CN114720943A - Multi-channel sound source positioning method and system - Google Patents
Multi-channel sound source positioning method and system Download PDFInfo
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- CN114720943A CN114720943A CN202210627632.5A CN202210627632A CN114720943A CN 114720943 A CN114720943 A CN 114720943A CN 202210627632 A CN202210627632 A CN 202210627632A CN 114720943 A CN114720943 A CN 114720943A
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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
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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- H04R1/00—Details of transducers, loudspeakers or microphones
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- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
- H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
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Abstract
The invention discloses a multi-channel sound source positioning method and a system, which relate to the technical field of sound source positioning, and the method comprises the following steps: constructing a three-dimensional microphone array with a first number of microphones, the first number being an integer greater than 5; controlling the sound source to perform the same sound production within a preset time length, wherein the preset time length comprises a first time length and a second time length; and acquiring stage positioning accuracy of sound source positioning in the first time length, and determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy in the second time length so as to position the spatial position of the sound source by the stage sub microphone array. Firstly, the sound source positioning precision is determined, and then the positioned microphone array is determined. Microphone arrays with different positioning requirements or positioning accuracy do not need to be replaced manually, and therefore the microphone array is adaptive to different use scenes. And the corresponding positioning microphone array is determined according to the positioning precision, so that the precision and the efficiency of positioning a sound source are higher.
Description
Technical Field
The invention relates to the technical field of sound source positioning, in particular to a multi-channel sound source positioning method and system.
Background
Currently, a TDOA (time difference of arrival) based positioning technology is widely used, which uses the time difference between sound signals of microphones on a microphone array to position a sound source, and has the advantages of small calculation amount, low cost, easy deployment, and relatively suitability for real-time processing, and is increasingly used in practical applications. Since the sound source position is calculated based on the approximate formula of the distance basically, good positioning effect can be achieved when the far-field sound source positioning is realized, but the positioning effect is not ideal in the near-field and non-far-field positioning scenes. Moreover, in the TDOA-based sound source localization technology, since the microphone array is determined at the time of factory shipment, the number and positions of the microphones in the microphone array are fixed, when near-field sound source localization is performed, the microphone array with higher accuracy, more microphones and more reasonable positions needs to be replaced, the marginal effect of the microphone array with better localization effect based on the TDOA technology is obvious, and it is difficult to greatly increase the localization accuracy by continuously increasing the number of the microphones after the number of the microphones reaches a certain number. The TDOA-based sound source positioning technology has the advantages of low precision, inflexible application scene and low efficiency.
Disclosure of Invention
The invention mainly aims to provide a multi-channel sound source positioning method, and aims to solve the technical problems of low precision, inflexible application scene and low efficiency of a TDOA-based sound source positioning technology in the prior art.
In order to achieve the above object, the present invention provides a multi-channel sound source localization method, including:
constructing a three-dimensional microphone array with a first number of microphones, the first number being an integer greater than 5;
controlling a sound source to perform the same sound production within a preset time length, wherein the preset time length comprises a first preceding time length and a second succeeding time length;
and acquiring stage positioning accuracy of sound source positioning in the first time length, and determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy in the second time length so as to position the spatial position of the sound source by the stage sub microphone array.
Optionally, the step of obtaining stage positioning accuracy of sound source positioning includes:
determining the stage positioning precision according to the sound wave energy collected by the microphone at the preset position;
or determining an initial microphone array consisting of a second number of microphones, and determining the stage positioning accuracy according to the lowest sound wave energy or the average sound wave energy collected by the microphones in the initial microphone array, wherein the second number is smaller than the first number;
or determining the stage positioning accuracy according to the initial sound source distance determined by the initial microphone array.
Optionally, the step of determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy includes:
the higher the stage positioning precision is, the more the number of the microphones of the stage sub-microphone array is, and the larger the distance between the microphones of the stage sub-microphone array is.
Optionally, after the step of obtaining the stage positioning accuracy of sound source positioning within the first duration, the method further includes:
dividing the second time length into a third number of phase sub-time lengths;
determining a stage sub-microphone array corresponding to each stage sub-time length from the three-dimensional microphone array according to the stage positioning accuracy, wherein the number of the microphones of the stage sub-microphone arrays corresponding to different stage sub-time lengths is the same, and the microphones at different positions at least comprise one microphone;
and in each stage sub-time length, positioning sound sources by using different stage sub-microphone arrays to obtain temporary spatial positions of the sound sources of the third number, and determining and obtaining the stage spatial positions of the sound sources according to the temporary spatial positions.
