A portable sound source positioning device and positioning method

Abstract

The application provides a portable sound source positioning device and a positioning method, and relates to the technical field of sound source positioning. The portable sound source positioning device comprises a main shell, a supporting ring is fixedly connected to the upper wall of the main shell, a machine cover is fixedly connected to the upper wall of the supporting ring, an anti-skid structure is arranged on the lower wall of the main shell, a storage groove is arranged between the main shell and the machine cover and at the periphery of the supporting ring, and a sound source positioning structure is arranged between the main shell, the supporting ring and the machine cover. The second electric push rod is used to control the collection height of the internal microphone, the mute motor and the first electric push rod are used to control the size adjustment of the microphone array composed of the four groups of external microphones, so that the device can be applied to different occasions. When the collection height of the internal microphone is higher than that of the external microphone, a three-dimensional array is formed, and the spatial positioning is more accurate. When expansion is not needed, the storage groove is shielded by the protective ring, the appearance is beautiful, the overall structure is compact, and the device is convenient to carry.

Description

Technical Field

[0001] This invention relates to the field of sound source localization technology, specifically to a portable sound source localization device and method. Background Technology

[0002] Sound localization and tracking is an important topic in human-computer interaction research, with wide applications in security surveillance and identification, video conferencing systems, multimedia systems, and robotics. While vision is typically the primary means of information acquisition, it often fails to provide complete information about a target and has limitations compared to hearing. Face tracking methods are susceptible to video occlusion, lighting conditions, and pose changes. In contrast to the limited range of vision, sound source localization leverages the omnidirectional nature of the auditory system, unrestricted by angle or location. Humans can hear sounds from any direction in three-dimensional space, effectively complementing the shortcomings of visual information.

[0003] When locating a sound source, the location information is determined by calculating the time delay difference between each microphone. However, most sound source locating devices on the market cannot expand the size of the microphone array, nor can they switch between planar and stereo arrays, making them unsuitable for different situations. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a portable sound source localization device and method, which solves the problem that various common sound source localization devices on the market generally cannot expand the size of the microphone array, nor can they switch between planar and three-dimensional arrays, resulting in poor adaptability to different occasions.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a portable sound source positioning device, comprising a main body shell, a support ring fixedly connected to the upper wall of the main body shell, a cover fixedly connected to the upper wall of the support ring, an anti-slip structure provided on the lower wall of the main body shell, a storage groove provided between the main body shell and the cover and located around the support ring, a charging interface and a data interface fixedly connected to the outer circumference of the main body shell near the lower wall, control buttons and status indicator lights arranged sequentially from front to back on the upper wall of the cover, and a sound source positioning structure provided between the main body shell, the support ring, and the cover, the sound source positioning structure comprising: an internal microphone, located on the inner side of the lower part of the main body shell... A sleeve is fixedly connected to the inner wall of the casing, and the internal microphone is slidably connected to the inner wall of the sleeve. The upper outer wall of the internal microphone penetrates the inner wall of the casing and is slidably connected to it. A lifting structure is set on the inner wall of the sleeve and located between the internal microphone and the lower inner wall of the main casing. The lifting structure is used to drive the internal microphone to rise and fall. Four sets of rotating shafts are rotatably connected between the casing and the upper wall of the main casing, with the center of the main casing as the center. A bidirectional rotation damper is set on the lower wall of the casing and inside the storage slot. The end of the rotating shaft facing the casing is fixedly connected to the bidirectional rotation damper, and the end of the rotating shaft away from the casing penetrates the upper wall of the main casing and extends into the casing. Inside the main casing; a first extended drive, located inside the main casing, used to drive the rotating shaft to rotate; a displacement detection structure, located on the lower inner wall of the main casing and below the rotating shaft, used to detect the rotation angle of the rotating shaft; four sets of external microphones, each fixedly connected to the outer wall of one of the four rotating shafts, the circumferential sidewall of the casing having four equally spaced openings, the four sets of external microphones initially located on the inner sidewalls of the four openings; a second extended drive, located between the external microphones and the rotating shaft, used to connect the four sets of external microphones to the rotating shaft. The microphone spacing is increased; an integrated motherboard is fixedly connected to the lower inner wall of the main unit housing, and a through hole is provided inside the integrated motherboard at its center. The end of the sleeve away from the lower inner wall of the main unit housing passes through the through hole and extends to the top of the integrated motherboard; an integrated module is set on the upper wall of the integrated motherboard, and the integrated module is used for calculation, control, and information transmission; a power supply component is set inside the main unit housing, and the power supply component is used to supply power to the device; a protective ring is fitted on the inner wall of the storage groove, and its outer circumference is flush with the outer circumference of the main unit housing. The protective ring is a broken ring, and an adhesive structure is provided between the two ends of the broken end of the protective ring.

