CN110072172A - A kind of output method and device of audio signal - Google Patents
A kind of output method and device of audio signal Download PDFInfo
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- CN110072172A CN110072172A CN201910341137.6A CN201910341137A CN110072172A CN 110072172 A CN110072172 A CN 110072172A CN 201910341137 A CN201910341137 A CN 201910341137A CN 110072172 A CN110072172 A CN 110072172A
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- 230000005236 sound signal Effects 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title claims abstract description 54
- 240000006409 Acacia auriculiformis Species 0.000 claims description 21
- 210000005069 ears Anatomy 0.000 claims description 21
- 230000001225 therapeutic effect Effects 0.000 claims description 12
- 238000000605 extraction Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 238000004590 computer program Methods 0.000 description 6
- 230000003321 amplification Effects 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 210000004709 eyebrow Anatomy 0.000 description 2
- 210000004209 hair Anatomy 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 210000000883 ear external Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/22—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only
- H04R1/26—Spatial arrangements of separate transducers responsive to two or more frequency ranges
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- Health & Medical Sciences (AREA)
- Otolaryngology (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Stereophonic System (AREA)
- Circuit For Audible Band Transducer (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
The embodiment of the invention provides a kind of output method of audio signal and audio systems, by the location information for obtaining user's human ear, according to location information, preset each road loudspeaker corresponding with human ear is adjusted to target angle, target angle is the angle of sound field immediately ahead of user, obtain the audio signal for being directed to user, control sound field output audio signal of each road loudspeaker towards target angle immediately ahead of user, to pass through the location information for obtaining user's human ear, the angle of each road loudspeaker is adjusted, so that loudspeaker carries out audio signal output towards target angle, so that sound field is positioned at the front of user, form the sound field with depth feelings, user is set to enjoy interior music in ideal sound field.
Description
Technical field
The present invention relates to car audio processing technology fields, more particularly to the output method and one kind of a kind of audio signal
The output device of audio signal.
Background technique
General not set head-rest type loudspeaker in orthodox car, though individual vehicle is provided with head-rest type loudspeaker, it is led
It is used for telephone receiving, small range appreciates music etc..Rear portion or two of the head-rest type loudspeaker generally all in occupant's ear
Side, so that sound field is positioned among occupant head or below, positions similar to the sound field of earphone.And ideal sound field is answered
This is with certain depth feelings, because interior music sound field is with true, enjoying value in the sound field with depth feelings
Higher sound field form, to allow users to enjoy interior music in ideal sound field.As it can be seen that current car audio skill
Art is difficult to meet the needs of user is to vehicle-mounted music appreciation.
Summary of the invention
In view of the above problems, it proposes the embodiment of the present invention and overcomes the above problem or at least partly in order to provide one kind
A kind of output method of the audio signal to solve the above problems and a kind of corresponding output device of audio signal.
To solve the above-mentioned problems, the embodiment of the invention discloses a kind of output methods of audio signal, comprising:
Obtain the location information of user's human ear；
According to the positional information, preset each road loudspeaker corresponding with the human ear is adjusted to target angle, it is described
Target angle is the angle of sound field immediately ahead of the user；
The audio signal for being directed to the user is obtained, controls each road loudspeaker towards the target angle in the use
Sound field immediately ahead of family exports the audio signal.
Optionally, it is described according to the positional information, preset each road loudspeaker corresponding with the human ear is adjusted to mesh
Mark angle, comprising:
From the location information, the first orientation information of the left ear of the user and the second court of user's auris dextra are extracted
To information；
Using first orientation information, the first anchor point for being directed to the left ear of the user is determined；
Using second orientation information, the second anchor point for being directed to user's auris dextra is determined；
Using first anchor point and the second anchor point, the target angle for being directed to each road loudspeaker is calculated；
Each road loudspeaker is adjusted to the target angle.
Optionally, described to use first anchor point and the second anchor point, it calculates for each road loudspeaker
Target angle, comprising:
Determine the first loudspeaker for being adapted to first anchor point from each road loudspeaker, and with described second
Second loudspeaker of anchor point adaptation；
Using first anchor point, the first steering angle of first loudspeaker is calculated；
Using second anchor point, the second steering angle of second loudspeaker is calculated.
It is optionally, described that each road loudspeaker is adjusted to the target angle, comprising:
First loudspeaker is controlled to rotate to first steering angle；And control second loudspeaker is rotated to institute
State the second steering angle.
Optionally, described to obtain the audio signal for being directed to the user, each road loudspeaker is controlled towards the target
Sound field of the angle immediately ahead of the user exports the audio signal, comprising:
Obtain the audio signal for being directed to the user；
First loudspeaker is controlled towards first steering angle, and control second loudspeaker is towards described the
Sound field of two steering angles immediately ahead of the user exports the audio signal.
Optionally, described to obtain the audio signal for being directed to the user, each road loudspeaker is controlled towards the target
Sound field of the angle immediately ahead of the user exports the audio signal, comprising:
From the audio signal, voice frequency band signals and inhuman audio frequency segment signal are extracted；
High-frequency therapeutic treatment is carried out to the voice frequency band signals, obtains target person audio frequency segment signal；
The target person audio frequency segment signal and the inhuman audio frequency segment signal are mixed, the first mixing letter is generated
Number；
First mixed signal is amplified, the second mixed signal is obtained；
The sound field output described second that each road loudspeaker is controlled towards the target angle, immediately ahead of the user
Mixed signal.
Optionally, sound field of the control each road loudspeaker towards the target angle, immediately ahead of the user
Export second mixed signal, comprising:
First loudspeaker is controlled towards first steering angle, and control second loudspeaker is towards described the
Sound field of two steering angles immediately ahead of the user exports second mixed signal.
