TWI811919B - Audio playback apparatus and positioning method - Google Patents

Abstract

An audio playback apparatus and a positioning method are provided. The audio playback apparatus includes two sound receivers and two speakers. A horizontal direction of an object relative to the audio playback apparatus is determined according to a first detecting sound signal with fixed high frequency. A travel distance of a second detecting sound signal with linear-variable high frequency after reflecting by the object is determined. The travel distance starts from the speaker, passes the object, and then arrives at the two sound receivers. The vertical degree of the object relative to the audio playback apparatus is determined according to the distance difference between travel distances of the second detecting sound signal which arrive at two sound receivers respectively. The separating distance between the object and the audio playback apparatus is determined according to the horizontal direction, the travel distance, and the vertical degree. Accordingly, the positioning is achieved with high-frequency sound signals.

Description

Translated fromChinese

聲音播放裝置及定位方法Sound playback device and positioning method

本發明是有關於一種聲音訊號處理，且特別是有關於一種聲音播放裝置及基於聲音的定位方法。The present invention relates to sound signal processing, and in particular, to a sound playing device and a sound-based positioning method.

筆記型電腦通常設有攝影機，並可透過影像辨識技術偵測使用者是否在附近。另一方面，體感控制也是近年來發展快速的技術之一。例如，使用者以特殊手勢(例如，向左揮手或向右揮手)控制筆記型電腦的功能。雖然基於影像辨識的物件偵測技術能提供較高的辨識準確度，但可能耗費較多的電。Laptop computers are usually equipped with cameras and can detect whether the user is nearby through image recognition technology. On the other hand, somatosensory control is also one of the technologies that has developed rapidly in recent years. For example, the user uses special gestures (eg, waving to the left or waving to the right) to control functions of the notebook computer. Although object detection technology based on image recognition can provide higher recognition accuracy, it may consume more power.

有鑑於此，本發明實施例提供一種聲音播放裝置及定位方法，可利用裝置上現有的收音器及揚聲器來偵測物體。In view of this, embodiments of the present invention provide a sound playback device and a positioning method that can use existing receivers and speakers on the device to detect objects.

本發明實施例的定位方法適用於聲音播放裝置。這聲音播放裝置包括二收音器及二揚聲器。定位方法包括(但不僅限於)下列步驟：依據第一檢測聲音訊號決定物體相對於聲音播放裝置的水平方向。第一檢測聲音訊號為固定頻率的高頻聲音訊號。第一檢測聲音訊號是透過二揚聲器中的第一揚聲器播放並透過二收音器錄音。決定第二檢測聲音訊號經物體反射的行徑距離。第二檢測聲音訊號為頻率線性變化的高頻聲音訊號。第二檢測聲音訊號是透過二揚聲器中的第二揚聲器播放並透過二收音器錄音。行徑距離是源自第二揚聲器並經過物體後到達二收音器。依據第二檢測聲音訊號分別至二收音器的行徑距離之間的距離差異決定物體相對於聲音播放裝置的垂直角度。依據水平方向、行徑距離及垂直角度決定物體相對於聲音播放裝置的分開距離。The positioning method according to the embodiment of the present invention is suitable for sound playback devices. The sound playback device includes two radios and two speakers. The positioning method includes (but is not limited to) the following steps: determining the horizontal direction of the object relative to the sound playback device based on the first detected sound signal. The first detection sound signal is a high-frequency sound signal with a fixed frequency. The first detection sound signal is played through the first speaker of the two speakers and recorded through the two radios. Determine the travel distance of the second detection sound signal reflected by the object. The second detection sound signal is a high-frequency sound signal whose frequency changes linearly. The second detection sound signal is played through the second speaker of the two speakers and recorded through the two radios. The travel distance is from the second speaker and passes through the object to the second radio. The vertical angle of the object relative to the sound playback device is determined based on the distance difference between the travel distances of the second detected sound signal to the two microphones respectively. The separation distance of the object relative to the sound playback device is determined based on the horizontal direction, travel distance and vertical angle.

本發明實施例的聲音播放裝置包括(但不僅限於)二收音器、二揚聲器及處理器。收音器用以收音。揚聲器用以播放聲音。處理器耦接二收音器及二揚聲器。處理器經配置用以依據第一檢測聲音訊號決定物體相對於聲音播放裝置的水平方向，決定第二檢測聲音訊號經物體反射的行徑距離，依據第二檢測聲音訊號分別至二收音器的行徑距離之間的距離差異決定物體相對應於聲音播放裝置的垂直角度，並依據水平方向、行徑距離及垂直角度決定物體相對於聲音播放裝置的分開距離。第一檢測聲音訊號為固定頻率的高頻聲音訊號。第一檢測聲音訊號是透過二揚聲器中的第一揚聲器播放並透過二收音器錄音。第二檢測聲音訊號為頻率線性變化的高頻聲音訊號。第二檢測聲音訊號是透過二揚聲器中的第二揚聲器播放並透過二收音器錄音。行徑距離是源自第二揚聲器並經過物體後到達二收音器。The sound playback device according to the embodiment of the present invention includes (but is not limited to) two receivers, two speakers and a processor. A radio is used to pick up sound. Speakers are used to play sounds. The processor is coupled to two radios and two speakers. The processor is configured to determine the horizontal direction of the object relative to the sound playback device based on the first detection sound signal, determine the travel distance of the second detection sound signal reflected by the object, and determine the travel distance of the second detection sound signal to the two receivers based on the second detection sound signal. The distance difference between them determines the vertical angle of the object relative to the sound playing device, and the separation distance of the object relative to the sound playing device is determined based on the horizontal direction, travel distance and vertical angle. The first detection sound signal is a high-frequency sound signal with a fixed frequency. The first detection sound signal is played through the first speaker of the two speakers and recorded through the two receivers. The second detection sound signal is a high-frequency sound signal whose frequency changes linearly. The second detection sound signal is played through the second speaker of the two speakers and recorded through the two radios. The travel distance is from the second speaker and passes through the object to the second radio.