[0008] Preferably, the anti-slip structure includes four sets of feet and anti-slip pads. The four sets of feet are all fixedly connected to the lower wall of the main unit housing and are all close to the circumferential side wall of the main unit housing. The four sets of feet are all equally distributed in a circle with the center of the main unit housing as the center. The four sets of anti-slip pads are respectively fixedly connected to the end of the four sets of feet away from the main unit housing.

[0009] Preferably, the lifting structure is a second electric push rod, which is fixedly connected to the lower inner wall of the main housing and located inside the sleeve. The lower end of the internal microphone is fixedly connected to the end of the extension shaft of the second electric push rod. When the extension shaft of the second electric push rod is retracted, the top of the internal microphone is flush with the upper wall of the cover.

[0010] Preferably, the first extended drive includes a silent motor, a first gear, and a second gear. The silent motor is fixedly connected to the upper inner wall of the main housing and located between the rotating shaft and the center of the main housing. The first gear is fixedly connected to the end of the silent motor's extended shaft, and the second gear is fixedly connected to the outer wall of the rotating shaft and located inside the main housing. The first gear meshes with the second gear.

[0011] Preferably, the displacement detection structure is an angular displacement sensor, which is fixedly connected to the lower inner wall of the main housing and located below the rotating shaft. The end of the rotating shaft inside the main housing extends into the detection part of the angular displacement sensor, and the angular displacement sensor is a contactless sensor.

[0012] Preferably, the second extended drive includes a rotating base, a first electric push rod, and a fixed base. The rotating base is fixedly connected to the outer wall of the rotating shaft and located inside the storage groove. The first electric push rod is fixedly connected to the side wall of the rotating base. The fixed base is fixedly connected to the end of the extension shaft of the first electric push rod. The end of the extension shaft of the first electric push rod is provided with a square head. The inner wall of the fixed base facing the first electric push rod is provided with a square hole that matches the square head. The fixed base is fixedly connected to the extension shaft of the first electric push rod through the square head and the square hole. The external microphone is fixedly connected to the upper wall of the fixed base.

[0013] Preferably, the integrated module includes a storage module, a processor module, and a wireless communication module. The storage module, processor module, and wireless communication module are fixedly connected to the upper wall of the integrated motherboard in order from left to right, with the storage module and processor module located on the left side of the sleeve and the wireless communication module located on the right side of the sleeve.

[0014] Preferably, the power supply component includes two battery packs, both of which are fixedly connected to the lower inner wall of the main unit casing and are located on the front and rear sides of the integrated motherboard, respectively.

[0015] Preferably, the adhesive structure is a hook and loop fastener, and both ends of the protective ring have front and back opposite steps. The hook and loop fastener is fixedly connected between the two front and back opposite sides of the two steps. The hook and loop fastener consists of a fastening side and a rough side.

[0016] A positioning method for a portable sound source locator, the positioning method comprising the following steps:

[0017] S1. Confirm the size of the sound collection area. If the collection distance is within five meters, proceed to step S4. If the collection distance is between five and ten meters, proceed to step S2 and then to step S4. If the collection distance is between ten and fifteen meters, proceed to step S3 and then to step S4.

[0018] S2. Extend the second electric push rod through the extension shaft to lift the internal microphone out of the sleeve, remove the protective ring, start the silent motor to rotate clockwise in the top view direction, drive the rotating shaft to rotate through the meshing of the first gear and the second gear, and detect the rotation angle through the angular displacement sensor. When the rotation reaches the point where the extension line of the center line of the first electric push rod in the top view direction intersects with the center line of the main body shell, the rotation stops.

[0019] S3. Extend the first electric push rod extension shaft to drive the four sets of external microphones to move away from the main unit housing, thus opening the gap between the four sets of external microphones.

