CN108680902A - A kind of sonic location system based on multi-microphone array - Google Patents
A kind of sonic location system based on multi-microphone array Download PDFInfo
- Publication number
- CN108680902A CN108680902A CN201810682610.2A CN201810682610A CN108680902A CN 108680902 A CN108680902 A CN 108680902A CN 201810682610 A CN201810682610 A CN 201810682610A CN 108680902 A CN108680902 A CN 108680902A
- Authority
- CN
- China
- Prior art keywords
- microphone array
- microphone
- sound source
- sound
- system based
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000010365 information processing Effects 0.000 claims abstract description 11
- 241000209140 Triticum Species 0.000 claims description 5
- 235000021307 Triticum Nutrition 0.000 claims description 5
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims 2
- 230000003796 beauty Effects 0.000 abstract description 3
- 230000001737 promoting effect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 11
- 230000004807 localization Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000003491 array Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Circuit For Audible Band Transducer (AREA)
Abstract
The present invention relates to a kind of sonic location systems based on multi-microphone array, including multiple audio sample devices and for according to multiple audio sample devices collected audio obtain the information processing centre of sound source position, system further includes electrically connected system, the electrically connected system includes skirting shell, with the electrical guide rail being placed in skirting shell, audio sample device is multi-microphone array, is set on skirting shell, and its power input is connect with electrical guide rail.Compared with prior art, the present invention combines microphone array and electrical guide rail connection structure, it each microphone array and is set on the skirting shell of electrically connected system, while convenient for arrangement, it will not be excessively lofty, by that can carry out that microphone array flexibly is arranged, effectively evades dead angle etc., the beauty of environment is kept while promoting positioning performance.
Description
Technical field
The present invention relates to a kind of auditory localization technologies, more particularly, to a kind of auditory localization system based on multi-microphone array
System.
Background technology
Smart home is received by more and more people, but in the past smart home device control signal input according to
Rely in artificial, the mode of typewriting or selection, but this is apparently not final input mode, because input process is excessively cumbersome.
With the development of semantic understanding technology in recent years so that acoustic control be entered as in order to may, more and more producers
Start intelligent sound product of staking on, is large quantities of intelligent sounds of representative by approach the price of cost price into marketing using small love sound equipment
It sells, purpose is to capture the entrance of smart home.
However most of sound control smart home technologies are all conceived to semantics recognition now, although semantic understanding is strictly this neck
The core technology in domain, but light have accurately semantics recognition technology be still not able to provide best experience, typically, Hen Duoshi
Time needs to position sound source, for example, after in the instruction that user sends out including directive property pronouns such as " we ", it is often subsequent
Processing executes the positioning for needing to be related to sound source, and intelligent sound is powerless process part operation at this time because its cannot obtain compared with
For accurate sound source position.
Certainly there are also indoor auditory localization technologies, such as Chinese patent CN 103364761A to disclose a kind of interior
Sonic location system and the method for using sound source in the system orientation room, are related to auditory localization technology.It is in order to solve due to
Block or acoustic target sounding be towards the positioning blind area brought, under different application background to positioning accuracy it is different require it is adaptive
The problems such as complexity of adjustment system operations, precision is not high.It, will by the way that sound transducer is rationally distributed to three-dimensional space
The signal time sequence captured between sensor carries out related operation and obtains reaching time-difference, using the obtained time difference, resolves
Auditory localization model obtains the 3 D stereo positioning result to sound source；Sound source can be avoided very well by the distribution of rational sensor
The blind area of positioning occurs.The present invention is suitable for many indoor positioning to acoustic target.However it does not well solve sensing
The problem of being merged between device and environment, cause it is very lofty, it is not beautiful enough.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind being based on multi-microphone
The sonic location system of array.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of sonic location system based on multi-microphone array, including multiple audio sample devices and for according to multiple
Audio sample device collected audio obtain the information processing centre of sound source position, the system also includes electrically connected systems
System, which includes skirting shell, and the electrical guide rail being placed in skirting shell, the audio sample device
For microphone array, it is set on skirting shell, and its power input is connect with electrical guide rail.
The microphone array includes：
Microphone, is equipped with multiple altogether, is used for sampled audio, and converts the audio into as electric signal；
Analog-digital converter is connect with all microphones, for electric signal to be converted to digital signal from analog signal form
Form；
Controller is connect with analog-digital converter converter；
Wireless data transceiver module is connect with controller, for receiving and dispatching electric signal.
