CN111246339B - Method and system for adjusting pickup direction, storage medium and intelligent robot - Google Patents
Method and system for adjusting pickup direction, storage medium and intelligent robot Download PDFInfo
- Publication number
- CN111246339B CN111246339B CN201911417001.5A CN201911417001A CN111246339B CN 111246339 B CN111246339 B CN 111246339B CN 201911417001 A CN201911417001 A CN 201911417001A CN 111246339 B CN111246339 B CN 111246339B
- Authority
- CN
- China
- Prior art keywords
- pickup area
- sound pickup
- target object
- sound
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000013507 mapping Methods 0.000 claims abstract description 34
- 230000002708 enhancing effect Effects 0.000 claims abstract description 23
- 238000004590 computer program Methods 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 abstract description 14
- 230000003287 optical effect Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000739 chaotic effect Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/22—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only
- H04R1/222—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only for microphones
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/326—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only for microphones
Abstract
The invention provides a method, a system, a storage medium and an intelligent robot for adjusting pickup direction, which relate to the technical field of intelligent robots and comprise the following steps: when a laser radar detects a target object in a three-dimensional space, calculating the current position of the target object, and determining the current pickup area of the target object; controlling corresponding microphones in a microphone array to emit pickup beams according to the time sequence of the detected target object, the pickup area where the target object is located currently and a position mapping table, and enhancing the pickup of the audio frequency of the pickup area where the target object is located currently. According to the invention, the microphones in the microphone array corresponding to the pickup area where the target object is located are controlled to emit pickup beams, so that the audio frequency of the pickup area where the target object is located at present is enhanced, when the target object is not in the front of the robot, the audio frequency of the target object can be also enhanced and picked up in a targeted manner, and the problems that the target object is not in the front of the robot and the pickup effect is weak are avoided.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method, a system, a storage medium and an intelligent robot for adjusting pickup direction.
Background
The pronunciation board on the existing market is in case fixed back, and the pickup direction often establishes the dead ahead direction at the people, if the people stands in dead ahead position to the left or the position of leaning to the right with the robot speaking, can weaken the pickup effect of microphone.
Disclosure of Invention
The invention aims to provide a method, a system, a storage medium and an intelligent robot for adjusting the pickup direction, wherein when a person stands at one position in the laser visual range of 270 degrees in front of the robot, software automatically sets a beam for enhancing pickup of the robot, so that the pickup effect of a microphone is greatly enhanced, and the human-computer interaction experience is improved.
The technical scheme provided by the invention is as follows:
the invention provides a method for adjusting pickup direction, which comprises the following steps:
when the laser radar detects a target object in a three-dimensional space, calculating the current position of the target object, and determining the current pickup area of the target object.
Controlling corresponding microphones in a microphone array to emit pickup beams according to the time sequence of the detected target object, the pickup area where the target object is located currently and a position mapping table, and enhancing the pickup of the audio frequency of the pickup area where the target object is located currently.
Further, when the laser radar detects a target object in a three-dimensional space, the method includes the following steps before calculating the pickup area where the target object is located:
and the laser radar emits a laser beam to scan the three-dimensional space, and the three-dimensional space is divided into a plurality of pickup areas.
Presetting the position mapping table between a plurality of microphones and a plurality of pickup areas in the microphone array.
Further, the step of controlling corresponding microphones in the microphone array to emit pickup beams according to the time when the at least one target object is detected, the pickup area where the at least one target object is currently located, and the position mapping table, and the step of enhancing the pickup of the audio of the pickup area where the target object is currently located specifically includes the steps of:
when the target object is in a first sound pickup area, controlling the microphones in the microphone array corresponding to the first sound pickup area to emit the sound pickup beams according to the position mapping table, and enhancing the audio frequency picked up in the first sound pickup area.
When the target object does not exist in the first sound pickup area and the target object is only in a second sound pickup area, controlling the microphones in the microphone array corresponding to the second sound pickup area to emit the sound pickup beams according to the position mapping table, and enhancing the audio pickup of the second sound pickup area.
Further, the controlling, according to the time when the at least one target object is detected, the sound pickup area where the at least one target object is currently located, and the position mapping table, a corresponding microphone in the microphone array to emit a sound pickup beam to enhance the audio frequency of the sound pickup area where the target object is currently located further includes the steps of:
when the target does not exist in the first sound pickup area and the target exists in the second sound pickup area and the third sound pickup area, whether the time when the target is detected to be in the second sound pickup area is earlier than the time when the target is detected to be in the third sound pickup area is judged.
When the time when the target object is detected to be in the second sound pickup area is earlier than the time when the target object is detected to be in the third sound pickup area, controlling the microphones in the microphone array corresponding to the second sound pickup area to emit the sound pickup beams, and enhancing the audio pickup of the second sound pickup area.