基於上述，依據本發明實施例的聲音播放裝置及定位方法，透過揚聲器分別播放不同頻率設定的高頻檢測聲音訊號，並基於收音器錄音所得的聲音訊號對物體定位。藉此，可提供節能且方便的定位機制，且高頻訊號也不會影響使用者的一般聆聽使用情況。Based on the above, according to the sound playback device and the positioning method according to the embodiment of the present invention, high-frequency detection sound signals with different frequency settings are played through the speakers, and the object is located based on the sound signals recorded by the radio. In this way, an energy-saving and convenient positioning mechanism can be provided, and high-frequency signals will not affect the user's general listening usage.

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, embodiments are given below and described in detail with reference to the accompanying drawings.

圖1是依據本發明一實施例的聲音播放裝置10的元件方塊圖。請參照圖1，聲音播放裝置10包括(但不僅限於)收音器11,12、揚聲器13,14、記憶體17及處理器19。聲音播放裝置10可以是筆記型電腦、智慧型手機、平板電腦、桌上型電腦、智慧型電視、智慧型喇叭或其他電子裝置。FIG. 1 is a component block diagram of asound playing device 10 according to an embodiment of the present invention. Referring to FIG. 1 , thesound playing device 10 includes (but is not limited to)receivers 11 and 12 ,speakers 13 and 14 , amemory 17 and aprocessor 19 . Thesound playing device 10 may be a notebook computer, a smart phone, a tablet computer, a desktop computer, a smart TV, a smart speaker or other electronic devices.

收音器11, 12可以是動圈式(dynamic)、電容式(Condenser)、或駐極體電容(Electret Condenser)等類型的麥克風，收音器11, 12也可以是其他可接收聲波(例如，人聲、環境聲、機器運作聲等)(即，收音或錄音)而轉換為聲音訊號的電子元件、類比至數位轉換器、濾波器、及音訊處理器之組合。在一些實施例中，收音器11,12可能是諸如智慧型手機、錄音筆或筆記型電腦的麥克風。在一實施例中，二收音器11,12或更多收音器形成麥克風陣列。Thereceivers 11 and 12 may be dynamic, condenser, or electret condenser type microphones. Thereceivers 11 and 12 may also be other types of microphones that can receive sound waves (for example, human voice). , environmental sound, machine operation sound, etc.) (i.e., radio or recording), a combination of electronic components, analog-to-digital converters, filters, and audio processors that are converted into sound signals. In some embodiments, thereceivers 11, 12 may be microphones such as a smartphone, a voice recorder, or a laptop computer. In one embodiment, twomicrophones 11, 12 or more microphones form a microphone array.

揚聲器13,14可以是喇叭或擴音器。在一實施例中，揚聲器13,14中的一者或兩個內建於聲音播放裝置10的本體。在另一實施例中，揚聲器13,14中的一者或兩個未內建於聲音播放裝置10的本體。例如，桌上型主機外接喇叭。在一實施例中，揚聲器13,14用以播放聲音。Thespeakers 13, 14 may be speakers or amplifiers. In one embodiment, one or both of thespeakers 13 and 14 are built into the body of thesound playing device 10 . In another embodiment, one or both of thespeakers 13 and 14 are not built into the body of thesound playing device 10 . For example, a desktop console has external speakers. In one embodiment, thespeakers 13 and 14 are used to play sounds.

記憶體17可以是任何型態的固定或可移動隨機存取記憶體(Radom Access Memory，RAM)、唯讀記憶體(Read Only Memory，ROM)、快閃記憶體(flash memory)、傳統硬碟(Hard Disk Drive，HDD)、固態硬碟(Solid-State Drive，SSD)或類似元件。在一實施例中，記憶體17用以儲存程式碼、軟體模組、組態配置、資料(例如，聲音訊號、距離、時間、頻率、角度或波束場型參數)或檔案，並待後續實施例詳述。Thememory 17 can be any type of fixed or removable random access memory (Radom Access Memory, RAM), read only memory (Read Only Memory, ROM), flash memory (flash memory), traditional hard disk (Hard Disk Drive, HDD), solid-state drive (Solid-State Drive, SSD) or similar components. In one embodiment, thememory 17 is used to store program codes, software modules, configurations, data (such as sound signals, distance, time, frequency, angle or beam field type parameters) or files for subsequent implementation. Example details.

處理器19耦接收音器11,12、揚聲器13,14及記憶體17。處理器19可以是中央處理單元(Central Processing Unit，CPU)、圖形處理單元(Graphic Processing unit，GPU)，或是其他可程式化之一般用途或特殊用途的微處理器(Microprocessor)、數位信號處理器(Digital Signal Processor，DSP)、可程式化控制器、現場可程式化邏輯閘陣列(Field Programmable Gate Array，FPGA)、特殊應用積體電路(Application-Specific Integrated Circuit，ASIC)或其他類似元件或上述元件的組合。在一些實施例中，處理器19的功能可實現在軟體或積體電路上。在一實施例中，處理器19用以執行聲音播放裝置10的所有或部份作業，且可載入並執行記憶體17所儲存的各軟體模組、檔案及資料。Theprocessor 19 is coupled to thereceivers 11 and 12, thespeakers 13 and 14 and thememory 17. Theprocessor 19 may be a central processing unit (CPU), a graphics processing unit (GPU), or other programmable general-purpose or special-purpose microprocessor (Microprocessor), digital signal processing Digital Signal Processor (DSP), programmable controller, Field Programmable Gate Array (FPGA), Application-Specific Integrated Circuit (ASIC) or other similar components or A combination of the above elements. In some embodiments, the functions ofprocessor 19 may be implemented in software or integrated circuits. In one embodiment, theprocessor 19 is used to execute all or part of the operations of thesound playback device 10 and can load and execute each software module, file and data stored in thememory 17 .

