A signal orientation method, device and computer readable storage medium

Abstract

The present invention provides a signal orientation method, device, system and computer-readable storage medium, the method comprising: using a sensor array to obtain a multi-channel signal to be oriented; for each preset direction in a plurality of preset directions, performing the following steps: determining the first signal feature of the multi-channel signal based on each preset direction, determining the second signal feature of the multi-channel signal based on the opposite direction of each preset direction, and determining the difference value between the first signal feature and the second signal feature; comparing the difference values ​​corresponding to the plurality of preset directions, and determining the preset direction corresponding to the maximum difference value as the target signal direction. Using the above method, the orientation error caused by the sensor response distortion can be reduced, with good adaptive anti-noise capability, and more accurate signal orientation can be achieved.

Description

Technical Field

[0001] The present invention belongs to the field of signals, and in particular relates to a signal orientation method, device and computer-readable storage medium. Background Art

[0002] This section is intended to provide a background or context to embodiments of the invention that are recited in the claims. No description herein is admitted to be prior art by inclusion in this section.

[0003] Beamforming is a method of using a sensor array to achieve spatial directional reception of signals. For example, in the field of sound signal processing, a microphone array is used as a sensor array to receive sound signals and achieve sound source orientation.

[0004] The sensor array usually uses the "delay-and-sum" technology to process the signal. That is, for each preset signal source direction, the signal received by each sensor is delayed according to the delay value corresponding to the preset signal source direction of the sensor, and then these time-delayed signals are accumulated to obtain the accumulated signal of the preset direction. Finally, the signal with the largest amplitude is found among these accumulated signals, and the preset direction corresponding to the signal with the largest amplitude is determined as the signal source direction.

[0005] However, in the signal orientation process, due to the stability of the signal, only selecting the preset direction corresponding to the maximum amplitude as the actual direction will result in low positioning accuracy. In addition, due to the physical structure of the sensor array, its response coefficient for each direction is different. The above reasons cause the orientation direction of the sensor array to deviate from the actual signal source direction, resulting in inaccurate orientation.

[0006] Therefore, the low positioning accuracy of signal orientation is a problem that needs to be solved urgently. Summary of the invention

[0007] In view of the problems existing in the above-mentioned prior art, a signal orientation method, device and computer-readable storage medium are proposed. By using this method, device and computer-readable storage medium, the problem of low positioning accuracy of the above-mentioned signal orientation can be solved.

[0008] The present invention provides the following solutions.

[0009] In a first aspect, a signal orientation method is provided, the method comprising: acquiring a multi-path signal to be oriented by using a sensor array, the sensor array comprising a plurality of sensors in a centrally symmetrical manner; for each of a plurality of preset directions, performing the following steps: determining a first signal feature of the multi-path signal in each preset direction, and a second signal feature in each preset direction;

[0010] The first signal feature and the second signal feature are signal strength information.

[0011] In one possible implementation, multiple signals are processed based on a delay accumulation algorithm, including: based on each preset direction, calculating multiple first delay values ​​corresponding to the multiple signals; performing delay compensation and accumulation on the multiple signals according to the multiple first delay values; and determining a first signal characteristic based on the first signal strength information obtained after accumulation; and / or, based on the opposite direction of each preset direction, obtaining multiple second delay values ​​corresponding to the multiple signals; performing delay compensation and accumulation on the multiple signals according to the multiple second delay values; and determining a second signal characteristic based on the second signal strength information obtained after accumulation.

[0012] In a possible implementation, the multiple preset directions are centrally symmetric, and the method further includes: acquiring a first signal feature corresponding to another preset direction centrally symmetric to each preset direction as a second signal feature corresponding to the opposite direction of each preset direction.

[0013] In one possible implementation, determining the difference value between the first signal feature and the second signal feature includes: obtaining a difference D between the first signal feature and the second signal feature, and determining the difference value based on at least the difference; or, obtaining a difference D between the first signal feature and the second signal feature and an accumulated value S, and determining the difference value based on at least a first ratio, wherein the first ratio = difference D / accumulated value S; or, obtaining a coefficient C, obtaining a difference D between the first signal feature and the second signal feature and an accumulated value S, and determining the difference value based on at least a second ratio, wherein the second ratio = difference D / (accumulated value S+coefficient C), and coefficient C is a positive number.

