CN115665606A - Sound reception method and sound reception device based on four microphones - Google Patents
Sound reception method and sound reception device based on four microphones Download PDFInfo
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Abstract
The invention discloses a sound reception method and a sound reception device based on four microphones. The method and the device use four microphones to form two microphone groups, the two microphone groups share two microphones, the microphones in each microphone group form two channels for noise reduction processing, and the first microphone group and the second microphone group are respectively used for sound collection in two opposite directions to obtain a first sound signal and a second sound signal after noise reduction. The invention records in two directions through four microphones, is suitable for the recording scene of face-to-face conversation, and the energy value of the dual-channel frequency spectrum sub-band after noise reduction is larger than the energy of the steady-state noise floor, reduces the water flow sound, and reduces the attenuation of useful signals.
Description
Technical Field
The invention relates to a recording or sound receiving technology, in particular to a sound receiving method and device based on four microphones, electronic equipment and a computer readable medium, wherein the sound receiving method and device are used for carrying out noise reduction processing on audio signals in the recording or sound receiving process.
Background
With the development of network technology, situations of receiving and recording sound in real time increasingly occur in various application scenarios. Many electronic devices integrate recording devices, such as mobile phones, laptops, smart speakers, high-speed cameras, etc. As an example, the high-speed camera is also called a fast-speed camera, and is a portable office product, which integrates functions of high-speed scanning, OCR character recognition, photographing, video recording and the like, and realizes network paperless office. In order to clearly shoot the office scene, record important video and sound information and eliminate the noise interference of the complex office environment as much as possible, the high-speed shooting instrument needs to be further improved. The utility model patent with the publication number of CN205622717U provides a high-speed shooting instrument with a micro-class recording function, and a microphone with an arbitrary angle adjustment is arranged on the high-speed shooting instrument, so that the recording is clearer. However, for noisy office environments, the effect of improving recording clarity by adjusting the microphone angle is limited.
In order to reduce recording noise and improve recording quality, it has been proposed in the prior art to perform noise reduction after receiving sound with multiple microphones. For example, in US6668062B1, a system is proposed comprising an adaptive directional dual microphone system, wherein time domain data from first and second microphones are converted into frequency domain data. The frequency domain data is then processed to produce a noise cancellation signal that is converted to noise cancellation time domain data in an inverse fourier transform block.
Moreover, in the case of a face-to-face conversation, for example, in the case of two parties providing counter services, a high-speed camera or similar recording device is often disposed therebetween, the recording direction of interest is the opposite direction of the client and the worker, and the surrounding noise should be effectively shielded, and then, sound reception and recording cannot be effectively performed only by adjusting the angle of the microphone and adopting a conventional noise reduction method.
Moreover, the noise reduction effect achieved by the existing sound receiving method is still unsatisfactory, a useful signal may be excessively attenuated, and the bottom noise or the water noise cannot be effectively eliminated.
Disclosure of Invention
The invention aims to solve the problems that the existing sound receiving method and the existing sound receiving device can not carry out clear sound receiving and recording in opposite directions for two parties in face-to-face conversation, and the conventional sound noise reduction method can not obviously attenuate useful signals and eliminate flowing water sound during noise reduction.
In order to solve the above technical problem, a first aspect of the present invention provides a four-microphone-based sound reception method, including the following steps:
acquiring sound signals generated by a first microphone, a second microphone, a third microphone and a fourth microphone, wherein: the distance between the first microphone and the second microphone is equal to the distance between the first microphone and the third microphone; the distance between the fourth microphone and the second microphone is equal to the distance between the fourth microphone and the third microphone; the first microphone, the second microphone and the third microphone form a first microphone group, the fourth microphone, the second microphone and the third microphone form a second microphone group, and sound is collected in two opposite directions by using the first microphone group and the second microphone group respectively to obtain a first sound signal and a second sound signal.
According to a preferred embodiment of the invention, the first microphone group and the second microphone group each have a first channel and a second channel, and the first microphone and the second microphone constitute the first channel of the first microphone group, and the first microphone and the third microphone constitute the second channel of the first microphone group; the fourth microphone and the second microphone form a first channel of the second microphone group, and the fourth microphone and the third microphone form a second channel of the second microphone group;
for each microphone group, calculating delay subtraction beamforming signals of a first channel and a second channel respectively, wherein the delay subtraction beamforming signals comprise a first channel forward forming signal, a first channel backward forming signal, a second channel forward forming signal and a second channel backward forming signal;
dividing each delay subtraction beam forming signal into a predetermined number of spectrum sub-band signals, and calculating the signal energy of each same spectrum sub-band of the forward forming signal and the backward forming signal of the same channelE fij AndE bij ，fwhich is indicative of the forward direction,bthe direction of the back is indicated,iis a serial number of the channel,jis the number of the frequency spectrum sub-band;
for the forward forming signal and the backward forming signal of the same microphone group, calculating a relative energy statistical parameter according to the energy of the spectrum subband signals of the forward forming signal and the backward forming signal;
according to the relative energy statistical parameter, the front of the first channel is subjected toImparting a first gain to each spectral subband signal of the forming signal and the second channel forward forming signalG ij1 In whichiIs a serial number of the channel,jis the number of the frequency spectrum sub-band;
calculating a second gain for the same microphone set when the first channel forward formed signal and the second channel forward formed signal are attenuated to a steady state noise energy levelG ij2 WhereiniIs a serial number of the channel,jis the number of the frequency spectrum sub-band;
comparing the first gain for each spectral subband signal of the first channel forward formed signal and the second channel forward formed signal of the same microphone groupG ij1 And a second gainG ij2 And taking the maximum value of the two as the channel final gain of the spectrum sub-band signalG ij ；
Calculating a noise-reduced energy value of each spectral subband signal of a first channel forward forming signal and a second channel forward forming signal of the same microphone groupE’ fij = E fij * G ij And comparing the energy values of the spectral subband signals of the same spectral subband of the two forward formed signalsE’ f j1 AndE’ f j2 the spectral sub-bandjLast gain ofG j Taking the gain of a channel with a small energy value;
after the gain values of the frequency spectrum sub-bands of the same microphone group are smoothed, the last complex frequency spectrum of the frequency spectrum sub-bands is calculated, and then time domain signals are obtained through inverse Fourier transform, so that the first sound signals from the first microphone group and the second sound signals from the second microphone group are obtained.
