CN107132508A - Sound localization method and device - Google Patents
Sound localization method and device Download PDFInfo
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- CN107132508A CN107132508A CN201710284257.8A CN201710284257A CN107132508A CN 107132508 A CN107132508 A CN 107132508A CN 201710284257 A CN201710284257 A CN 201710284257A CN 107132508 A CN107132508 A CN 107132508A
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- 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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses sound localization method and device, wherein this method comprises the following steps：The preferred feature data that microphone array is sent are obtained, the preferred feature data include the first position of microphone array and first and wake up angle；Judge to know whether acoustic equipment receives wake-up word；If the knowledge acoustic equipment receives the wake-up word, second feature data are recorded, the second feature data include device location, equipment direction and equipment and wake up angle；Sound source is calculated with knowing the distance between acoustic equipment according to the preferred feature data and second feature data.Solve the existing sound localization method based on microphone array and device can only obtain the direction of sound source, can not but obtain sound source and know distance between acoustic equipment；When judging sound source position by camera, exist sound source and know acoustic equipment between the problem of blocking；Can calculate obtain sound source and know acoustic equipment between distance, and then know acoustic equipment can further perform to apart from related action.
Description
Technical field
The present invention relates to a kind of location technology, more particularly to a kind of sound localization method and device.
Background technology
At present in field of sound source location, microphone array system is generally relied on.Microphone array can utilize multiple microphones
The difference received between the phase of sound wave is filtered to sound wave, to greatest extent can be filtered environmental background sound, only remaining
The sound wave needed, while calculating the direction of sound source.
By taking the auditory localization based on robot as an example, typically there is a name in robot, is called " wake-up word ".Robot
Robot does not receive the voice beyond extraneous " wake-up word " in the dormant state, and microphone array is extremely sensitive to waking up word, only
There is wake-up word to activate microphone array to start to collect user speech.When user says the name of robot, that is, " wake-up
After word ", robot can obtain the directional information that user calls using microphone array, and body is turned to the direction of user, table
Bright robot has heard the call of user.
But prior art can not but obtain the distance between sound source and robot by can only obtain the direction of sound source.
Therefore robot can only just rotate direction according to sound source, towards sound source position, can not but move appropriately distance to householder
Move away and do interaction, the experience of such user is not just fine.
It is used for solving the problem there is presently no good scheme, reluctantly can be with camera, such as robot is to user
After turning round, using camera judge before whether someone, be taken as sound source if someone, then do ranging.So do obviously
It is problematic, because People are hurrying to and fro for public arena, it cannot ensure that the people that camera is seen must be just to be the user called just now.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of sound localization method, it can be solved
Existing sound localization method and device based on microphone array can only obtain the direction of sound source, can not but obtain sound source and knowledge
Distance between acoustic equipment, know acoustic equipment can not further perform to apart from related action；Sound source position is judged by camera
When, there is the problem of being blocked between sound source and knowledge acoustic equipment.
The second object of the present invention is to provide a kind of sound source locating device, and it can solve existing to be based on microphone array
Sound localization method and device can only obtain the direction of sound source, can not but obtain sound source and know distance, knowledge sound between acoustic equipment
Equipment can not further perform to apart from related action；When judging sound source position by camera, there is sound source and set with knowledge sound
The problem of being blocked between standby.
The third object of the present invention is to provide a kind of sound source locating device, and it can solve existing to be based on microphone array
Sound localization method and device can only obtain the direction of sound source, can not but obtain sound source and know distance, knowledge sound between acoustic equipment
Equipment can not further perform to apart from related action；When judging sound source position by camera, there is sound source and set with knowledge sound
The problem of being blocked between standby.
The purpose of the present invention is realized using following technical scheme：
An object of the present invention is realized using following technical scheme：
A kind of sound localization method, comprises the following steps：
The preferred feature data that microphone array is sent are obtained, the preferred feature data include the first of microphone array
Position and first wakes up angle；
Judge to know whether acoustic equipment receives wake-up word；
If the knowledge acoustic equipment receives the wake-up word, second feature data are recorded, the second feature data include
Device location, equipment direction and equipment wake up angle；
Sound source is calculated with knowing the distance between acoustic equipment according to the preferred feature data and second feature data.