[0014] In a possible implementation, the method further includes: adjusting the value of the coefficient C based on the ambient signal noise.

[0015] In a possible implementation manner, the multi-path signals to be directed are multi-path sound signals acquired through a microphone array.

[0016] In a second aspect, a signal direction-directing device is provided, the device comprising: an acquisition module, used to acquire a multi-path signal to be directed using a sensor array, the sensor array comprising a plurality of sensors in a centrally symmetrical manner; a calculation module, used to perform the following steps for each of a plurality of preset directions: determining a first signal feature of the multi-path signal based on each preset direction, determining a second signal feature of the multi-path signal based on the opposite direction of each preset direction, and determining a difference value between the first signal feature and the second signal feature; a determination module, used to compare the magnitudes of the difference values ​​corresponding to the plurality of preset directions, and determining the preset direction corresponding to the maximum difference value from the plurality of preset directions as the target signal direction. In a possible implementation, the calculation module is further used to: process the multi-path signal based on a delay accumulation algorithm to determine the first signal feature and the second signal feature of the multi-path signal; wherein the first signal feature and the second signal feature are signal strength information.

[0017] In one possible implementation, the calculation module is also used to: calculate multiple first delay values ​​corresponding to multiple signals based on each preset direction; perform delay compensation and accumulation on the multiple signals according to the multiple first delay values; and determine the first signal characteristic based on the first signal strength information obtained after accumulation; and / or, based on the opposite direction of each preset direction, obtain multiple second delay values ​​corresponding to the multiple signals; perform delay compensation and accumulation on the multiple signals according to the multiple second delay values; and determine the second signal characteristic based on the second signal strength information obtained after accumulation.

[0018] In a possible implementation, the multiple preset directions are centrally symmetric, and the calculation unit is further used to: obtain a first signal feature corresponding to another preset direction centrally symmetric to each preset direction as a second signal feature determined based on the opposite direction of each preset direction.

[0019] In one possible embodiment, the calculation module is also used to: obtain the difference D between the first signal feature and the second signal feature, and determine the difference value based on at least the difference; or, obtain the difference D and the accumulated value S between the first signal feature and the second signal feature, and determine the difference value based on at least a first ratio, wherein the first ratio = difference D / accumulated value S; or, obtain the coefficient C, obtain the difference D and the accumulated value S between the first signal feature and the second signal feature, and determine the difference value based on at least a second ratio, wherein the second ratio = difference D / (accumulated value S+coefficient C), and coefficient C is a positive number.

[0020] In a possible implementation manner, the calculation module is further configured to: adjust the value of the coefficient C based on the ambient signal noise.

[0021] In a possible implementation manner, the multi-path signals to be directed are multi-path sound signals acquired through a microphone array.

[0022] According to a third aspect, a signal directing device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute: the method according to the first aspect.

[0023] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a program, and when the program is executed by a multi-core processor, the multi-core processor executes the method of the first aspect.

[0024] At least one of the above-mentioned technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: In this embodiment, by using the difference value of the first signal feature formed by the multi-path signal to be directed in each predetermined direction and the second signal feature formed in the opposite direction of each predetermined direction as the discrimination value of the signal orientation, the orientation error caused by the distortion of the sensor response can be reduced, and it has better adaptive anti-noise capability, and can achieve more accurate signal orientation.

[0025] It should be understood that the above description is only an overview of the technical solution of the present invention, so that the technical means of the present invention can be more clearly understood and implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described below by way of example. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The advantages and benefits described herein and other advantages and benefits will be apparent to those of ordinary skill in the art by reading the detailed description of the exemplary embodiments below. The accompanying drawings are only used for the purpose of illustrating exemplary embodiments and are not to be considered as limiting the present invention. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0027] Figure 1 A schematic diagram of a sensor array;

[0028] Figure 2 A schematic diagram of a flow chart of a signal orientation method according to an embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of the operation of a microphone array according to an embodiment of the present invention;

[0030] Figure 4 According to an embodiment of the present invention, Figure 3 Schematic diagram of signal strength information in each preset direction;

[0031] Figure 5is a schematic diagram of the structure of a signal directional device according to an embodiment of the present invention;

[0032] Figure 6 FIG. 4 is a schematic diagram of the structure of a signal directional device according to another embodiment of the present invention.

