WO2020215239A1 - 拾音设备的信号处理方法、装置及计算机存储介质 - Google Patents

拾音设备的信号处理方法、装置及计算机存储介质 Download PDF

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Publication number
WO2020215239A1
WO2020215239A1 PCT/CN2019/084056 CN2019084056W WO2020215239A1 WO 2020215239 A1 WO2020215239 A1 WO 2020215239A1 CN 2019084056 W CN2019084056 W CN 2019084056W WO 2020215239 A1 WO2020215239 A1 WO 2020215239A1
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Prior art keywords
sound
digital signal
signal
sampling point
pickup device
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PCT/CN2019/084056
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English (en)
French (fr)
Inventor
林喜挺
李卓泉
陈洢铭
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深圳市大疆创新科技有限公司
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Priority to CN201980008456.3A priority Critical patent/CN111602415A/zh
Priority to PCT/CN2019/084056 priority patent/WO2020215239A1/zh
Publication of WO2020215239A1 publication Critical patent/WO2020215239A1/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
    • H04R29/00—Monitoring arrangements; Testing arrangements
    • H04R29/004—Monitoring arrangements; Testing arrangements for microphones

Definitions

  • the present invention relates to the field of signal processing technology, and in particular to a signal processing method, device and computer storage medium of a sound pickup device.
  • Sound pickup equipment is an energy conversion device used to collect sound signals and convert the collected sound signals into electrical signals.
  • the sensitivity of a pickup device refers to the electrical response of its output to a given standard acoustic input. For a given standard acoustic input, the output level of a pickup device with higher sensitivity is higher than that of a pickup device with lower sensitivity. Due to differences in production processes or materials, different pickup devices have different sensitivity.
  • a passive adjustable gain amplifier is arranged inside the sound pickup device, so as to adjust the sensitivity of the sound pickup device by adjusting the gain coefficient of the amplifier through laser.
  • This method requires a laser to modify the gain of the amplifier. Therefore, a specially designed sound pickup device housing must be used to enable the laser to pass through the opening on the sound pickup device, which will increase the manufacturing cost of the sound pickup device and the calibration accuracy is limited.
  • the embodiment of the invention discloses a signal processing method, a device and a computer storage medium of a sound pickup device, which can improve the calibration accuracy of the sound pickup device and reduce the manufacturing cost of the sound pickup device.
  • the first aspect of the embodiments of the present invention discloses a signal processing method of a sound pickup device, and the method includes:
  • the signal calibration parameter of the sound pickup device is determined.
  • the second aspect of the embodiments of the present invention discloses a signal processing device of a sound pickup device, which includes a memory and a processor,
  • the memory is used to store program instructions
  • the processor is configured to execute program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:
  • the signal calibration parameter of the sound pickup device is determined.
  • a third aspect of the embodiments of the present invention discloses a computer storage medium in which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.
  • the first digital signal generated by the pickup device collecting the sound signal from the standard sound source and the second digital signal corresponding to the sound signal generated by the standard sound source are first acquired, and then the first digital signal and the second digital signal
  • the conversion relationship between signals determines the signal calibration parameters of the pickup equipment.
  • the signal calibration parameters used to calibrate the sound signal can be determined, and the signal calibration parameters can be used to calibrate the sound signal collected by the pickup device, which improves the calibration accuracy of the pickup device and reduces the manufacturing cost of the pickup device. .
  • Fig. 1 is a schematic diagram of a standard sound source and sound pickup device disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a signal processing method of a sound pickup device disclosed in an embodiment of the present invention
  • FIG. 3 is a schematic diagram of obtaining a conversion relationship between a first digital signal and a second digital signal according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of another signal processing method of a sound pickup device disclosed in an embodiment of the present invention.
  • Fig. 5 is another schematic diagram of obtaining a conversion relationship between a first digital signal and a second digital signal according to an embodiment of the present invention
  • Fig. 6 is a schematic structural diagram of a signal processing device of a sound pickup device disclosed in an embodiment of the present invention.
  • Sound pickup equipment is an energy conversion device used to collect sound signals and convert the collected sound signals into electrical signals. Due to differences in production processes or materials, different pickup devices have different sensitivity.
  • the sensitivity of a pickup device refers to the electrical response of its output to a given standard acoustic input. For a given standard acoustic input, the output level of a pickup device with higher sensitivity is higher than that of a pickup device with lower sensitivity.
  • the sensitivity value of pickup equipment is usually negative, so the higher the sensitivity, the smaller the absolute value of the sensitivity value.
  • a passive adjustable gain amplifier is arranged inside the sound pickup device, so as to adjust the sensitivity of the sound pickup device by adjusting the gain coefficient of the amplifier through laser.
  • the embodiment of the present invention discloses a signal processing method, a signal processing device and a computer storage medium of a sound pickup device, which can determine the signal calibration parameters used to calibrate the sound signal, so as to use the signal calibration parameters to collect data from the sound pickup device.
  • the sound signal is calibrated to improve the calibration accuracy of the pickup equipment and reduce the manufacturing cost of the pickup equipment.
  • FIG. 1 is a schematic diagram of a standard sound source and sound pickup device provided by an embodiment of the present invention.
  • the standard sound source 100 is provided with a sound playback device 101, which may be a speaker; the sound playback device 101 is used to play the sound signal generated by the standard sound source 100 to transmit the sound signal generated by the standard sound source To the pickup device 200.
  • the standard sound source 100 and the sound pickup device 200 can be placed in the same closed cavity 10 to reduce energy transmission loss.
  • the sound pickup device 200 may be a microphone module, which includes one or more microphone sensors.
  • the sound pickup device 200 is used to collect sound signals in the process of generating sound signals from the standard sound source 100, and convert the collected sound signals into electrical signals.
  • the signal processing device of the sound pickup device is used to convert the electrical signal converted by the sound pickup device 200 into a first digital signal, and obtain a second digital signal corresponding to the sound signal generated by the standard source; and then according to the first digital signal and The conversion relationship between the second digital signals determines the signal calibration parameters of the sound pickup device 200.
  • the signal calibration parameters used to calibrate the sound signal can be determined, so that the signal calibration parameters can be used to calibrate the digital signal corresponding to the sound signal collected by the sound pickup device during the use of the sound pickup device, thereby The sound signal collected by the sound pickup device is calibrated.
  • the embodiment of the present invention can improve the calibration accuracy of the sound pickup device, so that different sound pickup devices have the same or similar output levels for the same sound signal.
  • the sound playback device 101 in FIG. 1 takes a speaker as an example for description, and the sound playback device 101 includes but is not limited to a speaker.
  • the calibrated pickup device may be installed on a smart terminal, which may be a movable platform.
  • the movable platform may be a UAV (Unmanned Aerial Vehicle, UAV), an unmanned vehicle (or a movable car), an unmanned ship, a mobile robot, and other movable equipment.
  • UAV Unmanned Aerial Vehicle
  • UAV Unmanned Aerial Vehicle
  • unmanned vehicle or a movable car
  • unmanned ship unmanned ship
  • a mobile robot and other movable equipment.
  • FIG. 2 is a schematic flowchart of a signal processing method of a sound pickup device according to an embodiment of the present invention.
  • the signal processing method of the sound pickup device described in the embodiment of the present invention may be executed by the signal processing device of the sound pickup device, and the sound pickup device and the signal processing device of the sound pickup device may be set on a movable platform.
  • the signal processing device of the sound pickup device may be independent of the movable platform and communicate with the sound pickup device in a wired or wireless manner.
  • the signal processing method of the sound pickup device may include:
  • S201 Acquire a first digital signal generated by a sound signal collected by a sound pickup device.
  • the sound signal collected by the sound pickup device is a sound signal generated by a standard source.
  • the standard sound source can play the sound signal generated by the standard sound source through its configured sound playback device, so as to transmit the sound signal generated by the standard sound source to the pickup device through the transmission medium in the space.
  • the sound pickup device collects the sound signal generated by the standard sound source, and converts the collected sound signal into an electrical signal. Further, the sound pickup device transmits the converted electric signal to the signal processing device of the sound pickup device.
  • the signal processing device may include an analog-to-digital conversion device. The analog-to-digital conversion device converts the electric signal transmitted by the sound pickup device into a first digital signal. signal.
  • the standard sound source and the sound pickup device in order to reduce the energy loss in the sound signal transmission process, can be placed in the same closed cavity; the distance between the standard sound source and the sound pickup device can also be limited to a certain Within distance.
  • the certain distance range is, for example, [30cm, 1.5m].
  • a sound insulation material can be used to construct the sealed cavity.
  • the external sound signal refers to the sound signal produced by other sound sources other than the standard sound source.
  • S202 Acquire a second digital signal corresponding to the sound signal generated by the standard source.
  • the second digital signal may be pre-stored in a storage medium, and the signal processing device of the sound pickup device directly obtains the second digital signal from the storage medium.
  • the second digital signal may also be pre-stored in other smart terminals or servers.
  • the signal processing device of the sound pickup device obtains the second digital signal from other smart terminals or servers after establishing a communication connection with other smart terminals or servers.
