Acoustic imaging processing method and acoustic imaging equipment

Abstract

The invention provides an acoustic imaging processing method and acoustic imaging equipment. The method comprises the following steps: acquiring audio data of each microphone in a microphone array of an acoustic imager when the acoustic imager is located in a current space; based on the audio data of each microphone, determining a current maximum sound intensity point coordinate corresponding to the current space, the current maximum sound intensity point coordinate being used for representing the position of a sound source; determining a reference microphone according to the current maximum sound intensity point coordinate and a mapping relation between each maximum sound intensity point coordinate obtained in a calibration process and each microphone priority list; and displaying a sound source imaging result based on the audio data of the reference microphone. According to the invention, the reference microphone can be rapidly and accurately selected, and the determined reference microphone can optimally reflect the actual characteristics of the sound source in the current space.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sound source positioning, in particular to an acoustic imaging processing method and an acoustic imaging device. BACKGROUND

[0002] An acoustic imager is a device that combines acoustic imaging technology and electromagnetic imaging technology to superimpose an echogram and an electromagnetic image to visually display the distribution state of a sound source. The acoustic imager generally determines a sound source based on microphone array measurement technology. Specifically, the acoustic imager includes a microphone array, each microphone in the microphone array can collect sound data, and through analysis of the sound data collected by the microphone, the sound source characteristics corresponding to the microphone can be obtained. For the same sound source, the sound source characteristics reflected by each microphone in the microphone array are different, therefore, how to determine the best microphone that can reflect the sound source characteristics is crucial to the acoustic imager.

[0003] In the existing technology, a certain fixed microphone data or average data of multiple microphones is generally used as reference microphone data, but due to factors such as microphone quality control, assembly error, and shell shielding, the reference microphone data obtained by the existing method cannot well reflect the actual characteristics of the sound source. SUMMARY

[0004] The present application aims to solve the above problems in the prior art, and provides an acoustic imaging processing method and an acoustic imaging device, which can better reflect the actual characteristics of the sound source.

[0005] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows: In a first aspect, the embodiments of the present application provide an acoustic imaging processing method, which comprises: obtaining audio data of each microphone in a microphone array of an acoustic imager when the acoustic imager is located in a current space; determining a current maximum sound intensity point coordinate corresponding to the current space based on the audio data of each microphone, the current maximum sound intensity point coordinate being used to represent the location of a sound source; determining a reference microphone according to the current maximum sound intensity point coordinate and a mapping relationship between each maximum sound intensity point coordinate obtained in a calibration process and a priority list of each microphone; displaying a sound source imaging result based on the audio data of the reference microphone.

[0006] Optionally, the determination of a faulty microphone and a current maximum sound intensity point coordinate corresponding to the current space based on the audio data of each microphone comprises: Based on the audio data of each microphone and the microphone array information, the coordinates of the current maximum sound intensity point are determined. The array information includes the position information of each microphone in the microphone array.

[0007] Optionally, determining the coordinates of the current maximum sound intensity point based on the audio data of each microphone and the microphone array information includes: Based on the audio data of each microphone and the array information of the microphones, the relative sound intensity distribution analysis algorithm is used to determine the current relative sound intensity distribution matrix corresponding to the current space. The relative sound intensity value of each element in the current relative sound intensity distribution matrix is ​​used to characterize the relative sound intensity value of each position on the two-dimensional plane mapped by the current space. The coordinates of the current maximum sound intensity point are determined based on the relative sound intensity values ​​of each element in the current relative sound intensity distribution matrix.

[0008] Optionally, after acquiring the audio data of each microphone in the microphone array of the acoustic imager when the acoustic imager is located in the current space, the method further includes: Convert the audio data from each of the microphones into frequency domain data; The faulty microphone corresponding to the current space is determined based on the frequency domain data of each microphone.

[0009] Optionally, determining the faulty microphone based on the frequency domain data of each of the microphones includes: The frequency domain amplitude of the first preset frequency is determined from the frequency domain data of each microphone, the frequency domain amplitude of each microphone is obtained, and a reference frequency domain amplitude is determined from each frequency domain amplitude. Calculate the difference between the frequency domain amplitude of each microphone and the reference frequency domain amplitude to obtain the difference corresponding to each microphone; The faulty microphone is determined based on the difference between each microphone and a preset threshold.

[0010] Optionally, determining the reference microphone based on the current maximum sound intensity point coordinates and the mapping relationship between the coordinates of each maximum sound intensity point obtained during the calibration process and each microphone priority list includes: The maximum sound intensity point coordinates that match the current maximum sound intensity point coordinates are determined from the mapping relationship between the coordinates of each maximum sound intensity point and the priority list of each microphone, and the target maximum sound intensity point coordinates are obtained. The list of microphone priorities that has a mapping relationship with the coordinates of the target maximum sound intensity point is used as the target microphone priority list; The highest priority microphone in the target microphone priority list, excluding the faulty microphone, is used as the reference microphone.

