Sonar system for automatically detecting location of devices

• US 9,025,416 B2
• Filed: 12/22/2011
• Issued: 05/05/2015
• Est. Priority Date: 12/22/2011
• Status: Active Grant

• Current Assignee: Pelco (Schneider Electric SE)
• Original Assignee: Pelco (Schneider Electric SE)
• Inventors: Millar, James, Aghdasi, Farzin, Millar, Greg
• Primary Examiner(s): PIHULIC, DANIEL T
• Application Number:
  US13/335,299
• Publication Number:
  US 20130163382A1
• Time in Patent Office: 1,230 Days
• Field of Search: 367/127
• US Class Current: 367/127
• CPC Class Codes: G01S 13/46 Indirect determination of position data
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/874 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S15/872 takes precedence
• CPC Class Codes: G01S 2013/466 by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined

Abstract

Systems and methods are described for determining device positions in a video surveillance system. A method described herein includes generating a reference sound; emitting, at a first device, the reference sound; detecting, at the first device, a responsive reference sound from one or more second devices in response to the emitted reference sound; identifying a position of each of the one or more second devices; obtaining information relating to latency of the one or more second devices; computing a round trip time associated with each of the one or more second devices based on at least a timing of detecting the one or more responsive reference sounds and the latency of each of the one or more second devices; and estimating the position of the first device according to the round trip time and the position associated with each of the one or more second devices.

Claims

1. A method of calculating position of a device within a video surveillance system, the method comprising:

generating a reference sound;

emitting, at a first device, the reference sound;

detecting, at the first device, a responsive reference sound from each of one or more second devices in response to the emitted reference sound;

identifying a position of each of the one or more second devices;

obtaining information relating to a latency of each of the one or more second devices;

computing a round trip time associated with each of the one or more second devices based on at least a timing of detecting each of the one or more responsive reference sounds and the latency of each of the one or more second devices; and

estimating the position of the first device according to the round trip time and the position associated with each of the one or more second devices, wherein the estimating comprises converting the round trip time associated with each of the one or more second devices to the distance between the first device and each of the one or more second devices based on a sample rate of the reference sound and each of the one or more responsive reference sounds.

2. The method of claim 1 wherein the estimating further comprises estimating the position of the first device by performing trilateration with respect to the positions of at least four second devices and distances between the first device and the at least four second devices.

3. The method of claim 1 wherein the estimating further comprises:

identifying information relating to one or more device mounting surfaces in the video surveillance system; and

estimating the position of the first device according to the distance between the first device and each of the one or more second devices and the information relating to the one or more mounting surfaces.

4. The method of claim 3 wherein the information relating to the one or more mounting surfaces comprises a three-dimensional model of the video surveillance system.

6. The method of claim 1 wherein the detecting comprises:

identifying ambient noise in audio received at the first device;

removing the ambient noise from the audio received at the first device to obtain resulting audio; and

detecting the responsive reference sounds within the resulting audio.

7. The method of claim 1 wherein identifying the position of each of the one or more second devices comprises receiving the position of at least one of the one or more second devices as user input.

8. The method of claim 1 wherein the reference sound and each of the responsive reference sounds are at least one of an audible ping or an audio pulse.

5. A method of calculating position of a device within a video surveillance system, the method comprising:

generating a reference sound;

emitting, at a first device, the reference sound;

detecting, at the first device, a responsive reference sound from each of one or more second devices in response to the emitted reference sound;

identifying a position of each of the one or more second devices;

obtaining information relating to a latency of each of the one or more second devices;

computing a round trip time associated with each of the one or more second devices based on at least a timing of detecting each of the one or more responsive reference sounds and the latency of each of the one or more second devices; and

estimating the position of the first device according to the round trip time and the position associated with each of the one or more second devices

detecting, at the first device, the reference sound;

starting a first timer at the first device in response to detecting the reference sound;

stopping the first timer in response to detecting a responsive reference sound from at least one of the one or more second devices;

obtaining the information relating to the latency of each of the one or more second devices comprises obtaining a value of a second timer maintained by each of the one or more second devices in association with generating and emitting the responsive reference sound; and

computing the round trip times comprises computing a round trip time corresponding to a selected second device by dividing a result of subtracting the second timer of the selected second device from the first timer by 2.