  • the sound signal generated by the standard sound source includes one or more groups of sound signals, and each group of sound signals has one or more sound intensity values.
  • the multiple sound intensity values may be linearly distributed.
  • the signal processing device of the sound pickup device first obtains the first sampling point set corresponding to the first digital signal, and obtains the second sampling point set corresponding to the second digital signal; then, according to the first sampling point set and the first sampling point set A set of two sampling points to determine the conversion relationship between the first digital signal and the second digital signal.
  • the signal processing device of the sound pickup equipment determines the conversion relationship between the first digital signal and the second digital signal according to the first sampling point set and the second sampling point set:
  • the sampling points in the sampling point set determine the first fitting curve;
  • the second fitting curve is determined according to the sampling points in the second sampling point set.
  • the signal processing device of the sound pickup device uses a polynomial fitting method to fit the sampling points in the first sampling point set to obtain the first fitting function and the first fitting curve.
  • the first fitting function is a function expression corresponding to the first fitting curve;
  • the first fitting curve is a curve with the best goodness of fit when fitting sampling points in the first sampling point set.
  • a polynomial fitting method can be used to fit sampling points in the second sampling point set to obtain a second fitting function and a second fitting curve.
  • the second fitting function is a function expression corresponding to the second fitting curve;
  • the second fitting curve is a curve with the best goodness of fit when fitting sampling points in the second sampling point set.
  • the fitting method is not limited to polynomial fitting, and those skilled in the art can set the fitting method according to actual needs.
  • the signal processing device of the sound pickup device obtains the first target conversion relationship between the first fitting curve and the second fitting curve, and determines the first target conversion relationship as the one between the first digital signal and the second digital signal The conversion relationship between.
  • the first target conversion relationship makes the first fitting curve approach or coincide with the second fitting curve.
  • the first target conversion relationship may be determined according to the function conversion relationship between the first fitting function corresponding to the first fitting curve and the second fitting function corresponding to the second fitting curve.
  • the signal calibration parameters of the sound pickup device can be determined according to the function conversion relationship between the first fitting function and the second fitting function.
  • the signal processing device of the sound pickup device determines the signal calibration parameter of the sound pickup device according to the conversion relationship between the first digital signal and the second digital signal, and then saves the signal calibration parameter for the sound pickup device. After the device subsequently collects the sound signal, the digital signal corresponding to the sound signal collected by the sound pickup device is calibrated by using the signal calibration parameters to calibrate the sound signal collected by the sound pickup device.
  • the calibration accuracy of the sound pickup device can be improved, so that different sound pickup devices have the same or similar output levels for the same sound signal.
  • FIG. 3 is a schematic diagram of obtaining a conversion relationship between a first digital signal and a second digital signal according to an embodiment of the present invention.
  • the small black dots in the figure represent the sampling points in the first sampling point set corresponding to the first digital signal.
  • the small black dots in the figure are fitted to get curve 1, and curve 1 is also That is, the above-mentioned first fitting curve corresponds to the first digital signal.
  • the small gray dots in the figure represent the sampling points in the second sampling point set corresponding to the second digital signal.
  • the gray dots in the figure are fitted to get curve 2, and curve 2 is the second simulation above.
  • the combined curve corresponds to the second digital signal.
  • the abscissa X in the figure is used to indicate the sound intensity, which can be expressed in dB.
  • the ordinate Y in the figure is used to indicate the signal value, or signal strength; the signal value or signal strength can be expressed by a voltage value, which can be the peak value of a digital signal, and the voltage value can be in millivolts (mv) Said.
  • Each sampling point corresponds to a sound intensity value and a voltage value.
  • the black-filled sampling points in the figure are used to indicate: the sound signal of a certain sound intensity generated by the pickup device against the standard sound source, and the number corresponding to the actually collected sound signal The signal value of the signal; the gray-filled sampling points in the figure are used to indicate: the reference signal value corresponding to the sound signal of a certain sound intensity generated by the standard sound source.
  • the first fitting function corresponding to curve 1 can be obtained, and the first fitting function corresponds to the first digital signal;
  • the second fitting function corresponding to curve 2 can be obtained, and the second fitting function corresponds to the second digital signal.
  • y 1 a 1 x 1 2 +b 1 x 1 ;
  • x 1 is the independent variable in the first fitting function, which is used to represent sound intensity ;
  • Y 1 is the dependent variable in the first fitting function, which is used to represent the signal value;
  • a 1 and b 1 are the coefficients in the first fitting function, a 1 may be a non-zero constant, and b 1 may be a constant.
  • the parameter f can refer to a non-zero constant, or it can refer to a function expression.
  • the relationship between curve 1 and curve 2 is determined The first goal conversion relationship.
  • the first target conversion relationship makes curve 1 coincide with curve 2.
  • the signal processing device of the sound pickup device determines the first target conversion relationship as the conversion relationship between the first digital signal and the second digital signal, and determines the signal calibration parameter of the sound pickup device according to the first target conversion relationship .
  • f is a function expression
  • the parameters in the function expression can be determined as calibration parameters.
  • the first digital signal generated by the sound signal collected by the sound pickup device for the standard sound source and the second digital signal corresponding to the sound signal generated by the standard sound source are first acquired, and then the first digital signal and the second digital signal are acquired.
  • the signal calibration parameters of the pickup device are determined.
  • the signal calibration parameters used to calibrate the sound signal can be determined, so as to use the signal calibration parameters to determine the signal calibration parameters of the pickup device.
  • the sound signal is calibrated to improve the calibration accuracy of the pickup equipment and reduce the manufacturing cost of the pickup equipment.
  • FIG. 4 is a schematic flowchart of a signal processing method of a sound pickup device according to an embodiment of the present invention.
  • the signal processing method of the sound pickup device described in the embodiment of the present invention can be executed by the signal processing device of the sound pickup device, and the sound pickup device and the signal processing device of the sound pickup device can be set on a movable platform.
  • the signal processing device of the sound pickup device may be independent of the movable platform and communicate with the sound pickup device in a wired or wireless manner.
  • the signal processing method of the sound pickup device may include:
  • S401 Acquire a first digital signal generated by a sound signal collected by a sound pickup device.
  • the sound signal collected by the sound pickup device is a sound signal generated by a standard source.
  • the sound signal generated by the standard sound source includes multiple sets of sound signals, and each set of sound signals in the multiple sets of sound signals may be the same;
  • the first digital signal generated by the sound signal collected by the sound pickup device includes corresponding to the multiple sets of sound signals Of multiple digital signals.
  • the signal processing device of the sound pickup equipment first obtains the sampling point sets corresponding to the multiple digital signals, and determines the first sampling point set according to the sampling point sets corresponding to the multiple digital signals respectively; wherein, in the first sampling point set
  • the signal value of the sampling point is the average value of the signal value of the corresponding sampling point in the sampling point set corresponding to the multiple digital signals.
  • the sound signal collected by the sound pickup device will have a certain deviation. By averaging the signal values corresponding to the sound signals of different groups, the error of the collection process can be reduced, and the calibration accuracy of the sound pickup device can be further improved.
  • S402 Acquire a second digital signal corresponding to the sound signal generated by the standard source.
  • the digital signal corresponding to each group of sound signals in the multiple groups of sound signals generated by the standard sound source may be the same, and the second digital signal may be the digital signal corresponding to any group of sound signals in the multiple groups of sound signals. signal.
  • the signal processing device of the sound pickup device acquires the second digital signal corresponding to any one of the multiple sets of sound signals.
  • the signal processing device of the sound pickup device first obtains the first sampling point set corresponding to the first digital signal, and obtains the second sampling point set corresponding to the second digital signal; then, according to the first sampling point set and the first sampling point set A set of two sampling points to determine the conversion relationship between the first digital signal and the second digital signal.
  • the signal processing device of the sound pickup equipment determines the conversion relationship between the first digital signal and the second digital signal according to the first sampling point set and the second sampling point set: Determine the first line segment based on the line between two adjacent sampling points in the sampling point set, and determine the second line segment according to the line between two adjacent sampling points in the second sampling point set; then obtain the first line The second target conversion relationship between the segment and the second line segment, the second target conversion relationship makes the first line segment approach or coincide with the second line segment; finally the second target conversion relationship is determined as the first digital signal and the second digital The conversion relationship between signals.
  • the first line segment is a line segment set including one or more sub-line segments
  • the second line segment is also a line segment set including one or more sub-line segments
  • the second target conversion relationship makes each sub-line segment in the first line segment approach Or coincide with the corresponding sub-line segment in the second line segment.
  • the second target conversion relationship is determined according to the function conversion relationship between the function corresponding to the sub-line segment in the first line segment and the function corresponding to the corresponding sub-line segment in the second line segment.
  • the signal calibration parameters of the sound pickup device can be determined according to the function conversion relationship between the function corresponding to the sub-line segment in the first line segment and the function corresponding to the corresponding sub-line segment in the second line segment.
  • FIG. 5 is another schematic diagram for obtaining a conversion relationship between a first digital signal and a second digital signal according to an embodiment of the present invention.