According to a preferred embodiment of the present invention, the first microphone, the second microphone and the third microphone are all equidistant from each other, and the fourth microphone, the second microphone and the third microphone are all equidistant from each other.
According to a preferred embodiment of the invention, the delayed subtraction beamformed signal is calculated using a first order delayed subtraction beamforming algorithm.
According to a preferred embodiment of the present invention, the method for calculating the relative energy statistical parameter value comprises: initializing the value of the relative energy statistical parameter to be 0, comparing the energy of each same frequency spectrum sub-band signal of the forward forming signal and the backward forming signal one by one, adding 1 to the value of the relative energy statistical parameter when the energy of the frequency spectrum sub-band signal of the forward forming signal is larger, and subtracting 1 from the value of the relative energy statistical parameter if the energy of the frequency spectrum sub-band signal of the forward forming signal is larger.
According to a preferred embodiment of the present invention, the method further comprises: and carrying out steady-state noise reduction processing on the time domain signal obtained by the Fourier transform.
In order to solve the above technical problems, a second aspect of the present invention provides a four-microphone based sound pickup apparatus, which includes a first microphone module, a second microphone module, a third microphone module, a fourth microphone module and a signal synthesizing module,
the distance between the first microphone module and the second microphone module is equal to the distance between the first microphone module and the third microphone module; the distance between the fourth microphone module and the second microphone module is equal to the distance between the fourth microphone module and the third microphone module; the first microphone module, the second microphone module and the third microphone module form a first microphone module group, the fourth microphone module, the second microphone module and the third microphone module form a second microphone module group, and the first microphone module group and the second microphone module group are used for receiving sound in two opposite directions; and the signal synthesis module is used for respectively carrying out noise reduction processing on the sound signals obtained by the first microphone module group and the second microphone module group so as to obtain a first sound signal and a second sound signal.
According to a preferred embodiment of the present invention, the first microphone module group and the second microphone module group each have a first channel and a second channel, and the first microphone module and the second microphone module constitute the first channel of the first microphone module group, the first microphone module and the third microphone module constitute the second channel of the first microphone module group, the fourth microphone module and the second microphone module constitute the first channel of the second microphone module group, and the fourth microphone module and the third microphone module constitute the second channel of the second microphone module group;
the signal synthesis module is configured to:
acquiring sound signals generated by a first microphone module, a second microphone module, a third microphone module and a fourth microphone module;
for each microphone module group, respectively calculating delay subtraction beamforming signals of a first channel and a second channel, wherein the delay subtraction beamforming signals comprise a first channel forward forming signal, a first channel backward forming signal, a second channel forward forming signal and a second channel backward forming signal;
dividing each time delay subtraction beam forming signal into a predetermined number of frequency spectrum sub-band signals, and calculating the signal energy of each same frequency spectrum sub-band of the forward forming signal and the backward forming signal of the same channelE fij AndE bij ，fwhich is indicative of the forward direction,bthe direction of the back is indicated,iis a serial number of the channel,jthe number of the frequency spectrum sub-band is the serial number;
for a forward forming signal and a backward forming signal of the same microphone module group, calculating a relative energy statistical parameter according to the energy of the spectrum subband signals of the forward forming signal and the backward forming signal;
according to the relative energy statistical parameter, a first gain is given to each frequency spectrum sub-band signal of a first channel forward forming signal and a second channel forward forming signal of the same microphone module groupG ij1 In whichiIs a serial number of the channel,jis the number of the frequency spectrum sub-band;
calculating a second gain when the first channel forward forming signal and the second channel forward forming signal of the same microphone module group are attenuated to a steady-state noise energy levelG ij2 WhereiniIs a serial number of the channel,jis the number of the frequency spectrum sub-band;
comparing the first gain for each spectral subband signal of the first channel forward formed signal and the second channel forward formed signal of the same microphone module groupG ij1 And a second gainG ij2 And taking the maximum value of the two as the channel final gain of the spectrum sub-band signalG ij ；
Calculating the energy value after noise reduction of each frequency spectrum sub-band signal of the first channel forward forming signal and the second channel forward forming signal of the same microphone module groupE’ fij = E fij * G ij And comparing the energy values of the spectral subband signals of the same spectral subband of the two forward formed signalsE’ f j1 AndE’ f j2 the spectral sub-bandjLast gain ofG j Taking the gain of a channel with a small energy value;
after smoothing the gain values of the frequency spectrum sub-bands of the same microphone module group, calculating the last complex frequency spectrum of the frequency spectrum sub-bands, and performing inverse Fourier transform to obtain a time domain signal, thereby obtaining a first sound signal from the first microphone group and a second sound signal from the second microphone group.
According to a preferred embodiment of the present invention, the distances between the first microphone module, the second microphone module, and the third microphone module are equal, and the distances between the fourth microphone module, the second microphone module, and the third microphone module are equal.
According to a preferred embodiment of the invention, the delayed subtraction beamformed signals are calculated using a first order delayed subtraction beamforming algorithm.