Further, the preferred feature data also include preferred vocal print feature, and the second feature data also include knowing
Acoustic equipment vocal print feature；
If the knowledge acoustic equipment is received after the wake-up word, record second feature data, in addition to following step
Suddenly：
Judge whether the preferred vocal print feature matches with the knowledge acoustic equipment vocal print feature；
If the preferred vocal print feature is mismatched with the knowledge acoustic equipment vocal print feature, reject special with the preferred vocal print
Levy the corresponding preferred feature data.
Further, if the knowledge acoustic equipment receives the wake-up word, record after second feature data, also wrap
Include following steps：
Judge whether sound source, the microphone array are conllinear with the knowledge acoustic equipment three；
If the sound source, the microphone array are conllinear with the knowledge acoustic equipment three, reject and the microphone array
The corresponding preferred feature data of row.
Further, it is described to judge that whether sound source, the microphone array are conllinear with the knowledge acoustic equipment three, are specially
IfAbsolute value be less than or equal to preset value, then the sound source, the microphone array with
The knowledge acoustic equipment three is conllinear；Wherein (x1, y1) represents the first position, and (x0, y0) represents the device location, A tables
Show the equipment direction, C represents that the equipment wakes up angle.
Further, the microphone array is shown multiple；The preferred feature data be specially with it is described knowledge acoustic equipment it
Between the characteristic that sends of closest microphone array.
Further, it is described to be calculated according to the preferred feature data and second feature data between sound source and knowledge acoustic equipment
Distance, be specially according to following formula calculate：
Wherein (x1, y1) represents the first position, and (x0, y0) represents the device location, and A represents the equipment court
To B represents the first wake-up angle, and C represents that the equipment wakes up angle.
The second object of the present invention is realized using following technical scheme：
A kind of sound source locating device, including：
Acquisition module, the preferred feature data for obtaining microphone array transmission, the preferred feature data include wheat
The first position of gram wind array and first wakes up angle；
First judge module, for judging to know whether acoustic equipment receives wake-up word；
Logging modle, if receiving the wake-up word for the knowledge acoustic equipment, records second feature data, described second
Characteristic includes device location, equipment direction and equipment and wakes up angle；
First computing module, for calculating sound source with knowing acoustic equipment according to the preferred feature data and second feature data
The distance between.
Further, the preferred feature data also include preferred vocal print feature, and the second feature data also include knowing
Acoustic equipment vocal print feature, the sound source locating device also includes：
Second judge module, for judging whether the preferred vocal print feature matches with the knowledge acoustic equipment vocal print feature；
First rejects module, if being mismatched for the preferred vocal print feature with the knowledge acoustic equipment vocal print feature, picks
Except the preferred feature data corresponding with the preferred vocal print feature.
Further, the sound source locating device also includes：
3rd judge module, for judging whether sound source, the microphone array are conllinear with the knowledge acoustic equipment three；
Second rejects module, if conllinear with the knowledge acoustic equipment three for the sound source, the microphone array, picks
Except the preferred feature data corresponding with the microphone array.
Further, the microphone array is shown multiple；The sound source locating device also includes：
Low coverage module, for choosing the characteristic that closest microphone array between the knowledge acoustic equipment is sent
For the preferred feature data.
The third object of the present invention is realized using following technical scheme：
A kind of sound source locating device, including：
Processor and the memory for storing the executable instruction of processor；
The processor is configured as：
The preferred feature data that microphone array is sent are obtained, the preferred feature data include the first of microphone array
Position and first wakes up angle；
Judge to know whether acoustic equipment receives wake-up word；
If the knowledge acoustic equipment receives the wake-up word, second feature data are recorded, the second feature data include
Device location, equipment direction and equipment wake up angle；
Sound source is calculated with knowing the distance between acoustic equipment according to the preferred feature data and second feature data.
