CN109164414A - Localization method, device and storage medium based on microphone array - Google Patents
Localization method, device and storage medium based on microphone array Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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- Circuit For Audible Band Transducer (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of localization method based on microphone array, device and storage mediums, applied to robot, the following steps are included: obtaining the sound that sound source issues by microphone array, and record the time difference that each microphone in the microphone array gets the sound；According to the distance between each microphone in the time difference and preset microphone array, the position of the sound source is positioned by the first algorithm；According to the position of the sound source, controls the robot and move so that the robot towards the sound source.The present invention is obtained the position of sound and localization of sound source that sound source issues using microphone array, the precision of auditory localization is improved under lesser calculation amount by location algorithm.
Description
Technical field
The present invention relates to acoustics signal processing technical field more particularly to a kind of localization method based on microphone array,
Device and storage medium.
Background technique
With the development of electronic information technology and acoustic technique, the auditory localization technology based on microphone array is more and more
Ground is used in various products, microphone array, is referred to and is made of several microphones, is arranged according to certain space geometry structure
Array made of column.In common sound source sensory perceptual system, it is limited to external noise environment, number of microphone, structure installation side
Formula and algorithm performance etc. are only able to detect the direction and position of substantially sound source.Auditory localization technology becomes "smart" products
Focus on research direction reaches currently, how to utilize less microphone, with simple location algorithm, smaller calculating data volume
To accurate positioning result, become technical field of acoustics urgent problem to be solved.
Summary of the invention
The main purpose of the present invention is to provide a kind of localization method based on microphone array, device and storage medium,
Aim to solve the problem that it is how easy by microphone array, quickly localization of sound source the problem of.
To achieve the above object, the present invention provides a kind of localization method based on microphone array and is applied to robot, institute
State robot and be provided with microphone array, the localization method based on microphone array the following steps are included:
The sound that sound source issues is obtained by microphone array, and records each microphone in the microphone array and gets
The time difference of the sound；
It is fixed by the first algorithm according to the distance between each microphone in the time difference and preset microphone array
The position of the position sound source；
According to the position of the sound source, controls the robot and move so that the robot towards the sound source.
Optionally, the position according to the sound source, control robot move so that robot towards the sound source
The step of after include:
The semanteme that the sound is identified by the second algorithm, obtains control instruction；
The robot, which is controlled, according to the control instruction completes corresponding actions.
Optionally, the semanteme for passing through the second algorithm and identifying the sound, the step of obtaining control instruction include:
According to the sound that the sound source issues, the signal data of the sound is obtained；
According to the signal data, the semanteme of the sound is identified by speech recognition algorithm；
Control instruction is obtained according to the semanteme.
Optionally, described that the sound that sound source issues is obtained by microphone array, and record each in the microphone array
Microphone was got before the step of time difference of the sound
Extraneous sound is obtained, signal data is obtained according to the sound；
The signal data is identified by speech recognition algorithm, to identify sound source from the sound.
Optionally, described according to the distance between each microphone in the time difference and preset microphone array, lead to
Crossing the step of the first algorithm positions the position of the sound source includes:
According to the time difference, the range difference of the sound source Yu each microphone is calculated；
It is fixed by the first algorithm according to the distance between microphone each in preset microphone array and the range difference
The position of the position sound source.
Optionally, the microphone array includes four microphones, and four microphones constitute positive tetrahedron structure, and
Four microphones are respectively arranged at four vertex of the positive tetrahedron structure.
Optionally, described according to the distance between each microphone in the time difference and preset microphone array, lead to
Crossing the step of the first algorithm positions the position of the sound source includes:
The range difference that sound source and each microphone are calculated using preset first calculation formula, wherein the first calculation formula
Are as follows:
Wherein sound source coordinate is S (x, y, z), d1、d2、d3、d4Respectively indicate sound source to four microphones (array) away from
From sound source reaches other three microphones and microphone m1Time difference be respectively Δ t21、Δt31With Δ t41, then microphone it
Between path difference be respectively d2-d1=υ Δ t21, d3-d1=υ Δ t31And d4-d1=υ Δ t41, υ is the velocity of sound；
The coordinate S (x, y, z) of sound source is calculated according to default second calculation formula:
Wherein, r indicates the distance between microphone adjacent two-by-two in microphone array, the space coordinate of four microphones
Respectively m1(0,0,0),m3(-r,0,0),
According to sound source and origin m1Theoretical distanceTo determine the position of sound source.