Further, when the target does not exist in the first sound pickup area and the target exists in both the second sound pickup area and the third sound pickup area, the method for judging whether the time when the target is detected to be in the second sound pickup area is earlier than the time when the target is detected to be in the third sound pickup area comprises the following steps:
when the time of detecting that the target object is in the second sound pickup area is not earlier than the time of detecting that the target object is in the third sound pickup area, controlling the microphone in the microphone array corresponding to the third sound pickup area to emit the sound pickup beam, and enhancing the audio pickup of the third sound pickup area.
Further, the microphone array comprises four microphones, the included angle between every two adjacent microphones is 60 degrees, and the range of the sound pickup area is 180 degrees.
Further, the microphone array comprises five microphones, the included angle between every two adjacent microphones is 90 degrees, and the range of the sound pickup area is 360 degrees.
Further, the microphone array comprises six microphones, the included angle between every two adjacent microphones is 60 degrees, and the range of the sound pickup area is 360 degrees.
The invention provides a system for adjusting pickup direction, comprising:
and the calculation module is used for calculating the current position of the target object and determining the current pickup area of the target object when the laser radar detects the target object in a three-dimensional space.
And the control module is connected with the calculation module and used for controlling corresponding microphones in the microphone array to emit pickup beams according to the time sequence of detecting the target object, the pickup area where the target object is located and the position mapping table.
And the microphone array is connected with the control module and used for enhancing the audio frequency of the pickup area where the target object is located.
And the microphone is respectively connected with the control module and the control microphone array and is used for transmitting a pickup beam.
Further, still include:
and the laser radar is connected with the computing module and used for emitting a laser beam to scan the three-dimensional space and dividing the three-dimensional space into a plurality of pickup areas.
The preset module is used for presetting the position mapping table between the plurality of microphones and the plurality of pickup areas in the microphone array.
And the judging module is connected with the calculating module and used for judging whether the time of detecting that the target is in the second sound pickup area is earlier than the time of detecting that the target is in the third sound pickup area when the target does not exist in the first sound pickup area and the target exists in the second sound pickup area and the third sound pickup area.
The present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the above-described methods of adjusting a sound pickup direction.
The invention provides an intelligent robot, which comprises a memory and a processor, wherein the memory is stored with a computer program running on the processor, and the intelligent robot is characterized in that the processor executes the computer program to realize the method for adjusting the sound pickup direction.
The method, the system, the storage medium and the intelligent robot for adjusting the pickup direction have the following beneficial effects that:
1) the microphone corresponding to the pickup area where the target object is located in the microphone array is controlled to emit pickup beams, the audio frequency of the pickup area where the target object is located at present is enhanced, when the target object is not located right in front of the robot, the audio frequency of the target object can also be enhanced and picked up in a targeted mode, and the problems that the target object is not located right in front of the robot and the pickup effect is weak are solved.
2) The area in front of the robot is divided into a plurality of pickup areas, and the mapping relation between the pickup areas and the microphones in the microphone array is established, so that the corresponding microphones are started to pick up sound according to the position of a target object, and the purpose of enhancing the pickup effect is achieved.
3) Set up the dead ahead of robot into the first pickup area that the priority is the highest, when detecting that the object is located first pickup area, the audio frequency in this area is picked up in the reinforcing, and other pickup area priorities are the same, appear in the time of other each pickup areas successively through judging the object, control corresponding microphone and carry out the pickup, avoid the object to appear in more than two pickup areas simultaneously, appear the chaotic problem of pickup.
Drawings
The above features, technical features, advantages and implementations of a method, system, storage medium, and method of adjusting a pickup direction of a smart robot will be further described in the following detailed description of preferred embodiments with reference to the accompanying drawings.
FIG. 1 is a flow chart of one embodiment of a method of adjusting pickup direction of the present invention;
FIG. 2 is a flow chart of yet another embodiment of a method of adjusting pickup direction of the present invention;
FIG. 3 is a flow chart of yet another embodiment of a method of adjusting pickup direction of the present invention;
FIG. 4 is a schematic diagram of a method of adjusting the pick-up direction according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another embodiment of a method of adjusting pickup direction according to the present invention;
FIG. 6 is a schematic diagram of the structure of one embodiment of a system for adjusting the pick-up direction of the present invention;
fig. 7 is a schematic structural diagram of an embodiment of an intelligent robot of the present invention.
