CN108254721A

CN108254721A - A kind of positioning sound source by robot and robot

Info

Publication number: CN108254721A
Application number: CN201810330841.7A
Authority: CN
Inventors: 葛俊
Original assignee: Goertek Techology Co Ltd
Current assignee: Goertek Techology Co Ltd
Priority date: 2018-04-13
Filing date: 2018-04-13
Publication date: 2018-07-06

Abstract

The embodiment of the present application provides a kind of positioning sound source by robot and robot, is provided with two-dimentional microphone array in robot, this method includes：According to the collected voice data from target sound source of the first microphone, the first sound energy value that the first microphone obtains is calculated；According to the collected voice data from target sound source of second microphone, the second sound energy value that second microphone obtains is calculated；According to the first sound energy value and the energy ratio of second sound energy value and the position relationship of the first microphone and second microphone, orientation section of the target sound source relative to robot is determined.In the embodiment of the present application, it can determine whether out that target sound source is located at the front or rear of robot, and then realizes the actual position that target sound source is accurately positioned.

Description

A kind of positioning sound source by robot and robot

Technical field

This application involves signal processing technology field more particularly to a kind of positioning sound source by robot and robot.

Background technology

The hot spot that auditory localization is field of voice signal in recent years is carried out based on microphone array, this technology is It is applied in video conference, intelligent robot etc. scene.At present, auditory localization mainly using annular microphone array or The linear microphone array of person is realized.Wherein it is possible to according to the selection of the form of robot using the microphone array of which kind of shape.Example Such as, for the short household intelligent robot of build, annular microphone array can be used and carry out auditory localization, and for build height Big intelligent robot can be used linear microphone array and carry out auditory localization.

For the tall and big intelligent robot of build, linear microphone array is generally positioned at its thoracic cavity position, and base Linear microphone array at its thoracic cavity carries out auditory localization.But the existing linear microphone array progress sound source that is based on is determined The robot of position can not determine that sound source is located at the front or rear of intelligent robot sometimes, lead to not sound source is accurately positioned.

Invention content

The many aspects of the application provide a kind of positioning sound source by robot and robot, to improve auditory localization Accuracy.

The embodiment of the present application provides a kind of positioning sound source by robot, suitable for robot, is set in the robot There is two-dimentional microphone array, the method includes：

According to the collected voice data from target sound source of the first microphone, calculate what first microphone obtained First sound energy value, wherein, first microphone is located at first straight line for array element center in the two-dimentional microphone array On any microphone；

According to the collected voice data from the target sound source of second microphone, calculate the second microphone and obtain Second sound energy value, wherein, the second microphone is array element center in the two-dimentional microphone array and described the One straight line mutually from microphone；

According to the energy ratio and first Mike of first sound energy value and the second sound energy value The position relationship of wind and the second microphone, determines orientation section of the target sound source relative to the robot.

The embodiment of the present application also provides a kind of robot, including memory, processor and two-dimentional microphone array；

The two dimension microphone array include array element center be located at microphone in first straight line and array element center with it is described First straight line mutually from microphone；

The memory is used to store computer program；

The processor, for performing the computer program, for：

According to the collected voice data from target sound source of the first microphone, calculate what first microphone obtained First sound energy value, wherein, first microphone is located at any microphone in first straight line for array element center；

According to the collected voice data from the target sound source of second microphone, calculate the second microphone and obtain Second sound energy value, wherein, the second microphone for array element center and the first straight line phase from microphone；

In the embodiment of the present application, two-dimentional microphone array in robot is set, and passes through array element center not at one The acoustic energy between the first microphone and second microphone on the straight line when position relationship between two microphones, can be true Orientation section of the target sound source relative to robot is made, such as may determine that target sound source is located at the front of robot still Rear, and then realize the actual position that target sound source is accurately positioned.

Description of the drawings

Attached drawing described herein is used for providing further understanding of the present application, forms the part of the application, this Shen Illustrative embodiments and their description please do not form the improper restriction to the application for explaining the application.In the accompanying drawings：

Fig. 1 is the flow chart of a kind of positioning sound source by robot that one embodiment of the application provides；

Fig. 2 a are the flow chart of another positioning sound source by robot that one embodiment of the application provides；

Fig. 2 b are the flow chart of another positioning sound source by robot that one embodiment of the application provides；

Fig. 2 c are the flow chart of another positioning sound source by robot that one embodiment of the application provides

Fig. 3 is the flow chart of a kind of positioning sound source by robot that another embodiment of the application provides；

Fig. 4 is the flow chart of another positioning sound source by robot that another embodiment of the application provides；

Fig. 5 is the flow chart of another positioning sound source by robot that another embodiment of the application provides；

Fig. 6 is the flow chart that the first boundary threshold, the second boundary threshold value and third boundary threshold is obtained ahead of time；

Fig. 7 is the structure diagram of a kind of robot that the another embodiment of the application provides.

Fig. 8 shows a kind of arrangement mode of two-dimentional microphone array；

Fig. 9 shows a kind of shape of robot.

Specific embodiment

Purpose, technical scheme and advantage to make the application are clearer, below in conjunction with the application specific embodiment and Technical scheme is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the application one Section Example, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing Go out all other embodiments obtained under the premise of creative work, shall fall in the protection scope of this application.

Sound source can not be determined sometimes for the robot for carrying out auditory localization based on linear microphone array in the prior art Positioned at the front of robot or rear, the problem of leading to not sound source is accurately positioned.The embodiment of the present application provides a kind of solution Scheme：Two-dimentional microphone array in robot is set, passes through array element center the first microphone not on the same line and the Acoustic energy between the two microphones when position relationship between two microphones, it may be determined that go out target sound source relative to machine The orientation section of people, such as may determine that target sound source is located at the front or rear of robot, and then realizes and be accurately positioned The actual position of target sound source.

Below in conjunction with attached drawing, the technical solution that each embodiment of the application provides is described in detail.

Fig. 1 is the flow chart of a kind of positioning sound source by robot that one embodiment of the application provides.It as shown in Figure 1, should Method includes：

100th, according to the collected voice data from target sound source of the first microphone, calculate what the first microphone obtained First sound energy value, wherein, the first microphone is that array element center is located at any in first straight line in two-dimentional microphone array Microphone；

101st, according to the collected voice data from target sound source of second microphone, calculate what second microphone obtained Second sound energy value, wherein, second microphone be in two-dimentional microphone array array element center and first straight line phase from Mike Wind；

102nd, according to the first sound energy value and the energy ratio of second sound energy value and the first microphone and second The position relationship of microphone determines orientation section of the target sound source relative to robot.