[0020] S4. The audio signals acquired by the four sets of external microphones and internal microphones are transmitted to the processor module. The processor module filters out interference signals, converts the remaining audio signals from analog to digital, and then calculates one or more location information based on the digital signals. The location information is then output through the data interface or wireless communication module.

[0021] (III) Beneficial Effects

[0022] This invention provides a portable sound source localization device and method. It has the following beneficial effects:

[0023] 1. Compared with existing technologies, this portable sound source positioning device and positioning method uses a second electric push rod to control the acquisition height of the internal microphone, and uses a silent motor and a first electric push rod to control the size of the microphone array composed of four external microphones to be adjusted in three sizes: small, medium, and large, so as to be suitable for different occasions. When the acquisition height of the internal microphone is higher than that of the external microphone, a three-dimensional array is formed, which makes spatial positioning more accurate. A bidirectional rotation damper is set between the rotating shaft and the cover, so that the rotation of the rotating shaft is more stable.

[0024] 2. Compared with existing technologies, this portable sound source positioning device and positioning method, when not in use, can cover the storage slot with a protective ring, which serves an aesthetic purpose. The overall structure is compact and easy to carry. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 For the present invention Figure 1 A magnified view of a section at point A in the middle;

[0027] Figure 3 This is a top view of the upper wall structure of the main body shell after the cover of the present invention has been removed;

[0028] Figure 4 This is a schematic diagram of a partial structure of the protective ring of the present invention;

[0029] Figure 5 This is a partial sectional view of the internal structure of the main housing, support ring, and cover of the present invention;

[0030] Figure 6 For the present invention Figure 5 A magnified view of a section at point B in the middle;

[0031] Figure 7 This is a schematic diagram of the second extended driver connection structure of the present invention;

[0032] Figure 8 A partial schematic diagram of the connection structure between the first electric push rod and the fixed base of the present invention.

[0033] The components include: 1. Main casing; 2. Base; 3. Anti-slip pad; 4. Protective ring; 5. Cover; 6. Opening; 7. External microphone; 8. Internal microphone; 9. Status indicator light; 10. Control button; 11. Charging interface; 12. Data interface; 13. Support ring; 14. Storage slot; 15. Sleeve; 16. Integrated motherboard; 17. Storage module; 18. Processor module; 19. Wireless communication module; 20. Battery pack; 21. Shaft; 22. Rotating seat; 23. First electric push rod; 24. Fixed seat; 25. Step; 26. Velcro; 27. Bidirectional rotary damper; 28. Silent motor; 29. ​​First gear; 30. Second gear; 31. Angular displacement sensor; 32. Second electric push rod; 33. Square head. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example:

[0036] like Figures 1 to 8 As shown, this embodiment of the invention provides a portable sound source positioning device, including a main body shell 1. A support ring 13 is fixedly connected to the upper wall of the main body shell 1, and a cover 5 is fixedly connected to the upper wall of the support ring 13. An anti-slip structure is provided on the lower wall of the main body shell 1. The anti-slip structure includes four sets of feet 2 and anti-slip pads 3. The four sets of feet 2 are all fixedly connected to the lower wall of the main body shell 1 and are all close to the circumferential side wall of the main body shell 1. The four sets of feet 2 are all evenly distributed in a circle with the center of the main body shell 1 as the center. The four sets of anti-slip pads 3 are respectively fixedly connected to the end of the four sets of feet 2 away from the main body shell 1. The four sets of anti-slip pads 3 make the device relatively stable when placed and will not shift or slide.

[0037] A storage slot 14 is provided between the main body shell 1 and the cover 5 and around the support ring 13. A charging interface 11 and a data interface 12 are fixedly connected to the outer circumference of the main body shell 1 and near the lower wall. Data transmission lines can be inserted through the data interface 12 to export information from the device. The charging interface 11 can charge the power supply components.

[0038] The upper wall of the cover 5 is provided with a control button 10 and a status indicator light 9 from front to back. The control button 10 is used to control the device expansion action and the sound source localization action. The status indicator light 9 displays common information on the market and can display power information and working status through different colored lights, making it easy for people to identify.

[0039] A sound source positioning structure is provided between the main casing 1, the support ring 13 and the cover 5. The sound source positioning structure includes: an internal microphone 8, four sets of external microphones 7, four sets of rotating shafts 21, a lifting structure, a first extended drive, a displacement detection structure, a second extended drive, an integrated motherboard 16, an integrated module, a power supply component and a protective ring 4.