The reference numbers illustrate: 10. a memory; 11. a computer program; 12. a processor; 20. a calculation module; 21. a control module; 22. a microphone array; 23. presetting a module; 24. a judgment module; 25. a microphone.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
One embodiment of the present invention, as shown in fig. 1, 4 and 5, is a method for adjusting the pickup direction, comprising the steps of:
s100, when the laser radar detects a target object in a three-dimensional space, calculating the current position of the target object, and determining the current pickup area of the target object.
Specifically, the laser radar is installed on the intelligent robot, a laser beam is emitted by the laser radar to scan a three-dimensional space in front of the robot, when a target object appears at any position in front of the robot, the laser beam emitted by the laser radar is refracted by the target object, the refracted laser beam is received by the optical receiver, the position information of the target object is calculated according to the time from the emission of the laser to the reception, and the pickup area corresponding to the target object at present is further determined according to the position information of the target object.
The object includes a human.
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The laser changes the electric pulse into the optical pulse to be emitted, and the optical receiver restores the optical pulse reflected from the target into the electric pulse to be sent to the display. By transmitting a detection signal (laser beam) to the target and then comparing the received signal reflected from the target (target echo) with the transmitted signal, information about the target, such as target distance, azimuth, altitude, speed, attitude, and shape, is obtained.
Preferably, the ultrasonic device emits ultrasonic signals, a three-dimensional space in front of the robot is scanned, the current position of the target object is calculated, and the current sound pickup area of the target object is determined.
S200, according to the time sequence of the detected target object, the sound pickup area where the target object is located and the position mapping table, controlling the corresponding microphones 25 in the microphone array 22 to emit sound pickup beams, and enhancing the sound pickup of the sound pickup area where the target object is located.
Specifically, a plurality of targets may exist, the plurality of targets may appear in one or more pickup areas in front of the intelligent robot, and when the target only appears in one or more pickup areas and has a target, the microphone 25 corresponding to the pickup area where the target is located in the microphone array 22 is controlled to emit a pickup beam according to the pickup area where the target is located, the time when the target is detected, and the position mapping table, so as to enhance the audio frequency of the pickup area where the target is currently located, thereby avoiding the problem that the target is not located right in front of the robot and the pickup effect is weak.
In this embodiment, the microphones 25 in the microphone array 22 corresponding to the pickup area where the target object is located are controlled to emit pickup beams, so as to enhance the audio frequency of the pickup area where the target object is currently located, and when the target object is not located right in front of the robot, the audio frequency of the target object can also be enhanced and picked up in a targeted manner, thereby avoiding the problem that the target object is not located right in front of the robot, and the pickup effect is weak.
In yet another embodiment of the present invention, as shown in fig. 2, 4 and 5, a method for adjusting a pickup direction includes the steps of:
s001, the laser radar emits laser beams to scan the three-dimensional space, and the three-dimensional space is divided into a plurality of pickup areas.
Specifically, the laser radar emits a laser beam to scan the front area of the robot, and the area is divided into a plurality of sound pickup areas according to the use requirement, for example, the area is divided into 6 sound pickup areas.
S002 presets the position mapping table between a number of microphones 25 in the microphone array 22 and a number of the pickup areas.
Preferably, 6 microphones 25 are arranged in the microphone array 22, the area in front of the robot is divided into 6 sound pickup areas, and the 6 sound pickup areas and the 6 microphones 25 are in one-to-one correspondence to establish a position mapping table.
S100, when the laser radar detects a target object in a three-dimensional space, calculating the current position of the target object, and determining the current pickup area of the target object.
Specifically, the laser radar is installed on the intelligent robot, a laser beam is emitted by the laser radar to scan a three-dimensional space in front of the robot, when a target object appears at any position in front of the robot, the laser beam emitted by the laser radar is refracted by the target object, the refracted laser beam is received by the optical receiver, the position information of the target object is calculated according to the time from the emission of the laser to the reception, and the pickup area corresponding to the target object at present is further determined according to the position information of the target object.
The object includes a human.
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The laser changes the electric pulse into the optical pulse to be emitted, and the optical receiver restores the optical pulse reflected from the target into the electric pulse to be sent to the display. By transmitting a detection signal (laser beam) to the target and then comparing the received signal reflected from the target (target echo) with the transmitted signal, information about the target, such as target distance, azimuth, altitude, speed, attitude, and shape, is obtained.
Preferably, the ultrasonic device emits ultrasonic signals, a three-dimensional space in front of the robot is scanned, the current position of the target object is calculated, and the current sound pickup area of the target object is determined.
S200, according to the time sequence of the detected target object, the sound pickup area where the target object is located and the position mapping table, controlling the corresponding microphones 25 in the microphone array 22 to emit sound pickup beams, and enhancing the sound pickup of the sound pickup area where the target object is located.