Optionally, the step of determining a stage spatial position of the sound source according to each of the temporary spatial positions includes:
determining the sphere space of each temporary space position by taking the temporary space position as a sphere center and the stage positioning accuracy as a radius, and determining the intersection of the sphere spaces;
taking the temporary space position corresponding to the sphere space with the most intersection as the phase space position;
or, taking the geometric center of the intersection of the minimum spaces as the phase space position;
or, the geometric center of each temporal spatial position corresponding to the intersection of the minimum space is taken as the phase spatial position.
Optionally, after the step of determining a stage spatial position of the sound source according to each of the temporary spatial positions, the method further includes:
judging whether the preset time length further comprises a third time length after the second time length;
if not, taking the stage space position as the final space position of the sound source;
if so, determining the advanced positioning precision according to the preset gain coefficient and the stage positioning precision, and determining the advanced space position according to the advanced positioning precision, wherein the advanced positioning precision is greater than the stage positioning precision.
Optionally, the step of determining the advanced spatial position according to the advanced positioning accuracy includes:
judging whether to divide the third time length into a fourth number of advanced sub-time lengths or not;
if not, determining an advanced sub microphone array from the three-dimensional microphone array according to the advanced positioning accuracy within the third time period, wherein the number of microphones of the advanced sub microphone array is greater than that of the staged microphone array;
and positioning the advanced spatial position of the sound source by the advanced sub microphone array.
Optionally, after the step of determining whether to divide the third duration into a fourth number of advanced sub-durations, the method further includes:
if the third time length is divided into a fourth number of advanced sub-time lengths, determining an advanced sub-microphone array corresponding to each advanced sub-time length from the three-dimensional microphone array according to the advanced positioning accuracy, wherein the number of microphones of the advanced sub-microphone array corresponding to different advanced sub-time lengths is the same, but at least one microphone at a different position is included;
and in each advanced sub-time length, positioning sound sources by using different advanced sub-microphone arrays to obtain temporary spatial positions of the fourth number of sound sources, and determining and obtaining the advanced spatial positions of the sound sources according to the temporary spatial positions.
Optionally, after the step of determining the advanced spatial position according to the advanced positioning accuracy, the method further includes:
judging whether the distance between the advanced spatial position and the stage spatial position is greater than the stage positioning precision or not;
if not, taking the advanced spatial position as the final spatial position of the sound source;
if so, increasing the number of the microphones of the advanced sub-microphone array or changing the positions of the microphones in the advanced sub-microphone array until the distance between the advanced spatial position and the stage spatial position is less than the stage positioning precision.
In addition, to achieve the above object, the present invention also provides a multi-channel sound source localization system, including:
a microphone, a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the multi-channel sound source localization method as described above, the computer program, when executed by the processor, implementing the steps of the multi-channel sound source localization method as described above.
The embodiment of the invention provides a method and a system for positioning a multi-channel sound source, wherein the method comprises the following steps: constructing a three-dimensional microphone array with a first number of microphones, the first number being an integer greater than 5; controlling a sound source to perform the same sound production within a preset time length, wherein the preset time length comprises a first preceding time length and a second succeeding time length; and acquiring stage positioning accuracy of sound source positioning in the first time length, and determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy in the second time length so as to position the spatial position of the sound source by the stage sub microphone array.
And acquiring stage positioning accuracy by using the initial microphone array in the first time length, determining a stage sub-microphone array from the three-dimensional microphone array according to the stage positioning accuracy in the second time length, and performing sound source positioning by using the stage sub-microphone array. Firstly, the sound source positioning precision is determined, and then the positioned microphone array is determined. The microphone arrays with different positioning requirements or positioning accuracy do not need to be replaced manually, so that the microphone array is adaptive to different use scenes. And the corresponding positioning microphone array is determined according to the positioning precision, so that the precision and the efficiency of positioning a sound source are higher.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a multi-channel sound source positioning method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a multi-channel sound source localization method according to another embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an application of another embodiment of a multi-channel sound source localization method according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the terminal device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a computer program.
In the terminal device shown in fig. 1, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the terminal device of the present invention may be provided in the terminal device, and the terminal device calls the computer program stored in the memory 1005 through the processor 1001 and performs the following operations:
constructing a three-dimensional microphone array with a first number of microphones, the first number being an integer greater than 5;
controlling a sound source to perform the same sound production within a preset time length, wherein the preset time length comprises a first preceding time length and a second succeeding time length;
and acquiring stage positioning accuracy of sound source positioning in the first time length, and determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy in the second time length so as to position the spatial position of the sound source by the stage sub microphone array.