[0011] Optionally, the process of establishing the mapping relationship between the coordinates of each maximum sound intensity point and each microphone priority list is as follows: During the calibration process, calibration audio data of each microphone in the microphone array at different locations in the calibration space are acquired to obtain multiple calibration audio data corresponding to each location. Based on the multiple calibration audio data corresponding to each location, determine the microphone priority list and the coordinates of the point with the maximum sound intensity for each location; The mapping relationship is established based on the microphone priority list corresponding to each location and the coordinates of the point with the maximum sound intensity.

[0012] Optionally, determining the microphone priority list and the coordinates of the maximum sound intensity point corresponding to each location based on multiple calibration audio data corresponding to each location includes: Each calibration audio data point at each location is converted into calibration frequency domain data corresponding to each calibration audio data point, thus obtaining multiple calibration frequency domain data points at each location. Based on the multiple calibrated frequency domain data corresponding to each location and the preset frequency domain amplitude of the second preset frequency, the microphones at each location are prioritized to obtain a microphone priority list corresponding to each location. Based on multiple calibration frequency domain data and microphone array information corresponding to each location, the coordinates of the maximum sound intensity point at each location are determined using a relative sound intensity distribution analysis algorithm.

[0013] Optionally, the step of prioritizing the microphones at each location based on multiple calibrated frequency domain data corresponding to each location and a preset frequency domain amplitude of a second preset frequency, to obtain a microphone priority list for each location, includes: The calibration frequency domain amplitude of the second preset frequency is determined from each calibration frequency domain data in the plurality of calibration frequency domain data, and the calibration frequency domain amplitude of each microphone is obtained. The calibrated frequency domain amplitude of each microphone is compared with the preset frequency domain amplitude to obtain multiple amplitude differences; The microphones are sorted according to the magnitude of each amplitude difference to obtain the microphone priority list.

[0014] Secondly, embodiments of this application also provide an acoustic imaging device, including: a memory, a processor, and a microphone array, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the steps of the acoustic imaging processing method described in the first aspect.

[0015] The beneficial effects of this application are: This application provides an acoustic imaging processing method and an acoustic imaging device. Based on the acquired audio data of each microphone in the microphone array of the acoustic imager when it is located in the current space, the coordinates of the current maximum sound intensity point corresponding to the current space are determined. A reference microphone is determined according to the coordinates of the current maximum sound intensity point and the mapping relationship between the coordinates of each maximum sound intensity point obtained during calibration and the priority list of each microphone. The sound source imaging result is displayed based on the audio data of the reference microphone. By pre-establishing the mapping relationship between the coordinates of each maximum sound intensity point of the acoustic imager and the priority list of each microphone during the calibration process, when actually determining the best microphone in the current space, the reference microphone can be determined directly based on the determined coordinates of the current maximum sound intensity point corresponding to the current space, i.e., the location of the sound source corresponding to the current space. This allows for rapid and accurate selection of the reference microphone, and ensures that the determined reference microphone best reflects the actual characteristics of the sound source in the current space. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an acoustic imaging device provided in an embodiment of this application; Figure 2 A schematic flowchart of an acoustic imaging processing method provided in an embodiment of this application; Figure 3 A schematic diagram of a two-dimensional plane of the current space provided for an embodiment of this application; Figure 4 A schematic flowchart illustrating the second acoustic imaging processing method provided in this application embodiment; Figure 5 A schematic flowchart illustrating the third acoustic imaging processing method provided in this application embodiment; Figure 6 A schematic flowchart illustrating the fourth acoustic imaging processing method provided in this application embodiment; Figure 7 A flowchart illustrating a method for establishing a mapping relationship provided in an embodiment of this application; Figure 8 A schematic flowchart illustrating the fifth acoustic imaging processing method provided in this application embodiment; Figure 9A flowchart illustrating the sixth acoustic imaging processing method provided in this application embodiment; Figure 10 This is a structural block diagram of another acoustic imaging device provided in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0019] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0021] The acoustic imaging processing method provided in this application embodiment is applied to acoustic imaging equipment. Figure 1 This is a schematic diagram of the structure of an acoustic imaging device provided in an embodiment of this application, as shown below. Figure 1As shown, the acoustic imaging device may include a memory, a processor, and a microphone array. The memory stores a computer program executable by the processor, which executes the computer program to implement the steps of the acoustic imaging processing method provided in this embodiment. The microphone array can communicate with the processor and may include multiple microphones, each of which can be used to collect audio data. After a microphone collects audio data, it can send the collected audio data to the processor. The processor can determine a reference microphone based on the acoustic imaging processing method provided in this embodiment, and then display the sound source imaging result in the acoustic imaging device based on the audio data of the reference microphone.