Specifically, a plurality of targets may exist, the plurality of targets may appear in one or more pickup areas in front of the intelligent robot, and when the target only appears in one or more pickup areas and has a target, the microphone 25 corresponding to the pickup area where the target is located in the microphone array 22 is controlled to emit a pickup beam according to the pickup area where the target is located, the time when the target is detected, and the position mapping table, so as to enhance the audio frequency of the pickup area where the target is currently located, thereby avoiding the problem that the target is not located right in front of the robot and the pickup effect is weak.
In this embodiment, the area in front of the robot is divided into a plurality of sound pickup areas, and a mapping relationship between the sound pickup areas and the microphones 25 in the microphone array 22 is established, so that the corresponding microphones 25 are started to pick up sound according to the position of the target object, and the purpose of enhancing the sound pickup effect is achieved.
In yet another embodiment of the present invention, as shown in fig. 2-5, a method of adjusting the pickup direction includes the steps of:
s200, according to the time sequence of the detected target object, the sound pickup area where the target object is located and the position mapping table, controlling the corresponding microphones 25 in the microphone array 22 to emit sound pickup beams, and enhancing the sound pickup of the sound pickup area where the target object is located.
Specifically, a plurality of targets may exist, the plurality of targets may appear in one or more pickup areas in front of the intelligent robot, and when the target only appears in one or more pickup areas and has a target, the microphone 25 corresponding to the pickup area where the target is located in the microphone array 22 is controlled to emit a pickup beam according to the pickup area where the target is located, the time when the target is detected, and the position mapping table, so as to enhance the audio frequency of the pickup area where the target is currently located, thereby avoiding the problem that the target is not located right in front of the robot and the pickup effect is weak.
S210, when the target object is in a first sound pickup area, controlling the microphone 25 corresponding to the first sound pickup area in the microphone array 22 to emit the sound pickup beam according to the position mapping table, so as to enhance the audio frequency picked up in the first sound pickup area.
Preferably, the first sound pickup area is divided into positions right in front of the robot, the priority of the first sound pickup area is highest, and when the object is detected to be in the first sound pickup area, that is, the object is in the position right in front of the robot, even if the object is also in other sound pickup areas, only the microphone 25 corresponding to the first sound pickup area in the microphone array 22 is controlled to emit a sound pickup beam, so that the audio in the first sound pickup area is picked up in an enhanced manner, and the effect of picking up the audio in the object right in front of the robot is enhanced.
S220, when the object does not exist in the first sound pickup area and the object is only in a second sound pickup area, controlling the microphone 25 corresponding to the second sound pickup area in the microphone array 22 to emit the sound pickup beam according to the position mapping table, so as to enhance the audio pickup of the second sound pickup area.
Specifically, the priority of the other audio regions is the same, and when it is detected that the object does not exist in the first sound pickup region and it is detected that the object is located in only one of the other sound pickup regions, for example, in the second region, the microphone 25 corresponding to the second sound pickup region in the microphone array 22 is controlled to emit a sound pickup beam according to the position mapping table, so as to enhance the sound pickup of the second sound pickup region. The problem of the target object not in the dead ahead position of robot, the pickup effect is not good is avoided.
S230, when the target does not exist in the first sound pickup area and the target exists in both the second sound pickup area and the third sound pickup area, determining whether a time when the target is detected to be in the second sound pickup area is earlier than a time when the target is detected to be in the third sound pickup area;
specifically, the priorities of other audio regions are the same, when it is detected that the target does not exist in the first sound pickup region and the target exists in both the second sound pickup region and the third sound pickup region, the priorities of the second sound pickup region and the third sound pickup region are the same, and at this time, the time when the target appears in the sound pickup region is determined whether the time when the target is detected in the second sound pickup region is earlier than the time when the target is detected in the third sound pickup region, and if the target is detected in the other regions except the first region, the time sequence is also determined.
S231, when the time when the object is detected to be in the second sound pickup area is earlier than the time when the object is detected to be in the third sound pickup area, controlling the microphone 25 corresponding to the second sound pickup area in the microphone array 22 to emit the sound pickup beam, so as to enhance the audio pickup of the second sound pickup area.
S232, when the time when the object is detected to be in the second sound pickup area is not earlier than the time when the object is detected to be in the third sound pickup area, controlling the microphone 25 in the microphone array 22 corresponding to the third sound pickup area to emit the sound pickup beam, so as to enhance the audio pickup of the third sound pickup area.
