WO2022041219A1

WO2022041219A1 - Sound source ranging method, device and system

Info

Publication number: WO2022041219A1
Application number: PCT/CN2020/112587
Authority: WO
Inventors: 张立斌; 袁庭球
Original assignee: 华为技术有限公司
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2022-03-03
Also published as: CN115004052A

Abstract

A sound source ranging method, a device (110, 210) and a system (100, 200), being able to improve the accuracy of sound source ranging. Said method comprises: acquiring, by means of a first microphone (122, 222), a sound pressure of a second sound wave of a sound source, the second sound wave being obtained by delaying a first sound wave of the sound source by a first transmission distance (S310); acquiring, by means of a second microphone (132, 232), a sound pressure of a third sound wave of the sound source (S320); and according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance, determining a target distance to the sound source (S330).

Description

Sound source ranging method, device and system

technical field

The present application relates to the technical field of sound source ranging, and more particularly, to a sound source ranging method, device and system in the technical field of sound source ranging.

Background technique

Sound source ranging and sound source localization technology has extensive and extremely important application value in many scenes of today's life. For example, in 3-dimensional sound field, speech recognition, voice interaction, video conferencing and other scenarios.

The existing sound source ranging method is to form a microphone array by distributing multiple microphones at different positions in space in a certain order, and calculate the distance of the sound source according to the time difference between the sound source reaching different microphones in the microphone array.

However, because the existing sound source ranging methods are easily limited by the size of the microphone array and the location of the microphones, the accuracy of sound source ranging is low.

SUMMARY OF THE INVENTION

The sound source ranging method, device, and system provided by the embodiments of the present application can improve the accuracy of sound source ranging, thereby improving the accuracy of sound source localization.

In a first aspect, an embodiment of the present application provides a sound source ranging method. The method may include: collecting, through a first microphone, a sound pressure of a second sound wave of the sound source, where the second sound wave passes through the first microphone of the sound source. The sound wave is obtained after the delay processing of the first transmission distance; the sound pressure of the third sound wave of the sound source is collected by the second microphone; according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first sound wave Transmission distance, to determine the target distance of the sound source.

The sound source ranging method provided by the embodiment of the present application can increase the sound pressure difference of the sound waves collected at different microphones by performing delay processing on the transmission distance of the sound waves collected by the microphones, which can improve the accuracy of sound source ranging, thereby improving the Accuracy of sound source localization.

In a possible implementation, the target distance _rs can be determined by the following formula:

in,

Δr ₁ represents the first transmission distance, L ₁ represents the sound pressure of the second sound wave, and L ₂ represents the sound pressure of the third sound wave.

In a possible implementation manner, the third sound wave is obtained by delaying the fourth sound wave of the sound source by a second transmission distance, where the second transmission distance is different from the first transmission distance; The sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance determine the target distance of the sound source, including: according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the The first transmission distance and the second transmission distance determine the target distance.

For example, the difference between the second transmission distance and the first transmission distance may be greater than a preset distance threshold.

in,

Δr ₁ represents the first transmission distance, Δr ₂ represents the second transmission distance, L ₁ represents the sound pressure of the second sound wave, and L ₂ represents the sound pressure of the third sound wave.

In a possible implementation manner, the method further includes: collecting the sound pressure of the fifth sound wave of the sound source through a third microphone; according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the A transmission distance and the second transmission distance, determining the target distance, including: according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the first transmission distance. 2. Transmission distance, determine the target distance.

In a possible implementation manner, the target is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the second transmission distance The distance includes: determining the first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance; according to the sound pressure of the second sound wave , the sound pressure of the fifth sound wave and the first transmission distance, determine the second distance of the sound source; according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave and the second transmission distance, determine the sound The third distance of the source; the target distance is determined according to the first distance, the second distance and the third distance.

In a possible implementation manner, the fifth sound wave is obtained by performing delay processing on the sixth sound wave of the sound source by a third transmission distance, the third transmission distance, the first transmission distance and the second transmission distance The transmission distance is different; the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the second transmission distance, including: according to The sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance and the third transmission distance determine the target distance.

For example, the difference between any two distances among the first transmission distance, the second transmission distance and the third transmission distance may be greater than the preset distance threshold.

In a possible implementation manner, the sound pressure according to the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance and the third Transmission distance, determining the target distance includes: determining the first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance; The sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance and the third transmission distance determine the second distance of the sound source; according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave The sound pressure, the first transmission distance and the third transmission distance determine the third distance of the sound source; and the target distance is determined according to the first distance, the second distance and the third distance.

