta) Rw (theta), the deflection angle of a sound source relative to the normal line of the center of the plane array is theoretically (0 DEG ), and the plane conventional beam forming simulation of the 16-element array is carried out under the condition that the received signal-to-noise ratio is 0dB by taking 3000Hz single-frequency signal as the sound source.
6. The sound ball linkage abnormal sound positioning method according to claim 1 is characterized in that in the step 4, zero calibration is performed after the monitoring ball machine is started, the 0-degree position of the monitoring ball machine and the 0-degree position of the air sonar are adapted, then direction calibration is performed to ensure that the rotation direction of the monitoring ball machine is consistent with the sonar labeling direction, coordinate information is converted into the rotation angle of the monitoring ball machine to guide the monitoring ball machine to turn to the abnormal sound production direction, and the monitoring ball machine continuously captures the abnormal sound direction and stores the abnormal sound production direction and the alarm record as an alarm log.
7. The sound ball linkage abnormal sound positioning method according to claim 6, wherein the step 4 is performed with continuous snap shots at intervals of 1 second, and sound data of five seconds before and after the alarm is stored as an alarm record and stored as an alarm log together.

Description

Sound-ball linkage abnormal sound positioning method Technical Field The invention relates to the field of video monitoring, in particular to a sound positioning method. Background With the development of science and computer technology and the rapid progress of artificial intelligence technology in recent years, means for obtaining external information by human beings and cities tend to develop in a diversified manner, and governments in various places have also proposed development planning of smart cities. But city and industry monitoring is still relatively single in the way information flows are obtained. How to make up for the lost sound information obtained by video monitoring, make up for the "hearing" of the city, integrate the environmental acoustics with the optical information, combine the decision, have important meaning for improving the sensory system of the city and promoting the intelligent construction of the city. In the prior art, the environment is monitored through a camera generally, however, the condition that the camera is easy to miss detection is also monitored by adopting a sonar array and ball machine linkage technology, but the prior camera and sonar array linkage technology mostly adopts a scheme of camera preset points. The microphone array can detect a horizontal plane within the range of 20 m-50 m, multiple groups of data are required to be collected within the range of 20 m-50 m and a large number of preset points are required to be set according to a traditional linkage scheme, manpower and material resources are wasted seriously in the implementation process, and on the other hand, errors exist in a functional relation obtained according to data fitting, including measurement errors, systematic errors and the like, so that finally, the camera positioning according to audio linkage is inaccurate, and the effect is poor in practical application. The patent 'an abnormal sound source monitoring method of microphone array and spherical machine linkage' firstly detects abnormal data in a microphone array, then obtains the horizontal azimuth angle, pitch angle and distance of a sound source in a microphone array board through a sound source positioning module, calculates the position of the sound source relative to the microphone array according to the horizontal azimuth angle, pitch angle and distance, respectively measures the positions of the reference points relative to a camera by selecting 3 reference points in a video picture, establishes a world coordinate system, converts the world coordinates of the 3 reference points into pixel coordinates by utilizing a camera imaging principle, displays the pixel coordinates in the picture, finishes camera calibration when the display position is overlapped with the actual position of an object, obtains the gesture of a preset point of a camera, further obtains the horizontal rotation angle and pitch angle of the spherical machine to be rotated, and realizes spherical machine linkage. According to the scheme, by establishing a spatially unified coordinate system, on one hand, more calculation resources are needed, on the other hand, calculation errors exist in the process of multiple coordinate conversion, so that the calculated rotation angle of the spherical camera is inaccurate, the instantaneity is insufficient, and the practical application effect is poor. Disclosure of Invention In order to overcome the defects of the prior art, the invention provides the sound ball linkage abnormal sound positioning method which can effectively improve the measuring and calculating precision and the real-time performance. The technical scheme adopted by the invention for solving the technical problems comprises the following steps: Step 1, arranging an air sonar beside a monitoring ball machine; step 2, continuously collecting sound signals through an air sonar and detecting abnormal sounds; Step 3, calculating the sound source position of the abnormal sound; And 4, guiding the ball machine to turn to the abnormal sounding direction according to the sound source position. And the step 1 is to arrange the air sonar within 50cm above or below the monitoring ball machine. The step 2 comprises the following steps: (1) Calculating environmental characteristic data in real time; (2) Calculating the channel number of the highest sound decibel value in the current frame and related environmental characteristic data; (3) Judging whether the highest value of the sound decibel value in the current frame is larger than a preset value of a set decibel threshold, if so, entering the next step, otherwise, returning to the step (1); (4) Calculating the time domain energy ratio of the sound in the current frame and the previous frame; (5) Judging whether the time domain energy ratio is larger than a preset threshold, if so, entering the next step, otherwise, returning to the step (1); (6) Calculating the frequency domain energy ratio of the sound in the curr