[0040] A sleeve 15 is fixedly connected to the lower inner wall of the main body housing 1 at the center position. An internal microphone 8 is slidably connected to the inner wall of the sleeve 15. The upper outer wall of the internal microphone 8 penetrates the inner wall of the cover 5 and is slidably connected to it. The internal microphone 8 serves as the center of the microphone matrix.

[0041] The lifting structure is set on the inner wall of the sleeve 15 and located between the internal microphone 8 and the lower inner wall of the main housing 1. The lifting structure is used to drive the internal microphone 8 to rise and fall. The lifting structure is a second electric push rod 32. The second electric push rod 32 is fixedly connected to the lower inner wall of the main housing 1 and located inside the sleeve 15. The lower end of the internal microphone 8 is fixedly connected to the end of the extension shaft of the second electric push rod 32. When the extension shaft of the second electric push rod 32 is retracted, the top of the internal microphone 8 is flush with the upper wall of the cover 5. By extending and retracting the extension shaft of the second electric push rod 32, the internal microphone 8 can be driven to rise and fall. When the extension shaft of the second electric push rod 32 is extended, the internal microphone 8 is located at the high point of audio acquisition and can form a three-dimensional matrix with the four sets of external microphones 7. For positioning tasks that require spatial position information, the positioning can be more accurate.

[0042] Four sets of rotating shafts 21 are rotatably connected between the cover 5 and the upper wall of the main housing 1 with the center of the main housing 1 as the center. A bidirectional rotation damper 27 is provided on the lower wall of the cover 5 and inside the storage groove 14. The end of the rotating shaft 21 facing the cover 5 is fixedly connected to the bidirectional rotation damper 27. The end of the rotating shaft 21 away from the cover 5 passes through the upper wall of the main housing 1 and extends into the interior of the main housing 1. The bidirectional rotation damper 27 makes the rotating shaft 21 rotate very smoothly and does not shake when starting and stopping, thus improving the service life of the external microphone 7.

[0043] The first extended drive is located inside the main housing 1. The first extended drive is used to drive the rotating shaft 21 to rotate. The first extended drive includes a silent motor 28, a first gear 29, and a second gear 30. The silent motor 28 is fixedly connected to the inner upper wall of the main housing 1 and is located between the rotating shaft 21 and the center of the main housing 1. The first gear 29 is fixedly connected to the end of the extended shaft of the silent motor 28. The second gear 30 is fixedly connected to the outer wall of the rotating shaft 21 and is located inside the main housing 1. The first gear 29 and the second gear 30 mesh. When the silent motor 28 rotates clockwise in the top view of the main housing 1, it is considered to be rotating forward. The first gear 29 and the second gear 30 drive the rotating shaft 21 to rotate counterclockwise, thereby driving the external microphones 7 to rotate in a direction away from the main housing 1. This increases the spacing between the four sets of external microphones 7. During audio acquisition, the time delay difference between the audio signal reaching each external microphone 7 is more obvious, thus making the positioning more accurate.

[0044] The displacement detection structure is located on the lower inner wall of the main housing 1 and below the rotating shaft 21. The displacement detection structure is used to detect the rotation angle of the rotating shaft 21. The displacement detection structure is an angular displacement sensor 31. The angular displacement sensor 31 is fixedly connected to the lower inner wall of the main housing 1 and below the rotating shaft 21. The end of the rotating shaft 21 inside the main housing 1 extends into the detection part of the angular displacement sensor 31. The angular displacement sensor 31 is a contactless sensor. When the silent motor 28 drives the rotating shaft 21 to rotate, the angular displacement sensor 31 detects its rotation angle, thereby controlling the unfolding angle between the first electric push rod 23 and the main housing 1. When the silent motor 28 rotates forward, the first electric push rod 23 can stop at the position where the center extension line of the first electric push rod 23 intersects the center line of the main housing 1 in the top view. When the silent motor 28 rotates in reverse, the outer wall of the first electric push rod 23 can be completely stored in the storage groove 14 and the external microphone 7 can be stored in the opening 6.