Microphone number in single microphone array is 4~6.
The wireless data transceiver module is WiFi module.
The microphone array further includes casing, the analog-digital converter, controller, wireless data transceiver module and Mike
Wind is set in casing, and the casing is equipped with and passes through the through-hole to microphone acquisition port for air.
The microphone array is set to above skirting shell and is slided along skirting shell extending direction.
Described information processing center includes the processor and memory being connected with each other, and is stored on memory and by institute
The program of processor execution is stated, the processor realizes following steps when executing described program：
Step S1：Receive the intensity of sound and orientation of the sound source of each microphone array acquisition；
Step S2：Sound source is calculated at a distance from each microphone in the intensity of sound acquired according to each microphone array；
Step S3：According to sound source at a distance from each microphone array and corresponding orientation, in conjunction with each microphone array
Coordinate obtains the coordinate of sound source.
The step S3 is specifically included：
Step S31：According to sound source at a distance from each microphone array and corresponding orientation, respectively obtain by each Mike
The sound source coordinate that wind array obtains；
Step S32：According to the sound source coordinate obtained by each microphone array, final sound source coordinate is obtained after averaging.
In the step S1, the intensity of sound of the sound source of microphone array acquisition is specially：
Wherein：Volume is the intensity of sound of the sound source of microphone array acquisition, skFor by k-th of wheat in microphone array
The collected intensity of sound of gram wind institute, n are the number of microphone in microphone array.
Compared with prior art, the invention has the advantages that：
1) microphone array and electrical guide rail connection structure are combined, each microphone array and is set to electrically connected system
Skirting shell on, convenient for arrangement while, will not be excessively lofty, flexibly microphone array is set by that can carry out,
Effectively evade dead angle etc., the beauty of environment is kept while promoting positioning performance.
2) microphone array is set to above skirting shell and is slided along skirting shell extending direction, so as to basis
Actual conditions adjust the position of microphone array, and without having to worry about powerup issue.
3) sound source position is obtained using triangulation location mode, technology maturation, as a result accurately.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the back schematic diagram of electrically connected system；
Fig. 3 is the structural schematic diagram of microphone array；
Fig. 4 is the flow diagram of localization method；
Fig. 5 is positioning principle schematic diagram in embodiment two；
Wherein：1, microphone array, 2, information processing centre, 3, skirting shell, 4, electrical guide rail, 11, microphone,
12, analog-digital converter, 13, controller, 14, wireless data transceiver module, 15, casing.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment one：
A kind of sonic location system based on multi-microphone array, as shown in Figure 1, including multiple audio sample devices and use
According to multiple audio sample devices collected audio obtain the information processing centre 2 of sound source position, specifically, due to such as
What proposes specific solution according to 2 localization of sound source of audio-frequency information and information processing centre in many documents,
Such as Chinese patent CN 103364761A then provide a mode, are no longer described in detail in the present embodiment, the present embodiment emphasis illustrates
The structure of the application is improved, as shown in Fig. 2, system further includes electrically connected system, which includes skirting shell
Body 3, and the electrical guide rail 4 that is placed in skirting shell 3, audio sample device are microphone array 1, are set to skirting shell
On 3, and its power input is connect with electrical guide rail 4.
As shown in figure 3, microphone array 1 includes：
Microphone 11, is equipped with multiple altogether, is used for sampled audio, and converts the audio into as electric signal；
Analog-digital converter 12 is connect with all microphones 11, for electric signal to be converted to number from analog signal form
Signal form；
Controller 13 is connect with 12 converter of analog-digital converter；
Wireless data transceiver module 14 is connect with controller 13, for receiving and dispatching electric signal.
Preferably, 11 number of microphone in single microphone array 1 is 4~6.
Preferably, wireless data transceiver module 14 is WiFi module.
Microphone array 1 further includes casing 15, analog-digital converter 12, controller 13, wireless data transceiver module 14 and wheat
Gram wind 11 is set in casing 15, and casing 15 is equipped with and passes through the through-hole to 11 acquisition port of microphone for air.
Microphone array 1 is set to 3 top of skirting shell and is slided along 3 extending direction of skirting shell, so as to root
The position of microphone array 1 is adjusted according to actual conditions, and without having to worry about powerup issue.