The sound source ranging method provided by the embodiment of the present application obtains the target distance by weighting the distances determined by any two of the three or more subsystems, which can reduce the ranging error and improve the accuracy of sound source ranging.

r _s =a ₁ r _s1 +a ₂ r _s2 +a ₃ r _s3 ,

Among them, a ₁ represents the first weight coefficient, a ₂ represents the second weight coefficient, a ₃ represents the third weight coefficient, rs ₁ represents the first distance, rs ₂ represents the second distance, and _rs 3 represents the third distance, a ₁ +a ₂ +a ₃ =1.

In a second aspect, an embodiment of the present application provides a sound source ranging system. The system may include: a first delay device for acquiring a first sound wave of a sound source; and performing a first transmission distance measurement on the first sound wave. Delay processing to obtain a second sound wave; a first microphone for collecting the sound pressure of the second sound wave; a second microphone for collecting the sound pressure of the third sound wave of the sound source; sound source ranging device for according to The sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance determine the target distance of the sound source.

In a possible implementation manner, the sound source ranging device is specifically used to determine the target distance _rs by the following formula:

in,

In a possible implementation manner, the system further includes a second delay device, and the second delay device is configured to acquire the fourth sound wave of the sound source before the second microphone collects the sound pressure of the third sound wave of the sound source sound wave; perform delay processing on the sound pressure of the fourth sound wave by the second transmission distance to obtain the third sound wave, the second transmission distance is different from the first transmission distance; the sound source ranging device is specifically used for The sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance determine the target distance.

in,

In a possible implementation manner, the system further includes a third microphone, and the third microphone is used to collect the sound pressure of the fifth sound wave of the sound source; The sound pressure, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the second transmission distance determine the target distance.

In a possible implementation manner, the sound source ranging device is specifically configured to: determine the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance The first distance of the sound source; the second distance of the sound source is determined according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave and the first transmission distance; according to the sound pressure of the third sound wave, the first distance The sound pressure of the five sound waves and the second transmission distance determine the third distance of the sound source; the target distance is determined according to the first distance, the second distance and the third distance.

In a possible implementation manner, the system further includes a third delay device, and the third delay device is configured to acquire the sixth sound wave of the sound source before the third microphone collects the sound pressure of the fifth sound wave of the sound source Acoustic wave; carry out the delay processing of the third transmission distance on the sixth acoustic wave to obtain the fifth acoustic wave, the third transmission distance, the first transmission distance and the second transmission distance are different; the sound source ranging device is specifically used for The target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance and the third transmission distance.

In a possible implementation manner, the sound source ranging device is specifically configured to: determine the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance the first distance of the sound source; according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance and the third transmission distance, determine the second distance of the sound source; according to the second sound wave The sound pressure of the fifth sound wave, the first transmission distance and the third transmission distance, determine the third distance of the sound source; according to the first distance, the second distance and the third distance, determine the target distance.

r _s =a ₁ r _s1 +a ₂ r _s2 +a ₃ r _s3 ,

In a third aspect, an embodiment of the present application further provides a sound source ranging device, which is configured to execute the method described in the first aspect or its various possible implementation manners, or the device includes a device for executing the above-mentioned first aspect A unit of a method described in an aspect or its various possible implementations.

In a fourth aspect, an embodiment of the present application further provides a sound source ranging device, the device includes: a memory, at least one processor, a transceiver, and instructions stored on the memory and executable on the processor. Further, the memory, the processor and the communication interface communicate with each other through an internal connection path. Execution of the instructions by the at least one processor causes the apparatus to implement the method described in the first aspect above or any possible implementation thereof.

In a fifth aspect, an embodiment of the present application further provides a terminal device, where the terminal device includes at least one of a microphone, a delay device, and a sound source ranging device described in the second aspect or any possible implementation manner thereof.

In a sixth aspect, the present application further provides a computer-readable storage medium for storing a computer program, where the computer program includes a method for implementing the above-mentioned first aspect or any possible implementation manners thereof.

In a seventh aspect, the present application further provides a computer program product comprising instructions, which, when run on a computer, enable the computer to implement the method described in the first aspect or any possible implementation manners thereof.

In an eighth aspect, the present application further provides a chip device, including: an input interface, an output interface, and at least one processor. Optionally, the chip device further includes a memory. The at least one processor is configured to execute the code in the memory, and when the at least one processor executes the code, the chip device implements the method described in the first aspect or any possible implementation manner thereof.

