CN114353285A - Sound source positioning method and device, computer equipment, air conditioner and storage medium - Google Patents
Sound source positioning method and device, computer equipment, air conditioner and storage medium Download PDFInfo
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Abstract
The application provides a sound source positioning method, a sound source positioning device, computer equipment, an air conditioner and a storage medium, wherein the method comprises the following steps: the method comprises the steps of acquiring noise signal values acquired by a plurality of sound sensors, acquiring a reference direction vector of each reference sound sensor pointed by the reference sound sensor aiming at each reference sound sensor in the plurality of sound sensors, acquiring a reference direction vector between the reference sound sensor and a noise source according to the noise signal values and the reference direction vectors acquired by the reference sound sensors and the reference sound sensors, and determining the position information of the noise source according to the reference direction vectors corresponding to the reference sound sensors. The direction vector between the reference sound sensor and the noise sound source is obtained through the reference direction vectors of the reference sound sensor and the reference sensor and the respective noise signal values, and then the position information of the noise sound source is determined through the reference direction vectors of the plurality of reference sound sensors, so that the precision of sound source positioning is effectively improved.
Description
Technical Field
The present application relates to the field of artificial intelligence technologies, and in particular, to a sound source localization method, an apparatus, a computer device, an air conditioner, and a computer-readable storage medium (storage medium for short).
Background
With the development of science and technology, it is more and more common to carry out information interaction through sound information and smart machine, wherein, it is more important technique to fix a position in order to obtain positional information through the sound source. At present, a sound source positioning method mainly includes setting a plurality of sensor arrays, and obtaining position information of a sound source by calculating a time difference of the sound source received by the plurality of sensor arrays. However, the sound source positioning method needs a plurality of sensor arrays, the equipment cost is high, and the position distance between the sensor arrays is small, so that the time difference of sound received by each sensor array is small, and the sound source positioning error is large and the precision is low.
Disclosure of Invention
In view of the above, it is necessary to provide a sound source positioning method, a sound source positioning apparatus, a computer device, and a storage medium for improving the accuracy of sound source positioning.
In a first aspect, the present application provides a sound source localization method, including:
acquiring noise signal values collected by a plurality of sound sensors;
acquiring, for each reference sound sensor of the plurality of sound sensors, a reference direction vector of the reference sound sensor pointing to each reference sound sensor corresponding to the reference sound sensor;
acquiring a reference direction vector between the reference sound sensor and a noise sound source according to the noise signal value acquired by the reference sound sensor, the noise signal value acquired by each reference sound sensor and each reference direction vector;
the position information of the noise source is determined based on the reference direction vectors corresponding to the respective reference sound sensors.
In some embodiments of the present application, obtaining a reference direction vector between a reference sound sensor and a noise sound source according to a noise signal value collected by the reference sound sensor, a noise signal value collected by each reference sound sensor, and each reference direction vector includes:
respectively acquiring sound source included angles corresponding to the reference direction vectors through a noise attenuation model according to the noise signal values acquired by the reference sound sensors and the noise signal values acquired by the reference sound sensors;
acquiring a noise direction vector set corresponding to each reference direction vector according to each reference direction vector and a sound source included angle corresponding to each reference direction vector;
a reference direction vector between the reference sound sensor and the noise sound source is determined from the set of noise direction vectors.
In some embodiments of the present application, obtaining a noise direction vector set corresponding to each reference direction vector according to each reference direction vector and a sound source included angle corresponding to each reference direction vector includes:
respectively determining a central line corresponding to each reference direction vector according to the vertex and each reference direction vector by taking the position information of the reference sound sensor as the vertex;
generating a reference conical surface corresponding to each reference direction vector according to the vertex, the central line corresponding to each reference direction vector and the sound source included angle;
and respectively determining the generatrix vector of the reference conical surface corresponding to each reference direction vector as a noise direction vector set corresponding to each reference direction vector.
In some embodiments of the present application, determining a reference direction vector between a reference sound sensor and a noise sound source from a set of noise direction vectors includes:
acquiring an intersection in the noise direction vector set to obtain an intersection vector;
and determining the intersection vector as a reference direction vector of the reference sound sensor and the noise sound source.
In some embodiments of the present application, determining the position information of the noise sound source according to the reference direction vector corresponding to each reference sound sensor includes:
acquiring a linear equation set of a noise sound source according to the position information and the reference direction vector corresponding to each reference sound sensor;
and acquiring the position information of the noise sound source according to the linear equation system.
In some embodiments of the present application, obtaining the position information of the noise sound source according to a system of linear equations includes:
calculating an equation solution of a linear equation set to obtain the predicted position information of the noise sound source;
and screening the position information of the noise sound source from the predicted position information.