圖2是依據本發明一實施例的聲音播放裝置10的示意圖。請參照圖2，聲音播放裝置10以筆記型電腦為例。收音器11,12位於聲音播放裝置10的B面頂側。揚聲器13,14位於聲音播放裝置10的C面與D面之間的前兩側。以收音器11,12之間的中點作為中心點/原點的座標系，其中座標(r,θ,φ)中的r為與中心點的相距，θ為水平面上相對於水平參考線(例如，穿過收音器11,12之間的中點的水平線)的角度，且φ為垂直面上相對於垂直參考線(例如，穿過收音器11,12之間的中點的垂直線)的角度(或稱傾仰角)。收音器11,12的座標分別為(d_m/2,90∘,0∘)及(d_m/2,90∘,0∘)。揚聲器13,14的座標分別為(r₁,θ₁,φ₁)及(r₂,θ₂,φ₂)。FIG. 2 is a schematic diagram of asound playing device 10 according to an embodiment of the present invention. Referring to FIG. 2 , thesound playing device 10 takes a notebook computer as an example. Thereceivers 11 and 12 are located on the top side of surface B of thesound playing device 10 . Thespeakers 13 and 14 are located on both front sides between the C surface and the D surface of thesound playing device 10 . A coordinate system with the midpoint betweenmicrophones 11 and 12 as the center point/origin, where r in the coordinates (r, θ, φ) is the distance from the center point, and θ is the horizontal reference line relative to the horizontal reference line ( For example, the angle of a horizontal line passing through the midpoint betweenmicrophones 11,12), and φ is the angle in the vertical plane with respect to a vertical reference line (e.g., a vertical line passing through the midpoint betweenmicrophones 11,12) angle (or tilt angle). The coordinates of theradios 11 and 12 are (d_m /2,90∘,0∘) and (d_m /2,90∘,0∘) respectively. The coordinates ofspeakers 13 and 14 are (r₁ , θ₁ , φ₁ ) and (r₂ , θ₂ , φ₂ ) respectively.

須說明的是，圖2所示的實施態樣及元件位置僅是作為範例說明，且本發明實施例不以此為限。It should be noted that the implementation manner and component locations shown in FIG. 2 are only used as examples, and the embodiments of the present invention are not limited thereto.

下文中，將搭配聲音播放裝置10中的各項裝置、元件及模組說明本發明實施例所述的方法。本方法的各個流程可依照實施情形而調整，且並不僅限於此。In the following, the method described in the embodiment of the present invention will be described with reference to various devices, components and modules in thesound playback device 10 . Each process of this method can be adjusted according to the implementation situation, and is not limited thereto.

圖3是依據本發明一實施例的定位方法的流程圖。請參照圖3，處理器19依據第一檢測聲音訊號決定物體相對於聲音播放裝置10的水平方向(步驟S310)。具體而言，處理器19透過揚聲器13,14中的一者(以揚聲器13為例)播放第一檢測聲音訊號。這第一檢測聲音訊號為固定頻率的高頻聲音訊號。高頻可能是18千赫茲(kHz)以上的頻率。也就是說，第一檢測聲音訊號維持相同的高頻率。例如，固定18 kHz頻率的第一檢測聲音訊號。另一方面，在播放第一檢測聲音訊號的過程中，處理器19透過收音器11,12錄音/收音。Figure 3 is a flow chart of a positioning method according to an embodiment of the present invention. Referring to FIG. 3 , theprocessor 19 determines the horizontal direction of the object relative to thesound playing device 10 based on the first detected sound signal (step S310 ). Specifically, theprocessor 19 plays the first detection sound signal through one of thespeakers 13 and 14 (taking thespeaker 13 as an example). The first detection sound signal is a high-frequency sound signal with a fixed frequency. High frequencies may be frequencies above 18 kilohertz (kHz). That is to say, the first detection sound signal maintains the same high frequency. For example, the first detection sound signal is fixed at 18 kHz frequency. On the other hand, during the process of playing the first detection sound signal, theprocessor 19 records/receives sound through thereceivers 11 and 12 .

以圖2為例，假設有一個物體O(例如，臉或手)位於座標(r₀,θ_O,φ_O)，表示物體O相對於聲音播放裝置10的水平方向的角度為θ_O。須說明的是，下文皆以圖2中的收音器11,12之間的中心點作為聲音播放裝置10的代表點，但應用者仍可依據實際需求而改變代表點的位置。Taking FIG. 2 as an example, assume that there is an object O (for example, a face or a hand) located at coordinates (r₀ , θ_O , φ_O ), which means that the angle of the object O relative to the horizontal direction of thesound playback device 10 is θ_O . It should be noted that the center point between thereceivers 11 and 12 in FIG. 2 is used as the representative point of thesound playback device 10 below, but the user can still change the position of the representative point according to actual needs.

水平方向判定的方法有很多種。在一實施例中，處理器19透過收音器11,12分別形成多個指向角度的波束。收音器11,12是依據波束成型(beamforming)技術形成波束。波束成型可透過調整相位陣列的基本單元的參數(例如，相位及振幅)，使得某些角度的信號獲得相長干涉，而另一些角度的信號獲得相消干涉。因此，不同參數將形成不同波束場型，且其主波束的指向角度可能不同。處理器19可預先定義或基於使用者輸入操作產生多個指向角度。例如，-90∘至90∘之間每間隔10∘作為指向角度。There are many ways to determine the horizontal direction. In one embodiment, theprocessor 19 forms beams at multiple pointing angles through themicrophones 11 and 12 respectively. Theradios 11 and 12 form beams based on beamforming technology. Beamforming allows signals at certain angles to obtain constructive interference and signals at other angles to obtain destructive interference by adjusting the parameters of the basic units of the phase array (for example, phase and amplitude). Therefore, different parameters will form different beam patterns, and the pointing angles of the main beams may be different. Theprocessor 19 may predefine or generate multiple pointing angles based on user input operations. For example, every interval of 10∘ between -90∘ and 90∘ is used as the pointing angle.

