CN109688491B - Super-directivity beam forming method and device - Google Patents
Super-directivity beam forming method and device Download PDFInfo
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- CN109688491B CN109688491B CN201811584523.XA CN201811584523A CN109688491B CN 109688491 B CN109688491 B CN 109688491B CN 201811584523 A CN201811584523 A CN 201811584523A CN 109688491 B CN109688491 B CN 109688491B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/08—Mouthpieces; Microphones; Attachments therefor
Abstract
The application discloses super directive beam forming method and device, need to set up an acoustic response measurement system in advance, this acoustic response measurement system include rotatable device, slide rail and through the connecting piece with a speaker equipment of slide rail connection, in order to form super directive beam, can record the sound signal that microphone array of microphone equipment received under different sound incident angles based on this acoustic response measurement system to according to the sound signal that this different sound incident angles received, form super directive beam. Because the sound signal that the acoustic response measurement system of this application gathered belongs to actual noise field sampling information, when utilizing this actual noise field sampling information formation super directive beam, can improve super directive beam's directionality to use this super directive beam can effectively strengthen the pronunciation in the target area, restrain the noise in non-target area.
Description
Technical Field
The application relates to the technical field of microphone arrays, in particular to a super-directivity beam forming method and device.
Background
With the rapid development of information technology, more and more intelligent interactive products come out, and voice is the most natural and convenient interactive mode of human information and is the most mainstream interactive mode of the intelligent interactive products nowadays. In the existing common intelligent interaction products, a microphone array is generally used for noise reduction and dereverberation.
In the microphone array algorithm, the formation of super-directional beams can realize a pickup beam in a target direction, so that the voice in a target area is enhanced, and the noise in a non-target area is suppressed. In the conventional superdirective beam forming algorithm, a microphone array is generally assumed to be in an ideal scattered noise field, but in general, the microphone array is not in the scattered noise field, so that the directivity of a superdirective beam designed according to the scattered noise field is poor.
Disclosure of Invention
The present invention provides a method and an apparatus for forming a super-directional beam, which can improve the directivity of the super-directional beam.
The embodiment of the application provides a super-directivity beam forming method, which comprises the following steps:
recording sound signals received by a microphone array of microphone equipment under different sound incidence angles based on a pre-established acoustic response measuring system;
forming a super-directional beam according to the sound signals received under the different sound incidence angles;
wherein the acoustic response measurement system comprises a rotatable device, a slide rail, and a speaker apparatus connected to the slide rail by a connector.
Optionally, the rotatable device is configured to drive the microphone device to rotate, and the speaker device slides on the sliding rail through the connecting element.
Optionally, the different sound incidence angles are formed by sequentially changing a rotation position where the microphone device is located and sequentially changing a sliding position where the speaker device is located.
Optionally, the recording of the sound signals received by the microphone array of the microphone device under different sound incidence angles includes:
sequentially bringing the microphone apparatus to different rotational positions by controlling the rotatable means;
when the microphone device is located at the current rotating position, the loudspeaker device is controlled to play noise signals at different sliding positions in sequence, and sound signals received by a microphone array of the microphone device under different noise incidence angles are recorded.
Optionally, the recording of the sound signals received by the microphone array of the microphone device under different sound incidence angles includes:
controlling the loudspeaker devices to be at different sliding positions in sequence;
when the loudspeaker equipment is located at the current sliding position, the microphone equipment is sequentially located at different rotating positions by controlling the rotatable device, and the loudspeaker equipment is controlled to play noise signals so as to record sound signals received by a microphone array of the microphone equipment under different noise incidence angles.
Optionally, the forming a super-directional beam according to the sound signals received under the different sound incident angles includes:
determining, from the sound signals received at the different sound incidence angles, relative transfer functions of respective microphones of the microphone array at the different sound incidence angles with respect to a reference microphone, the reference microphone being one of the microphone arrays;
and determining forming coefficients for forming the super-directional beams according to the determined relative transmission functions.
Optionally, the slide rail is located above the rotatable device, and two ends of the slide rail are located on two sides of the rotatable device;
or the first end of the slide rail is positioned above the rotatable device, and the second end of the slide rail is positioned on one side of the rotatable device.
Optionally, if the slide rail is located above the rotatable device and two ends of the slide rail are located at two sides of the rotatable device, a sliding range of the speaker device on the slide rail is as follows: the range between the middle position of the slide rail and any end of the slide rail.
Optionally, if the slide rail is located above the rotatable device and the two ends of the slide rail are located at the two sides of the rotatable device, the connection line between the slide rail and the two ends of the slide rail forms a semicircle;
if the first end of the slide rail is located above the rotatable device and the second end of the slide rail is located on one side of the rotatable device, the slide rail is a circular part, and the slide rail and a connecting line between the two ends of the slide rail and the circle center form a 90-degree sector.
Optionally, the microphone device is located at a circle center position.
Optionally, the plane of the sliding rail is perpendicular to the storage plane of the rotatable device.
The embodiment of the present application further provides a super-directional beam forming apparatus, including:
the sound recording unit is used for recording sound signals received by a microphone array of microphone equipment under different sound incidence angles based on a pre-built acoustic response measuring system, wherein the acoustic response measuring system comprises a rotatable device, a slide rail and a loudspeaker device connected with the slide rail through a connecting piece
And the beam forming unit is used for forming a super-directional beam according to the sound signals received under the different sound incidence angles.
Optionally, the rotatable device is configured to drive the microphone device to rotate, and the speaker device slides on the sliding rail through the connecting element.
Optionally, the different sound incidence angles are formed by sequentially changing a rotation position where the microphone device is located and sequentially changing a sliding position where the speaker device is located.
Optionally, the sound recording unit includes:
a first rotation unit for sequentially bringing the microphone apparatus to different rotation positions by controlling the rotatable device;
the first sliding unit is used for controlling the loudspeaker equipment to play noise signals at different sliding positions in sequence when the microphone equipment is located at the current rotating position, and recording sound signals received by a microphone array of the microphone equipment at different noise incidence angles.
