Sound source localization equipment, method, device and system based on microsystem technology

Abstract

The present application relates to a sound source localization device, method, apparatus, and system based on microsystem technology. The device includes a sound microsensor, a microprocessor, a radio frequency transceiver, and a microsystem package. The microsystem package is used to provide mechanical and electrical connections for the sound microsensor, microprocessor, and radio frequency transceiver, wherein: the sound microsensor is used to detect the sound signal of the target sound source; the microprocessor is used to determine the sound arrival time of the sound signal; and if the sound source localization device is not a sound source localization computing device, the radio frequency transceiver is controlled to send a positioning message containing the sound arrival time to the sound source localization computing device in the sound source localization system to which it belongs. The positioning message is used to instruct the sound source localization computing device to calculate the position coordinates of the target sound source based on the sound arrival time of each sound source localization device in the sound source localization system. The sound source localization device of this solution can be used to perform sound source localization in scenarios with limited data transmission bandwidth conditions.

Description

Technical Field

[0001] The present application relates to the technical field of sound source localization, and in particular to a sound source localization device, method, apparatus and system based on microsystem technology. Background Art

[0002] Sound source localization technology uses an array of acoustic sensors to acquire sound wave signals, analyze them, and determine the location and coordinates of the sound source. This technology has long been used in military applications, such as early sonars for submarine detection and artillery locating devices. Since the 1980s, sound source localization technology has been applied to civilian applications such as speech signal processing, including intelligent robots, audio and video conferencing systems, and hearing aids.

[0003] In related technologies, products with sound source localization functions mostly use microphone arrays as sound signal collection devices. Each microphone in the microphone array can output one sound signal. The original sound signals collected by all microphones need to be uniformly transmitted to the processing system for processing. The processing system calculates the sound source position through the sound source localization algorithm.

[0004] However, the above-mentioned method for sound source localization based on microphone arrays requires transmitting the collected original sound signals to a processing system. The amount of data transmitted is large, and the bandwidth requirement for data transmission is high. Therefore, its application under resource-constrained conditions is greatly limited. Summary of the Invention

[0005] Based on this, it is necessary to provide a sound source localization device, method, apparatus and system based on microsystem technology with low requirements for data transmission bandwidth to address the above technical problems.

[0006] A sound source localization device based on microsystem technology, comprising: a sound microsensor, a microprocessor, a radio frequency transceiver, and a microsystem package, wherein the microsystem package is used to provide mechanical and electrical connections for the sound microsensor, the microprocessor, and the radio frequency transceiver, wherein:

[0007] The sound micro sensor is used to detect the sound signal of the target sound source;

[0008] The microprocessor is configured to determine a sound arrival time of the sound signal; and, if the sound source localization device is not a sound source localization calculation device, control the radio frequency transceiver to send a positioning message including the sound arrival time to a sound source localization calculation device in the sound source localization system to which it belongs, wherein the positioning message is configured to instruct the sound source localization calculation device to calculate the position coordinates of the target sound source based on the sound arrival times of each sound source localization device in the sound source localization system.

[0009] In one embodiment, the microprocessor is further configured to:

[0010] In a case where the sound source localization device is a sound source localization calculation device, the radio frequency transceiver is controlled to receive a localization message including a sound arrival time sent by other sound source localization devices in the sound source localization system; and the position coordinates of the target sound source are calculated according to the sound arrival time of each sound source localization device in the sound source localization system.

[0011] In one embodiment, the microprocessor is further configured to:

[0012] In a case where the sound source localization device is not a sound source localization computing device, controlling the radio frequency transceiver to receive a time synchronization signal sent by the sound source localization computing device, and adjusting the local time according to the time synchronization signal so that the local time is synchronized with the time of the sound source localization computing device;

[0013] In a case where the sound source localization device is a sound source localization computing device, the radio frequency transceiver is controlled to send a time synchronization signal to other sound source localization devices in the sound source localization system, where the time synchronization signal is used to instruct the other sound source localization devices to perform time adjustment so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

[0014] In one embodiment, the microprocessor is further configured to determine the amplitude of the sound signal; if the amplitude of the sound signal is greater than a preset threshold, the sound signal is determined to be a sound signal of a target sound source.

[0015] In one embodiment, the microprocessor is also used to determine the sound characteristic information of the sound signal; the sound characteristic information includes at least one or more of sound frequency, sampling rate, zero crossing rate, and average sound amplitude; and the positioning information also includes the sound characteristic information.

[0016] In one embodiment, the device further includes a power supply unit, and the power supply unit is used to provide electrical energy to the device.

[0017] In one embodiment, the device further includes a display unit, configured to display information including the position coordinates of the target sound source.

[0018] In one embodiment, the display information further includes one or more of the sound arrival time and the position coordinates of the sound source localization device.

[0019] In one embodiment, the device further includes a micro memory, which is used to store data information acquired and / or calculated by the sound source localization device, wherein the data information includes one or more of the sound signal, the sound arrival time, the position coordinates of the sound source localization device, and the position coordinates of the target sound source.

[0020] A sound source localization method based on microsystem technology, the method being applied to a sound source localization device in a sound source localization system, the method comprising:

[0021] Detecting a sound signal from a target sound source and determining a sound arrival time of the sound signal;

[0022] In a case where the sound source localization device is not a sound source localization calculation device, a positioning message including the sound arrival time is sent to a sound source localization calculation device in the sound source localization system, where the positioning message is used to instruct the sound source localization calculation device to calculate the position coordinates of the target sound source based on the sound arrival times of each sound source localization device in the sound source localization system.

[0023] In one embodiment, the method further comprises:

[0024] In a case where the sound source localization device is a sound source localization calculation device, receiving a localization message including a sound arrival time sent by other sound source localization devices in the sound source localization system;

[0025] The position coordinates of the target sound source are calculated according to the sound arrival time of each sound source localization device in the sound source localization system.

[0026] In one embodiment, before detecting the sound signal of the target sound source and determining the sound arrival time of the sound signal, the method further includes:

[0027] In a case where the sound source localization device is not a sound source localization computing device, receiving a time synchronization signal sent by the sound source localization computing device, and adjusting the local time according to the time synchronization signal so that the local time is synchronized with the time of the sound source localization computing device;

[0028] In a case where the sound source localization device is a sound source localization computing device, a time synchronization signal is sent to other sound source localization devices in the sound source localization system, where the time synchronization signal is used to instruct the other sound source localization devices to perform time adjustment so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

[0029] In one embodiment, detecting a sound signal from a target sound source and determining a sound arrival time of the sound signal includes:

[0030] detecting a sound signal and determining an amplitude of the sound signal;

[0031] If the amplitude of the sound signal is greater than a preset threshold, the sound signal is determined to be a sound signal of a target sound source, and a sound arrival time of the sound signal is determined.

[0032] A sound source localization device based on microsystem technology, comprising:

[0033] A detection module, configured to detect a sound signal of a target sound source and determine a sound arrival time of the sound signal;

[0034] a data transceiver module, configured to, when the sound source localization device is not a sound source localization calculation device, send a positioning message including the sound arrival time to a sound source localization calculation device in the sound source localization system, wherein the positioning message is used to instruct the sound source localization calculation device to calculate the position coordinates of the target sound source based on the sound arrival times of each sound source localization device in the sound source localization system.

[0035] In one embodiment, the data transceiver module is further configured to receive a positioning message including a sound arrival time sent by other sound source localization devices in the sound source localization system when the sound source localization device is a sound source localization calculation device;

[0036] The device further comprises:

[0037] The calculation module is used to calculate the position coordinates of the target sound source according to the sound arrival time of each sound source localization device in the sound source localization system.

[0038] In one embodiment, the apparatus further comprises:

[0039] a time synchronization module configured to, when the sound source localization device is not a sound source localization computing device, receive a time synchronization signal sent by the sound source localization computing device, and adjust local time according to the time synchronization signal so that the local time is synchronized with the time of the sound source localization computing device; and, when the sound source localization device is a sound source localization computing device, send a time synchronization signal to other sound source localization devices in the sound source localization system, wherein the time synchronization signal is used to instruct the other sound source localization devices to adjust their time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

[0040] In one embodiment, the detection module is further used to detect a sound signal and determine the amplitude of the sound signal; if the amplitude of the sound signal is greater than a preset threshold, the sound signal is determined to be a sound signal of a target sound source, and the sound arrival time of the sound signal is determined.

[0041] A sound source localization system based on microsystem technology, comprising at least two of the above-mentioned sound source localization devices, wherein the at least two sound source localization devices include a sound source localization calculation device; wherein:

[0042] The sound source localization device is used to detect the sound signal of the target sound source and determine the sound arrival time of the sound signal;

[0043] Other sound source localization devices among the sound source localization devices except the sound source localization calculation device are further configured to send a localization message including the arrival time of the sound to the sound source localization calculation device;

[0044] The sound source localization calculation device is further configured to calculate the position coordinates of the target sound source according to the sound arrival time of each sound source localization device in the sound source localization system.

[0045] In one embodiment, the other sound source localization device is further configured to receive a time synchronization signal sent by the sound source localization calculation device, and adjust a local time according to the time synchronization signal so that the local time is synchronized with the time of the sound source localization calculation device;

[0046] The sound source localization computing device is further configured to send a time synchronization signal to the other sound source localization devices, wherein the time synchronization signal is used to instruct the other sound source localization devices to adjust the time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

[0047] In one embodiment, the sound source localization device is further used to detect a sound signal and determine the amplitude of the sound signal; if the amplitude of the sound signal is greater than a preset threshold, the sound signal is determined to be a sound signal of a target sound source, and the sound arrival time of the sound signal is determined.

[0048] The above-mentioned sound source localization device, method, apparatus and system based on microsystem technology include a sound microsensor, a microprocessor, a radio frequency transceiver, and a microsystem package. The microsystem package is used to provide mechanical and electrical connections for the sound microsensor, microprocessor and radio frequency transceiver, wherein: the sound microsensor is used to detect the sound signal of the target sound source; the microprocessor is used to determine the sound arrival time of the sound signal; when the sound source localization device is not a sound source localization computing device, the radio frequency transceiver is controlled to send a positioning message containing the sound arrival time to the sound source localization computing device in the sound source localization system to which it belongs, and the positioning message is used to instruct the sound source localization computing device to calculate the position coordinates of the target sound source based on the sound arrival time of each sound source localization device in the sound source localization system. In this solution, the sound source localization device locally processes the detected sound signal to obtain the sound arrival time, and transmits the positioning information containing the sound arrival time to the sound source localization computing device for calculating the position coordinates of the target sound source. Compared with the original sound signal in the related art that requires a large amount of data to be transmitted, the sound source localization device of this solution requires a significantly reduced amount of data to be transmitted, significantly reducing the data transmission bandwidth requirement, and can be used for sound source localization applications in scenarios with limited data transmission bandwidth conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A diagram of an application environment of a sound source localization device based on microsystem technology in one embodiment;

[0050] Figure 2 A diagram of an application environment of a sound source localization device based on microsystem technology in another embodiment;

[0051] Figure 3 A schematic structural diagram of a sound source localization device based on microsystem technology in one embodiment;

[0052] Figure 4 A schematic structural diagram of a sound source localization device based on microsystem technology in another embodiment;

[0053] Figure 5 A schematic structural diagram of a sound source localization device based on microsystem technology in another embodiment;

[0054] Figure 6 1 is a flow chart of a sound source localization method based on microsystem technology in one embodiment;

[0055] Figure 7 FIG. 4 is a structural block diagram of a sound source localization device based on microsystem technology in one embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0057] First, before specifically introducing the technical solutions of the embodiments of the present application, the technical background or technical evolution context on which the embodiments of the present application are based is introduced. With the development of science and technology, the application scenarios of sound source localization technology are becoming more and more diversified, such as intelligent robots, audio and video conferencing systems, and hearing aids in daily work and life. There is also a need for sound source localization in scenarios such as detecting the location of mechanical equipment failures through sound localization, and sound monitoring and positioning in special areas such as border lines. However, the sound source localization technology based on microphone arrays in the related art requires the collected original sound signals to be transmitted to the processing system for processing. The data transmission volume is large and the bandwidth requirements for data transmission are high, which cannot be applied to scenarios with limited network bandwidth. Based on this background, the applicant has proposed the sound source localization device, method, apparatus and system based on microsystem technology of the present application through long-term research and development and experimental verification. When using this solution for sound source localization, the amount of data required to be transmitted is greatly reduced, which significantly reduces the requirements for data transmission bandwidth, and can be used for sound source localization applications in scenarios with limited data transmission bandwidth conditions. In addition, it should be noted that the applicant has made a lot of creative efforts to discover the technical problems of the present application and the technical solutions described in the following embodiments.

[0058] The sound source localization device based on microsystem technology provided in this application can be applied to a sound source localization system. The sound source localization system includes at least two or more sound source localization devices. Through the sound source localization system, the position coordinates of the target sound source can be determined in a scenario with limited network bandwidth. In an application scenario, such as Figure 1 As shown, the sound source localization system composed of the sound source localization device 101 and the sound source localization device 102 is used to determine the position coordinates of the target sound source 103 on the line connecting the two sound source localization devices. In another application scenario, such as Figure 2 As shown, four sound source localization devices are placed at the four vertices of a square area to form a sound source localization system, which is used to determine the position coordinates of the target sound source within the square area.

[0059] For the sake of convenience, the present invention first describes a sound source localization device based on microsystem technology. Figure 3As shown, a structural schematic diagram of a sound source localization device based on microsystem technology is provided. The sound source localization device includes a sound microsensor 301, a microprocessor 302, a radio frequency transceiver 303, and a microsystem package 304. The microsystem package 304 is used to provide mechanical and electrical connections for the sound microsensor 301, the microprocessor 302, and the radio frequency transceiver 303. The sound microsensor 301 is used to detect sound signals from a target sound source. The microprocessor 302 is used to determine the sound arrival time of the sound signal. If the sound source localization device is not a sound source localization computing device, the radio frequency transceiver 303 is controlled to send a positioning message containing the sound arrival time to a sound source localization computing device in the sound source localization system to which it belongs. The positioning message is used to instruct the sound source localization computing device to calculate the position coordinates of the target sound source based on the sound arrival times of each sound source localization device in the sound source localization system.

[0060] In implementation, the sound source localization device may include at least components: a sound microsensor 301, a microprocessor 302, a radio frequency transceiver 303, and a microsystem package 304. The sound microsensor 301 is electrically connected to the microprocessor 302, and the microprocessor 302 is electrically connected to the radio frequency transceiver 303. The function of the microsystem package 304 is to realize the mechanical and electrical connections of the various components of the sound source localization device. Optionally, the microsystem package 304 can also provide a mechanical interface and an electrical interface for the device to interact with the outside world.

[0061] The sound microsensor 301 can be composed of a micro-electromechanical system (MEMS) sound sensitive element and a signal processing circuit. When the sound microsensor 301 receives the sound signal of the target sound source, the structure of the MEMS sound sensitive element changes, and the original voltage waveform reflecting the characteristics of the sound signal is output. After amplification, filtering, and calculation by the signal processing circuit, the original sound signal is converted into a sound digital signal, and the sound digital signal is transmitted to the microprocessor 302. The MEMS sound sensitive element can be piezoelectric, capacitive or dynamic, and the signal processing circuit includes but is not limited to DC / AC bridge detection, amplification, biasing, filtering, differential to single-ended, impedance matching and other functions, and the parameters of these functions can be adjusted by replacing components or external programming. The structure of the sound microsensor can be diverse, and this embodiment does not limit it.

[0062] After receiving the digital sound signal transmitted by the sound microsensor 301, the microprocessor 302 can determine the arrival time of the sound signal based on its local clock function. In the sound source localization system to which the sound source localization device belongs, one sound source localization device can be designated as the sound source localization calculation device. For other sound source localization devices in the sound source localization system, the microprocessor 302 of each device transmits the arrival time of the sound signal at the device to the RF transceiver 303 and controls the RF transceiver 303 to send positioning information including the arrival time to the designated sound source localization calculation device. After receiving the positioning information, the sound source localization calculation device can calculate the location coordinates of the target sound source using a Time Difference of Arrival (TDOA) algorithm based on the arrival time of the sound signal at each sound source localization device in the sound source localization system. The type of the microprocessor 302 includes but is not limited to a micro central processing unit and a field programmable gate array (FPGA). The RF transceiver 303 is not limited to a certain type of RF transceiver element or circuit and can operate in simplex, half-duplex, or duplex mode, and can also operate in different frequency bands. It can also perform necessary frequency band switching by changing the component parameters or structure of the RF circuit. This embodiment does not limit its type.

[0063] When the above-mentioned sound source localization device is used in a sound source localization system to locate a target sound source, after its sound microsensor detects the sound signal of the target sound source, the microprocessor can determine the sound arrival time of the sound signal at the device. The microprocessor then controls the RF transceiver to transmit the sound arrival time to the sound source localization calculation device in the sound source localization system. The sound source localization calculation device can calculate the position coordinates of the target sound source based on the sound arrival time of the sound signal at each sound source localization device in the sound source localization system using an arrival time difference algorithm. Compared to the related art, in which the microphone array needs to transmit the original sound signal with a large amount of data to the processing system for processing after collecting the sound signal, the sound source localization device of this solution only needs to transmit the positioning information containing the sound arrival time with a smaller amount of data to the sound source localization calculation device. The amount of data required to be transmitted is greatly reduced, significantly reducing the requirements for data transmission bandwidth, and can be used for sound source localization applications in scenarios with limited data transmission bandwidth conditions. In addition, since the sound sensing, processing, and communication functions under the microphone array sound source positioning system architecture in related technologies are usually discrete, the system integration is low, resulting in the entire sound source positioning system being too large and high in energy consumption, and the microphone array has low deployment flexibility. The sound source positioning device of this solution adopts intelligent microsystem technology, integrates sound sensing, processing, and communication, and has high integration. Compared with traditional sound source positioning systems, it is greatly reduced in size, has lower energy consumption, more flexible deployment, strong concealment, strong real-time positioning calculation, and lighter weight. It can be applied to more and more scenarios with harsh boundary conditions, including scenarios with limited volume, weight, computing power, bandwidth, and energy, such as sound source positioning in important border areas and at the fault locations of precision instruments.

[0064] In one embodiment, when the sound source localization device is a sound source localization calculation device, the microprocessor is further configured to control the radio frequency transceiver to receive positioning messages including sound arrival times sent by other sound source localization devices in the sound source localization system; and calculate the position coordinates of the target sound source based on the sound arrival times of each sound source localization device in the sound source localization system.

[0065] In implementation, the sound source localization device can also be used as a sound source localization calculation device in a sound source localization system. When used as a sound source localization calculation device, its microprocessor controls the radio frequency transceiver to receive positioning messages containing sound arrival times sent by other sound source localization devices in the sound source localization system, and then uses the TDOA algorithm to calculate the position coordinates of the target sound source based on the sound arrival times determined by each sound source localization device (including the device itself). Specifically, the microprocessor first selects one of the sound arrival times as a time reference benchmark, such as selecting the sound arrival time of the sound source localization calculation device as the time reference benchmark, or using the earliest sound arrival time as the time reference benchmark, and then calculates the time difference of the other sound arrival times relative to the time reference benchmark to obtain a relative time delay value, and then calculates the position coordinates of the target sound source based on the relative time delay values ​​and the pre-calibrated position coordinates of each sound source localization device. The TDOA algorithm used includes but is not limited to the geometric method, the maximum likelihood estimation method, and the least squares estimation method, which are not limited in this embodiment.

[0066] The sound source localization device provided in this embodiment can be used as a sound source localization device that sends the sound arrival time to the sound source localization calculation device, or as a sound source localization calculation device that receives the sound arrival time signal and calculates the position coordinates. It can be flexibly deployed according to actual application scenarios, and can run a customized intelligent algorithm by externally programming the microprocessor to adapt to the needs of different scenarios. The system has good openness.

[0067] In one embodiment, the microprocessor is further configured to, when the sound source localization device is not a sound source localization computing device, control the radio frequency transceiver to receive a time synchronization signal sent by the sound source localization computing device, and adjust the local time according to the time synchronization signal so that the local time is synchronized with the time of the sound source localization computing device; and, when the sound source localization device is a sound source localization computing device, control the radio frequency transceiver to send a time synchronization signal to other sound source localization devices in the sound source localization system, where the time synchronization signal is used to instruct the other sound source localization devices to adjust their time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

[0068] In implementation, when the sound source localization device is not a sound source localization computing device, the microprocessor controls the radio frequency transceiver to receive a time synchronization signal sent by a sound source localization computing device in the sound source localization system to which the device belongs. The microprocessor adjusts the time of the local clock according to the time synchronization signal to synchronize the local time with the time of the sound source localization computing device. When the sound source localization device serves as a sound source localization device, the microprocessor controls the radio frequency transceiver to broadcast a time synchronization signal to other sound source localization devices in the sound source localization system to which the device belongs, so that the other sound source localization devices adjust their time after receiving the time synchronization signal, thereby achieving time synchronization of the sound source localization devices in the sound source localization system.

[0069] Since the sound source localization device of this embodiment is used in a sound source localization system to locate the target sound source, the sound arrival times determined by each sound source localization device are calculated using the TDOA algorithm. Therefore, the accuracy of the difference between the sound arrival times is crucial to the calculation results. Therefore, before the sound source localization system begins operation, the local clocks of each sound source localization device must be calibrated. Furthermore, since this embodiment calculates based on time differences, the time of one sound source localization device can be used as a reference, eliminating the need to first obtain the precise absolute time and then perform calibration. Based on this, this embodiment provides a sound source localization device with a time synchronization function, which facilitates and accelerates time synchronization. Furthermore, the time synchronization function can be automatically activated based on a preset period or other preset trigger conditions, allowing each sound source localization device in the sound source localization system to automatically form a network and synchronize their time. This ensures the accuracy of sound source localization using this device in unattended or long-term operation scenarios.

[0070] In one embodiment, the microprocessor of the sound source localization device is further configured to determine the amplitude of the sound signal; if the amplitude of the sound signal is greater than a preset threshold, the sound signal is determined to be a sound signal of the target sound source.

[0071] During implementation, the sound microsensor of the sound source localization device continuously collects external sound signals. For the sound signals collected by the sound microsensor, the microprocessor can first detect the amplitude of the sound signal. If the amplitude of the sound signal is greater than a preset threshold, a sound signal of a preset duration is collected, and the sound signal within the preset duration is determined to be the sound signal of the target sound source. Then, the sound arrival time is determined based on the sound signal within the preset duration, and the starting time of the sound signal within the preset duration is generally used as the sound arrival time; if the amplitude of the sound signal is less than the preset threshold, the sound signal is not subsequently processed.

[0072] While operating continuously, sound source localization equipment may collect interference signals from non-target sound sources, such as ambient sound. Interference signals typically have low amplitudes. When the target sound source's signal is collected, its amplitude suddenly increases. The point in time when the amplitude suddenly increases is the arrival time of the target sound source. Using a threshold detection method, the time at which the sound signal's amplitude exceeds a preset threshold is used as the sound arrival time. This time point is closer to the actual sound arrival time, resulting in more accurate positioning calculations. Furthermore, this method avoids performing invalid positioning calculations for interference signals collected below the preset amplitude, reducing resource waste.

[0073] In one embodiment, the microprocessor of the sound source localization device is further configured to determine sound feature information of the sound signal.

[0074] The sound feature information includes at least one or more of sound frequency, sampling rate, zero-crossing rate, and average sound amplitude; correspondingly, the positioning information also includes the sound feature information.

[0075] During implementation, after the sound source localization device collects the sound signal from the target sound source, it determines the sound arrival time of the sound signal based on the local clock. It also calculates sound characteristic information such as the sound frequency, sampling rate, zero-crossing rate, and average sound amplitude of the sound signal. If the sound source localization device is not a sound source localization calculation device, the sound arrival time and sound characteristic information are sent to the sound source localization calculation device as positioning information. Based on the sound characteristic information, the sound source localization calculation device can determine whether the corresponding sound source localization device has received a valid sound signal. Furthermore, the sound source localization calculation device can compare the sound characteristic information corresponding to each sound source localization device to determine whether the sound signals received by each sound source localization device are from the same sound source.

[0076] For example, the sound feature information of the sound signal collected by the sound source localization calculation device can be used as a judgment benchmark. The sound feature information of the sound signal collected by the sound source localization device with the shortest sound arrival time can also be used as the benchmark sound feature information. The sound feature information corresponding to other sound source localization devices can then be compared with the benchmark sound feature information. For sound feature information that differs significantly from the benchmark sound feature information, the sound arrival time of the corresponding sound signal can be excluded from the subsequent localization calculation, thereby improving the accuracy of the sound source localization results. If sound signals from multiple sound sources are collected continuously within a certain period of time, the sound feature information of each of the multiple sound sources collected by the sound source localization calculation device can also be set as a benchmark. By comparing the sound feature information sent by other sound source localization devices with the benchmark one by one, the sound signals of the same sound source can be screened out, thereby improving the accuracy of the localization results when sound signals from multiple sound sources are collected continuously.

[0077] In one embodiment, Figure 4 As shown, the sound source localization device further includes a power supply unit 305, which is used to provide power to the device.

[0078] The sound source localization device of this embodiment may also integrate a power supply unit 305, eliminating the need for external energy sources, achieving self-power supply, higher integration, and more flexible usage scenarios. The power supply unit 305 provides a stable driving voltage or current for each component of the device. Its supply voltage and power supply mode can be changed by programming or adjusting the circuit element parameters of the power supply unit. The power supply unit 305 may include an energy storage battery and may also include an energy conversion device that converts energy from solar energy, mechanical energy, or other energy sources in the environment, which is not limited in this embodiment.

[0079] In one embodiment, the sound source localization device further includes a display unit, and the display unit is configured to display information including the position coordinates of the target sound source.

[0080] The sound source localization device of this embodiment is also provided with a display unit for visually displaying information, which can be used to display the calculated location coordinates of the target sound source. Furthermore, the display unit can also be used to display information such as the sound arrival time determined by each sound source localization device, the time difference between each sound arrival time (relative delay value), and the location coordinates of each sound source localization device. This visual display facilitates user viewing and interactive operations. The display unit can be a display screen, and the displayed information can be presented in the form of graphics, tables, or text, which is not limited in this embodiment.

[0081] In one embodiment, Figure 5 As shown, the sound source localization device further includes a micro memory 306, which is used to store data acquired or generated during the above processing, such as sound signals, sound arrival times, time differences between the arrival times of various sounds (relative delay values), sound feature information, position coordinates of the sound source localization device, and data information on the position coordinates of the target sound source.

[0082] The sound source localization device of this embodiment also integrates a micro-storage 306 for storing raw data, including the original sound signal, digitized sound signal, sound arrival time, time difference between sound arrival times (relative delay value), sound feature information, location coordinates of the sound source localization device, location coordinates of the target sound source, as well as intermediate calculation results and final calculation results. This facilitates user access to and recall of historical data and allows tracking of changes in the sound source location. The device also serves as a data backup to prevent data loss during data transmission. The data storage format of the micro-storage 306 may be an open source database, a spreadsheet file, a text file, or other formats, which are not limited in this embodiment.

[0083] This application also provides a sound source localization method based on microsystem technology, which is applied to the above-mentioned sound source localization device in the sound source localization system. Figure 6 As shown, the method includes the following steps:

[0084] Step 601: Detect a sound signal from a target sound source and determine the sound arrival time of the sound signal.

[0085] In practice, a number of sound source localization devices are placed in corresponding locations according to the requirements of the sound source localization application scenario to form a sound source localization system. When the sound source localization system begins sound source localization, each sound source localization device collects the sound signal of the target sound source through an acoustic microsensor and determines the sound arrival time of the sound signal at the sound source localization device based on its local clock function.

[0086] Step 602: If the sound source localization device is not a sound source localization computing device, a positioning message including the sound arrival time is sent to a sound source localization computing device in the sound source localization system. The positioning message is used to instruct the sound source localization computing device to calculate the position coordinates of the target sound source based on the sound arrival time of each sound source localization device in the sound source localization system.

[0087] In implementation, each sound source localization device in the sound source localization system can first be configured with an identity, with one device configured as the sound source localization calculation device. Each device then performs processing based on its own identity information. If the identity information is not that of a sound source localization calculation device, the device sends its own sound arrival time to the other device. The sound source localization calculation device then uses the TDOA algorithm to calculate the location coordinates of the target sound source based on the sound arrival times determined by the other devices.

[0088] When the sound source localization method of this solution is applied to a sound source localization device, the device first obtains the sound arrival time of the sound signal through local processing. This device then transmits the smaller sound arrival time data as positioning information to the sound source localization calculation device for calculation, thereby obtaining the location coordinates of the target sound source. Compared to related technologies in which microphone arrays must transmit the larger raw sound signal to a processing system for processing, this solution significantly reduces the amount of data required to be transmitted, significantly reducing the data transmission bandwidth requirements. This makes it suitable for sound source localization applications in scenarios where data transmission bandwidth is limited.

[0089] In one embodiment, the sound source localization method further includes: when the sound source localization device is a sound source localization calculation device, receiving a localization message including a sound arrival time sent by other sound source localization devices in the sound source localization system; and calculating the position coordinates of the target sound source according to the sound arrival time of each sound source localization device in the sound source localization system.

[0090] In implementation, when the identity information of the sound source localization device is a sound source localization calculation device, the device receives a localization message containing the sound arrival time sent by other sound source localization devices in the sound source localization system, and then uses the TDOA algorithm to calculate the position coordinates of the target sound source based on the sound arrival time determined by each sound source localization device (including the device itself). Specifically, the sound source localization calculation device first selects one of the sound arrival times as a time reference benchmark, such as selecting the sound arrival time of the sound source localization calculation device as the time reference benchmark, or using the earliest sound arrival time as the time reference benchmark, and then calculates the time difference of other sound arrival times relative to the time reference benchmark to obtain a relative time delay value, and then calculates the position coordinates of the target sound source based on each relative time delay value and the pre-calibrated position coordinates of each sound source localization device. The TDOA algorithm used includes but is not limited to the geometric method, the maximum likelihood estimation method, and the least squares estimation method, which are not limited in this embodiment.

[0091] In one embodiment, before step 601, the following steps are further included: if the sound source localization device is not a sound source localization computing device, receiving a time synchronization signal sent by the sound source localization computing device, and adjusting the local time according to the time synchronization signal to synchronize the local time with the time of the sound source localization computing device; if the sound source localization device is a sound source localization computing device, sending a time synchronization signal to other sound source localization devices in the sound source localization system, where the time synchronization signal is used to instruct the other sound source localization devices to adjust their time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

[0092] The sound source localization method of this embodiment also includes a time synchronization step, which facilitates and accelerates time verification, resulting in more accurate positioning calculations. Optionally, the time synchronization step can be automatically initiated based on a preset period or other preset trigger conditions. This is particularly useful in unattended or long-term continuous operation scenarios, further ensuring the accuracy of positioning results.

[0093] In one embodiment, step 601 specifically includes the following steps: detecting a sound signal and determining the amplitude of the sound signal; if the amplitude of the sound signal is greater than a preset threshold, determining that the sound signal is a sound signal of a target sound source, and determining the sound arrival time of the sound signal.

[0094] The sound source localization method of this embodiment uses a threshold detection method. It uses the time at which the sound signal's amplitude exceeds a preset threshold as the sound arrival time. This time is closer to the actual sound arrival time, resulting in higher accuracy in the localization calculation results. Furthermore, it avoids performing ineffective localization calculations on interference signals collected below the preset amplitude, reducing resource waste.

[0095] This application also provides two specific examples of using a sound source localization device to perform sound source localization.

[0096] Example 1, such as Figure 1 As shown, the sound source localization device 101 and the sound source localization device 102 are placed on the same plane in the room, with a distance of l between them. In this example, l = 1.5m. The target sound source 103 is located on the line connecting the two sound source localization devices. The position coordinates of the sound source localization device 101 are set as the origin, and the position coordinates of the target sound source 103 are set as (x s , 0). This example will demonstrate how to calculate the position coordinate x of the target sound source 103 by using the two aforementioned sound source localization devices. s To demonstrate the working principle of the sound source localization device and verify the accuracy of the positioning results, in this example we place the sound source localization device in a quiet room and only receive the sound signal of the target sound source.

[0097] In this example, the sound source localization device 102 is configured as a sound source localization calculation device. When sound source localization begins, each device detects the sound signal from the target sound source 103 and, using its local clock function, determines the arrival time of the sound signal from the target sound source 103 to the device itself. In this example, the arrival time of the sound signal from the target sound source 103 is T0 for the sound source localization device 101, and the arrival time of the sound signal from the sound source localization device 102 is T1.

[0098] The sound source localization device 102 calculates the time difference Δt between the sound signal arriving at the two sound source localization devices based on the sound arrival times T0 and T1, taking the sound arrival time of the sound source localization device 101 as the time reference. 10 , the public statement is:

[0099] Δt 10 =T1-T0

[0100] Then the position coordinate x of the target sound source 103 can be calculated by the following formula s :

[0101] x s =(l-vΔt 10 ) / 2

[0102] Where v is the speed of sound; Δt 10 is the time difference between the sound signals arriving at the two sound source localization devices, with the sound arrival time of the sound source localization device 101 as the time reference; l is the distance between the two sound source localization devices.

[0103] The derivation of the above formula is as follows:

[0104] Assuming that the time required for the sound signal of the target sound source 103 to propagate from the target sound source 103 to the sound source localization device 101 is t0, and the time required to propagate to the sound source localization device 102 is t1, the time difference Δt between the sound signal reaching the two sound source localization devices is 10 It can also be expressed as:

[0105] Δt 10 =t1-t0

[0106] The distance d0 between the target sound source 103 and the sound source localization device 101 and the distance d1 between the target sound source 103 and the sound source localization device 102 can be calculated by using the speed of sound and the time required for sound propagation, which can be expressed as follows:

[0107] d0=vt0

[0108] d1=vt1

[0109] The formula Δt 10 =t1-t0 Multiply both sides by the speed of sound v and we get:

[0110] vΔt 10 =vt1-vt0=d1-d0

[0111] In this example, we know that d0 = x s , then d1=lx s , replacing d0 and d1 in the above formula, we get:

[0112] vΔt 10 =(lx s )-x s =1-2x s

[0113] That is, the calculation formula is:

[0114] x s =(l-vΔt 10 ) / 2

[0115] In this example, the target sound source 103 is located at x1=0.25m, x2=0.5m, and x3=0.75m, respectively. Metal impact sound is used as the sound source. Ten positioning experiments are performed at each position. The results are shown in Table 1.

[0116] Table 1 Experimental results of sound source localization in Example 1

[0117]

[0118] According to the experimental results in Table 1, it can be calculated that when the target sound source 103 is located at x1 = 0.25m, the positioning root mean square error (RMS(x1)) = 0.0528m; when the target sound source 103 is located at x2 = 0.5m, the positioning root mean square error (RMS(x2)) = 0.0257m; and when the target sound source 103 is located at x3 = 0.75m, the positioning root mean square error (RMS(x3)) = 0.0456m. It can be concluded that in this example, the present invention successfully achieves the positioning of the target sound source on a one-dimensional straight line.

[0119] Example 2, such as Figure 2 As shown, sound source localization devices 201, 202, 203, and 204 are placed at the four vertices of a 1.5m x 1.5m square plane area, numbered 0, 1, 2, and 3, respectively, to form a sound source localization system. This system can be used to determine the position coordinates of a target sound source 205 within the square plane area. To demonstrate the working principle of the sound source localization device and verify the accuracy of the localization results, in this example, the sound source localization device is placed in a quiet room, receiving only the sound signal of the target sound source.

[0120] In this example, sound source localization device 201 is configured as a sound source localization calculation device. Upon initiating sound source localization, each device detects the sound signal from target sound source 205 and determines the arrival time of the sound signal from target sound source 205 to its own device. Sound source localization devices 202, 203, and 204 each send their own arrival time to sound source localization device 201. Based on the arrival times and the position coordinates of each sound source localization device, sound source localization device 201 calculates the position coordinates of target sound source 205.

[0121] The calculation principle of this example is explained in detail below.

[0122] In this example, the sound source localization device 201 is used as a reference benchmark, its position coordinates are set as the origin, and the sound arrival time of the sound source localization device 201 is used as the time reference benchmark. The time difference between the sound arrival time of other devices and this time reference benchmark is calculated to obtain the relative delay value.

[0123] Let the coordinates of the i-th sound source localization device be r i for:

[0124] r i =(x i ,y i )

[0125] In this example, i takes the values ​​1, 2, and 3.

[0126] Assuming that the time required for the sound signal of the target sound source 205 to propagate to the four sound source localization devices is t0, t1, t2, and t3 respectively, and taking t0 as the time reference, the time difference can be calculated:

[0127] Δt 10 =t1-t0

[0128] Δt 20 =t2-t0

[0129] Δt 30 =t3-t0

[0130] Let the vector from the origin to the target sound source 205 be The vector from the origin to the i-th sound source localization device is The distance difference between the target sound source 205 and the sound source localization device No. i and the distance between the target sound source 205 and the sound source localization device 201 (reference reference) is d i0 ,available:

[0131]

[0132] Among them, Substituting into the above formula, we get

[0133] (R s +d i0 ) 2 =R i 2 -2m i T s+R s 2

[0134] Here we can use the least squares method to estimate the transformation and let

[0135] ε=δ-2R s d-2Ms

[0136] In the above formula, the expressions of each parameter are

[0137]

[0138] Furthermore, the least squares method is used to calculate the position of the target sound source 205. The derivation process is omitted here, and only the result expression is given. The estimated position of the sound source is as follows:

[0139]

[0140] In the above formula, the expressions of each parameter are as follows:

[0141] S w * =(MT M) -1 M T

[0142] a=4-4d T S w *T S w * d

[0143] b=4d T S w *T S w * δ

[0144] c=-δ T S w *T S w * δ

[0145] According to the least squares calculation process, the parameters required to calculate the sound source location are: the coordinates of each sound source localization device, the distance from the origin to each sound source localization device, and the distance difference between the distance from the target sound source 205 to the i-th sound source localization device and the distance from the target sound source 205 to the sound source localization device 201 (reference datum). The coordinates of each sound source localization device can be calibrated before the positioning operation begins. The distance from the origin to each sound source localization device can also be calculated using the coordinates of each sound source localization device. The distance difference can be calculated using the time difference between the sound signal reaching each sound source localization device, namely:

[0146] d 10 =vΔt 10

[0147] d 20 =vΔt 20

[0148] d 30 =vΔt 30

[0149] Where v is the speed of sound; Δt 10 , Δt 20 , Δt 30 The time difference between the arrival time of the sound signal of the target sound source 205 at the sound source localization devices 202, 203, and 204 and the arrival time of the sound signal of the sound source localization device 201 (time reference benchmark), which can also be called the relative delay value; d 10 d 20 d 30are the distance differences between the distances from the target sound source 205 to the sound source localization devices 202 , 203 , and 204 and the distance from the target sound source 205 to the sound source localization device 201 (reference reference).

[0150] From this, we can see that we only need to measure the relative time delay of the sound signal reaching each sound source localization device to calculate the position coordinates of the target sound source.

[0151] In this example, the target sound source 205 is placed at four test points (0.5m, 0.5m), (1.0m, 0.5m), (0.5m, 1.0m), and (1.0m, 1.0m), respectively. Metal impact sound is used as the sound source. Ten experiments are performed at each test point. The results are shown in Table 2.

[0152] Table 2 Experimental results of sound source localization in Example 2

[0153]

[0154] According to the results in Table 2, the root mean square error for positioning (0.5m, 0.5m) is RMS(r1) = 0.053m; the root mean square error for positioning (1.0m, 0.5m) is RMS(r2) = 0.050m; the root mean square error for positioning (1.0m, 0.5m) is RMS(r3) = 0.032m; and the root mean square error for positioning (1.0m, 1.0m) is RMS(r4) = 0.075m. It can be concluded that in this example, the present invention achieves the positioning of a sound source within a two-dimensional plane with a small positioning error, meeting the requirements.

[0155] The present application also provides a sound source localization system based on microsystem technology, comprising at least two of the aforementioned sound source localization devices. The sound source localization device is configured to detect a sound signal from a target sound source and determine the sound arrival time of the sound signal; the other sound source localization devices in the sound source localization device, except for the sound source localization calculation device, are further configured to send a localization message containing the sound arrival time to the sound source localization calculation device; and the sound source localization calculation device is further configured to calculate the position coordinates of the target sound source based on the sound arrival time of each sound source localization device in the sound source localization system.

[0156] In one embodiment, other sound source localization devices in the sound source localization system are further configured to receive a time synchronization signal sent by the sound source localization computing device and adjust local time according to the time synchronization signal to synchronize the local time with the time of the sound source localization computing device. The sound source localization computing device in the sound source localization system is further configured to send a time synchronization signal to other sound source localization devices, where the time synchronization signal is used to instruct the other sound source localization devices to adjust their time to synchronize the time of the other sound source localization devices with the time of the sound source localization computing device.

[0157] In one embodiment, the sound source localization device in the sound source localization system is further used to detect a sound signal and determine the amplitude of the sound signal; if the amplitude of the sound signal is greater than a preset threshold, the sound signal is determined to be a sound signal of a target sound source, and the sound arrival time of the sound signal is determined.

[0158] This application also provides a sound source localization device 700 based on microsystem technology, such as Figure 7 As shown, the sound source localization device includes:

[0159] The detection module 701 is configured to detect a sound signal from a target sound source and determine a sound arrival time of the sound signal.

[0160] The data transceiver module 702 is used to send a positioning message including the sound arrival time to the sound source localization computing device in the sound source localization system when the sound source localization device is not a sound source localization computing device. The positioning message is used to instruct the sound source localization computing device to calculate the position coordinates of the target sound source based on the sound arrival time of each sound source localization device in the sound source localization system.

[0161] In one embodiment, the sound source localization device further comprises:

[0162] The calculation module is used to calculate the position coordinates of the target sound source according to the sound arrival time of each sound source localization device in the sound source localization system.

[0163] Furthermore, the data transceiver module 702 is further configured to receive positioning messages including sound arrival times sent by other sound source positioning devices in the sound source positioning system when the sound source positioning device is a sound source positioning calculation device.

[0164] In one embodiment, the sound source localization device further comprises:

[0165] The time synchronization module is used to receive a time synchronization signal sent by the sound source localization computing device when the sound source localization device is not the sound source localization computing device, and adjust the local time according to the time synchronization signal to synchronize the local time with the time of the sound source localization computing device; and send a time synchronization signal to other sound source localization devices in the sound source localization system when the sound source localization device is the sound source localization computing device, the time synchronization signal being used to instruct the other sound source localization devices to adjust the time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

[0166] In one embodiment, the detection module 701 is further used to detect a sound signal and determine the amplitude of the sound signal; if the amplitude of the sound signal is greater than a preset threshold, the sound signal is determined to be a sound signal of the target sound source, and the sound arrival time of the sound signal is determined.

[0167] The specific definitions of the sound source localization device can be found in the definitions of the sound source localization apparatus and the sound source localization method described above and will not be further elaborated here. Each module in the above-described sound source localization device can be implemented in whole or in part via software, hardware, or a combination thereof. Each of the above-described modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0168] The present application also provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above-mentioned sound source localization method embodiments are implemented.

[0169] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0170] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0171] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A sound source localization device based on microsystem technology, characterized in that: The device includes: a sound microsensor, a microprocessor, a radio frequency transceiver, and a microsystem package, wherein the microsystem package is used to provide mechanical and electrical connections for the sound microsensor, the microprocessor, and the radio frequency transceiver, wherein: The sound micro sensor is used to detect the sound signal of the target sound source; The microprocessor is configured to determine a sound arrival time of the sound signal; and, if the sound source localization device is not a sound source localization calculation device, control the radio frequency transceiver to send a positioning message including the sound arrival time to a sound source localization calculation device in the sound source localization system to which it belongs, wherein the positioning message is configured to instruct the sound source localization calculation device to calculate the position coordinates of the target sound source based on the sound arrival times of each sound source localization device in the sound source localization system; The microprocessor is further configured to: when the sound source localization device is not the sound source localization computing device, control the radio frequency transceiver to receive a time synchronization signal sent by the sound source localization computing device, and adjust local time according to the time synchronization signal so that the local time is synchronized with the time of the sound source localization computing device; and when the sound source localization device is the sound source localization computing device, control the radio frequency transceiver to send a time synchronization signal to other sound source localization devices in the sound source localization system, wherein the time synchronization signal is used to instruct the other sound source localization devices to adjust their time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

2. The device according to claim 1, characterized in that The microprocessor is further configured to: In a case where the sound source localization device is a sound source localization calculation device, the radio frequency transceiver is controlled to receive a localization message including a sound arrival time sent by other sound source localization devices in the sound source localization system; and the position coordinates of the target sound source are calculated according to the sound arrival time of each sound source localization device in the sound source localization system.

3. The device according to claim 1, characterized in that The microprocessor is further configured to: Determine the amplitude of the sound signal; if the amplitude of the sound signal is greater than a preset threshold, determine that the sound signal is a sound signal of a target sound source.

4. The device according to claim 1, characterized in that The device further comprises a power supply unit, which is configured to provide electrical energy to the device.

5. The device according to claim 1, characterized in that The device further includes a micro memory configured to store data information including the sound signal, the sound arrival time, the position coordinates of the sound source localization device, and the position coordinates of the target sound source.

6. A sound source localization method based on microsystem technology, characterized in that: The method is applied to a sound source localization device in a sound source localization system, and the method comprises: Detecting a sound signal from a target sound source and determining a sound arrival time of the sound signal; In a case where the sound source localization device is not a sound source localization calculation device, sending a positioning message including the sound arrival time to a sound source localization calculation device in the sound source localization system, wherein the positioning message is used to instruct the sound source localization calculation device to calculate the position coordinates of the target sound source according to the sound arrival time of each sound source localization device in the sound source localization system; Before detecting the sound signal of the target sound source and determining the sound arrival time of the sound signal, the method further includes: if the sound source localization device is not a sound source localization computing device, receiving a time synchronization signal sent by the sound source localization computing device, and adjusting local time according to the time synchronization signal to synchronize the local time with the time of the sound source localization computing device; and if the sound source localization device is a sound source localization computing device, sending a time synchronization signal to other sound source localization devices in the sound source localization system, wherein the time synchronization signal is used to instruct the other sound source localization devices to adjust time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

7. The method according to claim 6, wherein The method further comprises: In a case where the sound source localization device is a sound source localization calculation device, receiving a localization message including a sound arrival time sent by other sound source localization devices in the sound source localization system; The position coordinates of the target sound source are calculated according to the sound arrival time of each sound source localization device in the sound source localization system.

8. A sound source localization device based on microsystem technology, characterized in that: The device comprises: A detection module, configured to detect a sound signal of a target sound source and determine a sound arrival time of the sound signal; a data transceiver module, configured to, when the sound source localization device is not the sound source localization calculation device, send a positioning message including the sound arrival time to a sound source localization calculation device in the sound source localization system, wherein the positioning message is used to instruct the sound source localization calculation device to calculate the position coordinates of the target sound source based on the sound arrival times of each sound source localization device in the sound source localization system; The apparatus further includes: a time synchronization module, configured to, if the sound source localization device is not the sound source localization computing device, receive a time synchronization signal sent by the sound source localization computing device, and adjust local time according to the time synchronization signal so that the local time is synchronized with the time of the sound source localization computing device; and, if the sound source localization device is the sound source localization computing device, send a time synchronization signal to other sound source localization devices in the sound source localization system, wherein the time synchronization signal is used to instruct the other sound source localization devices to adjust time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

9. The device according to claim 8, wherein The data transceiver module is further configured to receive a positioning message including a sound arrival time sent by other sound source positioning devices in the sound source positioning system when the sound source positioning device is a sound source positioning calculation device; The apparatus further includes a calculation module configured to calculate the position coordinates of the target sound source according to the sound arrival time of each sound source localization device in the sound source localization system.

10. A sound source localization system based on microsystem technology, characterized in that: The sound source localization system comprises at least two sound source localization devices based on microsystem technology according to any one of claims 1 to 5, wherein the at least two sound source localization devices comprise a sound source localization computing device; wherein: The sound source localization device is used to detect the sound signal of the target sound source and determine the sound arrival time of the sound signal; Other sound source localization devices among the sound source localization devices except the sound source localization calculation device are further configured to send a localization message including the arrival time of the sound to the sound source localization calculation device; The sound source localization calculation device is used to calculate the position coordinates of the target sound source according to the sound arrival time of each sound source localization device in the sound source localization system; The other sound source localization device is further configured to receive a time synchronization signal sent by the sound source localization calculation device, and adjust a local time according to the time synchronization signal so that the local time is synchronized with the time of the sound source localization calculation device; The sound source localization computing device is further configured to send a time synchronization signal to the other sound source localization devices, wherein the time synchronization signal is used to instruct the other sound source localization devices to adjust the time so that the time of the other sound source localization devices is synchronized with the time of the sound source localization computing device.

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