  • the black filled dots 501, 502, 503, etc. in the figure represent the sampling points in the first sampling point set corresponding to the first digital signal.
  • the first line segment corresponds to the first digital signal;
  • the first line segment includes multiple sub-line segments, for example, the sub-line composed of two adjacent sampling points 502 and 503 in the first sampling point set Line segment 1;
  • the first line segment may also include a sub-line segment formed by the sampling point 501 and the origin.
  • the small gray-filled dots 504, 505, 506, etc. in the figure represent the sampling points in the second sampling point set corresponding to the second digital signal.
  • the second line segment corresponds to the second digital signal; the second line segment includes multiple sub-line segments, for example, the sub-line segment 2 composed of two adjacent sampling points 505 and 506 in the second sampling point set; the first line segment also It may include a sub-line segment composed of the sampling point 504 and the origin.
  • the abscissa X in the figure is used to indicate the sound intensity, and the sound intensity can be expressed in dB; the ordinate Y in the figure is used to indicate the signal value, the voltage value can be the peak value of the digital signal, and the voltage value can be in millivolts ( mv) said.
  • Each sampling point corresponds to a sound intensity value and a voltage value.
  • the black-filled sampling points in the figure are used to indicate: the sound signal of a certain sound intensity generated by the pickup device against the standard sound source, and the number corresponding to the actually collected sound signal The signal value of the signal; the gray-filled sampling points in the figure are used to indicate the reference signal value corresponding to the sound signal of a certain sound intensity generated by the standard sound source.
  • a function conversion relationship between the function corresponding to the sub-line segment and the function corresponding to the corresponding sub-line segment in the second line segment is acquired.
  • the sub-line segment 1 composed of sampling points 502 and 503 and the sub-line segment 2 composed of sampling points 505 and 506 are as an example.
  • the coordinates corresponding to the sampling point 502 are (x 1 , y 1 ')
  • the coordinates corresponding to the sampling point 503 are (x 2 , y 2 ')
  • the coordinates corresponding to the sampling point 505 are (x 1 , y 1 )
  • the sampling The coordinates corresponding to the point 506 are (x 2 , y 2 ).
  • the sampling point 502 and the sampling point 505 correspond to the same abscissa x 1
  • the sampling point 503 and the sampling point 506 correspond to the same abscissa x 2 ; that is, the two sampling points 502 and 503 forming the sub-line segment 1
  • the same abscissa corresponds to the two sampling points 505 and 506 constituting the sub-line segment 2
  • the abscissa indicates the sound intensity in dB. Therefore, it can be determined that the sub-line segment 2 is the sub-line segment corresponding to the sub-line segment 1 in the first line segment in the second line segment.
  • the first objective function corresponding to the sub-line segment 1 can be determined.
  • the function expression of the first objective function is as shown in Equation 1. Show:
  • x is an independent variable in the first objective function, which is used to represent sound intensity
  • ly 2 ′y 1 ′ is a dependent variable in the first objective function, which is used to represent a signal value.
  • the second objective function corresponding to the sub-line segment 2 can be determined, and the expression of the second objective function is as described in Equation 2:
  • x is the independent variable in the second objective function, which is used to represent the sound intensity
  • ly 2 y 1 is the dependent variable in the second objective function, which is used to represent the signal value.
  • Equation 1 the function conversion relationship between the first objective function and the second objective function can be determined as:
  • ly 2 y 1 k ⁇ ly 2 ′y 1 ′+b, x ⁇ (x 1 , x 2 ).
  • the parameter k can refer to a non-zero constant, or it can refer to a function expression.
  • the parameter b can be a constant.
  • k is a non-zero constant
  • the conversion relationship between the sub-line segment 1 and the sub-line segment 2 is determined according to the function conversion relationship between the first objective function and the second objective function .
  • This conversion relationship makes the sub-line segment 1 coincide with the sub-line segment 2.
  • the function corresponding to any sub-line segment in the first line segment can be determined, and the function conversion relationship between the function corresponding to the corresponding sub-line segment in the second line segment; and the first line segment can be determined according to the function conversion relationship.
  • the specific implementation manner may refer to the foregoing description, and will not be repeated here.
  • the signal processing device of the sound pickup device determines the second target between the first line segment and the second line segment according to the conversion relationship between any one of the sub-line segments in the first line segment and the corresponding sub-line segment in the second line segment Conversion relationship; and then determine the second target conversion relationship as a conversion relationship between the first digital signal and the second digital signal, and determine the signal calibration parameters of the sound pickup device according to the second target conversion gauge.
  • the signal processing device of the sound pickup device determines the second target between the first line segment and the second line segment according to the conversion relationship between any one of the sub-line segments in the first line segment and the corresponding sub-line segment in the second line segment Conversion relationship; and then determine the second target conversion relationship as a conversion relationship between the first digital signal and the second digital signal, and determine the signal calibration parameters of the sound pickup device according to the second target conversion gauge.
  • the sound signal generated by the standard sound source this time may be the same as the sound signal previously generated, or may be different from the sound signal previously generated. In one embodiment, even if the sound signal produced by the standard sound source this time is the same as the sound signal previously produced, due to the change of the sound signal transmission environment or the factors of the sound pickup device itself, the sound pickup device collects the standard sound source this time.
  • the third digital signal generated by the sound signal is different from the first digital signal generated by collecting the sound signal generated by the standard sound source.
  • the signal processing device of the sound pickup device obtains the signal calibration parameter of the sound pickup device determined in advance, and then processes the third digital signal according to the signal calibration parameter to obtain the calibrated third digital signal.
  • S406 Obtain a fourth digital signal corresponding to the sound signal generated by the standard sound source, and compare the fourth digital signal with the calibrated third digital signal to obtain a comparison result.
  • the fourth digital signal and the foregoing second digital signal may be the same or different.
  • the signal processing device of the sound pickup device compares the signal value of the sampling point in the calibrated third digital signal with the signal value of the corresponding sampling point in the fourth digital signal to obtain the comparison result.
  • the sampling point in the third digital signal may be a peak point of the third digital signal, and the signal value of the sampling point in the third digital signal may correspond to the peak point of the third digital signal Voltage value.
  • the signal processing device determines that the deviation between the fourth digital signal and the calibrated third digital signal is within a preset range.
  • the sound pickup device includes a microphone pickup module, and the microphone pickup module includes a plurality of microphone sensors.
  • the multiple microphone sensors can be distributed at different positions in the movable platform.
  • the signal processing device of the sound pickup equipment acquires the digital signals generated by the multiple microphone sensors in the same time period from the sound signals collected by the target sound source, and calibrates the digital signals by extracting the pre-saved signal correction parameters, and according to the calibration The digital signal to determine the location information of the target source.
  • the signal processing device of the sound pickup device may determine the location information of the target source according to the signal value distribution of the digital signal corresponding to each microphone sensor in the plurality of microphone sensors.
  • the target source may be the standard sound source described above, or it may be other sound sources other than the standard sound source.
  • the signal processing device of the sound pickup device determines the target digital signal from the digital signals corresponding to the multiple microphone sensors according to the signal value distribution of the digital signal corresponding to each microphone sensor of the multiple microphone sensors,
  • the target digital signal may be the digital signal with the largest signal value and/or average signal value among the digital signals corresponding to the multiple microphone sensors; then the target is determined according to the setting position of the microphone sensor corresponding to the target digital signal in the movable platform
  • the location information of the source For example, suppose that the microphone pickup module includes a first microphone sensor and a second microphone sensor. The first microphone sensor is installed on the front of the movable platform, and the second microphone sensor is installed on the back of the movable platform.
  • the front and back of the movable platform are relative to the moving direction of the movable platform.
  • the side facing the moving direction of the movable platform is the front side, and the side facing away from the moving direction of the movable platform is the back. If it is detected that the signal value of the sampling point of the digital signal corresponding to the first microphone sensor is greater than the signal value of the corresponding sampling point in the digital signal corresponding to the first microphone sensor, the setting position of the first microphone sensor on the movable platform can be The location of the target source is determined to be in the front direction of the movable platform.
  • the embodiment of the present invention can not only determine the signal calibration parameters used to calibrate the sound signal, but also calibrate the sound signal collected by the sound pickup device by using the signal calibration parameters, improve the calibration accuracy of the sound pickup device, and reduce the manufacturing of the sound pickup device. cost. After the signal calibration parameters used to calibrate the sound signal are determined, the signal calibration parameters can be verified by detecting the effect of using the signal calibration parameters to calibrate the sound signals collected by the pickup device to ensure the signal calibration parameters. accuracy.
  • FIG. 6 is a schematic structural diagram of a signal processing device of a sound pickup device according to an embodiment of the present invention.
  • the signal processing apparatus of the sound pickup device described in the embodiment of the present invention includes a processor 601, a communication interface 602, and a memory 603. Wherein, the processor 601, the communication interface 602, and the memory 603 may be connected through a bus or in other ways.
  • the embodiment of the present invention takes the connection through a bus as an example.
  • the processor 601 may be a central processing unit (CPU), or may be a core used to implement communication identification binding in a multi-core CPU.
  • the processor 601 may be a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL) or any combination thereof.
