WO2020087745A1 - 一种音频设备定向发声方法、装置、音频设备 - Google Patents

一种音频设备定向发声方法、装置、音频设备 Download PDF

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Publication number
WO2020087745A1
WO2020087745A1 PCT/CN2018/125229 CN2018125229W WO2020087745A1 WO 2020087745 A1 WO2020087745 A1 WO 2020087745A1 CN 2018125229 W CN2018125229 W CN 2018125229W WO 2020087745 A1 WO2020087745 A1 WO 2020087745A1
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WO
WIPO (PCT)
Prior art keywords
user
speaker
vertical
compensation angle
audio device
Prior art date
Application number
PCT/CN2018/125229
Other languages
English (en)
French (fr)
Inventor
张传涛
王青
Original Assignee
歌尔股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 歌尔股份有限公司 filed Critical 歌尔股份有限公司
Priority to US17/309,142 priority Critical patent/US11438692B2/en
Publication of WO2020087745A1 publication Critical patent/WO2020087745A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
    • H04R1/32—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
    • H04R1/403—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers loud-speakers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R3/00—Circuits for transducers, loudspeakers or microphones
    • H04R3/005—Circuits for transducers, loudspeakers or microphones for combining the signals of two or more microphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
    • H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
    • H04R1/323—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only for loudspeakers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
    • H04R1/32—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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R3/00—Circuits for transducers, loudspeakers or microphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2201/00—Details of transducers, loudspeakers or microphones covered by H04R1/00 but not provided for in any of its subgroups
    • H04R2201/02—Details casings, cabinets or mounting therein for transducers covered by H04R1/02 but not provided for in any of its subgroups
    • H04R2201/025—Transducer mountings or cabinet supports enabling variable orientation of transducer of cabinet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic

Definitions

  • the invention relates to a method, device and audio equipment for directional sound generation of audio equipment.
  • Smart audio devices are widely welcomed by the public as one of the products, and users have very high requirements for the sound effects of smart audio devices.
  • the audio device is usually placed in a fixed position, so that the best sound effect range or best sound effect direction of the audio device is specific. Once the user does not face the sound direction of the audio device speaker, the sound experience will be poor .
  • the invention provides a method, device and audio equipment for directional sound generation of audio equipment, so as to solve the problem that the existing audio equipment speakers are fixed in orientation.
  • An aspect of the present invention provides a method for directional sound generation of an audio device.
  • the audio device includes a built-in speaker with an adjustable opening direction and a spherical microphone array.
  • the spherical microphone array includes a plurality of microphones distributed in a spherical shape.
  • the directional sound generation method includes: The array determines the spatial position of the user's sound source; according to the relationship between the spatial position of the user's sound source, the center position of the audio device, and the opening position of the speaker, the horizontal compensation angle of the speaker opening direction relative to the user's space position is determined Vertical compensation angle; adjust the opening direction of the speaker so that the horizontal compensation angle and vertical compensation angle are zero.
  • the directional sound generation method of the present invention can accurately determine the spatial position of the user's sound source using the spherical microphone array, and the speaker opening can be determined based on the positional relationship between the user's sound source's spatial position, the center position of the audio device and the speaker opening position The horizontal compensation angle and the vertical compensation angle of the direction relative to the user space position.
  • the speaker opening direction By adjusting the speaker opening direction to make the two compensation angles zero, the two degrees of freedom of the speaker can be adjusted, so that the speaker opening direction is accurately aligned with the user space position in real time. Ensure that the user is in the best sound range of the audio device to improve the user's listening experience.
  • the audio device includes a built-in speaker with an adjustable opening direction and a spherical microphone array.
  • the spherical microphone array includes a plurality of microphones distributed in a spherical shape.
  • the directional sound device includes: a positioning unit , Used to determine the spatial position of the user's vocal sound source through the spherical microphone array; the calculation unit is used to determine the speaker respectively according to the relationship between the spatial position of the user's vocal sound source, the center position of the audio device, and the opening position of the speaker The horizontal compensation angle and vertical compensation angle of the opening direction relative to the user space position; the adjustment unit is used to adjust the opening direction of the speaker so that the horizontal compensation angle and the vertical compensation angle are zero.
  • the directional sound device of the present invention uses the positioning unit to drive the spherical microphone array to accurately determine the spatial position of the user's sound source.
  • the calculation unit is based on the positional relationship between the spatial position of the user's sound source, the center position of the audio device and the position of the speaker opening.
  • the horizontal and vertical compensation angles of the speaker opening direction relative to the user's space position can be determined.
  • the adjustment unit adjusts the speaker opening direction to make the two compensation angles zero, thereby realizing the adjustment of the two degrees of freedom of the speaker, so that the speaker opening direction can be accurately Align the user's space position to ensure that the user is in the best sound range of the audio device and enhance the user's listening experience.
  • an audio device including: a built-in speaker with an adjustable opening direction and a spherical microphone array, a processor, and a machine-readable storage medium storing machine-executable instructions.
  • the machine-executable instructions in the machine-readable storage medium are executed, and the processor can execute the audio device directed sounding method described above.
  • the audio device of the present invention uses the spherical microphone array to accurately determine the spatial position of the user's vocalization sound source. Based on the spatial relationship between the user's vocalization sound source's spatial position, the center position of the audio device and the speaker opening position, the relative direction of the speaker opening can be determined.
  • the horizontal compensation angle and vertical compensation angle of the user's space position by adjusting the direction of the speaker opening to make the two compensation angles zero, the two degrees of freedom of the speaker can be adjusted, so that the direction of the speaker opening is accurately aligned with the user's space position in real time, ensuring the user It is in the range of the best sound effects of audio equipment to enhance the user's listening experience.
  • Another aspect of the present invention provides a machine-readable storage medium that stores machine-executable instructions. When the machine-executable instructions are executed by a processor, the above audio device directional sound emission method is implemented.
  • FIG. 1 is a schematic diagram of an audio device shown in an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a speaker of an audio device facing a user according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a central position of an audio device shown in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a position of a speaker opening shown in an embodiment of the present invention.
  • FIG. 5 is a flowchart of a method for directional sound generation of an audio device according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a rectangular coordinate system according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a vertical rectangular coordinate system according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of vertical position coordinates of a user ’s ear spatial position according to an embodiment of the present invention.
  • FIG. 9 is a structural block diagram of a directional sound-emitting device for audio equipment according to an embodiment of the present invention.
  • FIG. 10 is a structural block diagram of an audio device according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a system hardware structure according to an embodiment of the present invention.
  • the technology of the present invention may be implemented in the form of hardware and / or software (including firmware, microcode, etc.).
  • the technology of the present invention may take the form of a computer program product on a computer-readable medium storing instructions, which may be used by or in conjunction with an instruction execution system.
  • a computer-readable medium may be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions.
  • computer-readable media may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, devices, or propagation media.
  • Specific examples of computer-readable media include: magnetic storage devices such as magnetic tapes or hard disks (HDD); optical storage devices such as compact disks (CD-ROM); memories such as random access memory (RAM) or flash memory; and / or wired / Wireless communication link.
  • the audio device of this embodiment includes audio products such as smart speakers.
  • the audio device of this embodiment includes a built-in speaker with an adjustable opening direction and a spherical microphone array.
  • the spherical microphone array includes a plurality of microphones distributed in a spherical shape.
  • an adjustment mechanism is used to adjust the opening direction of the built-in speaker.
