CN111060875B

CN111060875B - Method and device for acquiring relative position information of equipment and storage medium

Info

Publication number: CN111060875B
Application number: CN201911272991.8A
Authority: CN
Inventors: 冯大航; 傅东辉; 郝斌; 陈孝良
Original assignee: Beijing SoundAI Technology Co Ltd
Current assignee: Beijing SoundAI Technology Co Ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2022-07-15
Anticipated expiration: 2039-12-12
Also published as: CN111060875A

Abstract

The disclosure discloses a method and a device for acquiring relative position information of equipment and a storage medium, and belongs to the technical field of distributed conference systems. The method comprises the following steps: acquiring a first time delay and a second time delay, receiving a third time delay and a fourth time delay sent by second equipment, acquiring a distance between the first equipment and the second equipment according to the first time delay, the second time delay, the third time delay and the fourth time delay, and acquiring relative position information between the first equipment and the second equipment according to the distance between the first equipment and the second equipment; in the scheme, the distance between the two devices is calculated by the time delay of the two interactive devices for respectively receiving the sound signals sent by the opposite side and the two interactive devices, the process is automatically completed by each device in the system without manual measurement, so that the debugging time of the distributed conference system is greatly shortened, and the debugging efficiency of the distributed conference system is improved.

Description

Method and device for acquiring relative position information of equipment and storage medium

Technical Field

The present disclosure relates to the field of distributed conference system technologies, and in particular, to a method and an apparatus for acquiring device relative position information, and a storage medium.

Background

In the distributed conference system, in order to ensure that the distributed conference system has a good working state, the system needs to be debugged in advance.

In the distributed conference system, setting the relative position relationship among the sound pickup devices is the key for debugging the distributed conference system. In the related art, a commissioning person of a distributed conference system manually confirms the relative positional relationship between the respective sound pickup apparatuses, for example, confirms the distances between the respective sound pickup apparatuses through manual measurement.

However, the distributed conference system is inefficient to debug due to the large amount of time consumed by the step of manually measuring.

Disclosure of Invention

The disclosure provides a method and a device for acquiring relative position information of equipment and a storage medium. The technical scheme is as follows:

according to a first aspect of the embodiments of the present disclosure, a method for acquiring device relative position information is provided, where the method is used in a system including a first device and a second device, the first device includes a first microphone component and a first speaker component, and the second device includes a second microphone component and a second speaker component; the method is performed by the first device, the method comprising:

obtaining a first time delay, the first time delay being a time delay between a first sound signal being played from the first speaker assembly to the first sound signal being received by the first microphone assembly;

obtaining a second time delay, wherein the second time delay is a time delay from when a second sound signal is played by the second loudspeaker to when the second sound signal is received by the first microphone assembly;

receiving a third delay and a fourth delay transmitted by the second device, the third delay being a delay between the second sound signal being played from the second speaker assembly to the second microphone assembly receiving the second sound signal, the fourth delay being a delay between the first sound signal being played from the first speaker to the first sound signal being received by the second microphone assembly;

acquiring the distance between the first device and the second device according to the first time delay, the second time delay, the third time delay and the fourth time delay;

and acquiring relative position information between the first equipment and the second equipment according to the distance between the first equipment and the second equipment.

Optionally, the obtaining a distance between the first device and the second device according to the first time delay, the second time delay, the third time delay, and the fourth time delay includes:

calculating sound propagation delay generated by the distance between the first device and the second device according to the first delay, the second delay, the third delay and the fourth delay;

and calculating the distance between the first equipment and the second equipment according to the sound propagation time delay generated by the distance between the first equipment and the second equipment.

Optionally, the calculating, according to the first time delay, the second time delay, the third time delay, and the fourth time delay, a sound propagation time delay generated by a distance between the first device and the second device includes:

obtaining a first delay difference value, wherein the first delay difference value is a delay difference value between the fourth delay and the first delay;

acquiring a second time delay difference value, wherein the second time delay difference value is a time delay difference value between the second time delay and the third time delay;

and averaging the first time delay difference value and the second time delay difference value to obtain the sound propagation time delay generated by the distance between the first equipment and the second equipment.

Optionally, the obtaining the second delay includes:

acquiring a time point when the second loudspeaker plays the second sound signal;

acquiring a time point when the first microphone assembly receives the second sound signal;

and obtaining the second time delay according to a difference value between a time point when the first microphone assembly receives the second sound signal and a time point when the second loudspeaker plays the second sound signal.

Optionally, the obtaining the time point when the second speaker plays the second sound signal includes:

and acquiring the time point of the first sound signal played by the first loudspeaker as the time point of the second sound signal played by the second loudspeaker.

Optionally, the obtaining a time point when the second speaker plays the second sound signal includes:

and acquiring the time point of the second loudspeaker playing the second sound signal, which is sent by the second equipment.

Optionally, the method further includes:

and sending the first time delay and the second time delay to the second equipment.

Optionally, the first sound signal and the second sound signal are periodic quadrature signals of high frequency.

Optionally, before the obtaining the relative location information between the first device and the second device according to the distance between the first device and the second device, the method further includes:

determining a first direction included angle according to the second sound signal and a sound source positioning algorithm, wherein the first direction included angle is an included angle between the direction of the second equipment relative to the first equipment and the orientation of the first microphone array;

receiving a second direction included angle sent by the second device, wherein the second direction included angle is an included angle between the direction of the first device relative to the second device and the orientation of the second microphone array;

acquiring a relative direction between the first device and the second device according to the first direction included angle and the second direction included angle, wherein the relative direction comprises an included angle between the orientation of the first microphone array and the orientation of the second microphone array;

the acquiring the relative position information between the first device and the second device according to the distance between the first device and the second device includes:

and acquiring the distance between the first device and the second device and the relative direction as the relative position information.

According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for acquiring relative position information of devices, the apparatus being used in a system including a first device and a second device, the first device including a first microphone component and a first speaker component, the second device including a second microphone component and a second speaker component; the apparatus is used in the first device, and the apparatus comprises:

a first time delay obtaining module, configured to obtain a first time delay, where the first time delay is a time delay from when a first sound signal is played by the first speaker assembly to when the first sound signal is received by the first microphone assembly;

a second delay obtaining module, configured to obtain a second delay, where the second delay is a delay from when a second sound signal is played by the second speaker to when the second sound signal is received by the first microphone assembly;

a delay receiving module, configured to receive a third delay and a fourth delay sent by the second device, where the third delay is a delay from playing the second sound signal by the second speaker assembly to receiving the second sound signal by the second microphone assembly, and the fourth delay is a delay from playing the first sound signal by the first speaker to receiving the first sound signal by the second microphone assembly;

a distance obtaining module, configured to obtain a distance between the first device and the second device according to the first time delay, the second time delay, the third time delay, and the fourth time delay;

and the information acquisition module is used for acquiring the relative position information between the first equipment and the second equipment according to the distance between the first equipment and the second equipment.

Optionally, the distance obtaining module includes:

a time delay calculation submodule, configured to calculate a sound propagation time delay generated by a distance between the first device and the second device according to the first time delay, the second time delay, the third time delay, and the fourth time delay;

and the distance calculation submodule is used for calculating the distance between the first equipment and the second equipment according to the sound propagation delay generated by the distance between the first equipment and the second equipment.

Optionally, the distance calculating sub-module is configured to,

obtaining a first delay difference value, where the first delay difference value is a delay difference value between the fourth delay and the first delay;

Optionally, the second delay obtaining module includes:

the first time obtaining submodule is used for obtaining the time point of the second loudspeaker playing the second sound signal;

a second time acquisition submodule, configured to acquire a time point at which the second sound signal is received by the first microphone assembly;

and the second time delay obtaining submodule is used for obtaining the second time delay according to the difference value between the time point when the first microphone assembly receives the second sound signal and the time point when the second loudspeaker plays the second sound signal.

Optionally, the playing time of the first sound signal is the same as the playing time of the second sound signal, and the first time obtaining sub-module is configured to,

Optionally, the first time obtaining sub-module is configured to,

Optionally, the apparatus further comprises:

and a time delay sending module, configured to send the first time delay and the second time delay to the second device.

Optionally, the first sound signal and the second sound signal are high frequency periodic orthogonal signals.

Optionally, the apparatus further comprises:

a first included angle determining module, configured to determine a first direction included angle according to the second sound signal and a sound source localization algorithm before obtaining relative position information between the first device and the second device according to a distance between the first device and the second device, where the first direction included angle is an included angle between a direction of the second device relative to the first device and an orientation of the first microphone array;

a second included angle receiving module, configured to receive a second direction included angle sent by the second device, where the second direction included angle is an included angle between a direction of the first device relative to the second device and an orientation of the second microphone array;

a relative direction obtaining module, configured to obtain a relative direction between the first device and the second device according to the first direction included angle and the second direction included angle, where the relative direction includes an included angle between an orientation of the first microphone array and an orientation of the second microphone array;

the information acquisition module comprises:

and the information acquisition submodule is used for acquiring the distance between the first device and the second device and the relative direction as the relative position information.

According to a third aspect of the embodiments of the present disclosure, there is provided an apparatus for acquiring relative position information of a device, the apparatus being used in a system including a first device and a second device, the first device including a first microphone component and a first speaker component, the second device including a second microphone component and a second speaker component; the apparatus is used in the first device, and the apparatus comprises:

a processor;

a memory for storing executable instructions of the processor;

wherein the processor is configured to:

obtaining a first time delay, the first time delay being a time delay between playing a first sound signal from the first speaker assembly to the first microphone assembly receiving the first sound signal;

According to a fourth aspect of embodiments of the present disclosure, a computer-device-readable storage medium is provided, where the computer-device-readable storage medium contains executable instructions, and the executable instructions are invoked and executed by a processor to implement the method for acquiring device relative position information according to the first aspect or any one of the alternatives of the first aspect.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

in a system comprising a first device comprising a first microphone assembly and a first speaker assembly and a second device comprising a second microphone assembly and a second speaker assembly, the first device acquiring a first time delay, the first time delay being a time delay between playing a first sound signal from the first speaker assembly and receiving the first sound signal at the first microphone assembly, while the first device acquiring a second time delay, the second time delay being a time delay between playing a second sound signal from the second speaker assembly and receiving a second sound signal at the first microphone assembly, and the first device receiving a third time delay and a fourth time delay transmitted by the second device, the third time delay being a time delay between playing the second sound signal from the second speaker assembly and receiving the second sound signal at the second microphone assembly, the fourth time delay being a time delay between playing the first sound signal from the first speaker assembly and receiving the first sound signal at the second microphone assembly, then, according to the first time delay, the second time delay, the third time delay and the fourth time delay, the distance between the first device and the second device is obtained, and finally, the relative position information between the first device and the second device is obtained according to the distance between the first device and the second device; through the scheme, each device in the distributed conference system sends the sound signal through the respective loudspeaker, the distance between the two devices is calculated through the time delay of the two interaction sides for respectively receiving the sound signal sent by the other side and the two interaction sides, the process is automatically completed by each device in the system, manual measurement is not needed, the debugging time of the distributed conference system is greatly shortened, and the debugging efficiency of the distributed conference system is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a pictorial diagram illustrating a distributed conferencing system in accordance with an exemplary embodiment;

FIG. 2 is a flow chart illustrating a method of device relative location information acquisition according to an example embodiment;

FIG. 3 is a flow chart illustrating a method of device relative location information acquisition according to another exemplary embodiment;

FIG. 4 is a schematic diagram of the orientation of a first device and a second device as shown in the embodiment of FIG. 3;

FIG. 5 is a schematic view of an alternative orientation of the first device and the second device shown in the embodiment of FIG. 3;

FIG. 6 is a block diagram illustrating an apparatus for acquiring relative location information of a device according to an exemplary embodiment;

fig. 7 is a block diagram illustrating a structure of an electronic device according to an example embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.

It is to be understood that reference herein to "a number" means one or more and "a plurality" means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

For convenience of understanding, terms referred to in the embodiments of the present disclosure are explained below.

1) Microphone array

A microphone array is composed of a number of acoustic sensors, which are generally referred to herein as microphones. A microphone array is a system used to sample and process the spatial characteristics of a sound field. The microphone array may be applied in an audio receiving module of a terminal or a computer device for receiving a processed audio signal.

2) Distributed conference system

The distributed conference system comprises system modules such as a central control system, a local conference system, a video conference system, a sound amplification and recording system, a projection display system and a monitoring system. The distributed conference system realizes intelligent management and control of the conference system through intelligent equipment.

Fig. 1 is a block diagram illustrating a distributed conferencing system in accordance with an exemplary embodiment. As shown in fig. 1, the system is a distributed conference system 100, and includes at least two devices 110, where any one device 110 includes a sound receiving apparatus 120 and a sound emitting apparatus 130.

The device 110 may be a terminal or a computer device having both voice signal transmission and voice signal reception capabilities.

For example, the device 110 may be a sound pickup device in a distributed conference system, and the sound pickup device has a sound playing function (i.e., comprises a speaker assembly).

Therein, the sound receiving means 120 in the device 110 may be implemented as a microphone assembly and the sound emitting means 130 may be implemented as a speaker assembly.

The sound signal that sound emission device 130 can emit is a high-frequency sound wave signal, which can be a high-frequency sound wave signal larger than 20000Hz generally, because the normal audible sound wave frequency range of human ears is 20-20000Hz, the human ears that emit the high-frequency sound wave signal larger than 20000Hz cannot hear the sound wave signal, and cannot affect the normal conference.

Alternatively, the devices 110 may be connected to each other through a communication network. Optionally, the communication network is a wired network or a wireless network.

Optionally, the wireless or wired networks described above use standard communication techniques and/or protocols. The Network is typically the Internet, but can be any Network including, but not limited to, a Local Area Network (LAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a mobile, wired or wireless Network, a private Network, or any combination of virtual private networks. In some embodiments, data exchanged over a network is represented using techniques and/or formats including HyperText Mark-up Language (HTML), Extensible Mark-up Language (XML), and the like. All or some of the links may also be encrypted using conventional encryption techniques such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Network (VPN), Internet Protocol Security (IPsec). In other embodiments, custom and/or dedicated data communication techniques may also be used in place of, or in addition to, the data communication techniques described above.

Fig. 2 is a flowchart illustrating a method for acquiring relative location information of a device according to an exemplary embodiment. The device relative position information acquiring method can be applied to a distributed conference system to acquire relative position information of each device in the system, wherein the device comprises a microphone component and a loudspeaker component, for example, the system can be the distributed conference system 100 shown in fig. 1, the system comprises a first device and a second device, the first device comprises a first microphone component and a first loudspeaker component, and the second device comprises a second microphone component and a second loudspeaker component; the device relative position information acquisition method is executed by a first device. As shown in fig. 2, the device relative position information acquisition method may include the steps of:

in step 201, a first time delay is obtained, the first time delay being a time delay between the first sound signal being played from the first speaker assembly and the first sound signal being received by the first microphone assembly.

In step 202, a second delay is obtained, where the second delay is a delay between playing a second sound signal from the second speaker to the first microphone assembly receiving the second sound signal.

In step 203, a third delay and a fourth delay sent by the second device are received, where the third delay is a delay between the second sound signal being played from the second speaker assembly and the second sound signal being received by the second microphone assembly, and the fourth delay is a delay between the first sound signal being played from the first speaker assembly and the first sound signal being received by the second microphone assembly.

In step 204, a distance between the first device and the second device is obtained according to the first time delay, the second time delay, the third time delay and the fourth time delay.

In step 205, relative position information between the first device and the second device is obtained according to the distance between the first device and the second device.

Optionally, the obtaining the distance between the first device and the second device according to the first time delay, the second time delay, the third time delay, and the fourth time delay includes:

calculating sound propagation delay generated by the distance between the first equipment and the second equipment according to the first delay, the second delay, the third delay and the fourth delay;

the distance between the first device and the second device is calculated based on the sound propagation delay generated by the distance between the first device and the second device.

Optionally, the calculating a sound propagation delay generated by a distance between the first device and the second device according to the first delay, the second delay, the third delay and the fourth delay includes:

Optionally, the obtaining the second delay includes:

the second time delay is obtained according to a difference between a time point when the first microphone assembly receives the second sound signal and a time point when the second speaker plays the second sound signal.

and acquiring the time point of the second sound signal played by the second loudspeaker, which is sent by the second device.

Optionally, the method further includes:

and sending the first delay and the second delay to the second device.

Optionally, before obtaining the relative location information between the first device and the second device according to the distance between the first device and the second device, the method further includes:

determining a first direction included angle according to the second sound signal and a sound source positioning algorithm, wherein the first direction included angle is an included angle between the direction of the second equipment relative to the first equipment and the direction of the first microphone array;

receiving a second direction included angle sent by the second device, wherein the second direction included angle is an included angle between the direction of the first device relative to the second device and the direction of the second microphone array;

acquiring a relative direction between the first device and the second device according to the first direction angle and the second direction angle, wherein the relative direction comprises an angle between the orientation of the first microphone array and the orientation of the second microphone array;

the obtaining of the relative position information between the first device and the second device according to the distance between the first device and the second device includes:

In summary, in a system including a first device and a second device, the first device includes a first microphone assembly and a first speaker assembly, the second device includes a second microphone assembly and a second speaker assembly, the first device acquires a first time delay from playing a first sound signal from the first speaker assembly to receiving the first sound signal by the first microphone assembly, and acquires a second time delay from playing a second sound signal from the second speaker to receiving a second sound signal by the first microphone assembly, and the first device receives a third time delay and a fourth time delay transmitted by the second device, the third time delay is a time delay from playing the second sound signal from the second speaker assembly to receiving the second sound signal by the second microphone assembly, the fourth time delay is the time delay from the first loudspeaker playing the first sound signal to the second microphone assembly receiving the first sound signal, then the distance between the first device and the second device is obtained according to the first time delay, the second time delay, the third time delay and the fourth time delay, and finally the relative position information between the first device and the second device is obtained according to the distance between the first device and the second device; through the scheme, each device in the distributed conference system sends the sound signal through the respective loudspeaker, the distance between the two devices is calculated through the time delay of the two interaction sides for respectively receiving the sound signal sent by the other side and the two interaction sides, the process is automatically completed by each device in the system, manual measurement is not needed, the debugging time of the distributed conference system is greatly shortened, and the debugging efficiency of the distributed conference system is improved.

Fig. 3 is a flowchart illustrating a device relative position information acquiring method according to another exemplary embodiment, which may be applied to a distributed conference system to acquire relative position information of devices in the system, where the devices include a microphone assembly and a speaker assembly, for example, the system may be the distributed conference system 100 shown in fig. 1. The system comprises a first device and a second device, wherein the first device comprises a first microphone assembly and a first loudspeaker assembly, and the second device comprises a second microphone assembly and a second loudspeaker assembly; the device relative position information acquisition method is executed by a first device. As shown in fig. 3, the method for acquiring relative location information of a device may include the steps of:

in step 301, the first device obtains a first time delay, where the first time delay is a time delay between the first device playing the first sound signal from the first speaker assembly and the first microphone assembly receiving the first sound signal.

In the embodiment of the present disclosure, the first device plays the first sound signal through the first speaker assembly, the first microphone assembly of the first device receives the first sound signal, and the period from playing to receiving is obtained as the first time delay.

Optionally, the first device may record a time point when the first speaker plays the first sound signal, record a time point when the first microphone assembly receives the first sound signal, and perform difference calculation on the two time points to obtain the first time delay.

In step 302, the first device obtains a second delay, where the second delay is a time delay from when the second sound signal is played by the second speaker to when the second sound signal is received by the first microphone assembly.

In this embodiment, the first device may obtain the time as the second time delay by obtaining a time point when the second speaker assembly emits the second sound signal and a time point when the first microphone assembly of the first device receives the second sound signal.

Optionally, the first device may obtain a time point when the second speaker plays the second sound signal, record a time point when the first microphone assembly receives the second sound signal, and obtain a difference between the time point when the first microphone assembly receives the second sound signal and the time point when the second speaker plays the second sound signal as the second time delay.

The first device may acquire a time point when the second speaker plays the second sound signal, where one of the two modes is that the first sound signal and the second sound signal are defaulted to have the same playing time, that is, the first device may directly acquire the time point when the first speaker plays the first sound signal as the time point when the second speaker plays the second sound signal; alternatively, the first device may be obtained through a data transmission channel connected with a second device through a wired or wireless connection, and the second device transmits a time point at which the second speaker plays the second sound signal.

In step 303, the first device receives a third delay and a fourth delay sent by the second device, where the third delay is a delay between the second sound signal being played from the second speaker assembly and the second sound signal being received by the second microphone assembly, and the fourth delay is a delay between the first sound signal being played from the first speaker assembly and the first sound signal being received by the second microphone assembly.

In the embodiment of the present disclosure, the first device receives, through a wired or wireless communication network, the third delay and the fourth delay obtained by the second device.

The third delay may be a delay of receiving, by the second microphone assembly, the second sound signal played by the second speaker and obtained by the second device. The fourth time delay may be a time delay of the first sound signal played by the first speaker acquired by the second device being received by the second microphone assembly.

The periodic orthogonal signal may be any periodic orthogonal signal.

Step 304, the first device calculates a sound propagation delay generated by a distance between the first device and the second device according to the first delay, the second delay, the third delay and the fourth delay.

Optionally, the step of calculating, by the first device, the sound propagation delay generated by the distance between the first device and the second device may be as follows:

1) obtaining a first delay difference value, wherein the first delay difference value is a delay difference value between the fourth delay and the first delay.

2) And acquiring a second time delay difference value, wherein the second time delay difference value is a time delay difference value between the second time delay and the third time delay.

3) And averaging the first time delay difference value and the second time delay difference value to obtain the sound propagation time delay generated by the distance between the first equipment and the second equipment.

For example, if the first audio signal played by the first device is S_A(t), the second sound signal played by the second device is S_B(t) a first time delay of

A second time delay of

A third time delay of

A fourth time delay of

The equation relationship that can be obtained is:

wherein, tau^(T)Is the second device transmitting S_B(t) timing of the signal with respect to the first device transmitting S_A(t) time delay of the signal, τ^(S)Is the sound propagation delay caused by the distance between the first device and the second device.

The sound propagation delay tau can be calculated according to the equality relation^(S)Comprises the following steps:

the first device calculates 305 the distance between the first device and the second device based on the sound propagation delay generated by the distance between the first device and the second device.

Alternatively, the distance between the first device and the second device may be obtained by multiplying the sound propagation delay by the speed of sound.

For example, if the sound propagation delay is τ^(S)And the speed of sound is c, the distance between the first device and the second device is c,

d＝τ^(S)·c。

optionally, the first device sends the first delay and the second delay to the second device.

In the embodiment of the present disclosure, the first device may also transmit the first delay and the second delay to the second device through a wired or wireless communication network, so that the second device may calculate the distance between the first device and the second device through the

above steps

304 and 305.

Optionally, the second device may have the same data processing and calculation capabilities as the first device, and the second device may calculate the latency data simultaneously with the first device.

In another possible implementation manner, the first device may also send the calculated distance between the first device and the second device to the second device through a wired or wireless network.

Step 306, the first device determines a first directional angle according to the second sound signal and a sound source localization algorithm, where the first directional angle is an angle between a direction of the second device relative to the first device and an orientation of the first microphone array.

In the embodiment of the present disclosure, the first included angle is calculated by the first device according to the second sound signal by using a sound source localization method.

Step 307, the first device receives a second directional angle sent by the second device, where the second directional angle is an angle between a direction of the first device relative to the second device and an orientation of the second microphone array.

In the embodiment of the present disclosure, the second direction angle is calculated by the second device according to the first sound signal by using the sound source localization method.

The first equipment and the second equipment can respectively locate the included angle between the direction of each other and the orientation of the microphone array of the first equipment and the second equipment through the same sound source locating method.

Alternatively, the sound source localization method may be a Generalized Cross Correlation-PHAse Transformation method (GCC-PHAT) or a controlled Response beam method (SRP).

Step 308, the first device obtains a relative direction between the first device and the second device according to the first direction angle and the second direction angle, where the relative direction includes an angle between the facing direction of the first microphone array and the facing direction of the second microphone array.

For example, taking the microphone array in each device as a linear array as an example, please refer to fig. 4, where fig. 4 is a schematic diagram of the directions of the first device and the second device according to this embodiment, as shown in fig. 4, the first direction included angle 401 obtained by the sound source localization method is θ^(R→T)The second included angle 402 is θ^(T→R)The angle 403 between the orientations of the first device and the second device is θ. From the sum of the internal angles of the triangles being 180 °, the following equation can be obtained:

(90°-θ^(R→T))+(90°-θ^(T-R))+(180°-θ)＝180°；

the angle 403 between the orientations of the first device and the second device can be calculated as:

θ＝π-θ^(R→T)-θ^(T→R)：

FIG. 5 shows another first embodiment of the present inventionSchematic diagram of the orientation of a device and a second device, as shown in fig. 5, the first direction included angle 501 is θ obtained by a sound source positioning method^(R→T)The second included angle 502 is theta^(T→R)The angle 503 between the orientations of the first device and the second device is θ. From the sum of the triangle interior angles being 180 °, the following equation can be obtained:

(90°+θ^(R→T))+(90°-θ^(T→R))+(180°-θ)＝180°；

the angle 503 between the orientations of the first device and the second device can be calculated as:

θ＝π+θ^(R→T)-θ^(T→R)；

step 309, the first device obtains the distance between the first device and the second device and the relative direction as the relative position information.

In this embodiment of the present disclosure, the first device may be any one of the devices, and each device in the distributed conference system may obtain the relative location information between itself and each of the other devices according to the scheme shown in the foregoing steps.

In summary, in a system including a first device and a second device, the first device includes a first microphone assembly and a first speaker assembly, the second device includes a second microphone assembly and a second speaker assembly, the first device obtains a first time delay from playing a first sound signal by the first speaker assembly to receiving the first sound signal by the first microphone assembly, and obtains a second time delay from playing a second sound signal by the second speaker to receiving a second sound signal by the first microphone assembly, and the first device receives a third time delay and a fourth time delay transmitted by the second device, where the third time delay is a time delay from playing the second sound signal by the second speaker assembly to receiving the second sound signal by the second microphone assembly, the fourth time delay is the time delay from the first loudspeaker playing the first sound signal to the second microphone assembly receiving the first sound signal, then the distance between the first device and the second device is obtained according to the first time delay, the second time delay, the third time delay and the fourth time delay, and finally the relative position information between the first device and the second device is obtained according to the distance between the first device and the second device; through the scheme, each device in the distributed conference system sends the sound signal through the respective loudspeaker, the distance between the two devices is calculated through the time delay of the two interaction sides for respectively receiving the sound signal sent by the other side and the two interaction sides, the process is automatically completed by each device in the system, manual measurement is not needed, the debugging time of the distributed conference system is greatly shortened, and the debugging efficiency of the distributed conference system is improved.

Fig. 6 is a block diagram illustrating an apparatus for acquiring relative location information of devices according to an exemplary embodiment, as shown in fig. 6, the method for acquiring relative location information of devices including a microphone assembly and a speaker assembly in a distributed conference system, such as the distributed conference system 100 shown in fig. 1, may be applied to the distributed conference system to acquire relative location information of the devices in the system; the system comprises a first device and a second device, wherein the first device comprises a first microphone assembly and a first loudspeaker assembly, and the second device comprises a second microphone assembly and a second loudspeaker assembly; the device is used in the first equipment for example.

As shown in fig. 6, the device relative position information acquiring means may include:

a first time delay obtaining module 601, configured to obtain a first time delay, where the first time delay is a time delay from when a first sound signal is played by the first speaker assembly to when the first sound signal is received by the first microphone assembly;

a second delay obtaining module 602, configured to obtain a second delay, where the second delay is a delay from when a second sound signal is played by the second speaker to when the second sound signal is received by the first microphone assembly;

a delay receiving module 603, configured to receive a third delay and a fourth delay sent by the second device, where the third delay is a delay between the second sound signal being played from the second speaker assembly and the second sound signal being received by the second microphone assembly, and the fourth delay is a delay between the first sound signal being played from the first speaker assembly and the first sound signal being received by the second microphone assembly;

a distance obtaining module 604, configured to obtain a distance between the first device and the second device according to the first time delay, the second time delay, the third time delay, and the fourth time delay;

an information obtaining module 605, configured to obtain relative position information between the first device and the second device according to a distance between the first device and the second device.

Optionally, the distance obtaining module 604 includes:

Optionally, the distance calculating sub-module is configured to,

Optionally, the second time delay obtaining module 602 includes:

Optionally, the first time obtaining sub-module is configured to,

Optionally, the apparatus further comprises:

and a delay sending module, configured to send the first delay and the second delay to the second device.

Optionally, the apparatus further comprises:

a relative direction obtaining module, configured to obtain a relative direction between the first device and the second device according to the first direction angle and the second direction angle, where the relative direction includes an angle between an orientation of the first microphone array and an orientation of the second microphone array;

the information obtaining module 605 includes:

It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the above functional modules is illustrated, and in practical applications, the above functions may be distributed by different functional modules according to actual needs, that is, the content structure of the device is divided into different functional modules, so as to complete all or part of the functions described above.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

An exemplary embodiment of the present disclosure provides an apparatus relative position information acquiring apparatus, where the apparatus relative position information acquiring apparatus may be implemented as all or part of a computer device or a terminal in a hardware or software and hardware combination manner, and may implement all or part of the steps in any one of the embodiments shown in fig. 2 or fig. 3 in the present disclosure, where the apparatus relative position information acquiring method may be applied to a distributed conference system to acquire relative position information of each apparatus in the system, where the apparatus includes a microphone component and a speaker component, and for example, the system may be the distributed conference system 100 shown in fig. 1; the system comprises a first device and a second device, wherein the first device comprises a first microphone assembly and a first loudspeaker assembly, and the second device comprises a second microphone assembly and a second loudspeaker assembly; the device is used in the first equipment for example. The device relative position information acquisition apparatus further includes: a processor, a memory for storing processor-executable instructions;

wherein the processor is configured to:

obtaining a second time delay, where the second time delay is a time delay from when a second sound signal is played by the second speaker to when the second sound signal is received by the first microphone assembly;

Optionally, the obtaining the second time delay includes:

and acquiring the time point of the second sound signal played by the second loudspeaker, which is sent by the second equipment.

Optionally, the method further includes:

obtaining a relative direction between the first device and the second device according to the first direction included angle and the second direction included angle, wherein the relative direction comprises an included angle between the orientation of the first microphone array and the orientation of the second microphone array;

Fig. 7 shows a block diagram of an electronic device 700 provided in an exemplary embodiment of the present disclosure. The electronic device 700 may be: pickup equipment in a distributed conferencing system. For example, the electronic device may be implemented as device 110 in fig. 1.

In general, the electronic device 700 includes: a processor 701 and a memory 702.

The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array).

Memory 702 may include one or more computer-readable storage media, which may be non-transitory. Memory 702 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 702 is used to store at least one instruction for execution by the processor 701 to implement the method for acquiring relative position information of a device provided by the method embodiments in the present disclosure.

In some embodiments, the electronic device 700 may further optionally include: a peripheral interface 703 and at least one peripheral. The processor 701, memory 702, and peripheral interface 703 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 704, touch display 705, camera 706, audio circuitry 707, positioning components 708, and power source 709.

The peripheral interface 703 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 701 and the memory 702. In some embodiments, the processor 701, memory 702, and peripheral interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 704 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals.

In some embodiments, the electronic device 700 also includes one or more sensors 710. The one or more sensors 710 include, but are not limited to: acceleration sensor 711, gyro sensor 712, pressure sensor 713, fingerprint sensor 714, optical sensor 715, and proximity sensor 716.

Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the electronic device 700 and may include more or fewer components than those shown, or combine certain components, or employ a different arrangement of components.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, which may be a computer readable storage medium contained in a memory of the above embodiments; or it may be a separate computer-readable storage medium not incorporated into the terminal. The computer readable storage medium has at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, which is loaded and executed by the processor to implement the method for acquiring relative position information of devices as described in fig. 2 or fig. 3.

Optionally, the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), Solid State Drive (SSD), or optical disc. The Random Access Memory may include a Resistance Random Access Memory (ReRAM) and a Dynamic Random Access Memory (DRAM). The above-mentioned serial numbers of the embodiments of the present disclosure are merely for description and do not represent the merits of the embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk.

The above description is intended only to illustrate the preferred embodiments of the present disclosure, and should not be taken as limiting the disclosure, as any modifications, equivalents, improvements and the like which are within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. The method is characterized in that the method is used in a distributed conference system comprising a first device and a second device, wherein the first device comprises a first microphone component and a first loudspeaker component, and the second device comprises a second microphone component and a second loudspeaker component; the method is performed by the first device, the method comprising:

in response to the first device playing a first sound signal, obtaining a first time delay and a fourth time delay, the first time delay being the time delay between the first sound signal being played from the first speaker assembly and the first sound signal being received by the first microphone assembly; the fourth time delay is the time delay between the first sound signal being played from the first speaker assembly to the first sound signal being received by the second microphone assembly;

obtaining a second time delay and a third time delay in response to the second device playing a second sound signal, the second time delay being a time delay between playing the second sound signal from the second speaker and the first microphone assembly receiving the second sound signal; the third time delay is a time delay between the second sound signal being played from the second speaker component to the second microphone component receiving the second sound signal;

acquiring a first time delay difference value and a second time delay difference value, wherein the first time delay difference value is a time delay difference value between the fourth time delay and the first time delay; the second delay difference is a delay difference between the second delay and the third delay;

averaging the first time delay difference value and the second time delay difference value to obtain sound propagation time delay generated by the distance between the first equipment and the second equipment;

calculating the distance between the first device and the second device according to the sound propagation delay generated by the distance between the first device and the second device;

determining a first direction included angle according to the second sound signal and a sound source positioning algorithm, wherein the first direction included angle is an included angle between the direction of the second device relative to the first device and the orientation of the first microphone assembly;

receiving a second direction included angle sent by the second device, where the second direction included angle is an included angle between a direction of the first device relative to the second device and an orientation of the second microphone assembly;

acquiring a relative direction between the first equipment and the second equipment according to the first direction included angle and the second direction included angle, wherein the relative direction comprises an included angle between the orientation of the first microphone assembly and the orientation of the second microphone assembly;

acquiring relative position information between the first device and the second device according to the distance between the first device and the second device and the relative direction; the relative position information is used for debugging the distributed conference system.