Optionally, described according to the distance between each microphone in the time difference and preset microphone array, lead to
Cross the step of the first algorithm positions the position of the sound source further include:
Sound source is calculated to origin m according to preset third calculation formula1Actual range and sound source to origin m1It is theoretical away from
From existing difference F (s),
In certain distance, F (s) is asked point by point with a fixed step size, when F (s) obtains minimum value, is then continued with smaller step
Length seeks F (s) point by point, obtains the F (s) for meeting required precision, and localization of sound source position.
In addition, to achieve the above object, it is described to be based on the present invention also provides a kind of positioning device based on microphone array
The positioning device of microphone array includes: memory, processor and is stored on the memory and can be on the processor
The finder based on microphone array of operation, it is described when being executed based on the finder of microphone array by the processor
The step of realizing localization method based on microphone array as described above.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
Be stored with the finder based on microphone array on storage medium, it is described based on the finder of microphone array by processor
The step of localization method based on microphone array as described above is realized when execution.
In the present invention, sound source is obtained by the multiple microphones being arranged in microphone array, by multiple
The distance between microphone and multiple microphones get the time difference of the sound of sound source sending, are realized using location algorithm
The positioning of sound source improves the precision that location algorithm calculates sound source position by the structure of microphone array, and used
Location algorithm is relatively simple, and calculation amount consumed by localization of sound source is smaller.Technical solution of the present invention have be widely used, structure letter
Single and low in cost feature, additionally it is possible to suitable for the auditory localization of intelligent equipment.
Detailed description of the invention
Fig. 1 is the apparatus structure schematic diagram that the embodiment of the present invention is related to；
Fig. 2 is that the present invention is based on the flow diagrams of the localization method first embodiment of microphone array；
Fig. 3 is that the present invention is based on the flow diagrams of the localization method second embodiment of microphone array；
Fig. 4 is that the present invention is based on the refinement process signals of step S31 in the localization method second embodiment of microphone array
Figure；
Fig. 5 is that the present invention is based on the flow diagrams of the localization method 3rd embodiment of microphone array；
Fig. 6 is that the present invention is based on the refinement process signals of step S20 in the localization method 3rd embodiment of microphone array
Figure；
Fig. 7 is that the present invention is based on the refinement process signals of step S20 in the localization method fourth embodiment of microphone array
Figure.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, Fig. 1 is the apparatus structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
The terminal of that embodiment of the invention can be the robot for being provided with microphone array, be also possible to carry microphone array
Other smart machines of column.
As shown in Figure 1, the terminal may include: processor 1001, such as CPU, communication bus 1002, user interface
1003, network interface 1004, memory 1005.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include that the wired of standard connects
Mouth, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, WiFi module etc..Wherein, sensor such as optical sensor, motion sensor and other sensors.Specifically, light
Sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can according to the light and shade of ambient light come
The brightness of display screen is adjusted, proximity sensor can close display screen and/or backlight when hardware device is moved in one's ear.As
One kind of motion sensor, gravity accelerometer can detect the size of (generally three axis) acceleration in all directions, quiet
Size and the direction that can detect that gravity when only, the application that can be used to identify hardware device posture are (such as horizontal/vertical screen switching, related
Game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Certainly, hardware device can also match
The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor are set, details are not described herein.
Processor 1001 can be used for calling the finder based on microphone array stored in memory 1005, and hold
Respectively implement the step in the capable localization method based on microphone array as follows:
The sound that sound source issues is obtained by microphone array, and records each microphone in the microphone array and gets
The time difference of the sound；
It is fixed by the first algorithm according to the distance between each microphone in the time difference and preset microphone array
The position of the position sound source；
According to the position of the sound source, controls the robot and move so that the robot towards the sound source.
Further, processor 1001 can be used for calling the positioning based on microphone array stored in memory 1005
Program also executes following operation:
The semanteme that the sound is identified by the second algorithm, obtains control instruction；
The robot, which is controlled, according to the control instruction completes corresponding actions.
Further, processor 1001 can be used for calling the positioning based on microphone array stored in memory 1005
Program also executes following operation:
According to the sound that the sound source issues, the signal data of the sound is obtained；
According to the signal data, the semanteme of the sound is identified by speech recognition algorithm；
Control instruction is obtained according to the semanteme.
Further, processor 1001 can be used for calling the positioning based on microphone array stored in memory 1005
Program also executes following operation:
Extraneous sound is obtained, signal data is obtained according to the sound；
The signal data is identified by speech recognition algorithm, to identify sound source from the sound.