  • the communication interface 602 may be used for the interaction of sending and receiving information or signaling, and the reception and transmission of signals.
  • the communication interface 602 may optionally include a standard wireless interface (such as Wi-Fi, mobile communication interface, etc.).
  • the memory 603 may mainly include a storage program area and a storage data area.
  • the storage program area may store an operating system and a storage program required by at least one function (such as text storage function, location storage function, etc.); the storage data area may store Data (such as image data, text data) created according to the use of the device, etc., and may include application storage programs, etc.
  • the memory 603 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
  • the memory 603 is also used to store program instructions.
  • the processor 601 is configured to execute program instructions stored in the memory 603. When the program instructions are executed, the processor 601 is configured to: obtain the first digital signal generated by the sound signal collected by the sound pickup device, and The sound signal is a sound signal generated by a standard generating source; acquiring a second digital signal corresponding to the sound signal generated by the standard generating source; determining according to the conversion relationship between the first digital signal and the second digital signal The signal calibration parameters of the pickup device.
  • the sound intensity value corresponding to the sound signal generated by the standard sound source is one or more. In another embodiment, the sound intensity value corresponding to the sound signal generated by the standard sound source is linearly distributed. In another embodiment, the standard sound source and the sound pickup device are placed in the same closed cavity.
  • the processor 601 determines the signal calibration parameters of the sound pickup device according to the conversion relationship between the first digital signal and the second digital signal, it is specifically configured to: obtain the A first sampling point set corresponding to the first digital signal, and a second sampling point set corresponding to the second digital signal is acquired; according to the first sampling point set and the second sampling point set, the first sampling point set is determined The conversion relationship between the digital signal and the second digital signal; and the signal calibration parameter of the sound pickup device is determined according to the conversion relationship between the first digital signal and the second digital signal.
  • the processor 601 determines the conversion relationship between the first digital signal and the second digital signal according to the first sampling point set and the second sampling point set
  • the specific Used for: determining a first fitting curve according to the first sampling point set; determining a second fitting curve according to the second sampling point set; obtaining one of the first fitting curve and the second fitting curve And determine the first target conversion relationship as the conversion relationship between the first digital signal and the second digital signal; wherein, the first target conversion relationship makes the The first fitting curve approaches or coincides with the second fitting curve.
  • the processor 601 determines the conversion relationship between the first digital signal and the second digital signal according to the first sampling point set and the second sampling point set
  • the specific Used for: determining a first line segment according to the line between two adjacent sampling points in the first sampling point set; determining according to the line between two adjacent sampling points in the second sampling point set A second line segment; acquiring a second target conversion relationship between the first line segment and the second line segment, and determining the second target conversion relationship as between the first digital signal and the second digital signal The conversion relationship; wherein the second target conversion relationship makes the first line segment approach or coincide with the second line segment.
  • the sound signal generated by the standard sound source includes multiple sets of sound signals
  • the first digital signal includes multiple digital signals corresponding to the multiple sets of sound signals
  • the processor 601 obtains the When the first sampling point set corresponding to the first digital signal is set, it is specifically used to: obtain the sampling point set corresponding to each of the multiple digital signals, and determine the first sampling point set according to the sampling point set corresponding to the multiple digital signals.
  • the processor 601 determines the signal calibration parameters of the sound pickup device according to the conversion relationship between the first digital signal and the second digital signal