In a second aspect, the present application provides a sound source localization apparatus, comprising:
the signal value acquisition module is used for acquiring noise signal values acquired by a plurality of sound sensors;
a reference direction acquisition module, configured to acquire, for each reference sound sensor of the plurality of sound sensors, a reference direction vector of the reference sound sensor pointing to each reference sound sensor corresponding to the reference sound sensor;
the reference direction acquisition module is used for acquiring reference direction vectors between the reference sound sensors and the noise sound source according to the noise signal values acquired by the reference sound sensors, the noise signal values acquired by the reference sound sensors and the reference direction vectors;
and the position information determining module is used for determining the position information of the noise sound source according to the reference direction vector corresponding to each reference sound sensor.
In a third aspect, the present application further provides a computer device, comprising:
one or more processors;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the sound source localization method.
In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps in the sound source localization method.
In a fifth aspect, embodiments of the present application provide a computer program product or a computer program comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided by the first aspect.
The sound source positioning method, the sound source positioning device, the computer equipment, the air conditioner and the storage medium acquire noise signal values acquired by the plurality of sound sensors, acquire a reference direction vector of each reference sound sensor corresponding to the reference sound sensor from each reference sound sensor, acquire a reference direction vector between the reference sound sensor and the noise sound source according to the noise signal value acquired by the reference sound sensor, the noise signal value acquired by each reference sound sensor and each reference direction vector, and determine the position information of the noise sound source according to the reference direction vector corresponding to each reference sound sensor. The reference direction vector is determined through the position relation between the reference sound sensor and the reference sensor, the reference direction vector between the reference sound sensor and the noise sound source is obtained based on the reference direction vector, and then the position information of the noise sound source is determined through the reference direction vectors of the plurality of reference sound sensors, so that the sound source positioning precision is effectively improved, a plurality of sound sensor arrays do not need to be arranged, and the equipment cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a sound source localization method in an embodiment of the present application;
fig. 2 is a schematic view of an application scenario of another sound source localization method in the embodiment of the present application;
FIG. 3 is a schematic flow chart of a sound source localization method according to an embodiment of the present application;
fig. 4 is a schematic view of an application scenario of another sound source localization method in the embodiment of the present application;
FIG. 5 is a schematic flowchart of a reference direction vector obtaining step in the embodiment of the present application;
FIG. 6 is a schematic flow chart of a noise direction vector set obtaining step in the embodiment of the present application;
FIG. 7 is a schematic diagram of an affine coordinate system in an embodiment of the present application;
fig. 8 is a schematic structural view of a sound source localization apparatus in an embodiment of the present application;
fig. 9 is a schematic structural diagram of a computer device in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
In the description of the present application, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, the word "for example" is used to mean "serving as an example, instance, or illustration". Any embodiment described herein as "for example" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
In the embodiment of the present application, it should be noted that, because the sound source positioning method provided in the present application is executed in a computer device, processing objects of each computer device all exist in the form of data or information, for example, location information, which is substantially location coordinate data, it can be understood that, in the following embodiments, if a direction vector, a direction vector set, location information, and the like are mentioned, all exist in corresponding data, so that the computer device processes the data, and details are not described herein.
In the embodiment of the present application, it should be further noted that the sound source positioning method provided in the embodiment of the present application may be applied to a computer device as shown in fig. 1. The computer device comprises a sound sensor 101, a sound sensor 102, a sound sensor 103 and a processor 200, wherein the sound sensor 101, the sound sensor 102 and the sound sensor 103 are respectively connected with the processor 200. The computer device may specifically be a desktop terminal, a mobile terminal, or a home device. Referring to fig. 2, the computer device may be specifically an air conditioner, and the sound sensor is disposed on a plane of a panel of the air conditioner, and as shown in fig. 2, the noise sensor is optionally triangularly mounted in four corners of the panel of the air conditioner.
It will be understood by those skilled in the art that the application environment shown in fig. 1 is only one application scenario related to the present application, and does not constitute a limitation on the application scenario of the present application, and that other application environments may further include more or fewer computer devices than those shown in fig. 1, for example, only 1 server 200 is shown in fig. 1, and it will be understood that the sound source localization system may further include one or more other servers, and is not limited herein. In addition, as shown in fig. 1, the sound source localization system may further include a memory for storing data, such as noise signal values collected by the sound sensor.
It should be further noted that the scene schematic diagram of the sound source positioning system shown in fig. 1 is only an example, and the sound source positioning system and the scene described in the embodiment of the present invention are for more clearly illustrating the technical solution of the embodiment of the present invention, and do not form a limitation on the technical solution provided in the embodiment of the present invention.
Referring to fig. 3, an embodiment of the present application provides a sound source localization method, which is mainly exemplified by applying the method to the air conditioner in fig. 2, and the method includes steps S310 to S340, which are specifically as follows:
s310, noise signal values collected by a plurality of sound sensors are obtained.
