CN112540347A - Method and device for judging distance of sound source, terminal equipment and storage medium - Google Patents
Method and device for judging distance of sound source, terminal equipment and storage medium Download PDFInfo
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- CN112540347A CN112540347A CN202011284929.3A CN202011284929A CN112540347A CN 112540347 A CN112540347 A CN 112540347A CN 202011284929 A CN202011284929 A CN 202011284929A CN 112540347 A CN112540347 A CN 112540347A
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- 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
- G01S5/28—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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Abstract
The invention discloses a method and a device for judging the distance of a sound source, terminal equipment and a storage medium, wherein the method comprises the following steps: acquiring a microphone array for receiving a sound source, wherein the microphone array comprises an even number of microphone elements; obtaining array lines according to any two microphone elements, and forming array element line pairs by the array elements which are parallel to each other and have the same length; calculating the time delay of the two array element lines in the array element line pair for receiving the sound source to obtain a first time delay and a second time delay; and judging that the sound source is in a near field or a far field according to the difference value of the first time delay and the second time delay. The invention judges whether the sound source is in a near field or a far field by calculating the time delay difference value of the microphone element line pair, thereby effectively reducing the complexity of far and near judgment of the sound source, improving the accuracy of far and near judgment of the sound source and further improving the accuracy of sound source positioning.
Description
Technical Field
The present invention relates to the field of sound source positioning technologies, and in particular, to a method and an apparatus for determining distance of a sound source, a terminal device, and a storage medium.
Background
In the microphone array signal processing, a sound field model may be divided into a near field model and a far field model according to the distance between a sound source and a microphone array. The near-field model regards sound waves as spherical waves, and takes into account the amplitude difference between signals received by each microphone element, and under the near-field condition, the direction and amplitude of the signals reaching each microphone element are different, so the near-field model takes into account the two factors of amplitude attenuation and phase difference, and for the near-field model, a triangulation method is usually adopted to locate the sound source. The far-field model regards sound waves as plane waves, ignores amplitude differences among signals received by the microphone elements, and approximately considers that the signals received by the microphone elements are only in simple time delay relation.
In the prior art, an empirical formula is generally adopted to judge whether a sound source is in a near field or a far field. If R is the distance from the sound source to the center of the microphone array, L is the total length of the uniform linear array or the diameter of the uniform circular array, lambda represents the minimum wavelength in the broadband signal, if R >2 xLxL/lambda, the sound source is in a far field, otherwise, the sound source is in a near field, the sound source in the far field is positioned by a far field model, and the sound source in the near field is positioned by a near field model. However, in the current sound source localization, because of considering the complexity of the problem, generally, the judgment of the far field and the near field is neglected, either the near field model or the far field model is used in a unified manner, so that the accuracy of the sound source localization is greatly reduced, that is, if the sound source is in the far field or the near field cannot be accurately judged, the sound source localization cannot be accurately performed, and the effect of the subsequent beam forming can be affected.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a method, an apparatus, a terminal device and a storage medium for determining the distance of a sound source, which can reduce the complexity of determining the distance of the sound source, and improve the accuracy of determining the distance of the sound source, thereby improving the accuracy of positioning the sound source.
In order to achieve the above object, an embodiment of the present invention provides a method for determining a distance between sound sources, including:
acquiring a microphone array for receiving a sound source, wherein the microphone array comprises an even number of microphone elements;
obtaining array lines according to any two microphone elements, and forming array element line pairs by the array elements which are parallel to each other and have the same length;
calculating the time delay of the two array element lines in the array element line pair for receiving the sound source to obtain a first time delay and a second time delay;
and judging that the sound source is in a near field or a far field according to the difference value of the first time delay and the second time delay.
Further, the calculating a time delay of the two array element lines in the array element line pair receiving the sound source to obtain a first time delay and a second time delay specifically includes:
calculating the time difference of the two microphone elements on one array line in the array line pair receiving the sound source to obtain a first time delay;
and calculating the time difference of the two microphone elements on the other array line in the array element pair for receiving the sound source to obtain a second time delay.
Further, the determining that the sound source is in a near field or a far field according to the difference between the first time delay and the second time delay specifically includes:
calculating the absolute value of the difference value of the first time delay and the second time delay of each array element line pair;
calculating the average value of the absolute values of all array element line pairs;
when the average value is larger than a preset threshold value, judging that the sound source is in a near field;
and when the average value is less than or equal to a preset threshold value, judging that the sound source is in a far field.