[0033] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0034] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0035] In the present invention, it should be understood that terms such as “including” or “having” are intended to indicate the existence of features, numbers, steps, behaviors, components, parts or a combination thereof disclosed in the specification, and are not intended to exclude the possibility of the existence of one or more other features, numbers, steps, behaviors, components, parts or a combination thereof.

[0036] It should also be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] An embodiment of the present invention provides a signal orientation method. The inventive concept of the method is first introduced below.

[0038] Figure 1 A sensor array is shown, which includes 16 sensors in a centrally symmetrical manner. As described in the background technology, during the beamforming process, due to reasons such as the physical structural characteristics of the sensor, the sensor array may respond differently to signals from different directions. For example, the working parts of the sensor are usually installed in a shell, and the physical shape of the shell will cause the sensor to respond to signals from different directions to different degrees. Furthermore, the signal strength will be weakened to varying degrees, ultimately causing errors in direction judgment.

[0039] Based on this, the embodiment of the present invention provides a signal orientation method. For example, first, Figure 1The sensor array shown acquires a multi-path signal to be directed, wherein one sensor receives one path of signal; a plurality of preset directions are preset, and each preset direction is assumed to be the signal incident direction in turn, and the following steps are performed: a first signal feature of the multi-path signal is determined based on each preset direction, a second signal feature of the multi-path signal is determined based on the opposite direction of each preset direction, and a difference value between the first signal feature and the second signal feature is determined; wherein the first signal feature and the second signal feature may be feature values ​​such as signal strength information and energy information. Finally, by comparing the difference values ​​corresponding to the plurality of preset directions, the preset direction corresponding to the maximum difference value is determined from the plurality of preset directions as the target signal direction, that is, as the final signal orientation result. The present invention is aimed at the characteristic that the distortion degree corresponding to the sensors in the central symmetric direction of the sensor array has the symmetry characteristic, and the second signal feature corresponding to the opposite direction of each preset direction is used to offset the distortion factor of the first signal feature corresponding to the preset direction, which not only has a good adaptive anti-noise capability, but also realizes more accurate signal orientation.

[0040] Those skilled in the art will appreciate that the described application scenario is only an example in which the embodiments of the present invention can be implemented. The scope of application of the embodiments of the present invention is not limited in any way. After introducing the basic principles of the present invention, various non-limiting embodiments of the present invention are specifically described below.

[0041] Figure 2 This is a flow chart of a signal orientation method 200 according to an embodiment of the present application, which is used to implement signal orientation. In this flow, from the device perspective, the execution subject can be one or more electronic devices; from the program perspective, the execution subject can correspondingly be the program installed on these electronic devices.

[0042] like Figure 2 As shown, the method may include:

[0043] Step 201: using a sensor array to obtain a multi-path signal to be directed;

[0044] The sensor array includes multiple sensors that are centrally symmetrical, and is used to receive signals from a signal source. Specifically, the sensor array includes multiple sensors that are centrally symmetrical, which can be understood as follows: there is a central point in space, and any sensor in the sensor array has another sensor at a position 180 degrees around the central point. Figure 1, a schematic diagram of a possible sensor array is shown, the sensor array is composed of several pairs of sensors that are centrosymmetric relative to the center point, for example, sensor A at the upper left corner and sensor B at the lower right corner are centrosymmetric relative to the center point. The arrangement of the multiple sensors included in the sensor array can be a three-dimensional space array, a plane array or a linear array, and the present application does not impose any specific restrictions on this, as long as it is composed of several pairs of sensors that are centrosymmetric relative to the center point.