Optionally, the sound recording unit includes:
the second sliding unit is used for controlling the loudspeaker equipment to be sequentially positioned at different sliding positions;
and the second rotating unit is used for controlling the rotatable device to enable the microphone equipment to be sequentially positioned at different rotating positions and controlling the loudspeaker equipment to play noise signals when the loudspeaker equipment is positioned at the current sliding position, so as to record sound signals received by a microphone array of the microphone equipment at different noise incidence angles.
Optionally, the beam forming unit includes:
a function determining subunit, configured to determine, according to the sound signals received at the different sound incidence angles, relative transfer functions of the microphones of the microphone array at the different sound incidence angles with respect to a reference microphone, where the reference microphone is one of the microphones of the microphone array;
and a beam forming subunit, configured to determine a forming coefficient for forming the super-directional beam according to the determined respective relative transfer functions.
Optionally, the slide rail is located above the rotatable device, and two ends of the slide rail are located on two sides of the rotatable device;
or the first end of the slide rail is positioned above the rotatable device, and the second end of the slide rail is positioned on one side of the rotatable device.
Optionally, if the slide rail is located above the rotatable device and two ends of the slide rail are located at two sides of the rotatable device, a sliding range of the speaker device on the slide rail is as follows: the range between the middle position of the slide rail and any end of the slide rail.
Optionally, if the slide rail is located above the rotatable device and the two ends of the slide rail are located at the two sides of the rotatable device, the connection line between the slide rail and the two ends of the slide rail forms a semicircle;
if the first end of the slide rail is located above the rotatable device and the second end of the slide rail is located on one side of the rotatable device, the slide rail is a circular part, and the slide rail and a connecting line between the two ends of the slide rail and the circle center form a 90-degree sector.
Optionally, the microphone device is located at a circle center position.
Optionally, the plane of the sliding rail is perpendicular to the storage plane of the rotatable device.
The embodiment of the present application further provides a super-directional beam forming apparatus, including: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is configured to store one or more programs, the one or more programs comprising instructions, which when executed by the processor, cause the processor to perform any one implementation of the above-described superdirective beamforming method.
An embodiment of the present application further provides a computer-readable storage medium, where instructions are stored, and when the instructions are executed on a terminal device, the terminal device is caused to execute any implementation manner of the above-mentioned super-directional beam forming method.
An embodiment of the present application further provides a computer program product, which when running on a terminal device, causes the terminal device to execute any implementation manner of the above-mentioned super-directional beam forming method.
According to the super-directivity beam forming method and device provided by the embodiment of the application, an acoustic response measuring system needs to be built in advance, the acoustic response measuring system comprises a rotatable device, a slide rail and a loudspeaker device connected with the slide rail through a connecting piece, in order to form the super-directivity beam, sound signals received by a microphone array of the microphone device under different sound incidence angles can be recorded based on the acoustic response measuring system, and the super-directivity beam is formed according to the sound signals received under the different sound incidence angles. Because the sound signal collected by the acoustic response measurement system belongs to the actual noise field sampling information, when the actual noise field sampling information is utilized to form the super-directional beam, the directivity of the super-directional beam can be improved, and therefore the voice in the target area can be effectively enhanced and the noise in the non-target area can be suppressed by using the super-directional beam.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a prior art acoustic response measurement system;
fig. 2 is a schematic structural diagram of an acoustic response measurement system provided in an embodiment of the present application;
fig. 3 is a schematic flow chart of a super-directional beam forming method according to an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of azimuth and pitch angles provided by an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a placement position of a microphone device according to an embodiment of the present application;
fig. 6 is a schematic rotation diagram of a microphone apparatus according to an embodiment of the present application;
fig. 7 is a schematic composition diagram of a super-directional beam forming apparatus according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the embodiment of the present application, a super-directional beam is formed based on a pre-established acoustic response measurement system, before a method for forming a super-directional beam is introduced, the acoustic response measurement system provided in the embodiment of the present application needs to be introduced, and before the acoustic response measurement system provided in the embodiment of the present application is introduced, an existing acoustic response measurement system is introduced first.
In the conventional acoustic response measurement system, as shown in fig. 1, a hemispherical speaker array needs to be constructed, but the arrangement of the speaker array is limited by the size of the speaker array and the size of each speaker device in the speaker array, and if the space between the speaker devices is large, the sound field space cannot be completely measured, that is, the position of each speaker device in the speaker array is fixed relative to the microphone device to be measured, and when white noise is played by using the limited number of speaker devices, the microphone device can only receive the white noise from the speaker devices and measure the microphone response of the corresponding sound direction, that is, only the microphone response of the limited number of directions can be measured.
In addition, as shown in fig. 1, a conventional acoustic response measurement system needs to provide a plurality of speaker devices, but the number of speaker devices is large, which results in high cost, and white noises played due to individual differences between different speaker devices are different, and the measurement result of acoustic response to a microphone device is not accurate enough due to the error.
The acoustic response measurement system provided by the embodiment of the application can measure the microphone responses in more directions, only one loudspeaker device needs to be arranged, the cost is low, and the problem of individual difference among the loudspeaker devices does not exist, so that the accuracy of the acoustic response measurement result of the microphone device can be improved.
First embodiment
The following describes an acoustic response measurement system provided in an embodiment of the present application.
Referring to fig. 2, a schematic structural diagram of an acoustic response measurement system provided in an embodiment of the present application is shown. The measurement system 200 includes: a rotatable means 201, a slide rail 202, and a speaker device 203 connected to the slide rail 202 by a connection.