The sound sensor is arranged on an inner machine panel of the air conditioner, and the air conditioner can acquire a noise signal value acquired by the sound sensor.
S320, for each reference sound sensor of the plurality of sound sensors, acquiring a reference direction vector of the reference sound sensor pointing to the reference sound sensor corresponding to the reference sound sensor.
Wherein the reference acoustic sensor may be any one of the plurality of acoustic sensors; specifically, any two or more acoustic sensors among the plurality of acoustic sensors may be selected as the reference acoustic sensor in advance.
The reference sound sensor is a sound sensor associated with a reference sound sensor among the plurality of sound sensors, and is used to assist the reference sound sensor in locating a noise source, and any one of the reference sound sensors has two or more reference sound sensors.
It is to be understood that any one of the plurality of acoustic sensors may be a reference acoustic sensor, or may be a reference acoustic sensor when another acoustic sensor is used as the reference acoustic sensor. For example, referring to fig. 2, the sound source localization system shown in fig. 2 includes a sound sensor 101, a sound sensor 102, and a sound sensor 103, and the sound sensor 101 and the sound sensor 102 may be set as reference sound sensors in advance; for the reference sound sensor, i.e. the sound sensor 101, the reference sound sensor may include a sound sensor 102 and a sound sensor 103; for the reference sound sensor, sound sensor 102, the reference sound sensor may include sound sensor 101 and sound sensor 103.
For another example, referring to fig. 4, the sound source localization system shown in fig. 4 includes a sound sensor 401, a sound sensor 402, a sound sensor 403, a sound sensor 404, and a sound sensor 405, and the sound sensor 401, the sound sensor 402, and the sound sensor 405 may be set as reference sound sensors in advance; for the reference sound sensor, i.e. the sound sensor 401, the reference sound sensor may include a sound sensor 403, a sound sensor 404, and a sound sensor 405; for the reference sound sensor, sound sensor 402, the reference sound sensor may include sound sensor 403, sound sensor 404, and sound sensor 405; for the reference sound sensor, sound sensor 405, the reference sound sensor may include sound sensor 401, sound sensor 402, and sound sensor 404.
Specifically, after the reference sound sensor corresponding to the reference sound sensor and the reference sound sensor are determined, the reference direction vector from the reference sound sensor to each reference sensor is acquired according to the position information of the reference sound sensor and the position information of the reference sound sensor.
Further, since the positions of the sound sensors are fixed, any three sound sensors can construct an affine coordinate system, and therefore, three sound sensors can be selected from the plurality of sound sensors to construct an affine coordinate system, and position information, such as position coordinates, of each sound sensor in the affine coordinate system can be acquired; and after the reference sound sensors corresponding to the reference sound sensors and the reference sound sensors are determined, acquiring reference direction vectors from the reference sound sensors to the reference sensors in the affine coordinate system according to the position information of the reference sound sensors and the position information of the reference sound sensors.
Still taking fig. 2 as an example, for the reference sound sensor, i.e., the sound sensor 101, the reference direction vector of the reference sound sensor 101 pointing to the reference sound sensor 102 is acquired based on the position information of the reference sound sensor 101 and the position information of the reference sound sensor 102, and the reference direction vector of the reference sound sensor 101 pointing to the reference sound sensor 103 is acquired based on the position information of the reference sound sensor 101 and the position information of the reference sound sensor 103.
And S330, acquiring a reference direction vector between the reference sound sensor and the noise sound source according to the noise signal value acquired by the reference sound sensor, the noise signal value acquired by each reference sound sensor and each reference direction vector.
Specifically, for any reference sound sensor, a set of direction vectors from the reference sound sensor to a noise sound source may be obtained based on a reference direction vector between the reference sound sensor and the reference sound sensor according to the position information and the noise signal value of the reference sound sensor, and the position information and the noise signal value of the reference sound sensor, so as to obtain a set of direction vectors corresponding to each reference direction vector; finally, a reference direction vector between the reference sound sensor and the noise sound source is determined from the set of direction vectors.
More specifically, as shown in fig. 5, in one embodiment, step S330 includes:
s510, respectively acquiring sound source included angles corresponding to reference direction vectors through a noise attenuation model according to noise signal values acquired by the reference sound sensors and noise signal values acquired by the reference sound sensors;
s520, acquiring a noise direction vector set corresponding to the reference sound sensor according to each reference direction vector and a sound source included angle corresponding to each reference direction vector;
s530, a reference direction vector between the reference sound sensor and the noise sound source is determined from the noise direction vector set.
The sound source angle is an angle between a direction vector of the noise sound source pointing to the reference sound sensor and a reference direction vector.