Further, the microphone array comprises at least four microphone elements, and the at least four microphone elements are uniformly arranged.
The embodiment of the present invention further provides a device for determining the distance between sound sources, including:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a microphone array for receiving a sound source, and the microphone array comprises an even number of microphone elements;
the component module is used for obtaining array lines according to any two microphone elements and forming array element line pairs by the array elements which are parallel to each other and have the same length;
the calculation module is used for calculating the time delay of the two array element lines in the array element line pair for receiving the sound source to obtain a first time delay and a second time delay;
and the judging module is used for judging that the sound source is in a near field or a far field according to the difference value of the first time delay and the second time delay.
Further, the calculation module specifically includes:
the first calculating unit is used for calculating the time difference of the two microphone elements on one array line in the array line pair for receiving the sound source to obtain a first time delay;
and the second calculating unit is used for calculating the time difference of the two microphone elements on the other array line in the array element line pair for receiving the sound source to obtain a second time delay.
Further, the determining module specifically includes:
the absolute value calculating unit is used for calculating the absolute value of the difference value of the first time delay and the second time delay of each array element line pair;
the average value calculating unit is used for calculating the average value of the absolute values of all array element line pairs;
a first determination unit configured to determine that the sound source is in a near field when the average value is greater than a preset threshold;
a second determination unit configured to determine that the sound source is in the far field when the average value is less than or equal to a preset threshold value.
Further, the microphone array comprises at least four microphone elements, and the at least four microphone elements are uniformly arranged.
The embodiment of the present invention further provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements the method for determining the distance between sound sources described in any one of the above when executing the computer program.
The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute any one of the foregoing methods for determining the distance to the sound source.
Compared with the prior art, the sound source distance judging method, the sound source distance judging device, the terminal equipment and the storage medium provided by the embodiment of the invention have the beneficial effects that: obtaining a microphone array for receiving a sound source, wherein the microphone array comprises an even number of microphone elements; obtaining array lines according to any two microphone elements, and forming array element line pairs by the array elements which are parallel to each other and have the same length; calculating the time delay of the two array element lines in the array element line pair for receiving the sound source to obtain a first time delay and a second time delay; and judging that the sound source is in a near field or a far field according to the difference value of the first time delay and the second time delay. According to the embodiment of the invention, the time delay difference value of the microphone element line pair is calculated to judge whether the sound source is in the near field or the far field, so that the complexity of far and near judgment of the sound source is effectively reduced, the accuracy of far and near judgment of the sound source is improved, and the accuracy of sound source positioning is further improved.
Drawings
Fig. 1 is a schematic flow chart of a method for determining the distance between sound sources according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a near-field model and a far-field model in a preferred embodiment of a method for determining the distance between sound sources according to the present invention;
fig. 3 is a schematic structural diagram of a preferred embodiment of a sound source distance determining device provided by the present invention;
fig. 4 is a schematic structural diagram of a preferred embodiment of a terminal device provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for determining the distance between sound sources according to a preferred embodiment of the present invention. The method for judging the distance between the sound sources comprises the following steps:
s1, acquiring a microphone array for receiving a sound source, wherein the microphone array comprises an even number of microphone elements;
s2, obtaining array lines according to any two microphone elements, and forming array element line pairs by the array elements which are parallel to each other and have the same length;
s3, calculating the time delay of the two array element lines in the array element line pair for receiving the sound source to obtain a first time delay and a second time delay;
and S4, judging that the sound source is in a near field or a far field according to the difference value of the first time delay and the second time delay.
Specifically, a microphone array for receiving a sound source is obtained, wherein the microphone array comprises an even number of microphone elements, most of intelligent sound box products are regular square arrays or circular arrays of 4mic or 6mic, and all the microphone elements are in the same plane; secondly, connecting any two microphone elements to obtain array elements, and forming array element line pairs by the array elements which are parallel to each other and have the same length; then, respectively calculating the time delay of the two array element lines in the array element line pair for receiving the sound source to obtain a first time delay and a second time delay; and finally, judging that the sound source is in a near field or a far field according to the difference value of the first time delay and the second time delay.
It should be noted that a microphone array is an array formed by arranging a group of omnidirectional microphones at different spatial positions according to a certain shape rule, and is a device for spatially sampling a spatially propagated sound signal, and the acquired signal includes spatial position information thereof. The array can be divided into a near-field model and a far-field model according to the distance between the sound source and the microphone array. According to the topological structure of the microphone array, the microphone array can be divided into a linear array, a plane array, a volume array and the like.
