Two-dimensional sound source positioning system, method, device and storage medium

Abstract

The application discloses a two-dimensional sound source positioning system, method and device and a storage medium, and belongs to the technical field of sound source positioning. The sound source device in the two-dimensional sound source positioning system is used for generating a sound signal; the measuring device comprises a spectrometer, two radio heads and an oscilloscope, the two radio heads are symmetrically distributed in a linear array on a crossbeam of the spectrometer, the oscilloscope is connected with sound sensors in the two radio heads respectively, each sound sensor is used for converting a collected sound signal into an electric signal and then outputting the electric signal to the oscilloscope, the oscilloscope is used for displaying the electric signals of the two sound sensors and a difference signal of the two electric signals in a graphic form and displaying a peak-to-peak value in a numerical form; when the spectrometer is adjusted so that the waveform of the difference signal is a straight line and the peak-to-peak value is 0, the angles and distances of the two spectrometers are calculated by using a triangulation principle, and the position of the sound source device is obtained. The application can simplify the positioning algorithm of the sound source device, has excellent precision, is low in cost and easy to implement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sound source positioning, and particularly relates to a two-dimensional sound source positioning system, method, device and storage medium. BACKGROUND

[0002] Sound source positioning technology plays a very important role in daily life and production. For example, when a security robot hears a relatively loud sound in a certain direction, it needs to aim the camera in that direction to record a video; a service robot needs to determine the position of a speaker in order to have a conversation with the service object; a remote conference system needs to determine the position of a speaker in order to control the camera to shoot the speaker and transmit the close-up video of the speaker to the remote end, so as to achieve a better live broadcast effect.

[0003] In related technologies, a VAD algorithm and an improved SRP PHAT algorithm are combined, and an azimuth angle and an elevation angle step positioning method are adopted to calculate the positioning of a two-dimensional sound source. However, the above-mentioned two-dimensional sound source positioning method is relatively complex in calculation and is not easy to implement. SUMMARY

[0004] The present application provides a two-dimensional sound source positioning system, method, device and storage medium, which is used to solve the problem that the existing two-dimensional sound source positioning method is relatively complex in calculation and is not easy to implement. The technical solution is as follows:

[0005] In one aspect, a two-dimensional sound source positioning system is provided, and the two-dimensional sound source positioning system comprises a sound source device and two measurement devices;

[0006] The sound source device is configured to generate a sound signal.

[0007] The measurement device comprises a spectrometer, two sound receivers and an oscilloscope. The two sound receivers are symmetrically arranged in a straight line array on a crossbeam of the spectrometer. The oscilloscope is connected to sound sensors in the two sound receivers. Each sound sensor is configured to convert a collected sound signal into an electrical signal and output the electrical signal to the oscilloscope. The oscilloscope is configured to display the electrical signals of the two sound sensors and a difference signal of the two electrical signals in a graphical form, and display a peak-to-peak value in a numerical form.

[0008] When the spectrometer is adjusted so that the waveform of the difference signal is a straight line and the peak-to-peak value is 0, the angles and distances of the two spectrometers are calculated by using the principle of triangulation to obtain the position of the sound source device.

[0009] In one possible implementation, the sound source device comprises a DDS function generator and a loudspeaker. The loudspeaker is configured to output a sound signal generated by the DDS function generator.

[0010] In a possible implementation, the measuring device further comprises a direct-current stabilized power supply, which is connected to the sound sensors in the two radio heads respectively, and the direct-current stabilized power supply is configured to provide direct-current power supply for the two sound sensors.

[0011] In a possible implementation, the radio head further comprises a suspension, an O-ring, a trolley and a terminal.

[0012] In a possible implementation, the spectrometer is modified based on the principle of binaural intensity difference orientation.