Specifically, due to the geometric divergence attenuation of sound caused by the distance increase in the propagation process, the noise signal value collected by the sound sensor can reflect the distance information between the sound sensor and the noise sound source, and the position information based on the sound sensor and the reference sound sensor and the distance information between the sound sensor and the reference sound sensor can be determined as the position of the sound sensor is fixed; therefore, for any one of the reference sound sensors, the lengths of the three sides of the triangle formed by the reference sound sensor, and the noise source are known, and the internal angle of the triangle can be obtained from the lengths of the three sides. That is, for any one reference sound sensor, an included angle between a direction vector of a noise sound source pointing to the reference sound sensor and a reference direction vector of the reference sound sensor pointing to the reference sound sensor can be calculated according to a noise signal value collected by the reference sound sensor and a noise signal value collected by each reference sound sensor, and by combining the position information of the reference sound sensor and the reference sensor.
When the sound source included angle corresponding to each reference direction vector is determined, a noise direction vector set corresponding to the reference sound sensor can be obtained according to each reference direction vector and the sound source included angle corresponding to each reference direction vector; more specifically, referring to fig. 6, in an embodiment, step S520 may specifically include:
s610, respectively determining central lines corresponding to the reference direction vectors according to the vertexes and the reference direction vectors by taking the position information of the reference sound sensor as the vertexes;
s620, generating a reference conical surface corresponding to each reference direction vector according to the vertex, the central line corresponding to each reference direction vector and the sound source included angle;
s630, the generatrix vector of the reference conical surface corresponding to each reference direction vector is determined as a noise direction vector set corresponding to each reference direction vector.
Wherein, for each reference sound sensor (or, for the reference direction vector corresponding to the reference sound sensor pointed to each reference sound sensor), a noise direction vector set can be obtained accordingly. Specifically, since the position of the acoustic sensor is fixed, the reference acoustic sensor is used as a vertex of the conical surface, a center line of the conical surface is determined by using the vertex as a starting point and a direction identified by a reference direction vector of the reference acoustic sensor directed to the reference acoustic sensor, and then the conical surface is generated around the center line by a sound source included angle based on the vertex, and a generatrix on the conical surface is a noise direction vector set corresponding to each reference direction vector.
After acquiring the noise direction vector set corresponding to each reference direction vector, a direction vector between the noise sound source and the reference sound sensor may be determined from the noise direction vector set. Specifically, the intersection of the sets of noise direction vectors corresponding to the respective reference direction vectors is a reference direction vector in which the noise sound source points to the reference sound sensor. Thus, in one embodiment, determining a reference direction vector between a reference sound sensor and a noise sound source from a set of noise direction vectors comprises: acquiring an intersection in the noise direction vector set to obtain an intersection vector; and determining the intersection vector as a reference direction vector of the reference sound sensor and the noise sound source.
Wherein reference direction vectors of the reference sound sensors directed to different reference sound sensors are not on the same straight line, and thus one direction vector or two direction vectors symmetrical with respect to a plane exist at an intersection of the noise direction vector sets corresponding to the respective reference direction vectors.
Taking the number of the reference sound sensors as an example, for any one reference sound sensor, the corresponding reference sound sensor comprises a first reference sound sensor and a second reference sound sensor; the specific process of acquiring the reference direction vector between the reference sound sensor and the noise source is as follows: acquiring a first sound source included angle corresponding to a first reference sound sensor according to a noise signal value acquired by the reference sound sensor and a noise signal value acquired by the first reference sound sensor, and further acquiring a first noise direction vector set corresponding to the reference sound sensor according to a reference direction vector of the reference sound sensor pointing to the first reference sound sensor and the first sound source included angles corresponding to the reference direction vectors;
similarly, a second sound source included angle corresponding to the second reference sound sensor is obtained according to the noise signal value collected by the reference sound sensor and the noise signal value collected by the second reference sound sensor, and further, a second noise direction vector set corresponding to the reference sound sensor is obtained according to the reference direction vector of the reference sound sensor pointing to the second reference sound sensor and the second sound source included angle corresponding to each reference direction vector; and finally, acquiring the intersection between the first noise direction vector set and the second noise direction vector set to obtain the reference direction vector of the reference sound sensor and the noise sound source.