在播放第一檢測聲音訊號的過程中，每切換至特定指向角度，處理器19透過收音器11,12量測當前指向角度的波束收音所得到的訊號功率。處理器19可依據透過那些指向角度的波束收音所得到的訊號功率決定水平方向，且水平方向相關於訊號功率越高者的指向角度。例如，處理器19定義功率門檻值，並判斷各指向角度對應的訊號功率是否大於功率門檻值。若這指向角度對應的訊號功率大於訊號門檻值，則處理器19可判斷這指向角度上有物體O，並將這指向角度作為物體O相對於聲音播放裝置10的水平角度。而若這指向角度對應的訊號功率未大於訊號門檻值，則處理器19可判斷這指向角度上未有物體O。又例如，處理器19挑選訊號功率最高的一個或特定數量的指向角度作為水平角度。須說明的是，訊號門檻值可事先依據實驗或預設資訊決定，並可能依據實際需求而變動。例如，播放第一檢測聲音訊號的揚聲器13所處的角度θ₁所用的訊號門檻值不同於其他指向角度的訊號門檻值。During the process of playing the first detection sound signal, every time it switches to a specific pointing angle, theprocessor 19 measures the signal power obtained by the beam collection at the current pointing angle through themicrophones 11 and 12 . Theprocessor 19 can determine the horizontal direction based on the signal power obtained through the beam collection at those pointing angles, and the horizontal direction is related to the pointing angle of the one with higher signal power. For example, theprocessor 19 defines a power threshold and determines whether the signal power corresponding to each pointing angle is greater than the power threshold. If the signal power corresponding to the pointing angle is greater than the signal threshold, theprocessor 19 can determine that there is an object O at the pointing angle, and use the pointing angle as the horizontal angle of the object O relative to thesound playing device 10 . If the signal power corresponding to the pointing angle is not greater than the signal threshold, theprocessor 19 can determine that there is no object O at the pointing angle. For another example, theprocessor 19 selects one or a specific number of pointing angles with the highest signal power as the horizontal angle. It should be noted that the signal threshold can be determined in advance based on experiments or preset information, and may change based on actual needs. For example, the signal threshold used at the angle θ₁ where thespeaker 13 that plays the first detection sound signal is different from the signal thresholds at other pointing angles.

在另一實施例中，可基於到達角(Angle Of Arrival，AOA 或Degree Of Arrival，DOA)定位技術估測物體O相對於聲音播放裝置10的水平方向。例如，處理器19可基於第一檢測聲音訊號經物體O反射後分別到達收音器11,12的兩個聲波的時間差及兩收音器11,12之間的距離d_m決定水平方向。In another embodiment, the horizontal direction of the object O relative to thesound playing device 10 may be estimated based on an angle of arrival (AOA or DOA) positioning technology. For example, theprocessor 19 may determine the horizontal direction based on the time difference between the two sound waves of the first detected sound signal reaching themicrophones 11 and 12 respectively after being reflected by the object O and the distance d_m between the twomicrophones 11 and 12 .

處理器19可決定第二檢測聲音訊號經物體O反射的行徑距離(步驟S330)。具體而言，處理器19透過揚聲器13,14中的另一者(以揚聲器14為例)播放第二檢測聲音訊號。不同於第一檢測聲音訊號，第二檢測聲音訊號為頻率線性變化的高頻聲音訊號。例如，第二檢測聲音訊號為利用線性頻率調變(Linear Frequency Modulation，LFM)技術的chirp訊號。圖4是依據本發明一實施例的檢測聲音訊號的頻率-時間圖。請參照圖4，第一檢測聲音訊號DS1的頻率固定，且第二檢測聲音訊號DS2的頻率隨時間變化而改變。另一方面，在播放第二檢測聲音訊號的過程中，處理器19透過收音器11,12錄音/收音。Theprocessor 19 may determine the travel distance of the second detection sound signal reflected by the object O (step S330). Specifically, theprocessor 19 plays the second detection sound signal through the other one of thespeakers 13 and 14 (taking thespeaker 14 as an example). Different from the first detection sound signal, the second detection sound signal is a high-frequency sound signal whose frequency changes linearly. For example, the second detected sound signal is a chirp signal using Linear Frequency Modulation (LFM) technology. FIG. 4 is a frequency-time diagram of a detected sound signal according to an embodiment of the present invention. Referring to FIG. 4 , the frequency of the first detection sound signal DS1 is fixed, and the frequency of the second detection sound signal DS2 changes with time. On the other hand, during the process of playing the second detection sound signal, theprocessor 19 records/receives sound through thereceivers 11 and 12 .

關於行徑距離，圖5是依據本發明一實施例的行徑距離的示意圖。請參照圖5，行徑距離x₁是源自揚聲器14並經過物體O後到達收音器11。由於第二檢測聲音訊號到達物體O將被反射，因此第二檢測聲音訊號的傳遞路徑可視為由虛擬揚聲器VS至收音器11的直線路徑，其中虛擬揚聲器VS與物體O之間的距離相同於揚聲器14與物體O之間的距離，且虛擬揚聲器VS位於物體O與收音器11所形成的直線的延伸處。也就是說，收音器11所錄到揚聲器14所播出並經物體O反射的聲音訊號就像是虛擬揚聲器VS所在處的聲源所發出的聲音訊號。Regarding the travel distance, FIG. 5 is a schematic diagram of the travel distance according to an embodiment of the present invention. Referring to FIG. 5 , the travel distance x₁ originates from thespeaker 14 and passes through the object O before reaching thereceiver 11 . Since the second detection sound signal will be reflected when it reaches the object O, the transmission path of the second detection sound signal can be regarded as a straight path from the virtual speaker VS to themicrophone 11 , where the distance between the virtual speaker VS and the object O is the same as the distance between the virtual speaker VS and theobject O 14 and the object O, and the virtual speaker VS is located at the extension of the straight line formed by the object O and thereceiver 11. That is to say, the sound signal recorded by thereceiver 11 and broadcast by thespeaker 14 and reflected by the object O is like the sound signal emitted by the sound source where the virtual speaker VS is located.