Since by microphone array 1 and the combination of 4 connection structure of electrical guide rail, each microphone array 1 connects with electric power is set to
, will not be excessively lofty while convenient for arrangement on the skirting shell 3 of welding system, flexibly Mike is set by that can carry out
Wind array 1 effectively evades dead angle etc., and the beauty of environment is kept while promoting positioning performance
Embodiment two
It is compared to a kind of dramatically different of embodiment in the present embodiment, present embodiments provides changing for localization method
Into, specifically, information processing centre 2 include be connected with each other processor and memory, and be stored on memory and by
The program that device executes is managed, processor realizes following steps when executing program：
Step S1：Receive the intensity of sound and orientation of the sound source of the acquisition of each microphone array 1, wherein microphone array 1 is adopted
The intensity of sound of the sound source of collection is specially：
Wherein：Volume is the intensity of sound for the sound source that microphone array 1 acquires, skFor by k-th in microphone array 1
The 11 collected intensity of sound of institute of microphone, n is the number of microphone 11 in microphone array 1.
Step S2：Sound source is calculated at a distance from each microphone 11 in the intensity of sound acquired according to each microphone array 1；
Step S3：According to sound source at a distance from each microphone array 1 and corresponding orientation, in conjunction with each microphone array 1
Coordinate, obtain the coordinate of sound source.
Step S3 is specifically included：
Step S31：According to sound source at a distance from each microphone array 1 and corresponding orientation, respectively obtain by each Mike
The sound source coordinate that wind array 1 obtains；
Step S32：According to the sound source coordinate obtained by each microphone array 1, final sound source coordinate is obtained after averaging.
As shown in figure 5, positioning paddy process is introduced by taking two microphone arrays 1 as an example below, it is assumed that there are two microphone array
Row 1 (patent is not limited in two microphone arrays 1, can there is multiple microphone arrays 1), are denoted as A1 and A2 respectively, two
The distance between microphone array 1 is denoted as d, and the intensity that two microphones 11 are calculated is respectively volume1 and volume2,
According to the relationship between intensity of sound and distance, the distance that can estimate sound source to microphone array 1 is respectively dist1 and dist2,
The orientation that the sound source that technology obtains is formed using steerable beam is respectively angle1 and angle2, it is possible thereby to using triangulation
The position (x, y) that sound source is calculated in technology is：
X=mean (dist1*cos (angle1), dist2*cos (angle2))
Y=mean (dist1*sin (angle1), dist2*sin (angle2))
Mean function representations therein are averaged.
Indoor sonic location system based on multi-microphone array 1 consists of two parts：When multiple microphone arrays 1,
Each microphone array 1 includes a MCU, a WiFi module, ADC and 4~6 microphone 11；Second is that acoustic information
Processing center 2, including MCU and WiFi module.Each microphone 11 on 1 plate of microphone array can obtain sound
The analog signal of sound is converted to digital signal by ADC chips, and the intensity of sound then can be directly calculated on MCU, utilizes
Beamforming algorithm can carry out enhancing, the denoising of signal, and calculate the orientation of sound, finally utilize WiFi module will be each
The intensity of 1 sound of microphone array and azimuth synchro are to acoustic information system center 2.Information processing centre 2 passes through WiFi module
The intensity of sound and orientation for receiving the transmission of each microphone array 1, then calculate sound source in room using principle of triangulation
In position.
Since indoor sonic location system uses distributed multi-microphone array 1, the independent fortune of each microphone array 1
Row will realize accurate auditory localization, and it is the critical issue for needing to solve that the signal between each microphone array 1, which synchronizes,.This
System intercepts voice signal using word is waken up, and then analyzes the intensity and orientation of voice signal, finally utilizes the original of triangulation
Reason carries out auditory localization.Specific way, which is sound, can pass to 1 module of each microphone array, when microphone array 1 captures
When the instruction of wake-up, it will just wake up the corresponding voice signal of instruction and intercept out, and calculate the intensity of sound of the segment signal, and utilize
The orientation that beamforming algorithm calculates signal sends it to sound after each microphone array 1 calculates intensity of sound and orientation
Sound information processing centre 2, acoustic information system center 2 is after receiving the intensity of sound and orientation of each microphone array 1, profit
The position of sound source is calculated with principle of triangulation.
Claims (9)
1. a kind of sonic location system based on multi-microphone array, including multiple audio sample devices and for according to multiple sounds
Frequency sampling device collected audio obtain the information processing centre of sound source position, which is characterized in that the system also includes
Electrically connected system, the electrically connected system include skirting shell, and the electrical guide rail being placed in skirting shell, the sound
Frequency sampling device is microphone array, is set on skirting shell, and its power input is connect with electrical guide rail.