Still taking fig. 2 as an example, regarding the reference sound sensor, which is the sound sensor 101, the reference sound sensor corresponding to the sound sensor 101 includes a sound sensor 102 and a sound sensor 103; after a first sound source angle between a direction vector of a noise sound source directed to the reference sound sensor 101 and a reference direction vector of the reference sound sensor 101 directed to the reference sound sensor 102 is obtained, a center line having the sound sensor 101 as a vertex and the reference direction vector of the reference sound sensor 101 directed to the reference sound sensor 102 as a direction is obtained, a conical surface is generated around the center line at the first sound source angle based on the vertex, and a generatrix on the conical surface constitutes a first direction vector set between the noise sound source and the reference sound sensor 101. Similarly, after a second sound source angle between the direction vector of the noise sound source directed to the reference sound sensor 101 and the reference direction vector of the reference sound sensor 101 directed to the reference sound sensor 103 is obtained, a center line having the sound sensor 101 as a vertex and the reference direction vector of the reference sound sensor 101 directed to the reference sound sensor 103 as a direction is obtained, and then a conical surface is generated around the center line at the first sound source angle based on the vertex, and a generatrix on the conical surface constitutes a second direction vector set between the noise sound source and the reference sound sensor 101.
S340, the position information of the noise source is determined based on the reference direction vectors corresponding to the respective reference sound sensors.
In this case, the position information of the noise sound source can be determined based on the intersection point between the reference direction vectors, based on the reference direction vectors of the two or more reference sound sensors pointing to the noise sound source.
In one embodiment, step S340 includes: acquiring a linear equation set of a noise sound source according to the position information and the reference direction vector corresponding to each reference sound sensor; and acquiring the position information of the noise sound source according to the linear equation system.
Wherein the different reference direction vectors represent direction vectors in which the noise sound source points to the different reference sound sensors; the system of linear equations includes at least two linear equations, one corresponding to one reference direction vector. And acquiring linear equations of different straight lines where the noise sound source is located according to the reference direction vectors, further establishing a linear equation set formed by a plurality of linear equations in a simultaneous manner, and solving the linear equation set to obtain the position information of the noise sound source.
Further, as described above, in the case where one direction vector or two direction vectors symmetrical with respect to the plane exist at the intersection of the sets of noise direction vectors corresponding to the respective reference direction vectors, that is, the reference direction vector corresponding to the reference sound sensor includes two direction vectors symmetrical with respect to the plane, there often exist two equation solutions, that is, two intersections, of the linear equation set of the noise source in accordance with the position information corresponding to the respective reference sound sensors and the reference direction vector. Therefore, in one embodiment, acquiring the position information of the noise sound source according to the system of linear equations may specifically include: calculating an equation solution of a linear equation set to obtain the predicted position information of the noise sound source; and screening the position information of the noise sound source from the predicted position information.
The equation solution of the linear equation set is the intersection point of the straight lines corresponding to the linear equations, and the position information of the noise sound source can be reflected. Specifically, after the equation solution of the linear equation set is obtained, it may be determined whether an intersection point corresponding to the equation solution is located in a preset position range, where the preset position range refers to a region where a noise sound source may appear, and if the intersection point is located in the preset position range, the position information of the intersection point corresponding to the equation solution is determined as the position information of the noise sound source, otherwise, the intersection point corresponding to the equation solution is excluded. As shown in fig. 2, the back space of the air conditioner is often a wall, and when the position of the intersection point corresponding to the solution of the equation is located in the back space of the air conditioner, the intersection point corresponding to the solution of the equation is an invalid intersection point.
It can be understood that the preset position ranges corresponding to different devices can be preset according to the installation position of the device.
In the sound source positioning method, noise signal values collected by a plurality of sound sensors are acquired, for each reference sound sensor in the plurality of sound sensors, reference direction vectors pointing to the reference sound sensor corresponding to the reference sound sensor are acquired, a reference direction vector between the reference sound sensor and a noise sound source is acquired according to the noise signal value collected by the reference sound sensor, the noise signal value collected by the reference sound sensor and the reference direction vectors, and position information of the noise sound source is determined according to the reference direction vector corresponding to the reference sound sensor. The reference direction vector is determined through the position relation between the reference sound sensor and the reference sensor, the reference direction vector between the reference sound sensor and the noise sound source is obtained based on the reference direction vector, and then the position information of the noise sound source is determined through the reference direction vectors of the plurality of reference sound sensors, so that the accuracy of sound source positioning is effectively improved, a plurality of sound sensor arrays do not need to be arranged, and the equipment cost is reduced.
The sound source localization method is further described below by taking the application scenarios shown in fig. 2 and fig. 7 as examples:
as shown in fig. 2, sound sensors are optionally triangularly mounted in four corners on an inner panel of an air conditioner, assuming a noise source (which may be denoted as point a)0) Has a noise signal value of A0(ii) a Acoustic sensor 101 (which may be referred to as Point A)1) The value of the collected noise signal is A1Acoustic sensor 102 (which may be referred to as point a)2) The value of the collected noise signal is A2Acoustic sensor 103 (which may be referred to as point a)3) The value of the collected noise signal is A3。
Since the positions of the respective acoustic sensors are fixed, the acoustic sensor 101, the acoustic sensor 102, and the acoustic sensor 103 can construct an affine coordinate system as shown in fig. 7, in which the affine coordinate system is constructed with the acoustic sensor 101 as an origin, with a direction in which the acoustic sensor 101 is directed toward the acoustic sensor 102 as an X-axis, with a direction in which the acoustic sensor 101 is directed toward the acoustic sensor 103 as a Y-axis, and with a direction perpendicular to a plane vector of a plane formed by the X-axis and the Y-axis as a Z-axis; further, position information, for example, position coordinates of each sound sensor in the affine coordinate system is acquired based on the affine coordinate system.