[0045] In a possible implementation, the sensor array is a microphone array, and the multi-channel signal to be directed is a multi-channel sound signal obtained by the microphone array. The multi-channel sound signal can be obtained by a centrosymmetric microphone array. The microphone array can be composed of more than two microphones, and the arrangement of the microphones is any one of a three-dimensional space array, a plane array, and a linear array, as long as it contains multiple microphones that are centrosymmetric. The sound signals collected by the multiple microphones in the above microphone array are aggregated into a multi-channel sound signal, and the above sound signal is a digital sound signal after analog-to-digital conversion.

[0046] In this embodiment, the sound signal obtained by the microphone array is used as an example for description of the multi-channel signal. However, it should be understood that the multi-channel signal to be directed may also be other types of signals, such as ultrasonic signals, radio frequency signals, etc. Other types of multi-channel signals can also be directed by the technical solution provided in the present invention.

[0047] Step 202: For each preset direction among the multiple preset directions, perform the following sub-steps a to c to obtain a difference value corresponding to each preset direction:

[0048] Wherein, sub-step a: determining the first signal feature of the multi-path signal based on each preset direction, sub-step b: determining the second signal feature of the multi-path signal based on the opposite direction of each preset direction; sub-step c: determining the difference value between the first signal feature and the second signal feature;

[0049] Among them, multiple preset directions are assumed signal incident directions. Optionally, the preset direction can be set to a plane direction or a space direction according to actual conditions. Among them, setting the preset direction to a space direction means that the preset direction of the setting is not limited to the same plane. For example, if the preset direction is set to a space direction, the arrangement of the microphones in the microphone array can also be limited to one plane, for example, multiple microphones are fixedly placed on the chassis of the spherical microphone array. In a possible implementation, the multiple preset directions can be distributed in a centrally symmetrical manner, so that the opposite direction of each preset direction is also included in the multiple preset directions. At this time, it is only necessary to obtain the first signal feature corresponding to another preset direction that is centrally symmetrical with each preset direction, as the second signal feature of the multi-channel signal determined based on the opposite direction of each preset direction, without having to calculate the second signal feature additionally. Optionally, further, when the signal direction has been pre-defined within a certain angle range, for example, when the microphone array is placed on the wall of the room, only one side direction may transmit a sound signal. At this time, the above-mentioned preset direction can also be further defined and divided, and only the preset direction pointing to the microphone array within the space range of the side is pre-defined.

[0050] For example, Figure 3 As shown, this embodiment takes a disk-shaped microphone array as an example. The disk-shaped microphone includes five microphones A, B, C, D, and E. Preset directions 1 to 8 are evenly set in the plane of the microphone array, wherein each preset direction is an assumed sound signal direction, and the preset direction groups (1, 5), (2, 6), (3, 7), and (4, 8) are mutually opposite direction groups. Figure 3 The direction of the straight arrow in represents the actual incident direction of the sound signal. For multiple microphones in the microphone array, the sound signal is incident on each microphone in parallel. Here, the above-mentioned shapes, number of microphones, microphone fixing methods and microphone fixing positions are not specifically limited. In practical applications, the above-mentioned microphone array chassis can adopt any shape such as linear, triangular, spherical, semi-spherical, etc., the above-mentioned number of microphones is any number greater than 1, and the above-mentioned multiple microphones can be fixedly installed or movably installed in any arrangement except overlapping placement. The present invention is based on the above Figure 3 In addition, the setting method of the above-mentioned preset direction is not specifically limited, and it can be any combination of directions greater than 1 in a plane or space. Figure 3 The preset directions 1 to 8 in the example are taken as an example, but are not limited to this.

[0051] In a possible implementation, the first signal feature and the second signal feature may be signal strength information. The sub-step a and sub-step b may further include: processing the multi-path signals based on a delay accumulation algorithm to determine the first signal feature and the second signal feature.