Optionally, the location information for obtaining user's human ear in the automotive seat, comprising:
The image data of default camera shooting is obtained, described image data include the face-image of user's face；
From the face-image, the location information of user's human ear is extracted.
The embodiment of the invention also discloses a kind of output methods of audio signal, applied to the audio with multichannel loudspeaker
System, the multichannel loudspeaker are set to automotive seat, which comprises
The location information of user's human ear on the automotive seat is obtained by the audio system；
According to the positional information by the audio system, each road loudspeaker corresponding with the human ear is adjusted to mesh
Angle is marked, the target angle is the angle of sound field immediately ahead of the user；
Each road loudspeaker is controlled towards the target angle immediately ahead of the user by the audio system
Sound field exports preset audio signal.
Optionally, it is described by the audio system according to the positional information, each road corresponding with the human ear is raised
Sound device is adjusted to target angle, and the target angle is the angle of sound field immediately ahead of the user, comprising:
By the audio system from the location information, the first orientation information of the left ear of the user and described is extracted
Second orientation information of user's auris dextra；
First orientation information is used by the audio system, determines the first positioning for the left ear of the user
Point；
Second orientation information is used by the audio system, determines the second positioning for user's auris dextra
Point；
First anchor point and the second anchor point are used by the audio system, calculates and is directed to each road loudspeaking
The target angle of device；
Each road loudspeaker is adjusted to the target angle by the audio system.
Optionally, described to be directed to by the audio system using first anchor point and the second anchor point, calculating
The target angle of each road loudspeaker, comprising:
The first loudspeaking being adapted to first anchor point is determined from each road loudspeaker by the audio system
Device, and the second loudspeaker being adapted to second anchor point；
First anchor point is used by the audio system, calculates the first steering angle of first loudspeaker；
Second anchor point is used by the audio system, calculates the second steering angle of second loudspeaker.
It is optionally, described that each road loudspeaker is adjusted to by the target angle by the audio system, comprising:
First loudspeaker is controlled by the audio system to rotate to first steering angle；And control described the
Two loudspeakers are rotated to second steering angle.
Optionally, described that each road loudspeaker is controlled towards the target angle in the use by the audio system
Sound field immediately ahead of family exports preset audio signal, comprising:
First loudspeaker is controlled towards first steering angle, and control described second by the audio system
Loudspeaker exports preset audio signal towards sound field of second steering angle immediately ahead of the user.
Optionally, described that each road loudspeaker is controlled towards the target angle in the use by the audio system
Sound field immediately ahead of family exports preset audio signal, comprising:
Through the audio system from the audio signal, voice frequency band signals and inhuman audio frequency segment signal are extracted；
High-frequency therapeutic treatment is carried out to the voice frequency band signals by the audio system, obtains target person audio frequency segment signal；
The target person audio frequency segment signal and the inhuman audio frequency segment signal are mixed by the audio system,
Generate the first mixed signal；
First mixed signal is amplified by the audio system, obtains the second mixed signal；
Each road loudspeaker is controlled towards the target angle, immediately ahead of the user by the audio system
Sound field exports second mixed signal.
Optionally, described that each road loudspeaker is controlled towards the target angle, described by the audio system
Sound field immediately ahead of user exports second mixed signal, comprising:
First loudspeaker is controlled towards first steering angle, and control described second by the audio system
Loudspeaker exports second mixed signal towards sound field of second steering angle immediately ahead of the user.
Optionally, the location information that user's human ear in the automotive seat is obtained by the audio system, comprising:
The location information for user's human ear that default camera is sent, the position letter are received by the audio system
Breath is the information that the camera is extracted from the face-image of shooting.
The embodiment of the invention also discloses a kind of audio systems, comprising:
Data obtaining module, for obtaining the location information of user's human ear；
Angular adjustment module is used for according to the positional information, will preset each road loudspeaker tune corresponding with the human ear
For section to target angle, the target angle is the angle of sound field immediately ahead of the user；
Signal output module controls each road loudspeaker towards institute for obtaining the audio signal for being directed to the user
It states sound field of the target angle immediately ahead of the user and exports the audio signal.
Optionally, the angular adjustment module includes:
Orientation information extracting sub-module, for extracting the first orientation information of the left ear of the user from the location information
And the second orientation information of user's auris dextra；
First site determines submodule, for using first orientation information, determines for the left ear of the user
One anchor point；
Second site determines submodule, for using second orientation information, determines for user's auris dextra
Two anchor points；
Target angle computational submodule is calculated for using first anchor point and the second anchor point for described
The target angle of each road loudspeaker；
Angular adjustment submodule, for each road loudspeaker to be adjusted to the target angle.
Optionally, the target angle computational submodule includes:
Loudspeaker determination unit, for determining that be adapted to first anchor point first raises from each road loudspeaker
Sound device, and the second loudspeaker being adapted to second anchor point；
First steering angle computing unit calculates first turn of first loudspeaker for using first anchor point
To angle；
Second steering angle computing unit calculates second turn of second loudspeaker for using second anchor point
To angle.
Optionally, the angular adjustment submodule is specifically used for:
First loudspeaker is controlled to rotate to first steering angle；And control second loudspeaker is rotated to institute
State the second steering angle.
Optionally, the signal output module includes:
Signal source acquisition submodule, for obtaining the audio signal for being directed to the user；
First signal output module, for controlling first loudspeaker towards first steering angle, and control institute
It states the second loudspeaker and exports the audio signal towards sound field of second steering angle immediately ahead of the user.