According to the noise attenuation formula, the noise attenuation formula is shown in the following formula (1):
where d represents the distance from the noise source to the test point (e.g., sound sensor), and Δ a represents the attenuation amount of the noise signal at the test point.
From the noise attenuation formula, a relation between the noise signal value of the noise source and the noise signal value of the test point can be obtained, and if f (d), the formula is shown as the following formula (2):
wherein A isiRepresenting the noise signal value of the test point, A0Representing the noise signal value of the noise source and d representing the distance of the noise source to the test point (e.g. sound sensor).
Vector of noise source to test point
Expressed as the following equation (3), the distance d from the noise source to the test point is expressed as the following equation (4):
wherein (x)i,yi,zi) Location information indicating a test point, (x)0,y0,z0) Indicating the position information of the noise source.
For a noise source, the attenuation field is a closed spherical number field with the noise source as the center. The distance d from the noise source to the test point in the above formula can only reflect a quantitative value and cannot reflect a direction. Therefore, the above formula (2) is further converted to the formula (5):
wherein the gradient decrease of the noise attenuation can be expressed by the following equation (6):
for 3 acoustic sensors as shown in fig. 2, assume that the position coordinates of the acoustic sensor 101 are (x)1,y1,z1) The position coordinate of the acoustic sensor 102 is (x)2,y2,z2) The position coordinate of the acoustic sensor 103 is (x)3,y3,z3)。
With the acoustic sensor 101 as a reference acoustic sensor, a direction vector of the acoustic sensor 101 in a direction toward the acoustic sensor 102 can be expressed by the following equation (7):
here, the gradient decrease rate corresponding to the acoustic sensor 101 is grad (f (x)1,y1,z1) Since the gradient descending direction of the sound sensor 101 is such that the sound sensor points to the noise source, the gradient descending rate from the sound sensor 101 to the sound sensor 102 can be given by the following equation (8):
thus, the attenuation of noise by the acoustic sensor 101 to the direction pointing toward the acoustic sensor 102 can be listed by equation (9):
from the above equation (9), the direction vector of the acoustic sensor 101 directed to the acoustic sensor 102 can be calculated
(i.e., reference direction vector) and direction vector of noise source directed to the acoustic sensor 101
(i.e. reference direction vector) angle
(i.e., source angle).
Since the positions of the acoustic sensor 101, the acoustic sensor 102, and the acoustic sensor 103 are fixed, the direction vector pointing from the acoustic sensor 101 to the acoustic sensor 102 with the acoustic sensor 101 as the vertex is
As a reference line, by an included angle
Is included angle around direction vector
The rotating body is a conical surface, and the set formed by conical generatrices on the surface of the conical surface is the noise source pointing to the sound sensor 101
Set of directional vectors M1.
Likewise, a direction vector of the sound sensor 101 directed to the sound sensor 103 can be expressed by the following equation (10):
here, the gradient decrease rate corresponding to the acoustic sensor 101 is grad (f (x)1,y1,z1) Since the gradient descending direction of the sound sensor 101 is such that the sound sensor points to the noise source, the gradient descending rate from the sound sensor 101 to the sound sensor 103 can be given by the following equation (11):
thus, the attenuation of noise by the sound sensor 101 to the direction pointing to the sound sensor 103 can be listed by equation (12):
from the above equation (12), the direction vector of the acoustic sensor 101 directed to the acoustic sensor 103 can be calculated
(i.e., reference direction vector) and direction vector of noise source directed to the acoustic sensor 101
(i.e., reference square)Vector) angle of the angle
(i.e., source angle). Furthermore, with the acoustic sensor 101 as the vertex, the direction vector pointing to the acoustic sensor 103 from the acoustic sensor 101 is
As a reference line, by an included angle
Is included angle around direction vector
The rotating body is a conical surface, and the set formed by conical generatrices on the surface of the conical surface is the noise source pointing to the sound sensor 101
Set of directional vectors M2.
The intersection between the direction vector set M1 and the direction vector set M2 is the point at which the noise source points to the sound sensor 101
The reference direction vector of (2). It will be appreciated that the direction vector
And the direction vector
Not collinear, there is one direction vector or two direction vectors symmetrical about a reference plane, which is a plane formed by the acoustic sensor 101, the acoustic sensor 102, and the acoustic sensor 103, at the intersection of the set of direction vectors M1 and the set of direction vectors M2.