  • the adjustment mechanism includes a rotary motor 1 and a lifting motor 2.
  • the rotary motor 1 can be adsorbed or fixed on the bottom plate of the audio device, and the rotary bracket 3 is provided on the rotary motor 1, and the rotary motor 1
  • the rotating bracket 3 can be driven to rotate 360 ° in the horizontal direction.
  • the rotating bracket 3 includes a supporting arm, and the speaker 4 is fixedly installed in the speaker mounting frame 5, and the speaker mounting frame 5 is mounted on the rotating bracket 3 through the supporting arm.
  • the speaker The mounting frame 5 is mounted on the support arm by means of shaft connection, for example, a mounting hole is provided on the support arm, and a rotating shaft is provided on the speaker mounting frame 5, and the speaker mounting frame 5 and the rotating bracket 3 are realized through the cooperation of the mounting hole and the rotating shaft
  • the lifting motor 2 is installed on the rotating bracket 2
  • the speaker mounting frame 5 is provided with a shaft 51 out of the frame facing the opening of the speaker
  • the telescopic arm of the lifting motor 2 is connected to the shaft 51 to realize the speaker mounting frame 5
  • the audio device in this embodiment further includes a PCBA board 6 on which components such as a spherical microphone array, a CPU, and a motor drive chip are integrated.
  • a PCBA board 6 on which components such as a spherical microphone array, a CPU, and a motor drive chip are integrated.
  • the position of the top cover of the audio device relative to the microphone is set There is a sound outlet to enable the microphone to pick up external sound signals.
  • the position of the speaker opening is the center position of the speaker opening.
  • the center position of the audio device in this embodiment is located on the vertical line in the space of the audio device, as shown in FIG. 3, L1 represents the vertical line in the space of the audio device.
  • the vertical line in the space of the audio device is the central axis of the column, and L2 ⁇ L4 respectively indicate the opening directions of the speaker in three different directions.
  • the opening direction of the speaker is any direction, the line connecting the opening position of the speaker and the center position of the audio device always intersects at one point.
  • the CPU of this embodiment determines the spatial position of the user's sound source according to the sound signal picked up by the microphone on the spherical microphone array and the position of the microphone in the audio device, and the spatial position of the user's sound source, the center position of the audio device, and the speaker
  • the relationship between the three opening positions determines the horizontal compensation angle and vertical compensation angle of the speaker opening direction relative to the user space position.
  • the CPU generates corresponding control commands according to the horizontal compensation angle and the vertical compensation angle and sends it to the motor driver chip.
  • the motor drives The chip controls the rotating motor and the lifting motor according to the control instructions so that the horizontal compensation angle and the vertical compensation angle are zero, adjusts the opening direction of the speaker, aligns the opening direction of the speaker with the user's position, and ensures that the user is within the optimal sound effect range of the audio equipment.
  • a method of the present invention provides a directional sounding method for audio equipment.
  • the audio device in this embodiment includes a built-in speaker with an adjustable opening direction and a spherical microphone array.
  • the spherical microphone array includes a plurality of microphones distributed in a spherical shape.
  • FIG. 5 is a flowchart of a directional sounding method for an audio device according to an embodiment of the present invention. As shown in FIG. 5, the method in this embodiment includes:
  • S520 According to the relationship between the spatial position of the user's vocal sound source, the center position of the audio device, and the opening position of the speaker, determine the horizontal compensation angle and the vertical compensation angle of the speaker opening direction relative to the user's spatial position, respectively.
  • S530 Adjust the opening direction of the speaker so that the horizontal compensation angle and the vertical compensation angle are zero.
  • This embodiment uses the spherical microphone array to determine the spatial position of the user's vocal sound source. Based on the spatial relationship between the user's vocal sound source's spatial position, the center position of the audio device, and the speaker opening position, the speaker opening direction can be determined relative to the user's spatial position The horizontal compensation angle and the vertical compensation angle are adjusted to zero by adjusting the direction of the speaker opening to achieve two degrees of freedom adjustment of the speaker, so that the direction of the speaker opening is accurately aligned with the user's space position in real time to ensure that the user is in the audio equipment The best range of sound effects to enhance the user's listening experience.
  • FIG. 6 is a schematic diagram of a planar rectangular coordinate system according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of a vertical rectangular coordinate system according to an embodiment of the present invention
  • FIG. 8 is a schematic diagram of a vertical position coordinate of a user's ear spatial position according to an embodiment of the present invention, the following The above steps S510-S530 will be described in detail with reference to FIGS. 6-8.
  • step S510 is executed, that is, the spatial position of the user's vocal sound source is determined through the spherical microphone array.
  • the spatial position of the user's vocal sound source can be determined in the following manner:
  • the sound source localization model includes a first distance parameter, a second distance parameter, and a third distance parameter.
  • the first distance parameter includes the distance between the sound source and the two microphones on the horizontal plane, respectively.
  • the distance parameter includes the distance between the sound source and the two microphones on the vertical plane, respectively, and the third distance parameter includes the distance between the two microphones on the horizontal plane and the distance between the two microphones on the vertical plane.
  • the center position of the audio device can be used as the coordinate origin, the direction of the speaker opening as the X axis, and the direction perpendicular to the opening of the speaker as the Y axis to establish a spatial rectangular coordinate system, through at least two microphones located in the same plane,
  • the position of the sound source on this plane can be located, so that the position of the sound source on the horizontal plane can be located using the microphones on the same horizontal plane in the spherical microphone array, and the sound source can be located on the microphone array in the spherical microphone array perpendicular to the above horizontal plane
  • the position on the vertical plane can thus accurately locate the spatial coordinates of the position of the sound source.
  • the microphones in the spherical microphone array that receive the sound signals that meet the set conditions are the first microphone and the second microphone.
  • the first microphone includes two microphones parallel to each other in the horizontal direction
  • the second microphone includes the vertical microphone in the vertical direction.
  • the two microphones facing directly are the second microphone.
  • step S520 is executed, that is, according to the relationship between the spatial position of the user's vocalization sound source, the center position of the audio device, and the opening position of the speaker, the relative opening directions of the speakers are determined respectively.
  • Horizontal compensation angle and vertical compensation angle of user space position is executed, that is, according to the relationship between the spatial position of the user's vocalization sound source, the center position of the audio device, and the opening position of the speaker, the relative opening directions of the speakers are determined respectively.
  • the present invention reduces the amount of calculation and simplifies the calculation steps.
  • the preset opening direction of the speaker includes the center position of the audio device and the opening position of the speaker The direction of the opening position indicated by the first line of the; where the center position of the audio device is located on the vertical line in the space of the audio device, referring to FIG.
  • the center position of the audio device That is, the connection between the intersection point of L1 ⁇ L4 and the position of the speaker opening when facing the left is recorded as the first line, that is, when the direction of the speaker opening is facing the left, L2 is the first line, when the direction of the speaker opening When facing the upper left, L3 is the first line, and when the speaker opening direction is facing the lower left, L4 is the first line.
  • the spatial position of the user's sound source includes the spatial position of the user's mouth.
  • the horizontal compensation angle of the speaker opening direction relative to the user's spatial position can be determined to adjust the speaker opening Direction, so that the horizontal compensation angle is zero;
  • the vertical compensation angle of the speaker opening direction relative to the user's space position can be determined and adjusted The opening direction of the speaker so that the vertical compensation angle is zero.