Optionally, the signal output module includes:
Frequency band signals extracting sub-module, for extracting voice frequency band signals and inhuman audio frequency from the audio signal
Segment signal；
High-frequency therapeutic treatment submodule obtains target person audio frequency range letter for carrying out high-frequency therapeutic treatment to the voice frequency band signals
Number；
Signal mixing submodule, for mixing the target person audio frequency segment signal and the inhuman audio frequency segment signal
It closes, generates the first mixed signal；
Signal amplifies submodule and obtains the second mixed signal for amplifying to first mixed signal；
Second signal output sub-module, for controlling each road loudspeaker towards the target angle, in the user
The sound field in front exports second mixed signal.
Optionally, the second signal output sub-module is specifically used for:
First loudspeaker is controlled towards first steering angle, and control second loudspeaker is towards described the
Sound field of two steering angles immediately ahead of the user exports second mixed signal.
Optionally, the data obtaining module includes:
Image data acquisition submodule, for obtaining the image data of default camera shooting, described image data include
The face-image of user's face；
Human ear information extraction submodule, for extracting the location information of user's human ear from the face-image.
The embodiment of the invention also discloses a kind of devices, comprising:
One or more processors；With
One or more machine readable medias of instruction are stored thereon with, are executed when by one or more of processors
When, so that described device executes one or more method as described above.
The embodiment of the invention also discloses one or more machine readable medias, are stored thereon with instruction, when by one or
When multiple processors execute, so that the processor executes one or more method as described above.
The embodiment of the present invention includes following advantages:
It in embodiments of the present invention, will be corresponding with human ear according to location information by obtaining the location information of user's human ear
Preset each road loudspeaker be adjusted to target angle, target angle is the angle of sound field immediately ahead of user, is obtained for user's
Audio signal controls sound field output audio signal of each road loudspeaker towards target angle immediately ahead of user, thus by obtaining
The angle of each road loudspeaker is adjusted in the location information for taking family human ear, so that loudspeaker carries out sound towards target angle
The output of frequency signal forms the sound field with depth feelings, allows user so that sound field is positioned at the front of user
Interior music is enjoyed in ideal sound field.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of the output method embodiment one of audio signal of the invention；
Fig. 2 is the sound field positioning schematic diagram before the loudspeaker angles of the embodiment of the present invention are adjusted；
Fig. 3 is the sound field positioning schematic diagram after the loudspeaker angles of the embodiment of the present invention are adjusted；
Fig. 4 is a kind of step flow chart of the output method embodiment two of audio signal of the invention；
Fig. 5 is a kind of structural block diagram of the output device embodiment of audio signal of the invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The output method and system of audio signal disclosed in embodiment for a better understanding of the present invention, first below to this
The applicable loudspeaker layout of inventive embodiments is introduced.Audio system disclosed by the embodiments of the present invention includes multichannel loudspeaker,
Each road loudspeaker can be arranged in the surrounding of automotive seat, at least may include front, rear, left and right centered on automotive seat,
It is upper and lower to wait six directions；As an alternative embodiment, loudspeaker can be arranged in following position: the vehicle of automobile
On door, front console, ceiling, postposition board putting things, floor and seat；Specifically, the loudspeaker on seat can be arranged in
Chair headrest.By arranging rotatable loudspeaker in all directions centered on seat, after user takes seat,
Stereophonic field can be generated by multiple loudspeakers around user setting, be in particular arranged at the loudspeaker on ceiling and floor,
It can build out the sound field effect that sound source is located at the user crown and underfooting.Loudspeaker position layout disclosed by the embodiments of the present invention,
Stereophonic field can be built for user, compared to two-dimensional plane sound field, user can experience 360 degree of rings in stereophonic field
Around sound effect, more true nature, specifically, in embodiments of the present invention, by controlling the headrest being set on seat
Formula loudspeaker builds the sound field with depth feelings for user, user is allow to enjoy interior music in ideal sound field.
Referring to Fig.1, a kind of step flow chart of the output method embodiment one of audio signal of the invention is shown, specifically
It may include steps of:
Step 101, the location information of family human ear is taken；
In the embodiment of the present invention, camera shooting can be controlled comprising being located at automobile when user enters and takes in automobile
The face-image of user's face on seat is known from face-image by the image procossings mode such as edge detection, feature extraction
It Chu not position of the human ear in the face-image；Alternatively, inputting face-image as the data of ear recognition model, human ear is known
The output of other model is position of the human ear in the face-image；Wherein, which is to use largely to be labeled with
The deep neural network that the face-image of human ear is trained.
Since in compartment, the position of passenger is relatively fixed, therefore, when known to placement location of the camera in automobile
When, the relative position of camera and human ear can be calculated according to position of the human ear in face-image, that is, can determine that human ear
Position in automobile.
It, can also be when user enters and takes in automobile, by super in a kind of alternative embodiment of the embodiment of the present invention
Sound wave transceiver module emits ultrasonic wave, and receives the back wave of ultrasonic wave；It, can be in the detection of ultrasonic wave by analyzing back wave
Possible human ear is identified in range, and determines the position of human ear.
Step 102, according to location information, preset each road loudspeaker corresponding with human ear is adjusted to target angle；
In embodiments of the present invention, according to loudspeaker position layout it is found that per layout position of the loudspeaker in automobile all the way
It is fixed and known for setting, and can be adjusted each road loudspeaker corresponding with user's human ear according to the location information of user's human ear
To target angle, wherein target angle is the angle of sound field immediately ahead of user, so as to make loudspeaking by rotary loudspeaker
Device is towards target direction output audio signal.