由於第二檢測聲音訊號的頻率隨時間線性變化，因此基於收音訊號及播放訊號之間的頻率差異可推估聲音訊號的行徑時間，並據以得知行徑路徑。在一實施例中，處理器19可比較收音器11/12收音所得到的第一收音訊號及第二檢測聲音訊號之間的第一頻率差異。這第一收音訊號對應於行徑距離的路徑。例如是圖4所示的行徑距離x₁的路徑。即，第二檢測聲音訊號源自揚聲器14並經過物體O後到達收音器11。另一方面，圖4所示角度θ_O(表示對應於物體O)的線段是對應於第一收音訊號，處理器19並可得出第一頻率差異。Since the frequency of the second detected sound signal changes linearly with time, the travel time of the sound signal can be estimated based on the frequency difference between the radio signal and the broadcast signal, and the travel path can be known accordingly. In one embodiment, theprocessor 19 may compare the first frequency difference between the first radio signal and the second detected sound signal collected by themicrophone 11/12. This first radio signal corresponds to the path traveled distance. For example, it is a path with a distance x₁ as shown in Figure 4 . That is, the second detection sound signal originates from thespeaker 14 and passes through the object O before reaching thereceiver 11 . On the other hand, the line segment at the angle θ_O (indicating that it corresponds to the object O) shown in FIG. 4 corresponds to the first radio signal, and theprocessor 19 can obtain the first frequency difference. .

處理器19可依據第一頻率差異及第二檢測聲音訊號的調頻斜率決定行徑距離。這調頻斜率為第二檢測聲音訊號的頻率線性變化斜率。例如，行徑距離x₁為：…(1) 其中，C為聲音速度，s為調頻斜率。同理，第二檢測聲音訊號源自揚聲器14並經過物體O後到達收音器12的行徑路徑x₂可依據收音器12收音所得到的第一收音訊號及對應的第一頻率差異得出，故於此不再贅述。Theprocessor 19 can determine the traveling distance based on the first frequency difference and the frequency modulation slope of the second detected sound signal. The frequency modulation slope is the frequency linear change slope of the second detected sound signal. For example, the travel distance x₁ is: …(1) Among them, C is the speed of sound, and s is the frequency modulation slope. In the same way, the path x₂ of the second detected sound signal originating from thespeaker 14 and passing through the object O before reaching theradio receiver 12 can be obtained based on the first radio signal received by theradio 12 and the corresponding first frequency difference, so No further details will be given here.

在一實施例中，考慮聲音播放的系統延遲。處理器19可比較收音器11/12收音所得到的第二收音訊號及第二檢測聲音訊號之間的第二頻率差異。第二收音訊號對應於揚聲器14直接到收音器11/12的路徑(例如，圖1或圖5中的距離r₂且短於行徑距離x₁)，因此第一收音訊號相較於第二收音訊號更晚被收音器11/12收到。另一方面，圖4所示角度θ₂(表示對應於揚聲器14)的線段是對應於第二收音訊號，處理器19並可得出第二頻率差異。In one embodiment, the system delay of sound playback is considered. Theprocessor 19 can compare the second frequency difference between the second radio signal collected by themicrophone 11/12 and the second detected sound signal. The second radio signal corresponds to the path directly from thespeaker 14 to themicrophone 11/12 (for example, the distance r₂ in Figure 1 or Figure 5 and shorter than the path distance x₁ ), so the first radio signal is compared with the second radio signal. The signal was received later by the radio on 11/12. On the other hand, the line segment with the angle θ₂ shown in FIG. 4 (corresponding to the speaker 14 ) corresponds to the second radio signal, and theprocessor 19 can obtain the second frequency difference. .

基於調頻斜率，處理器19可依據第二頻率差異及揚聲器14與收音器11/12之間的距離r₂決定系統延遲時間。例如，系統延遲時間為：…(2)Based on the frequency modulation slope, theprocessor 19 may and the distance r₂ between thespeaker 14 and thereceiver 11/12 determines the system delay time . For example, system latency for: …(2)

接著，處理器19可依據第二檢測聲音訊號的行徑時間決定行徑距離x₁/x₂。行徑時間為變化時間與系統延遲時間的時間差異，且變化時間是第一頻率差異在調頻斜率s下的時間。例如，第二檢測聲音訊號自揚聲器14到收音器11的行徑距離x₁為：…(3) 其中行徑時間為，且變化時間為。同理，處理器19可決定第二檢測聲音訊號自揚聲器14到收音器12的行徑距離x₂。Then, theprocessor 19 can determine the travel distance x₁ /x₂ according to the travel time of the second detected sound signal. The travel time is the time difference between the change time and the system delay time, and the change time is the first frequency difference The time at frequency modulation slope s. For example, the distance x₁ of the second detection sound signal from thespeaker 14 to thereceiver 11 is: …(3) where the travel time is , and the change time is . Similarly, theprocessor 19 can determine the travel distance x₂ of the second detected sound signal from thespeaker 14 to thereceiver 12 .

處理器19依據第二檢測聲音訊號分別至二收音器11,12的行徑距離之間的距離差異決定物體O相對於聲音播放裝置10的垂直角度(步驟S350)。具體而言，圖6是依據本發明一實施例的垂直角度的示意圖。請參照圖6，若僅有行徑距離及水平方向的角度，則僅能得知物體O在這水平方向上並與收音器11,12相距對應行徑距離所形成的圓弧C的任何位置。因此，需要進一步確定垂直角度φ_O。處理器19可依據距離差異決定垂直角度：…(4)Theprocessor 19 determines the vertical angle of the object O relative to thesound playing device 10 based on the distance difference between the travel distances of the second detected sound signal to the twomicrophones 11 and 12 respectively (step S350). Specifically, FIG. 6 is a schematic diagram of a vertical angle according to an embodiment of the present invention. Please refer to Figure 6. If there is only the travel distance and the angle in the horizontal direction, then we can only know any position of the arc C formed by the object O in the horizontal direction and the corresponding travel distance away from themicrophones 11 and 12. Therefore, the vertical angle φ_O needs to be further determined. Theprocessor 19 can Determine the vertical angle : …(4)