According to the embodiment, the sound source is judged to be in the near field or the far field by calculating the time delay difference value of the microphone element line pair, the complexity of far and near judgment of the sound source is effectively reduced, the accuracy of far and near judgment of the sound source is improved, and therefore the accuracy of sound source positioning is further improved.
In another preferred embodiment, the calculating the time delay of the two array element lines in the array line pair receiving the sound source to obtain a first time delay and a second time delay specifically includes:
s301, calculating the time difference of the two microphone elements on one array line in the array line pair receiving the sound source to obtain a first time delay;
s302, calculating the time difference of the two microphone elements on the other array line in the array element pair receiving the sound source to obtain a second time delay.
Specifically, when calculating the time delay of receiving the sound source by two array element lines in the array element line pair, the time difference of receiving the sound source by two microphone elements on one array element line in the array element line pair is calculated to obtain a first time delay, and then the time difference of receiving the sound source by two microphone elements on the other array element line in the array element line pair is calculated to obtain a second time delay.
It should be noted that, the method for calculating the time difference between the two microphone elements on the array element line receiving the sound source includes, but is not limited to, a weighted correlation function method and a delay estimation algorithm.
In another preferred embodiment, the determining that the sound source is in the near field or the far field according to the difference between the first time delay and the second time delay specifically includes:
s401, calculating the absolute value of the difference value of the first time delay and the second time delay of each array element line pair;
s402, calculating the average value of the absolute values of all array element line pairs;
s403, when the average value is larger than a preset threshold value, judging that the sound source is in a near field;
s404, when the average value is smaller than or equal to a preset threshold value, determining that the sound source is in a far field.
Specifically, after the time delay of the sound source received by the two array element lines in the array element line pair is calculated to obtain a first time delay and a second time delay, the absolute value of the difference value between the first time delay and the second time delay of each array element line pair is calculated, then the average value of the absolute values of all the array element line pairs is calculated, and then the sound source is judged to be in a near field or a far field according to the size of the average value, when the average value is larger than a preset threshold value, the sound source is judged to be in the near field, and when the average value is smaller than or equal to the preset threshold value, the sound source is judged to be in the far field.
Preferably, the microphone array comprises at least four microphone elements, and the at least four microphone elements are uniformly arranged.
For example, referring to fig. 2, fig. 2 is a schematic diagram of a near-field model and a far-field model in a preferred embodiment of a method for determining the distance between sound sources according to the present invention. The microphone array comprises four microphone elements, and the four microphone elements form a uniform square array and are respectively positioned at a coordinate X0(0,0)、X1(1,0)、X2(1,1)、X3(0,1). For the near-field model, the sound source is located at coordinates S (0,2), and the sound wave is considered to be a spherical wave. For the far-field model, the sound source S is located on a straight line with y-2, and the sound wave is considered to be a plane wave.
First, array lines are obtained from any two microphone elements, and array elements parallel to each other and equal in length are formed into an array element line pair (X)0,X3) And (X)1,X2)，(X0,X1) And (X)3,X2). Next, the first array element line pair (X) is calculated0,X3) And (X)1,X2) Two microphone elements X on the middle array line0And X3Receiving the time difference of the sound source to obtain a first time delay T03Calculating the first array element line pair (X)0,X3) And (X)1,X2) Two microphone elements X on the other array element line1And X2Receiving the time difference of the sound source to obtain a second time delay T12(ii) a Computing a second pair of array elements (X)0,X1) And (X)3,X2) On the middle array lineTwo microphone elements X0And X1Receiving the time difference of the sound source to obtain a first time delay T01Calculating the second array element line pair (X)0,X1) And (X)3,X2) Two microphone elements X on the other array element line3And X2Receiving the time difference of the sound source to obtain a second time delay T32. Then calculating the first time delay T of the first array element line pair03And a second time delay T12The absolute value of the difference of (a) is denoted as d (1) ═ abs (T)03-T12) (ii) a Calculating the first time delay T of the second array element line pair01And a second time delay T32The absolute value of the difference of (a) is denoted as d (2) ═ abs (T)01-T32). And calculating the average value of d (1) and d (2), and judging whether the sound source is in the near field or the far field according to the average value of d (1) and d (2). For the embodiment shown in fig. 2, when the average of d (1) and d (2) is greater than 0, it is determined that the sound source is in the near field; when the average of d (1) and d (2) is equal to 0, it is determined that the sound source is in the far field.