In a kind of alternative embodiment of the embodiment of the present invention, step 102 may include following sub-step:
In embodiments of the present invention, the first direction letter of the left ear of user can be extracted by audio system from location information
Second orientation information of breath and user's auris dextra can then use the first orientation information, determine and be directed to the first of the left ear of user
Anchor point, and use the second orientation information, determines the second anchor point for being directed to user's auris dextra, then using the first anchor point and
Second anchor point calculates the target angle for being directed to each road loudspeaker, then each road loudspeaker can be adjusted to the mesh
Mark angle.
In a kind of example of the embodiment of the present invention, audio system can identify human ear in the face from face-image
Position in image then can determine the first orientation information with the external ear direction of the left ear of user, and with the outer of user's auris dextra
Ear direction determines the second orientation information.It, can be with flat where left ear after determining the first orientation information and the second orientation information
Face is bottom surface, along first towards vertical line is done, the first anchor point is determined, and using plane where auris dextra as bottom surface, along the second direction
Vertical line is done, determines the second anchor point.
In order to identify the position of user's face from face-image for the front of sound field positioning and user, and
Default linear distance immediately ahead of user determines sound field anchor point, then can by sound field anchor point and the first anchor point, with
And second anchor point carry out line, obtain the first adjustment line corresponding with left ear, and second adjustment line corresponding with auris dextra.
It should be noted that in embodiments of the present invention, the default linear distance immediately ahead of user determines that sound field positions
Point, it is possible to understand that be that those skilled in the art can be configured default linear distance, such as be set as according to actual needs
Position conduct of the position of 10cm as 8cm immediately ahead of sound field anchor point or user's place between the eyebrows position immediately ahead of user's place between the eyebrows position
Sound field anchor point, the invention is not limited in this regard.
In embodiments of the present invention, the first loudspeaker being adapted to the first anchor point can be determined from each road loudspeaker,
And the second loudspeaker being adapted to the second anchor point is calculated the first steering angle of the first loudspeaker, is adopted using the first anchor point
With the second anchor point, the second steering angle of the second loudspeaker is calculated.
In the concrete realization, with reference to Fig. 2, the sound field positioning before showing the loudspeaker angles adjusting of the embodiment of the present invention is shown
It is intended to, Fig. 3, the sound field after the loudspeaker angles after showing the adjusting of the embodiment of the present invention are adjusted positions schematic diagram, with user people
The corresponding loudspeaker of ear is the head-rest type loudspeaker being set on automotive seat, head-rest type loudspeaker may include left speaker with
And right loudspeaker, the rotation of certain angle can be both carried out, left speaker is positive with the original of right loudspeaker towards angle
Front will be perpendicular to the angle of datum level towards the plane of front and vertical level as datum level using automotive seat
As the original towards angle of loudspeaker.Specifically, can be using datum level as bottom surface, original along left speaker is cooked towards angle
First vertical line, and the first adjustment line is extended to and is connect with left speaker, thus by the angle of the first adjustment line and the first vertical line
As the first steering angle, while the original of right loudspeaker is cooked the second vertical line towards angle, and second adjustment line is extended to and the right side
Loudspeaker connection, thus using the angle of second adjustment line and the second vertical line as the second steering angle.When being calculated and Zuo Yangsheng
First steering angle of device adaptation, and with after the second steering angle of right speakers fit, first can be controlled by audio system
Loudspeaker is rotated to the first steering angle, and the second loudspeaker of control and is rotated to the second steering angle.
It should be noted that in embodiments of the present invention in the above described manner calculate loudspeaker steering angle for carry out example
Property explanation, it is to be understood that those skilled in the art, can be using other modes to raising under the guidance of the embodiment of the present invention
The steering angle of sound device is calculated, the invention is not limited in this regard.
Step 103, the audio signal for being directed to user is obtained, controls each road loudspeaker towards target angle immediately ahead of user
Sound field output audio signal.
In embodiments of the present invention, when the location information according to user's human ear of acquisition, the corresponding steering of loudspeaker is determined
Angle, and after loudspeaker is adjusted to the corresponding angle of the steering angle, the available audio signal for the user of audio system,
And corresponding loudspeaker is controlled towards steering angle output audio signal, to form corresponding sound field, shape in the front of user
At a sound field with depth feelings, the experience of user is improved.Wherein, audio signal can be music audio signal, news sound
Frequency signal, video-audio signal etc..
In a kind of example of the embodiment of the present invention, step 103 may include following sub-step:
Audio system extracts voice frequency band signals and inhuman audio frequency segment signal from audio signal, believes voice frequency range
Number high-frequency therapeutic treatment is carried out, obtains target person audio frequency segment signal, target person audio frequency segment signal and inhuman audio frequency segment signal are carried out
Mixing generates the first mixed signal, amplifies to the first mixed signal, obtains the second mixed signal, controls the first loudspeaker
Towards the first steering angle, and sound field output second mixing of the second loudspeaker of control towards the second steering angle immediately ahead of user
Signal.
In the concrete realization, audio signal may include voice frequency band signals and inhuman audio frequency segment signal.Audio system
After customer requirement retrieval audio signal, analog audio signal first can be converted into digital audio and video signals, then pass through BPF
(Band-pass Filter, bandpass filter) extracts voice frequency band signals in the section 100Hz-1000Hz, and inhuman to remaining
Sound audio signals are delayed, and then can carry out real-time high frequency even harmonics to the voice frequency band signals of extraction, improve people
The directive property of audio frequency segment signal, further such that voice sound field can concentrate on the front of user, then again by treated
Voice frequency band signals and inhuman audio frequency segment signal carry out audio mixing, obtain the first mixed signal.Audio system can be further right
First mixed signal amplifies processing, obtains the second mixed signal, then controls the first loudspeaker the first steering angle of direction, with
And the second loudspeaker of control exports the second mixed signal towards sound field of second steering angle immediately ahead of user, thus on the one hand logical
The audio signal that loudspeaker exports is formed immediately ahead of user sound field, on the other hand passed through by the steering angle for crossing control loudspeaker
High power time even harmonics are carried out to voice frequency band signals, improve the directive property of voice frequency band signals, and then work as user in the car
When appreciating music, sound field can be positioned to the front of user, form the sound field with depth feelings, built a kind of " existing
The atmosphere of field concert " improves user's car and appreciates the experience of music, while avoiding the sound that loudspeaker forms " strange "
?.