Description of drawings

FIG. 1 provides a schematic block diagram of a sound source ranging system 100 according to an embodiment of the present application;

Fig. 2 provides the schematic diagram of the microstructure of the embodiment of the present application;

3 provides a schematic diagram of another microstructure according to an embodiment of the present application;

FIG. 4 provides a schematic diagram of another microstructure according to an embodiment of the present application;

FIG. 5 provides a schematic structural diagram of a subsystem of an embodiment of the present application;

FIG. 6 provides a schematic block diagram of a sound source ranging system 200 according to an embodiment of the present application;

FIG. 7 provides a schematic block diagram of a sound source localization system according to an embodiment of the present application;

FIG. 8 provides a schematic flowchart of a sound source ranging method 300 according to an embodiment of the present application;

FIG. 9 provides a schematic block diagram of a sound source ranging apparatus 400 according to an embodiment of the present application;

FIG. 10 provides a schematic block diagram of a sound source ranging apparatus 500 according to an embodiment of the present application;

FIG. 11 provides a schematic block diagram of a chip 600 according to an embodiment of the present application.

detailed description

The technical solutions in the present application will be described below with reference to the accompanying drawings.

First, the technical terms involved in this application are introduced.

1. Sound source

Sound is produced by the vibration of objects. Everything that makes sound vibrates. In physics, the object that is making sound is called the sound source. Such as: vibrating vocal cords, vibrating tuning forks, and beating drums are all sound sources.

2. Sound waves

The propagation of the vibration of a sounding body in air or other substances is called a sound wave. Sound waves travel in all directions with the help of various media.

It should be noted that the sound source cannot be separated from the elastic medium around it. For the same object in space and the same vibration state, if it is separated from the elastic medium, then the sound wave cannot be generated, and the vibrating object at this time is not sound. source.

3. Sound pressure

Sound pressure is the change of atmospheric pressure after being disturbed by sound waves, which is the residual pressure of atmospheric pressure. The unit of sound pressure is Pascal (Pa) or megapascal (MPa)

4. Sound pressure level

Sound pressure level, abbreviated as sound level, is an indicator of sound pressure. It is represented by 20 times the common logarithm of the ratio of the sound pressure P of a sound to the basic sound pressure value P0. P0. The unit of sound pressure level is decibel (dB).

5. Propagation of sound waves

The energy of the sound wave attenuates with the increase of the transmission distance during the propagation process, that is, the energy attenuated by the sound wave is strongly correlated with the propagation distance.

For example: under the condition of free field (free space), the sound wave attenuation of point sound source is generally spherical divergence law, if the sound level is used as the sound pressure evaluation quantity of point sound source, the attenuation of sound level ΔL and the delay transmission distance r The following formula (1) is satisfied:

ΔL=10lg(1/4πr ² ) Formula (1)

Therefore, the sound level attenuation value at the distance from the point sound source r ₁ to r ₂ can be expressed by the following formula (2):

ΔL=20lg(r ₁ /r ₂ ) Formula (2)

Because in the prior art, when sound source ranging is performed by a microphone array, a large-scale microphone array is required for signal collection, which occupies a large area, and the interval between the microphones in the microphone array is required to satisfy a certain distance condition. Therefore, with the existing sound source ranging method, when the interval between the microphones does not satisfy the distance condition and/or the scale of the microphone array is too small, the accuracy of the sound source ranging will be poor.

The sound source ranging method, device and system provided by the embodiments of the present application can improve the accuracy of sound source ranging, thereby improving the accuracy of sound source localization.

Optionally, the sound source ranging system provided in this embodiment of the present application may be applicable to various scenarios where ranging or localization of a sound source is required, which is not limited in this embodiment of the present application. For example, the sound source ranging system can be applied to scenarios such as 3D sound field, speech recognition, video conference or human-computer interaction.

Next, the sound source ranging system applied in the embodiments of the present application will be introduced.

FIG. 1 shows a schematic block diagram of a sound source ranging system 100 provided by an embodiment of the present application. As shown in FIG. 1 , the system 100 includes a sound source ranging device 110 , a first subsystem 120 and a second subsystem 130 , and the first subsystem 120 may include a first delay device 121 and a first microphone 122 . The second subsystem 130 may include a second microphone 132 .

The first delay device 121 is used for acquiring the first sound wave of the sound source; delaying the first sound wave by the first transmission distance to obtain the second sound wave; and sending the second sound wave to the first microphone 122 .

Optionally, the function implemented by the first delay device 121 may be implemented by hardware or software, which is not limited in this embodiment of the present application.

In a possible implementation manner, the first delay device 121 may be a microstructure made of acoustic metamaterials.

It should be noted that acoustic metamaterials are obtained by artificial design and have extraordinary physical properties that natural materials do not possess. Their material properties depend on subwavelength artificial microstructures, and the properties of acoustic metamaterials are measured by macroscopic physical properties.

It should also be noted that the microstructure of the acoustic metamaterial can perform different delay processing on the passing sound waves, so as to control the interference results of the sound waves passing through the microstructure, and realize the steering, focusing, reflection and/or reflection control of the sound waves, etc.

Optionally, the microstructure can be a labyrinth-like structure made of acoustic metamaterials.