Compared with prior art, the beneficial effects of the present invention are：The existing sound source based on microphone array is solved to determine
Position method and apparatus can only obtain the direction of sound source, can not but obtain sound source and know distance between acoustic equipment；Sentenced by camera
During disconnected sound source position, there is sound source and know between acoustic equipment the problem of blocking；Can calculate obtain sound source and know acoustic equipment it
Between distance, and then know acoustic equipment can further perform to apart from related action.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the sound localization method of the embodiment of the present invention one.
Fig. 2 is the schematic diagram of a scenario of the sound localization method application in embodiment one.
Fig. 3 is the schematic flow sheet of the sound localization method of the embodiment of the present invention two.
Fig. 4 is the structural representation of the sound source locating device of the embodiment of the present invention three.
Fig. 5 is the structural representation of the sound source locating device of the embodiment of the present invention four.
Embodiment
Below, with reference to accompanying drawing and embodiment, the present invention is described further, it is necessary to which explanation is, not
Under the premise of afoul, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example：
Embodiment one：
Fig. 1 is the schematic flow sheet for the sound localization method that the present embodiment is provided.
Fig. 2 is the schematic diagram of a scenario of sound localization method application, and scene includes knowing acoustic equipment 10, the and of microphone array 20
Sound source 30.It can be service robot, machine police, robot, intelligent robotic toy or can localization of sound source position to know acoustic equipment 10
Intelligent camera device etc..
Affixed one's name in the middle part of place and know the highly consistent microphone array 20 of acoustic equipment 10, know the audio set on acoustic equipment 10
Acquisition module can also use microphone array 20.When sound source 30, which is called, knows acoustic equipment 10, knowing acoustic equipment 10 can be waken up, together
The sound that Shi Shengyuan 30 is sent can also be received by the microphone array 20 in scene.
Know such as robot of acoustic equipment 10 and be set with certain zone of action when in use, typically.It can be set in the region
A fixed work coordinate system 0xy, knows acoustic equipment 10, the position of microphone array 20 can be respectively by it on work coordinate system 0xy
Coordinate determine.It is of course also possible to kinetic coordinate system is set up for the origin of coordinates to know acoustic equipment 10, then will by coordinate transform
Know acoustic equipment 10, microphone array 20 is unified to arrive the kinetic coordinate system or work coordinate system 0xy；The setting up of coordinate system, coordinate become
Changing can be achieved by the prior art.
In the present embodiment, know acoustic equipment 10, microphone array 20 and sound source 30 and be respectively positioned on the first of work coordinate system 0xy
Quadrant, in other embodiments, each equipment may be located on work coordinate system 0xy different quadrants or x-axis or y-axis or origin
On.
Sound localization method as shown in Figure 1 comprises the following steps：
Step S110, the preferred feature data for obtaining the transmission of microphone array 20, the preferred feature data include Mike
The first position (x1, y1) of wind array 20 and first wakes up angle B.
When microphone array 20 receives the wake-up word that sound source 30 is sent, the data for waking up word can be sent to knowledge acoustic equipment
10, specifically knowledge acoustic equipment 10 can also be forwarded the data to by total control equipment by wired or wireless way.Wake up
The data of word include preferred feature data, and preferred feature data include the first position (x1, y1) and first of microphone array 20
Wake up angle B.Sound source 30 can be achieved by the prior art for the first wake-up angle B of microphone array 20, be repeated no more.
Step S120, judge know acoustic equipment 10 whether receive wake-up word.Need to judge whether sound source 30 is located at knowledge acoustic equipment
In 10 working range.If knowing acoustic equipment 10 also have received the wake-up word that sound source 30 is sent, then it represents that know acoustic equipment 10 in fortune
Go and sound source 30 is located in the working range for knowing acoustic equipment 10, know acoustic equipment 10 and be waken up.