處理器19依據水平方向、行徑距離及垂直角度決定物體O相對於聲音播放裝置10的分開距離(步驟S370)。具體而言，圖7是依據本發明一實施例的三角形的示意圖。請參照圖7，處理器19可依據(代表)行徑距離x₀決定第一距離x₀-r₀及第二距離r₀。第二檢測聲音訊號的代表行徑距離例如是第二檢測聲音訊號分別至收音器11,12的行徑距離x₁, x₂的平均值、最大值或其中一者。第一距離x₀-r₀為揚聲器14與物體O之間的距離，第二距離r₀是物體O與聲音播放裝置10之間的分開距離，且第一距離x₀-r₀及第二距離r₀之和為代表行徑距離x₀。Theprocessor 19 determines the separation distance of the object O relative to thesound playing device 10 based on the horizontal direction, travel distance and vertical angle (step S370). Specifically, FIG. 7 is a schematic diagram of a triangle according to an embodiment of the present invention. Referring to FIG. 7 , theprocessor 19 can determine the first distance x_{0-r 0and} the second distance r₀ based on the (representative) travel distance x 0 . The representative travel distance of the second detection sound signal is, for example, the average value, the maximum value, or one of the travel distances x₁ and x₂ of the second detection sound signal to themicrophones 11 and 12 respectively. The first distance x₀ -r₀ is the distance between thespeaker 14 and the object O, the second distance r₀ is the separation distance between the object O and thesound playback device 10 , and the first distance x₀ -r₀ and the second distance r 0 The sum of the distances r₀ represents the travel distance x₀ .

處理器19可依據第一距離x₀-r₀、第二距離r₀及揚聲器14與收音器11/12之間的距離(例如，圖1的距離r₁、r₂或其平均值)所形成的三角形TRI決定分開距離(即，第二距離r₀)。這三角形TRI中對應該第一距離x₀-r₀的角度α相關於水平方向θ_O及垂直角度φ_O。例如，處理器19利用三角形的餘弦定理可推算出：…(5)…(6)Theprocessor 19 can determine the distance between the first distance x₀ -r₀ , the second distance r₀ and the distance between thespeaker 14 and themicrophone 11/12 (for example, the distance r₁ , r₂ in FIG. 1 or their average value). The triangle TRI formed determines the separation distance (ie, the second distance r₀ ). The angle α corresponding to the first distance x₀ -r₀ in the triangle TRI is related to the horizontal direction θ_O and the vertical angle φ_O . For example, theprocessor 19 can use the cosine theorem of triangles to deduce: …(5) …(6)

綜上所述，在本發明實施例的聲音播放裝置及定位方法，利用揚聲器分別播放固定頻率及線性變化頻率的檢測聲音訊號，並依據收音器錄音所得的聲音訊號的時間差異、頻率差異及訊號功率得出物體在空間中相對於聲音播放裝置的位置。藉此，可利用多數電子裝置均有裝載的揚聲器及收音器實現定位功能，且高頻聲音也不會影響使用者聆聽其他音訊檔案或聲音串流。To sum up, in the sound playback device and positioning method of the embodiment of the present invention, the speaker is used to play the detection sound signals of fixed frequency and linearly varying frequency respectively, and the time difference, frequency difference and signal of the sound signal recorded by the radio are The power gives the object's position in space relative to the sound player. In this way, the speakers and receivers installed in most electronic devices can be used to achieve the positioning function, and the high-frequency sound will not affect the user's listening to other audio files or sound streams.

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。Although the present invention has been disclosed above through embodiments, they are not intended to limit the present invention. Anyone with ordinary knowledge in the technical field may make some modifications and modifications without departing from the spirit and scope of the present invention. Therefore, The protection scope of the present invention shall be determined by the appended patent application scope.

10:聲音播放裝置 11、12:收音器 13、14:揚聲器 17:記憶體 19:處理器 O:物體 d_m、r₂:距離 θ₀、θ₁、θ₂、φ₀、φ₁、φ₂:角度 S310~S370:步驟 DS1:第一檢測聲音訊號 DS2:第二檢測聲音訊號 x₁:行徑距離 VS:虛擬揚聲器:第一頻率差異:第二頻率差異:距離差異 TRI:三角形 x₀:行徑距離 x₀-r₀:第一距離 r₀:第二距離10:Sound playback device 11, 12:Radio 13, 14: Speaker 17: Memory 19: Processor O: Object d_m , r₂ : Distance θ₀ , θ₁ , θ₂ , φ₀ , φ₁ , φ₂ : Angle S310~S370: Step DS1: First detection sound signal DS2: Second detection sound signal x₁ : Travel distance VS: Virtual speaker :First frequency difference :Second frequency difference :Distance difference TRI:Triangle x₀ :Travel distance x₀ -r₀ :First distance r₀ :Second distance

圖1是依據本發明一實施例的聲音播放裝置的元件方塊圖。 圖2是依據本發明一實施例的聲音播放裝置的示意圖。 圖3是依據本發明一實施例的定位方法的流程圖。 圖4是依據本發明一實施例的檢測聲音訊號的頻率-時間圖。 圖5是依據本發明一實施例的行徑距離的示意圖。 圖6是依據本發明一實施例的垂直角度的示意圖。 圖7是依據本發明一實施例的三角形的示意圖。FIG. 1 is a component block diagram of a sound playing device according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a sound playing device according to an embodiment of the present invention. Figure 3 is a flow chart of a positioning method according to an embodiment of the present invention. FIG. 4 is a frequency-time diagram of a detected sound signal according to an embodiment of the present invention. FIG. 5 is a schematic diagram of travel distance according to an embodiment of the present invention. FIG. 6 is a schematic diagram of a vertical angle according to an embodiment of the present invention. Figure 7 is a schematic diagram of a triangle according to an embodiment of the present invention.