[0022] Figure 2 This is a schematic flowchart illustrating an acoustic imaging processing method provided in an embodiment of this application. The execution subject of this method is as described above: acoustic imaging device. Figure 2 As shown, the method includes: S101. Acquire the audio data of each microphone in the microphone array of the acoustic imager when the acoustic imager is located in the current space.

[0023] The current space can refer to any type of space, such as a factory workshop, conference room, product testing room, acoustic laboratory, or city road. The acoustic imager may include a microphone array, which may be, for example, an M-row N-column array, with one microphone in each row and column. In this case, the microphone array includes multiple microphones, each used to collect sound.

[0024] When a sound source is present in the current space, each microphone in the microphone array of the acoustic imager will collect the sound emitted by the sound source in the current space, obtaining audio data from each microphone. This audio data refers to audio time-domain data. The processor in the acoustic imager then acquires the audio data from each microphone. However, because the microphones are located at different positions in the microphone array, the audio data collected by each microphone for the same sound source in the current space will differ.

[0025] For example, for the same sound source in the current space, each microphone in the microphone array can continuously collect the sound for a period of time to obtain the audio data of each microphone. For example, microphone 1 collects audio data 1, microphone 2 collects audio data 2, microphone 3 collects audio data 3, and microphone 4 collects audio data 4.

[0026] S102. Based on the audio data from each microphone, determine the coordinates of the current maximum sound intensity point in the current space.

[0027] The coordinates of the point with the maximum sound intensity refer to the location of the sound source, specifically, its two-dimensional coordinates on a two-dimensional plane mapped from the current space. In other words, the location of the sound source is defined as its position on this two-dimensional plane. Similarly, these two-dimensional coordinates can be converted to three-dimensional coordinates in the current space to obtain the location of the sound source within that space. The current space can be mapped to a two-dimensional plane, such as... Figure 3 As shown, the coordinates (x1, y1) of the current maximum sound intensity point can be determined on the two-dimensional plane. The coordinates (x1, y1) of the current maximum sound intensity point are the location of the sound source on the two-dimensional plane mapped in the current space.

[0028] Specifically, based on the audio data of the sound source collected by each microphone, a preset method can be used to determine the coordinates of the current maximum sound intensity point corresponding to the current space, that is, to determine the location of the sound source on the two-dimensional plane mapped to the current space.

[0029] S103. Determine the reference microphone based on the current maximum sound intensity point coordinates and the mapping relationship between the coordinates of each maximum sound intensity point obtained during the calibration process and the priority list of each microphone.

[0030] Optionally, during the calibration process, the mapping relationship between the coordinates of each maximum sound intensity point and each microphone priority list can be obtained in advance. That is, each maximum sound intensity point coordinate corresponds one-to-one with a microphone priority list, wherein the microphone priority list includes the priority of each microphone in the microphone array of the acoustic imager. For example, the microphone priority list is microphone 1 > microphone 3 > microphone 4 > microphone 2 > microphone 5.

[0031] For example, the coordinates of the maximum sound intensity point A correspond one-to-one with microphone priority list 1; the coordinates of the maximum sound intensity point B correspond one-to-one with microphone priority list 2; the coordinates of the maximum sound intensity point C correspond one-to-one with microphone priority list 3; and the coordinates of the maximum sound intensity point D correspond one-to-one with microphone priority list 4.

[0032] Specifically, a reference microphone can be selected from the microphones in the microphone array using a preset method, based on the current maximum sound intensity point coordinates and the mapping relationship between the maximum sound intensity point coordinates obtained during the calibration process and the microphone priority list.

[0033] S104. Audio data from a reference microphone is used to display the sound source imaging results.

[0034] Optionally, after determining the reference microphone, which is the best microphone that can display the sound source in the current space, the audio data of the reference microphone can be acquired, the audio data of the reference microphone can be analyzed, and the sound source imaging result can be displayed based on the audio data of the reference microphone.

[0035] In this embodiment, based on the acquired audio data of each microphone in the microphone array of the acoustic imager when it is located in the current space, the coordinates of the current maximum sound intensity point corresponding to the current space are determined. A reference microphone is determined according to the coordinates of the current maximum sound intensity point and the mapping relationship between the coordinates of each maximum sound intensity point obtained during calibration and the priority list of each microphone. The sound source imaging result is displayed based on the audio data of the reference microphone. By pre-establishing the mapping relationship between the coordinates of each maximum sound intensity point of the acoustic imager and the priority list of each microphone during the calibration process, when actually determining the best microphone in the current space, the reference microphone can be determined directly based on the determined coordinates of the current maximum sound intensity point corresponding to the current space, i.e., the location of the sound source corresponding to the current space. This allows for fast and accurate selection of the reference microphone, and ensures that the determined reference microphone best reflects the actual characteristics of the sound source in the current space.