2. The method of claim 1, wherein obtaining the second delay comprises:

3. The method of claim 2, wherein the playing time of the first sound signal and the playing time of the second sound signal are the same, and the obtaining the time point of the second speaker playing the second sound signal comprises:

4. The method of claim 2, wherein the obtaining the time point at which the second speaker plays the second sound signal comprises:

5. The method of claim 1, further comprising:

6. The method according to any one of claims 1 to 5, wherein the first sound signal and the second sound signal are periodic orthogonal signals of high frequency.

7. An apparatus for acquiring relative position information of devices, the apparatus being used in a distributed conference system including a first device and a second device, the first device including a first microphone component and a first speaker component, the second device including a second microphone component and a second speaker component; the apparatus is used in the first device, and the apparatus comprises:

a first time delay obtaining module, configured to obtain a first time delay and a fourth time delay in response to the first device playing a first sound signal, where the first time delay is a time delay from playing a first sound signal by the first speaker assembly to receiving the first sound signal by the first microphone assembly; the fourth time delay is the time delay between the first sound signal being played from the first speaker assembly to the first sound signal being received by the second microphone assembly;

a second delay obtaining module, configured to obtain a second delay and a third delay in response to the second device playing a second sound signal, where the second delay is a delay from playing a second sound signal by the second speaker to receiving the second sound signal by the first microphone assembly; the third delay is a delay between the second sound signal being played from the second speaker assembly to the second microphone assembly receiving the second sound signal;

a distance obtaining module, configured to obtain a first delay difference value and a second delay difference value, where the first delay difference value is a delay difference value between the fourth delay and the first delay; the second delay difference is a delay difference between the second delay and the third delay;

the distance obtaining module is configured to average the first time delay difference value and the second time delay difference value to obtain a sound propagation delay generated by a distance between the first device and the second device;

the distance acquisition module is used for calculating the distance between the first equipment and the second equipment according to sound propagation delay generated by the distance between the first equipment and the second equipment;

a first included angle determining module, configured to determine a first direction included angle according to the second sound signal and a sound source localization algorithm before obtaining the relative position information between the first device and the second device according to the distance between the first device and the second device, where the first direction included angle is an included angle between a direction of the second device relative to the first device and an orientation of the first microphone assembly;

a second included angle receiving module, configured to receive a second direction included angle sent by the second device, where the second direction included angle is an included angle between a direction of the first device relative to the second device and an orientation of the second microphone assembly;

a relative direction obtaining module, configured to obtain a relative direction between the first device and the second device according to the first direction included angle and the second direction included angle, where the relative direction includes an included angle between an orientation of the first microphone assembly and an orientation of the second microphone assembly;

an information obtaining module, configured to obtain relative position information between the first device and the second device according to a distance between the first device and the second device and the relative direction; the relative position information is used for debugging the distributed conference system.

8. The apparatus of claim 7, wherein the second latency acquisition module comprises:

a second time obtaining sub-module, configured to obtain a time point when the first microphone assembly receives the second sound signal;

9. The apparatus of claim 8, wherein the playing time of the first sound signal and the second sound signal is the same, and the first time obtaining sub-module is configured to,

10. The apparatus of claim 8,

the first time obtaining sub-module is configured to obtain a time point when the second sound signal is played by the second speaker, where the time point is sent by the second device.

11. The apparatus of claim 7, further comprising:

12. The apparatus of any of claims 7 to 11, wherein the first and second sound signals are high frequency periodic quadrature signals.

13. An apparatus for acquiring relative position information of devices, the apparatus being used in a distributed conference system including a first device and a second device, the first device including a first microphone component and a first speaker component, the second device including a second microphone component and a second speaker component; the apparatus is used in the first device, and the apparatus comprises:

a processor;

a memory for storing executable instructions of the processor;

wherein the processor is configured to:

obtaining a second time delay and a third time delay in response to the second device playing a second sound signal, the second time delay being a time delay from when the second sound signal is played by the second speaker to when the second sound signal is received by the first microphone assembly; the third time delay is a time delay between the second sound signal being played from the second speaker component to the second microphone component receiving the second sound signal;

acquiring a relative direction between the first device and the second device according to the first direction included angle and the second direction included angle, wherein the relative direction comprises an included angle between the orientation of the first microphone assembly and the orientation of the second microphone assembly;

14. A computer-device-readable storage medium, wherein the computer-device-readable storage medium contains executable instructions, and the executable instructions are called and executed by a processor to implement the method for obtaining the relative position information of the device according to any one of claims 1 to 6.