According to a preferred embodiment of the present invention, the method for calculating the relative energy statistical parameter comprises: initializing the value of the relative energy statistical parameter to be 0, comparing the energy of each same frequency spectrum sub-band signal of the forward forming signal and the backward forming signal one by one, adding 1 to the value of the relative energy statistical parameter when the energy of the frequency spectrum sub-band signal of the forward forming signal is larger, and subtracting 1 from the value of the relative energy statistical parameter if the energy of the frequency spectrum sub-band signal of the forward forming signal is larger.
According to a preferred embodiment of the present invention, the signal synthesis module is further configured to perform steady-state noise reduction processing on the time-domain signal obtained by the fourier transform.
In order to solve the above technical problem, a third aspect of the present invention proposes an electronic device comprising a processor and a memory storing computer-executable instructions that, when executed, cause the processor to perform the above method.
In order to solve the above technical problem, a fourth aspect of the present invention proposes a computer-readable storage medium storing one or more programs which, when executed by a processor, implement the above-mentioned method.
According to the invention, the spectrum subband energy of the forward and backward delay subtraction beam forming signal is compared, the spectrum subband gain is determined in a statistical mode, and the energy value after noise reduction of the channel spectrum subband is larger than the energy of the steady-state bottom noise, so that the flowing water noise is reduced, and the attenuation of a useful signal is reduced.
Drawings
In order to make the technical problems solved by the present invention, the technical means adopted and the technical effects obtained more clear, the following will describe in detail the embodiments of the present invention with reference to the accompanying drawings. It is to be noted, however, that the drawings described below are only drawings of exemplary embodiments of the invention, from which other embodiments can be derived by those skilled in the art without inventive effort.
Fig. 1 is a layout diagram of a four-microphone sound pickup according to a first embodiment of the present invention.
Fig. 2 is a schematic of time-lapse subtractive beamforming.
Figure 3 is a directional diagram of a two-microphone delayed subtraction beamformed signal.
Fig. 4 is a block diagram of a sound receiving apparatus according to a second embodiment of the present invention.
Fig. 5 is a block diagram of an exemplary embodiment of an electronic device according to the present invention.
Fig. 6 is a schematic diagram of one embodiment of a high-speed shooting apparatus incorporating the sound reception device of the present invention or performing the sound reception method of the present invention.
Fig. 7 shows a schematic diagram of an application scenario of the high-speed scanner of fig. 6.
FIG. 8 is a schematic diagram of one computer-readable medium embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention may be embodied in many specific forms, and should not be construed as limited to the embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art.
The structures, properties, effects or other characteristics described in a certain embodiment may be combined in any suitable manner in one or more other embodiments, while still complying with the technical idea of the invention.
In describing particular embodiments, specific details of structures, properties, effects, or other features are set forth in order to provide a thorough understanding of the embodiments by one skilled in the art. However, it is not excluded that a person skilled in the art may implement the invention in a specific case without the above-described structures, performances, effects or other features.
The flow chart in the drawings is only an exemplary flow demonstration, and does not represent that all the contents, operations and steps in the flow chart are necessarily included in the scheme of the invention, nor does it represent that the execution is necessarily performed in the order shown in the drawings. For example, some operations/steps in the flowcharts may be divided, some operations/steps may be combined or partially combined, and the like, and the execution order shown in the flowcharts may be changed according to actual situations without departing from the gist of the present invention.
The block diagrams in the figures generally represent functional entities and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The same reference numerals denote the same or similar elements, components, or portions throughout the drawings, and thus, a repetitive description thereof may be omitted hereinafter. It will be further understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components, or sections, these elements, components, or sections should not be limited by these terms. That is, these phrases are used only to distinguish one from another. For example, a first device may also be referred to as a second device without departing from the spirit of the present invention. Furthermore, the term "and/or", "and/or" is intended to include all combinations of any one or more of the listed items.
The invention provides a sound receiving method based on four microphones. In the present invention, the four microphones are referred to as a first microphone, a second microphone, a third microphone, and a fourth microphone, respectively, and the distance between the first microphone and the second microphone is equal to the distance between the first microphone and the third microphone, and the distance between the fourth microphone and the second microphone is equal to the distance between the fourth microphone and the third microphone.
The first microphone, the second microphone and the third microphone form a first microphone group, and the fourth microphone, the second microphone and the third microphone form a second microphone group. Generally, the four microphones are located on the same plane, so that the first and fourth microphones are facing the same direction as that of both parties of the face-to-face conversation, and thus the first microphone group and the second microphone group share the second and third microphones, and sound collection and noise reduction processing can be performed in two opposite directions using the first microphone group and the second microphone group, respectively, to obtain the first sound signal and the second sound signal after noise reduction. The two sound signals come from two parties of face-to-face conversation, so that the invention is particularly suitable for clearly recording face-to-face conversation such as counter and teaching.
Meanwhile, the invention carries out noise reduction processing on the sound from the two parties except the two parties of the face-to-face conversation, in particular to remove and reduce the environmental noise. To this end, the present invention causes the first microphone set and the second microphone set to each constitute two channels. The equal distance enables a meaningful comparison between the two channel signals formed by subtractive microphone beamforming, which is a prerequisite for the noise reduction according to the present invention, as will be further explained later. In addition, according to the present invention, the included angle between the microphones of the two channels of the same microphone set may be changed, but is more preferably 60 degrees, that is, the distance between the first microphone, the second microphone and the third microphone is preferably equal, and the distance between the fourth microphone, the second microphone and the third microphone is preferably equal, so as to achieve better directivity selection effect and noise reduction effect. That is, the present invention preferably has four microphones forming a diamond shape with an interior angle of 60 or 120 degrees.