[0036] Optionally, S102 above, determining the coordinates of the current maximum sound intensity point corresponding to the current space based on the audio data of each microphone, may include: Specifically, the coordinates of the current maximum sound intensity point can be determined based on the audio data of each microphone and the microphone array information. This array information can include the position information of each microphone within the microphone array. For example, if microphone 1 is located in the first row and first column of the microphone array, then the position information of microphone 1 is the first row and first column.

[0037] Figure 4 This is a schematic flowchart of the second acoustic imaging processing method provided in the embodiments of this application, as shown below. Figure 4 As shown, determining the coordinates of the current maximum sound intensity point based on the audio data from each microphone and the microphone array information can include: S201. Based on the audio data of each microphone and the array information of the microphones, the relative sound intensity distribution matrix corresponding to the current space is determined using a relative sound intensity distribution analysis algorithm.

[0038] The relative sound intensity values ​​of each element in the current relative sound intensity distribution matrix are used to characterize the relative sound intensity values ​​at each location on the two-dimensional plane mapped from the current space. Mapping the current space to a two-dimensional plane allows the current space to be displayed using that two-dimensional plane. Here, each element refers to the row and column coordinates of that element in the relative sound intensity distribution matrix, and the relative sound intensity value of each element refers to the relative sound intensity value at that row and column coordinates.

[0039] Among them, the relative sound intensity distribution analysis algorithm is a method for extracting spatial audio features from multi-channel audio data. Its core lies in capturing the relative energy relationship between each channel by constructing a "relative sound intensity distribution matrix", thereby characterizing the spatial distribution characteristics of the audio.

[0040] The relative sound intensity distribution matrix is ​​obtained from the audio data of each microphone in a microphone array. The core idea is to utilize beamforming technology. This method "scans" the current space by calculating the phase / time difference between the audio data of each microphone in the microphone array, obtaining the sound source intensity at different directions or locations. This yields the relative sound intensity distribution matrix, where each element represents the distribution of relative sound intensity at grid points on a two-dimensional plane mapped to the current space.

[0041] S202. Determine the coordinates of the current maximum sound intensity point based on the relative sound intensity values ​​of each element in the current relative sound intensity distribution matrix.

[0042] Specifically, the relative sound intensity values ​​of each element in the current relative sound intensity distribution matrix can be compared, and the element with the largest relative sound intensity value can be selected as the coordinates of the current maximum sound intensity point. The larger the relative sound intensity value, the more likely that the location of that relative sound intensity value is the location of the sound source on the two-dimensional plane of the current spatial mapping. For example, if the relative sound intensity value is the largest at the element (x1, y1), then (x1, y1) can be used as the coordinates of the current maximum sound intensity point.

[0043] In this embodiment, by using a relative sound intensity distribution analysis algorithm to obtain the coordinates of the current maximum sound intensity point, the robustness of spatial audio processing can be improved, the dependence on equipment and environment can be reduced, and the consistency of multi-channel audio can be enhanced.

[0044] Optionally, the above-mentioned S101, acquiring the audio data of each microphone in the microphone array of the acoustic imager when the acoustic imager is located in the current space, may include: Optionally, the audio data of each microphone can be converted into frequency domain data to obtain the frequency domain data of each microphone, and the faulty microphone corresponding to the current space can be determined based on the frequency domain data of each microphone. Here, the faulty microphone can refer to a microphone in the microphone array that, due to factors such as hardware defects, signal abnormalities, environmental interference, or software failures, causes a significant decrease in the quality of the audio data acquired by the microphone, distortion, or complete failure.

[0045] Hardware failures can refer to issues such as microphone sensor damage, short circuits, or abnormal power supply. Signal abnormalities can include a consistently zero output signal, excessive noise, abnormal frequency response, or abnormal gain. Environmental interference can include severe wind noise, mechanical vibration, or electromagnetic interference, all of which can render the signal unusable.

[0046] Figure 5 A schematic flowchart of the third acoustic imaging processing method provided in the embodiments of this application is shown below. Figure 5 As shown, the method for determining the faulty microphone based on the frequency domain data of each microphone can include: S301. Determine the frequency domain amplitude of the first preset frequency from the frequency domain data of each microphone, obtain the frequency domain amplitude of each microphone, and determine the reference frequency domain amplitude from each frequency domain amplitude.

[0047] The first preset frequency can be any frequency.

[0048] For example, the frequency domain amplitude 1 of the first preset frequency can be determined from the frequency domain data 1 of microphone 1; the frequency domain amplitude 2 of the first preset frequency can be determined from the frequency domain data 2 of microphone 2; the frequency domain amplitude 3 of the first preset frequency can be determined from the frequency domain data 3 of microphone 3; the frequency domain amplitude 4 of the first preset frequency can be determined from the frequency domain data 4 of microphone 4, and so on, to obtain the frequency domain amplitude of all microphones at the first preset frequency.