[0052] refer to Figure 3 , the above-mentioned processing of multi-channel signals based on the delay accumulation algorithm is described in detail. The delay accumulation algorithm can be divided into three steps: delay estimation, delay compensation and signal accumulation. Among them, the delay estimation specifically includes: microphone A can be set as the reference microphone, first assuming that the preset direction 1 is the signal incident direction, and the delay estimation value of other microphones (B, C, D, E) and the reference microphone A in the preset direction 1 is calculated, wherein the delay estimation value is also the theoretical delay time of other microphones (B, C, D, E) receiving the signal relative to the reference microphone A when the signal is incident from the preset direction 1. Specifically, the delay estimation value is proportional to the microphone spacing and the sampling frequency, and inversely proportional to the speed of sound propagation. Further, the delay compensation specifically includes: the received multi-channel sound signals include the various sound signals corresponding to the various microphones. When the preset direction 1 is assumed to be the signal incident direction, based on the delay estimation values ​​of the other microphones (B, C, D, E) and the reference microphone A in the preset direction 1, the several audio channels corresponding to the other microphones (B, C, D, E) are offset in the time domain according to their respective corresponding delay estimation values, that is, time delay compensation. Further, the signal accumulation specifically includes: accumulating the multi-channel sound signals after the delay compensation, and obtaining the maximum energy value of the time domain signal of the accumulated sound signal as the signal strength information under the preset direction 1. By analogy, the preset directions 2, 3, ..., 8 can be assumed as the signal incident directions in turn, and the signal strength information for each preset direction can be obtained based on the delay accumulation algorithm. The signal strength information can be the maximum energy value after the time domain signal is accumulated. It can be understood that, when other factors are the same, the closer the selected preset direction is to the actual audio direction, the more accurate the delay estimation value corresponding to the preset direction will be. Furthermore, multi-channel sound signals can obtain higher energy, that is, the highest signal strength, only after delay compensation and accumulation in the time domain.

[0053] Based on this, for each preset direction, it can be determined that the first signal feature is the signal strength information for each preset direction, and the second signal feature is the signal strength information obtained by accumulating the delay in the opposite direction of each preset direction. Figure 3 For preset direction 1, the corresponding first signal feature is the signal strength information for preset direction 1, and the corresponding second signal feature is the signal strength information for preset direction 5.

[0054] Optionally, the energy may be energy of a preset frequency band, and need not be energy of a full frequency band. In this embodiment, the selection of the preset frequency domain range is not specifically limited, and different frequency domain ranges may be selected according to actual application scenarios, such as selecting a specific sound frequency range of a specific animal as the preset frequency domain range in a marine life detection application scenario, or selecting a human voice frequency band as the preset frequency band in a human voice detection application scenario.

[0055] In a possible implementation manner, the processing of multiple signals based on the delay accumulation algorithm may specifically include:

[0056] For each preset direction, when calculating the first signal feature, multiple first delay values ​​corresponding to the multiple signals can be calculated based on each preset direction; delay compensation and accumulation are performed on the multiple signals according to the multiple first delay values; and the first signal feature is determined according to the first signal strength information obtained after accumulation;

[0057] For each preset direction, when calculating the second signal characteristic, multiple second delay values ​​corresponding to the multiple signals can be obtained based on the opposite direction of each preset direction; delay compensation and accumulation are performed on the multiple signals according to the multiple second delay values; and the second signal characteristic is determined based on the second signal strength information obtained after accumulation.

[0058] For example, it is understood that the plurality of preset directions may not have a centrally symmetrical direction combination. For example, the plurality of preset directions may only include Figure 3 For the preset directions 1, 2, 3, 4, and 5 shown, it is necessary to additionally determine the opposite direction of each preset direction, and also determine the second signal feature based on the above-mentioned delay accumulation algorithm.

[0059] In a possible implementation manner, in sub-step c, when determining the difference value between the first signal feature and the second signal feature, the following steps may be performed:

[0060] A difference D between the first signal feature and the second signal feature may be obtained, and a difference value may be determined based at least on the difference.

