A sound source localization method, device, equipment, medium and product

Abstract

The present application discloses a sound source localization method, device, equipment, medium and product; wherein the method comprises: constructing a node transmission network; the node transmission network comprises N subnetworks and M member nodes; each subnetwork in the N subnetworks comprises a plurality of the M member nodes; M and N are positive integers greater than 1; within one acquisition cycle, node signals collected by K of the member nodes are obtained; the node signals comprise sound wave signals emitted by a target sound source; the acquisition cycle comprises a plurality of transmission time frames; the frame length of each transmission time frame in the plurality of transmission time frames is the same; K is a positive integer less than or equal to M; and the sound source position information of the target sound source is determined based on the sound wave signal.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a sound source localization method, device, equipment, medium and product. Background Art

[0002] In the related art, centralized sound source detection mainly uses wired networks for program control and data transmission. This method has a limited detection range and poor scalability. Summary of the invention

[0003] The present application mainly provides a sound source localization method, device, equipment, medium and product.

[0004] The technical solution of this application is implemented as follows:

[0005] A sound source localization method, the method comprising:

[0006] Constructing a node transmission network; the node transmission network includes N subnetworks and M member nodes; each of the N subnetworks includes a plurality of the M member nodes; M and N are positive integers greater than 1;

[0007] In one acquisition cycle, node signals collected by K member nodes are obtained; the node signals include sound wave signals emitted by a target sound source; the acquisition cycle includes multiple transmission time frames; the frame length of each transmission time frame in the multiple transmission time frames is the same; K is a positive integer less than or equal to M;

[0008] The sound source position information of the target sound source is determined based on the sound wave signal.

[0009] In the above solution, the construction of the node transmission network includes:

[0010] Selecting N wireless channels; wherein the wireless channels are used to transmit the node signals;

[0011] Determine a management node of each subnetwork in the N subnetworks and a plurality of member nodes corresponding to each subnetwork based on the N wireless channels;

[0012] The transmission time slot of each of the plurality of member nodes corresponding to each sub-network is determined based on the management node and the plurality of transmission time frames; the transmission time slot is used to transmit the sound wave signal.

[0013] In the above solution, obtaining node signals collected by K member nodes within one collection cycle includes:

[0014] Based on the transmission time slot of each of the member nodes among the plurality of member nodes corresponding to each sub-network, acquiring a detonation wave signal collected by each of the member nodes among the K member nodes;

[0015] Based on the transmission time slot of each of the member nodes among the multiple member nodes corresponding to each sub-network, the Mach wave signal collected by each of the K member nodes is obtained; the acoustic wave signal includes the detonation wave signal and the Mach wave signal.

[0016] In the above solution, the sound wave signal includes a detonation wave signal and a Mach wave signal, and the determining the position information of the target sound source based on the sound wave signal includes:

[0017] Obtaining node location information of each of the K member nodes;

[0018] Determine a first acquisition time of the detonation wave signal and a second acquisition time of the Mach wave signal;

[0019] The sound source position information is determined based on the node position information, the first collection time, and the second collection time.

[0020] In the above solution, the determining, based on the management node and the multiple transmission time frames, the transmission time slot of each of the multiple member nodes corresponding to each sub-network includes:

[0021] Determining a transmission time frame corresponding to the management node among the multiple transmission time frames;

[0022] Based on the transmission time frame corresponding to the management node in the multiple transmission time frames, a transmission time slot of each of the multiple member nodes corresponding to each sub-network is determined.

[0023] In the above scheme, the method further comprises:

[0024] After the one collection cycle, the management node of each of the N subnetworks and the plurality of member nodes corresponding to each subnetwork are re-determined based on the N wireless channels.

[0025] A sound source localization device, comprising:

[0026] A construction unit, configured to construct a node transmission network; the node transmission network includes N subnetworks and M member nodes; each of the N subnetworks includes a plurality of the M member nodes; M and N are positive integers greater than 1;

[0027] An acquisition unit is used to acquire node signals collected by K member nodes within a collection cycle; the node signals include sound wave signals emitted by a target sound source; the collection cycle includes multiple transmission time frames; the frame length of each transmission time frame in the multiple transmission time frames is the same; K is a positive integer less than or equal to M;

[0028] A processing unit is used to determine the sound source position information of the target sound source based on the sound wave signal.