In this embodiment, the rotatable device 201 in the measurement system 200 can drive the microphone apparatus to rotate, so that the measurement system 200 can be used to measure the acoustic response of the microphone array of the microphone apparatus, when performing measurement, the microphone apparatus to be measured can be placed on the rotatable device 201, and for each microphone on the microphone apparatus, by controlling the rotatable device 201 to rotate and the speaker apparatus 203 to slide on the slide rail 202, the relative position between each microphone and the speaker apparatus 203 can be changed, so that different relative positions can be set, and when the speaker apparatus 203 corresponds to different relative positions, the acoustic response of each microphone can be measured by playing white noise. It can be seen that, compared with the prior art, the present embodiment enables each microphone of the microphone apparatus to receive incident sound in any direction by changing the rotational position of the rotatable device 201 and changing the position of the speaker apparatus 203 on the slide rail 202, so that the microphone responses in more directions can be measured.
In addition, compared with the prior art, the embodiment of the application only uses one loudspeaker device 203, does not need a plurality of loudspeaker devices, eliminates the difference of white noise played due to the difference between the loudspeaker devices, and then improves the accuracy of the acoustic response measurement result of each microphone.
It should be noted that the volume of the speaker device 203 is not limited in the embodiments of the present application, and the speaker device 203 with a small volume may be selected to reduce the occupied space of the measurement system 200; in addition, the embodiment of the present application is not limited to the type of the speaker device 203, for example, the speaker device 203 may be a hi-fi sound device. The material of the slide rail 202 is not limited in the embodiment of the present application, and it is ensured that the slide rail 202 is not easily deformed, for example, the slide rail 202 may be made of a metal material, such as an aluminum alloy.
It should be noted that, in order to ensure the accuracy of the measurement result, the ambient noise and the reflection influence caused by the wall of the room where the measurement system 200 is located should be minimized, and therefore, the measurement system 200 needs to be placed in the total muffling chamber to measure the acoustic response of the microphone device.
In one implementation of the embodiment of the present application, the speaker device 203 may slide on the slide rail 202 through the connector. In this implementation, the speaker device 203 may be connected to the slide rail 202 by a connector, and the speaker device 203 may be controlled to slide on the rail of the slide rail 202 by the connector, where the implementation is not limited to the type and material of the connector, for example, the connector may be a screw disposed behind the speaker device 203, and the screw may be made of an aluminum alloy material.
In one implementation manner of the embodiment of the present application, the sliding rail 202 may be located above the rotatable device 201, and two ends of the sliding rail 202 are located at two sides of the rotatable device 201, or a first end of the sliding rail 202 may be located above the rotatable device 201 and a second end of the sliding rail 202 is located at one side of the rotatable device 201. In this implementation, the sliding rail 202 may be bent toward the rotatable device 201, such that two ends of the sliding rail 202 are located at two sides of the rotatable device 201; of course, it is also possible to place one end of the sliding rail 202 above the rotatable device 201 and the other end at the left or right end of the rotatable device 201.
In one implementation manner of the present embodiment, if two ends of the sliding rail 202 are on two sides of the rotatable device 201, the sliding range of the speaker device 203 on the sliding rail 202 may be: the range between the middle position of the slide rail 202 and either end of the slide rail. In this implementation manner, the sliding range of one half of the slide rail 202 may be selected, and may be a range between the left end of the slide rail and the middle of the slide rail, or a range between the right end of the slide rail and the middle of the slide rail, and when the position of the speaker device 203 on the slide rail 202 is changed, the speaker device may slide to the other side in any side within the range.
Of course, the sliding range of the speaker device 203 on the slide rail 202 may also be the range of the entire slide rail 202.
In one implementation of the embodiment of the present application, the plane of the sliding rail 202 may be perpendicular to the storage plane of the rotatable device 201. In this implementation, the plane of the sliding rail 202 may be perpendicular to the placing plane of the rotatable device 201, that is, the sliding rail 202 is installed directly above the rotatable device 201 and perpendicular to the horizontal plane, and based on this, when the speaker device 203 is at any position of the sliding rail 202, it is convenient to measure the relative position between the speaker device 203 and each microphone of the microphone device, so as to measure the incident direction of sound received by each microphone of the microphone device, and further facilitate measuring the acoustic response of each microphone.
In an implementation manner of the embodiment of the present application, the slide rail 202 may be a part of a circle, and the slide rail 202 and a connection line between two ends of the slide rail 202 and a circle center form a semicircle or a 90-degree sector; specifically, if the slide rail 202 is located above the rotatable device 201 and two ends of the slide rail 202 are located at two sides of the rotatable device 201, a connecting line between the two ends of the slide rail 202 and the slide rail 202 forms a semicircle, whereas if the first end of the slide rail 202 is located above the rotatable device 201 and the second end of the slide rail 202 is located at one side of the rotatable device 201, a connecting line between the two ends of the slide rail 202 and the center of the circle forms a 90-degree sector. In the present implementation, based on such a semicircular slide rail 202 or 90-degree fan-shaped slide rail 202, when the speaker device 203 is at any position of the slide rail 202, it is also convenient to measure the relative position between the speaker device 203 and each microphone of the microphone device, thereby facilitating the measurement of the incident direction of sound received by each microphone of the microphone device, and further facilitating the measurement of the acoustic response of each microphone.
Further, the microphone device may be located at the center of the circle. Specifically, when the microphone device is placed on the placement plane of the rotatable device 201, the spatial position of the rotatable device 201 can be adjusted to locate the microphone device at the center of the circle, and this placement also facilitates measuring the relative position between the speaker device 203 and each microphone of the microphone device, thereby facilitating measuring the incident direction of sound received by each microphone of the microphone device, and further facilitating measuring the acoustic response of each microphone.
In one implementation of the embodiments of the present application, the rotatable device 202 may include a rotatable dial. In this implementation, the shape of the turntable may not be limited, for example, the turntable may be circular, oval, square, etc., as long as the turntable is rotatable and the rotation plane is parallel to the horizontal plane, and the rotation of the turntable may be controlled by setting the rotation angle.