Further, the processor 1001 may call the computer program stored in the memory 1005, and also perform the following operations:
the step of obtaining stage positioning accuracy of sound source positioning includes:
determining the stage positioning precision according to the sound wave energy collected by the microphone at the preset position;
or determining an initial microphone array consisting of a second number of microphones, and determining the stage positioning accuracy according to the lowest sound wave energy or the average sound wave energy collected by the microphones in the initial microphone array, wherein the second number is smaller than the first number;
or determining the stage positioning accuracy according to the initial sound source distance determined by the initial microphone array.
Further, the processor 1001 may call the computer program stored in the memory 1005, and also perform the following operations:
the step of determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy includes:
the higher the stage positioning precision is, the more the number of the microphones of the stage sub-microphone array is, and the larger the distance between the microphones of the stage sub-microphone array is.
Further, the processor 1001 may call the computer program stored in the memory 1005, and also perform the following operations:
after the step of obtaining the stage positioning accuracy of sound source positioning within the first duration, the method further includes:
dividing the second time length into a third number of phase sub-time lengths;
determining a stage sub-microphone array corresponding to each stage sub-time length from the three-dimensional microphone array according to the stage positioning accuracy, wherein the number of the microphones of the stage sub-microphone arrays corresponding to different stage sub-time lengths is the same, and the microphones at different positions at least comprise one microphone;
and in each stage sub-time length, positioning sound sources by using different stage sub-microphone arrays to obtain temporary spatial positions of the sound sources of the third number, and determining and obtaining the stage spatial positions of the sound sources according to the temporary spatial positions.
Further, the processor 1001 may call the computer program stored in the memory 1005, and also perform the following operations:
the step of determining a stage spatial position of the sound source according to each of the temporary spatial positions includes:
determining the sphere space of each temporary space position by taking the temporary space position as a sphere center and the stage positioning accuracy as a radius, and determining the intersection of the sphere spaces;
taking the temporary space position corresponding to the sphere space with the most intersection as the phase space position;
or, taking the geometric center of the intersection of the minimum spaces as the phase space position;
or, the geometric center of each temporal spatial position corresponding to the intersection of the minimum space is taken as the phase spatial position.
Further, the processor 1001 may call the computer program stored in the memory 1005, and also perform the following operations:
after the step of determining the stage spatial position of the sound source according to each of the temporary spatial positions, the method further includes:
judging whether the preset time length further comprises a third time length after the second time length;
if not, taking the stage space position as the final space position of the sound source;
if so, determining the advanced positioning precision according to the preset gain coefficient and the stage positioning precision, and determining the advanced space position according to the advanced positioning precision, wherein the advanced positioning precision is greater than the stage positioning precision.
Further, the processor 1001 may call the computer program stored in the memory 1005, and also perform the following operations:
the step of determining the advanced spatial position according to the advanced positioning accuracy comprises the following steps:
judging whether to divide the third time length into a fourth number of advanced sub-time lengths or not;
if not, determining an advanced sub microphone array from the three-dimensional microphone array according to the advanced positioning accuracy within the third time period, wherein the number of microphones of the advanced sub microphone array is greater than that of the staged microphone array;
and positioning the advanced spatial position of the sound source by the advanced sub microphone array.
Further, the processor 1001 may call the computer program stored in the memory 1005, and also perform the following operations:
after the step of determining whether to divide the third duration into a fourth number of advanced sub-durations, the method further includes:
if the third time length is divided into a fourth number of advanced sub-time lengths, determining an advanced sub-microphone array corresponding to each advanced sub-time length from the three-dimensional microphone array according to the advanced positioning accuracy, wherein the number of microphones of the advanced sub-microphone array corresponding to different advanced sub-time lengths is the same, but at least one microphone at a different position is included;
and in each advanced sub-time length, positioning the sound sources by using different advanced sub-microphone arrays to obtain temporary spatial positions of the fourth number of sound sources, and determining and obtaining the advanced spatial positions of the sound sources according to the temporary spatial positions.
Further, the processor 1001 may call the computer program stored in the memory 1005, and also perform the following operations:
after the step of determining the advanced spatial position according to the advanced positioning accuracy, the method further includes:
judging whether the distance between the advanced spatial position and the stage spatial position is greater than the stage positioning precision or not;
if not, taking the advanced spatial position as the final spatial position of the sound source;
if so, increasing the number of the microphones of the advanced sub-microphone array or changing the positions of the microphones in the advanced sub-microphone array until the distance between the advanced spatial position and the stage spatial position is less than the stage positioning precision.