For example, FIG. 2 shows a possible schematic structural diagram of the microstructure provided by the embodiment of the present application, the transmission distance of the sound wave is extended by artificially isolated paths, and the sound pressure after the sound wave input by the input interface is transmitted through these artificial paths Attenuation is obtained, and the sound wave after sound pressure attenuation is output from the output interface.

It should be noted that the corresponding relationship between the path length in the microstructure and the attenuation of the sound pressure can be controlled by artificial design.

It should be noted that since the sound pressure of the sound wave will be attenuated with the increase of the transmission distance, the longer the path of the microstructure, that is, the longer the transmission distance of the sound wave is extended, the greater the attenuation of the corresponding sound pressure.

For example, the path length of the microstructure shown in FIG. 3 is greater than the path length of the microstructure shown in FIG. 2 , that is, the transmission distance extended by the microstructure shown in FIG. 3 is greater than that of the microstructure shown in FIG. 2 . Due to the extended transmission distance, the sound pressure attenuation of the sound wave after transmission through the microstructure shown in FIG. 3 is greater than the attenuation of the sound wave after transmission through the microstructure shown in FIG. 2 .

Optionally, the microstructure may be in various forms, which are not limited in this embodiment of the present application.

For example, the microstructure may be in the shape of a labyrinth as shown in FIG. 2 .

For another example, the microstructure can be in the shape of a triangular labyrinth as shown in FIG. 4 .

It should be noted that since the longer the path length of the microstructure is, the greater the sound pressure attenuation will be. Under the condition that the distance between the two microphones is the same, the transmission distance of the sound wave can be equivalently increased, so the accuracy of the sound source ranging can be improved. . However, the larger the path length of the microstructure, the larger the area it occupies. In order to reduce the area of the microstructure, the increase of the path can be achieved by using superimposed multi-layer microstructures.

The first microphone 122 is used for collecting the sound pressure of the second sound wave; sending the sound pressure of the second sound wave to the sound source ranging device 110 .

It should be noted that, since the sound pressure level is an index representing the size of the sound pressure, the sound pressure described in the embodiments of the present application may also be equivalent to the sound pressure level.

In a possible implementation manner, FIG. 5 shows a schematic structural diagram (side view) of the first subsystem 120 provided by the embodiment of the present application. As shown in FIG. 5 , the sound wave 1 is transmitted from the first delay device 121 The input interface of the input interface is input, and after the delay of the path in the first delay device 121 , the sound wave 2 after the sound pressure attenuation is obtained, and is output to the microphone 312 from the output interface. Accordingly, the microphone 312 collects the sound pressure of the sound wave 2 .

The second microphone 132 is used to collect the sound pressure of the third sound wave of the sound source; and send the sound pressure of the third sound wave to the sound source ranging device 110 .

The sound source ranging device 110 is used to obtain the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance; according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the The first transmission distance determines the target distance of the sound source.

In a possible implementation manner, the sound source ranging apparatus 110 may determine the target distance _rs by the following formula (3).

in,

Optionally, the sound source ranging device 110 may acquire the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance in various ways, which are not limited in this embodiment of the present application.

In a possible implementation manner, the sound source ranging device 110 may receive the sound pressure of the second sound wave from the first microphone 122 and the sound pressure of the third sound wave from the second microphone 132 .

In a possible implementation manner, the sound source ranging device 110 may preconfigure the first transmission distance; or, the sound source ranging device 110 may receive the first transmission distance from the first delay device 121 .

It should be noted that the sound source ranging system provided by the embodiment of the present application requires at least two subsystems, and the difference between the transmission distances of the two subsystems to the acoustic wave delay is greater than a preset distance threshold.

Optionally, the sound source ranging system may include at least one first subsystem and at least one second subsystem, for example, the system 100 as described in FIG. 1 includes the first subsystem 120 and the second subsystem 130; or , the sound source ranging system may include a plurality of first subsystems, and the difference between the transmission distances of the delay devices of at least two first subsystems in the plurality of first subsystems to the acoustic wave delay is greater than the distance threshold.

FIG. 6 shows a schematic block diagram of another sound source ranging system 200 provided by an embodiment of the present application. As shown in FIG. 6 , the system 200 includes a sound source ranging device 210 , a first subsystem 220 and a second subsystem 230 . The first subsystem 220 may include a first delay device 221 and a first microphone 222 . The second subsystem 230 may include a second delay device 231 and a second microphone 232 .

The first delay device 221 is used for acquiring the first sound wave of the sound source; delaying the first sound wave by the first transmission distance to obtain the second sound wave; and sending the second sound wave to the first microphone 222 .

The first microphone 222 is used for collecting the sound pressure of the second sound wave; sending the sound pressure of the second sound wave to the sound source ranging device 210 .