Correspondingly, the invention also provides a sound source distance judging device, which can realize all the processes of the sound source distance judging method in the embodiment.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a device for determining the distance between sound sources according to a preferred embodiment of the present invention. The device for judging the distance of the sound source comprises:
an obtaining module 301, configured to obtain a microphone array for receiving a sound source, where the microphone array includes an even number of microphone elements;
a forming module 302, configured to obtain array lines according to any two microphone elements, and form array line pairs from the array lines that are parallel to each other and have the same length;
a calculating module 303, configured to calculate time delays of two array element lines in the array element line pair receiving the sound source, so as to obtain a first time delay and a second time delay;
a determining module 304, configured to determine that the sound source is in a near field or a far field according to a difference between the first time delay and the second time delay.
Preferably, the calculating module 303 specifically includes:
the first calculating unit is used for calculating the time difference of the two microphone elements on one array line in the array line pair for receiving the sound source to obtain a first time delay;
and the second calculating unit is used for calculating the time difference of the two microphone elements on the other array line in the array element line pair for receiving the sound source to obtain a second time delay.
Preferably, the determining module 304 specifically includes:
the absolute value calculating unit is used for calculating the absolute value of the difference value of the first time delay and the second time delay of each array element line pair;
the average value calculating unit is used for calculating the average value of the absolute values of all array element line pairs;
a first determination unit configured to determine that the sound source is in a near field when the average value is greater than a preset threshold;
a second determination unit configured to determine that the sound source is in the far field when the average value is less than or equal to a preset threshold value.
Preferably, at least four microphone elements are included in the microphone array, and at least four microphone elements are uniformly arranged.
In a specific implementation, the working principle, the control flow and the technical effect of the device for determining the distance between the sound source and the near-far sound source provided in the embodiment of the present invention are the same as those of the method for determining the distance between the sound source and the near-far sound source in the above embodiment, and are not described herein again.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a terminal device according to a preferred embodiment of the present invention. The terminal device comprises a processor 401, a memory 402 and a computer program stored in the memory 402 and configured to be executed by the processor 401, wherein the processor 401 implements the sound source distance determining method according to any of the above embodiments when executing the computer program.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program 1, computer program 2, … …) that are stored in the memory 402 and executed by the processor 401 to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., the general purpose Processor may be a microprocessor, or the Processor 401 may be any conventional Processor, the Processor 401 is a control center of the terminal device, and various interfaces and lines are used to connect various parts of the terminal device.
The memory 402 mainly includes a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like, and the data storage area may store related data and the like. In addition, the memory 402 may be a high speed random access memory, a non-volatile memory such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, or the memory 402 may be other volatile solid state memory devices.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the structural diagram of fig. 4 is only an example of the terminal device and does not constitute a limitation of the terminal device, and may include more or less components than those shown, or combine some components, or different components.
The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the method for determining the distance between sound sources according to any of the above embodiments.
The embodiment of the invention provides a method, a device, terminal equipment and a storage medium for judging the distance of a sound source, wherein a microphone array for receiving the sound source is obtained, and the microphone array comprises an even number of microphone elements; obtaining array lines according to any two microphone elements, and forming array element line pairs by the array elements which are parallel to each other and have the same length; calculating the time delay of the two array element lines in the array element line pair for receiving the sound source to obtain a first time delay and a second time delay; and judging that the sound source is in a near field or a far field according to the difference value of the first time delay and the second time delay. According to the embodiment of the invention, the time delay difference value of the microphone element line pair is calculated to judge whether the sound source is in the near field or the far field, so that the complexity of far and near judgment of the sound source is effectively reduced, the accuracy of far and near judgment of the sound source is improved, and the accuracy of sound source positioning is further improved.
It should be noted that the above-described system embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the system provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
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| CN113311391A (en) * | 2021-04-25 | 2021-08-27 | 普联国际有限公司 | Sound source positioning method, device and equipment based on microphone array and storage medium |
| CN113514799A (en) * | 2021-06-02 | 2021-10-19 | 普联国际有限公司 | Sound source positioning method, device and equipment based on microphone array and storage medium |
| CN114838810A (en) * | 2022-03-25 | 2022-08-02 | 武汉理工大学 | An inspection robot |
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