  • the processor is further configured to : Obtain the third digital signal generated by the sound pickup device again collecting the sound signal generated by the standard sound source; obtain the signal calibration parameter, and use the signal calibration parameter to calibrate the third digital signal, Obtain a calibrated third digital signal; obtain a fourth digital signal corresponding to the sound signal generated by the standard sound source, and compare the fourth digital signal with the calibrated third digital signal to obtain a comparison result If the comparison result indicates that the deviation between the fourth digital signal and the calibrated third digital signal is within a preset range, then save the signal calibration parameters.
  • the sound pickup device includes a microphone pickup module, and the microphone pickup module includes one or more microphone sensors.
  • the microphone pickup module includes a plurality of microphone sensors
  • the processor 601 is further configured to: obtain the sound signals generated by the plurality of microphone sensors collected from the target sound source during the same time period. Digital signal; determine the location information of the target source according to the digital signals generated by the multiple microphone sensors.
  • the sound pickup device is installed on a movable platform, and the movable platform is a drone or a mobile robot.
  • the processor 601, the communication interface 602, and the memory 603 described in the embodiment of the present invention can execute the implementation described in the signal processing method of a sound pickup device provided in the embodiment of the present invention, and will not be omitted here. Repeat.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, realizes the signal processing of the sound pickup device described in the above method embodiment method.
  • the embodiment of the present invention also provides a computer program product containing instructions, which when running on a computer, causes the computer to execute the signal processing method of the sound pickup device described in the foregoing method embodiment.
  • the program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

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Abstract

一种拾音设备的信号处理方法、装置及计算机存储介质，其中，所述方法包括：获取所述拾音设备采集声音信号产生的第一数字信号(S201)，所述声音信号为标准发生源产生的声音信号；获取所述标准发生源产生的声音信号对应的第二数字信号(S202)；根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数(S203)。可以确定出用于校准声音信号的信号校准参数，以通过利用信号校准参数对拾音设备采集到的声音信号进行校准，提高拾音设备的校准精度，降低拾音设备的制造成本。

Description

拾音设备的信号处理方法、装置及计算机存储介质 技术领域
本发明涉及信号处理技术领域，尤其涉及一种拾音设备的信号处理方法、装置及计算机存储介质。
背景技术
拾音设备是用于采集声音信号，并将采集到的声音信号转换为电信号的能量转换器件。拾音设备的灵敏度是指其输出端对于给定标准声学输入的电气响应，对于给定的标准声学输入，灵敏度较高的拾音设备的输出水平高于灵敏度较低的拾音设备。由于生产工艺或材料的差异，会导致不同的拾音设备具备不同的灵敏度。
现有技术在拾音设备的内部设置一个无源可调增益的放大器，以通过激光调节放大器的增益系数，对拾音设备的灵敏度进行调整。该方法需要通过激光来修改放大器的增益，因此必须使用特殊设计的拾音设备外壳以使激光能够通过拾音设备上的开口，由此会增加拾音设备的制造成本，并且校准的精度有限。
发明内容
本发明实施例公开了一种拾音设备的信号处理方法、装置及计算机存储介质，可以提高拾音设备的校准精度，降低拾音设备的制造成本。
本发明实施例第一方面公开了一种拾音设备的信号处理方法，所述方法包括：
获取所述拾音设备采集声音信号产生的第一数字信号，所述声音信号为标准发生源产生的声音信号；
获取所述标准发生源产生的声音信号对应的第二数字信号；
根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
本发明实施例第二方面公开了一种拾音设备的信号处理装置，包括：存储器和处理器，
所述存储器，用于存储程序指令；
所述处理器，用于执行所述存储器存储的程序指令，当所述程序指令被执行时，所述处理器用于：
获取拾音设备采集声音信号产生的第一数字信号，所述声音信号为标准发生源产生的声音信号；
获取所述标准发生源产生的声音信号对应的第二数字信号；
根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
本发明实施例第三方面公开了一种计算机存储介质，所述计算机存储介质中存储有计算机程序，所述计算机程序被处理器执行时实现如上述第一方面所述方法的步骤。
本发明实施例中，首先获取拾音设备针对标准发声源采集声音信号产生的第一数字信号，以及标准发生源产生的声音信号对应的第二数字信号，然后根据第一数字信号和第二数字信号之间的转换关系，确定拾音设备的信号校准参数。采用上述方式，可以确定出用于校准声音信号的信号校准参数，利用信号校准参数对拾音设备采集到的声音信号进行校准，提高了拾音设备的校准精度，降低了拾音设备的制造成本。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例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发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种标准发声源与拾音设备的示意图；
图2是本发明实施例公开的一种拾音设备的信号处理方法的流程示意图；
图3是本发明实施例公开的一种获取第一数字信号和第二数字信号之间的转换关系的示意图；
图4是本发明实施例公开的另一种拾音设备的信号处理方法的流程示意图；
图5是本发明实施例公开的另一种获取第一数字信号和第二数字信号之间 的转换关系的示意图；
图6是本发明实施例公开的一种拾音设备的信号处理装置的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
拾音设备是用于采集声音信号，并将采集到的声音信号转换为电信号的能量转换器件。由于生产工艺或材料的差异，会导致不同的拾音设备具备不同的灵敏度。拾音设备的灵敏度是指其输出端对于给定标准声学输入的电气响应，对于给定的标准声学输入，灵敏度较高的拾音设备的输出水平高于灵敏度较低的拾音设备。拾音设备的灵敏度值通常是负值，故灵敏度越高，灵敏度值的绝对值越小。现有技术在拾音设备的内部设置一个无源可调增益的放大器，以通过激光调节放大器的增益系数，对拾音设备的灵敏度进行调整。该方法需要通过激光来修改放大器的增益，因此必须使用特殊设计的拾音设备外壳以使激光能够通过拾音设备上的开口，由此会增加拾音设备的制造成本，并且校准的精度有限。本发明实施例公开了一种拾音设备的信号处理方法、信号处理装置及计算机存储介质，可以确定出用于校准声音信号的信号校准参数，以通过利用信号校准参数对拾音设备采集到的声音信号进行校准，提高拾音设备的校准精度，降低拾音设备的制造成本。
请参阅图1，为本发明实施例提供的一种标准发声源与拾音设备的示意图。如图1所示，标准发声源100设置声音播放设备101，声音播放设备101可以是扬声器；声音播放设备101用于播放标准发声源100产生的声音信号，以将标准发声源产生的声音信号传输至拾音设备200。标准发声源100和拾音设备200可放置在同一密闭腔体10内，以降低能量传递的损耗。拾音设备200可以是麦克风模组，该麦克风模组包括一个或者多个麦克风传感器。拾音设备200用于在标准发声源100产生声音信号的过程中采集声音信号，并将采集到的声音信号转换成电信号。拾音设备的信号处理装置用于将拾音设备200转换成的电信号转换成第一数字信号，并获取标准发生源产生的声音信号对应的第二数字信号； 然后根据该第一数字信号和该第二数字信号之间的转换关系，确定拾音设备200的信号校准参数。采用上述方式，可以确定出用于校准声音信号的信号校准参数，以在拾音设备的使用过程中，可以利用信号校准参数对拾音设备采集到的声音信号对应的数字信号进行校准，从而对拾音设备采集到的声音信号进行校准。本发明实施例可以提高拾音设备的校准精度，从而使得不同的拾音设备对于相同的声音信号具有相同或相近的输出水平。需要说明的是，图1中的声音播放设备101以扬声器为例进行说明，声音播放设备101包括但不限于扬声器。
本发明实施例中，校准后的拾音设备可安装于智能终端上，该智能终端可以是可移动平台。可移动平台可以是无人机(Unmanned Aerial Vehicle，UAV)、无人车(或者可移动小车)、无人船、移动机器人等可移动设备。