Further, processor 1001 can be used for calling the positioning based on microphone array stored in memory 1005
Program also executes following operation:
According to the time difference, the range difference of the sound source Yu each microphone is calculated；
It is fixed by the first algorithm according to the distance between microphone each in preset microphone array and the range difference
The position of the position sound source.
Further, processor 1001 can be used for calling the positioning based on microphone array stored in memory 1005
Program also executes following operation:
The range difference of sound source and each microphone is calculated using preset first calculation formula；
The coordinate of sound source is calculated according to preset second calculation formula；
According to sound source and origin m1Theoretical distanceTo determine the position of sound source.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
Referring to figure 2., Fig. 2 be the present invention is based on the flow diagram of the localization method first embodiment of microphone array,
Wherein, the localization method based on microphone array includes:
Step S10 obtains the sound that sound source issues by microphone array, and records each Mike in the microphone array
Wind gets the time difference of the sound；
In the present embodiment, by taking the application of the localization method based on microphone array at the terminal as an example, terminal be can be
It is provided with the robot of microphone array, is also possible to carry other smart machines of microphone array.In the present embodiment,
It is illustrated by taking the robot for being provided with microphone array as an example.
Finder based on microphone array is arranged on the processor of robot, and microphone array refers to by multiple wheats
Gram wind composition, according to array made of certain space geometry structural arrangement, sound source refers to the object just in sounding, of the invention
In technical solution, since microphone array is set in robot, sound source is usually passing through the user made a sound, sound source
The sound that sound, that is, microphone array of sending is got.The signal of the sound of sound source sending can be received by microphone array
Data, in microphone array, since the distance between multiple microphones and sound source are not identical, the sound of sound source sending
The propagation distance of sound and propagation time when being received by microphone it is not identical, that is, the different Mikes in microphone array
When wind gets the sound that same sound source issues, signal data is got between multiple microphones with time interval.For example, with
It is zero point that first, which receives the microphone that sound source makes a sound, other microphones receive the time of sound in microphone array
It can be equal to or be later than zero point, specific time interval is the time that microphone different in microphone array receives sound
Difference.
Step S20 passes through according to the distance between each microphone in the time difference and preset microphone array
One algorithm positions the position of the sound source；
In the present embodiment, after each microphone gets the time difference of sound in obtaining microphone array, passed according to sound
The speed broadcast, i.e. velocity of sound, the difference of distance between available microphone each into sound source and microphone array, and due to
In preset microphone array, the distance between each microphone is determining, so according to three dimension location algorithm, i.e.,
The relative position of sound source and microphone array can be calculated, so that it is determined that the position of sound source.
Pass through the distance between microphone each in microphone array and the sound source got and each microphone distance
Difference, can accurately pass through three dimension location algorithm, the position of sound source be obtained, to be accurately located sound source.
Step S30 controls the robot and moves so that the robot towards described according to the position of the sound source
Sound source.
After getting the position of sound source, according to the position of the position of sound source and microphone array, control is provided with Mike
The robot of wind array is moved, and allows the robot to determine the position of sound source and towards sound source.
In the present embodiment, sound source can be made a sound, and the microphone array that can be used in receiving sound is provided in robot
Column, due to having certain distance between microphone each in microphone array, each microphone is received in microphone array
Time to sound is different, i.e., each microphone receives sound, and there are the time differences.According to you can get it time difference sound source and each
The difference of distance between a microphone passes through positioning further according to the distance between each microphone in preset microphone array
Algorithm obtains position of the sound source with respect to microphone array, that is, the position of localization of sound source.Due to using the space of microphone array
Therefore framework can relatively accurately obtain sound source position.After obtaining sound source position, can control robot it is mobile so that
It obtains robot and faces sound source, to realize sound source positioning function.
It further, is that the present invention is based on the processes of the localization method second embodiment of microphone array referring to Fig. 3, Fig. 3
Schematic diagram, in the present embodiment, the step S30 control the robot and move so that institute according to the position of the sound source
State the step of robot is towards the sound source includes: later
Step S31 is identified the semanteme of the sound by the second algorithm, obtains control instruction；
Step S32 controls the robot according to the control instruction and completes corresponding actions.