Using the acoustic sensor 102 as a reference acoustic sensor, it is possible to calculate the direction of the noise source to the acoustic sensor 102 according to the same method as described above
The reference direction vector is not described herein.
Acoustic sensor 101 is known (Point A)1) And its reference direction vector
Namely, the outgoing line A can be represented by a point-inclined type0A1Acoustic sensor 102 is known (Point A)2) And its reference direction vector
Namely, the outgoing line A can be represented by a point-inclined type0A2Line A0A1And a line A0A2The intersection of the lines is the location of the noise source. Specifically, thread A0A1Is of a point-oblique type and line A0A2The position of the available noise sound source is obtained by solving the equation set.
In order to better implement the sound source positioning method provided in the embodiment of the present application, on the basis of the sound source positioning method provided in the embodiment of the present application, a sound source positioning device is further provided in the embodiment of the present application, as shown in fig. 7, the sound source positioning device 800 includes:
a signal value obtaining module 810, configured to obtain noise signal values collected by multiple sound sensors;
a reference direction obtaining module 820, configured to, for each reference sound sensor of the plurality of sound sensors, obtain a reference direction vector of the reference sound sensor pointing to each reference sound sensor corresponding to the reference sound sensor;
a reference direction obtaining module 830, configured to obtain a reference direction vector between the reference sound sensor and the noise sound source according to the noise signal value collected by the reference sound sensor, the noise signal value collected by each reference sound sensor, and each reference direction vector;
a position information determining module 840, configured to determine position information of the noise source according to the reference direction vectors corresponding to the reference sound sensors.
In some embodiments of the present application, the reference direction obtaining module 830 is further configured to obtain, according to the noise signal value collected by the reference sound sensor and the noise signal value collected by each reference sound sensor, a sound source included angle corresponding to each reference direction vector through a noise attenuation model; acquiring a noise direction vector set corresponding to each reference direction vector according to each reference direction vector and a sound source included angle corresponding to each reference direction vector; a reference direction vector between the reference sound sensor and the noise sound source is determined from the set of noise direction vectors.
In some embodiments of the present application, the reference direction obtaining module 830 is further configured to determine, by using the position information of the reference sound sensor as a vertex, a center line corresponding to each reference direction vector according to the vertex and each reference direction vector; generating a reference conical surface corresponding to each reference direction vector according to the vertex, the central line corresponding to each reference direction vector and the sound source included angle; and respectively determining the generatrix vector of the reference conical surface corresponding to each reference direction vector as a noise direction vector set corresponding to each reference direction vector.
In some embodiments of the present application, the reference direction obtaining module 830 is further configured to obtain an intersection in the noise direction vector set, so as to obtain an intersection vector; and determining the intersection vector as a reference direction vector of the reference sound sensor and the noise sound source.
In some embodiments of the present application, the position information determining module 840 is configured to obtain a linear equation set of a noise sound source according to the position information and the reference direction vector corresponding to each reference sound sensor; and acquiring the position information of the noise sound source according to the linear equation system.
In some embodiments of the present application, the position information determining module 840 is configured to calculate an equation solution of a linear equation set to obtain predicted position information of a noise source; and screening the position information of the noise sound source from the predicted position information.
In some embodiments of the present application, the sound source localization apparatus 800 may be implemented in the form of a computer program that is executable on a computer device such as that shown in fig. 9. The memory of the computer device may store therein various program modules constituting the sound source localization apparatus 800, such as a signal value acquisition module 810, a reference direction acquisition module 820, a reference direction acquisition module 830, and a position information determination module 840 shown in fig. 8. The respective program modules constitute computer programs that cause a processor to execute the steps in the sound source localization method of the respective embodiments of the present application described in the present specification.
For example, the computer device shown in fig. 9 may perform step S210 by the signal value acquisition module 810 in the sound source localization apparatus 800 shown in fig. 8. The computer device may perform step S220 by the reference direction acquisition module 820. The computer device may perform step S230 through the reference direction acquisition module 830. The computer device may perform step S240 through the location information determining module 840. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external computer device through a network connection. The computer program is executed by a processor to implement a sound source localization method.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In some embodiments of the present application, an air conditioner is provided, which includes an air conditioner indoor unit, where the air conditioner indoor unit is provided with a first sound sensor, a second sound sensor, and a third sound sensor; the air conditioner also comprises one or more processors connected with the first sound sensor, the second sound sensor and the third sound sensor; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor for performing the steps of the sound source localization method described above. Here, the steps of the sound source localization method may be the steps in the sound source localization methods of the respective embodiments described above.