请参阅图2，为本发明实施例提供的一种拾音设备的信号处理方法的流程示意图。本发明实施例中所描述的拾音设备的信号处理方法可由拾音设备的信号处理装置执行，所述拾音设备和所述拾音设备的信号处理装置可设置于可移动平台。在一实施例中，所述拾音设备的信号处理装置可独立于所述可移动平台，通过有线或无线的方式与所述拾音设备通信。该拾音设备的信号处理方法可以包括：
S201、获取拾音设备采集声音信号产生的第一数字信号。
本发明实施例中，拾音设备采集的声音信号为标准发生源产生的声音信号。标准发声源在产生声音信号的过程中，可以通过其配置的声音播放设备播放标准发声源产生的声音信号，以通过空间中的传输介质将标准发声源产生的声音信号传输至拾音设备处。相应地，拾音设备采集标准发声源产生的声音信号，并将采集到的声音信号转换成电信号。进一步地，拾音设备将转换成的电信号传输给拾音设备的信号处理装置，该信号处理装置可以包括模数转换设备，模数转换设备将拾音设备传输的电信号转换成第一数字信号。在一实施例中，为降低声音信号传递过程中的能量损耗，可以将标准发声源和拾音设备放置在同一密闭腔体内；还可以将标准发声源和拾音设备之间的距离限制在一定距离范围内。该一定距离范围例如是[30cm，1.5m]。在另一实施例中，为避免外界声音信号的干扰，可以使用隔音材料构建形成该密闭腔体。外界声音信号是指除 标准发声源之外的其他发声源产生的声音信号。
S202、获取标准发生源产生的声音信号对应的第二数字信号。
本发明实施例中，第二数字信号可以是预先存储在存储介质中，拾音设备的信号处理装置直接从其存储介质中获取第二数字信号。第二数字信号也可以是预先存储在其他智能终端或者服务器中，拾音设备的信号处理装置在与其他智能终端或者服务器建立通信连接之后，从其他智能终端或者服务器中获取第二数字信号。
在一实施例中，标准发声源产生的声音信号包括一组或者多组声音信号，每组声音信号所对应的声强值为一个或者多个。当标准发声源产生的一组声音信号所对应的声强值为多个时，该多个声强值可以是呈线性分布。
S203、根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
本发明实施例中，拾音设备的信号处理装置首先获取第一数字信号对应的第一采样点集合，并获取第二数字信号对应的第二采样点集合；然后根据第一采样点集合和第二采样点集合，确定第一数字信号和第二数字信号之间的转换关系。
在一实施例中，拾音设备的信号处理装置根据第一采样点集合和第二采样点集合，确定第一数字信号和第二数字信号之间的转换关系的具体方式为：首先根据第一采样点集合中的采样点确定第一拟合曲线；并根据第二采样点集合中的采样点确定第二拟合曲线。具体地，拾音设备的信号处理装置利用多项式拟合的方法对第一采样点集合中的采样点进行拟合，获取第一拟合函数和第一拟合曲线。其中，第一拟合函数为第一拟合曲线对应的函数表达式；第一拟合曲线为对第一采样点集合中的采样点进行拟合时拟合优度最好的曲线。同理，可以利用多项式拟合的方法对第二采样点集合中的采样点进行拟合，获取第二拟合函数和第二拟合曲线。其中，第二拟合函数为第二拟合曲线对应的函数表达式；第二拟合曲线为对第二采样点集合中的采样点进行拟合时拟合优度最好的曲线。需要说明的是，拟合方法并不限于多项式拟合，本领域技术人员可根据实际需求设定拟合方法。
进一步地，拾音设备的信号处理装置获取第一拟合曲线和第二拟合曲线之 间的第一目标转换关系，并将第一目标转换关系确定为第一数字信号和第二数字信号之间的转换关系。其中，第一目标转换关系使得第一拟合曲线趋近或者重合于第二拟合曲线。第一目标转换关系可以是根据第一拟合曲线对应的第一拟合函数和第二拟合曲线对应的第二拟合函数之间的函数转换关系确定出的。进一步地，可以根据第一拟合函数和第二拟合函数之间的函数转换关系，确定拾音设备的信号校准参数。
本发明实施例中，拾音设备的信号处理装置在根据第一数字信号和第二数字信号之间的转换关系确定出拾音设备的信号校准参数之后，保存该信号校准参数，以在拾音设备后续采集到声音信号之后，通过利用信号校准参数对拾音设备采集到的声音信号对应的数字信号进行校准，从而对拾音设备采集到的声音信号进行校准。采用上述方式可以提高拾音设备的校准精度，从而使得不同的拾音设备对于相同的声音信号具有相同或相近的输出水平。
为更好的理解步骤S203中所述的方式，下面结合图3举例进行说明。图3为本发明实施例提供的一种获取第一数字信号和第二数字信号之间的转换关系的示意图。如图3所示，图中黑色填充的小圆点表示第一数字信号对应的第一采样点集合中的采样点，将图中黑色填充的小圆点进行拟合得到曲线1，曲线1也即是上述第一拟合曲线，对应于第一数字信号。图中灰色填充的小圆点表示第二数字信号对应的第二采样点集合中的采样点，将图中灰色填充的小圆点进行拟合得到曲线2，曲线2也即是上述第二拟合曲线，对应于第二数字信号。其中，图中的横坐标X用于表示声强，声强可以用dB表示。图中的纵坐标Y用于表示信号值，或者说用于表示信号强度；信号值或者信号强度可以用电压值表示，该电压值可以是数字信号的峰值，电压值可以用毫伏(mv)表示。每一个采样点对应一个声强值和一个电压值，图中黑色填充的采样点用于表示：拾音设备针对标准发声源产生的某一声强的声音信号，实际采集到的声音信号对应的数字信号的信号值；图中灰色填充的采样点用于表示：标准发声源产生的该某一声强的声音信号对应的参考信号值。
在将图中黑色填充的小圆点进行拟合得到曲线1的过程中，可以得到曲线1对应的第一拟合函数，第一拟合函数对应于第一数字信号；在将图中灰色填充的小圆点进行拟合得到曲线2的过程中，可以得到曲线2对应的第二拟合函 数，第二拟合函数对应于第二数字信号。假设曲线1对应的第一拟合函数的函数表达式为：y 1＝a 1x 1 2+b 1x 1；其中，x 1为第一拟合函数中的自变量，用于表示声强；y 1为第一拟合函数中的因变量，用于表示信号值；a 1和b 1为第一拟合函数中的系数，a 1可以是非零常数，b 1可以是常数。假设曲线2对应的第二拟合函数的函数表达式为：y 2＝a 2x 2 2+b 2x 2；x 2为第二拟合函数中的自变量，用于表示声强；y 2为第二拟合函数中的因变量，用于表示信号值；a 2和b 2为第二拟合函数中的系数，a 2可以是非零常数，b 2可以是常数。根据第一拟合函数和第二拟合函数分别对应的函数表达式，可以确定出第一拟合函数和第二拟合函数之间的函数转换关系为：y 2＝fy 1，x 1＝x 2。其中，参数f可以指的是一个非零常数，也可以指的是一个函数表达式。当f为一个非零常数时，该y 2＝fy 1函数指示：标准发声源产生的某一声强的声音信号对应的参考信号值，等于拾音设备针对标准发声源产生的该某一声强的声音信号实际采集到的声音信号对应的信号值乘以参数f。当f为一个函数表达式时，该y 2＝fy 1指示：将拾音设备针对标准发声源产生的某一声强的声音信号实际采集到的声音信号对应的信号值作为该函数表达式的输入，得到的输出值等于标准发声源产生的该某一声强的声音信号对应的参考信号值。
在确定出第一拟合函数和第二拟合函数之间的函数转换关系之后，根据第一拟合函数和第二拟合函数之间的函数转换关系，确定出曲线1和曲线2之间的第一目标转换关系。第一目标转换关系使得曲线1重合于曲线2。进一步地，拾音设备的信号处理装置将第一目标转换关系确定为第一数字信号和第二数字信号之间的转换关系，并根据第一目标转换关系确定所述拾音设备的信号校准参数。以y 2＝fy 1为例，当f为一个非零常数时，可将f确定为拾音设备的信号校准参数。当f为一个函数表达式时，可将该函数表达式中的参数确定为校准参数。
本发明实施例中，首先获取拾音设备针对标准发声源采集声音信号产生的第一数字信号，以及标准发生源产生的声音信号对应的第二数字信号，然后获取第一数字信号和第二数字信号之间的转换关系，并根据转换关系确定拾音设备的信号校准参数，采用上述方式，可以确定出用于校准声音信号的信号校准参数，以通过利用信号校准参数对拾音设备采集到的声音信号进行校准，提高 拾音设备的校准精度，降低拾音设备的制造成本。
请参阅图4，为本发明实施例提供的一种拾音设备的信号处理方法的流程示意图。本发明实施例中所描述的拾音设备的信号处理方法可由拾音设备的信号处理装置执行，所述拾音设备和所述拾音设备的信号处理装置可设置于可移动平台，在一实施例中，所述拾音设备的信号处理装置可独立于所述可移动平台，通过有线或无线的方式与所述拾音设备通信。该拾音设备的信号处理方法可以包括：
S401、获取拾音设备采集声音信号产生的第一数字信号。
本发明实施例中，拾音设备采集的声音信号为标准发生源产生的声音信号。标准发声源产生的声音信号包括多组声音信号，该多组声音信号中的每一组声音信号可以是相同的；拾音设备采集声音信号产生的第一数字信号包括与该多组声音信号对应的多个数字信号。拾音设备的信号处理装置首先获取该多个数字信号分别对应的采样点集合，并根据该多个数字信号分别对应的采样点集合确定第一采样点集合；其中，第一采样点集合中的采样点的信号值，为该多个数字信号分别对应的采样点集合中相应采样点的信号值的平均值。拾音设备采集声音信号会有一定的偏差，通过对不同组的声音信号对应的信号值取均值，可以降低采集过程的误差，进一步提高拾音设备的校准精度。
S402、获取标准发生源产生的声音信号对应的第二数字信号。
本发明实施例中，标准发声源产生的多组声音信号中每一组声音信号对应的数字信号可以是相同的，第二数字信号可以是该多组声音信号中任意一组声音信号对应的数字信号。拾音设备的信号处理装置获取该多组声音信号中任意一组声音信号对应的第二数字信号。
S403、根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
本发明实施例中，拾音设备的信号处理装置首先获取第一数字信号对应的第一采样点集合，并获取第二数字信号对应的第二采样点集合；然后根据第一采样点集合和第二采样点集合，确定第一数字信号和第二数字信号之间的转换关系。
在一实施例中，拾音设备的信号处理装置根据第一采样点集合和第二采样 点集合，确定第一数字信号和第二数字信号之间的转换关系的具体方式为：首先根据第一采样点集合中相邻两个采样点之间的连线确定第一线段，并根据第二采样点集合中相邻两个采样点之间的连线确定第二线段；然后获取第一线段和第二线段之间的第二目标转换关系，第二目标转换关系使得第一线段趋近或者重合于第二线段；最后将第二目标转换关系确定为第一数字信号和第二数字信号之间的转换关系。其中，第一线段是一个线段集合，包括一个或者多个子线段，第二线段也是一个线段集合，包括一个或者多个子线段；第二目标转换关系使得第一线段中的各个子线段趋近或者重合于第二线段中的相应子线段。第二目标转换关系是根据第一线段中子线段对应的函数和第二线段中相应子线段对应的函数之间的函数转换关系确定出的。进一步地，可以根据第一线段中子线段对应的函数和第二线段中相应子线段对应的函数之间的函数转换关系，确定拾音设备的信号校准参数。
为更好的理解步骤S403中所述的方式，下面结合图5举例进行说明。图5为本发明实施例提供的另一种获取第一数字信号和第二数字信号之间的转换关系的示意图。如图5所示，图中黑色填充的小圆点501、502、503等表示第一数字信号对应的第一采样点集合中的采样点，将图中相邻两个黑色填充的小圆点连接起来得到第一线段，第一线段对应于第一数字信号；第一线段中包括多个子线段，例如由第一采样点集合中的两个相邻采样点502和503组成的子线段1；该第一线段还可以包括采样点501与原点组成的子线段。图中灰色填充的小圆点504、505、506等表示第二数字信号对应的第二采样点集合中的采样点，将图中相邻两个灰色填充的小圆点连接起来得到第二线段，第二线段对应于第二数字信号；第二线段中包括多个子线段，例如由第二采样点集合中的两个相邻采样点505和506组成的子线段2；该第一线段还可以包括采样点504与原点组成的子线段。其中，图中的横坐标X用于表示声强，声强可以用dB表示；图中的纵坐标Y用于表示信号值，该电压值可以是数字信号的峰值，电压值可以用毫伏(mv)表示。每一个采样点对应一个声强值和一个电压值，图中黑色填充的采样点用于表示：拾音设备针对标准发声源产生的某一声强的声音信号，实际采集到的声音信号对应的数字信号的信号值；图中灰色填充的采样点用于表示：标准发声源产生的该某一声强的声音信号对应的参考信号值。