It should be noted that the function and processing procedure of the first delay device 221 can refer to the first delay device 121 described in FIG. 1 , and the function and processing procedure of the first microphone 222 can refer to the first delay device 121 described in FIG. 1 . The microphone 122 is not repeated here in order to avoid repetition.

The second delay device 231 is used for acquiring the fourth sound wave of the sound source; delaying the sound pressure of the fourth sound wave by the second transmission distance to obtain the third sound wave, the second transmission distance and the first transmission distance Different; send the third sound wave to the second microphone 232.

The second microphone 232 is used for collecting the sound pressure of the third sound wave of the sound source; sending the sound pressure of the third sound wave to the sound source ranging device 210 .

It should be noted that the function and processing procedure of the second delay device 231 can refer to the first delay device 121 described in FIG. 1 , and the function and processing procedure of the second microphone 232 can refer to the first delay device 121 described in FIG. 1 . The microphone 122 is not repeated here in order to avoid repetition.

The sound source ranging device 210 is used to obtain the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance; according to the sound pressure of the second sound wave, the third sound pressure The sound pressure of the sound wave, the first transmission distance and the second transmission distance determine the target distance of the sound source.

In a possible implementation manner, the sound source ranging apparatus 210 may determine the target distance _rs by the following formula (4).

in,

It should be noted that the process of acquiring the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance by the sound source ranging device 210 may refer to the sound source ranging The process of acquiring the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance by the device 110 is not repeated here in order to avoid repetition.

Optionally, when the sound source ranging system includes three or more subsystems, the distances measured by any two subsystems may be weighted according to a preset weight coefficient to obtain the final distance.

For example: taking the sound source ranging system including the first subsystem 1, the first subsystem 2 and the second subsystem as an example, the sound source ranging device in the sound source ranging system can be determined by the following formula (5) target distance _rs :

r _s =a ₁ r _s1 +a ₂ r _s2 +a ₃ r _s3 Formula (5)

Among them, a ₁ represents the first weight coefficient, a ₂ represents the second weight coefficient, a ₃ represents the third weight coefficient, r _s1 represents the first distance determined by the first subsystem 1 and the first subsystem 2, r _s2 represents the second distance determined by the first subsystem 1 and the second subsystem, and _rs3 represents the third distance determined by the first subsystem 2 and the second subsystem.

It should be noted that, for the process of determining the first distance through the first subsystem 1 and the first subsystem 2, reference may be made to the process of determining the target distance through the first subsystem 220 and the second subsystem 230 in FIG. 6; The process of determining the second distance through the first subsystem 1 and the second subsystem, and the process of determining the third distance through the first subsystem 2 and the second subsystem can be referred to in FIG. The process of determining the target distance by the first subsystem 120 and the second subsystem 130 will not be repeated here in order to avoid repetition.

Optionally, FIG. 7 shows a sound source localization system provided by an embodiment of the present application, and the sound source localization system includes a plurality of sound source ranging systems. Distance system 2 and sound source ranging system 3, wherein the distance between the sound source ranging system 1 and the sound source ranging system 2 is d ₁ , the sound source ranging system 1 and the sound source ranging system The distance between 3 is d ₂ , the distance between the sound source ranging system 2 and the sound source ranging system 3 is d ₃ , the sound source distance determined by the sound source ranging system 1 is r _s1 , the sound source The sound source distance determined by the source ranging system 2 is _rs2 , and the sound source distance determined by the sound source ranging system 3 is _rs3 . According to d ₁ , d ₂ and d ₃ and rs ₁ , rs ₂ and _rs 3 , Locate the sound source.

For example, a trilateration localization algorithm can be used to localize the sound source according to d ₁ , d ₂ and d ₃ and _rs ₁ , rs ₂ and rs 3 .

Optionally, in each of the above sound source ranging systems, the delay device and the microphone in each subsystem may be two independent devices, or the delay device may be integrated in the microphone, which is not limited in this embodiment of the present application.

Optionally, multiple subsystems included in each of the above sound source ranging systems may be set in multiple terminal devices, or multiple subsystems may be set in the same terminal device, which is not limited in this embodiment of the present application.

Optionally, the sound source ranging device and at least one of the multiple subsystems included in the above-mentioned sound source ranging systems can be arranged in the same terminal device, or the sound source ranging device and multiple subsystems can be arranged in the same terminal device. Among different terminal devices, this embodiment of the present application does not limit this.

Optionally, the terminal device can also be called user equipment (UE), which can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; it can also be deployed on water (such as ships, etc.); it can also be deployed In the air (for example, on an airplane, a balloon, and a satellite, etc.), this embodiment of the present application does not limit it.

