Device positioning method and earphone

Abstract

The present invention provides a device positioning method and earphones, wherein the earphones are provided with a microphone array and a Bluetooth antenna array, the device to be positioned has a Bluetooth address and plays a preset prompt tone in an anti-lost state, and the method comprises: determining the current state of the device to be positioned, and when the device to be positioned is in an anti-lost state, using the microphone array to pick up a sound signal, and when a preset prompt tone is detected from the sound signal, performing sound source orientation on the picked up sound signal to determine the sound source orientation result of the device to be positioned; performing Bluetooth positioning on the device to be positioned using the Bluetooth antenna array to determine the Bluetooth positioning result of the device to be positioned; and performing direction determination based on the Bluetooth positioning result and the sound source orientation result to determine the real-time position of the device to be positioned. Using the above method, the sound direction finding result and the Bluetooth direction finding result can be integrated, and the reliability is higher. Moreover, the sound direction finding is performed only when the preset prompt tone is recognized, which can save resources and avoid the interference of environmental noise.

Description

Technical Field

[0001] The invention belongs to the field of positioning, and in particular relates to a device positioning method and an earphone. 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] The common limited-range anti-lost tracking technology using Bluetooth usually requires attaching a Bluetooth tag to the item to be tracked, and then using a smart device to directly find the direction of the Bluetooth signal. Alternatively, the Bluetooth tag can emit a sound to help users find the item by voice inquiry.

[0004] However, especially when the Bluetooth connection is weak or intermittent, the reliability of the solution using Bluetooth signals alone for direction finding is not high. The sound of objects is also still difficult to find in a noisy environment. Therefore, there is an urgent need for a reliable and simple tracking and positioning solution for devices. Summary of the invention

[0005] In view of the above problems existing in the prior art, a method, an apparatus and a computer-readable storage medium are proposed. The above problems can be solved by using this method, an apparatus and a computer-readable storage medium.

[0006] The present invention provides the following solutions.

[0007] In a first aspect, a device positioning method is provided, which is applied to headphones, wherein the headphones are provided with a microphone array and a Bluetooth antenna array, the device to be positioned has a Bluetooth address and plays a preset prompt sound in an anti-lost state, the method comprising: determining a current state of the device to be positioned, and performing the following steps when the device to be positioned is in the anti-lost state: using the microphone array to pick up a sound signal, and when the preset prompt sound is detected from the sound signal, performing real-time sound source orientation on the picked-up sound signal to determine a sound source orientation result of the device to be positioned; using the Bluetooth antenna array to perform real-time Bluetooth positioning of the device to be positioned to determine a Bluetooth positioning result of the device to be positioned; and performing direction judgment based on the Bluetooth positioning result and the sound source orientation result to determine the real-time orientation of the device to be positioned.

[0008] In a second aspect, a headset is provided, which is provided with a microphone array, a Bluetooth antenna array, a state controller, a prompt sound identifier, a sound goniometer, a Bluetooth goniometer, and a direction discriminator; the device to be located is a Bluetooth device and plays a preset prompt sound in an anti-lost state; wherein the state controller determines the current state of the device to be located, and when the device to be located is in the anti-lost state, the headset is configured as follows: the microphone array picks up a sound signal, and when the prompt sound identifier detects the preset prompt sound from the sound signal, the sound goniometer is used to perform real-time sound source orientation on the picked-up sound signal to determine the sound source orientation result of the device to be located; the Bluetooth antenna array receives the Bluetooth signal, and the Bluetooth goniometer performs real-time Bluetooth positioning of the device to be located using the received Bluetooth signal and the Bluetooth address to determine the Bluetooth positioning result of the device to be located; the direction discriminator makes a direction decision based on the Bluetooth positioning result and the sound source orientation result to determine the real-time orientation of the device to be located.

[0009] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: In this embodiment, only a Bluetooth headset is needed to track the device to be located, without relying on traditional smart devices such as mobile phones, and the direction determination is made by combining the sound direction finding results and the Bluetooth direction finding results, so that the real-time position of the device to be located can be determined more comprehensively. In addition, the sound direction finding for the preset prompt tone is started only when the preset prompt tone is recognized, which can save resources, avoid the interference of environmental noise, and can perform sound direction finding more accurately.

[0010] 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

[0011] 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:

[0012] Figure 1 A schematic diagram of a flow chart of a device positioning method according to an embodiment of the present invention;

[0013] Figure 2 is a schematic structural diagram of an earphone according to an embodiment of the present invention;

[0014] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0015] 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.