It in embodiments of the present invention, will be corresponding with human ear according to location information by obtaining the location information of user's human ear
Preset each road loudspeaker be adjusted to target angle, target angle is the angle of sound field immediately ahead of user, is obtained for user's
Audio signal controls sound field output audio signal of each road loudspeaker towards target angle immediately ahead of user, thus by obtaining
The angle of each road loudspeaker is adjusted in the location information for taking family human ear, so that loudspeaker carries out sound towards target angle
The output of frequency signal forms the sound field with depth feelings, allows user so that sound field is positioned at the front of user
Interior music is enjoyed in ideal sound field.
Referring to Fig. 4, a kind of step flow chart of the output method embodiment two of audio signal of the invention is shown, is applied
In the audio system with multichannel loudspeaker, the multichannel loudspeaker is set to automotive seat, can specifically include following steps:
Step 401, the location information of user's human ear on automotive seat is obtained by audio system；
In the embodiment of the present invention, audio system can be attached with camera, when user enters and takes in automobile,
It controls camera shooting and includes the face-image for the user's face being located on automotive seat, pass through edge detection, feature extraction etc.
Image procossing mode is from identifying position of the human ear in the face-image in face-image；Alternatively, using face-image as people
The data of ear identification model input, and the output of ear recognition model is position of the human ear in the face-image, then image
The location information of user's human ear can be transmitted to audio system by head, be carried out according to location information to loudspeaker by audio system
Control.Wherein, which is the depth nerve being trained using the face-image for being largely labeled with human ear
Network.
Since in compartment, the position of passenger is relatively fixed, therefore, when known to placement location of the camera in automobile
When, the relative position of camera and human ear can be calculated according to position of the human ear in face-image, that is, can determine that human ear
Position in automobile.
Step 402, by audio system according to location information, each road loudspeaker corresponding with human ear is adjusted to target angle
Degree；
It in embodiments of the present invention, is in the car fixed and known, then sound per loudspeaker position all the way due to being arranged
Each road loudspeaker corresponding with user's human ear can be adjusted to target angle according to the location information of user's human ear by display system,
Wherein, target angle is the angle of sound field immediately ahead of user, so as to make loudspeaker towards target side by rotary loudspeaker
To output audio signal.
In a kind of alternative embodiment of the embodiment of the present invention, audio system has MCU central microcontroller, step 402
May include following sub-step:
In embodiments of the present invention, audio system extracts the left ear of user by MCU central microcontroller from location information
Second orientation information of the first orientation information and user's auris dextra can then use the first orientation information, determine and be directed to user
First anchor point of left ear, and the second orientation information is used, determine the second anchor point for being directed to user's auris dextra, then use first
Anchor point and the second anchor point calculate the target angle for being directed to each road loudspeaker, then can be adjusted to each road loudspeaker
Target angle.
In the concrete realization, audio system can determine the first loudspeaking being adapted to the first anchor point from each road loudspeaker
Device, and the second loudspeaker being adapted to the second anchor point, using the first anchor point, calculate the first loudspeaker first is turned to
Angle calculates the second steering angle of the second loudspeaker using the second anchor point so as to which corresponding loudspeaker is adjusted to target
Angle.
Step 403, each road loudspeaker is controlled by audio system to export towards sound field of the target angle immediately ahead of user
Preset audio signal.
In embodiments of the present invention, when audio system is according to the location information of user's human ear of acquisition, loudspeaker pair is determined
The steering angle answered, and after loudspeaker is adjusted to the corresponding angle of the steering angle, the then available audio for the user
Signal, and corresponding loudspeaker is controlled towards steering angle output audio signal, to form corresponding sound in the front of user
, the sound field with depth feelings is formed, the experience of user is improved.Wherein, audio signal can be music audio signal, new
Hear audio signal, video-audio signal etc..
In the concrete realization, audio system can also include signal source module, amplification module, loudspeaker module, digital sound
Frequency processing module etc., wherein the available audio signal of signal source module, and by the audio signal transmission to digital audio processing
Module, Digital audio process module can convert analog audio signal to digital audio and video signals, and to digital audio and video signals into
The processing such as line frequency, amplitude and phase, amplification module can be used for carrying out method to audio signal, push loudspeaker module hair
Sound, loudspeaker module can convert audio signal to voice signal, and carry out sounding.
In a kind of example of the embodiment of the present invention, step 403 may include following sub-step:
Through audio system from audio signal, voice frequency band signals and inhuman audio frequency segment signal are extracted, to voice frequency
Segment signal carries out high-frequency therapeutic treatment, target person audio frequency segment signal is obtained, by target person audio frequency segment signal and inhuman audio frequency segment signal
It is mixed, generates the first mixed signal, the first mixed signal is amplified, obtain the second mixed signal, control first is raised
Sound device exports second towards sound field of second steering angle immediately ahead of user towards the first steering angle, and the second loudspeaker of control
Mixed signal.