[0013] In an aspect, a two-dimensional sound source positioning method is provided, and the method comprises:

[0014] When the oscilloscope in the two-dimensional sound source positioning system displays the electrical signals of the two sound sensors and the difference signal of the two electrical signals in a graphical form and displays the peak-to-peak value in a numerical form, the angle of the spectrometer is adjusted; the two-dimensional sound source positioning system is the two-dimensional sound source positioning system described above, and the electrical signals are obtained by converting the sound signals generated by the sound source device by the sound sensors;

[0015] When the waveform of the difference signal is a straight line and the peak-to-peak value is 0, the angles of the two spectrometers are obtained.

[0016] The distance between the two spectrometers is obtained.

[0017] The angles of the two spectrometers and the distance are calculated by using the principle of triangulation to obtain the position of the sound source device.

[0018] In a possible implementation, the calculation of the angles of the two spectrometers and the distance by using the principle of triangulation to obtain the position of the sound source device comprises:

[0019] A triangle composed of the sound source device and the two spectrometers is generated, wherein the sound source device and the first spectrometer form a first side, the sound source device and the second spectrometer form a second side, the first spectrometer and the second spectrometer form a third side, the first side and the third side form a first angle of the first spectrometer, the second side and the third side form a second angle of the second spectrometer, and the first side and the second side form a third angle.

[0020] The third angle is calculated according to the theorem of interior angles of a triangle, the first angle and the second angle.

[0021] The first angle, the second angle, the third angle and the length of the third side are calculated according to the law of sines to obtain the position of the sound source device.

[0022] In a possible implementation, the calculating the first angle, the second angle, the third angle and the length of the third side according to the law of sines to obtain the position of the sound source device comprises:

[0023] calculating the first angle, the third angle and the length of the third side according to the law of sines to obtain the length of the second side;

[0024] calculating the second angle, the third angle and the length of the third side according to the law of sines to obtain the length of the first side;

[0025] determining the position of the sound source device according to the length of the first side and the length of the second side.

[0026] In an aspect, a two-dimensional sound source positioning device is provided, and the device comprises:

[0027] an adjusting module configured to adjust the angles of the two spectrometers in a graphical form by displaying the electrical signals of the two sound sensors and the difference signal of the two electrical signals on an oscilloscope in the two-dimensional sound source positioning system, and display the peak-to-peak value in a numerical form, and adjust the angles of the two spectrometers; the two-dimensional sound source positioning system is the two-dimensional sound source positioning system described above, and the electrical signals are obtained by converting the sound signals generated by the sound source device by the sound sensors;

[0028] an obtaining module configured to obtain the angles of the two spectrometers when the waveform of the difference signal is a straight line and the peak-to-peak value is 0;

[0029] The obtaining module is further configured to obtain the distance between the two spectrometers.

[0030] a calculating module configured to calculate the angles of the two spectrometers and the distance according to the principle of triangulation to obtain the position of the sound source device.

[0031] In an aspect, a computer readable storage medium is provided, and the storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the two-dimensional sound source positioning method described above.

[0032] The technical scheme provided in the application has at least the following beneficial effects:

[0033] Based on the binaural intensity difference directional principle, the spectrometer is modified, two radio heads are symmetrically distributed in a linear array on the beam of the modified spectrometer, in this way, the oscilloscope can display the electrical signals of the two radio heads and the difference signal of the two electrical signals in the form of graphics, and display the peak-to-peak value in the form of numerical value, then, the angle of the spectrometer can be adjusted to make the waveform of the difference signal a straight line and the peak-to-peak value 0, the angles and distances of the two spectrometers are read, the angles and distances of the two spectrometers are calculated by using the triangulation principle, the position of the sound source device is obtained, the positioning algorithm of the sound source device can be simplified by using the hardware technology of reliable hardware, the precision is good, the cost is low, and the implementation is easy. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 It is a schematic diagram of binaural sound intensity difference of different angles shown in the present application;

[0036] Figure 2 It is a schematic diagram of triangulation principle shown in the present application;

[0037] Figure 3 It is a schematic diagram of two-dimensional sound source positioning system provided by an embodiment of the present application;

[0038] Figure 4 It is a schematic diagram of two-dimensional sound source positioning system provided by an embodiment of the present application;

[0039] Figure 5 It is a method flowchart of two-dimensional sound source positioning method provided by another embodiment of the present application;

[0040] Figure 6 It is a flowchart of two-dimensional sound source positioning method provided by another embodiment of the present application;

[0041] Figure 7 It is a schematic diagram of triangulation principle provided by another embodiment of the present application;

[0042] Figure 8 It is a comparison diagram of the position of the sound source device provided by another embodiment of the present application;

[0043] Figure 9 It is a structure block diagram of two-dimensional sound source positioning device provided by still another embodiment of the present application. DETAILED DESCRIPTION

[0044] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the drawings.