In the present embodiment, two-dimentional microphone array refers to the array that several microphones in one plane are formed, each A microphone is the array element in array, is located at same straight line (i.e. first straight line) comprising array element center in two-dimentional microphone array On several microphones and array element center and the straight line mutually from microphone.First microphone can be any on the straight line Microphone, second microphone can be with the straight line mutually from any microphone.In addition, the plane where two-dimentional microphone array It may be configured as parallel to the ground, may be alternatively provided as vertical with the rotary shaft of robot, may also be configured to other suitable angles certainly Degree.

Fig. 8 shows a kind of arrangement mode of two-dimentional microphone array, as shown in figure 8, two-dimentional microphone array includes 4 Microphone M1, M2, M3 and M4, M1, M3 and M4 are located along the same line, and M2 and the straight line are mutually from can be using M1 as the first Mike Wind, using M2 as second microphone.Certainly, the first microphone can also be M3 or M4.

It should be noted that Fig. 8 merely illustrates a kind of layout type of two-dimentional microphone array, and should not be used as To the concrete restriction of number of microphone and layout in microphone array two-dimentional in the embodiment of the present application.According to different demands, two Number of microphone in dimension microphone array can change, and the position relationship between microphone can also be adjusted according to demand It is whole.Optionally, one or more groups of two-dimentional microphone arrays can be set in robot.

Two-dimentional microphone array is mainly used for acquiring voice data, and optionally, the microphone in two-dimentional microphone array can Using the electret microphone of cardioid directivity.It, can be according to different Mikes based on the voice data of two-dimentional microphone array acquisition Sound capabilities ratio between wind determines orientation section of the target sound source relative to robot.When target sound source makes a sound, Microphone in two-dimentional microphone array can collect the voice data from target sound source.It, can be according to Mike in the present embodiment Collected voice data calculates its sound energy value obtained to wind whithin a period of time.It is assumed that some microphone in a period of time The voice data of acquisition contains N number of sampled point, then the microphone during this period of time corresponding sound of the collected voice data of institute Sound energy value is：

Wherein, x_iRepresenting the amplitude of ith sample point, N represents that the voice data of microphone acquisition contains sampled point number, E represents the sound energy value that microphone obtains.

It accordingly, can be according to the sound of the first microphone and the second microphone collected target sound source in same amount of time Data calculate the sound energy value that the first microphone and second microphone obtain, and based on the first microphone and the second Mike The energy ratio of wind determines the distance of the first microphone and second microphone distance objective sound source.It is obtained when the first microphone When sound energy value is more than the sound energy value that second microphone obtains, illustrate that the first microphone distance objective sound source is nearer, instead It, then illustrate that second microphone distance objective sound source is nearer.

Based on above-mentioned, target sound source and the relative position relation of two-dimentional microphone array can be primarily determined out, but not yet really The relative position relation of the sound source that sets the goal and robot.In the present embodiment, target sound source and the phase of microphone array are being determined It, can be according to two-dimentional microphone array and the relative position relation namely the first microphone of robot on the basis of position relationship Position relationship between second microphone determines orientation section of the target sound source relative to robot.

The relative position of two-dimentional microphone array and robot can that is to say the first microphone and the second wheat there are many form The position relationship of gram wind can be there are many form, for example, first straight line can namely first microphone parallel with the shirtfront of robot Set on robot thoracic cavity position, and second microphone is set on robot back position, and the first microphone is located at second in the form In front of microphone；In another example first straight line can namely first microphone parallel with the back of robot be set on robot back position It puts, and second microphone is set on robot thoracic cavity position, the first microphone is located at second microphone rear in the form；Example again Such as, first straight line can namely first microphone parallel with the side of robot be set on robot lateral location, and second microphone Set on the first microphone to side position, the first microphone is located at second microphone side, etc. in the form.In addition, with reference to The line of a kind of layout type of two-dimentional microphone array shown in Fig. 8, second microphone and the first microphone can be with first directly Line is vertical, certainly also can out of plumb.The embodiment of the present application does not limit this.

For the position relationship of the first microphone and second microphone to determining orientation of the target sound source relative to robot The influence in section can carry out angle conversion by the position relationship to the first microphone under different form and second microphone, Corresponding conversion scale is either multiplied by when calculating sound energy value or the definition by adjusting the orientation section of robot comes It realizes unified.

Above-mentioned each example is accepted, when first straight line is parallel with the shirtfront of robot namely the first microphone is set on robot chest Chamber position, and second microphone be set on robot back position when, however, it is determined that the first microphone of target sound source distance is nearer, then may be used Determine that target sound source is located at the front (corresponding following forward direction section) of robot；When the back of first straight line and robot is put down Row namely the first microphone be set on robot back position, and second microphone be set on robot thoracic cavity position when, however, it is determined that mesh It is nearer to mark sound source the first microphone of distance, it is impossible to directly determine that target sound source is located at the front of robot again, and angle need to be carried out Conversion can determine that target sound source is located at the rear (corresponding negative sense section hereinafter) of robot later.Hereinafter, by emphasis base Robot thoracic cavity position is set in the first microphone, and the form that second microphone is set on robot back position carries out technical side The detailed description of case.

In the embodiment of the present application, two-dimentional microphone array is set in robot, by array element center not in same straight line On the first microphone and second microphone between the acoustic energy when position relationship between two microphones, it may be determined that go out Target sound source such as can determine whether out that target sound source is located at the front or rear of robot relative to the orientation section of robot, And then realize the actual position that target sound source is accurately positioned.

Fig. 2 a are the flow chart of another positioning sound source by robot that one embodiment of the application provides.Wherein, first Microphone and second microphone are respectively arranged on robot thoracic cavity and back position.As shown in Fig. 2, this method includes：

200th, according to the collected voice data from target sound source of the first microphone, calculate what the first microphone obtained First sound energy value, wherein, the first microphone is that array element center is located at any in first straight line in two-dimentional microphone array Microphone；

201st, according to the collected voice data from target sound source of second microphone, calculate what second microphone obtained Second sound energy value, wherein, second microphone be in two-dimentional microphone array array element center and first straight line phase from Mike Wind；

202nd, when energy ratio is less than the first boundary threshold, determine that target sound source is located at the negative sense section of robot；

203rd, when energy ratio is more than the second boundary threshold value, determine that target sound source is located at the positive section of robot；

204th, when energy ratio is greater than or equal to the first boundary threshold and less than or equal to the second boundary threshold value, mesh is determined Mark sound source is located at the lateral section of robot.