In the concrete realization, audio signal may include voice frequency band signals and inhuman audio frequency segment signal.Audio system
After being obtained by signal source according to customer requirement retrieval audio signal, by audio signal transmission to Digital audio process module, by
After analog audio signal is converted to digital audio and video signals by Digital audio process module, then pass through BPF (Band-pass
Filter, bandpass filter) extract the section 100Hz-1000Hz in voice frequency band signals, and to remaining inhuman sound audio signals into
Line delay then can carry out real-time high frequency even harmonics to the voice frequency band signals of extraction, improve voice frequency band signals
Directive property then again will treated voice frequency band signals further such that voice sound field can concentrate on the front of user
And inhuman audio frequency segment signal carries out audio mixing, obtains the first mixed signal.Then Digital audio process module can be mixed first
It closes signal and is transmitted to amplification module, processing is further amplified to the first mixed signal by amplification module, obtains the second mixing
Signal, and the second mixed signal is transmitted to loudspeaker module, the second mixed signal is converted voice signal by loudspeaker module
Afterwards, MCU central microcontroller can control the first loudspeaker towards the first steering angle, and the second loudspeaker of control direction second
Sound field of the steering angle immediately ahead of user exports the second mixed signal, thus on the one hand by the steering angle of control loudspeaker, it will
The audio signal of loudspeaker output forms sound field immediately ahead of user, on the other hand by carrying out high power time to voice frequency band signals
Even harmonics improve the directive property of voice frequency band signals, and then when user appreciates music in the car, sound field can be positioned
In the front of user, the sound field with depth feelings is formed, the atmosphere of a kind of " live concert " is built, improves user
Car appreciates the experience of music, while avoiding the sound field that loudspeaker forms " strange ".
It in embodiments of the present invention, will be corresponding with human ear according to location information by obtaining the location information of user's human ear
Preset each road loudspeaker be adjusted to target angle, target angle is the angle of sound field immediately ahead of user, is obtained for user's
Audio signal controls sound field output audio signal of each road loudspeaker towards target angle immediately ahead of user, thus by obtaining
The angle of each road loudspeaker is adjusted in the location information for taking family human ear, so that loudspeaker carries out sound towards target angle
The output of frequency signal forms the sound field with depth feelings, allows user so that sound field is positioned at the front of user
Interior music is enjoyed in ideal sound field.
It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method
It closes, but those skilled in the art should understand that, embodiment of that present invention are not limited by the describe sequence of actions, because according to
According to the embodiment of the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, and the related movement not necessarily present invention is implemented
Necessary to example.
Referring to Fig. 5, a kind of structural block diagram of audio system embodiment of the invention is shown, can specifically include such as lower die
Block:
Data obtaining module 501, for obtaining the location information of user's human ear；
Angular adjustment module 502 is used for according to the positional information, will preset each road loudspeaker corresponding with the human ear
It is adjusted to target angle, the target angle is the angle of sound field immediately ahead of the user；
Signal output module 503 controls each road loudspeaker direction for obtaining the audio signal for being directed to the user
Sound field of the target angle immediately ahead of the user exports the audio signal.
In a kind of alternative embodiment of the embodiment of the present invention, the angular adjustment module may include:
Orientation information extracting sub-module, for extracting the first orientation information of the left ear of the user from the location information
And the second orientation information of user's auris dextra；
First site determines submodule, for using first orientation information, determines for the left ear of the user
One anchor point；
Second site determines submodule, for using second orientation information, determines for user's auris dextra
Two anchor points；
Target angle computational submodule is calculated for using first anchor point and the second anchor point for described
The target angle of each road loudspeaker；
Angular adjustment submodule, for each road loudspeaker to be adjusted to the target angle.
In a kind of alternative embodiment of the embodiment of the present invention, the target angle computational submodule may include:
Loudspeaker determination unit, for determining that be adapted to first anchor point first raises from each road loudspeaker
Sound device, and the second loudspeaker being adapted to second anchor point；
First steering angle computing unit calculates first turn of first loudspeaker for using first anchor point
To angle；
Second steering angle computing unit calculates second turn of second loudspeaker for using second anchor point
To angle.
In a kind of alternative embodiment of the embodiment of the present invention, the angular adjustment submodule specifically can be used for:
First loudspeaker is controlled to rotate to first steering angle；And control second loudspeaker is rotated to institute
State the second steering angle.
In a kind of alternative embodiment of the embodiment of the present invention, the signal output module may include:
Signal source acquisition submodule, for obtaining the audio signal for being directed to the user；
First signal output module, for controlling first loudspeaker towards first steering angle, and control institute
It states the second loudspeaker and exports the audio signal towards sound field of second steering angle immediately ahead of the user.
In a kind of alternative embodiment of the embodiment of the present invention, the signal output module may include:
Frequency band signals extracting sub-module, for extracting voice frequency band signals and inhuman audio frequency from the audio signal
Segment signal；
High-frequency therapeutic treatment submodule obtains target person audio frequency range letter for carrying out high-frequency therapeutic treatment to the voice frequency band signals
Number；
Signal mixing submodule, for mixing the target person audio frequency segment signal and the inhuman audio frequency segment signal
It closes, generates the first mixed signal；
Signal amplifies submodule and obtains the second mixed signal for amplifying to first mixed signal；
Second signal output sub-module, for controlling each road loudspeaker towards the target angle, in the user
The sound field in front exports second mixed signal.
In a kind of alternative embodiment of the embodiment of the present invention, the second signal output sub-module specifically can be used for:
First loudspeaker is controlled towards first steering angle, and control second loudspeaker is towards described the
Sound field of two steering angles immediately ahead of the user exports second mixed signal.
In a kind of alternative embodiment of the embodiment of the present invention, the data obtaining module may include:
Image data acquisition submodule, for obtaining the image data of default camera shooting, described image data include
The face-image of user's face；
Human ear information extraction submodule, for extracting the location information of user's human ear from the face-image.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
The embodiment of the invention also provides a kind of devices, comprising:
One or more processors；With
One or more machine readable medias of instruction are stored thereon with, are executed when by one or more of processors
When, so that described device executes method described in the embodiment of the present invention.