  • the horizontal compensation angle is the angle of the speaker opening direction relative to the spatial position of the user's vocal sound source, by adjusting the horizontal compensation angle to zero
  • the The speaker opening faces the user's sound source, that is, the user's ears, so that the direction of the speaker opening is horizontal to the user's ears
  • the vertical compensation angle is the spatial position (or user's ear) of the speaker opening direction relative to the user's sound source Angle
  • the speaker opening direction is vertically aligned with the spatial position of the user's sound source (or the user's ears).
  • the horizontal compensation angle of the speaker opening direction relative to the user's space position is determined by determining the horizontal compensation angle of the speaker opening direction relative to the user's sound source spatial position, and adjusting the speaker opening direction so that the horizontal compensation angle Is zero.
  • the method of calculating the horizontal compensation angle includes: establishing a plane rectangular coordinate system for the origin according to the center position of the audio device, and the X axis of the established plane rectangular coordinate system is the connection between the speaker opening position and the center position of the audio device
  • the line where the line is located; the horizontal position coordinates of the spatial position of the user's sound source are determined by the spherical microphone array, that is, the horizontal position coordinates of the user's sound source on the XOY plane can be determined by the sound source localization model described above (Xa, Ya) ;
  • the second connection between the horizontal position coordinate and the center position of the audio device and the first connection form a horizontal compensation angle on the plane rectangular coordinate system, referring to FIG. 6, the user shown in FIG. 6 vocalizes
  • the angle ⁇ formed by the line between the horizontal position coordinate point of the source and the coordinate origin and the X axis is determined as the horizontal compensation angle.
  • the vertical compensation angle of the speaker opening direction relative to the user's space position is determined by determining the vertical compensation angle of the speaker opening direction relative to the user's sound source spatial position or the user's ear spatial position, that is, determining the speaker opening direction The vertical compensation angle relative to the spatial position of the user's vocal sound source, or, or to determine the vertical compensation angle of the speaker opening direction relative to the user's ear spatial position; adjust the speaker opening direction so that the vertical compensation angle is zero.
  • the method of calculating the vertical compensation angle includes: setting up a vertical rectangular coordinate system for the origin according to the center position of the audio device.
  • the X-axis of the vertical rectangular coordinate system is the line where the line connecting the opening of the speaker and the center position of the audio device is located, that is, the XOZ plane in the spatial rectangular coordinate system shown in Figure 2;
  • the vertical position coordinate of the spatial position is the first vertical coordinate
  • the first vertical position coordinate (Xa, Za) of the user's sound source on the XOZ plane can be determined by the sound source localization model described above; according to the first vertical coordinate and the audio device
  • a vertical compensation angle is formed on the vertical rectangular coordinate system between the third connection line and the first connection line at the center of the first vertical compensation angle. Referring to FIG. 7, the user ’s vocal sound source shown in FIG. 7 The angle formed by the line between the first vertical position coordinate point A and the coordinate origin and the X axis Determined as the first vertical compensation angle.
  • the method of calculating the vertical compensation angle includes: the first vertical position coordinate according to the spatial position of the user's vocal sound source, and the preset user's ear spatial position and vocal
  • the distance and / or angle relationship between the spatial position of the sound source in the vertical rectangular coordinate system, and the vertical position coordinate of the spatial position of the user's ear is determined as the second vertical coordinate; according to the relationship between the first vertical coordinate and the center position of the audio device
  • the third connection and the fourth connection between the second vertical coordinate and the center position of the audio device form a differential vertical compensation angle as the second vertical compensation angle; adjust the direction of the speaker opening so that the first vertical compensation angle and the second The sum of the vertical compensation angles is zero.
  • the first vertical coordinate (Xa, Za) of the spatial position A of the user ’s vocal sound source can be calculated according to the method shown in FIG. 7, when the preset spatial position of the user ’s ear and the spatial position of the vocal sound source.
  • the distance and / or angle relationship in the vertical rectangular coordinate system includes the distance relationship in the vertical rectangular coordinate system between the spatial position of the user's ear and the spatial position of the sound source, for example, the distance relationship includes ⁇ X as shown in FIG.
  • the second vertical coordinate (Xb, Zb) of the spatial position B of the user's ear can be obtained, or the distance relationship includes the mouth and ear shown in FIG. 8
  • the angle ⁇ and distance ⁇ X (or distance ⁇ Z) formed by the connecting line with respect to the horizontal direction can be obtained according to the first vertical coordinate (Xa, Za) and angle ⁇ and distance ⁇ X (or distance ⁇ Z)
  • Two vertical coordinates (Xb, Zb) Two vertical coordinates (Xb, Zb), the connection between the second vertical coordinate point B of the spatial position of the user's ear shown in FIG.
  • the angle between the lines of origin Set as the second vertical compensation angle ⁇ , by adjusting the direction of the speaker opening, the first vertical compensation angle
  • the sum of the second vertical compensation angle ⁇ (that is, the angle ⁇ ) is zero, so that the direction of the speaker opening is aligned with the user's ear in the vertical direction, and the accuracy of the directional sounding of the speaker is improved.
  • step S530 is performed, that is, the opening direction of the speaker is adjusted so that the horizontal compensation angle and the vertical compensation angle are zero.
  • the opening direction of the speaker can be adjusted by rotating the motor and the lifting motor to achieve two degrees of freedom in the opening direction of the speaker, namely a vertical angle corresponding to the pitch direction of the audio device and a horizontal angle corresponding to the rotation direction of the audio device
  • the adjustment can achieve the purpose of accurately controlling the directional sound of the speaker and enhance the user's listening experience.
  • Another aspect of the present invention provides a directional sound device for audio equipment.
  • the audio device of this embodiment includes a built-in speaker with an adjustable opening direction and a spherical microphone array, and the spherical microphone array includes a plurality of microphones distributed in a spherical shape.
  • FIG. 9 is a structural block diagram of a directional sound generating device of an audio device according to an embodiment of the present invention. As shown in FIG. 9, the device of this embodiment includes:
  • the positioning unit 91 is used to determine the spatial position of the user's vocal sound source through the spherical microphone array;
  • the calculation unit 92 is used to determine the horizontal compensation angle and the vertical compensation angle of the speaker opening direction relative to the user's space position according to the relationship between the spatial position of the user's vocal source, the center position of the audio device, and the opening position of the speaker;
  • the adjusting unit 93 is used to adjust the opening direction of the speaker so that the horizontal compensation angle and the vertical compensation angle are zero.
  • the directional sound emitting device of this embodiment uses the positioning unit to drive the spherical microphone array to accurately determine the spatial position of the user's vocal sound source, and the calculation unit is based on the positional relationship between the spatial position of the user's vocal sound source, the center position of the audio device, and the speaker opening position , You can determine the horizontal compensation angle and vertical compensation angle of the speaker opening direction relative to the user's space position, the adjustment unit adjusts the speaker opening direction to make these two compensation angles zero, and realizes the adjustment of the two degrees of freedom of the speaker, so that the speaker opening direction is accurate in real time Align the user's space position to ensure that the user is in the best sound range of the audio device and improve the user's listening experience.
  • the opening direction of the speaker in this embodiment includes the direction of the opening position indicated by the first connection between the center position of the audio device and the opening position of the speaker, where the center position of the audio device is located on the vertical line in the space of the audio device;
  • the spatial position of the sound source includes the spatial position of the user's mouth.
  • the calculation unit 92 is used to determine the horizontal compensation angle of the speaker opening direction relative to the spatial position of the user's vocal sound source, and the adjustment unit 93 is used to adjust the speaker opening direction so that the horizontal compensation angle is zero.