Method provided in this embodiment is suitable for robot, and two-dimentional microphone array, the first wheat are provided in the robot Gram wind and second microphone are respectively arranged on robot thoracic cavity and back position, the orientation section of robot may include positive section, Negative sense section and lateral section, positive section refer to be intended to the region in front of robot, and negative sense section refers to be intended to machine The region at people rear, lateral section refer to be intended to the region of robot side.Certainly, in addition to provided in this embodiment this right It answers outside mode, can also there be other corresponded manners in the orientation section of robot, for example, would tend to the definition of the region in front of robot For negative sense section, and the region that would tend to robot rear is defined as positive section or using other name definition machine The orientation section of device people, should all belong in the protection domain of the embodiment of the present application.

First boundary threshold is used to limit the energy ratio of corresponding first microphone in negative sense section and second microphone Maximum value when the energy ratio of the first microphone and second microphone is less than the first boundary threshold, illustrates that the energy ratio is small In the maximum value of the corresponding energy ratio in negative sense section, accordingly, it can be determined that target sound source is located at the negative sense section of robot.Second Boundary threshold is used to limit the minimum value of the energy ratio of corresponding first microphone in positive section and second microphone, when first When the energy ratio of microphone and second microphone is more than the second boundary threshold value, illustrate that the energy ratio is more than positive section and corresponds to Energy ratio minimum value, accordingly, it can be determined that target sound source is located at the positive section of robot.And when the first microphone and the When the energy ratio of two microphones is greater than or equal to the first boundary threshold and is less than or equal to the second boundary threshold value, illustrate, target Sound source is neither located at positive section nor positioned at negative sense section, then can determine that target sound source is located at the lateral section of robot.Figure 2b is the flow chart of another positioning sound source by robot that one embodiment of the application provides.As shown in Figure 2 b, when determining mesh When mark sound source is located at the lateral section of robot, positioning sound source by robot provided in this embodiment, including：

204th, when energy ratio is greater than or equal to the first boundary threshold and less than or equal to the second boundary threshold value, mesh is determined Mark sound source is located at the lateral section of robot；And perform step 205；

205th, the third microphone being located at according to array element center in first straight line and positioned at the first microphone side is acquired The voice data from target sound source arrived calculates the third sound energy value that third microphone obtains；

206th, it when third sound energy value and the energy ratio of second sound energy value are more than third boundary threshold, determines Target sound source is located at close to the lateral section of third microphone side；

207th, when third sound energy value and the energy ratio of second sound energy value are less than or equal to third boundary threshold When, determine that target sound source is located remotely from the lateral section of third microphone side.

To judge that target sound source is located at the lateral section of which side, array element center can be chosen and be located in first straight line and be located at Any microphone on the left of first microphone calculates the third acoustic energy of third microphone acquisition as third microphone It is worth, technological means can refer to described above used by calculating energy value, and details are not described herein again.Wherein, third boundary threshold Value is for limiting close to the corresponding third microphone in lateral section of third microphone side and the energy ratio of second microphone Minimum value, when the energy ratio of third microphone and second microphone be more than third boundary threshold when, illustrate the energy ratio More than the minimum value of the corresponding energy ratio in lateral section close to third microphone side, accordingly, it can be determined that target sound source position In the lateral section of the close third microphone side of robot；When third sound energy value and the energy of second sound energy value When ratio is less than or equal to third boundary threshold, it may be determined that target sound source is located remotely from the lateral section of third microphone side.

Similarly, to judge that target sound source is located at the lateral section of which side, it can also choose array element center and be located at first straight line Above and any microphone on the right side of the first microphone is as third microphone, when third microphone and the energy of second microphone When measuring ratio more than third boundary threshold, it may be determined that target sound source is located at the lateral section of the close third microphone side of robot Between；When third sound energy value and the energy ratio of second sound energy value are less than or equal to third boundary threshold, it may be determined that Target sound source is located remotely from the lateral section of third microphone side.So as to, it may be determined that go out target sound source be located at robot which The lateral section of side.

Fig. 2 c are the flow chart of another positioning sound source by robot that one embodiment of the application provides.Such as Fig. 2 c institutes Show, when determining that target sound source is located at the lateral section of robot, positioning sound source by robot provided in this embodiment, packet It includes：

204th, when energy ratio is greater than or equal to the first boundary threshold and less than or equal to the second boundary threshold value, mesh is determined Mark sound source is located at the lateral section of robot；And perform step 208；

208th, calculating the 4th microphone that array element center is located in first straight line and the 5th microphone, currently acquisition comes from mesh The delay inequality between the voice signal of sound source is marked, wherein, the 4th microphone and the 5th microphone are the arbitrary wheat in first straight line Gram wind；

209th, when delay inequality is less than 0, determine that target sound source is located at close to the lateral section of the 4th microphone side；

2010th, when delay inequality is more than 0, determine that target sound source is located remotely from the lateral section of the 4th microphone side.

When the delay inequality between the 4th microphone and the 5th microphone currently voice signal of the acquisition from target sound source is small When 0, illustrate that target sound source and the distance of the 4th microphone are less than target sound source and the 5th microphone, accordingly, it can be determined that mesh Sound source is marked to be located at close to the lateral section of the 4th microphone side；Similarly, when the 4th microphone and the 5th microphone currently acquire When delay inequality between voice signal from target sound source is more than 0, illustrate that target sound source and the distance of the 4th microphone are big In target sound source and the 5th microphone, accordingly, it can be determined that target sound source is located remotely from the lateral section of the 4th microphone side.From And, it may be determined that go out the lateral section that target sound source is located at robot which side.

It, can when the first microphone and second microphone are respectively arranged on robot thoracic cavity and back position in the present embodiment Determine target sound source relative to robot according to preset first boundary threshold, the second boundary threshold value and third boundary threshold Orientation section, the actual position so as to be accurately judged to target sound source are front, rear or the either side positioned at robot Side.

Based on above-mentioned, it may be determined that go out orientation section of the target sound source relative to robot, it after this, can be according to determining Orientation section, target sound source is accurately positioned.Below with reference to Fig. 3-5, it is located at different direction area for target sound source Between situation, be described in detail to target sound source carry out precise positioning process.Fig. 3 is one kind that another embodiment of the application provides The flow chart of positioning sound source by robot.As shown in figure 3, this method, including：

300th, according to the collected voice data from target sound source of the first microphone, calculate what the first microphone obtained First sound energy value, wherein, the first microphone is that array element center is located at any in first straight line in two-dimentional microphone array Microphone；

301st, according to the collected voice data from target sound source of second microphone, calculate what second microphone obtained Second sound energy value, wherein, second microphone be in two-dimentional microphone array array element center and first straight line phase from Mike Wind；

302nd, when energy ratio is less than the first boundary threshold, determine that target sound source is located at the negative sense section of robot；

303rd, when energy ratio is more than the second boundary threshold value, determine that target sound source is located at the positive section of robot；And Perform step 305；

304th, when energy ratio is greater than or equal to the first boundary threshold and less than or equal to the second boundary threshold value, mesh is determined Mark sound source is located at the lateral section of robot；

305th, several microphones being located at according to array element center in first straight line currently acquire the sound from target sound source Delay inequality between signal is calculated and is adjusted the angle；

306th, when adjusting the angle more than 0 ° and no more than 90 °, using 90 ° with the difference of adjustment angle as final angle, And robot is controlled to rotate clockwise final angle；

307th, it when adjusting the angle more than 90 ° and less than 180 °, will adjust the angle with 270 ° of difference as final angle, And robot is controlled to rotate final angle counterclockwise.