Specifically, the rotation angle range of the rotatable device 202 may be 0-360 degrees, and it is understood that when the rotation angle range of the rotatable device 202 is 0-360 degrees and the sliding range of the speaker device 203 on the slide rail 202 is half of the semicircular slide rail 202, or the entire track range of the semicircular slide rail 202 or the 90-degree fan-shaped slide rail 202, by changing the rotation position of the rotatable device 201 and changing the position of the speaker device 203 on the slide rail 202, various relative positional relationships between the speaker device 203 and the microphone device can be covered, and thus microphone responses in various directions of incident angles can be measured.
In one implementation of the embodiments of the present application, the rotatable device 202 includes a turntable that can be placed on a table. The shape of the workbench is not limited in the implementation mode, and for example, the workbench can be a square workbench, a round workbench or the like; the material of workstation is also not restricted to this implementation mode, for example, can be aluminum alloy workstation, iron workstation etc..
The working platform can be a working platform with meshes, and the working platform is designed into a mesh structure, so that the influence of sound reflection can be effectively reduced, and the accuracy of an acoustic response measurement result can be improved.
The workbench can be a height-adjustable workbench, and can be adjusted manually or automatically. Specifically, the pillars of the workbench, such as the four pillars shown in fig. 1, may be set to be height-adjustable pillars, so that the height of the workbench may be adjusted by adjusting the heights of the pillars, and then the height of the microphone device may be adjusted, based on which the microphone device may be placed at the circle center of the circular shape of the sliding rail 202.
The workbench can also be a workbench with an adjustable horizontal position, and can be manually adjusted or automatically adjusted. Specifically, the base where the workbench is located may be set to be a base formed by a slide rail, and each pillar of the workbench may slide on the base, for example, a sliding ball may be mounted on each pillar of the workbench, and the position of the workbench on the base may be set by controlling the sliding of the sliding ball.
In an implementation manner of the embodiment of the present application, when the slide rail 202 is located above the rotatable device 201 and two ends of the slide rail 202 are located at two sides of the rotatable device 201, the slide rail 202 may also be fixed on the base, and two ends of the slide rail 202 may be directly connected to the base by using metal screws; in order to adapt to the height of the workbench, two vertical columns can be respectively extended from two ends of the slide rail, and the extended columns are connected with the base by metal screws. However, when the first end of the sliding rail 202 is located above the rotatable device 201 and the second end of the sliding rail 202 is located at one end of the rotatable device 201, the second end of the sliding rail 202 or the second end extension pillar may be connected to the base through a metal screw, and the first end of the sliding rail 202 may be suspended or connected to the base through one or more pillars.
It is understood that the base is provided to ensure the stability of the entire measurement system 200, and the present implementation is not limited to the base, such as a steel base.
In one implementation manner of the embodiment of the present application, when the rotatable device 201 is controlled to rotate, the rotatable device 201 may be specifically controlled to rotate under the driving of a motor, where the motor for driving the rotatable device 201 to rotate may be a digitally controlled motor, or another type of motor.
In summary, the present application provides a system for measuring an acoustic response of a microphone array, the measuring system 200 includes a rotatable device 201, a slide rail 202, and a speaker device 203 connected to the slide rail 202 through a connecting member, wherein the rotatable device 201 is used for rotating the microphone device. It can be seen that by changing the rotational position of the rotatable device 201 and changing the position of the speaker device 203 on the slide rail 202, each microphone of the microphone device can receive incident sound in any direction, and thus, the microphone response in a larger number of directions can be measured. In addition, since the measurement system 200 uses only one speaker device 203, a plurality of speaker devices are not required, a difference in white noise played due to a difference between speaker devices is eliminated, and thus accuracy of an acoustic response measurement result is improved.
Second embodiment
Next, a super-directional beam forming method provided in an embodiment of the present application is described.
Referring to fig. 3, a flow chart of a super-directional beam forming method provided in this embodiment is schematically illustrated, where the method includes the following steps:
s301: based on a pre-established acoustic response measuring system, sound signals received by a microphone array of the microphone device under different sound incidence angles are recorded.
Wherein, the pre-built acoustic response measurement system may be the acoustic response measurement system 200 provided in the first embodiment described above. Based on this, a microphone arrangement may be placed above the rotatable device 201 to record sound signals received by the microphone array of the microphone arrangement at different sound incidence angles using the acoustic response measurement system 200.
It should be noted that sound is generated by vibration of an object and propagates in the medium in the form of sound waves to the surroundings. According to the type of the wave front, the acoustic wave is divided into a plane wave and a spherical wave, and when the size of the microphone array is small relative to the wave front, the acoustic wave can be regarded as a plane wave, and the sound pressure amplitude and the distance of the plane wave are irrelevant. Ideally, the plane wave signals picked up by the microphones of the microphone array have only phase difference, but actually, due to the product form of the device carrying the microphones and the influence of the acoustic structures (such as the aperture, the hole depth and the like) of the microphones, the difference between the amplitude and the phase of the sound picked up by each microphone and the ideal value is huge. In order to accurately describe the sound field environment of the product carrying the microphone array, the differences of the microphones of the microphone device under different directions of sound incidence can be described in a measurement mode in an anechoic chamber, and for this reason, sound signals received by the microphones of the microphone device under different sound incidence angles need to be recorded.
In the present embodiment, the speaker device 203 is used to play sound such as white noise, and the microphones of the microphone device are used to receive the sound signal played by the speaker 203, and it is desirable to record the sound signal at different incident angles of sound for each microphone. For describing the "sound incident angle", the azimuth angle phi and the pitch angle theta of the sound incident can be defined, and different combinations of the azimuth angle phi and the pitch angle theta represent different "sound incident angles".