Next, a method of noise reduction processing in the microphone group will be described by taking the first microphone group as an example.
For the first microphone group, the invention firstly acquires the sound signals generated by the first microphone, the second microphone and the third microphone, and then carries out processing by a beam forming method. Specifically, the first microphone and the second microphone of the first microphone group form a first channel, the first microphone and the third microphone form a second channel, and the time delay subtraction beamforming signals of the first channel and the second channel are respectively calculated, namely the time delay subtraction beamforming signals comprise a first channel forward forming signal, a first channel backward forming signal, a second channel forward forming signal and a second channel backward forming signal.
Next, the present invention divides the delayed subtraction beamformed signals for each first microphone group into a predetermined number of spectral subband signals, calculates signal energies of each same spectral subband of forward and backward formed signals of the same channelE fij AndE bij . WhereinfWhich is indicative of the forward direction,bthe direction of the backward direction is indicated,ithe channel number is 1 or 2,jis the number of the frequency spectrum sub-band, and takes the value from 1 ton，nIs a natural number greater than or equal to 2 and is a predetermined number of spectral subbands. In the present invention, the first and second liquid crystal display panels,npreferably 64 to 256, more preferablyPreferably 128.
The invention innovatively provides that the energy of the frequency spectrum sub-band signals of the forward forming signal and the backward forming signal is compared and counted to obtain a relative energy statistical parameter, and each frequency spectrum sub-band signal of the first channel forward forming signal and the second channel forward forming signal is endowed with a first gain according to the relative energy statistical parameterG ij1 In whichiIs a serial number of the channel,jis the number of the spectral sub-band. Giving a first gainG ij1 And when the relative energy statistical parameter value is larger, a larger gain coefficient is given, and when the relative energy statistical parameter value is smaller, a smaller gain coefficient is given, wherein the gain coefficient is between 0 and 1.
The relative energy statistical parameter in the present invention indicates whether the forward energy is large or the backward energy is large in the current period of time, or indicates the relative magnitude between the forward energy and the backward energy of the sound. According to the invention, when the sound is in the front, the forward energy is larger than the backward energy, the statistic value becomes larger, the corresponding gain value is also large, and the sound is reserved; when the sound is in the rear, the backward energy is larger than the forward energy, the statistical value becomes small, the corresponding gain value also becomes small, and the sound is suppressed.
For each spectral subband signal of the first channel forward formed signal and the second channel forward formed signal, the present invention compares the first gainsG ij1 And a second gainG ij2 And taking the maximum value of the two as the channel final gain of the spectrum sub-band signalG ij (ii) a The second gain is the gain at which the spectral subband signals are attenuated to a steady-state noise energy level. That is, the present invention also requires first calculating the second gain when the first channel forward forming signal and the second channel forward forming signal are attenuated to the steady-state noise energy levelG ij2 This can be calculated by spectral subtraction with stationary noise reduction for each spectral subband.
Then, the present invention calculates noise-reduced energy values of the respective spectrum subband signals of the first channel forward forming signal and the second channel forward forming signal of the first microphone groupE’ fij = E fij *G ij And comparing the energy values of the spectral subband signals of the same spectral subband of the two forward formed signalsE’ f j1 AndE’ f j2 the spectral sub-bandjLast gain ofG j Taking the gain of a channel with a small energy value; and combining the frequency spectrums and gains of the sub-bands with low energy in each frequency spectrum sub-band of the forward signals in the two channels, and finally outputting one channel.
Finally, after smoothing the gain value of the frequency spectrum sub-band, the invention calculates the last complex frequency spectrum of the frequency spectrum sub-band, and then obtains a time domain signal by inverse Fourier transform, thereby obtaining a first sound signal from the first microphone group. In particular, the gain for each spectral subbandG j And performing front and rear frame smoothing. Noting the smoothed gain asG jn The previous smoothing gain isG j(n-1) ，
If it is notG jn >= G j(n-1) ，
G jn = a * G j(n-1) +(1-a)* G j ；
If it is notG jn < G j(n-1) ，
G jn = b * G j(n-1) +(1-b) * G j Where a and b are empirical constants, a is typically between 0.2 and 0.5 and b is typically between 0.7 and 0.9.
For the second microphone group, the calculation method is the same as that of the first microphone group, and finally, a second sound signal from the second microphone group is obtained. Thus, two paths of sound signals are obtained.
Specific embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a layout diagram of a four-microphone sound pickup according to a first embodiment of the present invention. As shown in fig. 1, the first microphone mic1, the second microphone mic2, and the third microphone mic3 are arranged at equal intervals, and the fourth microphone mic4, the second microphone mic2, and the third microphone mic3 are arranged at equal intervals. In this embodiment, the spacing is 20mm. The first microphone mic1, the second microphone mic2, the third microphone mic3, and the fourth microphone mic4 may be integrated in one entity device, or may be implemented in different entity devices, respectively.
The four microphones constitute a microphone array and constitute two microphone groups. The first microphone mic1, the second microphone mic2 and the third microphone mic3 constitute a first microphone set, and the fourth microphone mic4, the second microphone mic2 and the third microphone mic3 constitute a second microphone set. The embodiment uses the first microphone set and the second microphone set to pick up sound in two opposite directions to obtain a first sound signal and a second sound signal.