Specifically, except for the case that the target object is outside the first sound pickup area, the target object appears in any other area, and the time sequence of the appearance of the target object is judged, and the microphone 25 corresponding to the sound pickup area where the target object appears first is selected for sound pickup, that is, when the time when the target object is detected to be in the second sound pickup area is earlier than the time when the target object is detected to be in the third sound pickup area, the microphone 25 corresponding to the second sound pickup area in the microphone array 22 is controlled to emit sound pickup beams, so that the audio frequency of the second sound pickup area is picked up in an enhanced manner. When the time when the target object is detected to be in the second sound pickup area is not earlier than the time when the target object is detected to be in the third sound pickup area, the microphone 25 corresponding to the third sound pickup area in the microphone array 22 is controlled to emit a sound pickup beam, and the audio frequency picked up by the third sound pickup area is enhanced.
Preferably, the microphone array 22 includes four microphones 25, an angle between two adjacent microphones 25 is 60 °, and the sound pickup area ranges from 180 °.
Preferably, the microphone array 22 includes five microphones 25, an included angle between two adjacent microphones 25 is 90 °, and the sound pickup area ranges from 360 °.
Preferably, the microphone array 22 includes six microphones 25, an included angle between two adjacent microphones 25 is 60 °, and the sound pickup area ranges from 360 °.
In this embodiment, set up the straight place ahead of the robot into the first pickup area that the priority is the highest, when detecting that the object is located first pickup area, the audio frequency in this area is picked up in the reinforcing, and other pickup area priorities are the same, and through judging that the object appears in the time of each other pickup areas successively, control corresponding microphone 25 and carry out the pickup, avoid the object to appear in more than two pickup areas simultaneously, appear the chaotic problem of pickup.
Another embodiment of the present invention, as shown in fig. 4-5, is a method of adjusting pickup direction, comprising the steps of:
s1 when the person is present at an arbitrary position in front of the robot, the laser radar or the ultrasonic wave gives the position information of the person.
The voice control panel of S2 will automatically reset the enhanced pick-up direction according to the current position of the robot.
S21 lidar (linear signal emitting at 270 ° front), ultrasound (a row of ultrasound signals at the front of the robot) may divide the front of the robot into N regions (e.g., the robot is left, middle, right, etc. of the robot).
S22 preferentially enhances the picked-up sound signal right in front of the robot, i.e., preferentially detects a person on the left side, and further detects a person in the middle, thereby enhancing the middle signal.
S23 default to increasing the left pickup direction if the left detects a person first in preference to the right.
S24 default to increasing the right pickup direction if the right side detects a person prior to the left side.
S25 the person leaves, and the middle pickup direction is enhanced by default.
As shown in fig. 4, the microphone array 22 module (6 microphone) can set the BEAMs 0, 1, 2, 3, 4, 5 to enhance the sound pickup effect (the adjacent BEAMs are spaced at 60 °), for example, when the command BEAM0 is inputted, the microphone array 22 will enhance the sound pickup from the BEAM0 direction, and similarly, other orientations can be set.
Once the person appears in front of the robot, the enhanced pickup BEAM of the corresponding area is automatically set by software, and once the person leaves to other positions, the direction of the corresponding enhanced pickup changes.
The S6 voice board includes: four microphones (180-degree directional sound pickup, 60-degree one sound pickup direction), five microphones (360-degree directional sound pickup, 90-degree one sound pickup direction), six microphones (360-degree directional sound pickup, 60-degree one sound pickup direction), and four microphones and five microphones are also suitable for the method.
S61 controls the MCU and the voice board to communicate with each other via serial port (usart). The usart is a smart serial port debugging interactive component developed by ALIENTEK, and any function in a program can be called and executed by a serial port assistant.
One embodiment of the present invention, as shown in fig. 6, is a system for adjusting the sound pickup direction, comprising:
the calculation module 20 is configured to calculate a current position of a target object when the laser radar detects the target object in a three-dimensional space, and determine a pickup area where the target object is currently located.
And the control module 21 is connected with the calculation module 20 and is configured to control the corresponding microphone 25 in the microphone array 22 to emit a pickup beam according to the time sequence of detecting the target object, the pickup area where the target object is currently located, and the position mapping table.
And the microphone array 22 is connected with the control module 21 and is used for enhancing the audio frequency of the pickup area where the target object is located.
And a microphone 25 respectively connected with the control module 21 and the control microphone array 22 and used for transmitting a sound pickup beam.
Specifically, still include:
and the laser radar is connected with the computing module 20 and used for emitting a laser beam to scan the three-dimensional space and dividing the three-dimensional space into a plurality of pickup areas.
The presetting module 23 presets the position mapping table between the microphones 25 in the microphone array 22 and the pickup areas.