针对第一线段中的任意一个子线段，获取该子线段对应的函数与第二线段中相应子线段对应的函数之间的函数转换关系。以图中采样点502和503组成的子线段1以及采样点505和506组成的子线段2为例。其中，采样点502对应的坐标为(x 1，y 1’)，采样点503对应的坐标为(x 2，y 2’)；采样点505对应的坐标为(x 1，y 1)，采样点506对应的坐标为(x 2，y 2)。可见，采样点502和采样点505对应相同的横坐标x 1，采样点503和采样点506对应相同的横坐标x 2；也即是说，组成子线段1的两个采样点502和503，与组成子线段2的两个采样点505和506对应相同的横坐标，横坐标所指示的是以dB为单位的声强。故可以确定子线段2为第二线段中与第一线段中的子线段1对应的子线段。
根据采样点502和503的坐标(x 1，y 1’)和(x 2，y 2’)可以确定出子线段1对应的第一目标函数，第一目标函数的函数表达式如式一所示：
Figure PCTCN2019084056-appb-000001
其中，x为第一目标函数中的自变量，用于表示声强；ly 2′y 1′为第一目标函数中的因变量，用于表示信号值。
根据采样点505和506的坐标(x 1，y 1)和(x 2，y 2)可以确定出子线段2对应的第二目标函数，第二目标函数的表达式如式二所述：
Figure PCTCN2019084056-appb-000002
其中，x为第二目标函数中的自变量，用于表示声强；ly 2y 1为第二目标函数中的因变量，用于表示信号值。
进一步地，根据式一和式二，可以确定出第一目标函数和第二目标函数之间的函数转换关系为：
ly 2y 1＝k·ly 2′y 1′+b，x∈(x 1，x 2)。
其中，参数k可以指的是一个非零常数，也可以指的是一个函数表达式。参数b可以是一个常数。当k为一个非零常数时，该ly 2y 1＝k·ly 2′y 1′+b，x∈(x 1，x 2)指示：当标准发声源产生的声音信号对应的声强处于声强范围(x 1，x 2)中时，标准发声源产生的声音信号对应的参考信号值，等于拾音设备针对标准发声源产生的声音信号实际采集到的声音信号对应的信号值乘以 参数k再加上参数b。当k为一个函数表达式时，该ly 2y 1＝k·ly 2′y 1′+b，x∈(x 1，x 2)函数指示：将拾音设备针对标准发声源产生的某一声强的声音信号实际采集到的声音信号对应的信号值作为该函数表达式的输入，得到的输出值再加上参数b等于标准发声源产生的该某一声强的声音信号对应的参考信号值。
在确定出第一目标函数和第二目标函数之间的函数转换关系之后，根据第一目标函数和第二目标函数之间的函数转换关系，确定出子线段1和子线段2之间的转换关系。该转换关系使得子线段1重合于子线段2。采用上述方式，可以确定出第一线段中任意一个子线段对应的函数，与第二线段中相应子线段对应的函数之间的函数转换关系；并可以根据该函数转换关系，确定出第一线段中任意一个子线段与第二线段中相应子线段之间的转换关系，具体实现方式可参考前文描述，此处不再赘述。
进一步地，拾音设备的信号处理装置根据第一线段中任意一个子线段与第二线段中相应子线段之间的转换关系，确定出第一线段和第二线段之间的第二目标转换关系；然后将该第二目标转换关系确定为第一数字信号和第二数字信号之间的转换关系，并根据第二目标转换规确定所述拾音设备的信号校准参数。以ly 2y 1＝k·ly 2′y 1′+b为例，当k为一个非零常数时，可将k和b确定为拾音设备的信号校准参数。当k为一个函数表达式时，可将该函数表达式中的参数以及参数b确定为校准参数。
S404、获取所述拾音设备再次采集所述标准发声源产生的声音信号而产生的第三数字信号。
本发明实施例中，标准发声源此次产生的声音信号可以与其之前产生的声音信号相同，也可以与其之前产生的声音信号不同。在一实施例中，即使标准发声源此次产生的声音信号与其之前产生的声音信号相同，但由于声音信号传输环境的改变或拾音设备本身的因素，拾音设备此次采集标准发声源产生的声音信号而产生的第三数字信号，与之前采集标准发声源产生的声音信号而产生的第一数字信号也不同。
S405、获取所述信号校准参数，并利用所述信号校准参数对所述第三数字信号进行校准，得到校准后的第三数字信号。
本发明实施例中，拾音设备的信号处理装置获取事先确定出的拾音设备的信号校准参数，然后根据该信号校准参数对该第三数字信号进行处理，得到校准后的第三数字信号。
S406、获取所述标准发声源产生的声音信号对应的第四数字信号，并将所述第四数字信号和所述校准后的第三数字信号进行比较，得到比较结果。
本发明实施例中，第四数字信号与上述第二数字信号可以相同，也可以不同。拾音设备的信号处理装置将校准后的第三数字信号中的采样点的信号值，与第四数字信号中相应采样点的信号值进行比较，得到比较结果。在一实施例中，所述第三数字信号中的采样点可以是第三数字信号的峰值点，所述第三数字信号中的采样点的信号值可以是第三数字信号的峰值点对应的电压值。在一实施例中，若比较结果指示校准后的第三数字信号中的采样点的信号值，与第四数字信号中采样点的信号值之间的差值小于预设数值，拾音设备的信号处理装置则确定第四数字信号和校准后的第三数字信号之间的偏差在预设范围内。
S407、若所述比较结果指示所述第四数字信号和所述校准后的第三数字信号之间的偏差在预设范围内，则保存所述信号校准参数。
在一实施例中，拾音设备包括麦克风拾音模组，麦克风拾音模组包括多个麦克风传感器。该多个麦克风传感器可以分布在可移动平台中的不同位置。拾音设备的信号处理装置获取该多个麦克风传感器在同一时间段内分别针对目标发声源采集声音信号产生的数字信号，通过提取预先保存的信号校正参数对该数字信号进行校准，并根据校准后的数字信号，确定目标发生源的位置信息。具体地，拾音设备的信号处理装置可以根据该多个麦克风传感器中每个麦克风传感器对应的数字信号的信号值分布，确定目标发生源的位置信息。其中，目标发生源可以是前文所述的标准发声源，也可以是除该标准发声源之外的其他发声源。
在一实施例中，拾音设备的信号处理装置根据该多个麦克风传感器中每个麦克风传感器对应的数字信号的信号值分布，从该多个麦克风传感器对应的数字信号中确定出目标数字信号，该目标数字信号可以是该多个麦克风传感器对应的数字信号中信号值和/或平均信号值最大的数字信号；然后根据该目标数字信号对应的麦克风传感器在可移动平台中的设置位置确定该目标发生源的 位置信息。举例来说，假设麦克风拾音模组包括第一麦克风传感器和第二麦克风传感器，第一麦克风传感器安装于可移动平台的正面，第二麦克风传感器安装于可移动平台的背面。可移动平台的正面和背面是相对于可移动平台的移动方向来说的，正对可移动平台移动方向的一侧为正面，背对可移动平台移动方向的一侧为背面。若检测到第一麦克风传感器对应的数字信号的采样点的信号值，大于第一麦克风传感器对应的数字信号中相应采样点的信号值，则根据第一麦克风传感器在可移动平台中的设置位置可以确定出目标发生源的位置位于可移动平台的正面方向。
需要说明的是，本实施例中的某些步骤的具体实现方式或者未详尽描述，均可参考前文实施例中相应步骤的相关描述，本实施例不再赘述。
本发明实施例不仅可以确定出用于校准声音信号的信号校准参数，以通过利用信号校准参数对拾音设备采集到的声音信号进行校准，提高拾音设备的校准精度，降低拾音设备的制造成本。还可以在确定出用于校准声音信号的信号校准参数之后，通过检测利用信号校准参数对拾音设备采集到的声音信号进行校准的效果，对信号校准参数进行校验，以保证信号校准参数的准确性。
请参阅图6，为本发明实施例提供的一种拾音设备的信号处理装置的结构示意图。本发明实施例中所描述的拾音设备的信号处理装置包括：处理器601、通信接口602和存储器603。其中，处理器601、通信接口602和存储器603可通过总线或其他方式连接，本发明实施例以通过总线连接为例。
所述处理器601可以是中央处理器(central processing unit，CPU)，也可以是多核CPU中用于实现通信标识绑定的核。所述处理器601可以是硬件芯片。所述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。所述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
所述通信接口602可用于收发信息或信令的交互，以及信号的接收和传递，所述通信接口602可选的可以包括标准的无线接口(如Wi-Fi、移动通信接口等)。所述存储器603可主要包括存储程序区和存储数据区，其中，存储程序区可存 储操作系统、至少一个功能所需的存储程序(比如文字存储功能、位置存储功能等)；存储数据区可存储根据装置的使用所创建的数据(比如图像数据、文字数据)等，并可以包括应用存储程序等。此外，存储器603可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
所述存储器603还用于存储程序指令。所述处理器601，用于执行所述存储器603存储的程序指令，当所述程序指令被执行时，所述处理器601用于：获取拾音设备采集声音信号产生的第一数字信号，所述声音信号为标准发生源产生的声音信号；获取所述标准发生源产生的声音信号对应的第二数字信号；根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
本发明实施例中处理器执行的方法均从处理器的角度来描述，可以理解的是，本发明实施例中处理器要执行上述方法需要其他硬件结构的配合。本发明实施例对具体的实现过程不作详细描述和限制。
在一实施例中，所述标准发声源产生的声音信号所对应的声强值为一个或者多个。在另一实施例中，所述标准发声源产生的声音信号所对应的声强值呈线性分布。在另一实施例中，所述标准发声源和所述拾音设备放置在同一密闭腔体内。
在一实施例中，所述处理器601根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数时，具体用于：获取所述第一数字信号对应的第一采样点集合，并获取所述第二数字信号对应的第二采样点集合；根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的转换关系；根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
在一实施例中，所述处理器601根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的转换关系时，具体用于：根据所述第一采样点集合确定第一拟合曲线；根据所述第二采样点集合确定第二拟合曲线；获取所述第一拟合曲线和所述第二拟合曲线之间的第一目标转换关系，并将所述第一目标转换关系确定为所述第一数字信号和所述第二 数字信号之间的转换关系；其中，所述第一目标转换关系使得所述第一拟合曲线趋近或者重合于所述第二拟合曲线。
在一实施例中，所述处理器601根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的转换关系时，具体用于：根据所述第一采样点集合中相邻两个采样点之间的连线确定第一线段；根据所述第二采样点集合中相邻两个采样点之间的连线确定第二线段；获取所述第一线段和所述第二线段之间的第二目标转换关系，并将所述第二目标转换关系确定为所述第一数字信号和第二数字信号之间的转换关系；其中，所述第二目标转换关系使得所述第一线段趋近或者重合于所述第二线段。