[0029] An electronic device comprising: a processor and a memory for storing a computer program that can be run on the processor,

[0030] Wherein, when the processor is used to run the computer program, it executes the steps of any one of the above methods.

[0031] A storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of any one of the above methods are implemented.

[0032] A computer product comprises a computer program, wherein the computer program implements the steps of any one of the above methods when executed by a processor.

[0033] The present application provides a sound source localization method, device, equipment, medium and product, which construct a node transmission network; the node transmission network includes N subnetworks and M member nodes; each subnetwork in the N subnetworks includes multiple member nodes in the M member nodes; M and N are positive integers greater than 1; within a collection cycle, node signals collected by K member nodes are obtained; the node signal includes a sound wave signal emitted by a target sound source; the collection cycle includes multiple transmission time frames; the frame length of each transmission time frame in the multiple transmission time frames is the same; K is a positive integer less than or equal to M; the sound source position information of the target sound source is determined based on the sound wave signal. That is to say, the present application constructs a node transmission network, the node transmission network includes N sub-networks and M member nodes, each sub-network in the N sub-networks includes multiple member nodes in the M member nodes; within one collection cycle, node signals collected by K member nodes are obtained; the node signal includes a sound wave signal emitted by the target sound source, and the sound source position information of the target sound source is determined based on the sound wave signal; so as to realize the coordinated work of multiple nodes in the clustered network structure to collect and locate the sound wave signal emitted by the target sound source, thereby expanding the detection range of the sound source, improving the positioning accuracy, and solving the problem that the centralized sound source detection in the related technology is mainly program controlled and data transmitted through a wired network, and the detection range is limited. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1A flow chart of a sound source localization method provided in this application;

[0035] Figure 2 A schematic diagram of a node transmission network provided by this application;

[0036] Figure 3 A schematic diagram of a transmission time frame for cluster transmission provided in this application;

[0037] Figure 4 A schematic diagram of the structure of a sensor node provided in this application;

[0038] Figure 5 A schematic diagram of a sound source localization model provided in this application;

[0039] Figure 6 A schematic diagram of another sound source localization method provided in this application;

[0040] Figure 7 A schematic diagram of the structure of a sound source localization device provided in this application;

[0041] Figure 8 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0043] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0044] The terms "first / second / third" involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0046] In the related technology, the sound source detection methods include active and passive. The active type represented by laser detection requires the emission of a high-power detection signal in advance, and completes the detection and positioning of the target sound source by processing the feedback signal; while the passive passive type represented by infrared detection and sound detection completes the positioning of the target sound source by detecting the radiation signal emitted by the target. Compared with the active type, the passive passive type has better concealment. Sound source detection can also be divided into centralized and distributed types based on the layout. Centralized sound source detection has great limitations in terms of deployment methods, coverage, positioning accuracy, and fault tolerance.

[0047] The embodiment of the present application provides a method for localizing a sound source. Figure 1 As shown, the method comprises the following steps:

[0048] Step S101: construct a node transmission network.

[0049] The node transmission network includes N sub-networks and M member nodes; each of the N sub-networks includes multiple member nodes among the M member nodes; M and N are positive integers greater than 1.

[0050] It can be understood that wireless sensor networks (WSNs) can be used to build node transmission networks. Member nodes can be sensor nodes, see Figure 2 As shown in the figure, the node transmission network is divided into two layers. The first layer is composed of multiple clusters. Each cluster can be understood as a sub-network, which is composed of a cluster head node and several sensor nodes. The second layer is composed of cluster head nodes and multi-channel base station nodes. The cluster head node is responsible for data collection and data forwarding within the cluster.

[0051] In practical applications, to build a node transmission network, several cluster heads can be set up first to complete the establishment of sub-networks. The data link layer protocol of the network can adopt a cluster transmission mechanism based on Time Division Multiple Access (TDMA). One sub-network corresponds to one channel. All sensor nodes are distributed in multiple channels for synchronous collection and send data to the base station node according to the transmission time slots divided in each channel.

[0052] Step S102: within one collection cycle, node signals collected by K member nodes are obtained.

[0053] Among them, the node signal includes the sound wave signal emitted by the target sound source; the acquisition period includes multiple transmission time frames; the frame length of each transmission time frame in the multiple transmission time frames is the same; K is a positive integer less than or equal to M.