Referring to fig. 2, fig. 2 is a schematic flow diagram of an embodiment of a multi-channel sound source positioning method according to the present invention, where the multi-channel sound source positioning method includes:
step S10, constructing a three-dimensional microphone array with a first number of microphones, the first number being an integer greater than 5.
In this embodiment, the three-dimensional microphone array may be a quaternary microphone array in a regular quadrangular pyramid form, a quinary microphone array in a symmetric double regular quadrangular pyramid form with a common bottom surface, or a hexahydric microphone array in which microphones are symmetrically placed at three axes with an origin after the space is divided into three axes and eight quadrants, where the more the number of the microphones in the microphone array is, the more reasonable the placement position is, the farther each microphone in the same microphone array is, and the higher the positioning accuracy is. In this embodiment, a three-dimensional microphone array is constructed by a first number of microphones, for example, a three-dimensional microphone array is constructed by 20 microphones in space, and the positions of the 20 microphones are not limited, so as to form a three-dimensional microphone array in a spatial mesh shape. Setting a three-dimensional microphone array consisting of 6 microphones in minimum and the first number is an integer larger than 5, wherein the stage sub-microphone array of the second time length is 5-element array group in minimum, and the possible stage sub-microphone array of the third time length is 4-element array group in minimum, and considering the following: in spatial localization, at least four microphones in the form of regular quadrangular pyramids are required to localize a sound source. In a preferred mode, any four microphones form a quaternary microphone array in a regular quadrangular pyramid form, any five microphones form a quinary microphone array in a regular pentagonal pyramid form, and the like. In another preferred mode, any four microphones form a quaternary microphone array in a regular quadrangular pyramid form, and in consideration of the limitation of spatial position relationship, a quinary microphone array in a regular pentagonal pyramid form is constructed by using the microphones of the quaternary microphone array and the microphones adjacent to the quaternary microphone array but not the quaternary microphone array, so that there is only one microphone at the intersection of the quinary microphone array and the quaternary microphone array, and so on.
And step S20, controlling the sound source to make the same sound within a preset time length, wherein the preset time length comprises a first preceding time length and a second succeeding time length.
And controlling the sound source to continuously sound for a preset time length, playing the same audio and generating the same sound signal for the preset time length in the continuous sound production process, wherein the preset time length comprises a first time length for starting and a second time length after the first time length. In a preferred mode, the first time period is 1 second and the second time period is 2 seconds.
Step S301, obtaining stage positioning accuracy of sound source positioning in the first time period, and determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy in the second time period so as to position the spatial position of a sound source by the stage sub microphone array.
The first time length is set to a time to obtain an accuracy of sound source localization that is a stage localization accuracy so as to be distinguished from an advanced localization accuracy of a third time length that may be present, and the second time length is set to a time to determine a stage sub-microphone array and localize a sound source, the stage sub-microphone array also being for distinguishing from an advanced sub-microphone array of a third time length that may be present, the sub-microphone array being relative to a three-dimensional microphone array including all microphones, the sub-microphone array being a quaternary microphone array, a quinary microphone array, or a greater number of microphones, but not exceeding at most the number of microphones of the three-dimensional microphone array. The positioning accuracy refers to the allowable error distance of a positioning sound source, for example, when a sound source is positioned in a far field, the positioning accuracy may be appropriately increased, for example, 3 cm, but when a sound source is positioned in a near field, the positioning accuracy needs to be decreased, for example, 0.1 cm. In order to increase the positioning accuracy, all the microphones in the three-dimensional microphone array receive the sound signals of the sound source on line all the time.
Optionally, the step of obtaining stage positioning accuracy of sound source positioning includes:
determining the stage positioning precision according to the sound wave energy collected by the microphone at the preset position;
or determining an initial microphone array consisting of a second number of microphones, and determining the stage positioning accuracy according to the lowest sound wave energy or the average sound wave energy collected by the microphones in the initial microphone array, wherein the second number is smaller than the first number;
or determining the stage positioning accuracy according to the initial sound source distance determined by the initial microphone array.
When the sound source positioning accuracy is obtained within the first time period, whether the current sound source is a far-field sound source or a near-field sound source can be determined according to the sound wave energy collected by the microphone at the preset position, so that the corresponding stage positioning accuracy is determined, for example, a certain microphone at a fixed position can be simply set as a special sound wave energy detection microphone, and the stage positioning accuracy is determined according to the received sound wave signal intensity.