[0016] In the description of the embodiments of the present application, it should be understood that terms such as "including" or "having" are intended to indicate the presence of features, numbers, steps, behaviors, components, parts, or a combination thereof disclosed in this specification, and are not intended to exclude the possibility of the presence of one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof.

[0017] Unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in this article is merely a way to describe the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0018] The terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0019] 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.

[0020] In order to solve the existing technology. This embodiment proposes a device positioning method, the execution subject of the method is a headset with a microphone array and a Bluetooth antenna array, or it can be a program running on the headset. The device to be positioned is a Bluetooth device and plays a preset prompt tone in the anti-lost state. Figure 1 As shown, the method comprises the following steps:

[0021] Step 101: Determine the current state of the device to be located. When the device to be located is in an anti-lost state, perform the following steps:

[0022] Step 102: pick up a sound signal using a microphone array, and when a preset prompt sound is detected from the sound signal, perform real-time sound source orientation on the picked-up sound signal to determine a sound source orientation result of the device to be located;

[0023] Step 103: Use the Bluetooth antenna array and the Bluetooth address to perform real-time Bluetooth positioning on the device to be positioned to determine the Bluetooth positioning result of the device to be positioned;

[0024] Step 104: perform direction determination based on the Bluetooth positioning result and the sound source orientation result to determine the real-time position of the device to be positioned.

[0025] The device to be located can be a Bluetooth TAG, or any object with the Bluetooth TAG attached, such as a mobile phone, wallet, etc. The device to be located also includes a speaker, which is configured to play its own preset prompt tone in the anti-lost state. The Bluetooth headset can track more than one device to be located at the same time, and different devices to be located can use different prompt tones to avoid confusion when the sound source is directed. For example, the device 1 to be located periodically plays a "beep" sound prompt tone after entering the anti-lost state, and the device 2 to be located periodically plays a "woo" sound prompt tone after entering the anti-lost state, and so on. The preset prompt tone can be the voice of a certain keyword, and this application does not impose any specific restrictions on this.

[0026] A microphone array consisting of multiple microphones arranged at specific positions and an antenna array consisting of multiple Bluetooth antennas arranged at specific positions can be deployed on the earphone housing. Therefore, when the device to be located is in the anti-lost state, sound direction finding and Bluetooth direction finding can be performed simultaneously, and the direction determination is made by combining the sound direction finding results and the Bluetooth direction finding results, so that the real-time position of the device to be located can be determined more comprehensively.

[0027] In this embodiment, the sound direction finding for the preset prompt tone is started only when the preset prompt tone is recognized, which can save resources. In addition, the sound direction finding combined with phonemes or semantics can be performed based on the preset prompt tone, avoiding the interference of environmental noise, and being able to perform sound direction finding more accurately.

[0028] In this embodiment, only a Bluetooth headset is needed to track the device to be located, without relying on traditional smart devices such as mobile phones. This is particularly suitable for the case where the device to be located is a mobile phone.

[0029] In some possible implementations, in step 101, as to how to determine that the device to be located is in the anti-lost state, the following method can be used: the device to be located periodically broadcasts a Bluetooth signal under normal working conditions, and the Bluetooth antenna array of the headset can receive the periodic Bluetooth signal, so that the headset can establish a Bluetooth connection with the device to be located. After receiving the Bluetooth signal, the headset can periodically locate and track the device to be located based on the Bluetooth signal. However, when a preset abnormal situation occurs during the periodic location tracking, it can be determined that the device to be located enters the anti-lost state.

[0030] In other words, the headset and the device to be located maintain a periodic Bluetooth connection under normal circumstances, and the headset will periodically track the device to be located. If the location tracking is always in a normal state, the device to be located is also in a normal state. On the contrary, if one of a plurality of preset abnormal situations occurs in the location tracking, the device to be located can be configured to enter an anti-lost state, and then the above steps 102-104 are executed to determine the current position of the device to be located in real time.

[0031] The above-mentioned preset abnormal conditions may include any one or more of the following: detecting that the distance between the headset and the device to be located exceeds a preset threshold; detecting that the battery level of the device to be located is lower than a warning value; detecting that the Bluetooth signal received from the device to be located is interfered with, such as a weak, intermittent or missing Bluetooth signal. It is understood that the preset abnormal conditions can naturally be extended to include other abnormal conditions that may affect positioning and tracking based on Bluetooth signals, and this application does not impose specific restrictions on this.

