CN106872944A - A kind of sound localization method and device based on microphone array - Google Patents
A kind of sound localization method and device based on microphone array Download PDFInfo
- Publication number
- CN106872944A CN106872944A CN201710106826.XA CN201710106826A CN106872944A CN 106872944 A CN106872944 A CN 106872944A CN 201710106826 A CN201710106826 A CN 201710106826A CN 106872944 A CN106872944 A CN 106872944A
- Authority
- CN
- China
- Prior art keywords
- microphone
- target
- sound source
- signal
- sound
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Circuit For Audible Band Transducer (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of sound localization method and device based on microphone array.The method includes：Cuboid microphone array is built in space to be detected in advance；Wherein, cuboid microphone array includes at least one cuboid array block being made up of eight yuan of microphones；When auditory localization is carried out, the Target Aerial Array block where determining the target microphone of sound-source signal maximum intensity；Signal time delay in acquisition Target Aerial Array block between target microphone and neighboring microphones, diagonal microphone, and the position of sound source is calculated according to signal time delay.The present invention first determines that target microphone calculates sound source particular location again, and without the troublesome calculations such as radical sign are opened, amount of calculation is small and calculating speed is fast, therefore in field of voice signal, with stronger practicality.
Description
Technical field
The present invention relates to voice process technology field, more particularly to a kind of auditory localization side based on microphone array
Method and device.
Background technology
In recent years, with industry, the increase of the positioning application demand in civilian and military field, based on sound Sources Detection and positioning
Systematic research has become new study hotspot.Auditory localization technology is one of important technology of Array Signal Processing, is had
Wide application prospect and practical significance, its visual telephone, video conferencing system, TeleConference Bridge, monitoring system,
It is used widely in the field such as voice tracing system and sonar searching system.
Current sonic location system is the diverse location that multiple microphones are distributed in space according to certain order, to each
The voice signal that individual microphone is received is processed, final according to the final position for calculating sound source.However as noise ring
The intervention of the abundant and reverberation in border, traditional one-dimensional, two-dimentional auditory localization algorithm can not meet auditory localization accurately
Demand.And although traditional Three-dimensional acoustic localization algorithm calculates more accurate compared to a peacekeeping two-dimensional localization algorithm, due to
Three-dimensional computations are related to amount of calculation very big, cause calculating speed slower, it is impossible to meet the sonic location system requirement of standard soon.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of sound localization method and dress based on microphone array
Put, be used to solve the problems, such as that sound localization method of the prior art causes calculating speed slower because computationally intensive.
For achieving the above object, the present invention uses following technical schemes：
According to one aspect of the present invention, there is provided a kind of sound localization method based on microphone array, including：
Cuboid microphone array is built in space to be detected in advance；Wherein, the cuboid microphone array includes
At least one cuboid array block being made up of eight yuan of microphones；
When auditory localization is carried out, the Target Aerial Array block where determining the target microphone of sound-source signal maximum intensity；
Obtain the signal between target microphone and neighboring microphones, diagonal microphone described in the Target Aerial Array block
Time delay, and the position of the sound source is calculated according to the signal time delay.
Preferably, it is described to build cuboid microphone array in space to be detected in advance, specifically include：
When the space to be detected is regular shape, the space to be detected is divided at least one small space；
The small space is divided into 8 fritters, the center of each fritter be microphone where position.
Preferably, it is determined that during Target Aerial Array block where the target microphone of sound-source signal maximum intensity, specifically including：
The sound-source signal that each microphone is received is sampled with sample frequency, the quadratic sum of sampled point in Preset Time
As described sound-source signal intensity；
Determine the target microphone of the sound-source signal maximum intensity, and the target according to default array block acquisition of information
Target Aerial Array block where microphone.
Preferably, it is described to obtain target microphone described in the Target Aerial Array block and neighboring microphones, diagonal Mike
Signal time delay between wind, and the position of the sound source is calculated according to the signal time delay, specifically include：
When the Target Aerial Array block includes multiple array blocks, the target microphone and phase in each array block are obtained
Signal time delay between adjacent microphone, diagonal microphone；
The signal time delay according to each array block calculates a position for sound source respectively；
The average value of the position of each sound source is obtained, the average value is the final position of sound source.
Preferably, when the target microphone is obtained with the neighboring microphones, the signal of the diagonal microphone
Before prolonging, methods described also includes：
Sound source discrete signal to the neighboring microphones, diagonal microphone collection carries out adding window, time-frequency conversion
Treatment, obtains the time-domain signal of denoising；
Dereverberation treatment is carried out to the time-domain signal using Cepstrum Method, pure voice time domain signal is obtained, with based on described
Signal time delay described in pure voice time domain signal acquisition.
Preferably, the position that the sound source is calculated according to the signal time delay, specifically includes：
Using three-dimensional fix method, obtained between the sound source and the target microphone according to the signal time delay
Distance；Wherein, the three-dimensional system of coordinate of the three dimensions is with the target microphone as origin, by the neighboring microphones institute
Direction be respectively X-axis, Y-axis and Z axis；
The utilization space triangle cosine law and cosine formula, based between the sound source and the target microphone away from
From the space coordinates for calculating the sound source.
Preferably, the sound source is as follows with the computing formula of the distance between the target microphone：
Wherein, c is the velocity of sound；tiIt is sound source to neighboring microphones i and the time difference of sound source to origin；t4It is sound source to diagonal
The time difference of microphone and sound source to origin；
The computing formula of the space coordinates of the sound source is as follows：
Wherein, Lx is the distance of the target microphone and neighboring microphones in X-axis；Ly is the target microphone and Y
The distance of neighboring microphones, Lz are the distance of neighboring microphones on the target microphone and Z axis on axle.