A schematic view of azimuth and pitch as shown in fig. 4. Wherein, o is a coordinate origin and is a central point of the microphone array; the circular (dotted line) plane is the horizontal plane where the microphone array is located; selecting one point from a connecting line between the point o and the loudspeaker device 203 (sound source direction) to be a vertical line of the horizontal plane, wherein an intersection point of the vertical line and the horizontal plane and the origin of coordinates o form a connecting line, an included angle between the connecting line and the x-axis direction is an azimuth angle phi, and the range of the azimuth angle phi is [0, 360 degrees ]]. In fig. 4, the z-axis is perpendicular to the horizontal plane, the angle between the line between the o point and the speaker device 203 and the z-axis is the pitch angle θ, and the range of the pitch angle θ is [0, 90 degrees ]]. Based on this definition, when a microphone array of a microphone device includes M microphones, the sound pickup result of the microphone array is x (θ, Φ) — [ x ] at a sound incidence angle (θ, Φ)1(θ,φ),…,xm(θ,φ),…,xM(θ,φ)]T。
In the acoustic response measurement system 200 in the present embodiment, the "different sound incidence angles" in step S301 may be formed by sequentially changing the rotational position where the microphone device is located and the slide position where the speaker device 203 is located, that is, the changes in the pitch angle θ and the azimuth angle Φ may be simulated, thereby forming different angle combinations (θ, Φ). In a specific implementation, the rotation angle of the rotatable device 201 can be adjusted at equal intervals or unequal intervals, so as to change the rotation position of the microphone device, and the positions of the speaker devices 203 on the slide rail 202 can be adjusted at equal intervals or unequal intervals, so as to form different sound incidence angles (θ, φ). That is, controlling the speaker device 203 to play white noise at different sound incidence angles (θ, φ) enables the microphone array to receive a plurality of noise signals in different directions.
When the speaker apparatus 203 is controlled to slide on the slide rail, as shown in fig. 2, if the slide rail 202 has a semicircular shape, the speaker apparatus 203 may be controlled to slide from the left side to the middle position, from the right side to the middle position, from the middle position to the left side, or from the middle position to the right side. If the slide rail 202 is a 90-degree fan-shaped slide rail, it may slide from any one side to the other side.
In this embodiment, before recording the sound signals received by the microphone array at different sound incidence angles (θ, Φ) in step S301, the microphone device may be located at the center of the circle of the slide rail 202 by adjusting the spatial position of the rotatable device 201, as shown in the schematic diagram of the placement position of the microphone device shown in fig. 5.
In this embodiment, the step S301 can be implemented by one of the following two implementation manners.
In a first implementation, this step S301 may include the following steps a1-a 2:
step A1: by controlling the rotatable means, the microphone arrangement is brought in different rotational positions in sequence.
In this implementation, an initial rotational position may be selected for the microphone apparatus, and the azimuth angle corresponding to the initial rotational position may be defined as phi0From the initial rotational position phi0Initially, the rotational position of the microphone arrangement is changed in turn by controlling the rotatable means 201 to rotate, for example by changing the azimuth angle phi, i.e. phi, at an angular interval of delta phi, for example 5 degreesn+1＝φnN is more than or equal to 0 and less than or equal to N-1, thereby forming [0, 360 ]]Each different azimuth angle phi in the range0、φ1、……φN-1As shown in the rotational schematic of fig. 6.
When the microphone arrangement is in any of its rotational positions, i.e. corresponds to phi0、φ1、……φN-1The rotational position is taken as the current rotational position of the microphone device, and step a2 is performed when the microphone device is in the current rotational position, i.e. step a2 is performed each time the microphone device changes rotational position.
Step A2: when the microphone device is located at the current rotating position, the loudspeaker device is controlled to play the noise signals at different sliding positions in sequence, and sound signals received by a microphone array of the microphone device at different noise incidence angles are recorded.
In this implementation, an initial sliding position may be selected for the speaker device 203 on the slide rail 202, and the pitch angle corresponding to the initial sliding position may define θ0. Specifically, if the slide rail 202 has a semicircular shape, one end or a middle position of the slide rail 202 may be used as the initial slide position θ of the speaker device 2030(ii) a If the slide rail 202 is a 90-degree fan-shaped slide rail, any end of the slide rail may be used as the initial sliding position θ of the speaker device 2030(ii) a Of course, any position on the slide rail 202 may be used as the initial slide position θ0。
From the initial slide position theta when the microphone arrangement is in the current rotational position0To start with, the slide position of the speaker device 203 is sequentially changed, for example, the pitch angle θ is changed at equal intervals by the interval angle Δ θ, that is, θl+1＝θl+ Delta theta, 0. ltoreq. l.ltoreq.L-1, to form [0, 90%]Various different pitch angles theta within the range0、θ1、……θL-1。
And, when any one of the slide positions to which the speaker device 203 corresponds, that is, corresponds to θ0、θ1、……θL-1At any pitch angle, the loudspeaker is controlledThe noise signal is played by the microphone device 203 so that the sound signals received by the respective microphones of the microphone device can be recorded.
For example, assume that the current slide position of the speaker apparatus 203 corresponds to the pitch angle θ0And the current rotational position of the microphone arrangement corresponds to the azimuth angle phi0In the meantime, the sound signals received by all microphones of the microphone device may be recorded as: x (theta)0,φ0)＝[x1(θ0,φ0),…,xm(θ0,φ0),…,xM(θ0,φ0)]T。
In a second implementation, the present step S301 may include the following steps B1-B2:
step B1: the loudspeaker devices are controlled to be in different sliding positions in sequence.