The embodiment of the invention also provides one or more machine readable medias, are stored thereon with instruction, when by one or
When multiple processors execute, so that the processor executes method described in the embodiment of the present invention.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can provide as method, apparatus or calculate
Machine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer can
With the computer-usable storage medium of program code (including but not limited to magnetic disk storage, CD-ROM, optical memory,
EEPROM, Flash and eMMC etc.) on the form of computer program product implemented.
The embodiment of the present invention be referring to according to the method for the embodiment of the present invention, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Output method to a kind of audio signal provided by the present invention and a kind of audio system above, have carried out detailed Jie
It continues, used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only
It is to be used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (26)
1. a kind of output method of audio signal characterized by comprising
Obtain the location information of user's human ear；
According to the positional information, preset each road loudspeaker corresponding with the human ear is adjusted to target angle, the target
Angle is the angle of sound field immediately ahead of the user；
Obtain the audio signal for being directed to the user, control each road loudspeaker towards the target angle the user just
The sound field in front exports the audio signal.
2. the method according to claim 1, wherein it is described according to the positional information, will be with the human ear pair
The preset each road loudspeaker answered is adjusted to target angle, comprising:
From the location information, the first orientation information of the left ear of the user and the second direction letter of user's auris dextra are extracted
Breath；
Using first orientation information, the first anchor point for being directed to the left ear of the user is determined；
Using second orientation information, the second anchor point for being directed to user's auris dextra is determined；
Using first anchor point and the second anchor point, the target angle for being directed to each road loudspeaker is calculated；
Each road loudspeaker is adjusted to the target angle.
3. according to the method described in claim 2, it is characterized in that, described positioned using first anchor point and second
Point calculates the target angle for being directed to each road loudspeaker, comprising:
The first loudspeaker being adapted to first anchor point is determined from each road loudspeaker, and is positioned with described second
Second loudspeaker of point adaptation；
Using first anchor point, the first steering angle of first loudspeaker is calculated；
Using second anchor point, the second steering angle of second loudspeaker is calculated.
4. according to the method described in claim 3, it is characterized in that, described be adjusted to the target angle for each road loudspeaker
Degree, comprising:
First loudspeaker is controlled to rotate to first steering angle；And control second loudspeaker is rotated to described the
Two steering angles.
5. according to the method described in claim 4, it is characterized in that, described obtain the audio signal for being directed to the user, control
Each road loudspeaker exports the audio signal towards sound field of the target angle immediately ahead of the user, comprising:
Obtain the audio signal for being directed to the user；
First loudspeaker is controlled towards first steering angle, and control second loudspeaker is towards described second turn
The audio signal is exported to sound field of the angle immediately ahead of the user.
6. method according to claim 1 or 5, which is characterized in that described to obtain the audio signal for being directed to the user, control
It makes each road loudspeaker and exports the audio signal towards sound field of the target angle immediately ahead of the user, comprising:
From the audio signal, voice frequency band signals and inhuman audio frequency segment signal are extracted；
High-frequency therapeutic treatment is carried out to the voice frequency band signals, obtains target person audio frequency segment signal；
The target person audio frequency segment signal and the inhuman audio frequency segment signal are mixed, the first mixed signal is generated；
First mixed signal is amplified, the second mixed signal is obtained；
Sound field output second mixing that each road loudspeaker is controlled towards the target angle, immediately ahead of the user
Signal.
7. according to the method described in claim 6, it is characterized in that, described control each road loudspeaker towards the target angle
Degree, the sound field immediately ahead of the user export second mixed signal, comprising:
First loudspeaker is controlled towards first steering angle, and control second loudspeaker is towards described second turn
Second mixed signal is exported to sound field of the angle immediately ahead of the user.
8. the method according to claim 1, wherein the position for obtaining user's human ear in the automotive seat
Information, comprising:
The image data of default camera shooting is obtained, described image data include the face-image of user's face；
From the face-image, the location information of user's human ear is extracted.
9. a kind of output method of audio signal, which is characterized in that described more applied to the audio system with multichannel loudspeaker
Road loudspeaker is set to automotive seat, which comprises
The location information of user's human ear on the automotive seat is obtained by the audio system；
According to the positional information by the audio system, each road loudspeaker corresponding with the human ear is adjusted to target angle
Degree, the target angle are the angle of sound field immediately ahead of the user；
Sound field of each road loudspeaker towards the target angle immediately ahead of the user is controlled by the audio system
Export preset audio signal.
10. according to the method described in claim 9, it is characterized in that, described believed by the audio system according to the position
Each road loudspeaker corresponding with the human ear is adjusted to target angle by breath, and the target angle is sound immediately ahead of the user
The angle of field, comprising:
By the audio system from the location information, extract the left ear of the user the first orientation information and the user
Second orientation information of auris dextra；
First orientation information is used by the audio system, determines the first anchor point for being directed to the left ear of the user；
Second orientation information is used by the audio system, determines the second anchor point for being directed to user's auris dextra；
First anchor point and the second anchor point are used by the audio system, is calculated for each road loudspeaker
Target angle；
Each road loudspeaker is adjusted to the target angle by the audio system.
11. according to the method described in claim 10, it is characterized in that, described fixed using described first by the audio system
Site and the second anchor point calculate the target angle for being directed to each road loudspeaker, comprising:
The first loudspeaker being adapted to first anchor point is determined from each road loudspeaker by the audio system, with
And the second loudspeaker being adapted to second anchor point；
First anchor point is used by the audio system, calculates the first steering angle of first loudspeaker；
Second anchor point is used by the audio system, calculates the second steering angle of second loudspeaker.