  • the calculation unit 92 specifically establishes a planar rectangular coordinate system as the origin according to the center position of the audio device, determines the horizontal position coordinates of the spatial position of the user's vocal sound source through the spherical microphone array, and according to the horizontal position coordinates and the center position of the audio device A horizontal compensation angle is formed on the plane rectangular coordinate system between the second connection line and the first connection line.
  • the calculation unit 92 is used to determine the vertical compensation angle of the speaker opening direction relative to the spatial position of the user's utterance sound source and / or the user's ear spatial position; the adjustment unit 93 is used to adjust the opening direction of the speaker so that the vertical compensation The angle is zero.
  • the calculation unit 92 specifically establishes a vertical rectangular coordinate system based on the center position of the audio device as the origin, and determines the spatial position of the user's vocal sound source through the spherical microphone array
  • the vertical position coordinate of is the first vertical coordinate
  • the vertical compensation angle formed on the vertical rectangular coordinate system according to the third connection between the first vertical coordinate and the center position of the audio device and the first connection is the first Vertical compensation angle.
  • the calculation unit 92 specifically refers to the first vertical position coordinate of the spatial position of the user's vocal sound source, and the preset spatial position of the user's ear and vocal sound
  • the distance and / or angle relationship between the spatial position of the source in the vertical rectangular coordinate system, the vertical position coordinate of the spatial position of the user's ear is determined as the second vertical coordinate; according to the first vertical coordinate and the center position of the audio device
  • the third connection and the fourth connection between the second vertical coordinate and the center position of the audio device form a differential vertical compensation angle that is the second vertical compensation angle; adjust the speaker opening direction so that the first vertical compensation angle and the second vertical compensation angle The sum is zero.
  • the relevant parts can be referred to the description of the method embodiments.
  • the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located One place, or can be distributed to multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement without paying creative labor.
  • Another aspect of the invention provides an audio device.
  • the audio device includes a built-in speaker with an adjustable opening direction and a spherical microphone array.
  • the spherical microphone array includes multiple microphones distributed in a spherical shape;
  • the device further includes a processor and a machine-readable storage medium storing machine-executable instructions. By reading and executing the machine-executable instructions in the machine-readable storage medium, the processor can execute the audio device directed sounding method described above.
  • the audio device of this embodiment uses the spherical microphone array to accurately determine the spatial position of the user's vocalization sound source. Based on the spatial relationship between the user's vocalization sound source's spatial position, the center position of the audio device and the speaker opening position, the speaker opening direction can be determined The horizontal compensation angle and vertical compensation angle relative to the user's space position, by adjusting the direction of the speaker opening to make these two compensation angles zero, to achieve two degrees of freedom adjustment of the speaker, so that the direction of the speaker opening is accurately aligned with the user's space position in real time, ensuring The user is in the best sound range of the audio device, improving the user's hearing experience.
  • the audio device in this embodiment includes a rotating motor and a lifting motor.
  • the speaker mounting frame with the speaker installed is rotatably mounted on the rotating bracket.
  • the rotating bracket is rotatably mounted on the rotating motor.
  • the rotating motor is used to drive the rotating bracket to rotate.
  • the lifting motor is installed on the rotating bracket, and the telescopic arm of the lifting motor rotates and is connected to the shaft of the speaker mounting frame, which is arranged at the position of the speaker mounting frame away from the speaker opening
  • the position of the frame is driven by the lifting motor to drive the speaker mounting frame to rotate up and down to realize the vertical rotation of the speaker.
  • the system provided by this application may be implemented by software, or by hardware or a combination of hardware and software.
  • the system provided by the present application may include a processor 1101 and a machine-readable storage medium 1102 that stores machine-executable instructions.
  • the processor 1101 and the machine-readable storage medium 1102 may communicate via a system bus 1103. And, by reading and executing the machine-executable instructions in the machine-readable storage medium 1102 corresponding to the audio device directed sounding logic, the processor 1101 can execute the audio device directed sounding method described above.
  • Another aspect of the invention provides a machine-readable storage medium.
  • a machine-readable storage medium stores machine-executable instructions.
  • the machine-executable instructions are executed by a processor, the directional sound method of the audio device described above is implemented.
  • readable storage medium of the embodiment of the present invention may be any medium capable of containing, storing, transmitting, transmitting, or transmitting instructions.
  • readable storage media may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, devices, or propagation media.
  • Specific examples of readable storage media include: magnetic storage devices such as magnetic tapes or hard disks (HDD); optical storage devices such as compact disks (CD-ROM); memories such as random access memory (RAM) or flash memory; and / or wired / Wireless communication link.
  • the machine-readable storage medium may include a computer program, which may include code / computer-executable instructions that, when executed by the processor, cause the processor to perform, for example, the audio device directional sounding method flow described above and any variations thereof.
  • the computer program may be configured to have, for example, computer program code including computer program modules.
  • the code in the computer program may include one or more program modules. It should be noted that the division mode and number of modules are not fixed, and those skilled in the art may use appropriate program modules or program module combinations according to actual conditions.
  • the processor may execute, for example The audio device directional sounding method described above and its variants.
  • the words “first” and “second” are used to distinguish the same or similar items with basically the same functions and functions. Personnel can understand that the words “first” and “second” do not limit the number and execution order.