Alternatively, the stage localization accuracy is determined with the lowest acoustic energy or average acoustic energy acquired by an initial microphone array of a second number of microphones smaller than the first number. For example, the second number is 4, the acoustic energy may be acquired by a preset quaternary microphone array in a regular pyramid form, a correspondence or mapping relationship between the acoustic energy, the acoustic signal intensity, and the positioning accuracy and the positioning scene is preset, and the stage positioning accuracy is determined from the correspondence by using the lowest acoustic energy or the average acoustic energy acquired by the quaternary microphone array.
Or determining the stage positioning accuracy according to the initial sound source distance determined by the initial microphone array. For example, the preset regular quadrangular pyramid-shaped quaternary microphone array can determine the distance between each quaternary microphone array and a sound source according to the sound wave model intensity of each quaternary microphone, the initial sound source distance between the geometric center of the quaternary microphone array and the sound source can be calculated by using a preset calculation formula, and the stage positioning accuracy can be determined according to the initial sound source distance by presetting the corresponding relation or mapping relation between the initial sound source distance and the positioning accuracy and the positioning scene.
Optionally, the step of determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy includes:
the higher the stage positioning precision is, the more the number of the microphones of the stage sub-microphone array is, and the larger the distance between the microphones of the stage sub-microphone array is.
After the stage positioning accuracy of sound source positioning is determined, the number of the microphones of the stage sub-microphone array and the distance between the microphones of the stage sub-microphone array can be determined according to the stage positioning accuracy. The higher the stage positioning accuracy is, the more the number of the microphones of the stage sub-microphone array is, the larger the distance between the microphones is, so that the actual microphone array is more suitable for the stage positioning accuracy determined according to the initial microphone array.
In the present embodiment, a three-dimensional microphone array is constructed with a first number of microphones; controlling a sound source to perform the same sound production within a preset time length, wherein the preset time length comprises a first preceding time length and a second succeeding time length; and acquiring stage positioning accuracy of sound source positioning in the first time length, and determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy in the second time length so as to position the spatial position of the sound source by the stage sub microphone array.
Referring to fig. 4, the stage positioning accuracy is obtained by the initial microphone array in the first time period, the stage sub-microphone array is determined from the three-dimensional microphone array according to the stage positioning accuracy in the second time period, and then the sound source is positioned by the stage sub-microphone array. Firstly, the sound source positioning precision is determined, and then the positioned microphone array is determined. The microphone arrays with different positioning requirements or positioning accuracy do not need to be manually replaced, and the sub-microphone arrays in the stage are automatically switched according to the determined sound source positioning accuracy, so that the method is self-adaptive to different use scenes. By replacing the quality by a number, the same effect as a microphone with higher accuracy can be achieved by increasing the number of ordinary microphones. And moreover, the corresponding positioning microphone array is determined according to the positioning accuracy, so that the accuracy and the efficiency of positioning a sound source are higher.
Further, in the second embodiment of the multi-channel sound source localization method of the present invention, based on the above-described first embodiment, in the present embodiment,
after the step of obtaining the stage positioning accuracy of sound source positioning within the first duration, the method further includes:
step S302, dividing the second time length into a third number of stage sub-time lengths;
step S40, determining stage sub-microphone arrays corresponding to the stage sub-time lengths from the three-dimensional microphone arrays according to the stage positioning accuracy, wherein the number of the microphones of the stage sub-microphone arrays corresponding to different stage sub-time lengths is the same, and the stage sub-microphone arrays at different positions at least comprise one microphone;
step S50, in each of the stage sub-durations, positioning sound sources with different stage sub-microphone arrays to obtain temporary spatial positions of the third number of sound sources, and determining the stage spatial positions of the sound sources according to the temporary spatial positions.
Optionally, the step of determining a stage spatial position of the sound source according to each of the temporary spatial positions includes:
step S501, determining the sphere space of each temporary space position by taking the temporary space position as the sphere center and the stage positioning accuracy as the radius, and determining the intersection of the sphere spaces;
step S502, the temporary space position corresponding to the sphere space with the most intersection is taken as the phase space position;
or, taking the geometric center of the intersection of the minimum spaces as the phase space position;
or, the geometric center of each temporal spatial position corresponding to the intersection of the minimum space is taken as the phase spatial position.
In the first embodiment, the stage sub-microphone arrays are determined from the three-dimensional microphone array according to the stage positioning accuracy within the second time period, the spatial position of the sound source is positioned by the stage sub-microphone arrays, and the positioning result of one stage sub-microphone is taken as the final stage spatial position. In this embodiment, the second time duration is divided into a third number of stage sub-time durations, a plurality of stage sub-microphone arrays corresponding to each stage sub-time duration are determined from the three-dimensional microphone array according to the stage positioning accuracy, a temporary spatial position of a sound source positioned according to different respective stage sub-microphone arrays in each stage sub-time duration is obtained, and a stage spatial position of the sound source is determined according to the third number of temporary spatial positions.