The description as described in step 300-304 can be found in previous embodiment, and details are not described herein again.

It is adjusted the angle to calculate, several microphones that array element center is located in first straight line can be chosen, and selected by calculating The current time delay between voice signal of the acquisition from target sound source of microphone, the microphone of selection can be in first straight line Arbitrary microphone.For the microphone of selection, adjacent microphone can be used as one group, according to the time delay of microphone each in group, The corresponding delay inequality of this group of microphone can be calculated, later, can be adjusted the angle based on the delay inequality calculating of several groups of microphones.One group Spacing between interior microphone can be used as spacing in group, can direct root when spacing is equal in the group between each group microphone It calculates and adjusts the angle according to the delay inequality of each group microphone；It, then can basis when spacing is unequal in the group between each group microphone Difference or ratio in group between spacing convert to delay inequality, and are calculated and adjusted the angle according to the delay inequality after conversion.Separately It outside, can be according to each group Mike if each group microphone is non-conterminous namely each group microphone does not include same microphone between any two The distance between wind corrects delay inequality, and is calculated and adjusted the angle according to revised delay inequality.

Two-dimentional microphone array arrangement mode shown in Fig. 8 is accepted below, with based on the delay inequality between two groups of microphones It calculates and is illustrated for adjusting the angle.

In Fig. 8, the spacing between M4 and M1 is equal to the spacing between M3 and M1, calculates the delay inequality τ of M4 and M1 first₄₁, And the delay inequality τ of M3 and M1₃₁, can be obtained further according to following formula (one) and adjust the angle α：

Wherein, spacing of the d between microphone, c are the velocity of sound in air.

Since target sound source is located at the square section of robot, as 0 ＜ α≤90, robot rotates clockwise (90- α) is spent, you can face target sound source；As 90 ＜ α ＜ 180, robot rotates counterclockwise (α -90) degree, you can face mesh Mark sound source.It can realize accordingly and target sound source is accurately positioned.

Fig. 4 is the flow chart of another positioning sound source by robot that another embodiment of the application provides.Such as Fig. 4 institutes Show, this method includes：

400th, according to the collected voice data from target sound source of the first microphone, calculate what the first microphone obtained First sound energy value, wherein, the first microphone is that array element center is located at any in first straight line in two-dimentional microphone array Microphone；

401st, according to the collected voice data from target sound source of second microphone, calculate what second microphone obtained Second sound energy value, wherein, second microphone be in two-dimentional microphone array array element center and first straight line phase from Mike Wind；

402nd, when energy ratio is less than the first boundary threshold, determine that target sound source is located at the negative sense section of robot；And Perform step 405；

403rd, when energy ratio is more than the second boundary threshold value, determine that target sound source is located at the positive section of robot；

404th, when energy ratio is greater than or equal to the first boundary threshold and less than or equal to the second boundary threshold value, mesh is determined Mark sound source is located at the lateral section of robot；

405th, several microphones being located at according to array element center in first straight line currently acquire the sound from target sound source Delay inequality between signal calculates coarse adjustment angle；

406th, when coarse adjustment angle is more than 0 ° and no more than 90 °, using coarse adjustment angle with the sum of 90 ° as final angle, and Control robot rotates clockwise final angle；

407th, when coarse adjustment angle is more than 90 ° and less than 180 °, using 270 ° with the difference of coarse adjustment angle as final angle, And robot is controlled to rotate final angle counterclockwise.

The description as described in step 400-404 can be found in previous embodiment, and details are not described herein again.

Wherein, the process for calculating coarse adjustment angle can refer to above, since target sound source is located at the negative sense section of robot, because This, as 0 ＜ α≤90, robot rotates clockwise (90+ α) degree, you can face target sound source；As 90 ＜ α ＜ 180, machine People rotates counterclockwise (270- α) degree, you can face target sound source.

Under some scenes, since the sound scattering of robot body influences, when target sound source is located at the negative sense area of robot Between when the precision of coarse adjustment angle [alpha] that directly calculates, will be less than target sound source and be located at what is calculated during the positive section of robot The precision of coarse adjustment angle [alpha], therefore, the final angle based on coarse adjustment angle calculation are possible and inaccurate.Accordingly, in control robot Clockwise or counterclockwise after final angle, as shown in figure 4, the positioning sound source by robot, further includes：

408th, several microphones being located at according to array element center in first straight line currently acquire the sound from target sound source Delay inequality between signal calculates vernier angle；

409th, according to vernier angle, control robot is rotated to face target sound source.

About the process according to the rotation of vernier angle control robot, can refer to above when determining that target sound source is located at machine After device people's forward direction section, according to the process for adjusting the angle the rotation of control robot, details are not described herein again.

After control robot clockwise or counterclockwise final angle, target sound source will be positioned at the forward region of robot Between, at this point, a vernier angle is calculated further according to Chinese style above (one), and again according to the rotation of vernier angle control robot, it can Ensure postrotational robot face target sound source again, this greatly improves the accuracy positioned to target sound source.

Fig. 5 is the flow chart of another positioning sound source by robot that another embodiment of the application provides.Such as Fig. 5 institutes Show, this method includes：

500th, according to the collected voice data from target sound source of the first microphone, calculate what the first microphone obtained First sound energy value, wherein, the first microphone is that array element center is located at any in first straight line in two-dimentional microphone array Microphone；

501st, according to the collected voice data from target sound source of second microphone, calculate what second microphone obtained Second sound energy value, wherein, second microphone be in two-dimentional microphone array array element center and first straight line phase from Mike Wind；

502nd, when energy ratio is less than the first boundary threshold, determine that target sound source is located at the negative sense section of robot；And Perform step 505

503rd, when energy ratio is more than the second boundary threshold value, determine that target sound source is located at the positive section of robot；

504th, when energy ratio is greater than or equal to the first boundary threshold and less than or equal to the second boundary threshold value, mesh is determined Mark sound source is located at the lateral section of robot；

505th, control robot rotates 180 °；

506th, several microphones being located at according to array element center in first straight line currently acquire the sound from target sound source Delay inequality between signal is calculated and is adjusted the angle；

507th, it is rotated according to adjustment angle control robot to face target sound source.