If step S130, the knowledge acoustic equipment 10 receive the wake-up word, second feature data are recorded, described second is special
Levy data and wake up angle C towards A and equipment including device location (x0, y0), equipment.Equipment refers to knowing acoustic equipment 10 towards A
On the direction of microphone that carries, typically namely know the direction of acoustic equipment 10.Obtain device location (x0, y0) and equipment direction
The data such as A, can be achieved by the prior art, repeat no more.Equipment wakes up angle C and refers to sound source 30 for knowing acoustic equipment 10
Front be wake-up angle of the equipment towards A, can also be achieved by the prior art.
Step S140, calculate according to the preferred feature data and second feature data sound source 30 and know between acoustic equipment 10
Distance.
According to the first position (x1, y1) of device location (x0, y0) and microphone array 20, and equipment is towards A, equipment
Wake up angle C and microphone array 20 first wakes up the distance that angle B can be in the hope of sound source 30 relative to knowledge acoustic equipment 10.
Further, it is described to calculate sound source 30 with knowing acoustic equipment 10 according to the preferred feature data and second feature data
The distance between m, be specially according to following formula calculate：
The principle of formula is as described below：
If know between acoustic equipment 10 and microphone array 20 for apart from L, then
If the straight line or line segment of crossing knowledge acoustic equipment 10 and microphone array 20 are S, then S and the angle of x-axis are
If it is M to cross knowledge acoustic equipment 10 and the straight line or line segment of sound source 30, then M and the angle of X-axis are 2 π-(A+C)；
The then angle between S and M
If the straight line or line segment of crossing sound source 30 and microphone array 20 are K, then the angle between K and L
If h, which is sound source 30, arrives the distance between S, then haveIt can thus be appreciated that
According toIt can obtainWherein,
Bringing each formula into can obtain：
It should be noted that those skilled in the art can easily realize various deformation and realization according to above formula
Mode, all should belong to protection scope of the present invention.
The present embodiment provide sound localization method solve the existing sound localization method based on microphone array and
Device can only obtain the direction of sound source, can not but obtain sound source and know distance between acoustic equipment；Sound source position is judged by camera
When putting, exist sound source and know acoustic equipment between the problem of blocking；It can calculate and obtain sound source and know distance between acoustic equipment, enter
And know acoustic equipment can further perform to apart from related action.
As a further improvement on the present invention, if receiving the wake-up word in the knowledge acoustic equipment described in step S130,
It is further comprising the steps of after record second feature data：
Step S131, judge sound source 30, the microphone array 20 with it is described knowledge the three of acoustic equipment 10 it is whether conllinear；
It is further, described to judge whether sound source 30, the microphone array 20 are conllinear with the knowledge three of acoustic equipment 10,
If speciallyAbsolute value be less than or equal to preset value, the then sound source 30, the Mike
Wind array 20 is conllinear with the knowledge three of acoustic equipment 10.
Typically, preset value be 0 or one close to 0 numerical value.During equal to 0, table
Show that sound source 30, the microphone array 20 are completely conllinear with the knowledge acoustic equipment 10, even if not going out sound source 30 by above-mentioned formula
With knowing the distance between acoustic equipment 10.Further, whenWhen being approximately equal to 0, sound source 30, institute
Microphone array 20 is stated with the knowledge acoustic equipment 10 to be similar between the sound source 30 that collinearly, at this moment calculates and knowledge acoustic equipment 10
Distance may be just less accurate.It is accomplished by rejecting the preferred feature data corresponding with the microphone array 20.
If step S132, the sound source 30, the microphone array 20 are conllinear with knowledge acoustic equipment 10 three, reject
The preferred feature data corresponding with the microphone array 20.It may then wait for waking up next time, or select other
The characteristic that microphone array is sent.