[0054] It can be understood that the TDMA-based cluster transmission mechanism is based on TDMA scheduling. One acquisition cycle can be composed of m transmission time frames of equal length, and one cluster head node corresponds to one transmission time frame.

[0055] In practical applications, reference Figure 3 As shown in the figure, each member node in the cluster can apply for a time slot from the cluster head node, and the cluster head node broadcasts the application of time slots to each member node in the cluster. The member nodes send data packets to the cluster head node in turn according to their own inherent time slots to complete a complete data transmission process. Since the cluster head node is responsible for receiving and forwarding the data of members, the energy consumption is relatively large, so after m frames, it enters the next round and re-forms the sub-network, and other nodes with sufficient energy act as cluster head nodes.

[0056] In one collection cycle, K sensor nodes in the node transmission network collect the sound wave signals emitted by the target sound source and send the sound wave signals to the base station based on the TDMA cluster transmission mechanism, which can avoid interference between different clusters and improve the real-time and reliability of data transmission.

[0057] Step S103: determining the sound source position information of the target sound source based on the sound wave signal.

[0058] In practical applications, the sound signal emitted by the target sound source may include a detonation wave signal and a Mach wave signal. There is a difference in the time when these two waves arrive at the sensor node. The sound source position information of the target sound source can be determined based on the iterative positioning algorithm based on the signal arrival time difference (TDOA).

[0059] It can be seen from the above content that the embodiment of the present application constructs a node transmission network, the node transmission network includes N sub-networks and M member nodes, each sub-network in the N sub-networks includes multiple member nodes in the M member nodes; within one collection cycle, node signals collected by K member nodes are obtained; the node signal includes a sound wave signal emitted by the target sound source, and the sound source position information of the target sound source is determined based on the sound wave signal; so as to realize the coordinated work of multiple nodes in the clustered network structure to collect and locate the sound wave signal emitted by the target sound source, thereby expanding the detection range of the sound source, improving the positioning accuracy, and solving the problem that the centralized sound source detection in the related technology is mainly program controlled and data transmitted through a wired network, and the detection range is limited.

[0060] In some embodiments of the present application, building a node transmission network includes:

[0061] Select N wireless channels; the wireless channels are used to transmit node signals;

[0062] Determine a management node of each sub-network in the N sub-networks and a plurality of member nodes corresponding to each sub-network based on the N wireless channels;

[0063] The transmission time slot of each member node among the multiple member nodes corresponding to each sub-network is determined based on the management node and the multiple transmission time frames; the transmission time slot is used to transmit the sound wave signal.

[0064] In practical applications, reference Figure 2 As shown, N subnetworks correspond to N wireless channels, and one subnetwork corresponds to one channel. To build a node transmission network, you can first set up several cluster heads to complete the establishment of the subnetwork. The management node can be understood as a cluster head node. In each subnetwork, each member node can apply for a time slot from the cluster head node. The cluster head node broadcasts the application for the time slot to each member node in the cluster. The member nodes send data packets to the cluster head node in turn according to their own inherent time slots to complete a complete data transmission process. All sensor nodes are distributed in multiple channels for synchronous collection and send data to the base station node according to the transmission time slots divided in their respective channels.

[0065] refer to Figure 4 As shown in the figure, the sensor node mainly includes signal acquisition and preprocessing module, data processing module, wireless communication module and peripheral module. The signal acquisition and preprocessing module mainly consists of four parts: electret microphone, preamplifier circuit, bandpass filter circuit and A / D conversion circuit. The electret microphone is used as a sensitive unit to sense the acoustic signal in the space; the electrical signals output by the electret microphone are all at the millivolt level and cannot be directly supplied to the subsequent modules for processing. The preamplifier circuit is required to amplify the detected acoustic signal; the acoustic signal collected in the actual application environment is easily mixed with interference noise, and the bandpass filter circuit extracts the target signal from the interference signal; the target signal output by the preamplifier circuit and the bandpass filter circuit is an analog voltage signal, which is converted into a digital signal by the A / D conversion circuit and sent to the microcontroller unit (MCU) for processing.