For example, the terminal device can be a mobile phone, a tablet computer (pad), a wearable device with wireless communication function (such as a smart watch), a position tracker with a positioning function, a computer with a wireless transceiver function, a virtual reality ( virtual reality (VR) devices, augmented reality (AR) devices, wireless devices in industrial control, wireless devices in self-driving, wireless devices in remote medical , a wireless device in a smart grid, a wireless device in transportation safety, a wireless device in a smart city, or a wireless device in a smart home, etc., embodiments of the present application This is not limited.

In the sound source ranging system provided by the embodiment of the present application, by adding a delay device in front of the microphone to delay the transmission distance of the sound wave, so as to increase the sound pressure difference of the sound waves collected at different microphones, the accuracy of the sound source ranging can be improved, Thus, the accuracy of sound source localization is improved.

The sound source ranging system provided by the embodiment of the present application is described above with reference to FIGS. 1 to 6 , and the sound source ranging method provided by the embodiment of the present application will be described below with reference to FIG. 8 .

FIG. 8 shows a schematic flowchart of a sound source ranging method 300 provided by an embodiment of the present application. The method 300 can be applied to the sound source ranging system provided by the embodiments of the present application, and is executed by the sound source ranging apparatus therein.

S310 , the sound pressure of the second sound wave of the sound source is collected by the first microphone, where the second sound wave is obtained by performing delay processing on the first sound wave of the sound source by the first transmission distance.

S320, the sound pressure of the third sound wave of the sound source is collected by the second microphone.

S330: Determine the target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance.

In a possible implementation manner, the target distance _rs can be determined by the above formula (3).

In a possible implementation manner, the third sound wave is obtained by delaying the fourth sound wave of the sound source by a second transmission distance, where the difference between the second transmission distance and the first transmission distance is greater than A preset distance threshold; determining the target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance, including: according to the sound pressure of the second sound wave, the The sound pressure of the third sound wave, the first transmission distance and the second transmission distance determine the target distance.

In a possible implementation manner, the target distance _rs can be determined by the above formula (4).

In a possible implementation manner, the fifth sound wave is obtained by delaying the sixth sound wave of the sound source by a third transmission distance, and the second transmission distance is different from the third transmission distance; the The sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the second transmission distance, and determining the target distance includes: according to the sound pressure of the second sound wave The target distance is determined based on the pressure, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance and the third transmission distance.

In a possible implementation manner, the target distance _rs can be determined by the above formula (5).

It should be noted that, for the above steps, reference may be made to the introduction of the sound source ranging device in the above sound source ranging system, and in order to avoid repetition, details are not repeated here.

The sound source ranging method provided by the embodiment of the present application is described above with reference to FIG. 8 , and the sound source ranging apparatus 400 provided by the embodiment of the present application will be described below with reference to FIGS. 9 to 10 .

It should be noted that the apparatus 400 may be the sound source ranging apparatus described in the foregoing system 100 embodiment, system 200 embodiment, and method 300 embodiment, which is not limited in this embodiment of the present application.

It can be understood that, in order to realize the above-mentioned functions, the apparatus 400 includes corresponding hardware and/or software modules for executing each function. The present application can be implemented in hardware or in the form of a combination of hardware and computer software in conjunction with the algorithm steps of each example described in conjunction with the embodiments disclosed herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functionality for each particular application in conjunction with the embodiments, but such implementations should not be considered beyond the scope of this application.

In this embodiment, the apparatus 400 may be divided into functional modules according to the foregoing method examples. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware. It should be noted that, the division of modules in this embodiment is schematic, and is only a logical function division, and there may be other division manners in actual implementation.

In the case where each functional module is divided according to each function, FIG. 9 shows a possible schematic diagram of the composition of the sound source ranging apparatus involved in the above embodiments. As shown in FIG. 9 , the apparatus 400 may include: Transceiver unit 410 and processing unit 420.

The processing unit 420 may control the transceiver unit 410 to implement the methods described in the above embodiments of the method 300, and/or other processes for the techniques described herein.

It should be noted that, all relevant contents of the steps involved in the above method embodiments can be cited in the functional description of the corresponding functional module, which will not be repeated here.

The apparatus 400 provided in this embodiment is used to execute the foregoing method 300, and thus can achieve the same effect as the foregoing implementation method.

Where an integrated unit is employed, the apparatus 400 may include a processing unit, a storage unit, and a communication unit. The processing unit may be used to control and manage the actions of the apparatus 400, for example, may be used to support the apparatus 400 to perform the steps performed by the above units. The storage unit may be used to support the execution of the apparatus 400 to store program codes, data, and the like. The communication unit may be used to support communication of the device 400 with other devices.

The processing unit may be a processor or a controller. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, and the like. The storage unit may be a memory. The communication unit may specifically be a device that interacts with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, and a Wi-Fi chip.