For the first microphone set, the first microphone mic1 and the second microphone mic2, and the first microphone mic1 and the third microphone mic3 respectively form two first-order delay subtraction beamforming signals. The sound collecting signal channel formed by the first microphone mic1 and the second microphone mic2 is called a first channel of the first microphone set, and the sound collecting signal channel formed by the first microphone mic1 and the third microphone mic3 is called a second channel of the first microphone set. For the second microphone set, the fourth microphone mic4 and the second microphone mic2, and the fourth microphone mic4 and the third microphone mic3 respectively form two first-order delay subtraction beamforming signals. The sound pickup signal channel formed by the fourth microphone mic4 and the second microphone mic2 is called a first channel of the second microphone group, and the sound pickup signal channel formed by the fourth microphone mic4 and the third microphone mic3 is called a second channel of the second microphone group.
Using time delays for each microphone groupτ=d/cIt can be known that the sound reception direction diagrams of the first channel and the second channel are heart-shaped. The sound reception direction of the combination of the three microphones of each microphone group is the overlapping part of the two hearts. The beamforming algorithm has different gains for different incoming sounds. The beam forming can well apply the spatial information of the sound, and thusThe method has a good suppression effect on the spatial noise.
First order delay subtraction is a simpler and more classical beam forming technique, and the specific method is to use two paths of microphones to collect voice, delay one path of input signals, and then subtract the other path of input signals.
Fig. 2 is a schematic of time-lapse subtractive beamforming. As shown in FIG. 2, let the original sound signal bey(t) Two-way microphone input sound signals 1 (t)、s 2 (t) Then enhance the output sound signalx(t) Comprises the following steps:
x(t)= s 1 (t)-s 2 (t-τ)，τ=d/c。
wherein isτThe value of the delay time is,dis the distance between the microphones to be measured,cis the speed of sound propagation in air.
The two microphone input signals are:
s 1 (t)= y(t)
s 2 (t)= y(t-(d/c)∙cosθ)，θis the sound incoming angle.
Substitution can be obtained as follows:
x(t)= y(t)- y(t-(d/c)∙cosθ-τ)
for the convenience of analysis, lety(t)=
Then, can be written as:
the power spectrum output by the microphone array is:
when the microphone distance is small, taylor expansion is performed using cosφ=1-φ 2 ,/2, one can obtain:
from the above, it can be seen that the directivity pattern of the microphone array is correlated with the delay valueτIt is related.
When the temperature is higher than the set temperatureτ=d/cThen, the formula becomes:
when the temperature is higher than the set temperatureθ=At 0 deg., the gain is maximum; when in useθ=At 180 deg., the gain is minimal. The directional graph is referred to as a heart-shaped (Cardioid) graph in this case, as shown in fig. 3.
In this embodiment, the first microphone mic1 and the second microphone mic2 of the first microphone set, and the first microphone mic1 and the third microphone mic3 of the first microphone set respectively form two first-order delay subtraction beamforming signals. The fourth microphone mic4 and the second microphone mic2 of the second microphone set, and the fourth microphone mic1 and the third microphone mic3 of the second microphone set respectively form two first-order delay subtraction beamforming signals. Using time delaysτ=d/cThus, the sound receiving directional diagrams of the first microphone mic1 and the second microphone mic2, the first microphone mic1 and the third microphone mic3, the fourth microphone mic4 and the second microphone mic2, and the fourth microphone mic1 and the third microphone mic3 are all heart-shaped. The sound reception direction of the combination of the three microphones of the same microphone group is the overlapping part of the two hearts.
The invention uses a first-order time delay subtraction beam forming algorithm to respectively calculate the frequency band energy of the forward and backward time delay subtraction beam forming signals of the first channel and the second channel of each microphone group.
This embodiment divides 128 spectral subband signals for each acquired sound signal. In other embodiments, the number of the predetermined number of the first and second groups may be dividedOf the spectral subband signals. Then, the signal energy of each same frequency spectrum sub-band of the forward forming signal and the backward forming signal of the same channel is calculatedE fij AndE bij . WhereinEThe expression energy is used to indicate the energy,fwhich is indicative of the forward direction,bthe direction of the back is indicated,iand taking 1 or 2 as the channel serial number to respectively represent a first channel and a second channel.jThe values are from 1 to 128 for the number of spectral subbands.
Calculating a relative energy statistical parameter according to the energy of the spectrum subband signals of the forward forming signal and the backward forming signal, and endowing a first gain to each spectrum subband signal of the first channel forward forming signal and the second channel forward forming signal according to the relative energy statistical parameterG ij1 In whichiIs a serial number of the channel,jis the number of the spectral sub-band. As described above, the relative energy statistic parameter in the present invention indicates whether the forward energy is large or the backward energy is large in the current period of time, or indicates the relative magnitude between the forward energy and the backward energy of the sound. According to the invention, when the sound is in the front, the forward energy is larger than the backward energy, the statistical value becomes larger, the corresponding gain value is also large, and the sound is reserved; when the sound is in the rear, the backward energy is larger than the forward energy, the statistical value becomes small, the corresponding gain value also becomes small, and the sound is suppressed.
For each spectral subband signal of the first channel forward formed signal and the second channel forward formed signal of each microphone group, the invention compares the first gainsG ij1 And a second gainG ij2 And taking the maximum value of the two as the channel final gain of the spectrum sub-band signalG ij (ii) a The second gain is the gain at which the spectral subband signals attenuate to a steady state noise energy level. That is, the present invention also needs to calculate the second gain when the forward formed signal of the first channel and the forward formed signal of the second channel are attenuated to the steady-state noise energy levelG ij2 。
Then, the present invention calculates the noise-reduced energy of each spectral subband signal of the first-channel forward forming signal and the second-channel forward forming signal of each microphone groupMagnitude ofE’ fij = E fij *G ij And comparing the energy values of the spectral subband signals of the same spectral subband of the two forward formed signalsE’ f j1 AndE’ f j2 the spectral sub-bandjLast gain ofG j Taking the gain of a channel with a small energy value;
finally, the invention calculates the last complex frequency spectrum of the frequency spectrum sub-band after smoothing the gain value of the frequency spectrum sub-band of the same microphone group, and then obtains a time domain signal by inverse Fourier transform, thereby obtaining a first sound signal from the first microphone group and a second sound signal from the second microphone group.