9. A security device positioning system comprising:

a digital audio processor configured to generate a reference sound;

a speaker communicatively coupled to the digital audio processor and configured to emit, at a first security device, the reference sound;

a microphone communicatively coupled to the digital audio processor and configured to detect, at the first security device, a responsive reference sound from each of one or more second security devices;

a timer communicatively coupled to the digital audio processor, the speaker and the microphone and configured to measure, for each of the one or more second security devices, elapsed time between the speaker emitting the reference sound and the microphone detecting the responsive reference sound from each of the one or more second security devices;

a communication interface communicatively coupled to the timer and configured to communicate information relating to the elapsed time for each of the one or more second security devices, position of each of the one or more second security devices and latency of each of the one or more second security devices;

a processor communicatively coupled to the communications subsystem and configured to compute a round trip time associated with each of the one or more second security devices based on at least the elapsed time of each of the one or more second security devices and the latencies of each of the one or more second security devices and to estimate the position of the first security device according to the round trip time associated with each of the one or more second security devices and the position of each of the one or more second security devices; and

a memory communicatively coupled to the communication interface and the processor.

10. The system of claim 9 wherein the processor is further configured to convert the round trip time associated with each of the one or more second security devices to distance between the first security device and each of the one or more second security devices based on a sample rate of the reference sound and each of the responsive reference sounds.

11. The system of claim 10 wherein the processor is further configured to estimate the position of the first security device by performing trilateration with respect to the positions of at least four second security devices and distances between the first security device and the at least four second security devices.

12. The system of claim 10 wherein:

the memory is configured to store data relating to one or more device mounting surfaces in the video surveillance system; and

the processor is configured to estimate the position of the first security device according to the distance between the first security device and each of the one or more second security devices and the information relating to the one or more mounting surfaces.

13. The system of claim 9 wherein the digital audio processor is further configured to identify ambient noise in audio received by the microphone, to remove the ambient noise from the received audio to obtain resulting audio, and to detect each of the responsive reference sounds within the resulting audio.

14. The system of claim 9 further comprising a user terminal communicatively coupled to the processor and configured to obtain the position of at least one of the one or more second security devices as user input.

15. The system of claim 9 wherein the digital audio processor, the speaker, the microphone and the timer are located at the first security device.

16. The system of claim 9 wherein the communication interface, the processor and the memory are located at a location server.

17. A system for estimating a position of a first device within a video surveillance system, the system comprising:

signal generator means configured to generate a reference sound;

a speaker communicatively coupled to the signal generator means and configured to emit the reference sound;

a microphone communicatively coupled to the signal generator means and configured to detect responsive reference sounds from each of one or more second devices in response to the emitted reference sound;

device information means configured to identify position and latency of each of the one or more second devices;

time calculation means communicatively coupled to the speaker, the microphone and the device information means and configured to compute round trip time associated with each of the one or more located devices based on at least times of detecting each of the audio response pulses and the latency of each of the one or more second devices; and

positioning means communicatively coupled to the time calculation means and configured to estimate the position of the first device according to each of the round trip times and the position of each of the one or more second devices, wherein the positioning means is further configured to convert the round trip time associated with each of the one or more second devices to distance between the first device and each of the one or more second devices based on a sample rate of the audio pulse and the audio response pulses and to estimate the position of the first device according to each of the converted distances.

18. The system of claim 17 wherein the positioning means is further configured to estimate the position of the first device according to each of the converted distances and information relating to one or more device mounting surfaces in the video surveillance system.

19. The system of claim 17 further comprising noise reduction means communicatively coupled to the microphone and configured to identify ambient noise in audio received by the microphone and to remove the ambient noise from the audio received at the microphone to obtain resulting audio, wherein the microphone is configured to detect the responsive reference sounds within the resulting audio.

20. The system of claim 17 further comprising user interface means communicatively coupled to the positioning means and configured to receive the position of at least one of the one or more second devices as user input.

21. A computer program product residing on a non-transitory computer storage medium, the computer program product comprising processor-executable instructions configured to cause a processor to:

generate a reference sound;

cause the reference sound to be emitted at a first device;

detect a responsive reference sound at the first device from each of one or more second devices in response to the emitted reference sound;

identify a position of each of the one or more second devices;

obtain information relating to a latency of each of the one or more second devices;

compute a round trip time associated with each of the one or more second devices based on at least a timing of detecting each of the one or more responsive reference sounds and the latency of each of the one or more second devices; and

estimate the position of the first device according to the round trip time and the position associated with each of the one or more second devices and convert the round trip time associated with each of the one or more second devices to the distance between the first device and each of the one or more second devices based on a sample rate of the reference sound and each of the one or more responsive reference sounds.

22. The computer program product of claim 21 wherein the instructions configured to cause the processor to estimate are further configured to cause the processor to:

identify information relating to one or more device mounting surfaces in the video surveillance system; and

estimate the position of the first device according to the distance between the first device and each of the one or more second devices and the information relating to the one or more mounting surfaces.

23. The computer program product of claim 21 wherein the instructions configured to cause the processor to detect comprise instructions configured to cause the processor to:

identify ambient noise in audio received at the first device;

remove the ambient noise from the audio received at the first device to obtain resulting audio; and

detect the responsive reference sounds within the resulting audio.