[0066] The data processing module mainly consists of two parts: microprocessor and memory. As the control center of the sensor node, the microprocessor can use Field Programmable Gate Array (FPGA) chip, which can realize high-speed signal acquisition and processing, endpoint detection and signal recognition, and send the results in real time through the wireless communication module, providing hardware support for the real-time performance of the node transmission network. The sensor node can also use the storage chip M25P16 with high-speed serial peripheral interface (SPI) bus access to store the execution program and configuration file of the node transmission network; it can also use the synchronous dynamic random access memory (SDRAM) chip HY57V to store the processed data.

[0067] The wireless communication module is mainly composed of three parts: radio frequency chip, matching circuit and antenna. The radio frequency chip can use CC2630, which integrates dual Advanced RISC Machines (ARM) core-32-bit processors, to transmit data between sensor nodes and realize information sharing within the wireless sensor network. At the same time, the external IPEX interface antenna can effectively increase the transmission distance of the wireless communication module.

[0068] The sensor node can also include peripheral modules such as chip configuration module, clock module and power management module. The chip configuration module provides a JTAG interface for FPGA chip to configure and debug the program; the clock module consists of a main frequency crystal oscillator circuit and an external crystal oscillator circuit, which are used to drive the logic circuit in the FPGA and obtain the local clock respectively; the power management module consists of multiple low dropout linear regulator (LDO) power chips and aluminum electrolytic capacitors, which can provide the BANK voltage and core voltage that meet the FPGA.

[0069] In some embodiments of the present application, acquiring node signals collected by K member nodes in one collection cycle includes:

[0070] Based on the transmission time slot of each member node among the multiple member nodes corresponding to each sub-network, a detonation wave signal collected by each member node among the K member nodes is obtained;

[0071] Based on the transmission time slot of each member node among the multiple member nodes corresponding to each sub-network, the Mach wave signal collected by each member node among the K member nodes is obtained; the acoustic wave signal includes a detonation wave signal and a Mach wave signal.

[0072] In practical applications, within a collection cycle, K sensor nodes in the node transmission network collect the sound wave signals emitted by the target sound source and send the sound wave signals to the base station based on the TDMA cluster transmission mechanism, which can avoid interference between different clusters and improve the real-time and reliability of data transmission.

[0073] The sound signal emitted by the target sound source may include a detonation wave signal and a Mach wave signal. There is a difference in the time when these two waves arrive at the sensor node. The sound source position information of the target sound source can be determined based on the iterative positioning algorithm of TDOA.

[0074] In some embodiments of the present application, the acoustic wave signal includes a detonation wave signal and a Mach wave signal; determining the position information of the target sound source based on the acoustic wave signal includes:

[0075] Obtain node location information of each member node among the K member nodes;

[0076] Determine a first acquisition time of a detonation wave signal and a second acquisition time of a Mach wave signal;

[0077] The sound source position information is determined based on the node position information, the first collection time, and the second collection time.

[0078] In practical applications, reference Figure 5 As shown, where N k is the position vector of the kth sensor node, S is the position vector of the target sound source, U is the unit vector in the direction of the sound source, θ is the Mach angle, γ k is the miss angle, i.e., the unit vector U and the target sound source position S and the kth sensor node position N k The angle between the lines, d k is the miss distance, i.e. the kth sensor node position N k The perpendicular distance to the unit vector U.

[0079] Take sensor node N k For example, the sound signal arrives at point A from point S after a period of time. k Point A k The Mach wave generated by the point propagates to the sensor node N in a direction perpendicular to the Mach cone. k Assume that the detonation wave and Mach wave reach the sensor node N k The time is T k and t k , T k and t k The relationship can be shown as formula 1:

[0080]

[0081] Where v is the speed of sound in the air, ||·|| represents the norm operation of the vector in the brackets, and t k The first part of the calculation formula corresponds to the sound signal from S to point A k The second part corresponds to the time required for the Mach wave to k Point propagation to sensor node N k The time required. Since the sound signal is transmitted from A to k Move point to C k point, so t k It can be rewritten as formula 2:

[0082]

[0083] Where T is the transposition symbol, ||B k -S|| is a vector (N k -S) is projected onto the unit vector U, so we have formula 3:

[0084]

[0085] Due to d k =||N k -B k ||=||N k -S||sinγ k , sinθ=1 / m, then Formula 2 can be rearranged into Formula 4:

[0086]

[0087] Therefore, two waves arrive at the sensor node N k The time difference τ k for:

[0088]

[0089] Note τ k v=b k , 1-sin(θ+γ k )=q k , then Formula 5 can be expressed as Formula 6 as follows:

[0090]

[0091] Squaring both sides of Formula 6 gives Formula 7:

[0092]

[0093] Formula 7 is applicable to all n sensor nodes in the network. By subtracting the quadratic term of S from each other, the following equation group formula 8 can be established:

[0094]

[0095] The estimated value of the position of the target sound source S is obtained by performing linear least squares iteration on Formula 8.