[0061] refer to Figure 4 , showing the Figure 3The signal strength information obtained from the 8 preset directions shown, when assuming that preset direction 1 is the signal incident direction, the signal strength obtained is E[1], when assuming that preset direction 2 is the signal incident direction, the signal strength obtained is E[2], ..., and so on. According to the above description, it can be known that the first signal feature corresponding to preset direction 1 is E[1], the second signal feature is E[5], and the difference between the first signal feature and the second signal feature corresponding to preset direction 1 is D_1=E[1]-E[5]. By analogy, the differences D_1 to D_8 corresponding to preset directions 1 to 8 can be obtained. Further, the difference value corresponding to each preset direction can be determined based on the difference, for example, the difference can be directly used as the difference value.

[0062] Furthermore, the difference D and the accumulated value S between the first signal feature and the second signal feature may be obtained, and the difference value may be determined based on at least a first ratio, wherein the first ratio=difference D / accumulated value S.

[0063] Still refer to Figure 4 According to the above description, we can get the difference values ​​D_1~D_8 corresponding to the preset directions 1~8 respectively. The first signal feature for the preset direction 1 is E[1], and the second signal feature is E[5]. The accumulated value S_1 of the first signal feature and the second signal feature for the preset direction 1 is E[1]+E[5]. By analogy, we can get the accumulated values ​​S_1~S_8 corresponding to the preset directions 1~8 respectively. We can further determine the difference value corresponding to each preset direction based on the first ratio, where the first ratio = difference D / accumulated value S. For example, the first ratio corresponding to the preset direction 1 is And so on.

[0064] For the signal, if the difference between the first signal feature and the second signal feature is used as the difference value, the difference value will fluctuate with the volume and directivity. In other words, the volume has a greater impact on the difference value, and the above difference value may be inaccurately measured. However, using the ratio parameter of the signal bias parameter to the total signal strength (that is, the first ratio) can offset the impact of the volume.

[0065] Furthermore, the coefficient C can also be obtained, the difference D and the accumulated value S between the first signal feature and the second signal feature can be obtained, and the difference value can be determined at least based on the second ratio, where the second ratio = difference D / (accumulated value S+coefficient C), and the coefficient C is a positive number.

[0066] Still refer to Figure 4According to the above description, we can get the difference values ​​D_1 to D_8 corresponding to the preset directions 1 to 8, and the accumulated values ​​S_1 to S_8 corresponding to the preset directions 1 to 8. We can further determine the difference value corresponding to each preset direction based on the second ratio, where the second ratio = difference value D / (accumulated value S+coefficient C). For example, the second ratio corresponding to the preset direction 1 is And so on.

[0067] For sound signals, in an environment with only noise but no sound signals, very small noise can also have a great impact on directivity, and this noise impact is unstable and randomly jittering. If only the first ratio is used, the difference value used to indicate the direction may randomly jitter as the noise changes. By adding the coefficient C, this embodiment can resist the impact of small noise and reduce the direction jitter caused by small noise when there is no real signal.

[0068] In a possible implementation, the value of the coefficient C can be adjusted based on the environmental signal noise. It is understandable that when the environmental noise is large, if a smaller coefficient C value is used, it may not be able to resist the random jitter caused by the noise. Therefore, the coefficient C can be adjusted based on the detected noise value, so that when there is no real signal, the directional jitter caused by the tiny noise can be better reduced.

[0069] Step 203: compare the difference values ​​corresponding to the plurality of preset directions, and determine the preset direction corresponding to the maximum difference value as the target signal direction.

[0070] refer to Figure 4 ,Assuming that the preset direction corresponding to the maximum difference value calculated according to the above implementation is preset direction 6, it can be considered that preset direction 6 is the target signal direction, that is, the calculated signal incident direction, and the deviation between it and the actual signal incident direction is small.

[0071] Based on the same technical concept, an embodiment of the present invention further provides a signal orientation device for executing the signal orientation method provided in any of the above embodiments. Figure 5 A schematic diagram of the structure of a signal direction-directing device provided in an embodiment of the present invention.