[0032] In some possible implementations, in order to remind the headset user that an abnormal situation has occurred in the positioning tracking of the device to be positioned, when the preset abnormal situation occurs in the positioning tracking, that is, when or after it is determined that the device to be positioned enters the anti-lost state, the headset speaker can warn the user. For example, a warning tone, such as an alarm sound, can be played.

[0033] In some possible implementations, in step 101, in order to provide the headset user with the function of actively searching for the device to be located, the following method can also be used: the headset user actively triggers the generation of a user instruction to search for the device to be located, and when the user instruction to search for the device to be located is received, it is determined that the device to be located is in an anti-lost state.

[0034] In one example, when the location tracking between the headset and a device to be located is in a normal state, but the user fails to find the device to be located, the user can generate a user instruction for actively finding the device to be located through a preset trigger action, for example, the preset trigger action can be double-clicking a button on the headset. In response to the user instruction, the headset can control the device to be located to enter an anti-lost state, and then execute the above steps 102-104 to determine the current position of the device to be located in real time.

[0035] In some possible implementations, in order to enable the device to be located to play a preset prompt sound in the anti-lost state, the following steps can be performed: when it is determined that the device to be located is in the anti-lost state, the headset can send a trigger instruction to the device to be located to trigger the device to be located to play the preset prompt sound.

[0036] In one example, when the user actively triggers the device to be located to enter the anti-lost state, the Bluetooth connection between the headset and the device to be located is still normal. Of course, the headset can send a trigger instruction to the device to be located to trigger the positioning device to play a preset prompt sound.

[0037] In another example, a preset abnormal situation may occur in the Bluetooth connection between the headset and the device to be located but is not disconnected. For example, when it is detected that the distance between the headset and the device to be located exceeds a preset threshold, the battery level of the device to be located is lower than the warning value, the Bluetooth signal sent by the device to be located is weak or intermittent, etc., the headset can still send a trigger instruction to the device to be located via the Bluetooth signal, thereby ensuring that the device to be located plays a prompt sound.

[0038] In some possible implementations, regarding how to trigger the device to be located to play a preset prompt tone in an anti-lost state, the following steps may also be performed: the device to be located automatically triggers playing a preset prompt tone in response to detecting a preset abnormal situation.

[0039] In some examples, the device to be located may be completely disconnected from the headset through Bluetooth. In this case, if the device to be located detects that the Bluetooth connection is completely disconnected, a preset prompt tone may be automatically played.

[0040] In some possible implementations, step 102 further includes: detecting a preset prompt tone from a sound signal using a GMM-HMM speech recognition model or a neural network.

[0041] In some possible implementations, step 102 also includes: using beamforming technology to enhance sound signals in N directions to obtain corresponding N enhanced signals, where N is a positive integer greater than 1; comparing the N enhanced signals with preset prompt sounds, and selecting the enhanced signal with the highest matching degree as the target sound signal; and determining the direction of the target sound signal as the sound source orientation result.

[0042] The beamforming technology is used to enhance the sound signal detected in the direction of the preset prompt sound; the enhanced signal with the highest matching degree is selected as the target sound signal; and the direction of the target sound signal is determined as the sound source orientation result.

[0043] Beamforming technology combines multiple sound signals received from the microphone array to enhance the signal in a specific direction. In other words, beamforming technology can enhance the sound source in certain desired directions in the environment and attenuate noise or interference in undesired directions to improve the size of the audio signal or output quality. The headset microphone array receives omnidirectional voice by default. When the preset prompt tone is recognized, the beamformer generates a beam in the corresponding direction to reduce the interference of the surrounding noise, and the sound direction finder tracks and finds the direction of the sound source.

[0044] In some possible implementations, step 104 further includes: determining whether the direction error between the Bluetooth positioning result and the sound source orientation result is less than a preset threshold; a) if not, taking the middle value of the direction between the Bluetooth positioning result and the sound source orientation result as the real-time orientation of the device to be positioned; if exceeded, abandoning the current real-time positioning result.

[0045] In some possible implementations, after step 104, the method further includes: tracking the orientation of the earphone, performing directional weighted processing on the real-time audio played in the left and right ear channels of the earphone according to the real-time orientation of the earphone and the real-time orientation of the device to be located, and providing directional guidance for the user. For example, when the user wears the earphone facing the southeast direction, and the device to be located is measured to the south direction, the volume of the right ear channel can be increased to instruct the user to turn right by a certain angle until the front is facing the device to be located. In this way, the user can be reminded of the orientation information without being aware of it when using the earphone normally.

[0046] In some possible implementations, after step 104, the method further includes: announcing the real-time position of the device to be located through a speaker of the headset.

[0047] In an example, refer to Figure 2The headset is provided with a microphone array and a Bluetooth antenna array, a state controller, a TAG feature query device, a prompt sound identifier, a beamformer, a sound direction finder, a Bluetooth direction finder, and a direction discriminator. When the state controller determines that the device to be located is in the anti-lost state, the TAG feature query device is triggered to query the preset prompt sound corresponding to the device to be located and send it to the prompt sound identifier, and the Bluetooth address corresponding to the device to be located is queried and sent to the Bluetooth direction finder. The microphone array picks up omnidirectional sound signals, and the prompt sound identifier recognizes the preset prompt sound obtained. When the preset prompt sound is recognized, the beamformer is used to generate a beam in the corresponding direction to reduce the interference of surrounding noise. The sound direction finder tracks and finds the direction of the sound to obtain the sound source orientation result of the device to be located. At the same time, the Bluetooth antenna array obtains the Bluetooth signal, and the Bluetooth direction finder uses the AoA / AoD algorithm provided by the Bluetooth protocol to perform Bluetooth direction finding and obtain the Bluetooth direction finding result. The sound direction finding result and the Bluetooth direction finding result can be input into the direction discriminator to comprehensively judge the orientation information of the device to be located. Finally, the position information of the device to be located is conveyed to the user by the speaker of the headset. The position information can be conveyed directly by voice, or the user can be reminded by adjusting the playback configuration of the left and right ear speakers. This application does not impose any specific restrictions on this.

[0048] In the description of this specification, the description with reference to the terms "some possible implementations", "some embodiments", "examples", "specific examples", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0050] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0051] About the method flow chart of the embodiment of the present application, some operations are described as different steps performed in a certain order.Such flow chart belongs to illustrative and non-restrictive.Some steps described in this article can be grouped together and performed in a single operation, some steps can be divided into multiple sub-steps, and some steps can be performed in an order different from that shown in this article.The various steps shown in the flow chart can be realized in any way by any circuit structure and / or tangible mechanism (for example, by software, hardware (for example, the logical function realized by processor or chip) etc. running on computer equipment and / or any combination thereof).

[0052] Based on the same technical concept, an embodiment of the present invention further provides a headset for executing the device positioning method provided in any of the above embodiments.

[0053] The headset is provided with a microphone array, a Bluetooth antenna array, a state controller, a prompt sound identifier, a sound direction finder, a Bluetooth direction finder, and a direction discriminator; the device to be located is a Bluetooth device and plays a preset prompt sound in the anti-lost state; wherein the state controller determines the current state of the device to be located, and when the device to be located is in the anti-lost state, the headset is configured as follows: the microphone array picks up the sound signal, and when the prompt sound identifier detects the preset prompt sound from the sound signal, the sound direction finder is used to perform real-time sound source orientation on the picked-up sound signal to determine the sound source orientation result of the device to be located; the Bluetooth antenna array receives the Bluetooth signal, and the Bluetooth direction finder uses the received Bluetooth signal and the Bluetooth address to perform real-time Bluetooth positioning of the device to be located to determine the Bluetooth positioning result of the device to be located; the direction discriminator makes a direction decision based on the Bluetooth positioning result and the sound source orientation result to determine the real-time orientation of the device to be located.

[0054] In one embodiment, the headset is configured to: the Bluetooth antenna array receives the Bluetooth signals periodically sent by the device to be located, and the Bluetooth direction finder periodically locates and tracks the device to be located based on the Bluetooth signals; when a preset abnormal situation occurs in the positioning and tracking, the state controller determines that the device to be located is in an anti-lost state.

[0055] In one embodiment, the preset abnormal situation includes any one or more of the following: detecting that the distance to the device to be located exceeds a preset threshold; detecting that the battery level of the device to be located is lower than a warning value; detecting that the Bluetooth signal received from the device to be located is interfered.

[0056] In one embodiment, the state controller is configured to: when receiving a user instruction to find the device to be located, determine that the device to be located is in an anti-lost state.

[0057] In one embodiment, it also includes an alarm module configured to: when a preset abnormal situation occurs in the positioning tracking, warn the user through the speaker of the headset.

[0058] In one embodiment, the earphone is configured to: when the state controller determines that the device to be located is in an anti-lost state, send a trigger instruction to the device to be located to trigger the device to be located to play a preset prompt sound.

[0059] In one embodiment, the device to be located automatically triggers playing of a preset prompt tone in response to detecting a preset abnormal situation.

[0060] In one embodiment, the prompt tone recognizer detects the preset prompt tone from the sound signal using a GMM-HMM speech recognition model or a neural network.

[0061] In one embodiment, it also includes a beamformer; the beamformer uses beamforming technology to enhance sound signals in N directions to obtain corresponding N enhanced signals, where N is a positive integer greater than 1; the sound direction finder compares the N enhanced signals with the preset prompt sounds, and selects the enhanced signal with the highest matching degree as the target sound signal; and determines the direction of the target sound signal as the sound source orientation result.

[0062] In one embodiment, the direction determiner is configured to: determine whether the direction error between the Bluetooth positioning result and the sound source orientation result is less than a preset threshold; if not, take the middle value of the direction between the Bluetooth positioning result and the sound source orientation result as the real-time orientation of the device to be positioned; if exceeded, abandon the current real-time positioning result.

[0063] In one embodiment, the headset is configured to: track the orientation of the headset, perform directionality weighted processing on the real-time playback audio of the left and right ear channels of the headset according to the real-time orientation of the headset and the real-time position of the device to be located, and provide directional guidance for the user.

[0064] In one embodiment, the headset is configured to: announce the real-time position of the device to be located through a speaker of the headset.

[0065] It should be noted that the headset in the embodiment of the present application can implement each process of the embodiment of the aforementioned device positioning method and achieve the same effects and functions, which will not be repeated here.

[0066] 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 device positioning method, characterized in that: Applied to earphones, the earphones are provided with a microphone array and a Bluetooth antenna array, the device to be located has a Bluetooth address and plays a preset prompt tone in the anti-lost state, the method includes: Determine the current state of the device to be located, and when the device to be located is in an anti-lost state, perform the following steps: The microphone array is used to pick up a sound signal. When the preset prompt sound is detected from the sound signal, the sound signals in N directions are enhanced by using beamforming technology to obtain corresponding N enhanced signals, where N is a positive integer greater than 1. Comparing the N enhanced signals with the preset prompt sounds respectively, and selecting the enhanced signal with the highest matching degree as the target sound signal; Generate a beam in the direction of the target sound signal, track and find the direction of the sound source, so as to determine the sound source orientation result of the device to be located; Using the Bluetooth antenna array to perform real-time Bluetooth positioning on the device to be located to determine a Bluetooth positioning result of the device to be located; Determine whether the direction error between the Bluetooth positioning result and the sound source orientation result is less than a preset threshold; If not, the real-time position of the device to be located is determined according to the Bluetooth positioning result and the sound source orientation result.

2. The method according to claim 1, characterized in that The method further comprises: Using the Bluetooth antenna array to receive the Bluetooth signal periodically sent by the device to be located, and periodically positioning and tracking the device to be located based on the Bluetooth signal; When a preset abnormal situation occurs in the positioning and tracking, it is determined that the device to be positioned is in the anti-lost state.

3. The method according to claim 2, characterized in that The preset abnormal conditions include any one or more of the following: It is detected that the distance between the device to be located exceeds a preset threshold; it is detected that the power of the device to be located is lower than a warning value; it is detected that the Bluetooth signal received from the device to be located is interfered.

4. The method according to claim 1, characterized in that: The method further comprises: When a user instruction to find the device to be located is received, it is determined that the device to be located is in the anti-lost state.

5. The method according to claim 3, characterized in that: Also includes: When the preset abnormal situation occurs in the positioning tracking, an alarm is given to the user through the speaker of the headset.

6. The method according to claim 1, characterized in that The method further comprises: When it is determined that the device to be located is in the anti-lost state, a trigger instruction is sent to the device to be located to trigger the device to be located to play the preset prompt tone.

7. The method according to claim 2 or 3, characterized in that: In response to detecting the preset abnormal situation, the device to be located automatically triggers the playing of the preset prompt tone.

8. The method according to claim 1, characterized in that The preset prompt tone is detected from the sound signal using a GMM-HMM speech recognition model or a neural network.

9. The method according to claim 1, characterized in that: If not, determining the real-time position of the device to be located according to the Bluetooth positioning result and the sound source orientation result, including: If it does not exceed, the intermediate value of the direction between the Bluetooth positioning result and the sound source orientation result is taken as the real-time orientation of the device to be positioned. If it exceeds, the current real-time positioning result is abandoned.

10. The method according to claim 1, characterized in that The method further comprises: The orientation of the earphone is tracked, and directionality weighted processing is performed on the real-time audio played in the left and right ear channels of the earphone according to the real-time orientation of the earphone and the real-time position of the device to be located, so as to provide directional guidance for the user.

11. The method according to claim 1, characterized in that: The real-time position of the device to be located is announced through the speaker of the headset.

12. A headset, characterized in that: The headset is provided with a microphone array and a Bluetooth antenna array, and also includes: a state controller, a prompt tone identifier, a sound direction finder, a Bluetooth direction finder, and a direction discriminator; the device to be located is a Bluetooth device and plays a preset prompt tone in the anti-lost state; wherein, The state controller determines the current state of the device to be located. When the device to be located is in an anti-lost state, the headset is configured as follows: The microphone array picks up a sound signal, and when the prompt sound recognizer detects the preset prompt sound from the sound signal, the beamformer enhances the sound signals in N directions using beamforming technology to obtain corresponding N enhanced signals, where N is a positive integer greater than 1; Comparing the N enhanced signals with the preset prompt sounds respectively, and selecting the enhanced signal with the highest matching degree as the target sound signal; Generate a beam in the direction of the target sound signal, track and find the direction of the sound source, so as to determine the sound source orientation result of the device to be located; The Bluetooth antenna array receives the Bluetooth signal, and the Bluetooth direction finder performs real-time Bluetooth positioning of the device to be located using the received Bluetooth signal and the Bluetooth address to determine the Bluetooth positioning result of the device to be located; The direction discriminator determines whether the direction error between the Bluetooth positioning result and the sound source orientation result is less than a preset threshold; If not, the real-time position of the device to be located is determined according to the Bluetooth positioning result and the sound source orientation result.

13. The earphone according to claim 12, characterized in that The headset is configured to: the Bluetooth antenna array receives the Bluetooth signal periodically sent by the device to be located, and the Bluetooth direction finder periodically locates and tracks the device to be located based on the Bluetooth signal; When a preset abnormal situation occurs in the positioning and tracking, the state controller determines that the device to be positioned is in the anti-lost state.

14. The earphone according to claim 13, characterized in that The preset abnormal conditions include any one or more of the following: It is detected that the distance between the device to be located exceeds a preset threshold; it is detected that the power of the device to be located is lower than a warning value; it is detected that the Bluetooth signal received from the device to be located is interfered.

15. The earphone according to claim 12, characterized in that: The state controller is configured to: When a user instruction to find the device to be located is received, it is determined that the device to be located is in the anti-lost state.

16. The earphone according to claim 14, characterized in that Also included is an alarm module configured to: When the preset abnormal situation occurs in the positioning tracking, an alarm is given to the user through the speaker of the headset.

17. The earphone according to claim 12, characterized in that The headset is configured to: When the state controller determines that the device to be located is in the anti-lost state, the state controller sends a trigger instruction to the device to be located to trigger the device to be located to play the preset prompt tone.

18. The earphone according to claim 13 or 14, characterized in that: In response to detecting the preset abnormal situation, the device to be located automatically triggers the playing of the preset prompt tone.

19. The earphone according to claim 12, characterized in that The prompt tone recognizer detects the preset prompt tone from the sound signal using a GMM-HMM speech recognition model or a neural network.

20. The earphone according to claim 12, characterized in that The direction determiner is configured to: Determine whether the direction error between the Bluetooth positioning result and the sound source orientation result is less than a preset threshold; If not, taking the intermediate value between the Bluetooth positioning result and the sound source orientation result as the real-time position of the device to be positioned; If it exceeds, the current real-time positioning result will be abandoned.

21. The earphone according to claim 12, characterized in that The headset is configured to: The orientation of the earphone is tracked, and directionality weighted processing is performed on the real-time audio played in the left and right ear channels of the earphone according to the real-time orientation of the earphone and the real-time position of the device to be located, so as to provide directional guidance for the user.

22. The earphone according to claim 12, characterized in that The headset is configured to: The real-time position of the device to be located is announced through the speaker of the headset.

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