Embodiment two：
Sound localization method as shown in Figure 3, comprises the following steps：
Step S210, the preferred feature data for obtaining microphone array transmission, the preferred feature data include microphone
The first position (x1, y1) of array and first wakes up angle B；
Step S220, judge know acoustic equipment whether receive wake-up word；
If step S230, the knowledge acoustic equipment receive the wake-up word, second feature data, the second feature are recorded
Data include device location (x0, y0), equipment and wake up angle C towards A and equipment；
Further, the preferred feature data also include preferred vocal print feature, and the second feature data also include knowing
Acoustic equipment vocal print feature；
Step S231, judge the preferred vocal print feature with it is described knowledge acoustic equipment vocal print feature whether match；
If step S232, the preferred vocal print feature are mismatched with the knowledge acoustic equipment vocal print feature, reject with it is described
It is preferred that the corresponding preferred feature data of vocal print feature.It can be excluded using vocal print feature information and calling out of knowing that acoustic equipment is not inconsistent
Awake information so that know acoustic equipment and possess certain antijamming capability for the sound that sound source is sent.
Step S240, calculate according to the preferred feature data and second feature data sound source and know between acoustic equipment away from
From.
Step S210, step S220, step S230, step S240 are right respectively in sound localization method described in the present embodiment
Step S110, step S120, step S130 and step S140 in Ying Yuyu embodiments one, are not being repeated；Difference is step
S231 and step S232.
In another embodiment, the step S231 and step S232 that sound localization method had both been included in the present embodiment are used to arrange
Remove and know the wake-up information that acoustic equipment is not inconsistent so that know acoustic equipment and possess certain anti-interference energy for the sound that sound source is sent
Power；The step S131 and step S132 in embodiment one can be included again, for excluding sound source, knowing acoustic equipment and microphone array
Conllinear interference.
In another embodiment, as a further improvement on the present invention, microphone array described in operative scenario is shown multiple；
The preferred feature data are specially the characteristic that closest microphone array between the knowledge acoustic equipment is sent.Tool
Body, if after the knowledge acoustic equipment receives the wake-up word, record second feature data, in addition to following step
Suddenly：
Each microphone array is calculated with knowing the distance between acoustic equipment；
The characteristic for choosing the microphone array transmission nearest with knowing the distance between acoustic equipment is validity feature data.
Pass through, the preferential characteristic sent using the microphone array nearest with knowing the distance between acoustic equipment is asked for knowing
The distance between acoustic equipment and sound source, can further abate the noise interference, reduce conllinear probability, and result of calculation is more efficient
With it is accurate.
Embodiment three：
Sound source locating device as shown in Figure 4, including：
Acquisition module 110, the preferred feature data for obtaining microphone array transmission, the preferred feature data include
The first position of microphone array and first wakes up angle；
First judge module 120, for judging to know whether acoustic equipment receives wake-up word；
Logging modle 130, if receiving the wake-up word for the knowledge acoustic equipment, records second feature data, described
Second feature data include device location, equipment direction and equipment and wake up angle；
First computing module 140, for calculating sound source and knowledge sound according to the preferred feature data and second feature data
The distance between equipment.
Further, the preferred feature data also include preferred vocal print feature, and the second feature data also include knowing
Acoustic equipment vocal print feature, the sound source locating device also includes：
Second judge module, for judging whether the preferred vocal print feature matches with the knowledge acoustic equipment vocal print feature；
First rejects module, if being mismatched for the preferred vocal print feature with the knowledge acoustic equipment vocal print feature, picks
Except the preferred feature data corresponding with the preferred vocal print feature.
Further, the sound source locating device also includes：
3rd judge module, for judging whether sound source, the microphone array are conllinear with the knowledge acoustic equipment three；
Second rejects module, if conllinear with the knowledge acoustic equipment three for the sound source, the microphone array, picks
Except the preferred feature data corresponding with the microphone array.
Further, the microphone array is shown multiple；The sound source locating device also includes：
Low coverage module, for choosing the characteristic that closest microphone array between the knowledge acoustic equipment is sent
For the preferred feature data.