For example, in the first embodiment, the second time period is 2 seconds, the localization accuracy is 3 centimeters, and a stage sub microphone array is determined from a three-dimensional microphone array having 20 microphones within the 2 seconds according to the stage localization accuracy, and the spatial position of the sound source is localized by the stage sub microphone array as the final stage spatial position.
In this embodiment, the second time duration is divided into 5 stage sub-time durations, each stage sub-time duration is 0.4 second, and it is determined that the stage sub-microphone array is also a five-element microphone array, but the numbers of the microphones of the five-element microphone arrays corresponding to different stage sub-time durations are the same, and at least one microphone at different positions is included, for example, the number of the microphone of the five-element microphone array at the first stage sub-time duration is (1, 3,5,7, 8), the number of the microphone of the five-element microphone array at the second stage sub-time duration is (1, 2,3,7, 8), and the rest are not listed.
Thus, with the above arrangement, it is equivalent to switching different quinary microphone arrays in different stage sub-durations, taking into account that in the first embodiment, there is an error in the sound source position localized by only one quinary microphone array as the sound source position corresponding to the entire second duration. Therefore, in this embodiment, in each stage sub-duration, the sound source is automatically switched to the five-element microphone array positioning sound source to obtain the temporary spatial positions of the 4 sound sources without manual selection and switching, and then the stage spatial positions of the sound sources are determined according to the 4 temporary spatial positions. That is, in the first embodiment, the temporary spatial position of the first phase sub-period in the present embodiment is directly used as the final phase spatial position, and the error fitting or correction is performed in the present embodiment. However, the positioning method in the first embodiment is not advantageous, at least is simpler, more direct and more convenient than the positioning method in the second embodiment, and the positioning method using the first embodiment is more suitable for the actual use than the second embodiment in the scenario with relaxed positioning accuracy requirement.
Since the third number of temporary spatial positions are determined, it is also necessary in the present embodiment to determine the phase spatial position of the sound source from a plurality of temporary spatial positions. In this embodiment, three preferable implementation manners are provided, first, the temporary spatial position is taken as the center of sphere, and the stage positioning accuracy is taken as the radius, so that the sphere spaces of the third number of temporary spatial positions can be determined, the intersection of the sphere spaces is determined, and then the stage spatial position is determined according to the intersection of the sphere spaces and the sphere spaces. The temporary space position corresponding to the sphere space with the most intersection can be taken as the phase space position; or, taking the geometric center of the intersection of the minimum spaces as the phase space position; or, the geometric center of each temporary spatial position corresponding to the intersection of the minimum spaces is taken as the stage spatial position.
Further, in the third embodiment of the multi-channel sound source localization method of the present invention, based on the above-described second embodiment, in the present embodiment,
after the step of determining the stage spatial position of the sound source according to each of the temporary spatial positions, the method further includes:
step S60, judging whether the preset time length further comprises a third time length after the second time length;
step S601, if not, the stage space position is taken as the final space position of the sound source;
step S602, if yes, determining the advanced positioning accuracy according to the preset gain coefficient and the stage positioning accuracy, and determining the advanced space position according to the advanced positioning accuracy, wherein the advanced positioning accuracy is greater than the stage positioning accuracy.
Optionally, the step of determining the advanced spatial position according to the advanced positioning accuracy includes:
step S70, determining whether to divide the third duration into a fourth number of advanced sub-durations;
step S801, if not, determining an advanced sub-microphone array from the three-dimensional microphone array according to the advanced positioning accuracy in the third time period, wherein the number of microphones of the advanced sub-microphone array is greater than that of the staged sub-microphone array;
and positioning the advanced spatial position of the sound source by the advanced sub microphone array.
Referring to fig. 4, in the present embodiment, after determining the stage spatial position of the sound source according to each temporary spatial position, if the preset time period does not include the third time period after the second time period, it is described that the stage spatial position can be directly used as the final spatial position, and the positioning with higher accuracy is not required. If the preset time length further comprises a third time length after the second time length, the situation that the advanced spatial position needs to be determined by the advanced positioning accuracy which is greater than the stage positioning accuracy is shown. In this embodiment, the advanced positioning accuracy corresponding to the third duration is determined according to the preset gain coefficient and the stage positioning accuracy corresponding to the second duration.