Those skilled in the art will appreciate that all or part of the steps for implementing the above-described embodiments are implemented as programs executed by data processing apparatuses (including computers), i.e., computer programs. When the computer program is executed, the method provided by the invention can be realized. Furthermore, the computer program may be stored in a computer readable storage medium, which may be a readable storage medium such as a magnetic disk, an optical disk, a ROM, a RAM, or a storage array composed of a plurality of storage media, such as a magnetic disk or a magnetic tape storage array. The storage medium is not limited to centralized storage, but may be distributed storage, such as cloud storage based on cloud computing.
Embodiments of the apparatus of the present invention are described below, which may be used to perform method embodiments of the present invention. The details described in the device embodiments of the invention should be regarded as complementary to the above-described method embodiments; reference is made to the above-described method embodiments for details not disclosed in the embodiments of the inventive device.
Fig. 4 is a block diagram of a sound receiving apparatus according to a second embodiment of the present invention. As shown in fig. 4, the sound receiving apparatus includes a first microphone module, a second microphone module, a third microphone module, a fourth microphone module and a signal synthesizing module. The first microphone module, the second microphone module, the third microphone module and the fourth microphone module are used for sensing sound to generate sound signals, and the distances between every two microphone modules are equal. Similar to the first embodiment, the first microphone module and the second microphone module form a first channel of the first microphone module group, the first microphone module and the third microphone module form a second channel of the first microphone module group, the fourth microphone module and the second microphone module form a first channel of the second microphone module group, the fourth microphone module and the third microphone module form a second channel of the second microphone module group, and sound signals generated by the microphone modules are input into the signal synthesis module. The signal synthesis module obtains the sound signals generated by the first, second, third and fourth microphone modules and processes the sound signals to generate a final processed sound signal, where the processed sound signal eliminates or reduces noise in the sound signal, and thus may be referred to as an enhanced sound signal.
In general, the signal synthesis module is used to perform the steps of the sound reception method according to the first embodiment of the present invention. Namely, the signal synthesis module performs noise reduction processing on the sound signals obtained by the first microphone module group and the second microphone module group respectively to obtain a first sound signal and a second sound signal. The signal synthesis module may be implemented by a plurality of sub-modules of different functions in order to perform the respective steps.
Those skilled in the art will appreciate that the modules in the above-described embodiments of the apparatus may be distributed as described in the apparatus, and may be correspondingly modified and distributed in one or more apparatuses other than the above-described embodiments. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
In the following, embodiments of the electronic device of the present invention are described, which may be regarded as an implementation in physical form for the above-described embodiments of the method and apparatus of the present invention. Details described in the embodiments of the electronic device of the invention should be considered supplementary to the embodiments of the method or apparatus described above; for details which are not disclosed in embodiments of the electronic device of the invention, reference may be made to the above-described embodiments of the method or the apparatus.
Fig. 5 is a block diagram of an exemplary embodiment of an electronic device according to the present invention. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 5, the electronic device 510 of the exemplary embodiment is shown in the form of a general-purpose data processing device. The components of the electronic device 510 may include, but are not limited to: at least one processing unit 511, at least one memory unit 512, a bus 516 connecting different system components (including the memory unit 512 and the processing unit 511), a display unit 513, and the like.
The storage unit 512 stores a computer-readable program, which may be a code of a source program or a read-only program. The program may be executed by the processing unit 511 to cause the processing unit 511 to perform the steps of various embodiments of the present invention. For example, the processing unit 511 may perform the steps of the first embodiment.
The storage unit 512 may include readable media in the form of volatile storage units, such as a random access memory unit (RAM) 5121 and/or a cache memory unit 5122, and may further include a read only memory unit (ROM) 5123. The memory unit 512 can also include programs/utilities 5124 having a set (at least one) of program modules 5125, such program modules 5125 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may comprise an implementation of a network environment.
The electronic device 510 may also communicate with one or more external devices 520 (e.g., a keyboard, a display, a network device, a bluetooth device, etc.), enable a user to interact with the electronic device 510 via the external devices 520, and/or enable the electronic device 510 to communicate with one or more other data processing devices (e.g., a router, a modem, etc.). Such communication may occur via input/output (I/O) interfaces 514, as well as via network adapter 515 to one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet). The network adapter 515 may communicate with other modules of the electronic device 510 via the bus 516. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in the electronic device 510, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Fig. 6 is a schematic diagram of one embodiment of a high-speed shooting device including the sound-receiving apparatus of the present invention or performing the sound-receiving method of the present invention. As shown in fig. 6, the base of the high speed shooting apparatus of this embodiment is provided with 4 acoustic holes, and the first microphone mic1, the second microphone mic2, the third microphone mic3 and the fourth microphone mic4 are respectively installed in the acoustic holes. The four microphones are composed of microphone modules and corresponding signal processing circuits, the signal processing circuits are composed of signal synthesis modules to execute the steps of the sound reception method of the present invention, and the microphone modules and the signal synthesis modules have been described in the foregoing sound reception device embodiments, and are not described herein again.
The four microphones are arranged in a diamond shape, and the distance between the second microphone mic2 and the third microphone mic3 is equal to the length of each side of the diamond shape. The four microphones pick up sound according to the method of the present invention, and can record the direction pointed by the first microphone mic1 and the fourth microphone mic4 as the main direction.