The method in device and previous embodiment in the present embodiment be based on two aspects under same inventive concept,
Above method implementation process is described in detail, thus those skilled in the art can according to it is described above clearly
The structure and implementation process of the system in this implementation are solved, it is succinct for specification, just repeat no more herein.
For convenience of description, it is divided into various modules during description apparatus above with function to describe respectively.Certainly, this is being implemented
The function of each module can be realized in same or multiple softwares and/or hardware during invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
Realized by the mode of software plus required general hardware platform.Understood based on such, technical scheme essence
On the part that is contributed in other words to prior art can be embodied in the form of software product, the computer software product
It can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are to cause a computer equipment
(can be personal computer, server, or network equipment etc.) performs some of each of the invention embodiment or embodiment
Method described in part.
The device embodiment of description is only schematical, wherein the module illustrated as separating component or unit can
To be or may not be physically separate, the part illustrated as module or unit can be or may not be thing
Module is managed, can both be located at a place, or can also be distributed on multiple mixed-media network modules mixed-medias.It can select according to the actual needs
Some or all of unit therein is selected to realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying wound
In the case that the property made is worked, you can to understand and implement.
The present invention can be used in numerous general or special purpose computing system environments or configuration.For example：Personal computer, service
Device computer, handheld device or portable set, laptop device, multicomputer system, the system based on microprocessor, machine top
Box, programmable consumer-elcetronics devices, network PC, minicom, mainframe computer including any of the above system or equipment
DCE etc., such as example IV.
Example IV：
Sound source locating device as shown in Figure 5, including：Processor 200 and the finger executable for storing processor 200
The memory 300 of order；
The processor 200 is configured as：
The preferred feature data that microphone array is sent are obtained, the preferred feature data include the first of microphone array
Position and first wakes up angle；
Judge to know whether acoustic equipment receives wake-up word；
If the knowledge acoustic equipment receives the wake-up word, second feature data are recorded, the second feature data include
Device location, equipment direction and equipment wake up angle；
Sound source is calculated with knowing the distance between acoustic equipment according to the preferred feature data and second feature data.
The method in device and previous embodiment in the present embodiment be based on two aspects under same inventive concept,
Above method implementation process is described in detail, thus those skilled in the art can according to it is described above clearly
The structure and implementation process of the system in this implementation are solved, it is succinct for specification, just repeat no more herein.
Sound source locating device provided in an embodiment of the present invention, solves the existing auditory localization side based on microphone array
Method and device can only obtain the direction of sound source, can not but obtain sound source and know distance between acoustic equipment；Sound is judged by camera
During source position, exist sound source and know acoustic equipment between the problem of blocking；The spacing for obtaining sound source and knowing acoustic equipment can be calculated
From, so know acoustic equipment can further perform to apart from related action.
For those skilled in the art, technical scheme that can be as described above and design, make other each
It is kind corresponding to change and deform, and all these change and deformation should all belong to the protection model of the claims in the present invention
Within enclosing.
Claims (11)
1. a kind of sound localization method, it is characterised in that comprise the following steps：
The preferred feature data that microphone array is sent are obtained, the preferred feature data include the first position of microphone array
Angle is waken up with first；
Judge to know whether acoustic equipment receives wake-up word；
If the knowledge acoustic equipment receives the wake-up word, second feature data are recorded, the second feature data include equipment
Position, equipment direction and equipment wake up angle；
Sound source is calculated with knowing the distance between acoustic equipment according to the preferred feature data and second feature data.
2. sound localization method as claimed in claim 1, it is characterised in that the preferred feature data also include preferred vocal print
Feature, the second feature data also include knowing acoustic equipment vocal print feature；
If the knowledge acoustic equipment is received after the wake-up word, record second feature data, further comprising the steps of：
Judge whether the preferred vocal print feature matches with the knowledge acoustic equipment vocal print feature；
If the preferred vocal print feature is mismatched with the knowledge acoustic equipment vocal print feature, reject and the preferred vocal print feature phase
The preferred feature data answered.