[0072] like Figure 5 As shown, the device 500 includes:

[0073] An acquisition module 501 is used to acquire the multi-path signal to be oriented by using a sensor array, wherein the sensor array includes a plurality of sensors that are centrally symmetrical;

[0074] The calculation module 502 is used to perform the following steps for each preset direction of the plurality of preset directions: determine a first signal feature of the multi-path signal based on each preset direction, determine a second signal feature of the multi-path signal based on the opposite direction of each preset direction, and determine a difference value between the first signal feature and the second signal feature;

[0075] The determination module 503 is configured to compare the difference values ​​corresponding to the multiple preset directions, and determine the preset direction corresponding to the maximum difference value from the multiple preset directions as the target signal direction.

[0076] In a possible implementation, the calculation module is further used to: process the multi-path signals based on a delay accumulation algorithm to determine first signal characteristics and second signal characteristics of the multi-path signals; wherein the first signal characteristics and the second signal characteristics are signal strength information.

[0077] In one possible implementation, the calculation module is also used to: calculate multiple first delay values ​​corresponding to multiple signals based on each preset direction; perform delay compensation and accumulation on the multiple signals according to the multiple first delay values; and determine the first signal characteristic based on the first signal strength information obtained after accumulation; and / or, based on the opposite direction of each preset direction, obtain multiple second delay values ​​corresponding to the multiple signals; perform delay compensation and accumulation on the multiple signals according to the multiple second delay values; and determine the second signal characteristic based on the second signal strength information obtained after accumulation.

[0078] In a possible implementation, the multiple preset directions are centrally symmetric, and the calculation unit is further used to: obtain a first signal feature corresponding to another preset direction centrally symmetric to each preset direction as a second signal feature determined based on the opposite direction of each preset direction.

[0079] In one possible embodiment, the calculation module is also used to: obtain the difference D between the first signal feature and the second signal feature, and determine the difference value based on at least the difference; or, obtain the difference D and the accumulated value S between the first signal feature and the second signal feature, and determine the difference value based on at least a first ratio, wherein the first ratio = difference D / accumulated value S; or, obtain the coefficient C, obtain the difference D and the accumulated value S between the first signal feature and the second signal feature, and determine the difference value based on at least a second ratio, wherein the second ratio = difference D / (accumulated value S+coefficient C), and coefficient C is a positive number.

[0080] In a possible implementation manner, the calculation module is further configured to: adjust the value of the coefficient C based on the ambient signal noise.

[0081] In a possible implementation manner, the multi-path signals to be directed are multi-path sound signals acquired through a microphone array.

[0082] It should be noted that the signal direction-directing device in the embodiment of the present application can implement the various processes of the embodiment of the aforementioned signal direction-directing method and achieve the same effects and functions, which will not be repeated here.

[0083] Figure 6 A signal directional device according to an embodiment of the present application is used to perform Figure 2 The signal direction method shown, the device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the above embodiment.

[0084] According to some embodiments of the present application, a non-volatile computer storage medium of a signal-directed method is provided, on which computer-executable instructions are stored. The computer-executable instructions are configured to execute the method described in the above embodiments when executed by a processor.

[0085] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, their descriptions are simplified, and the relevant parts can be referred to the partial description of the method embodiments.

[0086] The apparatus, device and computer-readable storage medium provided in the embodiments of the present application correspond one-to-one to the method. Therefore, the apparatus, device and computer-readable storage medium also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the apparatus, device and computer-readable storage medium will not be repeated here.

[0087] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0089] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0091] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0092] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0093] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. In addition, although the operations of the method of the present invention are described in a particular order in the accompanying drawings, this does not require or imply that these operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0094] Although the spirit and principle of the present invention have been described with reference to several specific embodiments, it should be understood that the present invention is not limited to the disclosed specific embodiments, and the division of various aspects does not mean that the features in these aspects cannot be combined to benefit, and such division is only for the convenience of expression. The present invention is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the attached claims.