The description as described in step 500-504 can be found in previous embodiment, and details are not described herein again.

Since target sound source is located at the negative sense section of robot, and negative sense section and positive section are symmetrical, therefore, can be first Robot is controlled to rotate 180 °, target sound source is located at the positive section of robot at this time, hereafter, based on postrotational robot position It puts, then performs and pinpoint mistake above is carried out to target sound source when determining that target sound source is located at robot forward direction section Journey, can avoid influence of the sound scattering due to robot body to result of calculation, reduce calculation amount, so as to rapidly realize pair Target sound source is accurately positioned.

After determining that target sound source is located at the lateral section of robot, when target sound source is located remotely from third microphone one During the lateral section of side, robot can be rotated by 90 ° to the first microphone side；When target sound source is located at close to third Mike During the lateral section of wind side, the side of robot to third microphone can be rotated by 90 °.After this rotation, target sound source will Positioned at the positive section of robot, it is contemplated that influence of the sound scattering of robot body to result of calculation can be rotated in robot Afterwards, according to above carrying out pinpoint process to target sound source when determining that target sound source is located at robot forward direction section, So as to correct the rotation angle of robot, target sound source is accurately positioned with realizing.

In above-mentioned or following each embodiments, the first boundary threshold, the second boundary threshold value and third boundary threshold can be according to It sets according to experience or is set after being debugged according to different robots and/or different two-dimentional microphone arrays, The process debugged below with reference to Fig. 6 detailed descriptions to the first boundary threshold, the second boundary threshold value and third boundary threshold.

Fig. 6 is the flow chart that the first boundary threshold, the second boundary threshold value and third boundary threshold is obtained ahead of time.Such as Fig. 6 institutes Show, which includes：

600th, according to the position relationship between microphone in two-dimentional microphone array, the orientation section of robot is divided into Positive section, negative sense section and lateral section；

601st, according to the first microphone and second microphone several predetermined angles in negative sense section and positive section respectively The upper collected voice data from measuring sound source calculates negative sense section energy corresponding with predetermined angle each in positive section Amount compares test value；

602nd, it is come from according to third microphone and second microphone are collected in several predetermined angles in lateral section The voice data of measuring sound source calculates the corresponding energy ratio test value of each predetermined angle in lateral section；Wherein, measuring sound source It is moved around robot；

603rd, respectively by the corresponding energy ratio test value of predetermined angle each in negative sense section, normal interval and lateral section In maximum energy ratio test value as the first boundary threshold, the second boundary threshold value and third boundary threshold.

The process debugged to the first boundary threshold, the second boundary threshold value and third boundary threshold can be in foregoing embodiments In step 102 before perform, other steps about positioning sound source by robot provided by the embodiments of the present application can refer to Description in each embodiment above is not showed that in Fig. 6, is repeated no more herein yet.

It, can be according to the position between microphone in two-dimentional microphone array in order to realize the division in the orientation section of robot Plane residing for two-dimentional microphone array or space are divided into positive area, negative area and side zones, then root by relationship According to the relative position of two-dimentional microphone array and robot, the positive section, negative sense section and lateral section of robot are defined.

For example, can using first straight line as line of demarcation, by the plane where two-dimentional microphone array be divided into positive area, Negative area and side zones, first straight line both sides are respectively as positive area and negative area, the area where first straight line Domain as side zones, wherein, can be using the region where second microphone as negative area.

In some scenes, when first straight line is parallel with the shirtfront of robot, and the first microphone be located at precordial locations and When second microphone is located at robot back position, it will directly can be extended to based on the region divided in plane to the both sides of plane Spatial Dimension, so as to which the corresponding space in positive area to be determined as to the positive section of robot, by the corresponding space of negative area It is determined as the negative sense section of robot, the corresponding space of side zones is determined as to the lateral section of robot.

In other scenes, when first straight line is parallel with the shirtfront of robot, and second microphone is located at precordial locations And the first microphone will directly can be extended based on the region divided in plane to the both sides of plane when being located at robot back position To Spatial Dimension, and the corresponding space in positive area is determined as to the negative sense section of robot, by the corresponding space of negative area It is determined as the positive section of robot, the corresponding space of side zones is determined as to the lateral section of robot.

Certainly, between microphone may be other position relationships in two-dimentional microphone array in another scene, for A variety of position relationships in two-dimentional microphone array between microphone, the region that plane where two-dimentional microphone array can be divided Angle conversion is carried out, to correspond to each orientation section of robot, so as to fulfill the division in the orientation section of robot.Separately Outside, other manner also can be used to the plane where two-dimentional microphone array to divide, can assists realizing the side of robot The mode of position interval division should all belong to the scope of protection of the present invention interior.

Robot thoracic cavity position is set below or with the first microphone, and second microphone is set on robot back position Situation illustrate.

After the arrangement mode and the relative position of two-dimentional microphone and robot of two-dimentional microphone array determine, it is based on The orientation section of ready-portioned robot can be used measuring sound source and play a section audio, and measuring sound source is moved around robot, is The each orientation section of acquisition corresponding boundary threshold, can set several predetermined angles, predetermined angle in each orientation section It will be as the sampled point in debugging process.Predetermined angle can be several fixed angles, for example, being with the angle between first 10 °, 30 °, 60 °, 90 °, 110 ° etc. angularly；Or predetermined angle can be determining angle with fixed angle interval, For example, using one end of first straight line as 0 ° of starting point, each 15 ° are set as a predetermined angle, and the orientation section of robot will have There are 24 predetermined angles.Certainly, other manner setting predetermined angle also can be used, as long as being capable of providing the more of each orientation section A sampled value.

When measuring sound source is moved to predetermined angle, can according to the first microphone and second microphone respectively it is collected come The voice data of self-test sound source calculates the sound energy value of the first microphone and second microphone, and is obtained based on calculating respectively The first microphone and the sound energy value of second microphone obtained calculates the first microphone and the energy ratio of second microphone is tested Value.The energy that each predetermined angle in positive section and negative sense section will correspond to first microphone and second microphone Than test value, according to the predetermined angle that positive section is included, corresponding energy ratio test value can be based on and generate positive Interval Set It closes；According to the predetermined angle that negative sense section is included, corresponding energy ratio test value generation negative sense section set can be based on, it will be negative Maximum value into section set is as the first boundary threshold, and the minimum value during positive section is gathered is as the second boundary threshold Value.