According to one aspect of the present invention, there is provided a kind of sound source locating device based on microphone array, including：
Construction unit, for building cuboid microphone array in space to be detected in advance；Wherein, cuboid microphone
Array includes at least one cuboid array block being made up of eight yuan of microphones；
Determining unit, for when auditory localization is carried out, it is determined that receiving the Target Aerial Array block of sound-source signal maximum intensity；
Positioning unit, for the target microphone for obtaining sound-source signal maximum intensity in the array block and adjacent Mike
Signal time delay between wind, diagonal microphone, and the position of sound source is determined according to the signal time delay.
Preferably, the construction unit, specifically for：
When the space to be detected is regular shape, the space to be detected is divided at least one small space；
The small space is divided into 8 fritters, the center of each fritter be microphone where position.
Preferably, the determining unit, specifically for：
The sound-source signal that each microphone is received is sampled with sample frequency, the quadratic sum of sampled point in Preset Time
As described sound-source signal intensity；
Determine the target microphone of the sound-source signal maximum intensity, and the target according to default array block acquisition of information
Target Aerial Array block where microphone.
Preferably, the positioning unit, specifically for：
When the Target Aerial Array block includes multiple array blocks, the target microphone and phase in each array block are obtained
Signal time delay between adjacent microphone, diagonal microphone；
The signal time delay according to each array block calculates a position for sound source respectively；
The average value of the position of each sound source is obtained, the average value is the final position of sound source.
Preferably, the positioning unit, is additionally operable to：
It is right before the target microphone and the neighboring microphones, the signal time delay of the diagonal microphone is obtained
The neighboring microphones, the sound source discrete signal of the diagonal microphone collection carry out adding window, time-frequency conversion treatment, obtain denoising
Time-domain signal；
Dereverberation treatment is carried out to the time-domain signal using Cepstrum Method, pure voice time domain signal is obtained, with based on described
Pure voice time domain signal acquisition signal time delay.
Preferably, the positioning unit, specifically for：
Using three-dimensional fix device, the distance between sound source and target microphone are obtained according to the signal time delay；
Wherein, the three-dimensional system of coordinate of the three dimensions is with the target microphone as origin, by the side where the neighboring microphones
To respectively X-axis, Y-axis and Z axis；
The utilization space triangle cosine law and cosine formula, based on the distance between the sound source and target microphone meter
Calculate the space coordinates of sound source.
Preferably, the positioning unit, specifically for：
Calculate the sound source as follows with the formula of the distance between the target microphone：
Wherein, c is the velocity of sound；tiIt is sound source to neighboring microphones i and the time difference of sound source to origin；t4It is sound source to diagonal
The time difference of microphone and sound source to origin；
The formula for calculating the space coordinates of the sound source is as follows：
Wherein, Lx is the distance of the target microphone and neighboring microphones in X-axis；Ly is the target microphone and Y
The distance of neighboring microphones, Lz are the distance of neighboring microphones on the target microphone and Z axis on axle.
The invention has the advantages that：
Sound localization method and device based on microphone array provided by the present invention, according to the mesh of sound-source signal intensity
Target Aerial Array block where cursor microphone：Then only calculate target microphone and adjacent three microphones and diagonal microphone connects
The signal time delay of receipts, using three-dimensional space-location method is that the particular location that can determine that sound source is sat further according to the signal time delay
Mark.Understand, first determine that target microphone calculates sound source particular location again due to the present invention, without the troublesome calculations such as radical sign are opened, count
Calculation amount is small and calculating speed is fast, therefore in field of voice signal, with stronger practicality.
Described above is only the general introduction of technical solution of the present invention, in order to better understand technological means of the invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by specific embodiment of the invention.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only
Some embodiments of the present invention, for those of ordinary skill in the art, without having to pay creative labor, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is the flow chart of the sound localization method based on microphone array in the embodiment of the present invention；
Fig. 2 is the schematic diagram of microphone array in a specific embodiment of the invention；
Fig. 3 is the flow chart of the sound localization method based on microphone array in a specific embodiment of the invention；
Fig. 4 is eight yuan of schematic diagrames of microphone array arrangement in a specific embodiment of the invention；
Fig. 5 is the position view after eight yuan of microphone array arrangement labels in Fig. 4；
Fig. 6 be Fig. 4 in eight yuan of microphone arrays rebuild the schematic diagram after coordinate system；
Fig. 7 is the structured flowchart of the sound source locating device based on microphone array in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The embodiment of the present invention provides a kind of sound localization method based on microphone array, as shown in figure 1, specifically include as
Lower step：
Step 101, builds cuboid microphone array in space to be detected in advance.
Wherein, cuboid microphone array at least includes a cuboid array block being made up of eight yuan of microphones.For example,
Cuboid microphone array in Fig. 2 includes two cuboid array blocks, i.e., the array block 1 being made up of microphone 1~8 and wheat
The array block 2 that gram wind 8~12 is constituted.Understand, minimum unit is the array block that eight yuan of microphones are constituted in the present invention, can root
The adjustment of adaptability is carried out according to the quantity and building form that are actually needed to array block, as long as ensureing that all of array block constitutes one
Individual cuboid microphone array.