[0045] Four sets of external microphones 7 are fixedly connected to the outer walls of four sets of rotating shafts 21. The circumferential sidewall of the cover 5 is provided with four openings 6 in an equally divided shape. In the initial state, the four sets of external microphones 7 are located on the inner sidewall of the four openings 6. The four sets of external microphones 7 and the internal microphones 8 together form a sound transmission matrix. The size of the matrix can be adjusted by controlling the distance between the four sets of external microphones 7, so as to adapt to different occasions.

[0046] The second extension drive is located between the external microphones 7 and the rotating shaft 21. The second extension drive increases the spacing between the four sets of external microphones 7. The second extension drive includes a rotating base 22, a first electric push rod 23, and a fixed base 24. The rotating base 22 is fixedly connected to the outer wall of the rotating shaft 21 and located inside the receiving groove 14. The first electric push rod 23 is fixedly connected to the side wall of the rotating base 22. The fixed base 24 is fixedly connected to the end of the protruding shaft of the first electric push rod 23. The end of the protruding shaft of the first electric push rod 23 is provided with a square head 33. The inner wall of the fixed base 24 facing the first electric push rod 23 has a square hole that matches the square head 33. The fixed base 24 passes through the square head 33 and the square... The hole is fixedly connected to the extension shaft of the first electric push rod 23, and the external microphone 7 is fixedly connected to the upper wall of the fixed base 24. When the first extension drive is in the unfolded state, if it is still necessary to increase the distance between the four sets of external microphones 7, the extension shafts of the four sets of first electric push rods 23 are extended, which drives the four sets of external microphones 7 to move away from the main housing 1. When the outer ring of the extension shafts of the four sets of first electric push rods 23 is extended, the distance between the four sets of external microphones 7 is the largest. At this time, when the audio is collected, the time delay difference between the audio information reaching the different external microphones 7 is more obvious, so that the position information obtained by the processor module 18 when processing the audio information is more accurate.

[0047] An integrated motherboard 16 is fixedly connected to the lower inner wall of the main casing 1. A through-hole is centrally located inside the integrated motherboard 16. One end of a sleeve 15, away from the lower inner wall of the main casing 1, passes through the through-hole and extends above the integrated motherboard 16. An integrated module is mounted on the upper wall of the integrated motherboard 16. The integrated module is used for calculation, control, and information transmission. The integrated module includes a storage module 17, a processor module 18, and a wireless communication module 19. The storage module 17, processor module 18, and wireless communication module 19 are fixedly connected to the upper wall of the integrated motherboard 16 in a left-to-right order, with the storage module 17 and processor module 18 located to the left of the sleeve 15. The wireless communication module 19 is located on the right side of the sleeve 15. The storage module 17 is used to store logical information for the processor module 18 to calculate and control, and can also be used to store positioning information. The processor module 18 is an integrated chipset used to control the first extended driver, the second extended driver and the lifting mechanism, and also used to receive the sensing signal of the angular displacement sensor 31. It is also used to receive audio signals, filter interference signals, convert audio signals into digital signals and calculate positioning information. The wireless communication module 19 is used for wireless transmission of information and can be any of WiFi, GPRS, Bluetooth or other communication chips.

[0048] The power supply component is located inside the main unit housing 1. The power supply component is used to supply power to the device. The power supply component includes two battery packs 20. Both battery packs 20 are fixedly connected to the lower inner wall of the main unit housing 1 and are located on the front and rear sides of the integrated motherboard 16 respectively. The two battery packs 20 enable the device to work wirelessly, making it very convenient to carry and use when going out. The two battery packs 20 are symmetrically distributed, making the main unit housing 1 more stable when placed.

[0049] The protective ring 4 is fitted inside the storage slot 14 and its outer circumference is flush with the outer circumference of the main housing 1. The protective ring 4 is a broken ring with an adhesive structure between the two ends of the broken end of the protective ring 4. The adhesive structure is Velcro 26. Both ends of the broken end of the protective ring 4 are provided with front and back opposite steps 25. Velcro 26 is fixedly connected between the front and back opposite sides of the two steps 25. Velcro 26 consists of a fastening surface and a rough surface. When the four sets of microphone 7 components do not need to be expanded, they are protected by the protective ring 4 in the storage slot 14, which also serves an aesthetic purpose. When the four sets of microphones need to be expanded, the protective ring 4 can be removed by peeling off the Velcro 26 at the broken end of the protective ring 4, thereby enabling the expansion work.

[0050] A positioning method for a portable sound source locator, the positioning method comprising the following steps:

[0051] S1. Confirm the size of the sound collection area. If the collection distance is within five meters, proceed to step S4. If the collection distance is between five and ten meters, proceed to step S2 and then to step S4. If the collection distance is between ten and fifteen meters, proceed to step S3 and then to step S4.

[0052] S2. Extend the shaft through the second electric push rod 32 to lift the internal microphone 8 from the sleeve 15, remove the protective ring 4, start the silent motor 28 to rotate clockwise in the top view direction, drive the rotating shaft 21 to rotate through the meshing of the first gear 29 and the second gear 30, and detect the rotation angle through the angular displacement sensor 31. When the rotation stops when the extension line of the center line of the first electric push rod 23 in the top view direction intersects the center line of the main body housing 1;

[0053] S3. The first electric push rod 23 extends out of the shaft, driving the four sets of external microphones 7 to move away from the main housing 1, thus opening the gap between the four sets of external microphones 7.

[0054] S4. The audio signals acquired by the four sets of external microphones 7 and internal microphones 8 are transmitted to the processor module 18. The processor module 18 filters out interference signals, converts the remaining audio signals from analog to digital, and then calculates one or more location information based on the digital signals. The location information is then output through the data interface 12 or the wireless communication module 19.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A portable acoustic source positioning device comprising a main housing, characterized in that: The upper wall of the host shell is fixedly connected with a supporting ring, the upper wall of the supporting ring is fixedly connected with a machine cover, the lower wall of the host shell is provided with an anti-skid structure, the space between the host shell and the machine cover and outside the supporting ring is provided with a storage groove, the circumferential outer wall of the host shell and close to the lower wall is fixedly connected with a charging interface and a data interface, the upper wall of the machine cover is sequentially provided with a control button and a state indicator from front to back, the space between the host shell, the supporting ring and the machine cover is provided with a sound source positioning structure, the sound source positioning structure comprises: An internal microphone, a sleeve is fixedly connected to the lower inner wall of the host shell and at the central position, the internal microphone is slidingly connected to the inner wall of the sleeve, the upper end of the external wall of the internal microphone penetrates the inner wall of the machine cover and is slidingly connected therewith; A lifting structure, the lifting structure is arranged on the inner wall of the sleeve and between the internal microphone and the lower inner wall of the host shell, the lifting structure is used for driving the internal microphone to lift; Four groups of rotating shafts, the four groups of rotating shafts are rotatably connected between the upper wall of the machine cover and the upper wall of the host shell with the center of the host shell as the center, the lower wall of the machine cover and inside the storage groove is provided with a bidirectional rotary damper, one end of the rotating shafts facing the machine cover is fixedly connected with the bidirectional rotary damper, the other end of the rotating shafts away from the machine cover penetrates the upper wall of the host shell and extends into the host shell; A first expansion drive, the first expansion drive is arranged in the host shell, and is used for driving the rotating shafts to rotate; A displacement detection structure, the displacement detection structure is arranged on the lower inner wall of the host shell and below the rotating shafts, and is used for detecting the rotating angle of the rotating shafts; Four groups of external microphones, the four groups of external microphones are respectively fixedly connected to the outer walls of the four groups of rotating shafts, the circumferential side wall of the machine cover is provided with four openings in an equal division manner, and the four groups of external microphones are respectively located on the inner walls of the four openings in an initial state; A second expansion drive, the second expansion drive is arranged between the external microphones and the rotating shafts, and is used for increasing the spacing between the four groups of external microphones; An integrated mainboard, the integrated mainboard is fixedly connected to the lower inner wall of the host shell, a through hole is arranged at the central position in the integrated mainboard, one end of the sleeve away from the lower inner wall of the host shell penetrates the through hole and extends above the integrated mainboard; An integrated module, the integrated module is arranged on the upper wall of the integrated mainboard, and is used for calculation, control and information transmission; A power supply assembly, the power supply assembly is arranged in the host shell, and is used for supplying power to the device; A guard ring, the guard ring is sleeved on the inner wall of the storage groove and the circumferential outer wall is flush with the circumferential outer wall of the host shell, the guard ring is a broken ring, and a sticking structure is arranged between the two ends of the broken ring; The second expansion drive comprises a rotating seat, a first electric push rod and a fixing seat, the rotating seat is fixedly connected to the outer wall of the rotating shaft and inside the storage groove, the first electric push rod is fixedly connected to the side wall of the rotating seat, the fixing seat is fixedly connected to the protruding shaft end of the first electric push rod, the protruding shaft end of the first electric push rod is provided with a square head, the inner wall of the side of the fixing seat facing the first electric push rod is provided with a square hole matched with the square head, the fixing seat is fixedly connected with the protruding shaft of the first electric push rod through the square head and the square hole, and the external microphone is fixedly connected to the upper wall of the fixing seat; the protruding shaft of the first electric push rod is protruded to drive the four groups of external microphones to move away from the host shell, so that the spacing between the four groups of external microphones is opened.

2. A portable sound source positioning device according to claim 1, characterized in that: The anti-skid structure comprises four groups of feet and four groups of anti-skid pads. The four groups of feet are fixedly connected to the lower wall of the main shell and close to the circumferential side wall of the main shell. The four groups of feet are circumferentially equidistributed with the center of the main shell as the center. The four groups of anti-skid pads are fixedly connected to one end of the four groups of feet away from the main shell.

3. The portable acoustic source localization device of claim 1, wherein: The lifting structure is a second electric push rod. The second electric push rod is fixedly connected to the inner lower wall of the main shell and located inside the sleeve. The lower end of the internal microphone is fixedly connected to the extended shaft end of the second electric push rod. The top of the internal microphone is flush with the upper wall of the cover in the retracted state of the extended shaft of the second electric push rod.

4. The portable acoustic source localization device of claim 1, wherein: The first expansion drive comprises a silent motor, a first gear, and a second gear. The silent motor is fixedly connected to the inner upper wall of the main shell and located between the rotating shaft and the center of the main shell. The first gear is fixedly connected to the extended shaft end of the silent motor. The second gear is fixedly connected to the outer wall of the rotating shaft and located inside the main shell. The first gear is engaged with the second gear.

5. The portable acoustic source localization device of claim 1, wherein: The displacement detection structure is an angular displacement sensor. The angular displacement sensor is fixedly connected to the inner lower wall of the main shell and located below the rotating shaft. The end of the rotating shaft located inside the main shell extends into the detection part of the angular displacement sensor. The angular displacement sensor is a contactless sensor.

6. The portable acoustic source localization device of claim 1, wherein: The integrated module comprises a storage module, a processor module, and a wireless communication module. The storage module, the processor module, and the wireless communication module are fixedly connected to the upper wall of the integrated mainboard in the order from left to right. The storage module and the processor module are located on the left side of the sleeve, and the wireless communication module is located on the right side of the sleeve.

7. The portable acoustic source localization device of claim 1, wherein: The power supply assembly comprises two groups of battery packs. The two groups of battery packs are fixedly connected to the inner lower wall of the main shell and located on the front and back sides of the integrated mainboard, respectively.

8. The portable acoustic source localization device of claim 1, wherein: The sticking structure is a magic sticker. The two ends of the split ring are provided with front and back opposite steps. The magic sticker is fixedly connected between the front and back opposite sides of the two steps. The magic sticker is composed of a buckle surface and a fuzzy surface.

9. A method of locating a portable acoustic source location device, using a device as claimed in any one of claims 1 to 8, characterised by: The positioning method comprises the following steps: S1, confirm the range of the sound collection site. If the collection distance is within five meters, go to step S4. If the collection distance is between five meters and ten meters, go to step S2 and then step S4. If the collection distance is between ten meters and fifteen meters, go to step S3 and then step S4. S2, extend the extended shaft of the second electric push rod to lift the internal microphone from the sleeve. Remove the retainer ring. Start the silent motor and rotate it clockwise in the overhead direction. Through the engagement of the first gear and the second gear, the rotating shaft is rotated. The rotating angle is detected by the angular displacement sensor. When the extended line of the first electric push rod center line in the overhead direction intersects with the main shell center line, the rotation stops. S3, extend the extended shaft of the first electric push rod to move the four groups of external microphones away from the main shell to open the distance between the four groups of external microphones. S4, collect the audio signals obtained by the four groups of external microphones and the internal microphone, and transmit them to the processor module. Filter the interference signals through the processor module. Perform analog-digital conversion on the remaining audio signals to convert them into digital signals. Calculate one or more position information according to the digital signals through the processor module, and output the position information through the data interface or the wireless communication module (19).

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