In the present embodiment, after getting sound source position, processor can be according to preset speech recognition algorithm to acquisition
The sound that the sound source arrived issues carries out semantics recognition, and semanteme refers to meaning representated by the sound of sound source sending, obtained according to identification
The semantic control instruction for robot for obtaining sound source and issuing, and according to control instruction control robot complete it is corresponding dynamic
Make behavior.For example, the microphone array set in robot gets the sound of user's sending, and root when user is as sound source
After positioning user location according to three dimension location algorithm, control robot moves so that robot user oriented, and passes through language
Sound recognizer carries out semantics recognition to the sound that user issues, and to obtain the control instruction of user's sending, and is referred to according to control
Control robot is enabled to complete behavior corresponding with control instruction.
Further, referring to Fig. 4, in the present embodiment, step S31 identifies the semanteme of the sound by the second algorithm,
The step of obtaining control instruction include:
Step S311 obtains the signal data of the sound according to the sound that the sound source issues；
Step S312 identifies the semanteme of the sound by speech recognition algorithm according to the signal data；
Step S313 obtains control instruction according to the semanteme.
In the present embodiment, the sound issued according to sound source can obtain the signal data of sound, the i.e. sound of sound source sending
After the microphone array that sound is arranged in robot obtains, convert for digital signal, which is the signal of sound
Data, the signal data obtained by speech recognition algorithm identification, to obtain the semanteme of sound, and then obtain sound source according to semanteme
The control instruction of sending.For example, microphone array gets the sound of user's sending when user issues control instruction as sound source
Sound, and the digital signal data that speech recognition algorithm can identify is converted by sound, semantic knowledge is carried out to digital signal data
Not, robot can be made to obtain the control instruction that user issues.
According to speech recognition obtain control instruction, enable to robot receive sound source sending sound after accurately
It identifies the control instruction for robot, so that robot is able to carry out control instruction, enhances robot to control instruction
Resolution capability.
It further, is that the present invention is based on the processes of the localization method 3rd embodiment of microphone array referring to Fig. 5, Fig. 5
Schematic diagram, in the present embodiment, step S10 obtain the sound that sound source issues by microphone array, and record the microphone
Include: before each microphone gets the step of time difference of the sound in array
Step S40 obtains extraneous sound, obtains signal data according to the sound；
Step S50 identifies the signal data by speech recognition algorithm, to identify sound source from the sound.
In the present embodiment, microphone array gets extraneous various sound first, and converts signal number for sound
According to by the speech recognition algorithm being arranged in robot, to the signal data progress semantics recognition that sound is converted to, to be obtained
The semanteme for the various sound got reuses microphone after identifying sound source according to the correct sound source of obtained semantics recognition
Array positions the sound source.It should be noted that extraneous in most cases is not a kind of generation object of sound source,
There may also be other interference sources, such as various noises, ambient sound and other be not related to the sound of robot control instruction, and Mike
Wind array needs to identify the signal data of sound after getting extraneous sound, to identify from extraneous sound
Sound source out, and sound source is positioned.
Optionally, the semanteme for confirming sound source is previously provided in speech recognition algorithm, when speech recognition algorithm is known
After the signal data of other external sound, if getting there are satisfactory semanteme, sound source is as identified, and then pass through Mike
Wind array positions sound source.For example, the semanteme that can preset confirmation sound source among speech recognition algorithm is to machine
The name of people, when the external sound got in the semanteme obtained after speech recognition include the robot name, then
Think that the sound source is the sound source positioned.
In the case where external sound is complex, sound source can not be confirmed, then sound source can not be positioned, by preparatory
It is arranged in speech recognition algorithm semantic " keyword ", when in the semanteme that the external sound got obtains after speech recognition
Comprising " keyword ", then confirm that the sound source is the sound source positioned, and position to sound source.
Further, referring to Fig. 6, in the present embodiment, step S20, according to the time difference and preset microphone array
The distance between each microphone in column, the step of positioning the position of the sound source by the first algorithm include:
The range difference of the sound source Yu each microphone is calculated according to the time difference in step S21；
Step S22 passes through according to the distance between microphone each in preset microphone array and the range difference
One algorithm positions the position of the sound source.
In the present embodiment, since the position of microphone each in microphone array is different, microphone gets sound
There is difference in the time for the sound that source issues, according to the time difference and the velocity of sound for getting sound, available sound source and each wheat
The distance between gram wind difference, is set in advance in robot since microphone array is classified as, the distance between each microphone it is known that
It is the position that can determine sound source by three dimension location algorithm.