In this step, 3 d space coordinate system is built in space to be detected, Mike is set up in the three-dimensional system of coordinate
Wind Array Model, determines particular location of each microphone in three dimensions.It is specific for space to be detected in the present invention
Shape does not do specific restriction, for example, can be cuboid, square or spheroid of rule etc., can also not advised for others
Then shape.Specific restriction is not done for the position of the microphone in cuboid microphone array in space to be detected.Wherein,
Alternatively, when the space to be detected of regular shape builds cuboid microphone array, specifically include：
Space to be detected is divided at least one small space；
Small space is divided into 8 fritters, the center of each fritter be microphone where position.
It is laid out by way of decile in the present invention so that be equidistant between each microphone.Each collection point
By the way of being evenly arranged, it is easy to gather the treatment of signal, while mentioning the validity of signal acquisition.
Step 102, when auditory localization is carried out, the target array where determining the target microphone of sound-source signal maximum intensity
Row block.
In this step, each microphone collection sound-source signal in cuboid microphone array, strong according to sound-source signal
Degree determines the maximum target microphone of intensity level, and the Target Aerial Array block where obtaining the target microphone.Wherein, in the present invention
It is determined that sound-source signal intensity when, it is necessary to each microphone collection sound-source signal sample, obtain predetermined period in
Sampled point quadratic sum value, the quadratic sum value is sound-source signal intensity.
Wherein, when cuboid microphone array includes multiple array blocks, array block message need to be preset, is specifically included
The microphone that Target Aerial Array block and each Target Aerial Array block where each microphone are included.When it is determined that after target microphone,
The Target Aerial Array block where obtaining target microphone can be searched.Understand, the quantity of Target Aerial Array block is according to target microphone institute
The position at place is determined.For example, in Fig. 2, the Target Aerial Array block where microphone 7 then includes array block 1 and array block 2；Mike
Target Aerial Array block where wind 1 then only includes array block 1.
Step 103, when obtaining signal between target microphone and neighboring microphones, diagonal microphone in Target Aerial Array block
Prolong, and the position of sound source is calculated according to the signal time delay.
Wherein, when Target Aerial Array block includes multiple array block, obtain target microphone in each array block with it is adjacent
Signal time delay between microphone, diagonal microphone；One sound source is calculated according to signal time delay in each array block respectively
Position；The average value of the position of each sound source is obtained, the average value is the final position of sound source.
Optionally, in signal between target microphone and neighboring microphones, diagonal microphone in computing array block
Time delay, using normalized crosscorrelation method.By using normalized crosscorrelation method so that follow-up in auditory localization, calculate more
It is easy and accurate.Described in detail below for normalized crosscorrelation method, be only briefly described here.
Wherein, in order to further consider the influence of ambient noise and reverberation to auditory localization, it is preferable that obtaining target wheat
, it is necessary to be carried out to the sound-source signal that each microphone is gathered before gram wind and neighboring microphones, the signal time delay of diagonal microphone
Denoising and reverberation are processed, and concrete mode is as follows：
The sound source discrete signal of neighboring microphones, diagonal the microphone collection to target microphone carries out adding window, time-frequency and becomes
Treatment is changed, the time-domain signal of denoising is obtained；
Dereverberation treatment is carried out to time-domain signal using Cepstrum Method, pure voice time domain signal is obtained, during with based on pure voice
The above-mentioned signal time delay of domain signal acquisition.
Wherein, the sound source discrete signal of each microphone is obtained in a step 102 here, i.e., to the collection of each microphone
Sound-source signal is sampled, and the signal obtained after sampling is sound source discrete signal.It is right when to adding window, time-frequency conversion treatment
The sound source discrete signal carries out Fourier transformation and is converted into frequency-region signal, and denoising is carried out to the frequency-region signal by using spectrum-subtraction
Treatment, the time-domain signal after recycling Fourier inversion to obtain denoising.All it has been this area for spectrum-subtraction and Cepstrum Method
Technology known to technical staff, is not discussed here for implementing process.
Understand, in the embodiment of the present invention, only calculate target microphone three microphones adjacent thereto and diagonal Mike
Wind receives the time delay of signal, can effectively save amount of calculation, improves the speed of auditory localization.By the discrete signal to gathering
Carry out the treatment of denoising and reverberation, it is to avoid external environment condition effectively improves the accuracy of auditory localization for the influence of auditory localization.
Wherein, when calculating the position of sound source according to signal time delay, because the position of sound source and each microphone meets geometry
Relation, therefore three-dimensional fix method is utilized, the distance between sound source and target microphone can be obtained.And utilization space triangle
The shape cosine law and cosine formula, can calculate the space coordinates of sound source.For calculate sound source space coordinates detailed process,
It is introduced in specific embodiment hereinafter.
Wherein, calculate sound source position coordinates when, used amount only relate to target microphone, neighboring microphones and
The position of diagonal microphone, and the position relationship is in cuboid array block, therefore in order to reduce amount of calculation, it is preferable that with
Target microphone is origin, and X-axis, Y-axis and Z axis are being respectively just with the direction where the adjacent microphone of target microphone
To rebuilding three-dimensional system of coordinate.Target microphone, neighboring microphones and diagonal microphone in new coordinate system
Position calculates the position of sound source.It should be noted that when Target Aerial Array block includes multiple array blocks, believing according in each array block
When number time-delay calculation goes out the position of sound source, coordinate system can be rebuild in each array block；By rebuilding coordinate
System, further simplifies computation complexity, effectively increases the locating speed of sound source.
It is above-mentioned to refer to, during for cuboid microphone array comprising multiple array blocks, can calculate every in Target Aerial Array block
The position of sound source in individual array block, the final position of sound source is the position mean of each array block sound source.Therefore, lower mask
In body embodiment, as a example by the array block for mainly being constituted with yuan microphone of the minimum unit of cuboid microphone array, i.e., eight, to sound
Source localization method is introduced, as shown in figure 3, specifically including following steps：
Step 201, in 3 d space coordinate system, sets up microphone array model, determines each microphone in three dimensions
Position.
Wherein, setting up microphone array model, by three-dimensional closed rule space according to upper and lower, direction around
The fritter of decile 8, each fritter center is taken out according to the diagonal of each fritter, and center is put microphone position, the Mike of composition
Wind array, as shown in Figure 4 and Figure 5.The microphone array can be cuboid or square shape, and each microphone is carried out
Label (for example, M1, M2, M3 ...).
Step 202, is sampled with sample frequency Fs to sound-source signal s (t) that each microphone is received, and obtains discrete
Signal s (n)；Wherein, t represents continuous time, and n represents discrete time, Fs can for 8kHz, 16kHz, 32kHz, 44.1kHz,
48kHz etc..
Step 203, the discrete signal according to sampling determines the target microphone of sound-source signal maximum intensity.
Specifically, respectively to (i.e. n takes 0~N-1) in a frame period in discrete signal s (n) of each microphone samples
All sampled points square sue for peace again, the quadratic sum value is the sound-source signal intensity (energy value) of microphone.By energy
The size of value is ranked up to each microphone, determines the maximum target microphone of energy value.If there are multiple microphones to collect
Energy is all the situation of maximum, selects one microphone of any of which as target microphone.And where target microphone
Position where being sound source near position.Wherein, the frame period can be with self-defined, or the length of general voice frame signal
Degree, for example, 20ms.
Step 204, obtains target microphone and the signal delay between neighboring microphones, diagonal microphone.
So that target microphone in Fig. 4 is as M1 as an example, the microphone adjacent with M1 is M2, M4, M5, and its diagonal microphone is
M7。
In this step, frame s (n) (n the takes 0~N-1) signal first to M2, M4, M5, M7 sampling carries out Fourier's change
Change, after carrying out noise reduction process using spectrum-subtraction, then carry out Fourier inversion and obtain denoising time-domain signal xi (n), i takes 2,4,5,
7。
Secondly, dereverberation treatment is carried out to denoising time-domain signal xi (n) using Cepstrum Method, obtains pure voice time domain signal yi
(n)。
Then, using normalized crosscorrelation method, the time difference of M1M2, M1M4, M1M5 and the time difference of M1M7 are obtained,
Specific formula is as follows：
ti=argmax ρ (t) (2)
Wherein, i takes 2,4,5,7；yiN () is the pure voice time domain signal of M2, M4, M5, M7；yjWhen (n- τ) is the voice of M1
Domain signal.
Step 205, rebuilds coordinate system, and according between target microphone and neighboring microphones, diagonal microphone
Signal delay calculates the position of sound source.
In this step, so that microphone M1 is as origin as an example, adjacent three microphones are M2, M4, M5, the direction point at place
Not Wei X-axis, Y-axis and Z axis positive direction, as shown in fig. 6, rebuilding three-dimensional system of coordinate.Where it is assumed that the position where sound source is
S。
Using three-dimensional fix method, try to achieve sound source to origin of coordinates O apart from r (i.e. sound source to target microphone it
Between distance, that is, OS length).
Because THE VELOCITY OF SOUND IN AIR is：
Wherein, T represents room temperature, unit for DEG C.
According to three-dimensional fix method, the geometric position of microphone array M1, M2, M4, M5, M7 and sound source S meets such as
Lower formula：
Wherein, Lx is OM2Between distance (as M1、M2Distance between microphone), Ly is OM4Between distance (as M1、M4
Distance between microphone), Lz is OM5Between distance (as M1、M5Distance between microphone)；C is the velocity of sound；t1It is sound from sound
Source position S to M2Time and from sound source position S to the time difference of origin O, as SM2With the time delay of SO；t2It is sound from sound source
Position S to M4Time and from sound source position S to the time difference of origin O, as SM4With the time delay of SO；t3It is sound from sound source position
Put S to M5Time and from sound source position S to the time difference of origin O, as SM5With the time delay of SO；t4It is sound from sound source position
S to M7Time and from sound source position S to the time difference of origin O, as SM7With the time delay of SO.
Line translation is entered according to formula (4), calculate the sound source for obtaining is apart from r expressions with origin of coordinates O：
It is possible to further be transformed to：
According to the signal time delay value that step 204 is calculated, you can obtain sound source with origin of coordinates O apart from r values.
Then, the coordinate for obtaining (x, y, z) according to the spatial triangle cosine law and cosine formula is as follows.
Similarly, middle y is sought, the coordinate of z is as follows：
Therefore, according to formula (8), (9) and (10), you can the particular location where determining sound source.
The embodiment of the present invention additionally provides a kind of sound source locating device based on microphone array, for realizing above-mentioned side
Method, as shown in fig. 7, the device is specifically included：
Construction unit 71, for building cuboid microphone array in space to be detected in advance；Wherein, cuboid Mike
Wind array includes at least one cuboid array block being made up of eight yuan of microphones；
Determining unit 72, for when auditory localization is carried out, it is determined that receiving the Target Aerial Array block of sound-source signal maximum intensity；
Positioning unit 73, for obtain the target microphone of sound-source signal maximum intensity in array block and neighboring microphones,
Signal time delay between diagonal microphone, and the position of sound source is determined according to signal time delay.
Further, construction unit 71, specifically for：
When space to be detected is regular shape, space to be detected is divided at least one small space；
Small space is divided into 8 fritters, the center of each fritter be microphone where position.
Further, it is determined that unit 72, specifically for：
The sound-source signal that each microphone is received is sampled with sample frequency, the quadratic sum of sampled point in Preset Time
As sound-source signal intensity；
Determine the target microphone of sound-source signal maximum intensity, and according to default array block acquisition of information target microphone institute
Target Aerial Array block.
Further, positioning unit 73, specifically for：
When Target Aerial Array block includes multiple array blocks, the target microphone in each array block and adjacent Mike are obtained
Signal time delay between wind, diagonal microphone；
One position of sound source is calculated according to signal time delay in each array block respectively；
The average value of the position of each sound source is obtained, average value is the final position of sound source.
Further, positioning unit 73 is additionally operable to：
Before target microphone and neighboring microphones, the signal time delay of diagonal microphone is obtained, to neighboring microphones, right
The sound source discrete signal of angle microphone collection carries out adding window, time-frequency conversion treatment, obtains the time-domain signal of denoising；
Dereverberation treatment is carried out to time-domain signal using Cepstrum Method, pure voice time domain signal is obtained, during with based on pure voice
Domain signal acquisition signal time delay.
Further, positioning unit 73, specifically for：
Using three-dimensional fix device, the distance between sound source and target microphone are obtained according to signal time delay；Wherein,
The three-dimensional system of coordinate of three dimensions with target microphone as origin, by the direction where neighboring microphones be respectively X-axis, Y-axis with
And Z axis；
The utilization space triangle cosine law and cosine formula, based on the distance between sound source and target microphone calculating sound
The space coordinates in source.
Further, positioning unit 73, are additionally operable to：
Calculate sound source as follows with the formula of the distance between target microphone：
Wherein, c is the velocity of sound；tiIt is sound source to neighboring microphones i and the time difference of sound source to origin；t4It is sound source to diagonal
The time difference of microphone and sound source to origin；
The formula for calculating the space coordinates of sound source is as follows：
Wherein, Lx is the distance of target microphone and neighboring microphones in X-axis；Ly is that target microphone is adjacent with Y-axis
The distance of microphone, the distance that Lz is neighboring microphones on target microphone and Z axis.
It should be noted that for device embodiment, because it is substantially similar to above method embodiment, so retouching
That states is fairly simple, and the relevent part can refer to the partial explaination of embodiments of method, here with regard to no longer being repeated.
In sum, the sound localization method of microphone array provided by the present invention, sound source letter is received according to microphone
Number energy size be ranked up, first determine that (i.e. to be located at the position attached for sound source for the position of the maximum target microphone of energy value
Closely)：Then only calculate the signal time delay that target microphone and adjacent three microphones and diagonal microphone are received；Further according to this
Signal time delay is the particular location coordinate that can determine that sound source using three-dimensional space-location method.Understand, due to of the invention first true
The microphone that sets the goal calculates sound source particular location again, therefore amount of calculation is small, and need not open the troublesome calculations such as radical sign, and calculates speed
Degree is fast, in field of voice signal, with stronger practicality.In addition, invention also contemplates that ambient noise and reverberation
Influence to auditory localization, further increasing the precision of auditory localization.
One of ordinary skill in the art will appreciate that all or part of flow in realizing above-described embodiment method, can be
The hardware of correlation is instructed to complete by computer program, program can be stored in computer read/write memory medium, the journey
Sequence is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.
Although describing the application by embodiment, it will be apparent to one skilled in the art that the application has many deformations and change
Change without departing from the spirit and scope of the present invention.So, if these modifications of the invention and modification belong to right of the present invention and want
Ask and its equivalent technologies within the scope of, then the present invention be also intended to comprising these change and modification.
Claims (14)
1. a kind of sound localization method based on microphone array, it is characterised in that including：
Cuboid microphone array is built in space to be detected in advance；Wherein, the cuboid microphone array is included at least
One cuboid array block being made up of eight yuan of microphones；
When auditory localization is carried out, the Target Aerial Array block where determining the target microphone of sound-source signal maximum intensity；
When obtaining described in the Target Aerial Array block signal between target microphone and neighboring microphones, diagonal microphone
Prolong, and the position of the sound source is calculated according to the signal time delay.
2. the method for claim 1, it is characterised in that described to build cuboid microphone in space to be detected in advance
Array, specifically includes：
When the space to be detected is regular shape, the space to be detected is divided at least one small space；
The small space is divided into 8 fritters, the center of each fritter be microphone where position.
3. the method for claim 1, it is characterised in that it is determined that where the target microphone of sound-source signal maximum intensity
Target Aerial Array block when, specifically include：
The sound-source signal that each microphone is received is sampled with sample frequency, the quadratic sum of sampled point is in Preset Time
The sound-source signal intensity；
Determine the target microphone of the sound-source signal maximum intensity, and the target Mike according to default array block acquisition of information
Target Aerial Array block where wind.
4. the method for claim 1, it is characterised in that target microphone described in the acquisition Target Aerial Array block
With the signal time delay between neighboring microphones, diagonal microphone, and the position of the sound source is calculated according to the signal time delay,
Specifically include：
When the Target Aerial Array block includes multiple array blocks, the target microphone in each array block and adjacent wheat are obtained
Signal time delay gram between wind, diagonal microphone；
The signal time delay according to each array block calculates a position for sound source respectively；
The average value of the position of each sound source is obtained, the average value is the final position of sound source.
5. the method for claim 1, it is characterised in that obtain the target microphone and the neighboring microphones,
Before the signal time delay of the diagonal microphone, methods described also includes：
Sound source discrete signal to the neighboring microphones, diagonal microphone collection carries out adding window, time-frequency conversion treatment,
Obtain the time-domain signal of denoising；
Dereverberation treatment is carried out to the time-domain signal using Cepstrum Method, pure voice time domain signal is obtained, with based on the pure language
Sound time-domain signal obtains the signal time delay.
6. the method as described in claim 1 or 4, it is characterised in that described that the sound source is calculated according to the signal time delay
Position, specifically includes：
Using three-dimensional fix method, according to the signal time delay obtain between the sound source and the target microphone away from
From；Wherein, the three-dimensional system of coordinate of the three dimensions is with the target microphone as origin, by where the neighboring microphones
Direction is respectively X-axis, Y-axis and Z axis；
The utilization space triangle cosine law and cosine formula, based on the distance between the sound source and described target microphone meter
Calculate the space coordinates of the sound source.
7. method as claimed in claim 6, it is characterised in that the meter of the sound source and the distance between the target microphone
Calculate formula as follows：
Wherein, c is the velocity of sound；tiIt is sound source to neighboring microphones i and the time difference of sound source to origin；t4It is sound source to diagonal Mike
The time difference of wind and sound source to origin；
The computing formula of the space coordinates of the sound source is as follows：
Wherein, Lx is the distance of the target microphone and neighboring microphones in X-axis；Ly is in the target microphone and Y-axis
The distance of neighboring microphones, Lz are the distance of neighboring microphones on the target microphone and Z axis.
8. a kind of sound source locating device based on microphone array, it is characterised in that including：
Construction unit, for building cuboid microphone array in space to be detected in advance；Wherein, cuboid microphone array
Including at least one cuboid array block being made up of eight yuan of microphones；
Determining unit, for when auditory localization is carried out, it is determined that receiving the Target Aerial Array block of sound-source signal maximum intensity；
Positioning unit, for obtaining the target microphone of sound-source signal maximum intensity in the array block and neighboring microphones, right
Signal time delay between the microphone of angle, and the position of sound source is determined according to the signal time delay.
9. device as claimed in claim 8, it is characterised in that the construction unit, specifically for：
When the space to be detected is regular shape, the space to be detected is divided at least one small space；
The small space is divided into 8 fritters, the center of each fritter be microphone where position.
10. device as claimed in claim 8, it is characterised in that the determining unit, specifically for：
The sound-source signal that each microphone is received is sampled with sample frequency, the quadratic sum of sampled point is in Preset Time
The sound-source signal intensity；
Determine the target microphone of the sound-source signal maximum intensity, and the target Mike according to default array block acquisition of information
Target Aerial Array block where wind.
11. devices as claimed in claim 8, it is characterised in that the positioning unit, specifically for：
When the Target Aerial Array block includes multiple array blocks, the target microphone in each array block and adjacent wheat are obtained
Signal time delay gram between wind, diagonal microphone；
The signal time delay according to each array block calculates a position for sound source respectively；
The average value of the position of each sound source is obtained, the average value is the final position of sound source.
12. devices as claimed in claim 8, it is characterised in that the positioning unit, are additionally operable to：
Before the target microphone and the neighboring microphones, the signal time delay of the diagonal microphone is obtained, to described
Neighboring microphones, the sound source discrete signal of diagonal microphone collection carry out adding window, time-frequency conversion treatment, obtain denoising when
Domain signal；
Dereverberation treatment is carried out to the time-domain signal using Cepstrum Method, pure voice time domain signal is obtained, with based on the pure language
Sound time-domain signal obtains signal time delay.
13. device as described in claim 8 or 11, it is characterised in that the positioning unit, specifically for：
Using three-dimensional fix device, the distance between sound source and target microphone are obtained according to the signal time delay；Wherein,
The three-dimensional system of coordinate of the three dimensions distinguishes the direction where the neighboring microphones with the target microphone as origin
It is X-axis, Y-axis and Z axis；
The utilization space triangle cosine law and cosine formula, based on the distance between the sound source and target microphone calculating sound
The space coordinates in source.
14. devices as claimed in claim 13, it is characterised in that the positioning unit, specifically for：
Calculate the sound source as follows with the formula of the distance between the target microphone：
Wherein, c is the velocity of sound；tiIt is sound source to neighboring microphones i and the time difference of sound source to origin；t4It is sound source to diagonal Mike
The time difference of wind and sound source to origin；
The formula for calculating the space coordinates of the sound source is as follows：
Wherein, Lx is the distance of the target microphone and neighboring microphones in X-axis；Ly is in the target microphone and Y-axis
The distance of neighboring microphones, Lz are the distance of neighboring microphones on the target microphone and Z axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106826.XA CN106872944B (en) | 2017-02-27 | 2017-02-27 | Sound source positioning method and device based on microphone array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106826.XA CN106872944B (en) | 2017-02-27 | 2017-02-27 | Sound source positioning method and device based on microphone array |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106872944A true CN106872944A (en) | 2017-06-20 |
| CN106872944B CN106872944B (en) | 2020-05-05 |
Family
ID=59168714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710106826.XA Active CN106872944B (en) | 2017-02-27 | 2017-02-27 | Sound source positioning method and device based on microphone array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106872944B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144820A (en) * | 2017-06-21 | 2017-09-08 | 歌尔股份有限公司 | Sound localization method and device |
| CN107367201A (en) * | 2017-07-04 | 2017-11-21 | 西安瑞联工业智能技术有限公司 | A kind of a wide range of multiple target shell fries drop point sound localization method |
| CN107895381A (en) * | 2017-11-29 | 2018-04-10 | 杭州电魂网络科技股份有限公司 | Distance determines method and device |
| CN109614960A (en) * | 2019-01-21 | 2019-04-12 | 莆田学院 | A kind of image acoustic array and three-dimensional space noise positioning device and method |
| CN109633550A (en) * | 2018-12-28 | 2019-04-16 | 北汽福田汽车股份有限公司 | Vehicle and its object location determining method and device |
| CN109655816A (en) * | 2018-11-30 | 2019-04-19 | 恩平市声动电子科技有限公司 | Obtain the method, device and equipment terminal of sound source position |
| CN109709989A (en) * | 2019-01-09 | 2019-05-03 | 中德（珠海）人工智能研究院有限公司 | A kind of positioning system, localization method and augmented reality system |
| CN110095755A (en) * | 2019-04-01 | 2019-08-06 | 北京云知声信息技术有限公司 | A kind of sound localization method |
| CN111312295A (en) * | 2018-12-12 | 2020-06-19 | 深圳市冠旭电子股份有限公司 | Holographic sound recording method and device and recording equipment |
| CN111856402A (en) * | 2020-07-23 | 2020-10-30 | 海尔优家智能科技（北京）有限公司 | Signal processing method and device, storage medium, and electronic device |
| CN111856400A (en) * | 2020-07-29 | 2020-10-30 | 中北大学 | Underwater target sound source positioning method and system |
| CN112782650A (en) * | 2020-12-29 | 2021-05-11 | 北京理工大学 | Cube array-based acoustic emission source positioning method and system |
| CN113436635A (en) * | 2020-03-23 | 2021-09-24 | 华为技术有限公司 | Self-calibration method and device of distributed microphone array and electronic equipment |
| CN115166632A (en) * | 2022-06-20 | 2022-10-11 | 青岛海尔科技有限公司 | Method and apparatus for determining sound source orientation, storage medium, and electronic apparatus |
| CN115452141A (en) * | 2022-11-08 | 2022-12-09 | 杭州兆华电子股份有限公司 | Non-uniform acoustic imaging method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020097885A1 (en) * | 2000-11-10 | 2002-07-25 | Birchfield Stanley T. | Acoustic source localization system and method |
| CN1832633A (en) * | 2005-03-07 | 2006-09-13 | 华为技术有限公司 | Auditory localization method |
| CN1973465A (en) * | 2004-06-23 | 2007-05-30 | 雅马哈株式会社 | Loudspeaker array device and method for setting sound beam of loudspeaker array device |
| CN102866385A (en) * | 2012-09-10 | 2013-01-09 | 上海大学 | Multi-sound-source locating method based on spherical microphone array |
| CN104053107A (en) * | 2014-06-06 | 2014-09-17 | 重庆大学 | Hearing aid device and method for separating and positioning sound sources in noise environments |
| CN104076331A (en) * | 2014-06-18 | 2014-10-01 | 南京信息工程大学 | Sound source positioning method for seven-element microphone array |
| CN104977564A (en) * | 2015-07-09 | 2015-10-14 | 百度在线网络技术（北京）有限公司 | Microphone array for household intelligent robot based artificial intelligence |
| CN105096956A (en) * | 2015-08-05 | 2015-11-25 | 百度在线网络技术（北京）有限公司 | Artificial-intelligence-based intelligent robot multi-sound-source judgment method and device |
-
2017
- 2017-02-27 CN CN201710106826.XA patent/CN106872944B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020097885A1 (en) * | 2000-11-10 | 2002-07-25 | Birchfield Stanley T. | Acoustic source localization system and method |
| CN1973465A (en) * | 2004-06-23 | 2007-05-30 | 雅马哈株式会社 | Loudspeaker array device and method for setting sound beam of loudspeaker array device |
| CN1832633A (en) * | 2005-03-07 | 2006-09-13 | 华为技术有限公司 | Auditory localization method |
| CN102866385A (en) * | 2012-09-10 | 2013-01-09 | 上海大学 | Multi-sound-source locating method based on spherical microphone array |
| CN104053107A (en) * | 2014-06-06 | 2014-09-17 | 重庆大学 | Hearing aid device and method for separating and positioning sound sources in noise environments |
| CN104076331A (en) * | 2014-06-18 | 2014-10-01 | 南京信息工程大学 | Sound source positioning method for seven-element microphone array |
| CN104076331B (en) * | 2014-06-18 | 2016-04-13 | 南京信息工程大学 | A kind of sound localization method of seven yuan of microphone arrays |
| CN104977564A (en) * | 2015-07-09 | 2015-10-14 | 百度在线网络技术（北京）有限公司 | Microphone array for household intelligent robot based artificial intelligence |