[0049] Optionally, after obtaining the frequency domain amplitude of each microphone, a frequency domain amplitude that is close to that of most microphones can be selected as a reference frequency domain amplitude, and the faulty microphone can be distinguished by the reference frequency domain amplitude.

[0050] S302. Calculate the difference between the frequency domain amplitude of each microphone and the reference frequency domain amplitude to obtain the difference corresponding to each microphone.

[0051] Specifically, the difference between the frequency domain amplitude of each microphone and the reference frequency domain amplitude can be calculated.

[0052] For example, the difference between the frequency domain amplitude 1 of microphone 1 and the reference frequency domain amplitude 1 is calculated to obtain the difference 1 corresponding to microphone 1; the difference between the frequency domain amplitude 2 of microphone 2 and the reference frequency domain amplitude 2 is calculated to obtain the difference 2 corresponding to microphone 2; the difference between the frequency domain amplitude 3 of microphone 3 and the reference frequency domain amplitude 3 is calculated to obtain the difference 3 corresponding to microphone 3; the difference between the frequency domain amplitude 4 of microphone 4 and the reference frequency domain amplitude 4 is calculated to obtain the difference 4 corresponding to microphone 4.

[0053] S303. Based on the difference between each microphone and the preset threshold, determine the faulty microphone.

[0054] The preset threshold can be determined experimentally based on the actual microphone array and application scenario. For example, during the system calibration phase, one or more microphones can be simulated to malfunction, such as blockage or short circuit. Frequency domain data of the malfunctioning microphone can be collected under typical working conditions, and the statistical distribution of the difference between the malfunctioning microphone and the normal reference value can be calculated, such as the mean and variance. A value that can effectively distinguish between normal and malfunctioning states can be selected as the threshold. For example, the mean plus three times the variance can be selected as the preset threshold.

[0055] Specifically, microphones with differences exceeding the preset threshold can be designated as faulty microphones. For example, if the difference 1 mentioned above is greater than the preset threshold, then microphone 1 corresponding to the difference 1 will be designated as a faulty microphone.

[0056] In this embodiment, faulty microphones in the microphone array in the current space are pre-determined to facilitate the selection of reference microphones. This allows faulty microphones to be automatically eliminated when selecting reference microphones, thus avoiding interference from faulty microphones.

[0057] Figure 6 This is a flowchart illustrating the fourth acoustic imaging processing method provided in the embodiments of this application, as shown below. Figure 6 As shown, S103 above, determining the reference microphone based on the current maximum sound intensity point coordinates and the mapping relationship between the coordinates of each maximum sound intensity point obtained during the calibration process and each microphone priority list, may include: S401. Determine the coordinates of the maximum sound intensity point that matches the current maximum sound intensity point coordinates from the mapping relationship between the coordinates of each maximum sound intensity point and the priority list of each microphone, and obtain the target maximum sound intensity point coordinates.

[0058] For example, if the current maximum sound intensity point coordinates are (x1, y1), then (x1, y1) is determined from the maximum sound intensity point coordinates in the mapping relationship between each maximum sound intensity point coordinate and each microphone priority list. If the maximum sound intensity point coordinate A in the previous example is (x1, y1), then the maximum sound intensity point coordinate A can be used as the target maximum sound intensity point coordinate.

[0059] S402. Use the list of microphone priorities that are mapped to the coordinates of the target's maximum sound intensity point as the target microphone priority list.

[0060] For example, if the coordinates of the loudest point A and the microphone priority list 1 have a one-to-one correspondence, and the coordinates of the loudest point A are the target coordinates of the loudest point A, then the microphone priority list 1 that has a mapping relationship with the coordinates of the loudest point A can be used as the target microphone priority list, and the microphone priority list 1 is: microphone 1 > microphone 3 > microphone 4 > microphone 2 > microphone 5.

[0061] S403. Select the highest priority microphone in the target microphone priority list, excluding the faulty microphone, as the reference microphone.

[0062] For example, if the faulty microphone identified above is microphone 1, and the microphone with the highest priority other than microphone 1 in microphone priority list 1 is microphone 3, then microphone 3 can be used as the reference microphone.

[0063] In this embodiment, by mapping the coordinates of the maximum sound intensity points obtained from the faulty microphone and the calibration process to the priority list of each microphone, the reference microphone corresponding to the current space is determined. This makes the determined reference microphone more accurate and better able to display the characteristics of the sound source in the current space. For different spaces, the reference microphone corresponding to different spaces can be quickly determined.

[0064] Figure 7 A flowchart illustrating a method for establishing a mapping relationship provided in an embodiment of this application is shown below. Figure 7 As shown, the process of establishing the mapping relationship between the coordinates of each maximum sound intensity point and each microphone priority list may include: S501. During the calibration process, acquire the calibration audio data of each microphone in the microphone array at different locations in the calibration space, and obtain multiple calibration audio data corresponding to each location.