[0096] In a realistic scenario, refer to Figure 6 As shown, the sound source localization method of the embodiment of the present application can be implemented in the following way:

[0097] 1. The base station node sends a control instruction.

[0098] 2. Networking. If completed, proceed to the next step; if not completed, continue networking.

[0099] 3. Turn on the node and collect data synchronously.

[0100] 4. Determine whether it is the target signal. If yes, proceed to the next step; if not, continue to collect signals.

[0101] 5. Based on TDMA cluster transmission mechanism.

[0102] 6. The base station collects node data.

[0103] 7. Target source position solution.

[0104] In some embodiments of the present application, determining a transmission time slot of each member node among multiple member nodes corresponding to each sub-network based on the management node and multiple transmission time frames includes:

[0105] Determine a corresponding transmission time frame of the management node among a plurality of transmission time frames;

[0106] Based on the transmission time frame corresponding to the management node in the plurality of transmission time frames, a transmission time slot of each member node in the plurality of member nodes corresponding to each sub-network is determined.

[0107] In practical applications, the management node can be understood as the cluster head node, and one cluster head node corresponds to one transmission time frame. Figure 2 As shown in the figure, in each sub-network, each member node can apply for a time slot from the cluster head node, and the cluster head node broadcasts the application of time slots to each member node in the cluster. The member nodes send data packets to the cluster head node in turn according to their own inherent time slots, completing a complete data transmission process. All sensor nodes are distributed in multiple channels, collect data synchronously, and send data to the base station node according to the sending time slots divided in their respective channels.

[0108] In some embodiments of the present application, the method further comprises:

[0109] After a collection cycle, the management node of each sub-network in the N sub-networks and a plurality of member nodes corresponding to each sub-network are re-determined based on the N wireless channels.

[0110] In practical applications, since the cluster head node is responsible for receiving and forwarding data from members, the energy consumption is relatively large. Therefore, after m frames, it enters the next round and re-forms the sub-network, with other nodes with sufficient energy acting as cluster head nodes.

[0111] Based on the same inventive concept as above, Figure 7 A schematic diagram of the structure of a sound source localization device provided in an embodiment of the present invention, the sound source localization device 700 includes:

[0112] The construction unit 701 is used to construct a node transmission network; the node transmission network includes N sub-networks and M member nodes; each of the N sub-networks includes multiple member nodes among the M member nodes; M and N are positive integers greater than 1;

[0113] The acquisition unit 702 is used to acquire node signals collected by K member nodes within a collection period; the node signal includes a sound wave signal emitted by a target sound source; the collection period includes multiple transmission time frames; the frame length of each transmission time frame in the multiple transmission time frames is the same; K is a positive integer less than or equal to M;

[0114] The processing unit 703 is used to determine the sound source position information of the target sound source based on the sound wave signal.

[0115] In some embodiments of the present application, the construction unit 701 is used to select N wireless channels; the wireless channels are used to transmit node signals;

[0116] Determine a management node of each sub-network in the N sub-networks and a plurality of member nodes corresponding to each sub-network based on the N wireless channels;

[0117] The transmission time slot of each member node among the multiple member nodes corresponding to each sub-network is determined based on the management node and the multiple transmission time frames; the transmission time slot is used to transmit the sound wave signal.

[0118] In some embodiments of the present application, the acquisition unit 702 is used to acquire a detonation wave signal collected by each member node among the K member nodes based on the transmission time slot of each member node among the multiple member nodes corresponding to each sub-network;

[0119] Based on the transmission time slot of each member node among the multiple member nodes corresponding to each sub-network, the Mach wave signal collected by each member node among the K member nodes is obtained; the acoustic wave signal includes a detonation wave signal and a Mach wave signal.