3. sound localization method as claimed in claim 1, it is characterised in that if the knowledge acoustic equipment receives the wake-up
Word, then it is further comprising the steps of after record second feature data：
Judge whether sound source, the microphone array are conllinear with the knowledge acoustic equipment three；
If the sound source, the microphone array are conllinear with the knowledge acoustic equipment three, reject and the microphone array phase
The preferred feature data answered.
4. sound localization method as claimed in claim 3, it is characterised in that the judgement sound source, the microphone array with
Whether the knowledge acoustic equipment three is conllinear, if being speciallyAbsolute value be less than or equal to it is default
Value, then the sound source, the microphone array are conllinear with the knowledge acoustic equipment three；Wherein (x1, y1) represents described first
Put, (x0, y0) represents the device location, A represents the equipment direction, and C represents that the equipment wakes up angle.
5. the sound localization method as any one of claim 1-4, it is characterised in that the microphone array is shown many
It is individual；The preferred feature data are specially the characteristic that closest microphone array between the knowledge acoustic equipment is sent
According to.
6. the sound localization method as any one of claim 1-4, it is characterised in that described according to the preferred feature
Data and second feature data calculate sound source and know the distance between acoustic equipment, are specially to be calculated according to following formula：
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<mi>x</mi>
<mn>0</mn>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>A</mi>
<mo>-</mo>
<mi>C</mi>
<mo>&rsqb;</mo>
</mrow>
</mfrac>
<mo>|</mo>
<mo>;</mo>
</mrow>
Wherein (x1, y1) represents the first position, and (x0, y0) represents the device location, and A represents the equipment direction, B tables
Show the first wake-up angle, C represents that the equipment wakes up angle.
7. a kind of sound source locating device, it is characterised in that including：
Acquisition module, the preferred feature data for obtaining microphone array transmission, the preferred feature data include microphone
The first position of array and first wakes up angle；
First judge module, for judging to know whether acoustic equipment receives wake-up word；
Logging modle, if receiving the wake-up word for the knowledge acoustic equipment, records second feature data, the second feature
Data include device location, equipment direction and equipment and wake up angle；
First computing module, for being calculated according to the preferred feature data and second feature data between sound source and knowledge acoustic equipment
Distance.
8. sound source locating device as claimed in claim 7, it is characterised in that the preferred feature data also include preferred vocal print
Feature, the second feature data also include knowing acoustic equipment vocal print feature, and the sound source locating device also includes：
Second judge module, for judging whether the preferred vocal print feature matches with the knowledge acoustic equipment vocal print feature；
First rejects module, if being mismatched for the preferred vocal print feature with the knowledge acoustic equipment vocal print feature, reject with
The corresponding preferred feature data of the preferred vocal print feature.
9. sound source locating device as claimed in claim 7, it is characterised in that also include：
3rd judge module, for judging whether sound source, the microphone array are conllinear with the knowledge acoustic equipment three；
Second rejects module, if conllinear with the knowledge acoustic equipment three for the sound source, the microphone array, reject with
The corresponding preferred feature data of the microphone array.
10. sound source locating device as claimed in any one of claims 7-9, it is characterised in that the microphone array is shown many
It is individual；The sound source locating device also includes：
Low coverage module, is institute for choosing the characteristic that closest microphone array between the knowledge acoustic equipment is sent
State preferred feature data.
11. a kind of sound source locating device, it is characterised in that including：
Processor and the memory for storing the executable instruction of processor；
The processor is configured as：
The preferred feature data that microphone array is sent are obtained, the preferred feature data include the first position of microphone array
Angle is waken up with first；
Judge to know whether acoustic equipment receives wake-up word；
If the knowledge acoustic equipment receives the wake-up word, second feature data are recorded, the second feature data include equipment
Position, equipment direction and equipment wake up angle；
Sound source is calculated with knowing the distance between acoustic equipment according to the preferred feature data and second feature data.
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