12. according to the method for claim 11, which is characterized in that it is described by the audio system by each road loudspeaking
Device is adjusted to the target angle, comprising:
First loudspeaker is controlled by the audio system to rotate to first steering angle；And control described second is raised
Sound device is rotated to second steering angle.
13. according to the method for claim 12, which is characterized in that described to be raised by audio system control each road
Sound device exports preset audio signal towards sound field of the target angle immediately ahead of the user, comprising:
First loudspeaker is controlled towards first steering angle, and control second loudspeaking by the audio system
Device exports preset audio signal towards sound field of second steering angle immediately ahead of the user.
14. the method according to claim 9 or 13, which is characterized in that described described each by audio system control
Road loudspeaker exports preset audio signal towards sound field of the target angle immediately ahead of the user, comprising:
Through the audio system from the audio signal, voice frequency band signals and inhuman audio frequency segment signal are extracted；
High-frequency therapeutic treatment is carried out to the voice frequency band signals by the audio system, obtains target person audio frequency segment signal；
The target person audio frequency segment signal and the inhuman audio frequency segment signal are mixed by the audio system, generated
First mixed signal；
First mixed signal is amplified by the audio system, obtains the second mixed signal；
Sound field of each road loudspeaker towards the target angle, immediately ahead of the user is controlled by the audio system
Export second mixed signal.
15. according to the method for claim 14, which is characterized in that described to be raised by audio system control each road
For sound device towards the target angle, the sound field immediately ahead of the user exports second mixed signal, comprising:
First loudspeaker is controlled towards first steering angle, and control second loudspeaking by the audio system
Device exports second mixed signal towards sound field of second steering angle immediately ahead of the user.
16. according to the method described in claim 9, it is characterized in that, described obtain the automotive seats by the audio system
The location information of user's human ear in chair, comprising:
The location information for user's human ear that default camera is sent is received by the audio system, the location information is
The information that the camera is extracted from the face-image of shooting.
17. a kind of audio system characterized by comprising
Data obtaining module, for obtaining the location information of user's human ear；
Angular adjustment module, for according to the positional information, preset each road loudspeaker corresponding with the human ear to be adjusted to
Target angle, the target angle are the angle of sound field immediately ahead of the user；
Signal output module controls each road loudspeaker towards the mesh for obtaining the audio signal for being directed to the user
It marks sound field of the angle immediately ahead of the user and exports the audio signal.
18. system according to claim 17, which is characterized in that the angular adjustment module includes:
Orientation information extracting sub-module, for from the location information, extract the left ear of the user the first orientation information and
Second orientation information of user's auris dextra；
First site determines submodule, for using first orientation information, determines and determines for the first of the left ear of the user
Site；
Second site determines submodule, for using second orientation information, determines and determines for the second of user's auris dextra
Site；
Target angle computational submodule calculates for using first anchor point and the second anchor point and is directed to each road
The target angle of loudspeaker；
Angular adjustment submodule, for each road loudspeaker to be adjusted to the target angle.
19. system according to claim 18, which is characterized in that the target angle computational submodule includes:
Loudspeaker determination unit, for determining the first loudspeaking being adapted to first anchor point from each road loudspeaker
Device, and the second loudspeaker being adapted to second anchor point；
First steering angle computing unit calculates the first steering angle of first loudspeaker for using first anchor point；
Second steering angle computing unit calculates the second steering angle of second loudspeaker for using second anchor point.
20. system according to claim 19, which is characterized in that the angular adjustment submodule is specifically used for:
First loudspeaker is controlled to rotate to first steering angle；And control second loudspeaker is rotated to described the
Two steering angles.
21. system according to claim 20, which is characterized in that the signal output module includes:
Signal source acquisition submodule, for obtaining the audio signal for being directed to the user；
First signal output module, for controlling first loudspeaker towards first steering angle, and control described the
Two loudspeakers export the audio signal towards sound field of second steering angle immediately ahead of the user.
22. system described in 7 or 21 according to claim 1, which is characterized in that the signal output module includes:
Frequency band signals extracting sub-module, for from the audio signal, extracting voice frequency band signals and inhuman audio frequency range letter
Number；
High-frequency therapeutic treatment submodule obtains target person audio frequency segment signal for carrying out high-frequency therapeutic treatment to the voice frequency band signals；
Signal mixing submodule, for the target person audio frequency segment signal and the inhuman audio frequency segment signal to be mixed,
Generate the first mixed signal；
Signal amplifies submodule and obtains the second mixed signal for amplifying to first mixed signal；
Second signal output sub-module, for controlling each road loudspeaker towards the target angle, the user just before
The sound field of side exports second mixed signal.
23. system according to claim 22, which is characterized in that the second signal output sub-module is specifically used for:
First loudspeaker is controlled towards first steering angle, and control second loudspeaker is towards described second turn
Second mixed signal is exported to sound field of the angle immediately ahead of the user.
24. system according to claim 17, which is characterized in that the data obtaining module includes:
Image data acquisition submodule, for obtaining the image data of default camera shooting, described image data include described
The face-image of user's face；
Human ear information extraction submodule, for extracting the location information of user's human ear from the face-image.
25. a kind of device characterized by comprising
One or more processors；With
One or more machine readable medias of instruction are stored thereon with, when being executed by one or more of processors, are made
The methods for obtaining the one or more that described device is executed as described in claim 1-8 or 9-16.
26. one or more machine readable medias, are stored thereon with instruction, when executed by one or more processors, so that
The processor executes one or more methods as described in claim 1-8 or 9-16.
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