The advanced positioning accuracy is determined according to the preset gain coefficient and the stage positioning accuracy, or the third time period may also be divided into a time for acquiring higher sound source positioning accuracy by using a larger number of microphone arrays and a time for determining the advanced sub-microphone array and positioning the sound source, which is the same as the implementation manner in the first time period and the second time period, and is not described herein again.
In this embodiment, the third time duration is not continuously divided into two time durations with different functions, but is taken as a whole as a positioning time duration, and the time duration for obtaining higher sound source positioning accuracy is not included. Thus, after determining that the third time period exists, it is necessary to determine whether to divide the third time period into a fourth number of advanced sub-time periods, determining the sound source position by a single microphone array for the entire third time period in a manner similar to the first embodiment, or switching the microphone arrays within a plurality of sub-time periods to determine the sound source position by a plurality of temporary spatial positions in a manner similar to the second embodiment.
If the third time length is not divided into a plurality of advanced sub-time lengths, determining an advanced sub-microphone array from the three-dimensional microphone array according to the advanced positioning accuracy in the third time length, wherein the number of microphones of the advanced sub-microphone array is greater than that of the microphones of the staged microphone array, so that the positioning accuracy of the third time length is further improved; and positioning the advanced spatial position of the sound source by the advanced sub microphone array. The way of positioning the advanced spatial position of the sound source by the advanced sub microphone array is similar to the way of positioning the sound source corresponding to the whole second time period by the one-stage microphone array in the first embodiment, and details are not repeated here.
Optionally, after the step of determining whether to divide the third duration into a fourth number of advanced sub-durations, the method further includes:
step S802, if the third time length is divided into a fourth number of advanced sub-time lengths, determining an advanced sub-microphone array corresponding to each advanced sub-time length from the three-dimensional microphone array according to the advanced positioning accuracy, wherein the number of microphones of the advanced sub-microphone array corresponding to different advanced sub-time lengths is the same, but at least one microphone at a different position is included;
step S90, in each of the advanced sub-durations, positioning sound sources with different advanced sub-microphone arrays to obtain temporary spatial positions of the fourth number of sound sources, and determining the advanced spatial positions of the sound sources according to each of the temporary spatial positions.
Optionally, after the step of determining the advanced spatial position according to the advanced positioning accuracy, the method further includes:
step A, judging whether the distance between the advanced spatial position and the stage spatial position is greater than the stage positioning precision;
step B2, if not, the advanced spatial position is taken as the final spatial position of the sound source;
and step B1, if yes, increasing the number of microphones of the advanced sub-microphone array or changing the positions of the microphones in the advanced sub-microphone array until the distance between the advanced spatial position and the stage spatial position is less than the stage positioning precision.
If the third duration is divided into a plurality of advanced sub-durations with the fourth number, the advanced spatial position of the sound source is determined and obtained within the third duration in a similar manner as in the second embodiment, and the advanced spatial position of the sound source determined and obtained according to each temporary spatial position is also determined in a similar manner as in the second embodiment, which is not repeated in this embodiment. In this embodiment, after determining the advanced spatial position according to the advanced positioning accuracy, it is further determined whether the distance between the advanced spatial position and the staged spatial position is greater than the staged positioning accuracy, if the phase position is larger than the reference value, the step positioning accuracy of the currently obtained step spatial position and the phase spatial position is not met, which means that the step spatial position is not positioned by taking the phase spatial position as the sphere center, in the sphere space with the stage positioning accuracy as the radius, the number of the microphones of the advanced sub-microphone array needs to be increased or the positions of the microphones of the advanced sub-microphone array need to be changed until the distance between the advanced space position and the stage space position is less than the stage positioning accuracy until the advanced space position is positioned with the stage space position as the sphere center, and taking the stage positioning accuracy as the spherical space of the radius, and then taking the advanced space position meeting the requirement as the final space position of the sound source.
In addition, an embodiment of the present invention further provides a multichannel sound source localization system, where the multichannel sound source localization system includes:
a microphone, a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the multi-channel sound source localization method as described above, the computer program, when executed by the processor, implementing the steps of the multi-channel sound source localization method as described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or system in which the element is included.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A multi-channel sound source localization method, comprising:
constructing a three-dimensional microphone array with a first number of microphones, the first number being an integer greater than 5;
controlling a sound source to perform the same sound production within a preset time length, wherein the preset time length comprises a first preceding time length and a second succeeding time length;
and acquiring stage positioning accuracy of sound source positioning in the first time length, and determining a stage sub microphone array from the three-dimensional microphone array according to the stage positioning accuracy in the second time length so as to position the spatial position of the sound source by the stage sub microphone array.
