CN106872945A - Sound localization method, device and electronic equipment - Google Patents
Sound localization method, device and electronic equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
Disclose a kind of sound localization method, device and electronic equipment.Methods described includes：The second input signal that the second sound sampler in the first input signal and the second equipment that the first sound collection device in the first equipment is gathered is gathered is received respectively, and each in first input signal and second input signal includes the component of signal from signal source and the noise component(s) from noise source；Noise component(s) in first input signal and second input signal determines reference noise；Extract the component of signal in first input signal and second input signal respectively according to the reference noise；And the component of signal in first input signal and second input signal determines the position of the signal source.It is thereby achieved that the precise positioning of sound source.
Description
Technical field
The application is related to Audiotechnica field, and more particularly, to a kind of sound localization method, device, electronic equipment,
Computer program product and computer-readable recording medium.
Background technology
There are problems in the application of Voice command far field equipment, especially the Voice command under interference environment is proposed very
Requirement high.
For example, during Voice command, if only carrying out voice collecting with the microphone in remote control, due to remote control
Device is generally single microphone, there is limitation when single microphone treatment nonstationary noise source, thus cannot separate unstable state and makes an uproar
Sound source；Or, if carrying out voice collecting merely with the microphone on controlled plant, although controlled plant is generally microphone array
Row, microphone array can be separated for spatial noise, but if noise source and signal source (user) are in same direction,
Also cannot accomplish to separate simultaneously, so as to be accurately positioned signal source range finding.
Therefore, existing sound localization method existing defects.
The content of the invention
In order to solve the above-mentioned technical problem, it is proposed that the application.Embodiments herein provides a kind of auditory localization side
Method, device, electronic equipment, computer program product and computer-readable recording medium, its precise positioning that can realize sound source.
According to the one side of the application, there is provided a kind of sound localization method, including：Receive respectively in the first equipment
The second sound sampler in the first input signal and the second equipment that first sound collection device is gathered gathered
Two input signals, each in first input signal and second input signal includes the component of signal from signal source
With the noise component(s) from noise source；Noise component(s) in first input signal and second input signal is come really
Determine reference noise；Extract the letter in first input signal and second input signal respectively according to the reference noise
Number component；And component of signal in first input signal and second input signal determines the signal source
Position.
According to the another aspect of the application, there is provided a kind of sound source locating device, including：Signal receiving unit, for dividing
The second sound in the first input signal and the second equipment that the first sound collection device in the first equipment is gathered is not received
The second input signal that sampler is gathered, each in first input signal and second input signal includes coming
Component of signal from signal source and the noise component(s) from noise source, and the first sound collection device and the signal source
The distance between less than the distance between the second sound sampler and described signal source；With reference to determining unit, for root
Determine reference noise according to the noise component(s) in first input signal and second input signal；Component extraction unit,
For extracting the component of signal in first input signal and second input signal respectively according to the reference noise；
And position determination unit, determine for the component of signal in first input signal and second input signal
The position of the signal source.
According to the another aspect of the application, there is provided a kind of electronic equipment, including：Processor；Memory；And storage exists
Computer program instructions in the memory, the computer program instructions cause the place when being run by the processor
Reason device performs above-mentioned sound localization method.
It is described according to the another aspect of the application, there is provided a kind of computer program product, including computer program instructions
Computer program instructions by processor when being run so that the above-mentioned sound localization method of the computing device.
According to the another aspect of the application, there is provided a kind of computer-readable recording medium, computer journey is stored thereon with
Sequence is instructed, and the computer program instructions by processor when being run so that the above-mentioned auditory localization side of the computing device
Method.
Compared with prior art, using the sound localization method according to the embodiment of the present application, device, electronic equipment, calculating
Machine program product and computer-readable recording medium, the first sound collection device that can be received respectively in the first equipment are gathered
The first input signal and the second equipment on the second input signal for being gathered of second sound sampler, first input
Each in signal and second input signal includes the component of signal from signal source and the noise component(s) from noise source；
Noise component(s) in first input signal and second input signal determines reference noise；According to the reference
Noise extracts the component of signal in first input signal and second input signal respectively；And according to described first
Component of signal in input signal and second input signal determines the position of the signal source.Therefore, it can well
The component of signal and noise component(s) in input signal are separated, and accurately determines the position of sound source accordingly.
Brief description of the drawings
The embodiment of the present application is described in more detail by with reference to accompanying drawing, the above-mentioned and other purposes of the application,
Feature and advantage will be apparent.Accompanying drawing is used for providing further understanding the embodiment of the present application, and constitutes explanation
A part for book, is used to explain the application together with the embodiment of the present application, does not constitute the limitation to the application.In the accompanying drawings,
Identical reference number typically represents same parts or step.
Fig. 1 illustrates the schematic diagram of the application scenarios operated according to the auditory localization of the embodiment of the present application.
Fig. 2 illustrates the flow chart of the sound localization method according to the embodiment of the present application.
Fig. 3 illustrates the flow chart that step is determined according to the reference noise of the embodiment of the present application.
Fig. 4 illustrates the schematic diagram of the voice activity detection according to the embodiment of the present application.
Fig. 5 illustrates the flow chart of the component of signal extraction step according to the embodiment of the present application.
Fig. 6 illustrates the schematic diagram of the sef-adapting filter according to the embodiment of the present application.
Fig. 7 illustrates the flow chart of the signal source positioning step according to the embodiment of the present application.
Fig. 8 illustrates the schematic diagram oriented according to the microphone array of the embodiment of the present application.
Fig. 9 illustrates the block diagram of the sound source locating device according to the embodiment of the present application.
Figure 10 illustrates the block diagram of the electronic equipment according to the embodiment of the present application.
Specific embodiment
Below, the example embodiment according to the application will be described in detail by referring to the drawings.Obviously, described embodiment is only
Only it is a part of embodiment of the application, rather than the whole embodiments of the application, it should be appreciated that the application is not by described herein
The limitation of example embodiment.
Application general introduction
As described above, existing sound localization method existing defects.For example, only with the single microphone in remote control and controlled
Microphone array in equipment individually gathers phonetic order, all cannot well eliminate nonstationary noise, and such as TV voice rings
The nonstationary noises such as sound, voice, range finding is accurately positioned so as to be made to such as user.
For the technical problem, the basic conception of the application be propose a kind of sound localization method, device, electronic equipment,
Computer program product and computer-readable recording medium, it can be by the Mike in the microphone and controlled plant in remote control
Wind is effectively integrated, the microphone strengthening system as complete set, and it can well process nonstationary noise signal,
And the user that speaks can be obtained relative to remote control and the distance of controlled plant.
It should be noted that the above-mentioned basic conception of the application can be applied not only to the long-range of remote control and controlled plant
In control application, can also be applied in other systems application, as long as two or more equipment therein all have sound collection
Device.For example, the application is equally applicable to two equipment not has master control and Controlled vocabulary, but functional independence sets
It is standby.Additionally, during the above-mentioned basic conception of the application can be applied not only to the auditory localization scene of voice, can also be applied to all
Such as in the auditory localization scene of other various sound sources of animal, robot.
After the general principle for describing the application, carry out specifically to introduce the various non-limit of the application below with reference to the accompanying drawings
Property embodiment processed.
Example system
Fig. 1 illustrates the schematic diagram of the application scenarios operated according to the auditory localization of the embodiment of the present application.
As shown in figure 1, including the first equipment 100, the second equipment 200 and sound source for the application scenarios of auditory localization operation
300。
First equipment 100 can be any kind of electronic equipment, and it includes the first sound collection device.Second equipment
200 can be any kind of electronic equipment, and it can have identical or different type with the first equipment 100, and it is wrapped
Include second sound sampler.
For example, the sound collection device can be used for audio signal of the collection including the sound source such as signal source or noise source, its
Can be single microphone or microphone array.For example, the microphone can be omnidirectional microphone and/or directional microphone.
For the sound from different angles, its sensitivity is essentially identical to omnidirectional microphone, and its head uses the original of pressure sensitive
Reason design, vibrating diaphragm only receives from extraneous pressure.Directional microphone mainly uses the principle design of barometric gradient, by head
Aperture behind cavity, vibrating diaphragm receives the pressure of tow sides, therefore vibrating diaphragm is received the pressure of different directions and differed, Mike
Wind is provided with directive property.For example, the microphone array can be made up of the microphone of certain amount, for the space to sound field
The system that characteristic is sampled and processed, it can include that the incomplete same multiple microphone MIC1 in respective pickup area are arrived
MICn, wherein n are greater than the natural number equal to 2.For example, depending on the relative position relation of each microphone, microphone array
Can be divided into：Linear array, its array element is centrally located on same straight line；Planar array, its array element central distribution is flat at one
On face；And space array, its array element central distribution is in solid space.
The sound source 300 can be any kind of sound source, its signal that can include sending the component of signal for wishing concern
The noise source of the noise component(s) that source and hope are eliminated.For example, the signal source can be lived signal source and abiotic letter
Number.For example, lived signal source can be including humans and animals etc.；And abiotic signal source can include robot, TV
Machine, sound equipment etc..
It should be noted that above-mentioned application scenarios are for only for ease of and understand spirit herein and principle and shows, this
The embodiment not limited to this of application.Conversely, embodiments herein can apply to any scene that may be applicable.For example, should
Equipment can include two or more, and the sound source can be one or more.
Illustrative methods
With reference to the application scenarios of Fig. 1, the sound localization method according to the embodiment of the present application is described with reference to Figure 2.
Fig. 2 illustrates the flow chart of the sound localization method according to the embodiment of the present application.
As shown in Fig. 2 the sound localization method according to the embodiment of the present application can include：
In step s 110, the first input signal that the first sound collection device in the first equipment is gathered is received respectively
The second input signal gathered with the second sound sampler in the second equipment, first input signal and described second
Each in input signal includes the component of signal from signal source and the noise component(s) from noise source.
For example, in order to be positioned to sound source 300, the sound collection device institute in two equipment 100 and 200 can be received
The input signal of collection, for subsequent treatment.
In one example, in order to obtain the separating effect of optimal component of signal and noise component(s), the signal source is arrived
First distance of the first sound collection device can be differently configured from the signal source to the of the second sound sampler
Two distances.For example, first distance can be less than the second distance.
Because signal source is different to two distances of sound collection device, so what the first sound collection device was collected
Input signal is also different from the input signal that second sound sampler is collected.
For example, due to signal source distance the first sound collection device closer to, it is farther apart from second sound sampler, so
What the component of signal in the input signal that the first sound collection device is collected was collected more than second sound sampler
Component of signal in input signal.Further, since noise source belongs to source of background noise, itself and the first sound collection device and second
The distance of sound collection device is roughly the same, so the noise component(s) in the input signal that is collected of the first sound collection device
It is roughly the same with the noise component(s) in the input signal that second sound sampler is collected.
By above-mentioned characteristic, Signal separator and treatment can be carried out to two input signals, to extract signal therein point
Amount and noise component(s), and it is further used for auditory localization.
In one example, in order to prevent the rising tone in the first sound collection device and the second equipment in the first equipment
Sound sampler may have different sound transfer capabilities and balance out the component of signal difference come apart from different band, can be with head
Parametric calibration first is carried out to the second sound sampler on the first sound collection device and the second equipment in the first equipment.
Therefore, as shown in Fig. 2 before step S110, the sound localization method according to the embodiment of the present application can also be wrapped
Include：
In step S105, the first sound collection device and the second sound sampler are calibrated, with
So that they have identical sound transfer capability.
Two parameters of sound collection device can be adjusted, to cause that they keep identical transfer capability.
Below, the sound localization method will be illustrated in a specific example, wherein assuming that the first equipment is distant
Control device, is equipped with microphone or microphone array thereon, and the second equipment is corresponding controlled plant (for example, TV etc.),
Microphone or microphone array are equipped with thereon, and sound source is the user for sending voice control command.
For example, line parameter adjustment can be entered to the microphone system on the microphone system on remote control and TV first,
To cause that both keep identical transfer capability.It is intended that identical with output holding with the input of TV for remote control
Gain amplifier and delay compensation.
If for example, microphone system on remote control has an amplification characteristic higher and the microphone system on TV
With relatively low amplification characteristic so that identical input signal is remotely-controlled after device is received to compare and is higher by 3dB after television reception, then
Gain compensation can be carried out to both, it is identical with the multiplication factor for ensuring both, so as to ensure the precision of subsequent algorithm.
Next, it is possible to use two microphone systems receive voice control command that user sends (for example, opening electricity
Depending on, regulation channel etc.).Finished because two microphone systems are calibrated, so both input signals for being collected can be with
Accurately reflect its distance between with user difference.
In the step s 120, noise component(s) in first input signal and second input signal determines
Reference noise.
Next, the input signal that the sound collection device in two equipment is collected can be analyzed, with true
Surely it is used for the reference noise of SNR estimation and compensation.
Fig. 3 illustrates the flow chart that step is determined according to the reference noise of the embodiment of the present application.
As shown in figure 3, step S120 can include：
In sub-step S121, lock out operation is performed to first input signal and second input signal, to divide
The noisy letter in signals and associated noises section and pure noise segment and second input signal in first input signal is not obtained
Number section and pure noise segment.
For example, when user carries out Voice command, it is possible to use voice activity detection (VAD) technology separates each
Noisy speech section and pure noise segment in input signal.
Voice activity detection is examined also known as speech terminals detection, voice border, refers to that depositing for voice is detected in noise circumstance
Whether, be generally used in the speech processing systems such as voice coding, speech enhan-cement, play reduction speech encoding rate, save logical
The effects such as letter bandwidth, reduction energy consumption of mobile equipment, raising discrimination.For example, representative VAD method has ITU-T's
G.729Annex B。
Fig. 4 illustrates the schematic diagram of the voice activity detection according to the embodiment of the present application.
As shown in figure 4, being segmented using VAD technologies, the first input signal M1 can be separated into noisy speech section M1S+NWith
Noise segment M1N；Similarly, it is also possible to which the second input signal M2 is separated into noisy speech section M2S+NWith noise segment M2N.That is,
Voice and noise are included in voice segments, and noise is only included in noise segment.
As can be seen that due to user's often hand-held remote controller under normal usage, its mouth apart from remote control closer to,
It is farther apart from TV, so the noisy speech section M1 in the first input signal M1S+NAmplitude more than in the second input signal M2
Noisy speech section M2S+NAmplitude, and the noise segment M1 in the first input signal M1NAmplitude to be equal or substantially equal to second defeated
Enter the noise segment M2 in signal M2NAmplitude.
In sub-step S122, determine that the reference is made an uproar according at least to the pure noise segment in second input signal
Sound.
For example, because TV distance signal source user is farther, it is influenceed smaller by user speech, i.e., including
Noise segment M2NOften closer to real ambient noise, it is possible to directly by noise segment M2NAs the reference noise.
Further, since the noise in M1 and M2 is identical in noise segment broad sense, therefore, it can be produced based on any one
Noise reference.
Alternatively, it is also possible to first by the noisy speech section M1 in the first input signal M1S+NIn the second input signal M2
Noisy speech section M2S+NAlignd in time domain, then calculate noise component(s) therein by the way that both are subtracted each other, and by institute
The result for obtaining is used as reference noise.
In step s 130, first input signal and second input are extracted respectively according to the reference noise
Component of signal in signal.
First input signal and second input signal can be held respectively using resulting reference noise
Row lock out operation, to determine component of signal therein.
It is, for example possible to use sef-adapting filter realizes above-mentioned lock out operation.
Sef-adapting filter is the digital filtering that Digital Signal Processing can be carried out according to input signal adjust automatically performance
Device.For some applications, the parameter operated required for being not aware that in advance, the spy of such as some noise signals
Property, it requires and processed using the coefficient of self adaptation.In this case, usually using sef-adapting filter, self adaptation
Wave filter feedbacks used to adjust filter coefficient and frequency response.Generally speaking, the process of self adaptation is related to cost
Function is used to determine how change filter coefficient, so as to reduce the algorithm of next iteration process cost.Cost function is filter
The judgment criterion of ripple device optimum performance, such as reduce the ability of the noise contribution in input signal.
Fig. 5 illustrates the flow chart of the component of signal extraction step according to the embodiment of the present application.
As shown in figure 5, step S130 can include：
In sub-step S131, by the reference noise input adaptive wave filter.
In sub-step S132, adjust the parameter of the sef-adapting filter, with respectively from first input signal and
The letter in first input signal and second input signal is extracted in signals and associated noises section in second input signal
Number component.
Fig. 6 illustrates the schematic diagram of the sef-adapting filter according to the embodiment of the present application.
As shown in fig. 6, for example, the reference noise obtained in sub-step S122 can be provided as input into self adaptation
In wave filter.Reference noise combining adaptive wave filter can be substituted into the noisy speech section M1 in the first input signal M1S+NWith
Noisy speech section M2 in second input signal M2S+N, to extract the speech components M1 in M1 and M2SAnd M2S。
In step S140, component of signal in first input signal and second input signal determines
The position of the signal source.
For example, can be positioned to the signal source according to resulting component of signal.
Fig. 7 illustrates the flow chart of the signal source positioning step according to the embodiment of the present application.
As shown in fig. 7, step S140 can include：
In sub-step S141, between the component of signal in first input signal and second input signal
Phase difference determine the signal source to first distance and the signal source of the first sound collection device to described
The distance between the second distance of two sound collection devices is poor.
For example, sub-step S141 can include：To the signal in first input signal and second input signal
Component carries out cross-correlation analysis, to determine phase difference between the two；Time delay between the two is determined according to the phase difference
Difference；And the range difference is calculated according to the delay inequality.
For example, can be to the speech components M1 in the first input signal M1 and the second input signal M2SAnd M2SCarried out
Broad sense cross-correlation analysis, analysis phase difference between the two, obtain delay inequality Δ t.Thus, it is possible to know sound source user to remote control
The relation between L2 apart from L1 harmony source user to TV of device is：
Δ t*340m/s=L1-L2.
In sub-step S142, between the component of signal in first input signal and second input signal
Amplitude difference determine the multiple proportion between first distance and the second distance.
For example, sub-step S142 can include：Calculate the letter in first input signal and second input signal
Amplitude difference between number component；And the multiple proportion is calculated according to the amplitude difference and range-amplitude display relation.
For example, can be to the speech components M1 in the first input signal M1 and the second input signal M2SAnd M2SCarried out
Short-time rating spectrum is calculated, analysis amplitude fading between the two, obtains amplitude difference Δ p.Thus, it is former with range attenuation according to sound wave
Reason, it may be determined that apart from L1 and between multiple proportion.Specifically, under normal circumstances, the distance between sound wave and microphone
Increasing is twice, energy attenuation 6dB, therefore, it can be determined according to the energy difference above-mentioned apart from its difference.In other words, according to energy
Difference Δ p, can calculate the relation apart from L1 and between L2 is：
L1=k*L2.
In sub-step S143, first distance and described are determined according to the range difference and the multiple proportion
Two distances.
By simultaneous above-mentioned two mode, sound source user can be obtained to remote control apart from L1 harmony source user to TV
Apart from L2.
However, this only determines sound source to the first equipment and the distance of the second equipment, i.e., the position of sound source is only determined
Scope is put, and does not determine the full location of sound source.Therefore, it is also possible that the first sound collection device and/or
The second sound sampler includes microphone array, for determining angle of the sound source relative to microphone array.
Therefore, as shown in fig. 7, step S140 can also include：
In step S144, include in response to the first sound collection device and/or the second sound sampler
Microphone array, determines that the signal source is relative with the array element center of the microphone array using the microphone array
Angle.
Fig. 8 illustrates the schematic diagram oriented according to the microphone array of the embodiment of the present application.
For simplicity, it is described by taking the two-microphone array that two microphones are constituted as an example.
As shown in figure 8, microphone array includes two microphones, it is located at position A and B respectively.
For example, it may be determined that the branch input signal that each microphone is received in microphone array, calculates each signal
Between correlation, it is counter to push away plane wave from position C to the delay Δ d between the time of position A, i.e. each microphone, such as following formula
It is shown：
CA=Δs d*340m/s.
Due to known to the spacing AB between two microphones, it is possible to try to achieve the relative angle of signal source and microphone array
Degree, is shown below：
Further, as shown in fig. 7, step S140 can also include：
In step S145, comprehensive first distance, the second distance and the relative angle determine the sound
The position in source.
For example, the orientation result according to microphone array, with reference to L1 and L2, it may be determined that source user of speaking is with respect to microphone
The accurate angle of array and position.
Because in this specific example, the second equipment is the equipment (for example, TV) being remotely-controlled, and may inherently be set thereon
Microphone array is equipped with, for receiving phonetic order, therefore, due to cost considerations, can be multiplexed in the second equipment intrinsic
Microphone array, for directional operation.Further, since the position of the second equipment is often fixed, i.e., position coordinates, it is known that so
In the case of distance and angle of the known sound source relative to the second equipment, the position coordinates of sound source can be directly determined.
In one example, the sound localization method according to the embodiment of the present application can be realized in the He of the first equipment 100
In second equipment 200 any one or both on.Now, first equipment 100 and second equipment 200 have each other
Communication connection, can receive the input signal that the sound collection device in another equipment is gathered, and with this equipment on sound
The input signal that sampler is gathered carries out Combined Treatment, is positioned with to sound source.
Although it should be noted that in the specific example so that the first equipment is remote control, the second equipment is TV as an example
It is illustrated, but, the application not limited to this.For example, second equipment can be the voice control the need for the user distal end
The other equipment of system, for example, refrigerator, air-conditioning etc., and first equipment can be usually located at user under normal operating condition
The other equipment of near-end, such as portable set (mobile phone, Intelligent bracelet, intelligent eyes etc.), to be even temporarily positioned in user near
The fixing equipment (for example, intelligent sofa for taking a seat of user etc.) at end.
In another example, the sound localization method according to the embodiment of the present application can also be realized in first equipment 100
In the independent sound source localization equipment outside second equipment 200.Now, sound source localization equipment respectively with first equipment
100 have communication connection with second equipment 200, can receive the input letter that the sound collection device in two equipment is gathered
Number, Combined Treatment is carried out to two-way input signal, positioned with to sound source.
As can be seen here, using the sound localization method according to the embodiment of the present application, can receive respectively in the first equipment
The second sound sampler in the first input signal and the second equipment that first sound collection device is gathered gathered
Two input signals, each in first input signal and second input signal includes the component of signal from signal source
With the noise component(s) from noise source；Noise component(s) in first input signal and second input signal is come really
Determine reference noise；Extract the letter in first input signal and second input signal respectively according to the reference noise
Number component；And component of signal in first input signal and second input signal determines the signal source
Position.Therefore, it can separate well the component of signal and noise component(s) in input signal, and it is further true exactly accordingly
Determine the position of sound source.
Specifically, the sound localization method according to the embodiment of the present application has the benefit that：
1) can preferably suppress nonstationary noise, realize the separation of sound-source signal and noise；
2) microphone array of bonding apparatus, accurately can be oriented and find range to sound source.
Exemplary means
Below, it is described with reference to Figure 9 the sound source locating device according to the embodiment of the present application.
Fig. 9 illustrates the block diagram of the sound source locating device according to the embodiment of the present application.
As shown in figure 9, the sound source locating device 400 according to the embodiment of the present application can include：Signal receiving unit
410, the first input signal and the second equipment that the first sound collection device for receiving respectively in the first equipment is gathered
The second input signal for being gathered of second sound sampler, in first input signal and second input signal
Each include the component of signal from signal source and the noise component(s) from noise source, and the first sound collection device with
The distance between described signal source is less than the distance between the second sound sampler and described signal source；It is single with reference to determining
Unit 420, reference noise is determined for the noise component(s) in first input signal and second input signal；Point
Amount extraction unit 430, for extracting first input signal and the second input letter respectively according to the reference noise
Component of signal in number；And position determination unit 440, for according to first input signal and second input signal
In component of signal determine the position of the signal source.
In one example, the signal source can be less than the letter to the first distance of the first sound collection device
The second distance of number source to the second sound sampler.
In one example, the sound source locating device 400 can also include：Device calibration unit, for connecing respectively
Receive the second sound collection in the first input signal and the second equipment that the first sound collection device in the first equipment is gathered
Before the second input signal that device is gathered, the first sound collection device and the second sound sampler are carried out
Calibration, to cause that they have identical sound transfer capability.
In one example, can be to first input signal and second input signal with reference to determining unit 420
Lock out operation is performed, to respectively obtain the section of the signals and associated noises in first input signal and pure noise segment and described second
Signals and associated noises section and pure noise segment in input signal；And come true according at least to the pure noise segment in second input signal
The fixed reference noise.
In one example, component extraction unit 430 can be by the reference noise input adaptive wave filter；And adjust
The parameter of the whole sef-adapting filter, with respectively from the noisy letter in first input signal and second input signal
The component of signal in first input signal and second input signal is extracted in number section.
In one example, position determination unit 440 can be according to first input signal and the second input letter
The phase difference between component of signal in number determining the signal source to the first distance of the first sound collection device and
The distance between the second distance of the signal source to the second sound sampler is poor；According to first input signal and
The amplitude difference between component of signal in second input signal is determined between first distance and the second distance
Multiple proportion；And first distance and the second distance are determined according to the range difference and the multiple proportion.
In one example, position determination unit 440 can be to first input signal and second input signal
In component of signal carry out cross-correlation analysis, to determine phase difference between the two；Both are determined according to the phase difference it
Between delay inequality；And the range difference is calculated according to the delay inequality.
In one example, position determination unit 440 can calculate first input signal and the second input letter
The amplitude difference between component of signal in number；And the multiple is calculated according to the amplitude difference and range-amplitude display relation to close
System.
In one example, position determination unit 440 may also respond to the first sound collection device and/or described
Second sound sampler includes microphone array, determines the signal source with the microphone using the microphone array
The relative angle at the array element center of array.
In one example, position determination unit 440 can also comprehensive first distance, the second distance and described
Relative angle determines the position of the sound source.
The concrete function of unit and module in above-mentioned sound source locating device 400 and operation are had been described above with reference to figure
It is discussed in detail in the sound localization method of 1 to Fig. 8 description, and therefore, its repeated description will be omitted.
As described above, during the sound source locating device 400 according to the embodiment of the present application can realize sound source localization equipment, the sound
Source location equipment can be any one in the first equipment 100 and the second equipment 200 as shown in Figure 1 or both, or
The independent stand-alone device with them.
In one example, the sound source locating device 400 according to the embodiment of the present application can as a software module and/
Or hardware module and be integrated into the sound source localization equipment.For example, the sound source locating device 400 can be the sound source localization equipment
Operating system in a software module, or one that the sound source localization equipment developed can be aimed at apply journey
Sequence；Certainly, the sound source locating device 400 equally can be one of numerous hardware modules of the sound source localization equipment.
Alternatively, in another example, the sound source locating device 400 and the sound source localization equipment can also be discrete setting
It is standby, and the sound source locating device 400 can be connected to the sound source localization equipment by wired and or wireless network, and press
Data form as agreed transmits interactive information.
Example electronic device
Below, it is described with reference to Figure 10 the electronic equipment according to the embodiment of the present application.The electronic equipment can first be set
Standby 100 and the second any one in equipment 200 or both or the stand-alone device independent with them, the stand-alone device can be with the
One equipment and the second equipment are communicated, and collected input signal is received with from them.
Figure 10 illustrates the block diagram of the electronic equipment according to the embodiment of the present application.
As shown in Figure 10, electronic equipment 10 includes one or more processors 11 and memory 12.
Processor 11 can be CPU (CPU) or with data-handling capacity and/or instruction execution capability
Other forms processing unit, and can be with the other assemblies in control electronics 10 performing desired function.
Memory 12 can include one or more computer program products, and the computer program product can include each
The computer-readable recording medium of the form of kind, such as volatile memory and/or nonvolatile memory.The volatile storage
Device can for example include random access memory (RAM) and/or cache memory (cache) etc..It is described non-volatile to deposit
Reservoir for example can be including read-only storage (ROM), hard disk, flash memory etc..Can be deposited on the computer-readable recording medium
One or more computer program instructions are stored up, processor 11 can run described program instruction, to realize this Shen mentioned above
The sound localization method of each embodiment please and/or other desired functions.In the computer-readable recording medium
In can also store the various contents such as input signal, component of signal, noise component(s).
In one example, electronic equipment 10 can also include：Input unit 13 and output device 14, these components pass through
Bindiny mechanism's (not shown) interconnection of bus system and/or other forms.
For example, when the electronic equipment is the first equipment 100 or the second equipment 200, the input unit 13 can be above-mentioned
Microphone or microphone array, the input signal for catching sound source.When the electronic equipment is stand-alone device, input dress
It can be communication network connector to put 13, for receiving gathered input signal from the first equipment 100 and the second equipment 200.
Additionally, the input equipment 13 can also include such as keyboard, mouse etc..
The output device 14 can to the various information of outside output, including determine range information, etc. directional information.Should
Output equipment 14 can include that such as display, loudspeaker, printer and communication network and its long-range output for being connected set
It is standby etc..
Certainly, to put it more simply, some in component relevant with the application during the electronic equipment 10 is illustrate only in Figure 10,
Eliminate the component of such as bus, input/output interface etc..In addition, according to concrete application situation, electronic equipment 10 is also
Any other appropriate component can be included.
Illustrative computer program product and computer-readable recording medium
In addition to the above method and equipment, embodiments herein can also be computer program product, and it includes meter
Calculation machine programmed instruction, the computer program instructions by processor when being run so that described computing device this specification is above-mentioned
The step in the sound localization method according to the various embodiments of the application described in " illustrative methods " part.
The computer program product can be write for holding with one or more any combination of programming language
The program code of row the embodiment of the present application operation, described program design language includes object oriented program language, such as
Java, C++ etc., also including conventional procedural programming language, such as " C " language or similar programming language.Journey
Sequence code can perform fully on the user computing device, partly perform on a user device, independent soft as one
Part bag is performed, part performs or completely in remote computing device on a remote computing on the user computing device for part
Or performed on server.
Additionally, embodiments herein can also be computer-readable recording medium, it is stored thereon with computer program and refers to
Order, the computer program instructions by processor when being run so that above-mentioned " the exemplary side of described computing device this specification
The step in the sound localization method according to the various embodiments of the application described in method " part.
The computer-readable recording medium can be using any combination of one or more computer-readable recording mediums.Computer-readable recording medium can
Being readable signal medium or readable storage medium storing program for executing.Readable storage medium storing program for executing can for example include but is not limited to electricity, magnetic, light, electricity
The system of magnetic, infrared ray or semiconductor, device or device, or it is any more than combination.Readable storage medium storing program for executing is more specifically
Example (non exhaustive list) includes：Electrical connection, portable disc with one or more wires, hard disk, random access memory
Device (RAM), read-only storage (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read-only storage (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The general principle of the application is described above in association with specific embodiment, however, it is desirable to, it is noted that in this application
Advantage, advantage, effect for referring to etc. is only exemplary rather than limitation, it is impossible to think that these advantages, advantage, effect etc. are the application
Each embodiment is prerequisite.In addition, detail disclosed above is merely to the effect of example and the work for readily appreciating
With, and it is unrestricted, above-mentioned details is not intended to limit the application for that must be realized using above-mentioned concrete details.
The device that is related in the application, device, equipment, the block diagram of system only illustratively the example of property and are not intended to
It is required that or the mode that must be illustrated according to square frame of hint be attached, arrange, configure.As it would be recognized by those skilled in the art that
, can be connected by any-mode, arrange, configure these devices, device, equipment, system.Such as " including ", "comprising", " tool
Have " etc. word be open vocabulary, refer to " including but not limited to ", and can be with its used interchangeably.Vocabulary used herein above
"or" and " and " refer to vocabulary "and/or", and can be with its used interchangeably, unless it be not such that context is explicitly indicated.Here made
Vocabulary " such as " refers to phrase " such as, but not limited to ", and can be with its used interchangeably.
It may also be noted that in device, apparatus and method in the application, each part or each step can be to decompose
And/or reconfigure.These decompose and/or reconfigure the equivalents that should be regarded as the application.
The above description of disclosed aspect is provided so that any person skilled in the art can make or use this
Application.Various modifications in terms of these are readily apparent to those skilled in the art, and are defined herein
General Principle can apply to other aspect without deviating from scope of the present application.Therefore, the application is not intended to be limited to
Aspect shown in this, but according to the widest range consistent with the feature of principle disclosed herein and novelty.
In order to purpose of illustration and description has been presented for above description.Additionally, this description is not intended to the reality of the application
Apply example and be restricted to form disclosed herein.Although already discussed above multiple exemplary aspects and embodiment, this area skill
Art personnel will be recognized that its some modification, modification, change, addition and sub-portfolio.
Claims (13)
1. a kind of sound localization method, including：
In the first input signal and the second equipment that the first sound collection device in the first equipment is gathered is received respectively
The second input signal that two sound collection devices are gathered, each in first input signal and second input signal
Noise component(s) including the component of signal from signal source and from noise source；
Noise component(s) in first input signal and second input signal determines reference noise；
Extract the component of signal in first input signal and second input signal respectively according to the reference noise；
And
Component of signal in first input signal and second input signal determines the position of the signal source.
2. the method for claim 1, wherein the signal source to the first sound collection device first apart from small
In the second distance of the signal source to the second sound sampler.
3. the first sound collection device the method for claim 1, wherein on the first equipment is received respectively is gathered
The first input signal and the second equipment on the second input signal for being gathered of second sound sampler before, also include：
The first sound collection device and the second sound sampler are calibrated, to cause that they have identical
Sound transfer capability.
4. the method for claim 1, wherein making an uproar in first input signal and second input signal
Sound component includes determining reference noise：
Lock out operation is performed to first input signal and second input signal, to respectively obtain the first input letter
Signals and associated noises section and pure noise segment in signals and associated noises section and pure noise segment and second input signal in number；And
Determine the reference noise according at least to the pure noise segment in second input signal.
5. method as claimed in claim 4, wherein, extracted respectively according to the reference noise first input signal and
Component of signal in second input signal includes：
By the reference noise input adaptive wave filter；And
The parameter of the sef-adapting filter is adjusted, with respectively from first input signal and second input signal
The component of signal in first input signal and second input signal is extracted in signals and associated noises section.
6. letter the method for claim 1, wherein in first input signal and second input signal
Number component includes determining the position of the signal source：
The phase difference between component of signal in first input signal and second input signal is come described in determining
Signal source is to first distance and the signal source of the first sound collection device to the of the second sound sampler
The distance between two distances are poor；
The amplitude difference between component of signal in first input signal and second input signal is come described in determining
Multiple proportion between first distance and the second distance；And
First distance and the second distance are determined according to the range difference and the multiple proportion.
7. method as claimed in claim 6, wherein, according to the letter in first input signal and second input signal
Phase difference between number component determines the signal source to first distance and the signal of the first sound collection device
Source includes to the distance between the second distance difference of the second sound sampler：
Cross-correlation analysis are carried out to the component of signal in first input signal and second input signal, to determine both
Between phase difference；
Delay inequality between the two is determined according to the phase difference；And
The range difference is calculated according to the delay inequality.
8. method as claimed in claim 6, wherein, according to the letter in first input signal and second input signal
Amplitude difference between number component includes determining the multiple proportion between first distance and the second distance：
Calculate the amplitude difference between the component of signal in first input signal and second input signal；And
The multiple proportion is calculated according to the amplitude difference and range-amplitude display relation.
9. letter the method for claim 1, wherein in first input signal and second input signal
Number component also includes determining the position of the signal source：
Include microphone array in response to the first sound collection device and/or the second sound sampler, use institute
Microphone array is stated to determine the relative angle of the signal source and the array element center of the microphone array.
10. method as claimed in claim 9, wherein, according in first input signal and second input signal
Component of signal also includes determining the position of the signal source：
Comprehensive first distance, the second distance and the relative angle determine the position of the sound source.
A kind of 11. sound source locating devices, including：
Signal receiving unit, the first input signal that the first sound collection device for receiving respectively in the first equipment is gathered
The second input signal gathered with the second sound sampler in the second equipment, first input signal and described second
Each in input signal includes the component of signal from signal source and the noise component(s) from noise source, and first sound
The distance between sound sampler and the signal source less than between the second sound sampler and the signal source away from
From；
With reference to determining unit, determine for the noise component(s) in first input signal and second input signal
Reference noise；
Component extraction unit, for extracting first input signal and second input respectively according to the reference noise
Component of signal in signal；And
Position determination unit, determines for the component of signal in first input signal and second input signal
The position of the signal source.
12. a kind of electronic equipment, including：
Processor；
Memory；And
The computer program instructions in the memory are stored, the computer program instructions by the processor when being run
So that method of the computing device as any one of claim 1-10.
A kind of 13. computer-readable recording mediums, are stored thereon with computer program instructions, and the computer program instructions are in quilt
Processor causes method of the computing device as any one of claim 1-10 when running.
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