Fig. 7 shows a schematic diagram of an application scenario of the high-speed scanner of fig. 6. The application scenario is, for example, a counter, as shown in fig. 7, the high-speed shooting instrument 2 is placed on the counter 1, a and D are locations of both office parties, for example, location a is a location of a seat of a client, location D is a location of a seat of a counter office person, and the client and the office person communicate with each other in a face-to-face manner. In this case, the high-speed recorder needs to record and record the voice of the customer and clerk, but needs to contain the masking of noise or interfering voice from the B and C directions. By directing the first microphone mic1 and the fourth microphone mic4 toward the position a and the position D, respectively, in the high-speed shooting apparatus shown in fig. 6 including the sound pickup device of the present invention, it is possible to pick up sounds from the positions a and D, respectively, and to attenuate or block sounds from the positions B and C, respectively, by the sound pickup method of the present invention. Because the invention can simultaneously carry out independent recording in two channels during recording, the recording in the A and D directions is not crosstalk, and the environmental sounds at the two sides of the B and C directions are shielded and weakened, thereby effectively improving the reception quality, realizing the recording on a single counter without crosstalk, and separating the recording by customers and staff without crosstalk.
FIG. 8 is a schematic diagram of a computer-readable medium embodiment of the present invention. As shown in fig. 8, the computer program may be stored on one or more computer readable media. The computer readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. The computer program, when executed by one or more data processing devices, enables the computer-readable medium to implement the above-described methods of the present invention.
Through the description of the above embodiments, those skilled in the art will readily understand that the exemplary embodiments described in the present invention may be implemented by software, and may also be implemented by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a computer-readable storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to make a data processing device (which can be a personal computer, a server, or a network device, etc.) execute the above-mentioned method according to the present invention.
The computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In summary, the present invention can be implemented as a method, an apparatus, an electronic device, or a computer-readable medium executing a computer program. Some or all of the functions of the present invention may be implemented in practice using a general purpose data processing device such as a microprocessor or a Digital Signal Processor (DSP).
While the foregoing embodiments have described the objects, aspects and advantages of the present invention in further detail, it should be understood that the present invention is not inherently related to any particular computer, virtual machine or electronic device, and various general-purpose machines may be used to implement the present invention. The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. A sound receiving method based on four microphones is characterized by comprising the following steps:
acquiring sound signals generated by a first microphone, a second microphone, a third microphone and a fourth microphone, wherein: the distance between the first microphone and the second microphone is equal to the distance between the first microphone and the third microphone; the distance between the fourth microphone and the second microphone is equal to the distance between the fourth microphone and the third microphone;
the first microphone, the second microphone and the third microphone form a first microphone group, the fourth microphone, the second microphone and the third microphone form a second microphone group, and sound is collected in two opposite directions by using the first microphone group and the second microphone group respectively to obtain a first sound signal and a second sound signal.
2. A four-microphone based sound reception method according to claim 1, wherein:
the first microphone group and the second microphone group are respectively provided with a first channel and a second channel, the first microphone and the second microphone form the first channel of the first microphone group, the first microphone and the third microphone form the second channel of the first microphone group, the fourth microphone and the second microphone form the first channel of the second microphone group, and the fourth microphone and the third microphone form the second channel of the second microphone group;
for each microphone group, calculating delay subtraction beamforming signals of a first channel and a second channel respectively, wherein the delay subtraction beamforming signals comprise a first channel forward forming signal, a first channel backward forming signal, a second channel forward forming signal and a second channel backward forming signal;
dividing each time delay subtraction beam forming signal into a predetermined number of frequency spectrum sub-band signals, and calculating the signal energy of each same frequency spectrum sub-band of the forward forming signal and the backward forming signal of the same channelE fij AndE bij ，fwhich is indicative of the forward direction,bthe direction of the backward direction is indicated,iis a serial number of the channel,jis the number of the frequency spectrum sub-band;
for the forward forming signal and the backward forming signal of the same microphone group, calculating a relative energy statistical parameter according to the energy of the spectrum subband signals of the forward forming signal and the backward forming signal;
according to the relative energy statistical parameter, a first gain is given to each frequency spectrum sub-band signal of a first channel forward forming signal and a second channel forward forming signal of the same microphone groupG ij1 WhereiniIs a serial number of the channel,jis the number of the frequency spectrum sub-band;
calculating a second gain when the first channel forward formed signal and the second channel forward formed signal of the same microphone group are attenuated to a steady state noise energy levelG ij2 WhereiniIs a serial number of the channel,jthe number of the frequency spectrum sub-band is the serial number;
comparing the first gain for each spectral subband signal of the first channel forward formed signal and the second channel forward formed signal of the same microphone groupG ij1 And a second gainG ij2 And taking the maximum value of the two as the channel final gain of the spectrum sub-band signalG ij ；
Calculating a noise-reduced energy value of each spectral subband signal of a first channel forward forming signal and a second channel forward forming signal of the same microphone groupE’ fij = E fij * G ij And comparing the energy values of the spectral subband signals of the same spectral subband of the two forward formed signalsE’ f j1 AndE’ f j2 the spectrum sub-bandjLast gain ofG j Taking the gain of a channel with a small energy value;
after the gain values of the frequency spectrum sub-bands of the same microphone group are smoothed, the last complex frequency spectrum of the frequency spectrum sub-bands is calculated, and then time domain signals are obtained through inverse Fourier transform, so that the first sound signals from the first microphone group and the second sound signals from the second microphone group are obtained.
3. The sound reception method according to claim 1, characterized in that: the distances between the first microphone, the second microphone and the third microphone are equal; the distances between the fourth microphone, the second microphone and the third microphone are equal.