Abstract

本发明公开一种音频设备定向发声方法、装置、音频设备。所述方法包括：通过球形麦克风阵列确定用户发声声源的空间位置；根据用户发声声源的空间位置、音频设备的中心位置以及所述扬声器的开口位置三者之间的关系，分别确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度；调整扬声器的开口方向，以使得水平补偿角度和垂直补偿角度为零。本发明可以对扬声器的水平方向和垂直方向的两个自由度进行调整，使扬声器开口方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳音效范围，提升用户的听觉体验。

Description

一种音频设备定向发声方法、装置、音频设备
本申请要求于2018年10月29日提交中国专利局、申请号为201811270158.5、发明名称为“一种音频设备定向发声方法、装置、音频设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种音频设备定向发声方法、装置、音频设备。
背景技术
随着生活水平的提高，智能家居越来越多的出现在人们的日常生活中，而智能音频设备作为其中的一类产品广受大众欢迎，用户对智能音频设备的音效要求也非常高。
目前，受限于产品体积或产品价格，市场上大多数音响产品一般是单扬声器产品。在使用场景中，音频设备通常放置在一个固定的位置，这样使得音频设备的最佳音效范围或最佳音效方向是特定的，一旦用户没有朝向音频设备扬声器的出声方向，音效体验会比较差。
发明内容
本发明提供了一种音频设备定向发声方法、装置、音频设备，以解决现有音频设备扬声器朝向固定的问题。
本发明的一个方面提供了一种音频设备定向发声方法，音频设备包括开口方向可调整的内置扬声器和球形麦克风阵列，球形麦克风阵列包括呈球形分布的多个麦克风，定向发声方法包括：通过球形麦克风阵列确定用户发声声源的空间位置；根据用户发声声源的空间位置、音频设备的中心位置以及扬声器的开口位置三者之间的关系，分别确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度；调整扬声器的开口方向，以使得水平补偿角度和垂直补偿角度为零。
本发明的定向发声方法利用球形麦克风阵列可以准确地确定用户发声声 源的空间位置，基于用户发声声源的空间位置、音频设备的中心位置和扬声器开口位置之间的位置关系，可以确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度，通过调整扬声器开口方向使这两个补偿角度为零，实现扬声器两个自由度的调整，使扬声器开口方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳音效范围，提升用户的听觉体验。
本发明的另一个方面提供了一种音频设备定向发声装置，音频设备包括开口方向可调整的内置扬声器和球形麦克风阵列，球形麦克风阵列包括呈球形分布的多个麦克风，定向发声装置包括：定位单元，用于通过球形麦克风阵列确定用户发声声源的空间位置；计算单元，用于根据用户发声声源的空间位置、音频设备的中心位置以及扬声器的开口位置三者之间的关系，分别确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度；调整单元，用于调整扬声器的开口方向，以使得水平补偿角度和垂直补偿角度为零。
本发明的定向发声装置利用定位单元驱动球形麦克风阵列准确地确定用户发声声源的空间位置，计算单元基于用户发声声源的空间位置、音频设备的中心位置和扬声器开口位置之间的位置关系，可以确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度，调整单元通过调整扬声器开口方向使这两个补偿角度为零，实现扬声器两个自由度的调整，使扬声器开口方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳音效范围，提升用户的听觉体验。
本发明的另一个方面提供了一种音频设备，包括：包括开口方向可调整的内置扬声器和球形麦克风阵列，还包括处理器和存储有机器可执行指令的机器可读存储介质，通过读取并执行机器可读存储介质中的机器可执行指令，处理器可执行上述的音频设备定向发声方法。
本发明的音频设备利用球形麦克风阵列准确地确定用户发声声源的空间位置，基于用户发声声源的空间位置、音频设备的中心位置和扬声器开口位置之间的位置关系，可以确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度，通过调整扬声器开口方向使这两个补偿角度为零，实现扬声器两个自由度的调整，使扬声器开口方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳音效范围，提升用户的听觉体验。本发明 的另一个方面提供了一种机器可读存储介质，存储有机器可执行指令，机器可执行指令被处理器执行时以实现上述音频设备定向发声方法。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一部分附图，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明实施例示出的音频设备的示意图；
图2为本发明实施例示出的音频设备的扬声器朝向用户的示意图；
图3为本发明实施例示出的音频设备的中心位置示意图；
图4为本发明实施例示出的扬声器开口位置示意图；
图5为本发明实施例示出的音频设备定向发声方法的流程图；
图6为本发明实施例示出的平面直角坐标系示意图；
图7为本发明实施例示出的垂直直角坐标系示意图；
图8为本发明实施例示出的用户耳朵空间位置的垂直位置坐标示意图；
图9为本发明实施例示出的音频设备定向发声装置的结构框图；
图10为本发明实施例示出的音频设备的结构框图；
图11为本发明实施例示出的系统硬件结构示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
以下，将参照附图来描述本发明的实施例。但是应该理解，这些描述只是示例性的，而并非要限制本发明的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本发明的概念。
在此使用的术语仅仅是为了描述具体实施例，而并非意在限制本发明。这里使用的词语“一”、“一个(种)”和“该”等也应包括“多个”、“多种”的意思，除非上下文另外明确指出。此外，在此使用的术语“包括”、“包含”等表明了所述特征、步骤、操作和/或部件的存在，但是并不排除存 在或添加一个或多个其他特征、步骤、操作或部件。
在此使用的所有术语(包括技术和科学术语)具有本领域技术人员通常所理解的含义，除非另外定义。应注意，这里使用的术语应解释为具有与本说明书的上下文相一致的含义，而不应以理想化或过于刻板的方式来解释。
附图中示出了一些方框图和/或流程图。应理解，方框图和/或流程图中的一些方框或其组合可以由计算机程序指令来实现。这些计算机程序指令可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，从而这些指令在由该处理器执行时可以创建用于实现这些方框图和/或流程图中所说明的功能/操作的装置。
因此，本发明的技术可以硬件和/或软件(包括固件、微代码等)的形式来实现。另外，本发明的技术可以采取存储有指令的计算机可读介质上的计算机程序产品的形式，该计算机程序产品可供指令执行系统使用或者结合指令执行系统使用。在本发明的上下文中，计算机可读介质可以是能够包含、存储、传送、传播或传输指令的任意介质。例如，计算机可读介质可以包括但不限于电、磁、光、电磁、红外或半导体系统、装置、器件或传播介质。计算机可读介质的具体示例包括：磁存储装置，如磁带或硬盘(HDD)；光存储装置，如光盘(CD-ROM)；存储器，如随机存取存储器(RAM)或闪存；和/或有线/无线通信链路。