[0120] In some embodiments of the present application, the acoustic wave signal includes a detonation wave signal and a Mach wave signal; the processing unit 703 is used to obtain node position information of each member node among the K member nodes;

[0121] Determine a first acquisition time of a detonation wave signal and a second acquisition time of a Mach wave signal;

[0122] The sound source position information is determined based on the node position information, the first collection time, and the second collection time.

[0123] In some embodiments of the present application, the construction unit 701 is configured to determine a corresponding transmission time frame of a management node among a plurality of transmission time frames;

[0124] Based on the transmission time frame corresponding to the management node in the plurality of transmission time frames, a transmission time slot of each member node in the plurality of member nodes corresponding to each sub-network is determined.

[0125] In some embodiments of the present application, the construction unit 701 is used to re-determine the management node of each sub-network in the N sub-networks and the multiple member nodes corresponding to each sub-network based on the N wireless channels after a collection cycle.

[0126] Based on the above embodiments, an embodiment of the present application provides an electronic device, Figure 8 Schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. The electronic device 800 includes: at least one processor 801, a memory 802, and optionally, the electronic device 800 may further include at least one communication interface 803. The various components in the electronic device 800 are coupled together via a bus system 804. It can be understood that the bus system 804 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 804 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 8 Various buses are labeled as bus system 804 .

[0127] Based on the hardware implementation of the above program modules, the communication interface 803 can exchange information with other communication devices;

[0128] The processor 801 is connected to the communication interface 803 to implement information interaction with other communication devices, and is used to execute the method provided by one or more of the above technical solutions when running the computer program;

[0129] A memory 802 on which the computer program is stored.

[0130] Specifically, the processor 801 is used to construct a node transmission network; the node transmission network includes N sub-networks and M member nodes; each sub-network in the N sub-networks includes multiple member nodes in the M member nodes; M and N are positive integers greater than 1;

[0131] In one acquisition cycle, node signals collected by K member nodes are obtained; the node signals include sound wave signals emitted by the target sound source; the acquisition cycle includes multiple transmission time frames; the frame length of each transmission time frame in the multiple transmission time frames is the same; K is a positive integer less than or equal to M;

[0132] The sound source position information of the target sound source is determined based on the sound wave signal.

[0133] In some embodiments of the present application, the processor 801 is used to select N wireless channels; the wireless channels are used to transmit node signals;

[0134] Determine a management node of each sub-network in the N sub-networks and a plurality of member nodes corresponding to each sub-network based on the N wireless channels;

[0135] The transmission time slot of each member node among the multiple member nodes corresponding to each sub-network is determined based on the management node and the multiple transmission time frames; the transmission time slot is used to transmit the sound wave signal.

[0136] In some embodiments of the present application, the processor 801 is configured to obtain a detonation wave signal collected by each member node among the K member nodes based on a transmission time slot of each member node among the multiple member nodes corresponding to each sub-network;

[0137] Based on the transmission time slot of each member node among the multiple member nodes corresponding to each sub-network, the Mach wave signal collected by each member node among the K member nodes is obtained; the acoustic wave signal includes a detonation wave signal and a Mach wave signal.

[0138] In some embodiments of the present application, the acoustic wave signal includes a detonation wave signal and a Mach wave signal; the processor 801 is used to obtain node position information of each member node among the K member nodes;

[0139] Determine a first acquisition time of a detonation wave signal and a second acquisition time of a Mach wave signal;

[0140] The sound source position information is determined based on the node position information, the first collection time, and the second collection time.

[0141] In some embodiments of the present application, the processor 801 is configured to determine a transmission time frame corresponding to a management node in a plurality of transmission time frames;

[0142] Based on the transmission time frame corresponding to the management node in the plurality of transmission time frames, a transmission time slot of each member node in the plurality of member nodes corresponding to each sub-network is determined.

[0143] In some embodiments of the present application, the processor 801 is configured to re-determine the management node of each sub-network in the N sub-networks and the multiple member nodes corresponding to each sub-network based on the N wireless channels after a collection cycle.

[0144] It can be understood that the memory 802 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Sync Link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 802 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0145] The memory 802 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic device 800. Examples of such data include: any computer program for operating on the electronic device 800. The program for implementing the method of the embodiment of the present invention may be included in the memory 802.