[0045] The binaural intensity difference directional principle and the triangulation principle are introduced below.

[0046] (1) Binaural intensity difference directional principle

[0047] Binaural intensity difference (ILD) refers to a certain distance between the left and right ears of a human body. When a sound source is located directly in front of the head, the distance from the sound source to the left and right ears is equal, that is, the energy loss is the same due to the same distance of sound wave propagation in the air, so the sound intensity difference is 0. When the sound source is deviated from the front, the sound propagates to the left and right ears with a distance difference. The difference in distance causes a difference in the intensity of the sound to the left and right ears, so the direction of the sound source can be determined by judging whether the sound intensity difference received by the left and right ears is 0.

[0048] In a near-field sound source, the sound wave transmission to the left and right ears is as shown in Figure 1 Since the sound intensity is inversely proportional to the square of the distance, let the initial sound intensity be I0, the proportionality coefficient be k, the distance from the sound source to the left ear be r1, and the distance from the sound source to the right ear be r2. The sound intensity received by the left ear is The sound intensity received by the right ear is At the same time, according to the cosine theorem, the sound intensity difference ΔI between the left and right ears is

[0049]

[0050]

[0051]

[0052] When ΔI = 0, the sound source is on the perpendicular bisector of the left and right ears.

[0053] (2) Triangulation principle

[0054] Triangulation is one of the commonly used geometric methods in engineering surveying. It uses the basic properties of a triangle, such as the length of the sides, the angle, the sine, the cosine, and other relationships, to measure the position of a target point in combination with the known length of the reference line and the angle. The advantage of using the triangulation method for positioning is that it does not need to directly measure the distance between the target point and the measuring instrument, but only needs to measure the direction-finding angle and the length of the reference line, thereby avoiding the problem of direct measurement in most cases. It is a simple and effective positioning method and is widely used in various fields.

[0055] Figure 2It is a schematic diagram of the principle of triangulation. According to the known angles of direction a and b and the length of the side c of the triangle, the angle g can be obtained by the theorem of the sum of the angles in a triangle, g = 180° - a - b. In triangle ABC, the length of the side b can be obtained by the sine theorem, b = (sin b / sin g) x c. The polar coordinate system is established with A as the pole and AB as the polar axis. The position of the target point C can be represented by (b, a).

[0056] Reference is made to Figure 3 which shows the structure block diagram of the two-dimensional sound source positioning system provided by one embodiment of the present application. The two-dimensional sound source positioning system can include a sound source device 310 and two measuring devices 320.

[0057] The sound source device 310 is used to generate a sound signal. Specifically, the sound source device 310 includes a DDS function generator and a loudspeaker connected to the DDS function generator. The loudspeaker is used to output the sound signal generated by the DDS function generator.

[0058] Because the loudspeaker has the characteristics of fast response speed, flat frequency response, high sensitivity, etc., and can conveniently control the frequency and volume of the sound, it is selected as the sound source. By setting different frequency, phase and amplitude parameters, the loudspeaker can generate diversified sound signal outputs.

[0059] The measuring device 320 includes a spectrometer, two sound receivers and an oscilloscope. The two sound receivers are symmetrically distributed in a straight line array on the crossbeam of the spectrometer. The oscilloscope is connected to the sound sensors in the two sound receivers, respectively. Each sound sensor is used to convert the collected sound signal into an electrical signal and output it to the oscilloscope. The oscilloscope is used to display the electrical signals of the two sound sensors and the difference signal of the two electrical signals in graphical form, and to display the peak-to-peak value in numerical form.