Further, microphone array includes four microphones, and four microphones constitute positive tetrahedron structure, and four wheats
Gram wind is respectively arranged at four vertex of positive tetrahedron structure.
Specifically, in pre-set microphone array, including there are four microphone, four microphones can be constituted just
Tetrahedral structure, and four microphones are set to four vertex positions of positive tetrahedron structure, that is, it is any in microphone array
The distance between two microphones are positive the length of tetrahedral rib can under the microphone array that four microphones are constituted
It is accurately determined the relative position of sound source and microphone array according to three dimension location algorithm, and then the position of sound source is accurately positioned
It sets.
In the present embodiment, pass through three dimension location by way of forming microphone array using less microphone
Algorithm can reach accurate positionin easily by calculating with localization of sound source position.
It further, is that the present invention is based on the refinements of the localization method fourth embodiment of microphone array referring to Fig. 7, Fig. 7
Flow diagram, in the present embodiment, step S20, according to each microphone in the time difference and preset microphone array
The distance between, the step of positioning the position of the sound source by the first algorithm includes:
Step S60 calculates the range difference of sound source and each microphone using preset first calculation formula, wherein the first meter
Calculate formula are as follows:
Wherein sound source coordinate is S (x, y, z), d1、d2、d3、d4Respectively indicate sound source to four microphones (array) away from
From sound source reaches other three microphones and microphone m1Time difference be respectively Δ t21、Δt31With Δ t41, then microphone it
Between path difference be respectively d2-d1=υ Δ t21, d3-d1=υ Δ t31And d4-d1=υ Δ t41, υ is the velocity of sound；
The coordinate S (x, y, z) of sound source is calculated according to preset second calculation formula by step S61:
Wherein, r indicates the distance between microphone adjacent two-by-two in microphone array, the space coordinate of four microphones
Respectively m1(0,0,0),m3(-r,0,0),
Step S62, according to sound source and origin m1Theoretical distanceDetermine the position of sound source.
Further, in the present embodiment, due to the presence of time delay estimation error, sound source to origin m1It is practical away from
From with sound source to origin m1Theoretical distance there are difference F (s),R indicates sound source to origin m1
Actual range, when F (s) has minimum value,It is minimum with theoretical value error；In certain distance, centainly to walk
Length seeks F (s) point by point, and when F (s) obtains minimum value, then continuation seeks F (s) with smaller step-length point by point, obtains meeting required precision
F (s), after obtaining meeting the F (s) of required precision, according toIt obtains sound source coordinate S (x, y, z), and positioning sound
The position in source.
In the present embodiment, according to preset distance, root between microphone each in sound source coordinate and microphone array
The coordinate of sound source, and then localization of sound source position can be accurately obtained according to three dimension location algorithm.And in practical calculating process
In, due to there are time delay estimation error, the actual range of calculated sound source to microphone and theoretical distance there are error,
In technical solution of the present invention, microphone array is formed by four microphones of setting, in the feelings less using number of microphone
Under condition, according to three dimension location algorithm, difference F is found out point by point by gradually reducing the calculation method of step-length in certain distance
(s), involved calculating data volume is lower, and can obtain the sound source coordinate for meeting precision, reaches positioning function.
Further, microphone array includes audio processing chip, the simulation for the sound source that audio processing chip will acquire
Signal is converted to digital signal.
In the present embodiment, microphone array is made of simulation microphone, the sound for the sound source that simulation microphone is got
For analog signal, audio processing chip is provided in microphone array, audio processing chip can turn the analog signal of sound
Digital signal is turned to, and digital signal is sent to the processor being arranged in robot, in order to which processor is known by voice
Other algorithm can identify digital signal, obtain the semanteme of the sound of sound source sending.
Furthermore the embodiment of the present invention also proposes a kind of computer readable storage medium.
The finder based on microphone array is stored on computer readable storage medium of the present invention, it is described to be based on Mike
The finder of wind array realizes the step of localization method as described above based on microphone array when being executed by processor.
Wherein, the finder based on microphone array run on the processor be performed realized based on
The localization method of microphone array can refer to that the present invention is based on each embodiments of the localization method of microphone array, no longer superfluous herein
It states.