为便于说明本实施例音频设备的定向发声方式，本发明首先通过下述实施例说明音频设备的组成结构，本实施例的音频设备包括智能音箱等音响产品。
本实施例的音频设备包括开口方向可调整的内置扬声器和球形麦克风阵列，如图1所示，球形麦克风阵列包括呈球形分布的多个麦克风，本实施例利用调整机构调整内置扬声器的开口方向。
如图4所示，在本实施例中，调整机构包括旋转马达1和升降马达2，旋转马达1可吸附或固定在音频设备的底板上，旋转支架3设置在旋转马达1上，旋转马达1可驱动旋转支架3在水平方向进行360°的旋转，旋转支架3包括支撑臂，扬声器4固定安装在扬声器安装框5中，扬声器安装框5通过支撑臂安装在旋转支架3上，一方面，扬声器安装框5采用轴连接的方式安装在支撑臂上，例如在支撑臂上设置安装孔，在扬声器安装框5上设置转 动轴，通过安装孔和转动轴的配合实现扬声器安装框5与旋转支架3的轴连接；另一方面，升降马达2设置在旋转支架2上，扬声器安装框5背向扬声器开口位置的边框出设置轴杆51，升降马达2的伸缩臂连接轴杆51，实现扬声器安装框5与升降马达2的伸缩臂之间的转动连接。
如图3所示，本实施例中的音频设备还包括PCBA板6，上集成有球形麦克风阵列、CPU、马达驱动芯片等部件，如图1所示，音频设备的顶盖相对麦克风的位置设置有出声口，以使麦克风拾取外界声音信号。
如图4所示，扬声器开口位置为扬声器开口的中心位置，在设计音频设备的过程中，本实施例设计音频设备的中心位置位于音频设备的空间中垂线上，如图3所示，图3中L1表示音频设备的空间中垂线，当音频设备呈柱体结构时，音频设备的空间中垂线为柱体的中轴线，L2～L4分别表示扬声器的三个不同方向的开口方向，在扬声器开口方向为任一方向时，扬声器的开口位置与音频设备的中心位置的连线始终相交于一点。
本实施例的CPU根据球形麦克风阵列上的麦克风拾取的声音信号和麦克风在音频设备中的位置，确定用户发声声源的空间位置，根据用户发声声源的空间位置、音频设备的中心位置和扬声器的开口位置三者之间的关系，确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度，CPU根据水平补偿角度和垂直补偿角度生成相应的控制指令并发送给马达驱动芯片，马达驱动芯片根据控制指令控制旋转马达和升降马达，以使得水平补偿角度和垂直补偿角度为零，调整扬声器的开口方向，使扬声器的开口方向对准用户位置，保证用户处于音频设备的最佳音效范围。
本发明的一个方法提供了一种音频设备的定向发声方法。
本实施例中的音频设备包括开口方向可调整的内置扬声器和球形麦克风阵列，球形麦克风阵列包括呈球形分布的多个麦克风，本实施例的音频设备的结构可以参考上文描述的音频设备。
图5为本发明实施例示出的音频设备的定向发声方法的流程图，如图5所示，本实施例的方法包括：
S510，通过球形麦克风阵列确定用户发声声源的空间位置。
S520，根据用户发声声源的空间位置、音频设备的中心位置以及扬声器的开口位置三者之间的关系，分别确定扬声器开口方向相对用户空间位置的 水平补偿角度和垂直补偿角度。
S530，调整扬声器的开口方向，以使得水平补偿角度和垂直补偿角度为零。
本实施例利用球形麦克风阵列可以确定用户发声声源的空间位置，基于用户发声声源的空间位置、音频设备的中心位置和扬声器开口位置之间的位置关系，可以确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度，通过调整扬声器开口方向使这两个补偿角度为零，实现扬声器两个自由度的调整，使扬声器开口方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳音效范围，提升用户的听觉体验。
图6为本发明实施例示出的平面直角坐标系示意图，图7为本发明实施例示出的垂直直角坐标系示意图，图8为本发明实施例示出的用户耳朵空间位置的垂直位置坐标示意图，以下结合图6-8对上述步骤S510-S530进行详细的说明。
首先，执行步骤S510，即通过球形麦克风阵列确定用户发声声源的空间位置。
在一个实施例中，可以通过下述方式确定用户发声声源的空间位置：
首先，预先建立声源定位模型，声源定位模型中包括第一距离参数、第二距离参数和第三距离参数，第一距离参数包括声源分别与水平面上的两个麦克风的距离，第二距离参数包括声源分别与竖直面上的两个麦克风的距离，第三距离参数包括水平面上的两个麦克风之间距离和竖直面上的两个麦克风之间的距离。
如图2所示，可以以音频设备的中心位置为坐标原点，以扬声器开口方向为X轴，以垂直于扬声器开口方向为Y轴建立空间直角坐标系，通过位于同一平面的至少两个麦克风，可以定位声源在这一平面上的位置，由此可以利用球形麦克风阵列中位于同一水平面上的麦克风定位声源在水平面上的位置，利用球形麦克风阵列中与上述水平面垂直的麦克阵列定位声源在垂直面上的位置，由此可以精准定位声源发声位置的空间坐标。
然后，确定球形麦克风阵列中接收到符合设定条件的声音信号的麦克风为第一麦克风和第二麦克风，第一麦克风包括在水平方向上相互平行的两个麦克风，第二麦克风包括在竖直方向上相互平行的两个麦克风；其中，确定 球形麦克风阵列中接收的声音信号强度最大的处于同一水平面的两个麦克风为第一麦克风，以及确定球形麦克风阵列中接收的声音信号强度最大的处于同一竖直面的两个麦克风为第二麦克风。
接着，获取用户发声声源与第一麦克风和第二麦克风中每个麦克风的距离，以及根据球形麦克风阵列中的每个麦克风在空间直角坐标系中的位置坐标，获取第一麦克风中两个麦克风之间的距离，第二麦克风中两个麦克风之间的距离；其中，可以利用第一麦克风和第二麦克风中每个麦克风接收到的发声声源的声音信号的强度值与用户发声声源的声音信号的强度值之间的差值，获得用户发声声源的与第一麦克风和第二麦克风中每个麦克风的距离；还可以通过设置在扬声器开口处的测距仪测量用户发声声源的与扬声器开口之间的距离，根据每个麦克风的位置坐标和用户发声声源的与扬声器开口之间的距离，获得用户发声声源与第一麦克风和第二麦克风中每个麦克风的距离。
最后，利用预先建立的声源定位模型，并根据用户发声声源与第一麦克风和第二麦克风中每个麦克风的距离，第一麦克风和第二麦克风中两个麦克风之间的距离，获得用户发声声源在空间直角坐标系中的位置坐标。
在确定用户发声声源的空间位置之后，执行步骤S520，即根据用户发声声源的空间位置、音频设备的中心位置以及所述扬声器的开口位置三者之间的关系，分别确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度。
本发明为便于计算扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度，减少计算量，简化计算步骤，本实施例预先设定扬声器的开口方向包括音频设备的中心位置与扬声器的开口位置的第一连线所指示的开口位置的方向；其中，音频设备的中心位置位于音频设备的空间中垂线上，参考图3，当扬声器开口方向朝向正左方时，音频设备的中心位置(即L1～L4的交点位置)与朝向正左方时扬声器开口位置之间的连接记为第一连线，即当扬声器开口方向朝向正左方时，L2为第一连线，当扬声器开口方向朝向左上方时，L3为第一连线，当扬声器开口方向朝向左下方时，L4为第一连线。
用户发声声源的空间位置包括用户嘴巴的空间位置，在确定扬声器开口方向相对用户空间位置的水平补偿角度时，可以确定扬声器开口方向相对用 户发声声源空间位置的水平补偿角度，调整扬声器的开口方向，以使得水平补偿角度为零；在确定扬声器开口方向相对用户空间位置的垂直补偿角度时，可以确定扬声器开口方向相对用户发声声源空间位置和/或用户耳朵空间位置的垂直补偿角度，调整扬声器的开口方向，以使得垂直补偿角度为零。
由于用户发声声源一般为用户嘴巴，用户嘴巴所在方向为用户双耳所在方向，通过确定水平补偿角度为扬声器开口方向相对用户发声声源空间位置的角度，通过调整该水平补偿角度为零，使扬声器开口朝向用户发声声源，即朝向用户双耳，使扬声器开口方向在水平方向上朝向用户双耳；以及通过确定垂直补偿角度为扬声器开口方向相对用户发声声源空间位置(或用户耳朵)的角度，通过调整该垂直补偿角度为零，使扬声器开口方向在垂直方向上对准用户发声声源的空间位置(或用户双耳)。