S310~S370:步驟S310~S370: steps

Claims (8)

Translated fromChinese

一種定位方法，適用於一聲音播放裝置，該聲音播放裝置包括二收音器及二揚聲器，該二收音器之間有一間距，該定位方法包括：依據一第一檢測聲音訊號在多個角度的訊號強度決定一物體相對於該聲音播放裝置的一水平方向，其中該第一檢測聲音訊號為固定頻率的高頻聲音訊號，該第一檢測聲音訊號是透過該二揚聲器中的一第一揚聲器播放並透過該二收音器錄音；比較該二收音器收音所得到的一第一收音訊號及一第二檢測聲音訊號之間的一第一頻率差異，並依據該第一頻率差異決定經該物體反射的一行徑距離，其中該第一收音訊號對應於該行徑路線的路徑，該第二檢測聲音訊號為頻率線性變化的高頻聲音訊號，該第二檢測聲音訊號是透過該二揚聲器中的一第二揚聲器播放並透過該二收音器錄音，且該行徑距離是源自該第二揚聲器並經過該物體後到達該二收音器；依據該第二檢測聲音訊號分別至該二收音器的該行徑距離之間的一距離差異決定該物體相對於該聲音播放裝置的一垂直角度，其中

φ_O為該垂直角度，△x為該距離差異，d_m為該二收音器之間的該間距，θ₀為該物體相對於該聲音播放裝置的該水平方向的角度；以及依據該水平方向、該行徑距離及該垂直角度決定該物體相對於該聲音播放裝置的一分開距離，包括：依據該行徑距離決定一第一距離及一第二距離，其中該第一距離為該第二揚聲器與該物體之間的距離，該第二距離是該分開距離，且該第一距離及該第二距離之和為該行徑距離；以及依據該第一距離、該第二距離及該第二揚聲器與該二收音器之間的距離所形成的一三角形決定該分開距離，其中該三角形中對應該第一距離的角度相關於該水平方向及該垂直角度。A positioning method suitable for a sound playback device. The sound playback device includes two radios and two speakers. There is a distance between the two radios. The positioning method includes: based on a first detected sound signal at multiple angles. The intensity determines a horizontal direction of an object relative to the sound playing device, wherein the first detection sound signal is a high-frequency sound signal of a fixed frequency, and the first detection sound signal is played through a first speaker among the two speakers. Recording through the two radios; comparing a first frequency difference between a first radio signal and a second detection sound signal obtained by the two radios, and determining the frequency reflected by the object based on the first frequency difference A travel distance, wherein the first radio signal corresponds to the path of the travel route, the second detection sound signal is a high-frequency sound signal with a linear change in frequency, and the second detection sound signal is transmitted through a second of the two speakers. The speaker plays and records through the two radios, and the travel distance originates from the second speaker and passes through the object before reaching the two radios; according to the travel distance of the second detection sound signal to the two radios respectively A distance difference between determines a vertical angle of the object relative to the sound playback device, where

φ_O is the vertical angle, △x is the distance difference, d_m is the distance between the two radios, θ₀ is the angle of the object relative to the horizontal direction of the sound playback device; and according to the horizontal direction , the traveling distance and the vertical angle determine a separation distance of the object relative to the sound playback device, including: determining a first distance and a second distance based on the traveling distance, wherein the first distance is between the second speaker and The distance between the objects, the second distance is the separation distance, and the sum of the first distance and the second distance is the travel distance; and based on the first distance, the second distance and the second speaker and A triangle formed by the distance between the two microphones determines the separation distance, wherein the angle in the triangle corresponding to the first distance is related to the horizontal direction and the vertical angle.如請求項1所述的定位方法，其中決定該第二檢測聲音訊號經該物體反射的該行徑距離的步驟包括：依據該第一頻率差異及該第二檢測聲音訊號的一調頻斜率決定該行徑距離，其中該調頻斜率為該第二檢測聲音訊號的頻率線性變化斜率。The positioning method of claim 1, wherein the step of determining the travel distance of the second detection sound signal reflected by the object includes: determining the travel distance based on the first frequency difference and a frequency modulation slope of the second detection sound signal distance, wherein the frequency modulation slope is the frequency linear change slope of the second detected sound signal.如請求項2所述的定位方法，其中依據該第一頻率差異及該第二檢測聲音訊號的該調頻斜率決定該行徑距離的步驟包括：比較該二收音器收音所得到的一第二收音訊號及該第二檢測聲音訊號之間的一第二頻率差異，其中該第一收音訊號相較於該第二收音訊號更晚收到，該第二收音訊號對應於該第二揚聲器直接到該二收音器的路徑；依據該第二頻率差異及該第二揚聲器與該二收音器之間的距離決定一系統延遲時間；以及依據該第二檢測聲音訊號的一行徑時間決定該行徑距離，其中該行徑時間為一變化時間與該系統延遲時間的時間差異，且該變化時間是該第一頻率差異在該調頻斜率下的時間。The positioning method of claim 2, wherein the step of determining the travel distance based on the first frequency difference and the frequency modulation slope of the second detected sound signal includes: comparing a second radio signal obtained by the two radios. and a second frequency difference between the second detected sound signal, wherein the first radio signal is received later than the second radio signal, and the second radio signal corresponds to the second speaker and is directly transmitted to the two The path of the radio; determining a system delay time based on the second frequency difference and the distance between the second speaker and the two radios; andThe travel distance is determined based on a travel time of the second detected sound signal, where the travel time is a time difference between a change time and the system delay time, and the change time is the time of the first frequency difference under the frequency modulation slope. .如請求項1所述的定位方法，其中依據該第一檢測聲音訊號決定該物體相對於該聲音播放裝置的該水平方向的步驟包括：透過該二收音器分別形成多個指向角度的波束；以及依據透過該些指向角度的波束收音所得到的訊號功率決定該水平方向，其中該水平方向相關於該訊號功率越高者的指向角度。The positioning method according to claim 1, wherein the step of determining the horizontal direction of the object relative to the sound player device based on the first detected sound signal includes: forming beams with multiple pointing angles through the two receivers; and The horizontal direction is determined based on the signal power obtained through the beam collection at these pointing angles, wherein the horizontal direction is related to the pointing angle of the signal with higher power.一種聲音播放裝置，包括：二收音器，其二者之間有一間距，並用以收音；二揚聲器，用以播放聲音：以及一處理器，耦接該二收音器及該二揚聲器，並經配置用以：依據一第一檢測聲音訊號在多個角度的訊號強度決定一物體相對於該聲音播放裝置的一水平方向，其中該第一檢測聲音訊號為固定頻率的高頻聲音訊號，該第一檢測聲音訊號是透過該二揚聲器中的一第一揚聲器播放並透過該二收音器錄音；比較該二收音器收音所得到的一第一收音訊號及一第二檢測聲音訊號之間的一第一頻率差異，並依據該第一頻率差異決定經該物體反射的一行徑距離，其中該第一收音訊號對應於該行徑路線的路徑，該第二檢測聲音訊號為頻率線性變化的高頻聲音訊號，該第二檢測聲音訊號是透過該二揚聲器中的一第二揚聲器播放並透過該二收音器錄音，且該行徑距離是源自該第二揚聲器並經過該物體後到達該二收音器；依據該第二檢測聲音訊號分別至該二收音器的該行徑距離之間的一距離差異決定該物體相對於該聲音播放裝置的一垂直角度，其中