Claims

1. A signal orientation method, characterized in that: The method comprises: Acquiring a multi-path signal to be directed by using a sensor array, wherein the sensor array comprises a plurality of sensors in a centrally symmetrical manner; For each preset direction of a plurality of preset directions, the following steps are performed: based on the preset direction, delay compensation and accumulation are performed on the multiple signals according to a plurality of first delay values ​​respectively corresponding to the multiple signals, so as to obtain a first signal feature; based on the opposite direction of the preset direction, delay compensation and accumulation are performed on the multiple signals according to a plurality of second delay values ​​respectively corresponding to the multiple signals, so as to obtain a second signal feature; determining a difference value between the first signal feature and the second signal feature; wherein the first signal feature and the second signal feature are signal strength information; wherein the preset direction is an assumed signal incident direction; The difference values ​​corresponding to the plurality of preset directions are compared, and a preset direction corresponding to a maximum difference value is determined from the plurality of preset directions as a target signal direction.

2. The method according to claim 1, characterized in that The multiple preset directions are centrally symmetrical, and the method further includes: The first signal feature corresponding to another preset direction that is centrally symmetric to each of the preset directions is obtained as the second signal feature corresponding to the direction opposite to each of the preset directions.

3. The method according to any one of claims 1 to 2, characterized in that: Determining a difference value between the first signal feature and the second signal feature includes: Obtaining a difference D between the first signal feature and the second signal feature, and determining the difference value based at least on the difference; or, Obtaining a difference D and an accumulated value S between the first signal feature and the second signal feature, and determining the difference value based at least on a first ratio, wherein the first ratio=difference D / accumulated value S; or, Obtain coefficient C, obtain the difference D and accumulated value S between the first signal feature and the second signal feature, and determine the difference value based on at least a second ratio, wherein the second ratio = difference D / (accumulated value S+coefficient C), and the coefficient C is a positive number.

4. The method as claimed in claim 3, characterized in that The method further comprises: The value of the coefficient C is adjusted based on the ambient signal noise.

5. The method of claim 1, wherein: The multi-channel signals to be directed are multi-channel sound signals obtained through a microphone array.

6. A signal directional device, characterized in that: The device comprises: An acquisition module, used for acquiring the multi-path signal to be directed by using a sensor array, wherein the sensor array comprises a plurality of sensors in a centrally symmetrical manner; The calculation module is used to perform the following steps for each preset direction of multiple preset directions: based on the preset direction, delay compensation and accumulation are performed on the multiple signals according to multiple first delay values ​​respectively corresponding to the multiple signals, so as to obtain a first signal feature; based on the opposite direction of the preset direction, delay compensation and accumulation are performed on the multiple signals according to multiple second delay values ​​respectively corresponding to the multiple signals, so as to obtain a second signal feature; determine the difference value between the first signal feature and the second signal feature; wherein the first signal feature and the second signal feature are signal strength information; The determination module is used to compare the difference values ​​corresponding to the multiple preset directions, and determine the preset direction corresponding to the maximum difference value from the multiple preset directions as the target signal direction.

7. The device according to claim 6, characterized in that The multiple preset directions are centrally symmetrical, and the calculation module is further used for: The first signal feature corresponding to another preset direction that is centrally symmetric to each of the preset directions is obtained as the second signal feature determined based on the opposite direction of each of the preset directions.

8. The device according to any one of claims 6 to 7, characterized in that The calculation module is also used for: Obtaining a difference D between the first signal feature and the second signal feature, and determining the difference value based at least on the difference; or, Obtaining a difference D and an accumulated value S between the first signal feature and the second signal feature, and determining the difference value based at least on a first ratio, wherein the first ratio=difference D / accumulated value S; or, Obtain coefficient C, obtain the difference D and accumulated value S between the first signal feature and the second signal feature, and determine the difference value based on at least a second ratio, wherein the second ratio = difference D / (accumulated value S+coefficient C), and the coefficient C is a positive number.

9. The device as claimed in claim 8, characterized in that The calculation module is also used for: The value of the coefficient C is adjusted based on the ambient signal noise.

10. The device as claimed in claim 6, wherein: The multi-channel signals to be directed are multi-channel sound signals obtained through a microphone array.

11. A signal directional device, characterized in that: include: at least one processor; And, a memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor to enable at least one processor to execute: a method as described in any one of claims 1-5.

12. A computer-readable storage medium storing a program, wherein when the program is executed by a multi-core processor, the multi-core processor executes the method according to any one of claims 1 to 5.

Images