It is understood that in the description of this specification, reference term " embodiment ", " another embodiment ", " other
The description of embodiment " or " first embodiment~N embodiment " etc. means specific spy described in conjunction with this embodiment or example
Sign, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned
The schematic representation of term may not refer to the same embodiment or example.Moreover, the specific features of description, structure, material
Or feature can be combined in any suitable manner in any one or more of the embodiments or examples.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of localization method based on microphone array is applied to robot, the robot is provided with microphone array,
It is characterized in that, comprising the following steps:
Obtain the sound that sound source issues by microphone array, and record each microphone in the microphone array get it is described
The time difference of sound；
According to the distance between each microphone in the time difference and preset microphone array, institute is positioned by the first algorithm
State the position of sound source；
According to the position of the sound source, controls the robot and move so that the robot towards the sound source.
2. as described in claim 1 based on the localization method of microphone array, which is characterized in that described according to the sound source
Position, control robot move so that the step of robot is towards the sound source includes: later
The semanteme that the sound is identified by the second algorithm, obtains control instruction；
The robot, which is controlled, according to the control instruction completes corresponding actions.
3. as claimed in claim 2 based on the localization method of microphone array, which is characterized in that described to pass through the knowledge of the second algorithm
The semanteme of the not described sound, the step of obtaining control instruction include:
According to the sound that the sound source issues, the signal data of the sound is obtained；
According to the signal data, the semanteme of the sound is identified by speech recognition algorithm；
Control instruction is obtained according to the semanteme.
4. as described in claim 1 based on the localization method of microphone array, which is characterized in that described to pass through microphone array
The sound that sound source issues is obtained, and records the step of each microphone gets the time difference of the sound in the microphone array
Include: before
Extraneous sound is obtained, signal data is obtained according to the sound；
The signal data is identified by speech recognition algorithm, to identify sound source from the sound.
5. as described in claim 1 based on the localization method of microphone array, which is characterized in that described according to the time difference
The distance between microphone each in preset microphone array, the step of position of the sound source is positioned by the first algorithm
Include:
According to the time difference, the range difference of the sound source Yu each microphone is calculated；
According to the distance between microphone each in preset microphone array and the range difference, institute is positioned by the first algorithm
State the position of sound source.
6. the localization method according to any one of claims 1 to 5 based on microphone array, which is characterized in that the Mike
Wind array includes four microphones, and four microphones constitute positive tetrahedron structure, and four microphones are respectively set
In four vertex of the positive tetrahedron structure.
7. as claimed in claim 6 based on the localization method of microphone array, which is characterized in that described according to the time difference
The distance between microphone each in preset microphone array, the step of position of the sound source is positioned by the first algorithm
Include:
The range difference that sound source and each microphone are calculated using preset first calculation formula, wherein the first calculation formula are as follows:
Wherein sound source coordinate is S (x, y, z), d1、d2、d3、d4Respectively indicate distance of the sound source to four microphones (array), sound source
Reach other three microphones and microphone m1Time difference be respectively Δ t21、Δt31With Δ t41, then the sound path between microphone
Difference is respectively d2-d1=υ Δ t21, d3-d1=υ Δ t31And d4-d1=υ Δ t41, υ is the velocity of sound；
The coordinate S (x, y, z) of sound source is calculated according to preset second calculation formula:
Wherein, r indicates the distance between microphone adjacent two-by-two in microphone array, the space coordinate difference of four microphones
For m1(0,0,0),
According to sound source and origin m1Theoretical distanceTo determine the position of sound source.
8. as claimed in claim 7 based on the localization method of microphone array, which is characterized in that described according to the time difference
The distance between microphone each in preset microphone array, the step of position of the sound source is positioned by the first algorithm
Further include:
Sound source is calculated to origin m according to preset third calculation formula1Actual range and sound source to origin m1Theoretical distance deposit
Difference F (s),
Wherein, R indicates sound source and origin m1Actual range,Indicate sound source and origin m1Theoretical distance,
In certain distance, F (s) is asked point by point with a fixed step size, when F (s) obtains minimum value, then continues to seek F point by point with smaller step-length
(s), the F (s) for meeting required precision, and localization of sound source position are obtained.
9. a kind of positioning device based on microphone array, which is characterized in that the positioning device packet based on microphone array
It includes memory, processor and is stored on the memory and what can be run on the processor is determined based on microphone array
Position program, it is described realize when being executed based on the finder of microphone array by the processor it is any in such as claim 1 to 8
The step of localization method based on microphone array described in item.
10. a kind of computer readable storage medium, which is characterized in that be stored on the computer readable storage medium based on wheat
The finder of gram wind array realizes such as claim 1 when the finder based on microphone array is executed by processor
The step of to localization method described in any one of 8 based on microphone array.
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