[0065] Optionally, a calibration space can be pre-built, such as a soundproof room. A sound generator is fixed at a fixed position within the soundproof room. During calibration, the microphone array can be placed at multiple different positions in front of the sound generator, where these different positions refer to their spatial locations within the actual calibration space. At each position, each microphone in the microphone array can collect the calibration sound source emitted by the sound generator, obtaining calibration audio data for each microphone at different positions. Thus, multiple calibration audio data points correspond to each position. The calibration sound source can be a sound with frequency F and amplitude A1.

[0066] For example, at position 1, calibration audio data collected by each microphone can be obtained. Position 1 corresponds to multiple calibration audio data sets, such as calibration audio data s1 for microphone 1, s2 for microphone 2, s3 for microphone 3, etc. Similarly, when the microphone array is moved to position 2 in the calibration space, calibration audio data collected by each microphone can be obtained. Position 2 corresponds to multiple calibration audio data sets, such as calibration audio data v1 for microphone 1, v2 for microphone 2, v3 for microphone 3, etc. Likewise, when the microphone array is moved to position 3 in the calibration space, calibration audio data collected by each microphone can be obtained. Position 3 corresponds to multiple calibration audio data sets, such as calibration audio data k1 for microphone 1, k2 for microphone 2, k3 for microphone 3, etc. This process can be repeated to obtain multiple calibration audio data sets corresponding to multiple positions.

[0067] S502. Based on the multiple calibration audio data corresponding to each location, determine the microphone priority list and the coordinates of the point with the maximum sound intensity corresponding to each location.

[0068] Optionally, after the microphone array is moved, that is, after the acoustic imager is moved, the position of the sound source on the two-dimensional plane mapped in the calibration space will also move. That is, when the microphone array is in different positions, there is a maximum sound intensity point coordinate, and the maximum sound intensity point coordinates corresponding to different positions can be obtained.

[0069] Optionally, a microphone priority list for each location can be determined using a preset method based on multiple calibration audio data corresponding to each location. That is, the microphone priority list for each location can be determined using a preset method based on the calibration audio data of each microphone at each location.

[0070] For example, based on the calibration audio data s1 of microphone 1, s2 of microphone 2, and s3 of microphone 3 at position 1, the microphone priority list 1 and the coordinates of the maximum sound intensity point A at position 1 can be determined; based on the calibration audio data v1 of microphone 1, v2 of microphone 2, and v3 of microphone 3 at position 2, the microphone priority list 2 and the coordinates of the maximum sound intensity point B at position 2 can be determined; based on the calibration audio data k1 of microphone 1, k2 of microphone 2, and k3 of microphone 3 at position 3, the microphone priority list 3 and the coordinates of the maximum sound intensity point C at position 3 can be determined. And so on, the microphone priority list and the coordinates of the maximum sound intensity point at each position can be obtained.

[0071] S503. Establish a mapping relationship based on the microphone priority list corresponding to each location and the coordinates of the point with the maximum sound intensity.

[0072] Specifically, a mapping relationship is established between microphone priority list 1 at position 1 and the coordinate A of the maximum sound intensity point, thus obtaining a one-to-one mapping relationship between microphone priority list 1 and the coordinate A of the maximum sound intensity point; a mapping relationship is established between microphone priority list 2 at position 2 and the coordinate B of the maximum sound intensity point, thus obtaining a one-to-one mapping relationship between microphone priority list 2 and the coordinate B of the maximum sound intensity point; a mapping relationship is established between microphone priority list 3 at position 3 and the coordinate C of the maximum sound intensity point, thus obtaining a one-to-one mapping relationship between microphone priority list 3 and the coordinate C of the maximum sound intensity point; and so on, the mapping relationship between each maximum sound intensity point coordinate and each microphone priority list can be obtained.

[0073] In this embodiment, the mapping relationship between the coordinates of the maximum sound intensity point at each location and the microphone priority list is calibrated at different locations so that the reference microphone of the acoustic imager in the actual space can be determined more quickly and accurately in the subsequent process.

[0074] Figure 8 A schematic flowchart of the fifth acoustic imaging processing method provided in the embodiments of this application is shown below. Figure 8 As shown, S502 above, determining the microphone priority list and the coordinates of the maximum sound intensity point for each location based on multiple calibration audio data corresponding to each location, may include: S601. Convert each calibration audio data in the multiple calibration audio data corresponding to each position into calibration frequency domain data corresponding to each calibration audio data, and obtain multiple calibration frequency domain data corresponding to each position.

[0075] For example, the calibration audio data s1 of microphone 1, the calibration audio data s2 of microphone 2, and the calibration audio data s3 of microphone 3 at position 1 are respectively converted into the frequency domain to obtain the calibration frequency domain data sf1 of microphone 1, the calibration frequency domain data sf2 of microphone 2, and the calibration frequency domain data sf3 of microphone 3 at position 1.