φ_O為該垂直角度，△x為該距離差異，d_m為該二收音器之間的該間距，θ₀為該物體相對於該聲音播放裝置的該水平方向的角度；以及依據該水平方向、該行徑距離及該垂直角度決定該物體相對於該聲音播放裝置的一分開距離，包括：依據該行徑距離決定一第一距離及一第二距離，其中該第一距離為該第二揚聲器與該物體之間的距離，該第二距離是該分開距離，且該第一距離及該第二距離之和為該行徑距離；以及依據該第一距離、該第二距離及該第二揚聲器與該二收音器之間的距離所形成的一三角形決定該分開距離，其中該三角形中對應該第一距離的角度相關於該水平方向及該垂直角度。A sound playing device, including: two radios, with a distance between them, and used to collect sounds; two speakers, used to play sounds; and a processor, coupled to the two radios and the two speakers, and configured Used to: determine a horizontal direction of an object relative to the sound playback device based on the signal strength of a first detection sound signal at multiple angles, wherein the first detection sound signal is a high-frequency sound signal of a fixed frequency, and the first detection sound signal is a fixed-frequency high-frequency sound signal. The detection sound signal is played through a first speaker among the two speakers and recorded through the two radios; a first radio signal and a second detection sound signal obtained by the two radios are compared. frequency difference, and determine a travel distance reflected by the object based on the first frequency difference, where the first radio signal corresponds to the path of the travel route, and the second detection sound signal is a high-frequency sound signal with a linear change in frequency, The second detection sound signal is played through a second speaker among the two speakers and recorded through the two radios, and the travel distance originates from the second speaker and passes through the object before reaching the two radios; according to the A distance difference between the travel distances of the second detected sound signals to the two receivers determines a vertical angle of the object relative to the sound playback device, wherein

φ_O is the vertical angle, △x is the distance difference, d_m is the distance between the two radios, θ₀ is the angle of the object relative to the horizontal direction of the sound playback device; and according to the horizontal direction , the traveling distance and the vertical angle determine a separation distance of the object relative to the sound playback device, including: determining a first distance and a second distance based on the traveling distance, wherein the first distance is between the second speaker and The distance between the objects, the second distance is the separation distance, and the sum of the first distance and the second distance is the travel distance; and based on the first distance, the second distance and the second speaker and A triangle formed by the distance between the two microphones determines the separation distance, wherein the angle in the triangle corresponding to the first distance is related to the horizontal direction and the vertical angle.如請求項5所述的聲音播放裝置，其中該處理器更經配置用以：依據該第一頻率差異及該第二檢測聲音訊號的一調頻斜率決定該行徑距離，其中該調頻斜率為該第二檢測聲音訊號的頻率線性變化斜率。The sound playback device of claim 5, wherein the processor is further configured to: determine the travel distance based on the first frequency difference and a frequency modulation slope of the second detected sound signal, wherein the frequency modulation slope is the third frequency modulation slope. 2. Frequency line for detecting sound signalsslope of sexual change.如請求項6所述的聲音播放裝置，其中該處理器更經配置用以：比較該二收音器收音所得到的一第二收音訊號及該第二檢測聲音訊號之間的一第二頻率差異，其中該第一收音訊號相較於該第二收音訊號更晚收到，且該第二收音訊號對應於該第二揚聲器直接到該二收音器的路徑；依據該第二頻率差異及該第二揚聲器與該二收音器之間的距離決定一系統延遲時間；以及依據該第二檢測聲音訊號的一行徑時間決定該行徑距離，其中該行徑時間為一變化時間與該系統延遲時間的時間差異，且該變化時間是該第一頻率差異在該調頻斜率下的時間。The sound playback device of claim 6, wherein the processor is further configured to: compare a second frequency difference between a second radio signal collected by the two radios and the second detection sound signal. , wherein the first radio signal is received later than the second radio signal, and the second radio signal corresponds to the path directly from the second speaker to the two radios; according to the second frequency difference and the third The distance between the two speakers and the two receivers determines a system delay time; and the travel distance is determined based on a travel time of the second detected sound signal, wherein the travel time is the time difference between a change time and the system delay time , and the change time is the time of the first frequency difference under the frequency modulation slope.如請求項5所述的聲音播放裝置，其中該處理器更經配置用以：透過該二收音器分別形成多個指向角度的波束；以及依據透過該些指向角度的波束收音所得到的訊號功率決定該水平方向，其中該水平方向相關於該訊號功率越高者的指向角度。The sound playback device of claim 5, wherein the processor is further configured to: form beams with multiple directional angles through the two radios; and based on the signal power obtained through the beam collection at these directional angles. Determine the horizontal direction, where the horizontal direction is related to the pointing angle of the signal with higher power.

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