In this implementation, an initial sliding position may be selected for the speaker device 203 on the slide rail 202, and the pitch angle corresponding to the initial sliding position may define θ0. Specifically, if the slide rail 202 has a semicircular shape, one end or a middle position of the slide rail 202 may be used as the initial slide position θ of the speaker device 2030(ii) a If the slide rail 202 is a 90-degree fan-shaped slide rail, any end of the slide rail may be used as the initial sliding position θ of the speaker device 2030(ii) a Of course, any position on the slide rail 202 may be used as the initial slide position θ0。
From the initial slide position theta0To start with, the slide position of the speaker device 203 is sequentially changed, for example, the pitch angle θ is changed at equal intervals by the interval angle Δ θ, that is, θl+1＝θl+ Delta theta, 0. ltoreq. l.ltoreq.L-1, to form [0, 90%]Various different pitch angles theta within the range0、θ1、……θL-1。
When the speaker apparatus 203 is in any of the slide positions, i.e., corresponding to θ0、θ1、……θL-1Is determined as the current slide position of the speaker device 203, and is performed when the speaker device 203 is in the current slide positionStep B2, i.e., step B2 is performed every time the speaker apparatus 203 shifts one slide position.
Step B2: when the loudspeaker device is located at the current sliding position, the microphone device is sequentially located at different rotating positions by controlling the rotatable device, and the loudspeaker device is controlled to play noise signals, so that sound signals received by a microphone array of the microphone device under different noise incidence angles are recorded.
In this implementation, an initial rotational position may be selected for the microphone apparatus, and the azimuth angle corresponding to the initial rotational position may be defined as phi0. When the speaker device 203 is in the current sliding position, the initial rotational position phi corresponding to the microphone device0Initially, the rotational position of the microphone arrangement is changed in turn by controlling the rotatable means 201 to rotate, for example by changing the azimuth angle phi, i.e. phi, at an angular interval of delta phi, for example 5 degreesn+1＝φnN is more than or equal to 0 and less than or equal to N-1, thereby forming [0, 360 ]]Each different azimuth angle phi in the range0、φ1、……φN-1As shown in the rotational schematic of fig. 6.
And, when the microphone device corresponds to any one of the rotational positions, i.e. corresponds to phi0、φ1、……φN-1At any azimuth angle, the speaker device 203 is controlled to play a noise signal, so that sound signals received by each microphone of the microphone device can be recorded.
For example, assume that the current slide position of the speaker apparatus 203 corresponds to the pitch angle θ0And the current rotational position of the microphone arrangement corresponds to the azimuth angle phi0In the meantime, the sound signals received by all microphones of the microphone device may be recorded as: x (theta)0,φ0)＝[x1(θ0,φ0),…,xm(θ0,φ0),…,xM(θ0,φ0)]T。
S302: and forming a super-directional beam according to sound signals received by a microphone array of the microphone device under different sound incidence angles.
After recording the sound signals received by the microphone array of the microphone device at different sound incidence angles in step S301, further data processing may be performed based on the sound signals to obtain coefficients for forming a super-directional beam, so as to form a super-directional beam based on the coefficients.
In an implementation manner of this embodiment, the step S302 may specifically include the following steps C1-C2:
step C1: the relative transfer function of each microphone of the microphone array at different sound incidence angles relative to a reference microphone, which is one of the microphone arrays, is determined according to sound signals received by the microphone arrays at different sound incidence angles.
For the mth microphone (M is 1, 2 … … M, M is the total number of microphones in the microphone array), the different sound signals received by the mth microphone at different sound incidence angles (θ, Φ) can be converted from the time domain signals into the frequency domain signals xm(k, i) wherein xm(k, i) represents a frequency domain sound signal received by the mth microphone, k represents the frequency of the frequency domain sound signal, and i represents the voice frame number of the frequency domain sound signal. Considering that the algorithm works in the frequency domain, the frequency and the frame number are generally ignored, so x can be setm(k, i) is represented by xm(θl,φn) As described above, L is 0. ltoreq. l.ltoreq.L-1, and N is 0. ltoreq. N-1.
In this implementation, a reference microphone, such as the 1 st microphone of the M microphones, may be selected in advance from the M microphones of the microphone array, and a sound incident angle (θ, Φ) may be selected for the reference microphone, which is defined herein as a reference incident angle, for example, which may be (θ, Φ) described above0,φ0)。
Let the sound signal received by the reference microphone at the reference incident angle be x1(θl,φn) Then, when the m-th microphone is at the sound incidence angle (θ)l,φn) The received sound signal is xm(θl,φn) Then, the relative transfer function of the mth microphone with respect to the reference microphone may be used to convert the reference microphone signal x1(θl,φn) Microphone signal x with mth microphonem(θl,φn) The cross-correlation coefficient is calculated by a normalized cross-correlation formula as follows:
wherein, am(θl,φn) For the m-th microphone at the sound incidence angle (theta)l,φn) Next, relative transfer function with respect to a reference microphone.
Step C2: and determining forming coefficients for forming the super-directional beams according to the determined relative transmission functions.
Through the step C1, different relative transfer functions corresponding to the sound signals received by each microphone of the microphone array at different sound incidence angles (θ, Φ) can be obtained, where the relative transfer functions when M microphones of the microphone device correspond to the same sound incidence angle (θ, Φ) are represented as a (θ, Φ) [ [1, a [ ]1(θ,φ),…,aM(θ,φ)]TThis is referred to herein as the steering vector of the microphone array of the microphone arrangement. Wherein, a1(theta, phi) is the relative transfer function of the 1 st microphone in the microphone array at the sound incidence angle (theta, phi) with respect to the reference microphone, aM(theta, phi) is the relative transfer function of the mth microphone in the microphone array with respect to the reference microphone at the sound incidence angle (theta, phi).
In the prior art, the covariance matrix Φ of the scattered noise field of a microphone array is generally determined according to the principle of spherical integration of the noise fieldvvIs defined as follows:
the covariance matrix shown in the above formula (2) is uniquely determined in an ideal scattered noise field, but in practical cases, due to the product form of the microphone device and the acoustic structure of the microphone (such as the aperture, the hole depth, etc.), the sound signal propagation may be affected by the cavity and the shielding, and cannot be propagated according to the free field, so that the microphone array of the microphone device is not in the ideal scattered noise field.