In some embodiments of the present application, there is provided a computer device comprising one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor for the steps of the sound source localization method described above. Here, the steps of the sound source localization method may be the steps in the sound source localization methods of the respective embodiments described above.
In some embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, which is loaded by a processor, so that the processor performs the steps of the sound source localization method described above. Here, the steps of the sound source localization method may be the steps in the sound source localization methods of the respective embodiments described above.
It will be understood by those of ordinary skill in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when executed. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The sound source positioning method, apparatus, computer device and storage medium provided in the embodiments of the present application are described in detail above, and the principles and embodiments of the present invention are explained herein by applying specific examples, and the descriptions of the above embodiments are only used to help understanding the method and its core ideas of the present invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A sound source localization method, comprising:
acquiring noise signal values collected by a plurality of sound sensors;
for each reference sound sensor in the plurality of sound sensors, acquiring a reference direction vector of the reference sound sensor pointing to each reference sound sensor corresponding to the reference sound sensor;
acquiring a reference direction vector between the reference sound sensor and a noise sound source according to the noise signal value acquired by the reference sound sensor, the noise signal value acquired by each reference sound sensor and each reference direction vector;
and determining the position information of the noise sound source according to the reference direction vector corresponding to each reference sound sensor.
2. The method of claim 1, wherein obtaining the reference direction vector between the reference sound sensor and the noise sound source according to the noise signal value collected by the reference sound sensor, the noise signal value collected by each reference sound sensor, and each reference direction vector comprises:
respectively acquiring sound source included angles corresponding to the reference direction vectors through a noise attenuation model according to the noise signal values acquired by the reference sound sensors and the noise signal values acquired by the reference sound sensors;
acquiring a noise direction vector set corresponding to each reference direction vector according to each reference direction vector and a sound source included angle corresponding to each reference direction vector;
determining a reference direction vector between the reference sound sensor and a noise sound source from the set of noise direction vectors.
3. The method according to claim 2, wherein obtaining a set of noise direction vectors corresponding to each of the reference direction vectors according to each of the reference direction vectors and a sound source included angle corresponding to each of the reference direction vectors comprises:
respectively determining a central line corresponding to each reference direction vector according to the vertex and each reference direction vector by taking the position information of the reference sound sensor as the vertex;
generating a reference conical surface corresponding to each reference direction vector according to the vertex, the center line corresponding to each reference direction vector and the sound source included angle;
and respectively determining the generatrix vector of the reference conical surface corresponding to each reference direction vector as a noise direction vector set corresponding to each reference direction vector.
4. The method of claim 2, wherein determining the reference direction vector between the reference sound sensor and a noise sound source from the set of noise direction vectors comprises:
acquiring an intersection in the noise direction vector set to obtain an intersection vector;
and determining the intersection vector as a reference direction vector of the reference sound sensor and the noise sound source.
5. The method according to claim 1, wherein the determining the position information of the noise sound source from the reference direction vector corresponding to each of the reference sound sensors includes:
acquiring a linear equation set of the noise sound source according to the position information and the reference direction vector corresponding to each reference sound sensor;
and acquiring the position information of the noise sound source according to the linear equation set.
6. The method according to claim 5, wherein the obtaining the position information of the noise sound source according to the system of linear equations comprises:
calculating an equation solution of the linear equation set to obtain predicted position information of the noise sound source;
and screening the position information of the noise sound source from the predicted position information.
7. A sound source localization apparatus, characterized in that the apparatus comprises:
the signal value acquisition module is used for acquiring noise signal values acquired by a plurality of sound sensors;
a reference direction acquiring module, configured to acquire, for each reference sound sensor of the plurality of sound sensors, a reference direction vector of the reference sound sensor pointing to each reference sound sensor corresponding to the reference sound sensor;
a reference direction obtaining module, configured to obtain a reference direction vector between the reference sound sensor and a noise sound source according to the noise signal value collected by the reference sound sensor, the noise signal value collected by each reference sound sensor, and each reference direction vector;
and the position information determining module is used for determining the position information of the noise sound source according to the reference direction vector corresponding to each reference sound sensor.
8. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the sound source localization method of any of claims 1 to 6.
9. The air conditioner is characterized by comprising an air conditioner indoor unit, wherein the air conditioner indoor unit is provided with a first sound sensor, a second sound sensor and a third sound sensor;
the air conditioner also comprises one or more processors connected with the first sound sensor, the second sound sensor and the third sound sensor;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the sound source localization method of any of claims 1 to 6.
10. A computer-readable storage medium, having stored thereon a computer program which is loaded by a processor for performing the steps in the sound source localization method according to any of claims 1 to 6.
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| CN107436969A (en) * | 2017-07-03 | 2017-12-05 | 四川大学 | A kind of three-dimensional multi-target orientation method based on genetic algorithm |
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