4. The sound reception method according to claim 2, characterized in that: calculating the delayed subtraction beamformed signal using a first order delayed subtraction beamforming algorithm.
5. The sound reception method according to claim 2, characterized in that: the method for calculating the relative energy statistical parameter comprises the following steps: initializing the value of the relative energy statistical parameter to be 0, comparing the energy of each same frequency spectrum sub-band signal of the forward forming signal and the backward forming signal one by one, adding 1 to the value of the relative energy statistical parameter when the energy of the frequency spectrum sub-band signal of the forward forming signal is larger, and subtracting 1 from the value of the relative energy statistical parameter if the energy of the frequency spectrum sub-band signal of the forward forming signal is larger.
6. The sound reception method according to claim 2, characterized in that: the method further comprises the following steps: and performing steady-state noise reduction processing on the time domain signal obtained by the inverse Fourier transform.
7. A radio reception device based on four microphones is characterized in that: comprises a first microphone module, a second microphone module, a third microphone module, a fourth microphone module and a signal synthesis module,
the distance between the first microphone module and the second microphone module is equal to the distance between the first microphone module and the third microphone module;
the distance between the fourth microphone module and the second microphone module is equal to the distance between the fourth microphone module and the third microphone module;
the first microphone module, the second microphone module and the third microphone module form a first microphone module group, the fourth microphone module, the second microphone module and the third microphone module form a second microphone module group, and the first microphone module group and the second microphone module group are used for receiving sound in two opposite directions;
and the signal synthesis module is used for respectively carrying out noise reduction processing on the sound signals obtained by the first microphone module group and the second microphone module group so as to obtain a first sound signal and a second sound signal.
8. A four-microphone based sound reception apparatus according to claim 7, wherein:
the first microphone module group and the second microphone module group are respectively provided with a first channel and a second channel, the first microphone module and the second microphone module form the first channel of the first microphone module group, the first microphone module and the third microphone module form the second channel of the first microphone module group, the fourth microphone module and the second microphone module form the first channel of the second microphone module group, and the fourth microphone module and the third microphone module form the second channel of the second microphone module group;
the signal synthesis module is configured to:
acquiring sound signals generated by a first microphone module, a second microphone module, a third microphone module and a fourth microphone module;
for each microphone module group, respectively calculating delay subtraction beamforming signals of a first channel and a second channel, wherein the delay subtraction beamforming signals comprise a first channel forward forming signal, a first channel backward forming signal, a second channel forward forming signal and a second channel backward forming signal;
dividing each time delay subtraction beam forming signal into a predetermined number of frequency spectrum sub-band signals, and calculating the signal energy of each same frequency spectrum sub-band of the forward forming signal and the backward forming signal of the same channelE fij AndE bij ，fwhich represents the forward direction of the vehicle,bthe direction of the backward direction is indicated,iis a serial number of the channel,jis the number of the frequency spectrum sub-band;
for the forward forming signal and the backward forming signal of the same microphone module group, calculating a relative energy statistical parameter according to the energy of the frequency spectrum sub-band signals of the forward forming signal and the backward forming signal;
according to the relative energy statistical parameter, a first gain is given to each frequency spectrum sub-band signal of a first channel forward forming signal and a second channel forward forming signal of the same microphone module groupG ij1 In whichiIs a serial number of the channel,jis the number of the frequency spectrum sub-band;
calculating a second gain when the first channel forward forming signal and the second channel forward forming signal of the same microphone module group are attenuated to a steady-state noise energy levelG ij2 In whichiIs a serial number of the channel,jis the number of the frequency spectrum sub-band;
comparing the first gain for each spectral subband signal of the first channel forward formed signal and the second channel forward formed signal of the same microphone module groupG ij1 And a second gainG ij2 And taking the maximum value of the two as the channel final gain of the spectrum sub-band signalG ij ；
Calculating the energy value after noise reduction of each frequency spectrum sub-band signal of the first channel forward forming signal and the second channel forward forming signal of the same microphone module groupE’ fij = E fij * G ij And comparing the energy values of the spectral subband signals of the same spectral subband of the two forward formed signalsE’ f j1 AndE’ f j2 the spectrum sub-bandjLast gain ofG j Taking the gain of a channel with a small energy value;
after smoothing the gain values of the frequency spectrum sub-bands of the same microphone module group, calculating the last complex frequency spectrum of the frequency spectrum sub-bands, and performing inverse Fourier transform to obtain a time domain signal, thereby obtaining a first sound signal from the first microphone group and a second sound signal from the second microphone group.
9. The sound reception device of claim 8, wherein: the distances between the first microphone module, the second microphone module and the third microphone module are equal, and the distances between the fourth microphone module, the second microphone module and the third microphone module are equal.
10. The sound reception device of claim 8, wherein: calculating the delayed subtraction beamformed signal using a first order delayed subtraction beamforming algorithm.
11. The sound reception device of claim 8, wherein: the method for calculating the relative energy statistical parameter comprises the following steps: initializing the value of the relative energy statistical parameter to be 0, comparing the energy of each same frequency spectrum sub-band signal of the forward forming signal and the backward forming signal one by one, when the energy of the frequency spectrum sub-band signal of the forward forming signal is larger, adding 1 to the value of the relative energy statistical parameter, otherwise, subtracting 1.
12. The sound reception device of claim 8, wherein: and the signal synthesis module is also used for carrying out steady-state noise reduction processing on the time domain signal obtained by the inverse Fourier transform.
13. An electronic device, comprising:
a processor; and
memory storing computer-executable instructions, characterized in that the computer-executable instructions, when executed, cause the processor to perform the method according to any one of claims 1-6.
14. A computer readable storage medium, characterized in that the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-6.
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