Based on the first boundary value and the second boundary threshold value of the setting of above-mentioned debugging process, since the first boundary threshold is positive The maximum energy ratio test value of corresponding first microphone in section and second microphone, therefore, is determining that target sound source is opposite When the orientation section of robot, if the energy ratio of the first microphone and second microphone is less than the first boundary threshold, you can Determine that target sound source is located at the positive section of robot.Similarly, since the second boundary threshold value is corresponding first wheat in negative sense section The minimum energy ratio test value of gram wind and second microphone, therefore, is determining azimuthal bin of the target sound source relative to robot Between when, if the energy ratio of the first microphone and second microphone be more than the first boundary threshold, you can determine that target sound source is located at The negative sense section of robot.And if the energy ratio of the first microphone and second microphone is greater than or equal to the first boundary threshold Or less than or equal to the second boundary threshold value, then it can determine target sound source neither in the positive section of robot nor in robot Negative sense section, but in the lateral section of robot.

In order to further be divided to the lateral section of robot, any microphone of the first microphone side can be chosen As third microphone, and according to third microphone and second microphone in lateral section in several predetermined angles it is collected Voice data from measuring sound source calculates the corresponding energy ratio test value of each predetermined angle in lateral section.Lateral section In each predetermined angle will a corresponding third microphone and second microphone energy ratio test value, according to lateral section Comprising predetermined angle, corresponding energy ratio test value can be based on and generate lateral section set, will be in the set of lateral section Minimum value is as third boundary threshold.

Based on the third boundary threshold of above-mentioned debugging process setting, since third boundary threshold is that lateral section is corresponding The minimum energy ratio test value of third microphone and second microphone, therefore, in the side for determining target sound source and being located at robot Behind section, if the energy ratio of third microphone and second microphone is less than third boundary threshold, you can determine target sound source Positioned at the lateral section of close third microphone side, if third sound energy value and the energy ratio of second sound energy value During less than or equal to third boundary threshold, you can determine that target sound source is located at and lean on the lateral section far from third microphone side.

In the present embodiment, since the body of robot has sound scattering, in order to more reasonably divide robot Orientation section can assist carrying out the division in orientation section by above-mentioned predetermined angle.First using the first microphone as origin, It is spaced according to predetermined angle in the plane where two-dimentional microphone array and determines predetermined angle, it will be two-dimentional further according to predetermined angle Plane where microphone array is divided into multiple predeterminable areas, chooses positive area, negative area and side zones again later Corresponding predeterminable area finally determines the forward direction of robot respectively according to positive area, negative area and side zones Section, negative sense section and lateral section.

With reference to the arrangement mode of two-dimentional microphone array shown in Fig. 8, based on two-dimensional coordinate system, (0,0), (0 ,-m), (m, 0) and (- m, 0) position is respectively arranged with microphone, wherein, the first microphone is located at (0,0) position, and second microphone is located at (0 ,-m) position, straight line are X-axis, and the corresponding angle of X-axis positive direction is 0 °, the mistake divided to the orientation section of robot Journey, it may include：

Since 0 °, each predetermined angle is determined according to predetermined angle interval；

By the region between 0 ° to 180 ° between first and the last one predetermined angle, it is determined as positive section；

By the region between 180 ° to 360 ° between first and the last one predetermined angle, it is determined as negative sense section；

0 ° and 180 ° are identified as lateral section.

For example, when predetermined angle is 15 °, it can be using the area of space between 15 ° -165 ° as the forward region of robot Between, it can be using the area of space between 195 ° -345 ° as the negative sense section of robot.

In another example when predetermined angle is 10 °, it can be using the area of space between 10 ° -170 ° as the forward region of robot Between, it can be using the area of space between 190 ° -350 ° as the negative sense section of robot

In the present embodiment, according to different robots and/or different two-dimentional microphone arrays, the first boundary threshold is determined Value, the second boundary threshold value and third boundary threshold can be to determine that target sound source is carried relative to the process in the orientation section of robot For accurately judgement basis, so as to improve the accuracy positioned to target sound source.

Fig. 7 is the structure diagram of a kind of robot that the another embodiment of the application provides, as shown in fig. 7, the robot Including basic machine 00, memory 70, processor 71 and two-dimentional microphone array 72 are provided on basic machine 00：

Two-dimentional microphone array 72 includes the first microphone and second microphone, and the first microphone is two-dimentional microphone array Middle array element center is located at any microphone in first straight line, and second microphone is array element center and the in two-dimentional microphone array One straight line mutually from microphone；

Memory 70 can be configured as storing other various data to support to set in server in storage computer program Standby upper operation.The example of these data includes any application program or the finger of method for being operated on server apparatus It enables, contact data, telephone book data, message, picture, video etc..

Memory 70 is realized by any kind of volatibility or non-volatile memory device or combination thereof, such as static Random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or light Disk.

Processor 71 is coupled with memory 70, for performing the computer program in memory 70, for：

According to the collected voice data from target sound source of the first microphone, the first microphone obtains first is calculated Sound energy value, wherein, the first microphone is that array element center is located at any Mike in first straight line in two-dimentional microphone array Wind；

According to the collected voice data from target sound source of second microphone, second microphone obtains second is calculated Sound energy value, wherein, second microphone be in two-dimentional microphone array array element center and first straight line phase from microphone；

According to the energy ratio and the first microphone of the first sound energy value and second sound energy value and the second Mike The position relationship of wind determines orientation section of the target sound source relative to robot.

In the embodiment of the present application, based on the two-dimentional microphone array being arranged in robot, by the first microphone and Acoustic energy between second microphone when position relationship, it may be determined that go out orientation section of the target sound source relative to robot, Therefore, it can determine whether out that target sound source is located at the front or rear of robot, and then realizes and the true of target sound source is accurately positioned Position.

In an alternative embodiment, the first microphone and second microphone are respectively arranged on robot thoracic cavity and back position, Processor 71 is according to the energy ratio between the first sound energy value and second sound energy value and the first microphone and The position relationship of two microphones when determining orientation section of the target sound source relative to robot, is specifically used for：

When energy ratio is less than the first boundary threshold, determine that target sound source is located at the negative sense section of robot；

When energy ratio is more than the second boundary threshold value, determine that target sound source is located at the positive section of robot；

When energy ratio is greater than or equal to the first boundary threshold and is less than or equal to the second boundary threshold value, target sound is determined Source is located at the lateral section of robot.