[0076] For example, the calibration audio data v1 of microphone 1, the calibration audio data v2 of microphone 2, and the calibration audio data v3 of microphone 3 at position 2 are respectively converted into the frequency domain to obtain the calibration frequency domain data vf1 of microphone 1, the calibration frequency domain data vf2 of microphone 2, and the calibration frequency domain data vf3 of microphone 3 at position 2.

[0077] S602. Based on the multiple calibration frequency domain data corresponding to each position and the preset frequency domain amplitude of the second preset frequency, sort the microphones at each position according to their priorities to obtain a microphone priority list for each position.

[0078] The second preset frequency can be the frequency F of the calibration sound source mentioned above, and the preset frequency domain amplitude is the amplitude A1 of the frequency F of the calibration sound source.

[0079] Specifically, based on multiple calibrated frequency domain data corresponding to each position and the preset frequency domain amplitude of the second preset frequency, a preset method can be used to sort the microphones in the microphone array by priority, so as to obtain a microphone priority list corresponding to each position.

[0080] S603. Based on multiple calibration audio data and microphone array information corresponding to each location, the coordinates of the maximum sound intensity point corresponding to each location are determined using a relative sound intensity distribution analysis algorithm.

[0081] The multiple calibration audio data refer to the calibration audio data of each microphone. The process of determining the coordinates of the maximum sound intensity point at each location based on the multiple calibration audio data is similar to the process of determining the coordinates of the current maximum sound intensity point, and is specifically similar to the steps S201~S202 mentioned above, so it will not be described in detail here.

[0082] Figure 9 A schematic flowchart of the sixth acoustic imaging processing method provided in the embodiments of this application is shown below. Figure 9 As shown, in step S602 above, based on multiple calibration frequency domain data corresponding to each location and the preset frequency domain amplitude of the second preset frequency, the microphones at each location are prioritized to obtain a microphone priority list corresponding to each location, which may include: S701. Determine the calibration frequency domain amplitude of the second preset frequency from each calibration frequency domain data in multiple calibration frequency domain data, and obtain the calibration frequency domain amplitude of each microphone.

[0083] For example, for the calibration frequency domain data sf1 of microphone 1 at position 1, the calibration frequency domain data sf2 of microphone 2, and the calibration frequency domain data sf3 of microphone 3, the calibration frequency domain amplitude 1 of the second preset frequency F can be determined from the calibration frequency domain data sf1; the calibration frequency domain amplitude 2 of the second preset frequency F can be determined from the calibration frequency domain data sf2; and the calibration frequency domain amplitude 3 of the second preset frequency F can be determined from the calibration frequency domain data sf3.

[0084] S702. Compare the calibrated frequency domain amplitude of each microphone with the preset frequency domain amplitude to obtain multiple amplitude differences.

[0085] For example, the calibrated frequency domain amplitude 1 is compared with the preset frequency domain amplitude A1 to obtain amplitude difference 1; the calibrated frequency domain amplitude 2 is compared with the preset frequency domain amplitude A1 to obtain amplitude difference 2; and the calibrated frequency domain amplitude 3 is compared with the preset frequency domain amplitude A1 to obtain amplitude difference 3.

[0086] S703. Sort each microphone according to the magnitude of each amplitude difference among multiple amplitude differences to obtain a microphone priority list.

[0087] Specifically, microphones with smaller amplitude differences can be designated as microphones with higher priority.

[0088] For example, if amplitude difference 1 is less than amplitude difference 3, and amplitude difference 3 is less than amplitude difference 2, then microphone 1 has a higher priority than microphone 3, and microphone 3 has a higher priority than microphone 2. Therefore, the microphone priority list corresponding to position 1 is: microphone 1 > microphone 3 > microphone 2.

[0089] It is worth noting that steps S701 to S703 are specific implementation processes for obtaining the microphone priority list at a certain location. The microphone priority lists for other locations are similar to the steps S701 to S703 described above, and will not be repeated here.

[0090] Figure 10 This is a structural block diagram of another acoustic imaging device provided in an embodiment of this application. Figure 10 As shown, the acoustic imaging device may include: a processor 801 and a memory 802.

[0091] Optionally, a bus 803 may also be included, wherein the memory 802 is used to store machine-readable instructions executable by the processor 801. When the electronic device 800 is running, the processor 801 and the memory 802 communicate via the bus 803. When the machine-readable instructions are executed by the processor 801, the method steps in the above method embodiments are performed.

[0092] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0093] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0094] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. An acoustic imaging processing method, characterized in that, The method includes: Acquire audio data from each microphone in the microphone array of the acoustic imager when the acoustic imager is located in the current space; Based on the audio data from each microphone, the coordinates of the current maximum sound intensity point corresponding to the current space are determined, and the coordinates of the current maximum sound intensity point are used to characterize the location of the sound source. Based on the coordinates of the current maximum sound intensity point and the mapping relationship between the coordinates of each maximum sound intensity point obtained during the calibration process and the priority list of each microphone, the reference microphone is determined. The sound source imaging results are displayed based on the audio data from the reference microphone.