在一个实施例中，通过下述方式确定扬声器开口方向相对用户空间位置的水平补偿角度：确定扬声器开口方向相对用户发声声源空间位置的水平补偿角度，调整扬声器的开口方向，以使得水平补偿角度为零。
如图6所示，计算水平补偿角度的方法包括：根据音频设备的中心位置为原点设立平面直角坐标系，所设立的平面直角坐标系的X轴为扬声器开口位置与音频设备的中心位置的连线所在的直线；通过球形麦克风阵列确定用户发声声源的空间位置的水平位置坐标，即通过上文描述的声源定位模型可以确定用户发声声源在XOY面的水平位置坐标(Xa，Ya)；根据水平位置坐标与音频设备的中心位置之间的第二连线和第一连线之间在平面直角坐标系上形成水平补偿角度，参考图6，将图6中示出的用户发声声源的水平位置坐标点与坐标原点之间的连线和X轴所成的夹角α确定为水平补偿角度。
在另一个实施例中，通过下述方式确定扬声器开口方向相对用户空间位置的垂直补偿角度：确定扬声器开口方向相对用户发声声源空间位置或用户耳朵空间位置的垂直补偿角度，即确定扬声器开口方向相对用户发声声源空间位置的垂直补偿角度，或者，或者确定扬声器开口方向相对用户耳朵空间位置的垂直补偿角度；调整扬声器的开口方向，以使得垂直补偿角度为零。
如图7所示，当垂直补偿角度包括扬声器开口方向相对用户发声声源空间位置的角度时，计算垂直补偿角度的方法包括：根据音频设备的中心位置为原点设立垂直直角坐标系，所设立的垂直直角坐标系的X轴为扬声器开口 位置与音频设备的中心位置的连线所在的直线，即为图2所示的空间直角坐标系中的XOZ平面；通过球形麦克风阵列确定用户发声声源的空间位置的垂直位置坐标为第一垂直坐标，可以通过上文描述的声源定位模型确定用户发声声源在XOZ面的第一垂直位置坐标(Xa，Za)；根据第一垂直坐标与音频设备的中心位置之间的第三连线和第一连线之间在垂直直角坐标系上形成垂直补偿角度为第一垂直补偿角度，参考图7，将图7中示出的用户发声声源的第一垂直位置坐标点A与坐标原点之间的连线和X轴所成的夹角
Figure PCTCN2018125229-appb-000001
确定为第一垂直补偿角度。
当垂直补偿角度包括扬声器开口方向相对用户耳朵空间位置的角度时，计算垂直补偿角度的方法包括：根据用户发声声源的空间位置的第一垂直位置坐标，以及预设的用户耳朵空间位置与发声声源的空间位置之间在垂直直角坐标系中的距离和/或角度关系，确定用户耳朵空间位置的垂直位置坐标为第二垂直坐标；根据第一垂直坐标与音频设备的中心位置之间的第三连线和所述第二垂直坐标与音频设备的中心位置之间的第四连线形成差分垂直补偿角度为第二垂直补偿角度；调整扬声器开口方向，使得第一垂直补偿角度和第二垂直补偿角度的和值为零。
如图8所示，根据图7所示的方法可以计算用户发声声源的空间位置A的第一垂直坐标(Xa，Za)，当预设的用户耳朵空间位置与发声声源的空间位置之间在垂直直角坐标系中的距离和/或角度关系包括用户耳朵空间位置与发声声源的空间位置之间在垂直直角坐标系中的距离关系时，例如该距离关系包括图8所示的ΔX和ΔZ，根据第一垂直坐标(Xa，Za)和ΔX与ΔZ，可以获得用户耳朵空间位置B的第二垂直坐标(Xb，Zb)，或者该距离关系包括图8所示的嘴巴与耳朵的连线相对水平方向所成的角度ψ和距离ΔX(或距离ΔZ)，根据第一垂直坐标(Xa，Za)和角度ψ与距离ΔX(或距离ΔZ)，可以获得用户耳朵空间位置B的第二垂直坐标(Xb，Zb)，将图8中示出的用户耳朵空间位置的第二垂直坐标点B与坐标原点之间的连线和用户发声声源空间位置的第一垂直坐标点A与坐标原点之间的连线的夹角确定为第二垂直补偿角度θ，通过调整扬声器开口方向，使得第一垂直补偿角度
Figure PCTCN2018125229-appb-000002
和第二垂直补偿角度θ的和值(即为角度β)为零，使得扬声器开口方向在垂直方向上对准用户耳朵，提高扬声器定向发声的准确度。
在确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度之后，执行步骤S530，即调整扬声器的开口方向，以使得水平补偿角度和垂直补偿角度为零。
结合图3所述的音频设备，可以通过旋转马达和升降马达调整扬声器的开口方向，实现扬声器开口方向两个自由度即对应于音频设备俯仰方向的垂直角度和对应于音频设备旋转方向的水平角度的调节，达到精准控制扬声器定向发声的目的，提升用户的听觉体验。
本发明的另一个方面提供了一种音频设备定向发声装置。
本实施例的音频设备包括开口方向可调整的内置扬声器和球形麦克风阵列，球形麦克风阵列包括呈球形分布的多个麦克风。
图9为本发明实施例示出的音频设备的定向发声装置的结构框图，如图9所示，本实施例的装置包括：
定位单元91，用于通过球形麦克风阵列确定用户发声声源的空间位置；
计算单元92，用于根据用户发声声源的空间位置、音频设备的中心位置以及扬声器的开口位置三者之间的关系，分别确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度；
调整单元93，用于调整扬声器的开口方向，以使得水平补偿角度和垂直补偿角度为零。
本实施例的定向发声装置利用定位单元驱动球形麦克风阵列准确地确定用户发声声源的空间位置，计算单元基于用户发声声源的空间位置、音频设备的中心位置和扬声器开口位置之间的位置关系，可以确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度，调整单元通过调整扬声器开口方向使这两个补偿角度为零，实现扬声器两个自由度的调整，使扬声器开口方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳音效范围，提升用户的听觉体验。
本实施例中的扬声器的开口方向包括音频设备的中心位置与扬声器的开口位置的第一连线所指示的开口位置的方向，其中音频设备的中心位置位于音频设备的空间中垂线上；发声声源的空间位置包括用户嘴巴的空间位置。
在一个实施例中，计算单元92用于确定扬声器开口方向相对用户发声声源空间位置的水平补偿角度，调整单元93用于调整扬声器的开口方向，以使 得水平补偿角度为零。
计算单元92具体是根据音频设备的中心位置为原点设立平面直角坐标系，通过球形麦克风阵列确定用户发声声源的空间位置的水平位置坐标，根据水平位置坐标与所述音频设备的中心位置之间的第二连线和第一连线之间在平面直角坐标系上形成水平补偿角度。
在另一个实施例中，计算单元92用于确定扬声器开口方向相对用户发声声源空间位置和/或用户耳朵空间位置的垂直补偿角度；调整单元93用于调整扬声器的开口方向，以使得垂直补偿角度为零。
当垂直补偿角度包括扬声器开口方向相对用户发声声源空间位置的角度时，计算单元92具体是根据音频设备的中心位置为原点设立垂直直角坐标系，通过球形麦克风阵列确定用户发声声源的空间位置的垂直位置坐标为第一垂直坐标，根据第一垂直坐标与音频设备的中心位置之间的第三连线和第一连线之间在所述垂直直角坐标系上形成垂直补偿角度为第一垂直补偿角度。
当垂直补偿角度包括扬声器开口方向相对用户耳朵空间位置的角度时，计算单元92具体是根据用户发声声源的空间位置的第一垂直位置坐标，以及预设的所述用户耳朵空间位置与发声声源的空间位置之间在垂直直角坐标系中的距离和/或角度关系，确定用户耳朵空间位置的垂直位置坐标为第二垂直坐标；根据第一垂直坐标与音频设备的中心位置之间的第三连线和第二垂直坐标与音频设备的中心位置之间的第四连线形成差分垂直补偿角度为第二垂直补偿角度；调整扬声器开口方向，使得第一垂直补偿角度和第二垂直补偿角度的和值为零。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
本发明的另一个方面提供了一种音频设备。
图10为本发明实施例示出的音频设备的结构框图，如图10所示，音频设备，包括开口方向可调整的内置扬声器和球形麦克风阵列，球形麦克风阵列包括呈球形分布的多个麦克风；音频设备还包括处理器和存储有机器可执行指令的机器可读存储介质，通过读取并执行机器可读存储介质中的机器可执行指令，处理器可执行前面描述的音频设备定向发声方法。