In a possible implementation manner, the apparatus 400 involved in this embodiment may be a sound source ranging apparatus 500 having the structure shown in FIG. 5 , the apparatus 500 includes a processor 510 and a transceiver 520 , the processor 510 and the The transceivers 520 communicate with each other through internal connection paths. The related functions implemented by the processing unit 420 in FIG. 25 can be implemented by the processor 510 , and the related functions implemented by the transceiver unit 45 can be implemented by the processor 510 controlling the transceiver 520 .

Optionally, the apparatus 500 may further include a memory 530, and the processor 510, the transceiver 520 and the memory 530 communicate with each other through an internal connection path. The related functions implemented by the storage unit described in FIG. 9 may be implemented by the memory 530 .

Embodiments of the present application further provide a computer storage medium, where computer instructions are stored in the computer storage medium, and when the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to realize the sound source detection in the above-mentioned embodiments. distance method.

The embodiment of the present application also provides a computer program product, which when the computer program product runs on the computer, causes the computer to execute the above-mentioned relevant steps, so as to realize the sound source ranging method in the above-mentioned embodiment.

In addition, the embodiments of the present application also provide an apparatus, which may specifically be a chip, a component or a module, and the apparatus may include a connected processor and a memory; wherein, the memory is used for storing computer execution instructions, and when the apparatus is running, The processor can execute the computer-executable instructions stored in the memory, so that the chip executes the sound source ranging method in the above method embodiments.

FIG. 11 shows a schematic structural diagram of a chip 600 . Chip 600 includes one or more processors 610 and interface circuits 620 . Optionally, the chip 600 may further include a bus 630 . in:

The processor 610 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method can be completed by an integrated logic circuit of hardware in the processor 610 or an instruction in the form of software. The aforementioned processor 610 may be a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. Various methods and steps disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The interface circuit 620 can be used for sending or receiving radar signals. The processor 610 can process the radar signals received by the interface circuit 620 , and can send the processing completion information through the interface circuit 620 .

Optionally, the chip further includes a memory, which may include a read-only memory and a random access memory, and provides operation instructions and data to the processor. A portion of the memory may also include non-volatile random access memory (NVRAM).

Optionally, the memory stores executable software modules or data structures, and the processor may execute corresponding operations by calling operation instructions stored in the memory (the operation instructions may be stored in the operating system).

Optionally, the chip may be used in the sound source ranging system involved in the embodiments of the present application. Optionally, the interface circuit 620 may be used to output the execution result of the processor 610 . For the sound source ranging method provided by one or more embodiments of the present application, reference may be made to the foregoing embodiments, which will not be repeated here.

It should be noted that the respective functions of the processor 610 and the interface circuit 620 may be implemented by hardware design, software design, or a combination of software and hardware, which is not limited here.

Among them, the sound source ranging method, sound source ranging device, computer storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above, and therefore, the beneficial effects that can be achieved are achieved. The beneficial effects in the corresponding methods provided above can be referred to, and details are not repeated here.

It should be understood that, in various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not be dealt with in the embodiments of the present application. implementation constitutes any limitation.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

A sound source ranging method, comprising:

The sound pressure of the second sound wave of the sound source is collected by the first microphone, and the second sound wave is obtained by performing delay processing on the first sound wave of the sound source by the first transmission distance;

collecting the sound pressure of the third sound wave of the sound source through the second microphone;

The target distance of the sound source is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance.
The method according to claim 1, wherein the target distance rs is determined by the following formula:

in,
Δr 1 represents the first transmission distance, L 1 represents the sound pressure of the second sound wave, and L 2 represents the sound pressure of the third sound wave.
The method according to claim 1 or 2, wherein the third sound wave is obtained by performing delay processing on the fourth sound wave of the sound source by a second transmission distance, and the second transmission distance is the same as the first transmission distances are different;

The determining the target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance includes:

The target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance.
The method according to claim 3, wherein the target distance rs is determined by the following formula:

in,
Δr 1 represents the first transmission distance, Δr 2 represents the second transmission distance, L 1 represents the sound pressure of the second sound wave, and L 2 represents the sound pressure of the third sound wave.
The method according to claim 3 or 4, wherein the method further comprises:

collecting the sound pressure of the fifth sound wave of the sound source through a third microphone;

The determining the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance includes:

The target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the second transmission distance.
The method according to claim 5, wherein the sound pressure according to the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and The second transmission distance, determining the target distance, includes:

Determine the first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance;

determining the second distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave and the first transmission distance;

determining the third distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave and the second transmission distance;