在一实施例中，所述标准发声源产生的声音信号包括多组声音信号，所述第一数字信号包括与所述多组声音信号对应的多个数字信号，所述处理器601获取所述第一数字信号对应的第一采样点集合时，具体用于：获取所述多个数字信号分别对应的采样点集合，并根据所述多个数字信号分别对应的采样点集合确定所述第一数字信号对应的第一采样点集合；其中，所述第一数字信号对应的第一采样点集合中的采样点的信号值，为所述多个数字信号分别对应的采样点集合中相应采样点的信号值的平均值。
在一实施例中，所述处理器601根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数之后，所述处理器还用于：获取所述拾音设备再次采集所述标准发声源产生的声音信号而产生的第三数字信号；获取所述信号校准参数，并利用所述信号校准参数对所述第三数字信号进行校准，得到校准后的第三数字信号；获取所述标准发声源产生的声音信号对应的第四数字信号，并将所述第四数字信号和所述校准后的第三数字信号进行比较，得到比较结果；若所述比较结果指示所述第四数字信号和所述校准后的第三数字信号之间的偏差在预设范围内，则保存所述信号校准参数。
在一实施例中，所述拾音设备包括麦克风拾音模组，所述麦克风拾音模组包括一个或者多个麦克风传感器。
在一实施例中，所述麦克风拾音模组包括多个麦克风传感器，所述处理器601还用于：获取所述多个麦克风传感器在同一时间段内分别针对目标发声源采集声音信号产生的数字信号；根据所述多个麦克风传感器产生的数字信号， 确定所述目标发生源的位置信息。
在一实施例中，所述拾音设备安装于可移动平台，所述可移动平台为无人机或移动机器人。
具体实现中，本发明实施例中所描述的处理器601、通信接口602和存储器603可执行本发明实施例提供的一种拾音设备的信号处理方法中所描述的实现方式，在此不再赘述。
本发明实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时实现上述方法实施例所述的拾音设备的信号处理方法。
本发明实施例还提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述方法实施例所述的拾音设备的信号处理方法。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上对本发明实施例所提供的一种拾音设备的信号处理方法及信号处理装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (25)

  1. 一种拾音设备的信号处理方法，其特征在于，所述方法包括：
    获取所述拾音设备采集声音信号产生的第一数字信号，所述声音信号为标准发生源产生的声音信号；
    获取所述标准发生源产生的声音信号对应的第二数字信号；
    根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
  2. 根据权利要求1所述的方法，其特征在于，所述标准发声源产生的声音信号所对应的声强值为一个或者多个。
  3. 根据权利要求1所述的方法，其特征在于，所述标准发声源产生的声音信号所对应的声强值呈线性分布。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述标准发声源和所述拾音设备放置在同一密闭腔体内。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数，包括：
    获取所述第一数字信号对应的第一采样点集合，并获取所述第二数字信号对应的第二采样点集合；
    根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的转换关系；
    根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的 转换关系，包括：
    根据所述第一采样点集合确定第一拟合曲线；
    根据所述第二采样点集合确定第二拟合曲线；
    获取所述第一拟合曲线和所述第二拟合曲线之间的第一目标转换关系，并将所述第一目标转换关系确定为所述第一数字信号和所述第二数字信号之间的转换关系；
    其中，所述第一目标转换关系使得所述第一拟合曲线趋近或者重合于所述第二拟合曲线。
  7. 根据权利要求5所述的方法，其特征在于，所述根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的转换关系，包括：
    根据所述第一采样点集合中相邻两个采样点之间的连线确定第一线段；
    根据所述第二采样点集合中相邻两个采样点之间的连线确定第二线段；
    获取所述第一线段和所述第二线段之间的第二目标转换关系，并将所述第二目标转换关系确定为所述第一数字信号和第二数字信号之间的转换关系；
    其中，所述第二目标转换关系使得所述第一线段趋近或者重合于所述第二线段。
  8. 根据权利要求5所述的方法，其特征在于，所述标准发声源产生的声音信号包括多组声音信号，所述第一数字信号包括与所述多组声音信号对应的多个数字信号，所述获取所述第一数字信号对应的第一采样点集合，包括：
    获取所述多个数字信号分别对应的采样点集合，并根据所述多个数字信号分别对应的采样点集合确定所述第一数字信号对应的第一采样点集合；
    其中，所述第一数字信号对应的第一采样点集合中的采样点的信号值，为所述多个数字信号分别对应的采样点集合中相应采样点的信号值的平均值。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号 校准参数之后，所述方法还包括：
    获取所述拾音设备再次采集所述标准发声源产生的声音信号而产生的第三数字信号；
    获取所述信号校准参数，并利用所述信号校准参数对所述第三数字信号进行校准，得到校准后的第三数字信号；
    获取所述标准发声源产生的声音信号对应的第四数字信号，并将所述第四数字信号和所述校准后的第三数字信号进行比较，得到比较结果；
    若所述比较结果指示所述第四数字信号和所述校准后的第三数字信号之间的偏差在预设范围内，则保存所述信号校准参数。
  10. 根据权利要求1所述的方法，其特征在于，所述拾音设备包括麦克风拾音模组，所述麦克风拾音模组包括一个或者多个麦克风传感器。
  11. 根据权利要求10所述的方法，其特征在于，所述麦克风拾音模组包括多个麦克风传感器，所述方法还包括：
    获取所述多个麦克风传感器在同一时间段内分别针对目标发声源采集声音信号产生的数字信号；
    根据所述多个麦克风传感器产生的数字信号，确定所述目标发生源的位置信息。
  12. 根据权利要求1所述的方法，其特征在于，所述拾音设备安装于可移动平台，所述可移动平台为无人机或移动机器人。
  13. 一种拾音设备的信号处理装置，其特征在于，包括：存储器和处理器，
    所述存储器，用于存储程序指令；
    所述处理器，用于执行所述存储器存储的程序指令，当所述程序指令被执行时，所述处理器用于：
    获取拾音设备采集声音信号产生的第一数字信号，所述声音信号为标准发生源产生的声音信号；
    获取所述标准发生源产生的声音信号对应的第二数字信号；
    根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
  14. 根据权利要求13所述的装置，其特征在于，所述标准发声源产生的声音信号所对应的声强值为一个或者多个。
  15. 根据权利要求13所述的装置，其特征在于，所述标准发声源产生的声音信号所对应的声强值呈线性分布。
  16. 根据权利要求13至15中任一项所述的装置，其特征在于，所述标准发声源和所述拾音设备放置在同一密闭腔体内。
  17. 根据权利要求13至16中任一项所述的装置，其特征在于，所述处理器根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数时，具体用于：
    获取所述第一数字信号对应的第一采样点集合，并获取所述第二数字信号对应的第二采样点集合；
    根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的转换关系；
    根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数。
  18. 根据权利要求17所述的装置，其特征在于，所述处理器根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的转换关系时，具体用于：
    根据所述第一采样点集合确定第一拟合曲线；
    根据所述第二采样点集合确定第二拟合曲线；
    获取所述第一拟合曲线和所述第二拟合曲线之间的第一目标转换关系，并 将所述第一目标转换关系确定为所述第一数字信号和所述第二数字信号之间的转换关系；
    其中，所述第一目标转换关系使得所述第一拟合曲线趋近或者重合于所述第二拟合曲线。
  19. 根据权利要求17所述的装置，其特征在于，所述处理器根据所述第一采样点集合和所述第二采样点集合，确定所述第一数字信号和所述第二数字信号之间的转换关系时，具体用于：
    根据所述第一采样点集合中相邻两个采样点之间的连线确定第一线段；
    根据所述第二采样点集合中相邻两个采样点之间的连线确定第二线段；
    获取所述第一线段和所述第二线段之间的第二目标转换关系，并将所述第二目标转换关系确定为所述第一数字信号和第二数字信号之间的转换关系；
    其中，所述第二目标转换关系使得所述第一线段趋近或者重合于所述第二线段。
  20. 根据权利要求17所述的装置，其特征在于，所述标准发声源产生的声音信号包括多组声音信号，所述第一数字信号包括与所述多组声音信号对应的多个数字信号，所述处理器获取所述第一数字信号对应的第一采样点集合时，具体用于：
    获取所述多个数字信号分别对应的采样点集合，并根据所述多个数字信号分别对应的采样点集合确定所述第一数字信号对应的第一采样点集合；
    其中，所述第一数字信号对应的第一采样点集合中的采样点的信号值，为所述多个数字信号分别对应的采样点集合中相应采样点的信号值的平均值。
  21. 根据权利要求13至20中任一项所述的装置，其特征在于，所述处理器根据所述第一数字信号和所述第二数字信号之间的转换关系，确定所述拾音设备的信号校准参数之后，所述处理器还用于：
    获取所述拾音设备再次采集所述标准发声源产生的声音信号而产生的第三数字信号；
    获取所述信号校准参数，并利用所述信号校准参数对所述第三数字信号进行校准，得到校准后的第三数字信号；
    获取所述标准发声源产生的声音信号对应的第四数字信号，并将所述第四数字信号和所述校准后的第三数字信号进行比较，得到比较结果；
    若所述比较结果指示所述第四数字信号和所述校准后的第三数字信号之间的偏差在预设范围内，则保存所述信号校准参数。
  22. 根据权利要求13所述的装置，其特征在于，所述拾音设备包括麦克风拾音模组，所述麦克风拾音模组包括一个或者多个麦克风传感器。
  23. 根据权利要求22所述的装置，其特征在于，所述麦克风拾音模组包括多个麦克风传感器，所述处理器还用于：
    获取所述多个麦克风传感器在同一时间段内分别针对目标发声源采集声音信号产生的数字信号；
    根据所述多个麦克风传感器产生的数字信号，确定所述目标发生源的位置信息。
  24. 根据权利要求13所述的装置，其特征在于，所述拾音设备安装于所述可移动平台，所述可移动平台为无人机或移动机器人。
  25. 一种计算机存储介质，所述计算机存储介质中存储有计算机程序，其特征在于：所述计算机程序被处理器执行时实现如权利要求1至12中任一项所述方法的步骤。
PCT/CN2019/084056 2019-04-24 2019-04-24 拾音设备的信号处理方法、装置及计算机存储介质 WO2020215239A1 (zh)

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