本实施例的音频设备利用球形麦克风阵列准确地确定用户发声声源的空间位置，基于用户发声声源的空间位置、音频设备的中心位置和扬声器开口位置之间的位置关系，可以确定扬声器开口方向相对用户空间位置的水平补偿角度和垂直补偿角度，通过调整扬声器开口方向使这两个补偿角度为零，实现扬声器两个自由度的调整，使扬声器开口方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳音效范围，提升用户的听觉体验。
结合图3所示，本实施例中音频设备包括旋转马达和升降马达，安装有扬声器的扬声器安装框转动安装在旋转支架上，旋转支架转动安装在旋转马达上，利用旋转马达驱动旋转支架转动，带动扬声器安装框转动，实现扬声器水平方向的转动；升降马达安装在旋转支架上，升降马达的伸缩臂转动连接在扬声器安装框的轴杆上，该轴杆设置在扬声器安装框背向扬声器开口位置的边框位置，利用升降马达驱动扬声器安装框上下转动，实现扬声器垂直方向的转动，通过对扬声器两个自由度的调整，可以精准控制扬声器定向发声，使扬声器对准用户双耳，保证用户实时处于音频设备的最佳音效范围，提升用户的听觉体验。
本申请提供的系统可以通过软件实现，也可以通过硬件或者软硬件结合的方式实现。以软件实现为例，参照图11所示，本申请提供的系统可包括处理器1101、存储有机器可执行指令的机器可读存储介质1102。处理器1101与机器可读存储介质1102可经由系统总线1103通信。并且，通过读取并执行机器可读存储介质1102中与音频设备定向发声逻辑对应的机器可执行指令，处理器1101可执行上文描述的音频设备定向发声方法。
本发明的另一个方面提供了一种机器可读存储介质。
本发明实施例的机器可读存储介质，存储有机器可执行指令，机器可执行指令被处理器执行时以实现前文描述的音频设备的定向发声方法。
需要说明的是，本发明实施例的可读存储介质，例如可以是能够包含、 存储、传送、传播或传输指令的任意介质。例如，可读存储介质可以包括但不限于电、磁、光、电磁、红外或半导体系统、装置、器件或传播介质。可读存储介质的具体示例包括：磁存储装置，如磁带或硬盘(HDD)；光存储装置，如光盘(CD-ROM)；存储器，如随机存取存储器(RAM)或闪存；和/或有线/无线通信链路。
机器可读存储介质可以包括计算机程序，该计算机程序可以包括代码/计算机可执行指令，其在由处理器执行时使得处理器执行例如前文所描述的音频设备定向发声方法流程及其任何变形。
计算机程序可被配置为具有例如包括计算机程序模块的计算机程序代码。例如，在示例实施例中，计算机程序中的代码可以包括一个或多个程序模块。应当注意，模块的划分方式和个数并不是固定的，本领域技术人员可以根据实际情况使用合适的程序模块或程序模块组合，当这些程序模块组合被处理器执行时，使得处理器可以执行例如上文所描述的音频设备定向发声方法流程及其任何变形。
为了便于清楚描述本发明实施例的技术方案，在发明的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分，本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定。
以上所述，仅为本发明的具体实施方式，在本发明的上述教导下，本领域技术人员可以在上述实施例的基础上进行其他的改进或变形。本领域技术人员应该明白，上述的具体描述只是更好的解释本发明的目的，本发明的保护范围应以权利要求的保护范围为准。

Claims (11)

  1. 一种音频设备定向发声方法，所述音频设备包括开口方向可调整的内置扬声器和球形麦克风阵列，所述方法包括：
    通过所述球形麦克风阵列确定用户发声声源的空间位置；
    根据用户发声声源的空间位置、所述音频设备的中心位置以及所述扬声器的开口位置三者之间的关系，分别确定所述扬声器开口方向相对所述用户空间位置的水平补偿角度和垂直补偿角度；
    调整所述扬声器的开口方向，以使得所述水平补偿角度和垂直补偿角度为零。
  2. 根据权利要求1所述的方法，其特征在于，所述扬声器的开口方向包括所述音频设备的中心位置与所述扬声器的开口位置的第一连线所指示的开口位置的方向；其中，所述音频设备的中心位置位于所述音频设备的空间中垂线上。
  3. 根据权利要求1所述的方法，其特征在于，所述发声声源的空间位置包括用户嘴巴的空间位置。
  4. 根据权利要求2所述的方法，其特征在于，所述分别确定所述扬声器开口方向相对所述用户空间位置的水平补偿角度和垂直补偿角度，包括：
    确定所述扬声器开口方向相对所述用户发声声源空间位置的水平补偿角度，以及
    调整所述扬声器的开口方向，以使得所述水平补偿角度为零。
  5. 根据权利要求4所述的方法，其特征在于，所述确定所述扬声器开口方向相对所述用户发声声源空间位置的水平补偿角度，包括：
    根据所述音频设备的中心位置为原点设立平面直角坐标系；
    通过所述球形麦克风阵列确定所述用户发声声源的空间位置的水平位置坐标；
    根据所述水平位置坐标与所述音频设备的中心位置之间的第二连线和所述第一连线之间在平面直角坐标系上形成所述水平补偿角度。
  6. 根据权利要求2所述的方法，其特征在于，所述分别确定所述扬声器开口方向相对所述用户空间位置的水平补偿角度和垂直补偿角度，包括：
    确定所述扬声器开口方向相对所述用户发声声源空间位置或用户耳朵空 间位置的垂直补偿角度；
    调整所述扬声器的开口方向，以使得所述垂直补偿角度为零。
  7. 根据权利要求6所述的方法，其特征在于，所述确定所述扬声器开口方向相对所述用户发声声源空间位置和/或用户耳朵空间位置的垂直补偿角度，包括：
    根据所述音频设备的中心位置为原点设立垂直直角坐标系；
    通过所述球形麦克风阵列确定用户发声声源的空间位置的垂直位置坐标为第一垂直坐标；
    根据所述第一垂直坐标与所述音频设备的中心位置之间的第三连线和所述第一连线之间在所述垂直直角坐标系上形成所述垂直补偿角度为第一垂直补偿角度。
  8. 根据权利要求7所述的方法，其特征在于，所述确定所述扬声器开口方向相对所述用户发声声源空间位置和/或用户耳朵空间位置的垂直补偿角度，还包括：
    根据所述用户发声声源的空间位置的第一垂直位置坐标，以及预设的所述用户耳朵空间位置与所述发声声源的空间位置之间在所述垂直直角坐标系中的距离和/或角度关系，确定所述用户耳朵空间位置的垂直位置坐标为第二垂直坐标；
    根据所述第一垂直坐标与所述音频设备的中心位置之间的第三连线和所述第二垂直坐标与所述音频设备的中心位置之间的第四连线形成差分垂直补偿角度为第二垂直补偿角度；
    调整所述扬声器开口方向，使得所述第一垂直补偿角度和第二垂直补偿角度的和值为零。
  9. 一种音频设备定向发声装置，所述音频设备包括开口方向可调整的内置扬声器和球形麦克风阵列，所述球形麦克风阵列包括呈球形分布的多个麦克风，所述装置包括：
    定位单元，用于通过所述球形麦克风阵列确定用户发声声源的空间位置；
    计算单元，用于根据用户发声声源的空间位置、所述音频设备的中心位置以及所述扬声器的开口位置三者之间的关系，分别确定所述扬声器开口方向相对所述用户空间位置的水平补偿角度和垂直补偿角度；
    调整单元，用于调整所述扬声器的开口方向，以使得所述水平补偿角度和垂直补偿角度为零。
  10. 一种音频设备，包括开口方向可调整的内置扬声器和球形麦克风阵列，还包括处理器和存储有机器可执行指令的机器可读存储介质，通过读取并执行机器可读存储介质中的机器可执行指令，处理器可执行如权利要求1-8任一项所述的音频设备定向发声方法。
  11. 一种机器可读存储介质，存储有机器可执行指令，机器可执行指令被处理器执行时以实现如权利要求1-8任一项所述音频设备定向发声方法。
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