The target distance is determined based on the first distance, the second distance and the third distance.
The method according to claim 5 or 6, wherein the fifth sound wave is obtained by delaying the sixth sound wave of the sound source by a third transmission distance, the third transmission distance, the first transmission distance and the second transmission distance are different;

the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the second transmission distance, include:

According to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance and the third transmission distance, determine the target distance.
The method according to claim 7, wherein, according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, The second transmission distance and the third transmission distance, determining the target distance, including:

Determine the first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance;

determining the second distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance and the third transmission distance;

determining the third distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the third transmission distance;

The target distance is determined based on the first distance, the second distance and the third distance.
The method according to claim 6 or 8, wherein the target distance rs is determined by the following formula:

r s =a 1 r s1 +a 2 r s2 +a 3 r s3 ,

Among them, a 1 represents the first weight coefficient, a 2 represents the second weight coefficient, a 3 represents the third weight coefficient, rs s1 represents the first distance, rs 2 represents the second distance, and rs 3 represents the first distance Three distances, a 1 +a 2 +a 3 =1.
A sound source ranging system, comprising:

a first delay device for acquiring the first sound wave of the sound source; performing delay processing on the first sound wave by the first transmission distance to obtain the second sound wave;

a first microphone for collecting the sound pressure of the second sound wave;

a second microphone for collecting the sound pressure of the third sound wave of the sound source;

The sound source ranging device is used for determining the target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance.
The system according to claim 10, wherein the sound source ranging device is specifically configured to determine the target distance rs by the following formula:

in,
Δr 1 represents the first transmission distance, L 1 represents the sound pressure of the second sound wave, and L 2 represents the sound pressure of the third sound wave.
The system according to claim 10 or 11, wherein the system further comprises a second delay device,

The second delay device is configured to acquire the fourth sound wave of the sound source before the second microphone collects the sound pressure of the third sound wave of the sound source; Delay processing of the transmission distance to obtain the third sound wave, and the second transmission distance is different from the first transmission distance;

The sound source ranging device is specifically configured to determine the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance.
The system according to claim 12, wherein the sound source ranging device is specifically configured to determine the target distance rs by the following formula:

in,
Δr 1 represents the first transmission distance, Δr 2 represents the second transmission distance, L 1 represents the sound pressure of the second sound wave, and L 2 represents the sound pressure of the third sound wave.
The system according to claim 12 or 13, wherein the system further comprises a third microphone,

the third microphone is used to collect the sound pressure of the fifth sound wave of the sound source;

The sound source ranging device is specifically configured to measure the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the second transmission distance. distance to determine the target distance.
The system according to claim 14, wherein the sound source ranging device is specifically used for:

Determine the first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance;

determining the second distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave and the first transmission distance;

determining the third distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave and the second transmission distance;

The target distance is determined based on the first distance, the second distance and the third distance.
The system according to claim 14 or 15, wherein the system further comprises a third delay device,

The third delay device is configured to acquire the sixth sound wave of the sound source before the third microphone collects the sound pressure of the fifth sound wave of the sound source; and perform a third transmission distance measurement on the sixth sound wave. delay processing to obtain the fifth sound wave, the third transmission distance, the first transmission distance and the second transmission distance are different;

The sound source ranging device is specifically configured to measure the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance. The distance and the third transmission distance determine the target distance.
The system according to claim 16, wherein the sound source ranging device is specifically used for:

Determine the first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance;

determining the second distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance and the third transmission distance;

determining the third distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the third transmission distance;

The target distance is determined based on the first distance, the second distance and the third distance.
The system according to claim 15 or 17, wherein the sound source ranging device is specifically configured to determine the target distance rs by the following formula:

r s =a 1 r s1 +a 2 r s2 +a 3 r s3 ,

Among them, a 1 represents the first weight coefficient, a 2 represents the second weight coefficient, a 3 represents the third weight coefficient, rs s1 represents the first distance, rs 2 represents the second distance, and rs 3 represents the first distance Three distances, a 1 +a 2 +a 3 =1.
A sound source ranging device, characterized in that it is used for performing the method according to any one of the above claims 1 to 9 .
A sound source ranging device comprising a memory, at least one processor, a communication interface and instructions stored on the memory and executable on the processor, the memory, the processor and the communication interface They communicate with each other through an internal connection path, wherein the at least one processor executes the instructions to cause the device to implement the method according to any one of claims 1 to 9.
A terminal device, characterized by comprising the sound source ranging system according to any one of claims 10 to 18.
A computer-readable storage medium for storing a computer program, characterized in that, the computer program includes instructions for implementing the method according to any one of the above claims 1 to 9.
A computer program product comprising instructions, characterized in that, when the instructions are run on a computer or a processor, the computer or the processor is made to implement any of the above claims 1 to 9 one of the methods described.