2. The multi-channel sound source localization method of claim 1, wherein the step of obtaining the stage localization accuracy of the sound source localization comprises:
determining the stage positioning precision according to the sound wave energy collected by the microphone at the preset position;
or determining an initial microphone array consisting of a second number of microphones, and determining the stage positioning accuracy according to the lowest sound wave energy or the average sound wave energy collected by the microphones in the initial microphone array, wherein the second number is smaller than the first number;
or determining the stage positioning accuracy according to the initial sound source distance determined by the initial microphone array.
3. The multi-channel sound source localization method of claim 2, wherein the step of determining a staged sub-microphone array from the three-dimensional microphone array according to the staged localization accuracy comprises:
the higher the stage positioning precision is, the more the number of the microphones of the stage sub-microphone array is, and the larger the distance between the microphones of the stage sub-microphone array is.
4. The multi-channel sound source localization method of claim 3, further comprising, after the step of obtaining the stage localization accuracy of the sound source localization within the first duration:
dividing the second time length into a third number of phase sub-time lengths;
determining a stage sub-microphone array corresponding to each stage sub-time length from the three-dimensional microphone array according to the stage positioning accuracy, wherein the number of the microphones of the stage sub-microphone arrays corresponding to different stage sub-time lengths is the same, and the stage sub-microphone arrays at different positions at least comprise one microphone;
and in each stage sub-time length, positioning sound sources by using different stage sub-microphone arrays to obtain temporary spatial positions of the sound sources of the third number, and determining and obtaining the stage spatial positions of the sound sources according to the temporary spatial positions.
5. The multi-channel sound source localization method of claim 4, wherein the step of determining a stage spatial position of the obtained sound source according to each of the temporary spatial positions comprises:
determining the sphere space of each temporary space position by taking the temporary space position as a sphere center and the stage positioning accuracy as a radius, and determining the intersection of the sphere spaces;
taking the temporary space position corresponding to the sphere space with the most intersection as the phase space position;
or, taking the geometric center of the intersection of the minimum spaces as the phase space position;
or, the geometric center of each temporal spatial position corresponding to the intersection of the minimum space is taken as the phase spatial position.
6. The multi-channel sound source localization method of claim 5, further comprising, after the step of deriving the stage spatial position of the sound source from each of the temporary spatial position determinations:
judging whether the preset time length further comprises a third time length after the second time length;
if not, taking the stage space position as the final space position of the sound source;
if so, determining the advanced positioning precision according to the preset gain coefficient and the stage positioning precision, and determining the advanced space position according to the advanced positioning precision, wherein the advanced positioning precision is greater than the stage positioning precision.
7. The multi-channel sound source localization method of claim 6, wherein the step of determining an advanced spatial location based on the advanced localization accuracy comprises:
judging whether to divide the third time length into a fourth number of advanced sub-time lengths or not;
if not, determining an advanced sub microphone array from the three-dimensional microphone array according to the advanced positioning accuracy within the third time period, wherein the number of microphones of the advanced sub microphone array is greater than that of the staged microphone array;
and positioning the advanced spatial position of the sound source by the advanced sub microphone array.
8. The multi-channel sound source localization method of claim 7, wherein after the step of determining whether to divide the third duration into a fourth number of advanced sub-durations, further comprising:
if the third time length is divided into a fourth number of advanced sub-time lengths, determining an advanced sub-microphone array corresponding to each advanced sub-time length from the three-dimensional microphone array according to the advanced positioning accuracy, wherein the number of microphones of the advanced sub-microphone array corresponding to different advanced sub-time lengths is the same, but at least one microphone at a different position is included;
and in each advanced sub-time length, positioning sound sources by using different advanced sub-microphone arrays to obtain temporary spatial positions of the fourth number of sound sources, and determining and obtaining the advanced spatial positions of the sound sources according to the temporary spatial positions.
9. The multi-channel sound source localization method of claim 8, further comprising, after the step of determining an advanced spatial position according to the advanced localization accuracy:
judging whether the distance between the advanced spatial position and the stage spatial position is greater than the stage positioning precision or not;
if not, taking the advanced spatial position as the final spatial position of the sound source;
if yes, increasing the number of the microphones of the advanced sub-microphone array or changing the positions of the microphones in the advanced sub-microphone array until the distance between the advanced spatial position and the stage spatial position is smaller than the stage positioning precision.
10. A multi-channel sound source localization system, the multi-channel sound source localization system comprising:
a microphone, a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the multi-channel sound source localization method as claimed in any of the claims 1 to 9, the computer program, when being executed by the processor, implementing the steps of the multi-channel sound source localization method as claimed in any of the claims 1 to 9.
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