2. The acoustic imaging processing method according to claim 1, characterized in that, The step of determining the faulty microphone and the coordinates of the current maximum sound intensity point corresponding to the current space based on the audio data of each microphone includes: Based on the audio data of each microphone and the microphone array information, the coordinates of the current maximum sound intensity point are determined. The array information includes the position information of each microphone in the microphone array.

3. The acoustic imaging processing method according to claim 2, characterized in that, Determining the coordinates of the current maximum sound intensity point based on the audio data of each microphone and the microphone array information includes: Based on the audio data of each microphone and the array information of the microphones, the relative sound intensity distribution analysis algorithm is used to determine the current relative sound intensity distribution matrix corresponding to the current space. The relative sound intensity value of each element in the current relative sound intensity distribution matrix is ​​used to characterize the relative sound intensity value of each position on the two-dimensional plane mapped by the current space. The coordinates of the current maximum sound intensity point are determined based on the relative sound intensity values ​​of each element in the current relative sound intensity distribution matrix.

4. The acoustic imaging processing method according to claim 1, characterized in that, After acquiring the audio data of each microphone in the microphone array of the acoustic imager when the acoustic imager is located in the current space, the method further includes: Convert the audio data from each of the microphones into frequency domain data; The faulty microphone corresponding to the current space is determined based on the frequency domain data of each microphone.

5. The acoustic imaging processing method according to claim 4, characterized in that, The step of determining the faulty microphone based on the frequency domain data of each microphone includes: The frequency domain amplitude of the first preset frequency is determined from the frequency domain data of each microphone, the frequency domain amplitude of each microphone is obtained, and a reference frequency domain amplitude is determined from each frequency domain amplitude. Calculate the difference between the frequency domain amplitude of each microphone and the reference frequency domain amplitude to obtain the difference corresponding to each microphone; The faulty microphone is determined based on the difference between each microphone and a preset threshold.

6. The acoustic imaging processing method according to claim 4, characterized in that, The step of determining the reference microphone based on the current maximum sound intensity point coordinates and the mapping relationship between the coordinates of each maximum sound intensity point obtained during the calibration process and each microphone priority list includes: The maximum sound intensity point coordinates that match the current maximum sound intensity point coordinates are determined from the mapping relationship between the coordinates of each maximum sound intensity point and the priority list of each microphone, and the target maximum sound intensity point coordinates are obtained. The list of microphone priorities that has a mapping relationship with the coordinates of the target maximum sound intensity point is used as the target microphone priority list; The highest priority microphone in the target microphone priority list, excluding the faulty microphone, is used as the reference microphone.

7. The acoustic imaging processing method according to claim 1, characterized in that, The process of establishing the mapping relationship between the coordinates of each maximum sound intensity point and each microphone priority list is as follows: During the calibration process, calibration audio data of each microphone in the microphone array at different locations in the calibration space are acquired to obtain multiple calibration audio data corresponding to each location. Based on the multiple calibration audio data corresponding to each location, determine the microphone priority list and the coordinates of the point with the maximum sound intensity for each location; The mapping relationship is established based on the microphone priority list corresponding to each location and the coordinates of the point with the maximum sound intensity.

8. The acoustic imaging processing method according to claim 7, characterized in that, The step of determining the microphone priority list and the coordinates of the maximum sound intensity point for each location based on multiple calibrated audio data at each location includes: Each calibration audio data point at each location is converted into calibration frequency domain data corresponding to each calibration audio data point, thus obtaining multiple calibration frequency domain data points at each location. Based on the multiple calibrated frequency domain data corresponding to each location and the preset frequency domain amplitude of the second preset frequency, the microphones at each location are prioritized to obtain a microphone priority list corresponding to each location. Based on multiple calibration frequency domain data and microphone array information corresponding to each location, the coordinates of the maximum sound intensity point at each location are determined using a relative sound intensity distribution analysis algorithm.

9. The acoustic imaging processing method according to claim 8, characterized in that, The step involves prioritizing the microphones at each location based on multiple calibrated frequency domain data and a preset frequency domain amplitude at a second preset frequency, resulting in a microphone priority list for each location, including: The calibration frequency domain amplitude of the second preset frequency is determined from each calibration frequency domain data in the plurality of calibration frequency domain data, and the calibration frequency domain amplitude of each microphone is obtained. The calibrated frequency domain amplitude of each microphone is compared with the preset frequency domain amplitude to obtain multiple amplitude differences; The microphones are sorted according to the magnitude of each amplitude difference to obtain the microphone priority list.

10. An acoustic imaging device, characterized in that, include: The device includes a memory, a processor, and a microphone array, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the steps of the acoustic imaging processing method according to any one of claims 1-9.

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