In an alternative embodiment, processor 71 is also used after determining that target sound source is located at the lateral section of robot In：

The third microphone institute for being located in first straight line according to array element center and being located at the first microphone side is collected Voice data from target sound source calculates the third sound energy value that third microphone obtains；

When third sound energy value and the energy ratio of second sound energy value are more than third boundary threshold, target is determined Sound source is located at close to the lateral section of the first microphone side；

When third sound energy value and the energy ratio of second sound energy value are less than or equal to third boundary threshold, really The sound source that sets the goal is located remotely from the lateral section of third microphone side.

Calculating the 4th microphone that array element center is located in first straight line and the 5th microphone, currently acquisition comes from target sound Delay inequality between the voice signal in source, wherein, the 4th microphone and the 5th microphone are the arbitrary microphone in first straight line；

When delay inequality is less than 0, determine that target sound source is located at close to the lateral section of the 4th microphone side；

When delay inequality is more than 0, determine that target sound source is located remotely from the lateral section of the 4th microphone side.

In an alternative embodiment, after determining that target sound source is located at the negative sense section of robot, processor 71 is also used In：

Robot is controlled to rotate 180 °；

Several microphones being located at according to array element center in first straight line currently acquire the voice signal from target sound source Between delay inequality, calculate adjust the angle；

It is rotated according to control robot is adjusted the angle to face target sound source.

Several microphones being located at according to array element center in first straight line currently acquire the voice signal from target sound source Between delay inequality, calculate coarse adjustment angle；

When coarse adjustment angle is more than 0 ° and is not more than 90 °, using coarse adjustment angle with the sum of 90 ° as final angle, and control Robot rotates clockwise final angle；

When coarse adjustment angle is more than 90 ° and during less than 180 °, using 270 ° with the difference of coarse adjustment angle as final angle, and control Robot inverse hour hands processed rotate final angle.

In an alternative embodiment, processor 71 is after control robot clockwise or counterclockwise final angle, tool Body is used for：

Several microphones being located at according to array element center in first straight line currently acquire the voice signal from target sound source Between delay inequality, calculate vernier angle；

According to vernier angle, control robot is rotated to face target sound source.

In an alternative embodiment, after determining that target sound source is located at the positive section of robot, processor 71 is also used In：

When adjusting the angle more than 0 ° and no more than 90 °, 90 ° and are controlled with the difference of adjustment angle as final angle Robot processed rotates clockwise final angle；

When adjusting the angle more than 90 ° and being less than 180 °, the difference with 270 ° will be adjusted the angle as final angle, and control Robot inverse hour hands processed rotate final angle.

In an alternative embodiment, in the energy ratio according to the first sound energy value and second sound energy value, determine Before orientation section belonging to target sound source, processor 71 is additionally operable to：

According to the position relationship between microphone in two-dimentional microphone array, the orientation section of robot is divided into forward direction Section, negative sense section and lateral section；

It is adopted in several predetermined angles in negative sense section and positive section respectively according to the first microphone and second microphone The voice data from measuring sound source collected calculates negative sense section energy ratio corresponding with predetermined angle each in positive section Test value；

According to third microphone and second microphone in lateral section in several predetermined angles it is collected come self-test The voice data of sound source calculates the corresponding energy ratio test value of each predetermined angle in lateral section；Wherein, measuring sound source is surround Robot moves；

It respectively will be in the corresponding energy ratio test value of predetermined angle each in negative sense section, normal interval and lateral section Maximum energy ratio test value is as the first boundary threshold, the second boundary threshold value and third boundary threshold.

In an alternative embodiment, based on two-dimensional coordinate system, distinguish in (0,0), (0 ,-m), (m, 0) and (- m, 0) position Microphone is provided with, wherein, the first microphone is located at (0,0) position, and second microphone is located at (0 ,-m) position, and straight line is X-axis, The corresponding angle of X-axis positive direction is 0 °, and processor is according to the position relationship between microphone in two-dimentional microphone array, by machine When the orientation section of device people is divided into positive section, negative sense section and lateral section, it is specifically used for：

0 ° and 180 ° are identified as lateral section.

Further, as shown in fig. 7, the robot further includes：Communication component 73, display 74, power supply module 75 etc. are other Component.Members are only schematically provided in Fig. 7, are not meant to that robot only includes component shown in Fig. 7.

Wherein, wired or wireless side between equipment and other equipment where communication component 73 is configured to facilitate communication component The communication of formula.Equipment where communication component can access the wireless network based on communication standard, such as WiFi, 2G or 3G or they Combination.In one exemplary embodiment, communication component is received via broadcast channel from the wide of external broadcasting management system Broadcast signal or broadcast related information.In one exemplary embodiment, the communication component further includes near-field communication (NFC) mould Block, to promote short range communication.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) skill can be based in NFC module Art, ultra wide band (UWB) technology, bluetooth (BT) technology and other technologies are realized.

Wherein, display 74 includes screen, and screen can include liquid crystal display (LCD) and touch panel (TP).Such as Fruit screen includes touch panel, and screen may be implemented as touch screen, to receive input signal from the user.Touch panel packet One or more touch sensors are included to sense the gesture on touch, slide, and touch panel.The touch sensor can not The boundary of a touch or slide action is only sensed, but also detects duration associated with the touch or slide operation and pressure Power.

Wherein, power supply module 75, the various assemblies of equipment provide electric power where power supply module.Power supply module can include Power-supply management system, one or more power supplys and other are related to for equipment generation, management and distribution electric power where power supply module The component of connection.

Fig. 9 shows a kind of shape of robot.Robot shape in the embodiment of the present application can there are many form, examples Such as, the humanoid robot shown in Fig. 9, can also be other forms certainly.

Correspondingly, the embodiment of the present application also provides a kind of computer readable storage medium for being stored with computer program, meter Calculation machine program is performed each step that can be realized and can be performed in above method embodiment by robot.

It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the application Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the application The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.

The application is with reference to the flow according to the method for the embodiment of the present application, equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.

These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or The function of being specified in multiple boxes.

These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a box or multiple boxes.

In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net Network interface and memory.

Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium Example.

Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data. The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, CD-ROM read-only memory (CD-ROM), Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, the storage of tape magnetic rigid disk or other magnetic storage apparatus Or any other non-transmission medium, available for storing the information that can be accessed by a computing device.It defines, calculates according to herein Machine readable medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.

It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability Comprising so that process, method, commodity or equipment including a series of elements are not only including those elements, but also wrap Include other elements that are not explicitly listed or further include for this process, method, commodity or equipment it is intrinsic will Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that wanted including described Also there are other identical elements in the process of element, method, commodity or equipment.

The foregoing is merely embodiments herein, are not limited to the application.For those skilled in the art For, the application can have various modifications and variations.All any modifications made within spirit herein and principle are equal Replace, improve etc., it should be included within the scope of claims hereof.

Claims

1. a kind of positioning sound source by robot, which is characterized in that, the method includes：

According to the collected voice data from target sound source of the first microphone, first microphone obtains first is calculated Sound energy value, wherein, first microphone is that array element center is located at any in first straight line in two-dimentional microphone array Microphone；

According to the collected voice data from the target sound source of second microphone, calculate what the second microphone obtained Second sound energy value, wherein, the second microphone is array element center in the two-dimentional microphone array and described first straight Line mutually from microphone；

According to the energy ratio of first sound energy value and the second sound energy value and first microphone with The position relationship of the second microphone determines orientation section of the target sound source relative to the robot.

2. according to the method described in claim 1, it is characterized in that, first microphone and the second microphone are set respectively In the robot thoracic cavity and back position；It is described according between first sound energy value and the second sound energy value Energy ratio and first microphone and the second microphone position relationship, determine the target sound source relative to The orientation section of the robot, including：

When the energy ratio is less than the first boundary threshold, determine that the target sound source is located at the negative sense area of the robot Between；

When the energy ratio is more than the second boundary threshold value, determine that the target sound source is located at the forward region of the robot Between；

When the energy ratio is greater than or equal to the first boundary threshold and is less than or equal to the second boundary threshold value, the mesh is determined Mark sound source is located at the lateral section of the robot.

3. according to the method described in claim 2, it is characterized in that, in the side for determining the target sound source and being located at the robot After section, the method further includes：

It is acquired according to the third microphone that array element center is located in the first straight line and positioned at the first microphone side The voice data from the target sound source arrived calculates the third sound energy value that the third microphone obtains；

When the third sound energy value and the energy ratio of the second sound energy value are more than third boundary threshold, determine The target sound source is located at close to the lateral section of the third microphone side；

When the third sound energy value and the energy ratio of the second sound energy value are less than or equal to the third boundary During threshold value, determine that the target sound source is located remotely from the lateral section of the third microphone side.

4. according to the method described in claim 2, it is characterized in that, in the side for determining the target sound source and being located at the robot After section, the method further includes：

Calculating the 4th microphone that array element center is located in the first straight line and the 5th microphone, currently acquisition comes from the mesh The delay inequality between the voice signal of sound source is marked, wherein, the 4th microphone and the 5th microphone is in the first straight lines Arbitrary microphone；

When the delay inequality is less than 0, determine that the target sound source is located at close to the lateral section of the 4th microphone side；

When the delay inequality is more than 0, determine that the target sound source is located remotely from the lateral section of the 4th microphone side.

5. according to the method described in claim 2, it is characterized in that, determining that the target sound source is located at the negative of the robot After section, the method further includes：

The robot is controlled to rotate 180 °；

Several microphones being located at according to array element center in the first straight line currently acquire the sound from the target sound source Delay inequality between signal is calculated and is adjusted the angle；

The robot is controlled to rotate to target sound source described in face according to described adjust the angle.

6. according to the method described in claim 2, it is characterized in that, determining that the target sound source is located at the negative of the robot After section, the method further includes：

Several microphones being located at according to array element center in the first straight line currently acquire the sound from the target sound source Delay inequality between signal calculates coarse adjustment angle；

When the coarse adjustment angle is more than 0 ° and is not more than 90 °, using the coarse adjustment angle with the sum of 90 ° as final angle, and The robot is controlled to rotate clockwise the final angle；

When the coarse adjustment angle is more than 90 ° and during less than 180 °, using 270 ° with the difference of the coarse adjustment angle as final angle, And the robot inverse hour hands is controlled to rotate the final angle.

7. according to the method described in claim 6, it is characterized in that, controlling institute clockwise or counterclockwise of the robot After stating final angle, the method further includes：

Several microphones being located at according to array element center in the first straight line currently acquire the sound from the target sound source Delay inequality between signal calculates vernier angle；

According to the vernier angle, the robot is controlled to rotate to target sound source described in face.

8. according to the method described in claim 2, it is characterized in that, determining that the target sound source is being located at the robot just After section, the method further includes：

It is adjusted the angle when described more than 0 ° and during no more than 90 °, using 90 ° with the difference of the adjustment angle as final angle, And the robot is controlled to rotate clockwise the final angle；

When the adjustment angle is more than 90 ° and is less than 180 °, the difference with 270 ° will be adjusted the angle as final angle, and control It makes the robot inverse hour hands and rotates the final angle.

9. according to the method described in claim 1-8, which is characterized in that according to first sound energy value and described second The energy ratio of sound energy value, before determining the orientation section belonging to target sound source, the method further includes：

According to the position relationship between microphone in the two-dimentional microphone array, the orientation section of the robot is divided into Positive section, negative sense section and lateral section；

It is preset according to first microphone and the second microphone are several in the negative sense section and positive section respectively The collected voice data from measuring sound source in angle calculates each predetermined angle in the negative sense section and positive section Corresponding energy ratio test value；

It is come from according to third microphone and the second microphone are collected in several predetermined angles in the lateral section The voice data of measuring sound source calculates the corresponding energy ratio test value of each predetermined angle in the lateral section；Wherein, it is described Measuring sound source is moved around the robot；

It respectively will be in the corresponding energy ratio test value of predetermined angle each in the negative sense section, normal interval and lateral section Maximum energy ratio test value is as the first boundary threshold, the second boundary threshold value and third boundary threshold.

10. according to the method described in claim 9, it is characterized in that, based on two-dimensional coordinate system, in (0,0), (0 ,-m), (m, 0) And (- m, 0) position is respectively arranged with microphone, wherein, first microphone is located at (0,0) position, the second microphone Positioned at (0 ,-m) position, the straight line is the X-axis, and the corresponding angle of X-axis positive direction is 0 °, described according to the two-dimentional Mike Position relationship in wind array between microphone, by the orientation section of the robot be divided into positive section, negative sense section and Lateral section, including：

0 ° and 180 ° are identified as lateral section.

11. a kind of robot, which is characterized in that including：Basic machine is provided with memory, processor on the basic machine With two-dimentional microphone array；

The two dimension microphone array includes microphone and array element center and described first that array element center is located in first straight line Straight line mutually from microphone；

The memory, for storing computer program；

The processor, for performing the computer program, for：

According to the collected voice data from target sound source of the first microphone, first microphone obtains first is calculated Sound energy value, wherein, first microphone is located at any microphone in first straight line for array element center；

According to the collected voice data from the target sound source of second microphone, calculate what the second microphone obtained Second sound energy value, wherein, the second microphone for array element center and the first straight line phase from microphone；