[0060] Each sound receiver includes a sound sensor (specification MAX9814). In addition, the sound receiver also includes a suspension, an O-ring, a trolley and a terminal.

[0061] The measuring device 320 also includes a DC stabilized power supply connected to the sound sensors in the two sound receivers, respectively. The DC stabilized power supply is used to provide DC power for the two sound sensors to work normally.

[0062] The oscilloscope can be used to observe the shape and characteristics of the sound signal in real time. The oscilloscope is set to display three groups of waveforms in graphical form and the peak-to-peak value in numerical form. The three groups of waveforms are the electrical signals CH1 and CH2 of the two sound sensors and the difference signal CH1-CH2.

[0063] The spectrometer is an optical instrument for precisely measuring the deflection angle of light. By modifying the spectrometer, the position of the sound source device can be precisely measured. According to the binaural intensity difference directional principle described above, rotating the modified spectrometer will change the signal waveform and peak-to-peak value displayed on the oscilloscope. When rotated to a certain direction, the waveform of CH1-CH2 on the oscilloscope is a straight line and the peak-to-peak value is 0, at this time, the center line of the beam of the spectrometer is perpendicular to the sound source device. When the center line of the beam of another spectrometer is also perpendicular to the sound source device, the intersection of the two center lines is the position of the sound source. By reading the angles of the two spectrometers and measuring the distance between the two spectrometers, the position of the sound source device can be calculated by the triangulation principle described above. That is, when the spectrometer is adjusted so that the waveform of the difference signal is a straight line and the peak-to-peak value is 0, the position of the sound source device 310 is calculated by the triangulation principle using the angles and distances of the two spectrometers.

[0064] Please refer to the binaural device in Figure 4 , Figure 4 The two sound receivers are two sound receivers, and the distance between the two spectrometers is 1 meter. After obtaining the angles of the two spectrometers, the position of the sound source device can be calculated according to the two angles and the distance of 1 meter.

[0065] In summary, the two-dimensional sound source positioning system provided by the embodiments of the present application is based on the binaural intensity difference directional principle to modify the spectrometer. Two sound receivers are symmetrically arranged in a straight line array on the beam of the modified spectrometer. In this way, the oscilloscope can display the electrical signals of the two sound receivers and the difference signal of the two electrical signals in graphical form, and display the peak-to-peak value in numerical form. Then, the angle of the spectrometer can be adjusted so that the waveform of the difference signal is a straight line and the peak-to-peak value is 0. The angles and distances of the two spectrometers are read, and the position of the sound source device is calculated by the triangulation principle using the angles and distances of the two spectrometers. The positioning algorithm of the sound source device can be simplified by using reliable hardware technology, which has good precision, low cost and is easy to implement.

[0066] Please refer to Figure 5 and 6 which show the method flowchart of the two-dimensional sound source positioning method provided by an embodiment of the present application. The two-dimensional sound source positioning method can be applied to the two-dimensional sound source positioning system shown in Figure 3 . The two-dimensional sound source positioning method can include:

[0067] Step 501, when the oscilloscope in the two-dimensional sound source positioning system displays the electrical signals of the two sound sensors and the difference signal of the two electrical signals in graphical form, and displays the peak-to-peak value in numerical form, the angle of the spectrometer is adjusted. The electrical signal is obtained by converting the sound signal generated by the sound source device by the sound sensor.

[0068] The two-dimensional sound source positioning system in the embodiment is Figure 3 The two-dimensional sound source positioning system shown in the figure,

[0069] Before using the two-dimensional sound source positioning system, it needs to be debugged to meet the measurement conditions. Specifically, the first spectrometer receiver rotation axis center (O1) and zero scale line and the second spectrometer receiver rotation axis center (O2) and zero scale line are on a straight line, and the distance from O1 to O2 is D.

[0070] Step 502, when the waveform of the difference signal is adjusted to a straight line and the peak-to-peak value is 0, the angles of the two spectrometers are obtained.

[0071] When using the two-dimensional sound source positioning system, the first spectrometer needs to be rotated to observe the changes of the oscilloscope waveform and the reading, and when the peak-to-peak value of the difference signal CH1-CH2 is the smallest, the receiver is pointing to the sound source, and the first spectrometer reading is read as θ1; Similarly, the second spectrometer reading is read as θ2, and the experimental data is shown in Table 1.

[0072] Step 503, the distance of the two spectrometers is obtained.

[0073] The distance of the two spectrometers is D.

[0074] Step 504, the angles and distances of the two spectrometers are calculated using the principle of triangulation to obtain the position of the sound source device.

[0075] Specifically, the angles and distances of the two spectrometers are calculated using the principle of triangulation to obtain the position of the sound source device, which can include: generating a triangle composed of the sound source device and the two spectrometers, wherein the sound source device and the first spectrometer form a first side, the sound source device and the second spectrometer form a second side, the first spectrometer and the second spectrometer form a third side, the first side and the third side form a first angle of the first spectrometer, the second side and the third side form a second angle of the second spectrometer, and the first side and the second side form a third angle; calculating the third angle according to the theorem of interior angles of a triangle and the first angle and the second angle; calculating the first angle, the second angle, the third angle and the length of the third side according to the law of sines to obtain the position of the sound source device.

[0076] Among them, according to the law of sines, the length of the first angle, the second angle, the third angle and the third side is calculated to obtain the length of the second side; the length of the first side is calculated by using the law of sines to calculate the length of the third side, the second angle and the third angle; the position of the sound source device is determined according to the length of the first side and the length of the second side.

[0077] As Figure 7As shown in the triangle ΔO1O2P', the sum of the internal angles of the triangle is Then the angle between O1P and O2P is θ3=180°-θ1-θ2. Suppose the measured polar radius of the sound source O1P' is r 测 Then there is

[0078]

[0079] Thus the measured polar coordinates of the sound source position are (r 测 , θ1).

[0080] The polar coordinates (r 真 , θ) of the position P of the sound source device are measured by the spectrometer and the laser range finder as the agreed true value.

[0081] As shown in the figure, Figure 8 the deviation distance Δr is

[0082]

[0083] Suppose the relative error is δ, then δ is

[0084]

[0085] Through the method provided in the embodiment, the specific positioning of the sound source device can be obtained. By changing the coordinates of the DDS function generator and the sound source device (P), three groups of data are obtained, and the experimental measurement results are shown in Table 1. As shown in Table 1, the relative errors of the experimental measurement data are all less than 6%, and the error is small.

[0086] Table 1

[0087]

[0088]

[0089] At the same time, the three groups of experimental results are plotted in the same polar coordinate graph, as shown in Figure 8 , it can be observed that the closer the position to the device, the closer the true coordinates and the experimental coordinates. When the test distance exceeds 200 cm, the error will increase, therefore, the near-field sound source of the two-dimensional sound source positioning system has excellent accuracy.

[0090] In summary, the two-dimensional sound source positioning method provided by the embodiments of the present application is based on the binaural intensity difference directional principle, the spectrometer is modified, two sound receivers are symmetrically arranged in a straight line on the beam of the modified spectrometer, in this way, the oscilloscope can display the electrical signals of the two sound receivers and the difference signal of the two electrical signals in a graphical form, and display the peak-to-peak value in a numerical form, then, the angle of the spectrometer can be adjusted so that the waveform of the difference signal is a straight line and the peak-to-peak value is 0, the angles and distances of the two spectrometers are read, the angles and distances of the two spectrometers are calculated by using the triangulation principle, and the position of the sound source device is obtained, the positioning algorithm of the sound source device can be simplified by using the hardware technology which is reliable in hardware, the precision is excellent, the cost is low, and the implementation is easy.

[0091] Please refer to Figure 9 which shows the structural block diagram of the two-dimensional sound source positioning device provided by an embodiment of the present application, and the two-dimensional sound source positioning device can be applied to the two-dimensional sound source positioning system shown in Figure 3 The two-dimensional sound source positioning device can include:

[0092] The adjusting module 910 is configured to adjust the angle of the spectrometer when the oscilloscope displays the electrical signals of the two sound sensors and the difference signal of the two electrical signals in a graphical form, and displays the peak-to-peak value in a numerical form; the two-dimensional sound source positioning system is the two-dimensional sound source positioning system shown in Figure 3 The electrical signal is obtained by converting the sound signal generated by the sound source device by the sound sensor;

[0093] The obtaining module 920 is configured to obtain the angles of the two spectrometers when the waveform of the difference signal is a straight line and the peak-to-peak value is 0;

[0094] The obtaining module 920 is further configured to obtain the distances of the two spectrometers;

[0095] The calculating module 930 is configured to calculate the angles and distances of the two spectrometers by using the triangulation principle, and obtain the position of the sound source device.

[0096] In an optional embodiment, the calculating module 930 is further configured to:

[0097] generate a triangle composed of the sound source device and the two spectrometers, wherein the sound source device and the first spectrometer form a first side, the sound source device and the second spectrometer form a second side, the first spectrometer and the second spectrometer form a third side, the first side and the third side form a first angle of the first spectrometer, the second side and the third side form a second angle of the second spectrometer, and the first side and the second side form a third angle;

[0098] calculate the third angle according to the theorem of interior angles of a triangle and the first angle and the second angle;

[0099] The first angle, the second angle, the third angle and the length of the third side are calculated according to the sine theorem, and the position of the sound source device is obtained.

[0100] In an optional embodiment, the calculation module 930 is further configured to:

[0101] The first angle, the third angle and the length of the third side are calculated according to the sine theorem, and the length of the second side is obtained.

[0102] The second angle, the third angle and the length of the third side are calculated according to the sine theorem, and the length of the first side is obtained.

[0103] The position of the sound source device is determined according to the length of the first side and the length of the second side.

[0104] In summary, the two-dimensional sound source positioning device provided by the embodiments of the present application is based on the binaural intensity difference directional principle, the spectrometer is modified, and the two sound receivers are symmetrically distributed in a straight line array on the cross beam of the modified spectrometer. In this way, the oscilloscope can display the electrical signals of the two sound receivers and the difference signal of the two electrical signals in a graphical form, and display the peak-to-peak value in a numerical form. Then, the angle of the spectrometer can be adjusted so that the waveform of the difference signal is a straight line and the peak-to-peak value is 0. The angles and distances of the two spectrometers are read, and the angles and distances of the two spectrometers are calculated using the triangulation principle to obtain the position of the sound source device. The positioning algorithm of the sound source device can be simplified by using reliable hardware technology, the precision is excellent, the cost is low, and it is easy to implement.

[0105] An embodiment of the present application provides a computer readable storage medium, the storage medium stores at least one instruction, the at least one instruction is loaded and executed by a processor to implement the two-dimensional sound source positioning method as described above.

[0106] It should be noted that: the two-dimensional sound source positioning device provided by the above embodiments is used for two-dimensional sound source positioning, and only the division of the above functional modules is used as an example for illustration. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the two-dimensional sound source positioning device is divided into different functional modules to complete all or part of the functions described above. In addition, the two-dimensional sound source positioning device and the two-dimensional sound source positioning method provided by the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be repeated here.

[0107] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by a program instructing related hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a disk or an optical disk.

[0108] The above description is not intended to limit the application. Any modification, equivalent replacement and improvement made within the principle and spirit of the application shall be included in the protection scope of the application.

Claims

1. A two-dimensional sound source localization system, characterized in that, The two-dimensional sound source localization system includes a sound source device and two measuring devices; The sound source device is used to generate sound signals; The measuring device includes a spectrometer, two microphones, and an oscilloscope. The two microphones are symmetrically distributed in a linear array on the crossbeam of the spectrometer. The oscilloscope is connected to the sound sensors in the two microphones respectively. Each sound sensor is used to convert the collected sound signal into an electrical signal and output it to the oscilloscope. The oscilloscope is used to display the electrical signals of the two sound sensors and the difference signal between the two electrical signals in graphical form, and to display the peak-to-peak value in numerical form. When the spectrometer is adjusted so that the waveform of the difference signal is a straight line and the peak-to-peak value is 0, the angle and distance between the two spectrometers are calculated using the triangulation principle to obtain the position of the sound source device.

2. The two-dimensional sound source localization system according to claim 1, characterized in that, The sound source device includes a DDS function generator and a loudspeaker, the loudspeaker being used to output the sound signal generated by the DDS function generator.

3. The two-dimensional sound source localization system according to claim 1, characterized in that, The measuring device also includes a DC regulated power supply, which is connected to the sound sensors in the two microphone heads respectively, and the DC regulated power supply is used to provide DC power to the two sound sensors.

4. The two-dimensional sound source localization system according to claim 1, characterized in that, The radio head also includes a suspension, an O-ring, a trolley, and a terminal block.

5. The two-dimensional sound source localization system according to any one of claims 1 to 4, characterized in that, The spectrometer is a modified version based on the binaural intensity difference orientation principle.

6. A two-dimensional sound source localization method, characterized in that, The method includes: When the oscilloscope in the two-dimensional sound source localization system displays the electrical signals of the two sound sensors and the difference signal between the two electrical signals in graphical form, and displays the peak-to-peak value in numerical form, the angle of the spectrometer is adjusted; the two-dimensional sound source localization system is the two-dimensional sound source localization system according to any one of claims 1-5, and the electrical signal is obtained by the sound sensor converting the sound signal generated by the sound source device; When the waveform of the difference signal is adjusted to be a straight line and the peak-to-peak value is 0, the angles of the two spectrometers are obtained; Obtain the distance between the two spectrometers; The location of the sound source device is obtained by calculating the angle and distance between the two spectrometers using the principle of triangulation.

7. The two-dimensional sound source localization method according to claim 6, characterized in that, The calculation of the angle and distance between the two spectrometers using the triangulation principle to obtain the position of the sound source device includes: A triangle is generated consisting of the sound source device and two spectrometers, wherein the sound source device and the first spectrometer form a first side, the sound source device and the second spectrometer form a second side, the first spectrometer and the second spectrometer form a third side, the first side and the third side form a first angle of the first spectrometer, the second side and the third side form a second angle of the second spectrometer, and the first side and the second side form a third angle. The third angle is calculated using the triangle angle sum theorem, the first angle, and the second angle. The position of the sound source device is obtained by calculating the first angle, the second angle, the third angle, and the side length of the third side using the law of sine.

8. The two-dimensional sound source localization method according to claim 7, characterized in that, The step of calculating the position of the sound source device based on the law of sine using the first angle, the second angle, the third angle, and the side length of the third side includes: The length of the second side is obtained by calculating the first angle, the third angle, and the length of the third side using the law of sine. The length of the first side is obtained by calculating the second angle, the third angle, and the length of the third side using the law of sine. The location of the sound source device is determined based on the length of the first side and the length of the second side.

9. A two-dimensional sound source localization device, characterized in that, The device includes: An adjustment module is used to adjust the angle of the spectrometer when the oscilloscope in the two-dimensional sound source localization system displays the electrical signals of the two sound sensors and the difference signal between the two electrical signals in graphical form and the peak-to-peak value in numerical form; the two-dimensional sound source localization system is the two-dimensional sound source localization system according to any one of claims 1-5, and the electrical signal is obtained by the sound sensor after converting the sound signal generated by the sound source device; The acquisition module is used to acquire the angles of the two spectrometers when the waveform of the difference signal is adjusted to be a straight line and the peak-to-peak value is 0. The acquisition module is also used to acquire the distance between the two spectrometers; The calculation module is used to calculate the angle and distance between the two spectrometers using the principle of triangulation, so as to obtain the position of the sound source device.

10. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to implement the two-dimensional sound source localization method as described in any one of claims 6 to 8.

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