And the judging module 24 is connected to the calculating module 20, and is configured to judge whether the time when the object is detected to be in the second sound pickup area is earlier than the time when the object is detected to be in the third sound pickup area when the object is not present in the first sound pickup area and the objects are both present in the second sound pickup area and the third sound pickup area.
The control module 21 is connected to the judging module 24, and is further configured to control, when the object is located in a first sound pickup area, the microphone 25 corresponding to the first sound pickup area in the microphone array 22 to emit the sound pickup beam according to the position mapping table, so as to enhance the audio frequency picked up in the first sound pickup area.
The control module 21 is connected to the determining module 24, and is further configured to control the microphones 25 in the microphone array 22 corresponding to the second sound pickup area to emit the sound pickup beams according to the position mapping table when the target does not exist in the first sound pickup area and the target is only in the second sound pickup area, so as to enhance the audio frequency picked up in the second sound pickup area.
The control module 21 is connected to the judging module 24, and is further configured to control the microphone 25 in the microphone array 22 corresponding to the second sound pickup area to emit the sound pickup beam to enhance the audio picked up in the second sound pickup area when the time when the object is detected to be in the second sound pickup area is earlier than the time when the object is detected to be in the third sound pickup area.
The control module 21 is connected to the judging module 24, and is further configured to control the microphone 25 in the microphone array 22 corresponding to the third sound pickup area to emit the sound pickup beam to enhance the audio pickup of the third sound pickup area when the time when the object is detected to be in the second sound pickup area is not earlier than the time when the object is detected to be in the third sound pickup area.
An embodiment of the invention provides a computer-readable storage medium, on which a computer program 11 is stored, which computer program 11, when being executed by a processor 12, carries out all or part of the method steps of the embodiments described above.
The present invention can implement all or part of the flow in the method of the above embodiments, and can also be implemented by using a computer program 11 to instruct related hardware, where the computer program 11 can be stored in a computer-readable storage medium, and when the computer program 11 is executed by a processor 12, the steps of the above method embodiments can be implemented. The computer program 11 comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
An embodiment of the present invention further provides a terminal device, as shown in fig. 7, which includes a memory 10 and a processor 12, the memory 10 stores a computer program 11 running on the processor 12, and the processor 12 executes the computer program 11 to implement all or part of the method steps in the first embodiment.
The Processor 12 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor 12 may be any conventional processor or the like, the processor 12 being the control center for the computer device and various interfaces and lines connecting the various parts of the overall computer device.
The memory 10 may be used to store computer programs and/or modules, and the processor 12 implements various functions of the computer apparatus by running or executing the computer programs and/or modules stored in the memory 10 and invoking data stored in the memory 10. The memory 10 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, video data, etc.) created according to the use of the cellular phone, etc. In addition, the memory 10 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The invention has the beneficial effects that: in the 270 visual scope of laser in the place ahead of the robot, when the people stood in one of them position, the wave beam of robot reinforcing pickup was set up automatically to software, had strengthened microphone pickup effect greatly, had improved human-computer interaction experience.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (12)
1. A method of adjusting the pick-up direction, comprising the steps of:
when a laser radar detects a target object in a three-dimensional space, calculating the current position of the target object, and determining the current pickup area of the target object;
controlling corresponding microphones in a microphone array to emit pickup beams according to the detected time sequence of the target object, the pickup area where the target object is located currently and a position mapping table, so as to enhance the pickup of the audio frequency of the pickup area where the target object is located currently, and specifically comprises the following steps:
when the target object is in a first-level sound pickup area, sound pickup enhancement with a first priority is carried out;
when the target object is in a second-stage sound pickup area, controlling a microphone of the sound pickup area with the first time to pick up sound by judging the time sequence of the target object in the sound pickup area of the second stage;
wherein the first stage sound-pick-up zone comprises a first sound-pick-up zone.
2. The method of claim 1, wherein before calculating the pickup area where the target object is currently located when the lidar detects the target object in a three-dimensional space, the method comprises:
the laser radar emits a laser beam to scan the three-dimensional space, and the three-dimensional space is divided into a plurality of pickup areas;
presetting the position mapping table between a plurality of microphones and a plurality of pickup areas in the microphone array.
3. The method of claim 1, wherein the step of controlling corresponding microphones in the microphone array to emit sound beams according to the time of detecting the at least one object, the sound pickup area where the at least one object is currently located, and the position mapping table, and the step of enhancing the audio frequency for picking up the sound pickup area where the object is currently located comprises the steps of:
when the target object is in a first sound pickup area, controlling the microphones in the microphone array corresponding to the first sound pickup area to emit the sound pickup beams according to the position mapping table, and enhancing the audio frequency picked up in the first sound pickup area;
when the target object does not exist in the first sound pickup area and the target object is only in a second sound pickup area, controlling the microphones in the microphone array corresponding to the second sound pickup area to emit the sound pickup beams according to the position mapping table, and enhancing the audio pickup of the second sound pickup area.
4. The method of claim 1, wherein the step of controlling corresponding microphones in the microphone array to emit sound beams according to the time of detecting the at least one object, the sound pickup area where the at least one object is currently located, and the position mapping table, and the step of enhancing the audio frequency for picking up the sound pickup area where the object is currently located further comprises the steps of:
when the target does not exist in the first sound pickup area and the target exists in both the second sound pickup area and the third sound pickup area, judging whether the time when the target is detected to be in the second sound pickup area is earlier than the time when the target is detected to be in the third sound pickup area;
when the time when the target object is detected to be in the second sound pickup area is earlier than the time when the target object is detected to be in the third sound pickup area, controlling the microphones in the microphone array corresponding to the second sound pickup area to emit the sound pickup beams, and enhancing the audio pickup of the second sound pickup area.
5. The method of claim 4, wherein after determining whether the object is detected in the second sound pickup area before the object is detected in the third sound pickup area when the object is not present in the first sound pickup area and the object is present in both the second sound pickup area and the third sound pickup area, the method further comprises:
when the time of detecting that the target object is in the second sound pickup area is not earlier than the time of detecting that the target object is in the third sound pickup area, controlling the microphone in the microphone array corresponding to the third sound pickup area to emit the sound pickup beam, and enhancing the audio pickup of the third sound pickup area.
6. The method as claimed in any one of claims 1 to 5, wherein the microphone array comprises four microphones, an included angle between two adjacent microphones is 60 °, and a range of the sound pickup area is 180 °.
7. The method as claimed in any one of claims 1 to 5, wherein the microphone array comprises five microphones, an angle between two adjacent microphones is 90 °, and a range of the sound pickup area is 360 °.
8. The method for adjusting the sound pickup direction according to any one of claims 1 to 5, wherein the microphone array comprises six microphones, an included angle between two adjacent microphones is 60 °, and the sound pickup area is 360 °.
9. A system for adjusting pickup orientation, comprising:
the system comprises a calculation module, a storage module and a processing module, wherein the calculation module is used for calculating the current position of a target object and determining the current pickup area of the target object when the laser radar detects the target object in a three-dimensional space;
the control module is connected with the calculation module and used for controlling corresponding microphones in the microphone array to emit pickup beams according to the time sequence of detecting the target object, the pickup area where the target object is located and the position mapping table;
the microphone array is connected with the control module and used for enhancing the audio frequency of the pickup area where the target object is located;
the microphone is respectively connected with the control module and the control microphone array and used for transmitting a pickup beam;
wherein, when the object is in a first-level sound pickup area, sound pickup enhancement with a first priority is carried out;
when the target object is in a second-stage sound pickup area, controlling a microphone of the sound pickup area with the first time to pick up sound by judging the time sequence of the target object in the sound pickup area of the second stage;
wherein the first stage sound-pick-up zone comprises a first sound-pick-up zone.
10. The system for adjusting the direction of sound pickup according to claim 9, further comprising:
the laser radar is connected with the computing module and used for emitting laser beams to scan the three-dimensional space and dividing the three-dimensional space into a plurality of pickup areas;
the preset module is used for presetting the position mapping table between a plurality of microphones and a plurality of pickup areas in the microphone array;
and the judging module is connected with the calculating module and used for judging whether the time of detecting that the target is in the second sound pickup area is earlier than the time of detecting that the target is in the third sound pickup area or not when the target does not exist in the first sound pickup area and the target exists in the second sound pickup area and the third sound pickup area.
11. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of any of claims 1 to 8.