[0146] The method disclosed in the above embodiment of the present invention can be applied to the processor 801, or implemented by the processor 801. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0147] In an exemplary embodiment, the electronic device 800 can be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the above method.

[0148] Based on the above embodiments, the embodiments of the present application further provide a computer product, including a computer program, which is executed by a processor to implement Figure 1 The corresponding embodiments provide steps in the sound source localization method.

[0149] Based on the above embodiments, the embodiments of the present application further provide a storage medium, wherein the storage medium stores computer executable instructions, and the computer executable instructions are configured to execute Figure 1 The corresponding embodiment provides a sound source localization method.

[0150] It should be noted that the above-mentioned computer storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, FRAM, FlashMemory, magnetic surface storage, optical disk, or CD-ROM; it can also be various electronic devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0151] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0152] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0153] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0154] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0155] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0157] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A sound source localization method, characterized in that: The method comprises: Constructing a node transmission network; the node transmission network includes N subnetworks and M member nodes; each of the N subnetworks includes a plurality of the M member nodes; M and N are positive integers greater than 1; In one acquisition cycle, node signals collected by K member nodes are obtained; the node signals include sound wave signals emitted by a target sound source; the acquisition cycle includes multiple transmission time frames; the frame length of each transmission time frame in the multiple transmission time frames is the same; K is a positive integer less than or equal to M; The sound source position information of the target sound source is determined based on the sound wave signal.

2. The method according to claim 1, characterized in that The step of constructing a node transmission network comprises: Selecting N wireless channels; wherein the wireless channels are used to transmit the node signals; Determine a management node of each sub-network in the N sub-networks and a plurality of member nodes corresponding to each sub-network based on the N wireless channels; The transmission time slot of each of the plurality of member nodes corresponding to each sub-network is determined based on the management node and the plurality of transmission time frames; the transmission time slot is used to transmit the sound wave signal.

3. The method according to claim 2, characterized in that The step of acquiring node signals collected by K member nodes within a collection cycle includes: Based on the transmission time slot of each of the member nodes among the plurality of member nodes corresponding to each sub-network, acquiring a detonation wave signal collected by each of the member nodes among the K member nodes; Based on the transmission time slot of each of the member nodes, a Mach wave signal collected by each of the K member nodes is obtained; the acoustic wave signal includes the detonation wave signal and the Mach wave signal.

4. The method according to claim 1, characterized in that: The acoustic wave signal includes a detonation wave signal and a Mach wave signal, and determining the position information of the target sound source based on the acoustic wave signal includes: Obtaining node location information of each of the K member nodes; Determine a first acquisition time of the detonation wave signal and a second acquisition time of the Mach wave signal; The sound source position information is determined based on the node position information, the first collection time, and the second collection time.

5. The method according to claim 2, characterized in that: The determining, based on the management node and the plurality of transmission time frames, a transmission time slot of each of the plurality of member nodes corresponding to each sub-network comprises: Determining a transmission time frame corresponding to the management node among the multiple transmission time frames; Based on the transmission time frame corresponding to the management node in the multiple transmission time frames, a transmission time slot of each of the multiple member nodes corresponding to each sub-network is determined.

6. The method according to claim 2, characterized in that The method further comprises: After the one collection cycle, the management node of each of the N subnetworks and the plurality of member nodes corresponding to each subnetwork are re-determined based on the N wireless channels.

7. A sound source localization device, characterized in that: The sound source localization device comprises: A construction unit, configured to construct a node transmission network; the node transmission network includes N subnetworks and M member nodes; each of the N subnetworks includes a plurality of the M member nodes; M and N are positive integers greater than 1; An acquisition unit is used to acquire node signals collected by K member nodes within a collection cycle; the node signals include sound wave signals emitted by a target sound source; the collection cycle includes multiple transmission time frames; the frame length of each transmission time frame in the multiple transmission time frames is the same; K is a positive integer less than or equal to M; A processing unit is used to determine the sound source position information of the target sound source based on the sound wave signal.

8. An electronic device, characterized in that: include: a processor and a memory for storing a computer program capable of being executed on the processor, Wherein, when the processor is used to run the computer program, it executes the steps of the method described in any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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