2. a kind of sonic location system based on multi-microphone array according to claim 1, which is characterized in that the wheat
Gram wind array includes：
Microphone, is equipped with multiple altogether, is used for sampled audio, and converts the audio into as electric signal；
Analog-digital converter is connect with all microphones, for electric signal to be converted to digital signal form from analog signal form；
Controller is connect with analog-digital converter converter；
Wireless data transceiver module is connect with controller, for receiving and dispatching electric signal.
3. a kind of sonic location system based on multi-microphone array according to claim 2, which is characterized in that single more
Microphone number in microphone array is 4~6.
4. a kind of sonic location system based on multi-microphone array according to claim 2, which is characterized in that the nothing
Line data transmit-receive module is WiFi module.
5. a kind of sonic location system based on multi-microphone array according to claim 2, which is characterized in that the wheat
Gram wind array further includes casing, and the analog-digital converter, controller, wireless data transceiver module and microphone are set to casing
It is interior, and the casing is equipped with and passes through the through-hole to microphone acquisition port for air.
6. a kind of sonic location system based on multi-microphone array according to claim 5, which is characterized in that the wheat
Gram wind array is set to above skirting shell and is slided along skirting shell extending direction.
7. a kind of sonic location system based on multi-microphone array according to claim 2, which is characterized in that the letter
Breath processing center includes the processor and memory being connected with each other, and is stored on memory and is executed by the processor
Program, the processor realize following steps when executing described program：
Step S1：Receive the intensity of sound and orientation of the sound source of each microphone array acquisition；
Step S2：Sound source is calculated at a distance from each microphone in the intensity of sound acquired according to each microphone array；
Step S3：According to sound source at a distance from each microphone array and corresponding orientation, in conjunction with the seat of each microphone array
Mark, obtains the coordinate of sound source.
8. a kind of sonic location system based on multi-microphone array according to claim 7, which is characterized in that the step
Rapid S3 is specifically included：
Step S31：According to sound source at a distance from each microphone array and corresponding orientation, respectively obtain by each microphone array
Arrange obtained sound source coordinate；
Step S32：According to the sound source coordinate obtained by each microphone array, final sound source coordinate is obtained after averaging.
9. a kind of sonic location system based on multi-microphone array according to claim 7, which is characterized in that the step
In rapid S1, the intensity of sound of the sound source of microphone array acquisition is specially：
Wherein：Volume is the intensity of sound of the sound source of microphone array acquisition, skFor by k-th of microphone in microphone array
The collected intensity of sound of institute, n are the number of microphone in microphone array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810682610.2A CN108680902A (en) | 2018-06-27 | 2018-06-27 | A kind of sonic location system based on multi-microphone array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810682610.2A CN108680902A (en) | 2018-06-27 | 2018-06-27 | A kind of sonic location system based on multi-microphone array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108680902A true CN108680902A (en) | 2018-10-19 |
Family
ID=63812402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810682610.2A Pending CN108680902A (en) | 2018-06-27 | 2018-06-27 | A kind of sonic location system based on multi-microphone array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108680902A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109788382A (en) * | 2019-01-25 | 2019-05-21 | 深圳大学 | A kind of distribution microphone array pickup system and method |
| CN113156372A (en) * | 2021-04-07 | 2021-07-23 | 深圳鱼亮科技有限公司 | Multi-microphone array data transmission system based on reliable channel |
| CN113203988A (en) * | 2021-04-29 | 2021-08-03 | 北京达佳互联信息技术有限公司 | Sound source positioning method and device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103364761A (en) * | 2013-07-12 | 2013-10-23 | 哈尔滨工业大学 | Positioning system of indoor sound source and method using positioning system to position indoor sound source |
| CN103956620A (en) * | 2014-04-27 | 2014-07-30 | 相舆科技（上海）有限公司 | Smart home electric power connecting system |