However, in the present embodiment, the steering vector a (θ, Φ) of the microphone array of the above-described microphone device is [1, a ]1(θ,φ),…,aM(θ,φ)]TIs derived based on actual noise field sampling information, the steering vector can be used to estimate a noise field covariance matrix for the microphone array of the microphone arrangement:
wherein, a (theta)l,φn) For each microphone in the microphone array at a sound incidence angle of (theta)l,φn) A steering vector of time; l is the total number of pitch angles; n is the total number of azimuth angles.
The noise field covariance matrix shown in equation (3) is obtained based on different azimuth angles and elevation angles of the noise field, and can approximately describe the actual sound field characteristics where the microphone array of the microphone device is located.
According to the principle that the output power of a scattered noise field is minimum and the target direction is not distorted, a super-directional beam forming coefficient based on the microphone array can be obtained, and a calculation formula of the coefficient is as follows:
wherein w represents a super-directional beamforming coefficient, as(θs,φs) Indicates the target direction (theta)s,φs) The corresponding signal leads to the vector.
By using the super-directional beam forming coefficient calculated by the embodiment, a super-directional beam with strong directivity can be formed, so that the super-directional beam is used for enhancing voice in a target area and suppressing noise in a non-target area.
In summary, the super-directivity beam forming method provided by the embodiment of the present application needs to build an acoustic response measurement system in advance, where the acoustic response measurement system includes a rotatable device, a slide rail, and a speaker device connected to the slide rail through a connector, and in order to form a super-directivity beam, sound signals received by a microphone array of the microphone device at different sound incidence angles may be recorded based on the acoustic response measurement system, and the super-directivity beam is formed according to the sound signals received at the different sound incidence angles. Because the sound signal collected by the acoustic response measurement system belongs to the actual noise field sampling information, when the actual noise field sampling information is utilized to form the super-directional beam, the directivity of the super-directional beam can be improved, and therefore the voice in the target area can be effectively enhanced and the noise in the non-target area can be suppressed by using the super-directional beam.
Third embodiment
In this embodiment, a super-directional beam forming apparatus will be described, and please refer to the above method embodiments for related contents.
Referring to fig. 7, a schematic diagram of a super-directional beam forming apparatus provided in an embodiment of the present application is shown, where the apparatus 700 includes:
a sound recording unit 701, configured to record sound signals received by a microphone array of a microphone device at different sound incidence angles based on a pre-established acoustic response measurement system, where the acoustic response measurement system includes a rotatable device, a slide rail, and a speaker device connected to the slide rail through a connecting member
A beam forming unit 702, configured to form a super-directional beam according to the sound signals received at the different sound incident angles.
In an implementation manner of this embodiment, the rotatable device is configured to rotate the microphone device, and the speaker device slides on the sliding rail through the connecting element.
In one implementation of this embodiment, the different sound incidence angles are formed by sequentially changing the rotational position at which the microphone device is located and sequentially changing the sliding position at which the speaker device is located.
In an implementation manner of this embodiment, the sound recording unit 701 includes:
a first rotation unit for sequentially bringing the microphone apparatus to different rotation positions by controlling the rotatable device;
the first sliding unit is used for controlling the loudspeaker equipment to play noise signals at different sliding positions in sequence when the microphone equipment is located at the current rotating position, and recording sound signals received by a microphone array of the microphone equipment at different noise incidence angles.
In an implementation manner of this embodiment, the sound recording unit 701 includes:
the second sliding unit is used for controlling the loudspeaker equipment to be sequentially positioned at different sliding positions;
and the second rotating unit is used for controlling the rotatable device to enable the microphone equipment to be sequentially positioned at different rotating positions and controlling the loudspeaker equipment to play noise signals when the loudspeaker equipment is positioned at the current sliding position, so as to record sound signals received by a microphone array of the microphone equipment at different noise incidence angles.
In an implementation manner of this embodiment, the beam forming unit 702 includes:
a function determining subunit, configured to determine, according to the sound signals received at the different sound incidence angles, relative transfer functions of the microphones of the microphone array at the different sound incidence angles with respect to a reference microphone, where the reference microphone is one of the microphones of the microphone array;
and a beam forming subunit, configured to determine a forming coefficient for forming the super-directional beam according to the determined respective relative transfer functions.
In one implementation manner of this embodiment, the slide rail is located above the rotatable device, and two ends of the slide rail are located on two sides of the rotatable device;
or the first end of the slide rail is positioned above the rotatable device, and the second end of the slide rail is positioned on one side of the rotatable device.
In an implementation manner of this embodiment, if the slide rail is located above the rotatable device and two ends of the slide rail are located at two sides of the rotatable device, a sliding range of the speaker device on the slide rail is: the range between the middle position of the slide rail and any end of the slide rail.
In an implementation manner of this embodiment, if the slide rail is located above the rotatable device and two ends of the slide rail are located at two sides of the rotatable device, a connection line between the slide rail and the two ends of the slide rail forms a semicircle;
if the first end of the slide rail is located above the rotatable device and the second end of the slide rail is located on one side of the rotatable device, the slide rail is a circular part, and the slide rail and a connecting line between the two ends of the slide rail and the circle center form a 90-degree sector.
In one implementation of this embodiment, the microphone device is located at a center of a circle.
In an implementation manner of this embodiment, a plane of the sliding rail is perpendicular to a storage plane of the rotatable device.
Further, an embodiment of the present application further provides a super-directional beam forming apparatus, including: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is configured to store one or more programs, the one or more programs comprising instructions, which when executed by the processor, cause the processor to perform any one implementation of the above-described superdirective beamforming method.
Further, an embodiment of the present application also provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the terminal device is caused to execute any implementation manner of the above-mentioned super-directional beam forming method.