| CN105096956A (en) * | 2015-08-05 | 2015-11-25 | 百度在线网络技术（北京）有限公司 | Artificial-intelligence-based intelligent robot multi-sound-source judgment method and device |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144820A (en) * | 2017-06-21 | 2017-09-08 | 歌尔股份有限公司 | Sound localization method and device |
| CN107367201B (en) * | 2017-07-04 | 2019-05-28 | 西安瑞联工业智能技术有限公司 | A kind of fried drop point sound localization method of a wide range of multiple target shell |
| CN107367201A (en) * | 2017-07-04 | 2017-11-21 | 西安瑞联工业智能技术有限公司 | A kind of a wide range of multiple target shell fries drop point sound localization method |
| CN107895381A (en) * | 2017-11-29 | 2018-04-10 | 杭州电魂网络科技股份有限公司 | Distance determines method and device |
| CN107895381B (en) * | 2017-11-29 | 2020-06-12 | 杭州电魂网络科技股份有限公司 | Distance determination method and device |
| CN109655816A (en) * | 2018-11-30 | 2019-04-19 | 恩平市声动电子科技有限公司 | Obtain the method, device and equipment terminal of sound source position |
| CN111312295A (en) * | 2018-12-12 | 2020-06-19 | 深圳市冠旭电子股份有限公司 | Holographic sound recording method and device and recording equipment |
| CN109633550A (en) * | 2018-12-28 | 2019-04-16 | 北汽福田汽车股份有限公司 | Vehicle and its object location determining method and device |
| CN109709989A (en) * | 2019-01-09 | 2019-05-03 | 中德（珠海）人工智能研究院有限公司 | A kind of positioning system, localization method and augmented reality system |
| CN109614960A (en) * | 2019-01-21 | 2019-04-12 | 莆田学院 | A kind of image acoustic array and three-dimensional space noise positioning device and method |
| CN110095755B (en) * | 2019-04-01 | 2021-03-12 | 云知声智能科技股份有限公司 | Sound source positioning method |
| CN110095755A (en) * | 2019-04-01 | 2019-08-06 | 北京云知声信息技术有限公司 | A kind of sound localization method |
| CN113436635A (en) * | 2020-03-23 | 2021-09-24 | 华为技术有限公司 | Self-calibration method and device of distributed microphone array and electronic equipment |
| CN111856402A (en) * | 2020-07-23 | 2020-10-30 | 海尔优家智能科技（北京）有限公司 | Signal processing method and device, storage medium, and electronic device |
| CN111856402B (en) * | 2020-07-23 | 2023-08-18 | 海尔优家智能科技（北京）有限公司 | Signal processing method and device, storage medium and electronic device |
| CN111856400A (en) * | 2020-07-29 | 2020-10-30 | 中北大学 | Underwater target sound source positioning method and system |
| CN111856400B (en) * | 2020-07-29 | 2021-04-09 | 中北大学 | Underwater target sound source positioning method and system |
| CN112782650A (en) * | 2020-12-29 | 2021-05-11 | 北京理工大学 | Cube array-based acoustic emission source positioning method and system |
| CN112782650B (en) * | 2020-12-29 | 2023-11-28 | 北京理工大学 | Acoustic emission source positioning method and system based on cube array |
| CN115166632A (en) * | 2022-06-20 | 2022-10-11 | 青岛海尔科技有限公司 | Method and apparatus for determining sound source orientation, storage medium, and electronic apparatus |
| CN115452141A (en) * | 2022-11-08 | 2022-12-09 | 杭州兆华电子股份有限公司 | Non-uniform acoustic imaging method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106872944B (en) | 2020-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106872944A (en) | A kind of sound localization method and device based on microphone array | |
| CN104076331B (en) | A kind of sound localization method of seven yuan of microphone arrays | |
| CN107102296B (en) | Sound source positioning system based on distributed microphone array | |
| CN105044676B (en) | A kind of sound localization method based on energy | |
| CN101957442B (en) | Sound source positioning device | |
| CN106405499A (en) | Method for robot to position sound source | |
| CN106772246B (en) | Unmanned plane real-time detection and positioning system and method based on acoustic array | |
| CN103308889B (en) | Passive sound source two-dimensional DOA (direction of arrival) estimation method under complex environment | |
| CN108896962B (en) | Iterative positioning method based on sound position fingerprint | |
| CN106842128A (en) | The acoustics tracking and device of moving target | |
| CN104865555A (en) | Indoor sound source localization method based on sound position fingerprints | |
| WO2019242045A1 (en) | Method for calculating virtual source two-dimensional wavefront construction seismic wave travel time | |
| CN107526437A (en) | A kind of gesture identification method based on Audio Doppler characteristic quantification | |
| CN109100685A (en) | A kind of passive acoustic direction blending algorithm of two-sided quaternary cross battle array | |
| CN115952691B (en) | Optimal station distribution method and device for multi-station passive time difference cross joint positioning system | |
| CN107271957A (en) | Indoor 3-D positioning method based on TDOA and TOA | |
| CN206057554U (en) | A kind of many spherical microphone array sound field acoustic pressure harvesters | |
| CN107884743A (en) | Suitable for the direction of arrival intelligence estimation method of arbitrary structures sound array | |
| CN109164416B (en) | Sound source positioning method of three-plane five-element microphone array | |
| CN108562870B (en) | Sound source positioning calibration method | |
| CN110095755A (en) | A kind of sound localization method | |
| CN207007874U (en) | Three-dimensional ultrasonic wind meter based on nonopiate survey wind formation | |
| CN110568496B (en) | Ray tracing method under complex medium condition | |
| CN203858358U (en) | Thunder positioning system | |
| CN105100501B (en) | A kind of mobile phone computing system based on Internet of Things |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210222 Address after: Room 601-606, 6 / F, Pacific International Building, 106 Zhichun Road, Haidian District, Beijing 100086 Patentee after: HAIER YOUJIA INTELLIGENT TECHNOLOGY (BEIJING) Co.,Ltd. Patentee after: Haier Zhijia Co.,Ltd. Address before: Room 601-606, 6 / F, Pacific International Building, 106 Zhichun Road, Haidian District, Beijing 100086 Patentee before: HAIER YOUJIA INTELLIGENT TECHNOLOGY (BEIJING) Co.,Ltd. |
|
| TR01 | Transfer of patent right |