| JP2015081824A (en) * | 2013-10-22 | 2015-04-27 | 株式会社国際電気通信基礎技術研究所 | Radiated sound intensity map creation system, mobile body, and radiated sound intensity map creation method |
| CN107396244A (en) * | 2017-08-15 | 2017-11-24 | 浙江新再灵科技股份有限公司 | A kind of sonic location system and method based on microphone array |
| CN107643509A (en) * | 2016-07-22 | 2018-01-30 | 腾讯科技（深圳）有限公司 | Localization method, alignment system and terminal device |
| CN107658647A (en) * | 2017-08-15 | 2018-02-02 | 深圳市徽晟信息技术有限公司 | A kind of wall jack |
| CN208520985U (en) * | 2018-06-27 | 2019-02-19 | 相舆科技（上海）有限公司 | A kind of sonic location system based on multi-microphone array |
-
2018
- 2018-06-27 CN CN201810682610.2A patent/CN108680902A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103364761A (en) * | 2013-07-12 | 2013-10-23 | 哈尔滨工业大学 | Positioning system of indoor sound source and method using positioning system to position indoor sound source |
| JP2015081824A (en) * | 2013-10-22 | 2015-04-27 | 株式会社国際電気通信基礎技術研究所 | Radiated sound intensity map creation system, mobile body, and radiated sound intensity map creation method |
| CN103956620A (en) * | 2014-04-27 | 2014-07-30 | 相舆科技（上海）有限公司 | Smart home electric power connecting system |
| CN107643509A (en) * | 2016-07-22 | 2018-01-30 | 腾讯科技（深圳）有限公司 | Localization method, alignment system and terminal device |
| CN107396244A (en) * | 2017-08-15 | 2017-11-24 | 浙江新再灵科技股份有限公司 | A kind of sonic location system and method based on microphone array |
| CN107658647A (en) * | 2017-08-15 | 2018-02-02 | 深圳市徽晟信息技术有限公司 | A kind of wall jack |
| CN208520985U (en) * | 2018-06-27 | 2019-02-19 | 相舆科技（上海）有限公司 | A kind of sonic location system based on multi-microphone array |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109788382A (en) * | 2019-01-25 | 2019-05-21 | 深圳大学 | A kind of distribution microphone array pickup system and method |
| CN113156372A (en) * | 2021-04-07 | 2021-07-23 | 深圳鱼亮科技有限公司 | Multi-microphone array data transmission system based on reliable channel |
| CN113156372B (en) * | 2021-04-07 | 2023-12-19 | 深圳鱼亮科技有限公司 | Multi-microphone array data transmission system based on reliable channel |
| CN113203988A (en) * | 2021-04-29 | 2021-08-03 | 北京达佳互联信息技术有限公司 | Sound source positioning method and device |
| CN113203988B (en) * | 2021-04-29 | 2023-11-21 | 北京达佳互联信息技术有限公司 | Sound source positioning method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109599124B (en) | Audio data processing method and device and storage medium | |
| ES2953525T3 (en) | Voice recognition method and device, storage medium and air conditioner | |
| CN110992974B (en) | Speech recognition method, apparatus, device and computer readable storage medium | |
| CN110364166B (en) | Electronic equipment for realizing speech signal recognition | |
| CN109272989B (en) | Voice wake-up method, apparatus and computer readable storage medium | |
| CN110875060A (en) | Voice signal processing method, device, system, equipment and storage medium | |
| CN107346661B (en) | Microphone array-based remote iris tracking and collecting method | |
| CN109286875A (en) | For orienting method, apparatus, electronic equipment and the storage medium of pickup | |
| JP2007221300A (en) | Robot and control method of robot | |
| CN106898360B (en) | Audio signal processing method and device and electronic equipment | |
| CN108680902A (en) | A kind of sonic location system based on multi-microphone array | |
| CN112513983A (en) | Wearable system speech processing | |
| CN109147787A (en) | A kind of smart television acoustic control identifying system and its recognition methods | |
| CN108549052A (en) | A kind of humorous domain puppet sound intensity sound localization method of circle of time-frequency-spatial domain joint weighting | |
| CN106992010A (en) | Without the microphone array speech enhancement device under the conditions of direct sound wave | |
| CN108447483A (en) | Speech recognition system | |
| CN114566171A (en) | Voice awakening method and electronic equipment | |
| CN110517702B (en) | Signal generation method, and voice recognition method and device based on artificial intelligence | |
| CN208520985U (en) | A kind of sonic location system based on multi-microphone array | |
| US20150039314A1 (en) | Speech recognition method and apparatus based on sound mapping | |
| CN106772245A (en) | Sound localization method and device | |
| CN208538474U (en) | Speech recognition system | |
| CN114464184B (en) | Method, apparatus and storage medium for speech recognition | |
| CN110646763A (en) | Sound source positioning method and device based on semantics and storage medium | |
| CN105025416B (en) | A kind of portable two microphones Sound sources identification and localization device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |