Sound source ranging method, apparatus and system

Abstract

A sound source ranging method, device (110, 210) and system (100, 200) can improve the accuracy of sound source ranging. The method comprises: collecting the sound pressure of the second sound wave of the sound source through the first microphone (122, 222), the second sound wave being obtained by delaying the first sound wave of the sound source by a first transmission distance (S310); collecting the sound pressure of the third sound wave of the sound source through the second microphone (132, 232) (S320); and determining the target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance (S330).

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sound source ranging, and more particularly, to a sound source ranging method, device and system in the technical field of sound source ranging. BACKGROUND

[0002] Sound source ranging and sound source positioning technologies have a very wide and extremely important application value in many scenes of today's life. For example, in 3D sound field, speech recognition, speech interaction, video conference and the like.

[0003] The existing sound source ranging method is to distribute a plurality of microphones in a certain order at different positions in space to form a microphone array, and calculate the distance of the sound source according to the time difference of the sound source reaching different microphones in the microphone array.

[0004] However, since the existing sound source ranging method is susceptible to the scale and position of the microphone array, the accuracy of sound source ranging is low. SUMMARY

[0005] The sound source ranging method, device and system provided by the embodiments of the present application can improve the accuracy of sound source ranging, thereby improving the accuracy of sound source positioning.

[0006] In a first aspect, the embodiments of the present application provide a sound source ranging method, which can include: collecting, by a first microphone, a sound pressure of a second sound wave of a sound source, the second sound wave being obtained by delaying a first transmission distance of a first sound wave of the sound source; collecting, by a second microphone, a sound pressure of a third sound wave of the sound source; and determining a target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance.

[0007] The sound source ranging method provided by the embodiments of the present application can improve the accuracy of sound source ranging by delaying the transmission distance of the sound wave collected by the microphone to increase the sound pressure difference of the sound wave collected at different microphones, thereby improving the accuracy of sound source positioning.

[0008] In a possible implementation, the target distance r can be determined by the following formula s :

[0009]

[0010] wherein, △r1 represents the first transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

[0011] In a possible implementation, the third sound wave is obtained by delaying the fourth sound wave of the sound source by a second transmission distance, the second transmission distance being different from the first transmission distance; and the target distance of the sound source is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance, including: determining the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance.

[0012] For example, a difference between the second transmission distance and the first transmission distance can be greater than a preset distance threshold.

[0013] In a possible implementation, the target distance r can be determined by the following formula s :

[0014]

[0015] wherein, △r1 represents the first transmission distance, △r2 represents the second transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

[0016] In a possible implementation, the method further includes: collecting, by a third microphone, a sound pressure of a fifth sound wave of the sound source; and determining the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance, including: determining the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance.

[0017] In a possible implementation, the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance, including: determining a first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; determining a second distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, and the first transmission distance; determining a third distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, and the second transmission distance; and determining the target distance according to the first distance, the second distance, and the third distance.

[0018] In a possible implementation, the fifth sound wave is obtained by delaying the sixth sound wave of the sound source by a third transmission distance, and the third transmission distance, the first transmission distance and the second transmission distance are different; and the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the second transmission distance, including: determining the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance and the third transmission distance.

[0019] For example, the difference between any two of the first transmission distance, the second transmission distance and the third transmission distance can be greater than the preset distance threshold.

[0020] In a possible implementation, the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance and the third transmission distance, including: determining a first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance and the second transmission distance; determining a second distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance and the third transmission distance; determining a third distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, the first transmission distance and the third transmission distance; and determining the target distance according to the first distance, the second distance and the third distance.

[0021] The sound source ranging method provided by the embodiment can reduce the ranging error and improve the accuracy of sound source ranging by weighting the distances determined by any two of the three or more subsystems.

[0022] In a possible implementation, the target distance r can be determined by the following formula s :

[0023] r s = a1r s1 + a2r s2 + a3r s3 ,

[0024] wherein a1 represents a first weight coefficient, a2 represents a second weight coefficient, a3 represents a third weight coefficient, r s1 represents the first distance, r s2 represents the second distance, and r s3 represents the third distance, and a1+a2+a3=1.

[0025] In a second aspect, an embodiment of the present application provides a sound source ranging system, which can include: a first delay device configured to obtain a first sound wave of a sound source; delay process the first sound wave by a first transmission distance to obtain a second sound wave; a first microphone configured to collect a sound pressure of the second sound wave; a second microphone configured to collect a sound pressure of a third sound wave of the sound source; and a sound source ranging device configured to determine a target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance.

[0026] In a possible implementation, the sound source ranging device is specifically configured to determine the target distance r by the following formula s :

[0027]

[0028] wherein, △r1 represents the first transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

[0029] In a possible implementation, the system further includes a second delay device configured to obtain a fourth sound wave of the sound source before the second microphone collects the sound pressure of the third sound wave of the sound source; delay process the sound pressure of the fourth sound wave by a second transmission distance to obtain the third sound wave, the second transmission distance being different from the first transmission distance; and the sound source ranging device is specifically configured to determine the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance.

[0030] For example, a difference between the second transmission distance and the first transmission distance can be greater than a preset distance threshold.

[0031] In a possible implementation, the sound source ranging device is specifically configured to determine the target distance r by the following formula s :

[0032]

[0033] wherein, △r1 represents the first transmission distance, △r2 represents the second transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

[0034] In a possible implementation, the system further includes a third microphone configured to collect a sound pressure of a fifth sound wave of the sound source; and the sound source ranging device is specifically configured to determine the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance.

[0035] In a possible implementation, the sound source ranging device is specifically configured to: determine a first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; determine a second distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, and the first transmission distance; determine a third distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, and the second transmission distance; and determine the target distance according to the first distance, the second distance, and the third distance.

[0036] In a possible implementation, the system further includes a third delay device configured to: obtain a sixth sound wave of the sound source before the third microphone collects the sound pressure of a fifth sound wave of the sound source; and perform delay processing on the sixth sound wave by a third transmission distance to obtain the fifth sound wave, the third transmission distance being different from the first transmission distance and the second transmission distance; and the sound source ranging device is specifically configured to determine the target distance according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance, and the third transmission distance.

[0037] For example, a difference between any two distances of the first transmission distance, the second transmission distance, and the third transmission distance can be greater than a preset distance threshold.

[0038] In a possible implementation, the sound source ranging device is specifically configured to: determine a first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; determine a second distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance, and the third transmission distance; determine a third distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the third transmission distance; and determine the target distance according to the first distance, the second distance, and the third distance.

[0039] In a possible implementation, the sound source ranging device is specifically configured to determine the target distance r s :

[0040] r s = a1r s1 + a2r s2 + a3r s3 ,

[0041] wherein a1 represents a first weight coefficient, a2 represents a second weight coefficient, a3 represents a third weight coefficient, r s1 represents the first distance, r s2 represents the second distance, and r s3 represents the third distance, and a1+a2+a3=1.

[0042] In a third aspect, an embodiment of the present application further provides a sound source ranging device, which is configured to execute the method in the first aspect or any possible implementation of the first aspect, or the sound source ranging device comprises units for executing the method in the first aspect or any possible implementation of the first aspect.

[0043] In a fourth aspect, an embodiment of the present application further provides a sound source ranging device, which comprises a memory, at least one processor, a transceiver, and instructions stored in the memory and executable on the processor. Further, the memory, the processor, and the communication interface communicate with each other through internal connection paths. The at least one processor executes the instructions to enable the device to implement the method in the first aspect or any possible implementation of the first aspect.

[0044] In a fifth aspect, an embodiment of the present application further provides a terminal device, which comprises at least one of the microphone, the delay device, and the sound source ranging device in the second aspect or any possible implementation of the second aspect.

[0045] In a sixth aspect, the present application further provides a computer readable storage medium for storing a computer program, the computer program comprising instructions for implementing the method in the first aspect or any possible implementation of the first aspect.

[0046] In a seventh aspect, the present application further provides a computer program product comprising instructions which, when executed on a computer, cause the computer to carry out the method in the first aspect or any possible implementation of the first aspect.

[0047] In an eighth aspect, the present application further provides a chip device, which comprises an input interface, an output interface, and at least one processor. Optionally, the chip device further comprises a memory. The at least one processor is configured to execute code in the memory, and when the at least one processor executes the code, the chip device implements the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 A schematic block diagram of a sound source ranging system 100 according to an embodiment of the present application is provided;

[0049] Figure 2 A schematic diagram of a microstructure according to an embodiment of the present application is provided;

[0050] Figure 3 A schematic diagram of another microstructure according to an embodiment of the present application is provided;

[0051] Figure 4 A schematic diagram of yet another microstructure according to an embodiment of the present application is provided;

[0052] Figure 5 A schematic structural diagram of a sub-system of an embodiment of the present application is provided;

[0053] Figure 6 A schematic block diagram of a sound source ranging system 200 of an embodiment of the present application is provided;

[0054] Figure 7 A schematic block diagram of a sound source positioning system of an embodiment of the present application is provided;

[0055] Figure 8 A schematic flow chart of a sound source ranging method 300 of an embodiment of the present application is provided;

[0056] Figure 9 A schematic block diagram of a sound source ranging device 400 of an embodiment of the present application is provided;

[0057] Figure 10 A schematic block diagram of a sound source ranging device 500 of an embodiment of the present application is provided;

[0058] Figure 11 A schematic block diagram of a chip 600 of an embodiment of the present application is provided. DETAILED DESCRIPTION

[0059] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0060] First, the professional terms involved in the present application will be introduced.

[0061] 1. Sound source

[0062] Sound is produced by the vibration of an object. All objects that make sound are vibrating. In physics, an object that is making sound is called a sound source. For example, vibrating vocal cords, vibrating tuning forks, and a struck drum are all sound sources.

[0063] 2. Sound wave

[0064] The propagation of the vibration of a sound-producing object in air or other matter is called a sound wave. Sound waves propagate in all directions through various media.

[0065] It should be noted that a sound source cannot be separated from its surrounding elastic medium. The same object in space with the same vibration state cannot produce a sound wave if it is separated from the elastic medium. In this case, the vibrating object is not a sound source.

[0066] 3. Sound pressure

[0067] Sound pressure is the change in atmospheric pressure caused by sound wave disturbance, i.e. the excess pressure of atmospheric pressure. It is equivalent to the superposition of a sound wave disturbance on atmospheric pressure. The unit of sound pressure is Pascal (Pa) or Mega Pascal (MPa)

[0068] 4. Sound pressure level

[0069] Sound pressure level (SPL) is an index to represent the sound pressure, which is expressed by 20 times of the common logarithm of the ratio of the sound pressure P of a certain sound to the basic sound pressure value P0, i.e. 20lgP / P0. The unit of the sound pressure level is decibel (dB).

[0070] 5. Propagation of sound wave

[0071] The energy of the sound wave attenuates with the increase of the transmission distance during the propagation, i.e. the energy of the sound wave attenuation is strongly related to the propagation distance.

[0072] For example, under the condition of free field (free space), the sound wave attenuation of a point sound source generally follows the spherical divergence rule. If the sound level is used as the sound pressure evaluation quantity of the point sound source, the attenuation ΔL of the sound level and the delayed transmission distance r satisfy the following formula (1):

[0073] ΔL = 10lg(1 / 4πr 2 ) Formula (1)

[0074] Therefore, the sound level attenuation values from r1 to r2 at the distance of the point sound source can be expressed by the following formula (2):

[0075] ΔL = 20lg(r1 / r2) Formula (2)

[0076] In the prior art, when the sound source ranging is performed by using the microphone array, a large-scale microphone array is required for signal collection, which occupies a large area and requires that the interval between the microphones in the microphone array satisfies a certain distance condition. Therefore, when the existing sound source ranging method is used, the accuracy of the sound source ranging is poor if the interval between the microphones does not satisfy the distance condition and / or the scale of the microphone array is too small.

[0077] The sound source ranging method, device and system provided in the embodiments of the present application can improve the accuracy of the sound source ranging, thereby improving the accuracy of the sound source positioning.

[0078] Optionally, the sound source ranging system provided in the embodiments of the present application can be applied to various scenes in which the sound source ranging or positioning is required, which is not limited in the embodiments of the present application. For example, the sound source ranging system can be applied to the scenes of 3D sound field, voice recognition, video conference or human-computer interaction.

[0079] Next, the sound source ranging system to which the embodiments of the present application are applied will be introduced.

[0080] Figure 1 A schematic block diagram of a sound source ranging system 100 provided in the embodiments of the present application is shown. As shown in FIG. 1, the sound source ranging system 100 includes a microphone array 110 and a processor 120.Figure 1 As shown in the figure, the system 100 comprises a sound source ranging device 110, a first subsystem 120 which can comprise a first delay device 121 and a first microphone 122, and a second subsystem 130 which can comprise a second microphone 132.

[0081] The first delay device 121 is configured to acquire a first sound wave of a sound source, perform delay processing on the first sound wave by a first transmission distance to obtain a second sound wave, and send the second sound wave to the first microphone 122.

[0082] Optionally, the function implemented by the first delay device 121 can be implemented by hardware or software, and the embodiments of the present application do not limit this.

[0083] In a possible implementation, the first delay device 121 can be a microstructure made of acoustic metamaterials.

[0084] It should be noted that acoustic metamaterials are artificially designed and have super-normal physical properties that natural materials do not have. The material properties depend on the sub-wavelength artificial microstructure, and the characteristics of acoustic metamaterials are measured by macroscopic physical properties.

[0085] It should also be noted that the microstructure of acoustic metamaterials can perform different delay processing on the passing sound wave, thereby controlling the interference result of the sound wave passing through the microstructure, realizing sound wave turning, focusing, reflection and / or reflection control, etc.

[0086] Optionally, the microstructure can be a labyrinth structure made of acoustic metamaterials.

[0087] For example, Figure 2 A possible structure diagram of the microstructure provided by the embodiments of the present application is shown, which artificially separates the path to extend the transmission distance of the sound wave. The sound pressure of the sound wave transmitted through these artificial paths is attenuated, and the sound wave with attenuated sound pressure is output from the output interface.

[0088] It should be noted that the corresponding relationship between the path length in the microstructure and the attenuation amount of the sound pressure can be controlled by artificial design.

[0089] It should be noted that since the sound pressure of the sound wave will attenuate with the increase of the transmission distance, the longer the path of the microstructure, i.e. the longer the transmission distance of the sound wave is extended, the greater the attenuation amount of the corresponding sound pressure.

[0090] For example: Figure 3 The path length of the microstructure shown in the figure is greater than Figure 2 The path length of the microstructure shown in the figure is greater than Figure 3 The transmission distance extended by the microstructure shown in the figure is greater thanFigure 2 The transmission distance of the microstructure shown in the first embodiment is longer than that of the microstructure shown in the second embodiment, and thus the sound pressure attenuation of the sound wave transmitted through the microstructure shown in the first embodiment is greater than that of the sound wave transmitted through the microstructure shown in the second embodiment. Figure 3 The transmission distance of the microstructure shown in the first embodiment is longer than that of the microstructure shown in the second embodiment, and thus the sound pressure attenuation of the sound wave transmitted through the microstructure shown in the first embodiment is greater than that of the sound wave transmitted through the microstructure shown in the second embodiment. Figure 2 The transmission distance of the microstructure shown in the first embodiment is longer than that of the microstructure shown in the second embodiment, and thus the sound pressure attenuation of the sound wave transmitted through the microstructure shown in the first embodiment is greater than that of the sound wave transmitted through the microstructure shown in the second embodiment.

[0091] Optionally, the microstructure can have various forms, which are not limited in the embodiments of the present application.

[0092] For example, the microstructure can have a meander shape as shown in the first embodiment. Figure 2 For example, the microstructure can have a meander shape as shown in the first embodiment.

[0093] For example, the microstructure can have a meander shape as shown in the first embodiment. Figure 4 For example, the microstructure can have a meander shape as shown in the first embodiment.

[0094] It should be noted that, the longer the path length of the microstructure, the greater the sound pressure attenuation, and in the case of the same distance between the two microphones, the transmission distance of the sound wave can be equivalent to be increased, and thus the accuracy of the sound source ranging can be improved. However, the greater the path length of the microstructure, the greater the area occupied by the microstructure. In order to reduce the area of the microstructure, a plurality of layers of microstructures can be stacked to increase the path length.

[0095] The first microphone 122 is configured to collect the sound pressure of the second sound wave, and send the sound pressure of the second sound wave to the sound source ranging device 110.

[0096] It should be noted that, since the sound pressure level is an index representing the size of the sound pressure, the sound pressure in the embodiments of the present application can also be equivalent to the sound pressure level.

[0097] In one possible implementation manner, Figure 5 a schematic structural diagram (side view) of the first subsystem 120 provided by the embodiments of the present application is shown, as shown in Figure 5 As shown in the first embodiment, the sound wave 1 is input from the input interface of the first delay device 121, delayed through the path in the first delay device 121, and the sound wave 2 with sound pressure attenuation is obtained and output from the output interface to the microphone 312. Correspondingly, the microphone 312 collects the sound pressure of the sound wave 2.

[0098] The second microphone 132 is configured to collect the sound pressure of the third sound wave of the sound source, and send the sound pressure of the third sound wave to the sound source ranging device 110.

[0099] The sound source ranging device 110 is configured to obtain the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance, and determine the target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance.

[0100] In one possible implementation, the sound source ranging device 110 can determine the target distance r using the following formula (3). s .

[0101]

[0102] in, △r1 represents the first transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

[0103] Optionally, the sound source ranging device 110 can obtain the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance in a variety of ways, and the embodiments of this application do not limit this.

[0104] In one possible implementation, the sound source ranging device 110 can receive the sound pressure of the second sound wave from the first microphone 122 and the sound pressure of the third sound wave from the second microphone 132.

[0105] In one possible implementation, the sound source ranging device 110 may be pre-configured with the first transmission distance; or, the sound source ranging device 110 may receive the first transmission distance from the first delay device 121.

[0106] It should be noted that the sound source ranging system provided in this application embodiment requires at least two subsystems, and the difference in transmission distance between the two subsystems for sound wave delay is greater than a preset distance threshold.

[0107] Optionally, the sound source ranging system may include at least one first subsystem and at least one second subsystem, such as... Figure 1 The system 100 described herein includes a first subsystem 120 and a second subsystem 130; or, the sound source ranging system may include a plurality of first subsystems, and the difference in the transmission distance of the delay device of at least two of the plurality of first subsystems for the delay of the sound wave is greater than the distance threshold.

[0108] Figure 6 A schematic block diagram of another sound source ranging system 200 provided in an embodiment of this application is shown. Figure 6 As shown, the system 200 includes a sound source ranging device 210, a first subsystem 220 and a second subsystem 230. The first subsystem 220 may include a first delay device 221 and a first microphone 222, and the second subsystem 230 may include a second delay device 231 and a second microphone 232.

[0109] The first delay device 221 is used to acquire a first sound wave from a sound source; to delay the first sound wave by a first transmission distance to obtain a second sound wave; and to send the second sound wave to the first microphone 222.

[0110] The first microphone 222 is configured to collect the sound pressure of the second sound wave, and send the sound pressure of the second sound wave to the sound source ranging device 210.

[0111] It should be noted that the function and process of the first delay device 221 can refer to the first delay device 121 described in the foregoing embodiment, and the function and process of the first microphone 222 can refer to the first microphone 122 described in the foregoing embodiment, and details are not described herein again. Figure 1 Figure 1 It should be noted that the function and process of the first delay device 221 can refer to the first delay device 121 described in the foregoing embodiment, and the function and process of the first microphone 222 can refer to the first microphone 122 described in the foregoing embodiment, and details are not described herein again.

[0112] The second delay device 231 is configured to obtain the fourth sound wave of the sound source, delay the sound pressure of the fourth sound wave by a second transmission distance to obtain the third sound wave, the second transmission distance being different from the first transmission distance, and send the third sound wave to the second microphone 232.

[0113] For example, the difference between the second transmission distance and the first transmission distance can be greater than a preset distance threshold.

[0114] The second microphone 232 is configured to collect the sound pressure of the third sound wave of the sound source, and send the sound pressure of the third sound wave to the sound source ranging device 210.

[0115] It should be noted that the function and process of the second delay device 231 can refer to the first delay device 121 described in the foregoing embodiment, and the function and process of the second microphone 232 can refer to the first microphone 122 described in the foregoing embodiment, and details are not described herein again. Figure 1 Figure 1 It should be noted that the function and process of the second delay device 231 can refer to the first delay device 121 described in the foregoing embodiment, and the function and process of the second microphone 232 can refer to the first microphone 122 described in the foregoing embodiment, and details are not described herein again.

[0116] The sound source ranging device 210 is configured to obtain the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance, and determine the target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance.

[0117] In a possible implementation, the sound source ranging device 210 can determine the target distance r by the following formula (4) s .

[0118]

[0119] wherein, △r1 represents the first transmission distance, △r2 represents the second transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

[0120] ​​It should be noted that the process of acquiring the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance and the second transmission distance by the sound source ranging device 210 can refer to the process of acquiring the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance by the sound source ranging device 110, and details are not repeated here.

[0121] Optionally, when the sound source ranging system includes three or more subsystems, the distances measured by any two subsystems can be weighted according to preset weight coefficients to obtain a final distance.

[0122] For example, taking a sound source ranging system including a first subsystem 1, a first subsystem 2 and a second subsystem as an example, the sound source ranging device in the sound source ranging system can determine the target distance r by the following formula (5) s :

[0123] r s = a1r s1 + a2r s2 + a3r s3 Formula (5)

[0124] wherein a1 represents a first weight coefficient, a2 represents a second weight coefficient, a3 represents a third weight coefficient, r s1 represents a first distance determined by the first subsystem 1 and the first subsystem 2, r s2 represents a second distance determined by the first subsystem 1 and the second subsystem, and r s3 represents a third distance determined by the first subsystem 2 and the second subsystem.

[0125] It should be noted that the process of determining the first distance by the first subsystem 1 and the first subsystem 2 can refer to the process of determining the target distance by the first subsystem 220 and the second subsystem 230 in Figure 6 , and the process of determining the second distance by the first subsystem 1 and the second subsystem, and the process of determining the third distance by the first subsystem 2 and the second subsystem can refer to the process of determining the target distance by the first subsystem 120 and the second subsystem 130 in Figure 1 , and details are not repeated here.

[0126] Optionally, Figure 7 a sound source positioning system provided by an embodiment of the present application is shown, which includes a plurality of sound source ranging systems, Figure 7The sound source ranging system 1, the sound source ranging system 2 and the sound source ranging system 3 are shown in FIG. 1, wherein the distance between the sound source ranging system 1 and the sound source ranging system 2 is d1, the distance between the sound source ranging system 1 and the sound source ranging system 3 is d2, the distance between the sound source ranging system 2 and the sound source ranging system 3 is d3, the sound source distance determined by the sound source ranging system 1 is r s1 The sound source distance determined by the sound source ranging system 2 is r s2 The sound source distance determined by the sound source ranging system 3 is r s3 The sound source can be positioned according to d1, d2 and d3 and r s1 , r s2 and r s3 .

[0127] For example, the trilateration positioning algorithm can be used to position the sound source according to d1, d2 and d3 and r s1 , r s2 and r s3 .

[0128] Optionally, in each of the sound source ranging systems described above, the delay device and the microphone in each subsystem can be two independent devices, or the delay device can be integrated in the microphone, and the embodiments of the present application do not limit this.

[0129] Optionally, the plurality of subsystems included in each of the sound source ranging systems described above can be arranged in a plurality of terminal devices, or the plurality of subsystems can be arranged in the same terminal device, and the embodiments of the present application do not limit this.

[0130] Optionally, the sound source ranging device included in each of the sound source ranging systems described above and at least one of the plurality of subsystems can be arranged in the same terminal device, or the sound source ranging device and the plurality of subsystems can be arranged in different terminal devices, and the embodiments of the present application do not limit this.

[0131] Optionally, the terminal device can also be referred to as user equipment (user equipment, UE), which can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; can also be deployed on the water surface (such as ships, etc.); can also be deployed in the air (such as airplanes, balloons and satellites, etc.), and the embodiments of the present application do not limit this.

[0132] For example, the terminal device can be a mobile phone, a pad, a wearable device (such as a smart watch) with wireless communication function, a location tracker with positioning function, a computer with wireless transceiver function, a virtual reality (VR) device, an augmented reality (AR) device, a wireless device in industrial control, a wireless device in self driving, a wireless device in remote medical, a wireless device in smart grid, a wireless device in transportation safety, a wireless device in smart city, or a wireless device in smart home, etc., which are not limited in the embodiments of the present application.

[0133] The sound source ranging system provided by the embodiments of the present application can delay the transmission distance of the sound wave by adding a delay device in front of the microphone, so as to increase the sound pressure difference of the sound waves collected at different microphones, thereby improving the accuracy of sound source ranging and the accuracy of sound source positioning.

[0134] The above describes the sound source ranging system provided by the embodiments of the present application, and the following will describe the sound source ranging method provided by the embodiments of the present application in combination with Figures 1 to 6 The sound source ranging system provided by the embodiments of the present application is introduced, and the following will describe the sound source ranging method provided by the embodiments of the present application in combination with Figure 8 The sound source ranging method provided by the embodiments of the present application is introduced.

[0135] Figure 8 The schematic flow chart of the sound source ranging method 300 provided by the embodiments of the present application is shown. The method 300 can be applied to the sound source ranging system provided by the embodiments of the present application and executed by the sound source ranging device therein.

[0136] S310, collecting the sound pressure of the second sound wave of the sound source by the first microphone, the second sound wave being obtained by delaying the first sound wave of the sound source by the first transmission distance.

[0137] S320, collecting the sound pressure of the third sound wave of the sound source by the second microphone.

[0138] S330, determining the target distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave and the first transmission distance.

[0139] In a possible implementation, the target distance r can be determined by the above formula (3). s .

[0140] In a possible implementation, the third sound wave is obtained by delaying the fourth sound wave of the sound source by a second transmission distance, and a difference between the first transmission distance and the second transmission distance is greater than a preset distance threshold; and the target distance of the sound source is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance, including: the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance.

[0141] In a possible implementation, the target distance r can be determined by the above formula (4). s .

[0142] In a possible implementation, the method further includes: collecting, by a third microphone, a sound pressure of a fifth sound wave of the sound source; and the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance, including: the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance.

[0143] In a possible implementation, the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance, including: a first distance of the sound source is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; a second distance of the sound source is determined according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, and the first transmission distance; a third distance of the sound source is determined according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, and the second transmission distance; and the target distance is determined according to the first distance, the second distance, and the third distance.

[0144] In a possible implementation, the fifth sound wave is obtained by delaying a sixth sound wave of the sound source by a third transmission distance, and the second transmission distance is different from the third transmission distance; and the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance, including: the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance, and the third transmission distance.

[0145] In a possible implementation, the target distance is determined according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance, and the third transmission distance, including: determining a first distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; determining a second distance of the sound source according to the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance, and the third transmission distance; determining a third distance of the sound source according to the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the third transmission distance; and determining the target distance according to the first distance, the second distance, and the third distance.

[0146] In a possible implementation, the target distance r can be determined by the above formula (5). s .

[0147] It should be noted that each of the above steps can refer to the introduction of the sound source distance measuring device in the sound source distance measuring system, and details are not repeated here.

[0148] The sound source distance measuring method provided in the embodiments of the present application is introduced above in combination with Figure 8 The sound source distance measuring device 400 provided in the embodiments of the present application will be introduced below in combination with Figures 9 to 10 The sound source distance measuring device 400 provided in the embodiments of the present application will be introduced below in combination with

[0149] It should be noted that the device 400 can be the sound source distance measuring device described in the system 100 embodiment, the system 200 embodiment, and the method 300 embodiment, and the embodiments of the present application do not limit this.

[0150] It can be understood that, in order to implement the above functions, the device 400 includes corresponding hardware and / or software modules for executing each function. The algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in combination with the embodiments, but such implementation should not be considered beyond the scope of the present application.

[0151] The embodiments can divide the device 400 into functional modules according to the above method examples, for example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in the embodiments is illustrative, and is only a logical functional division. There can be another division manner when actually implemented.

[0152] When dividing each function into modules according to its corresponding function. Figure 9 A schematic diagram of a possible composition of the sound source ranging device involved in the above embodiments is shown, such as... Figure 9 As shown, the device 400 may include a transceiver unit 410 and a processing unit 420.

[0153] The processing unit 420 can control the transceiver unit 410 to implement the methods described in the above-described method 300 embodiments, and / or other processes used in the techniques described herein.

[0154] It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0155] The apparatus 400 provided in this embodiment is used to execute the above method 300, and thus can achieve the same effect as the above implementation method.

[0156] When using integrated units, device 400 may include a processing unit, a storage unit, and a communication unit. The processing unit can be used to control and manage the operation of device 400, for example, to support device 400 in executing the steps performed by the aforementioned units. The storage unit can be used to support device 400 in executing stored program code and data. The communication unit can be used to support communication between device 400 and other devices.

[0157] The processing unit can be a processor or a controller. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage unit can be a memory. The communication unit can specifically be a radio frequency circuit, a Bluetooth chip, a Wi-Fi chip, or other devices that interact with other electronic devices.

[0158] In one possible implementation, the device 400 involved in this embodiment can be a device having Figure 10 The sound source ranging device 500 shown includes a processor 510 and a transceiver 520, which communicate with each other through an internal connection path. Figure 9 The related functions implemented by the processing unit 420 can be implemented by the processor 510, and the related functions implemented by the transceiver unit 45 can be implemented by the processor 510 controlling the transceiver 520.

[0159] Optionally, the apparatus 500 can further include a memory 530, and the processor 510, the transceiver 520 and the memory 530 communicate with each other through an internal connection path. Figure 9 The related functions implemented by the storage unit described in the above embodiment can be implemented by the memory 530.

[0160] The embodiment of the present application further provides a computer storage medium, which stores computer instructions, and when the computer instructions run on an electronic device, the electronic device executes the related method steps to implement the sound source ranging method in the above embodiment.

[0161] The embodiment of the present application further provides a computer program product, which, when running on a computer, makes the computer execute the related steps to implement the sound source ranging method in the above embodiment.

[0162] In addition, the embodiment of the present application further provides an apparatus, which can be a chip, a component or a module, and the apparatus can include a processor and a memory connected to each other, wherein the memory is configured to store computer execution instructions, and when the apparatus runs, the processor can execute the computer execution instructions stored in the memory to make the chip execute the sound source ranging method in the above method embodiments.

[0163] Figure 11 A structural schematic diagram of a chip 600 is shown. The chip 600 includes one or more processors 610 and interface circuits 620. Optionally, the chip 600 can further include a bus 630. Wherein:

[0164] The processor 610 can be an integrated circuit chip with a processing capability of signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the processor 610. The processor 610 described above can be a general processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component. Each method and step disclosed in the embodiment of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor.

[0165] The interface circuit 620 can be used for radar signal transmission or reception, and the processor 610 can process the radar signal received by the interface circuit 620, and can send the processed information through the interface circuit 620.

[0166] Optionally, the chip further comprises a memory, which can comprise a read-only memory and a random access memory, and provides the processor with operation instructions and data. A part of the memory can further comprise a non-volatile random access memory (NVRAM).

[0167] Optionally, the memory stores executable software modules or data structures, and the processor can execute corresponding operations by calling operation instructions stored in the memory (which can be stored in an operating system).

[0168] Optionally, the chip can be used in the sound source ranging system related to the embodiments of the present application. Optionally, the interface circuit 620 can be used to output the execution result of the processor 610. The sound source ranging method provided by one or more embodiments of the present application can refer to the foregoing embodiments, which will not be described here.

[0169] It should be noted that the functions of the processor 610 and the interface circuit 620 respectively can be realized by hardware design, software design, or a combination of software and hardware, which is not limited here.

[0170] Among them, the sound source ranging method, the sound source ranging device, the computer storage medium, the computer program product or the chip provided by the embodiment can be used to execute the corresponding method provided above, so the beneficial effects that can be achieved are referred to the beneficial effects of the corresponding method provided above, which will not be described here.

[0171] It should be understood that in various embodiments of the present application, the size of the serial number of each process does not mean the execution order, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0172] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0173] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0174] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. The division of the units is merely logical function division. There can be other division manners in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0175] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0176] In addition, each functional unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can be a physically separate unit, or two or more units can be integrated into one unit.

[0177] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0178] The above description is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for measuring the distance of a sound source, characterized in that, include: The sound pressure of the second sound wave from the sound source is collected by the first microphone. The second sound wave is obtained by delaying the first sound wave from the sound source by a first transmission distance. The sound pressure of the third sound wave from the sound source is collected using a second microphone; The target distance of the sound source is determined based on the sound pressure difference between the second and third sound waves and the first transmission distance.

2. The method according to claim 1, characterized in that, The target distance r is determined by the following formula. s : in, △r1 represents the first transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

3. The method according to claim 1 or 2, characterized in that, The third sound wave is obtained by delaying the fourth sound wave from the sound source by a second transmission distance, and the second transmission distance is different from the first transmission distance. Determining the target distance of the sound source based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, and the first transmission distance includes: The target distance is determined based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance.

4. The method according to claim 3, characterized in that, The target distance r is determined by the following formula. s : in, △r1 represents the first transmission distance, △r2 represents the second transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

5. The method according to claim 3, characterized in that, The method further includes: The sound pressure of the fifth sound wave from the sound source is collected using a third microphone; Determining the target distance based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance includes: The target distance is determined based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance.

6. The method according to claim 5, characterized in that, Determining the target distance based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance includes: The first distance of the sound source is determined based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; The second distance of the sound source is determined based on the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, and the first transmission distance; The third distance of the sound source is determined based on the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, and the second transmission distance; The target distance is determined based on the first distance, the second distance, and the third distance.

7. The method according to claim 5, characterized in that, The fifth sound wave is obtained by delaying the sixth sound wave of the sound source by a third transmission distance. The third transmission distance, the first transmission distance, and the second transmission distance are different. Determining the target distance based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance includes: The target distance is determined based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance, and the third transmission distance.

8. The method according to claim 7, characterized in that, Determining the target distance based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance, and the third transmission distance includes: The first distance of the sound source is determined based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; The second distance of the sound source is determined based on the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance, and the third transmission distance; The third distance of the sound source is determined based on the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the third transmission distance. The target distance is determined based on the first distance, the second distance, and the third distance.

9. The method according to claim 6, characterized in that, The target distance r is determined by the following formula. s : r s =a1r s1 +a2r s2 +a3r s3 , Where a1 represents the first weighting coefficient, a2 represents the second weighting coefficient, a3 represents the third weighting coefficient, and r s1 Let r represent the first distance. s2 Let r represent the second distance. s3 The third distance is represented by a1+a2+a3=1.

10. A sound source ranging system, characterized in that, include: The first delay device is used to acquire the first sound wave from the sound source; The first sound wave is delayed by a first transmission distance to obtain the second sound wave; The first microphone is used to collect the sound pressure of the second sound wave; The second microphone is used to collect the sound pressure of the third sound wave from the sound source; A sound source ranging device is used to determine the target distance of the sound source based on the sound pressure difference between the second sound wave and the third sound wave and the first transmission distance.

11. The system according to claim 10, characterized in that, The sound source ranging device is specifically used to determine the target distance r using the following formula. s : in, △r1 represents the first transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

12. The system according to claim 10 or 11, characterized in that, The system also includes a second delay device. The second delay device is used to acquire the fourth sound wave of the sound source before the second microphone acquires the sound pressure of the third sound wave of the sound source; and to perform a second transmission distance delay processing on the sound pressure of the fourth sound wave to obtain the third sound wave, wherein the second transmission distance is different from the first transmission distance; The sound source ranging device is specifically used to determine the target distance based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance.

13. The system according to claim 12, characterized in that, The sound source ranging device is specifically used to determine the target distance r using the following formula. s : in, △r1 represents the first transmission distance, △r2 represents the second transmission distance, L1 represents the sound pressure of the second sound wave, and L2 represents the sound pressure of the third sound wave.

14. The system according to claim 12, characterized in that, The system also includes a third microphone. The third microphone is used to collect the sound pressure of the fifth sound wave from the sound source; The sound source ranging device is specifically used to determine the target distance based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the second transmission distance.

15. The system according to claim 14, characterized in that, The sound source ranging device is specifically used for: The first distance of the sound source is determined based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; The second distance of the sound source is determined based on the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, and the first transmission distance; The third distance of the sound source is determined based on the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, and the second transmission distance; The target distance is determined based on the first distance, the second distance, and the third distance.

16. The system according to claim 14, characterized in that, The system also includes a third delay device. The third delay device is used to acquire the sixth sound wave of the sound source before the third microphone acquires the sound pressure of the fifth sound wave of the sound source; and to delay the sixth sound wave by a third transmission distance to obtain the fifth sound wave, wherein the third transmission distance, the first transmission distance, and the second transmission distance are different; The sound source ranging device is specifically used to determine the target distance based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the first transmission distance, the second transmission distance, and the third transmission distance.

17. The system according to claim 16, characterized in that, The sound source ranging device is specifically used for: The first distance of the sound source is determined based on the sound pressure of the second sound wave, the sound pressure of the third sound wave, the first transmission distance, and the second transmission distance; The second distance of the sound source is determined based on the sound pressure of the third sound wave, the sound pressure of the fifth sound wave, the second transmission distance, and the third transmission distance; The third distance of the sound source is determined based on the sound pressure of the second sound wave, the sound pressure of the fifth sound wave, the first transmission distance, and the third transmission distance. The target distance is determined based on the first distance, the second distance, and the third distance.

18. The system according to claim 15, characterized in that, The sound source ranging device is specifically used to determine the target distance r using the following formula. s : r s =a1r s1 +a2r s2 +a3r s3 , Where a1 represents the first weighting coefficient, a2 represents the second weighting coefficient, a3 represents the third weighting coefficient, and r s1 Let r represent the first distance. s2 Let r represent the second distance. s3 The third distance is represented by a1+a2+a3=1.

19. A sound source ranging device, characterized in that, Used to perform the method according to any one of claims 1 to 9.

20. A sound source ranging device, comprising a memory, at least one processor, a communication interface, and instructions stored in the memory and executable on the processor, wherein the memory, the processor, and the communication interface communicate with each other via an internal connection path, characterized in that, The at least one processor executes the instructions such that the device implements the method of any one of claims 1 to 9.

21. A terminal device, characterized in that, The sound source ranging system includes any one of claims 10 to 18.

22. A computer-readable storage medium for storing a computer program, characterized in that, The computer program includes instructions for implementing the method according to any one of claims 1 to 9.

23. A computer program product, the computer program product comprising instructions, characterized in that, When the instructions are executed on a computer or processor, the computer or processor causes the computer or processor to perform the method of any one of claims 1 to 9.

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