Further, an embodiment of the present application also provides a computer program product, which when running on a terminal device, causes the terminal device to execute any implementation manner of the above-mentioned super-directional beam forming method.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (19)
1. A super-directional beamforming method, comprising:
recording sound signals received by a microphone array of microphone equipment under different sound incidence angles based on a pre-established acoustic response measuring system;
forming a super-directional beam according to the sound signals received under the different sound incidence angles;
wherein the acoustic response measurement system comprises a rotatable device, a slide rail, and a speaker apparatus connected to the slide rail by a connector; the rotatable device can drive the microphone equipment to rotate, the rotatable device rotates, and/or when the loudspeaker equipment slides on the sliding rail, the relative position between the microphone equipment and the loudspeaker equipment can be changed.
2. The method of claim 1, wherein the rotatable device is configured to rotate the microphone apparatus, and wherein the speaker apparatus slides on the slide rail via the connector.
3. The method of claim 1, wherein the different angles of incidence of sound are formed by sequentially changing a rotational position at which the microphone device is located and sequentially changing a sliding position at which the speaker device is located.
4. The method of claim 3, wherein recording sound signals received by a microphone array of the microphone device at different sound incidence angles comprises:
sequentially bringing the microphone apparatus to different rotational positions by controlling the rotatable means;
when the microphone device is located at the current rotating position, the loudspeaker device is controlled to play noise signals at different sliding positions in sequence, and sound signals received by a microphone array of the microphone device under different noise incidence angles are recorded.
5. The method of claim 3, wherein recording sound signals received by a microphone array of the microphone device at different sound incidence angles comprises:
controlling the loudspeaker devices to be at different sliding positions in sequence;
when the loudspeaker equipment is located at the current sliding position, the microphone equipment is sequentially located at different rotating positions by controlling the rotatable device, and the loudspeaker equipment is controlled to play noise signals so as to record sound signals received by a microphone array of the microphone equipment under different noise incidence angles.
6. The method of claim 1, wherein forming a super-directional beam according to the sound signals received at the different sound incidence angles comprises:
determining, from the sound signals received at the different sound incidence angles, relative transfer functions of respective microphones of the microphone array at the different sound incidence angles with respect to a reference microphone, the reference microphone being one of the microphone arrays;
and determining forming coefficients for forming the super-directional beams according to the determined relative transmission functions.
7. The method of any one of claims 1 to 6, wherein the slide rail is positioned above the rotatable device with both ends of the slide rail on either side of the rotatable device;
or the first end of the slide rail is positioned above the rotatable device, and the second end of the slide rail is positioned on one side of the rotatable device.
8. The method of claim 7, wherein if the slide rail is located above the rotatable device and both ends of the slide rail are on both sides of the rotatable device, the sliding range of the speaker apparatus on the slide rail is: the range between the middle position of the slide rail and any end of the slide rail.
9. The method of claim 7, wherein if the slide rail is located above the rotatable device and the two ends of the slide rail are on the two sides of the rotatable device, the connection line between the two ends of the slide rail and the slide rail forms a semicircle;
if the first end of the slide rail is located above the rotatable device and the second end of the slide rail is located on one side of the rotatable device, the slide rail is a circular part, and the slide rail and a connecting line between the two ends of the slide rail and the circle center form a 90-degree sector.
10. The method of claim 9, wherein the microphone apparatus is located at a circle center position.
11. The method according to any one of claims 1 to 6, wherein the plane of the sliding track is perpendicular to the lying plane of the rotatable device.
12. A super-directional beam forming apparatus, comprising:
the sound recording unit is used for recording sound signals received by a microphone array of microphone equipment under different sound incidence angles based on a pre-established acoustic response measuring system, wherein the acoustic response measuring system comprises a rotatable device, a slide rail and a loudspeaker device connected with the slide rail through a connecting piece; the rotatable device can drive the microphone equipment to rotate, the rotatable device rotates, and/or the relative position between the microphone equipment and the loudspeaker equipment can be changed when the loudspeaker equipment slides on the slide rail;
and the beam forming unit is used for forming a super-directional beam according to the sound signals received under the different sound incidence angles.
13. The apparatus of claim 12, wherein the rotatable device is configured to rotate the microphone device, and the speaker device slides on the slide rail through the connection member.
14. The apparatus of claim 12, wherein the different angles of incidence of sound are formed by sequentially changing a rotational position at which the microphone device is located and sequentially changing a sliding position at which the speaker device is located.
15. The apparatus of claim 14, wherein the sound recording unit comprises:
a first rotation unit for sequentially bringing the microphone apparatus to different rotation positions by controlling the rotatable device;
the first sliding unit is used for controlling the loudspeaker equipment to play noise signals at different sliding positions in sequence when the microphone equipment is located at the current rotating position, and recording sound signals received by a microphone array of the microphone equipment at different noise incidence angles.
16. The apparatus of claim 14, wherein the sound recording unit comprises:
the second sliding unit is used for controlling the loudspeaker equipment to be sequentially positioned at different sliding positions;
and the second rotating unit is used for controlling the rotatable device to enable the microphone equipment to be sequentially positioned at different rotating positions and controlling the loudspeaker equipment to play noise signals when the loudspeaker equipment is positioned at the current sliding position, so as to record sound signals received by a microphone array of the microphone equipment at different noise incidence angles.
17. The apparatus according to any of claims 12 to 16, wherein the beam forming unit comprises:
a function determining subunit, configured to determine, according to the sound signals received at the different sound incidence angles, relative transfer functions of the microphones of the microphone array at the different sound incidence angles with respect to a reference microphone, where the reference microphone is one of the microphones of the microphone array;
and a beam forming subunit, configured to determine a forming coefficient for forming the super-directional beam according to the determined respective relative transfer functions.
18. A super-directional beam forming apparatus, comprising: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is to store one or more programs, the one or more programs comprising instructions, which when executed by the processor, cause the processor to perform the method of any of claims 1-11.
19. A computer-readable storage medium having stored therein instructions that, when executed on a terminal device, cause the terminal device to perform the method of any one of claims 1-11.
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