12. An intelligent robot comprising a memory and a processor, the memory having stored thereon a computer program for execution on the processor, wherein the processor, when executing the computer program, implements the method of any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417001.5A CN111246339B (en) | 2019-12-31 | 2019-12-31 | Method and system for adjusting pickup direction, storage medium and intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417001.5A CN111246339B (en) | 2019-12-31 | 2019-12-31 | Method and system for adjusting pickup direction, storage medium and intelligent robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111246339A CN111246339A (en) | 2020-06-05 |
| CN111246339B true CN111246339B (en) | 2021-12-07 |
Family
ID=70872417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911417001.5A Active CN111246339B (en) | 2019-12-31 | 2019-12-31 | Method and system for adjusting pickup direction, storage medium and intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111246339B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113301476B (en) * | 2021-03-31 | 2023-11-14 | 阿里巴巴（中国）有限公司 | Pickup device and microphone array structure |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102137318A (en) * | 2010-01-22 | 2011-07-27 | 华为终端有限公司 | Method and device for controlling adapterization |
| CN106782585A (en) * | 2017-01-26 | 2017-05-31 | 芋头科技（杭州）有限公司 | A kind of sound pick-up method and system based on microphone array |
| CN108831474A (en) * | 2018-05-04 | 2018-11-16 | 广东美的制冷设备有限公司 | Speech recognition apparatus and its voice signal catching method, device and storage medium |
| CN110491060A (en) * | 2019-08-19 | 2019-11-22 | 深圳市优必选科技股份有限公司 | A kind of robot and its method for safety monitoring, device and storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2743603B2 (en) * | 1991-02-14 | 1998-04-22 | 日産自動車株式会社 | Information transmission device |
| CN106335071B (en) * | 2016-11-14 | 2019-03-15 | 上海木木聚枞机器人科技有限公司 | Robot and robot control method |
| CN206442485U (en) * | 2016-12-29 | 2017-08-25 | Tcl通力电子（惠州）有限公司 | Microphone apparatus |
| CN106851469A (en) * | 2017-02-16 | 2017-06-13 | 深圳创维－Rgb电子有限公司 | It is a kind of to adjust the method and apparatus that audio amplifier exports audio |
| US10524046B2 (en) * | 2017-12-06 | 2019-12-31 | Ademco Inc. | Systems and methods for automatic speech recognition |
| CN209551787U (en) * | 2018-12-28 | 2019-10-29 | 深圳市优必选科技有限公司 | A kind of robot |
| CN110211600B (en) * | 2019-05-17 | 2021-08-03 | 北京华控创为南京信息技术有限公司 | Intelligent microphone array module for directional monitoring communication |
-
2019
- 2019-12-31 CN CN201911417001.5A patent/CN111246339B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102137318A (en) * | 2010-01-22 | 2011-07-27 | 华为终端有限公司 | Method and device for controlling adapterization |
| CN106782585A (en) * | 2017-01-26 | 2017-05-31 | 芋头科技（杭州）有限公司 | A kind of sound pick-up method and system based on microphone array |
| CN108831474A (en) * | 2018-05-04 | 2018-11-16 | 广东美的制冷设备有限公司 | Speech recognition apparatus and its voice signal catching method, device and storage medium |
| CN110491060A (en) * | 2019-08-19 | 2019-11-22 | 深圳市优必选科技股份有限公司 | A kind of robot and its method for safety monitoring, device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111246339A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3926624A1 (en) | Voice awakening method and apparatus, and device and medium | |
| CN104898844B (en) | Gesture identification and control device and identification and control method based on ultrasonic wave positioning | |
| US7766835B2 (en) | Ultrasound system and method for forming ultrasound images | |
| CN108831474B (en) | Voice recognition equipment and voice signal capturing method, device and storage medium thereof | |
| CN104810021B (en) | The pre-treating method and device recognized applied to far field | |
| CN113391305B (en) | False target suppression method and device for multi-radar fusion and terminal equipment | |
| CN108399813B (en) | Robot-based learning tutoring method and system, robot and handwriting equipment | |
| CN111060874B (en) | Sound source positioning method and device, storage medium and terminal equipment | |
| CN111246339B (en) | Method and system for adjusting pickup direction, storage medium and intelligent robot | |
| CN101441401B (en) | Method and device for rapidly determining imaging area in imaging system | |
| CN110781779A (en) | Object position detection method and device, readable storage medium and electronic equipment | |
| KR20220117282A (en) | Audio device auto-location | |
| US20230333205A1 (en) | Sound source positioning method and apparatus | |
| CN104007441B (en) | A kind of vehicle-mounted panoramic radar monitoring method | |
| JP6977448B2 (en) | Device control device, device control program, device control method, dialogue device, and communication system | |
| CN110164443B (en) | Voice processing method and device for electronic equipment and electronic equipment | |
| US11002851B2 (en) | Ultrasonic sensor | |
| CN109688512B (en) | Pickup method and device | |
| JP6368055B2 (en) | Recording method and terminal for video chat | |
| Laurijssen et al. | A flexible low-cost biologically inspired sonar sensor platform for robotic applications | |
| CN111289947B (en) | Information processing method, device and equipment | |
| CN210572724U (en) | Laser radar circuit system and laser radar | |
| CN112327859A (en) | Automatic following method and device for vehicle and vehicle | |
| WO2023065313A1 (en) | Shielding relationship determination method and apparatus, and storage medium and electronic device | |
| US20230111227A1 (en) | Beamforming microphone system, sound pickup program and setting program for beamforming microphone system, beamforming microphone setting device, and beamforming microphone setting methond |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |