CN111857041A - Motion control method, device, equipment and storage medium of intelligent equipment - Google Patents
Motion control method, device, equipment and storage medium of intelligent equipment Download PDFInfo
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- CN111857041A CN111857041A CN202010750787.9A CN202010750787A CN111857041A CN 111857041 A CN111857041 A CN 111857041A CN 202010750787 A CN202010750787 A CN 202010750787A CN 111857041 A CN111857041 A CN 111857041A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
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Abstract
The invention discloses a motion control method, a device, equipment and a storage medium of intelligent equipment, wherein a microphone array is arranged on the intelligent equipment, and the method comprises the following steps: receiving an audio signal collected by the microphone array; determining a sound source direction of the audio signal based on amplitude information acquired from the audio signal; generating a motion control signal according to the audio signal and/or the sound source direction; and controlling the intelligent equipment to execute corresponding movement by adopting the movement control signal. Therefore, the technical problems of low manipulation flexibility and convenience of the intelligent equipment in the prior art are solved, and the manipulation flexibility and the use convenience of the intelligent equipment are effectively improved through the audio signal control mode of the intelligent equipment.
Description
Technical Field
The present invention relates to the field of intelligent control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a motion of an intelligent device.
Background
Along with the rapid development of electronic equipment technology, the intelligent degree of electronic equipment is higher and higher, for example, some intelligent equipment not only can carry out self basic functions, but also can provide information inquiry service, snapshot service and the like for users based on the voice indication of the users.
The existing interaction mode between the intelligent device and the human is generally performed through a wireless remote controller or voice, for example, a toy car, an intelligent robot and the like are remotely controlled, the motion and the steering of the intelligent device are generally controlled through the wireless remote controller, if the intelligent device needs to be controlled by multiple parties in the same scene, the wireless remote controller needs to be continuously transmitted for control, and the control flexibility and the convenience are low.
Disclosure of Invention
The invention provides a motion control method, a motion control device, motion control equipment and a storage medium of intelligent equipment, and solves the technical problems of low operation flexibility and convenience of the intelligent equipment in the prior art.
The invention provides a motion control method of intelligent equipment, wherein a microphone array is arranged on the intelligent equipment, and the method comprises the following steps:
receiving an audio signal collected by the microphone array;
determining a sound source direction of the audio signal based on amplitude information acquired from the audio signal;
generating a motion control signal according to the audio signal and/or the sound source direction;
and controlling the intelligent equipment to execute corresponding movement by adopting the movement control signal.
Optionally, the step of generating a motion control signal according to the audio signal and/or the sound source direction comprises:
if one or more pieces of specific instruction information exist in the audio signal, judging whether the current specific instruction information is the last specific instruction information of the one or more pieces of specific instruction information;
if so, determining a first target movement direction and a first target movement speed of the intelligent equipment by taking the current movement direction of the intelligent equipment as a reference direction according to the current specific instruction information;
and generating a motion control signal by adopting the first target motion direction and the first target motion speed.
Optionally, the microphone array comprises a plurality of unidirectional microphones, and the step of determining the sound source direction of the audio signal based on the amplitude information obtained from the audio signal comprises:
respectively acquiring corresponding amplitude information from the audio signals collected by each one-way microphone; the amplitude information has a corresponding value;
calculating a difference between a numerical maximum value of the amplitude information and a numerical second maximum value of the amplitude information;
and determining the sound source direction of the audio signal according to the difference value.
Optionally, the step of determining a sound source direction of the audio signal according to the difference comprises:
judging whether the difference value is larger than a preset direction identification threshold value or not;
if the difference value is larger than the preset direction identification threshold value, determining that the sound source direction of the audio signal is the unidirectional microphone direction corresponding to the numerical maximum value of the amplitude information;
if the difference is smaller than or equal to the preset direction identification threshold, calculating half of a deflection angle between a unidirectional microphone direction corresponding to the maximum value of the numerical value of the amplitude information and a unidirectional microphone direction corresponding to the second maximum value of the numerical value of the amplitude information as a target deflection angle;
and deflecting the target deflection angle to the unidirectional microphone direction corresponding to the second maximum value of the numerical value of the amplitude information by taking the unidirectional microphone direction corresponding to the maximum value of the numerical value of the amplitude information as a reference direction to obtain the sound source direction of the audio signal.
Optionally, the step of generating a motion control signal according to the audio signal and/or the sound source direction comprises:
if one or more pieces of specific instruction information do not exist in the audio signal, judging whether the current non-specific instruction information is the last non-specific instruction information of the one or more pieces of non-specific instruction information;
if so, taking the sound source direction as a second target movement direction of the intelligent equipment;
and generating a motion control signal according to the second target motion direction and a preset second target motion speed.
Optionally, the smart device is further provided with a plurality of drivers and a mecanum wheel connected to the drivers, and the step of controlling the smart device to execute the corresponding motion by using the motion control signal includes:
the motion control signals are adopted to control the rotation directions and the rotation speeds of the drivers, so that the Mecanum wheels move according to the motion speeds and the motion directions corresponding to the motion control signals;
the Mecanum wheel is used for enabling the intelligent equipment to perform corresponding movement.
Optionally, the smart device is further provided with a multi-channel audio amplifier, and before the step of determining the sound source direction of the audio signal based on the amplitude information obtained from the audio signal, the method further includes:
and amplifying amplitude information acquired from the audio signal through the multi-channel audio amplifier to determine the sound source direction of the audio signal.
The invention also provides a motion control device of the intelligent device, wherein the intelligent device is provided with a microphone array, and the motion control device comprises:
the audio signal receiving module is used for receiving the audio signals collected by the microphone array;
a sound source direction determining module, configured to determine a sound source direction of the audio signal based on amplitude information obtained from the audio signal;
the motion control signal generation module is used for generating a motion control signal according to the audio signal and/or the sound source direction;
and the intelligent equipment control module is used for adopting the motion control signal to control the intelligent equipment to execute corresponding motion.
The embodiment of the invention also provides the electronic equipment, which comprises a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
and the processor is used for executing the motion control method of the intelligent equipment according to the instructions in the program codes.
An embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by the processor, implements the motion control method of the smart device.
According to the technical scheme, the invention has the following advantages:
in the embodiment of the invention, an audio signal is acquired through a microphone array arranged on the intelligent equipment and is sent to a processor on the intelligent equipment, and the sound source direction of the audio signal is determined through the processor based on amplitude information acquired from the audio signal; and then, according to the audio signals and/or the sound source direction, corresponding motion control signals are generated to control the intelligent equipment, so that the technical problems of low manipulation flexibility and convenience of the intelligent equipment in the prior art are solved, and the manipulation flexibility and the use convenience of the intelligent equipment are effectively improved through an audio signal control mode of the intelligent equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating steps of a motion control method for an intelligent device according to a first embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of a motion control method for an intelligent device according to a second embodiment of the present invention;
fig. 3 is a flowchart illustrating steps of a method for controlling motion of an intelligent device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an intelligent device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a microphone array according to an embodiment of the invention;
FIG. 6 is a schematic diagram of another microphone array according to an embodiment of the invention;
FIG. 7 is a flow chart of the steps of a sound source direction determination process according to an embodiment of the present invention;
fig. 8 is a block diagram of a hardware circuit connection of an intelligent device according to an embodiment of the present invention;
fig. 9 is a block diagram of a motion control apparatus of an intelligent device according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a motion control method, a motion control device, motion control equipment and a storage medium of intelligent equipment, which are used for solving the technical problems of low operation flexibility and convenience of the intelligent equipment in the prior art.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for controlling motion of an intelligent device according to an embodiment of the present invention.
The invention provides a motion control method of intelligent equipment, wherein a microphone array is arranged on the intelligent equipment, and the method comprises the following steps:
in the embodiment of the invention, in order to achieve the technical purpose of flexibly controlling the intelligent equipment through sound, a microphone array can be arranged on the intelligent equipment, and an audio signal is acquired through the microphone array.
Alternatively, the audio signal may be sent to a processor on the smart device, through which subsequent processing of the audio signal may be performed.
in a specific implementation, a reference frame is generally required to be established for the motion of the smart device, the reference frame is used as a standard to determine accurate directions of front, back, left and right, and in order to obtain a motion basis of the smart device, amplitude information of the audio signal is further required to be obtained, and a processor on the smart device determines the direction of the audio signal based on the amplitude information so as to facilitate the subsequent generation of a motion control signal for the smart device.
103, generating a motion control signal according to the audio signal and/or the sound source direction;
in an actual implementation process, the motion of the smart device may need to be changed differently according to a scene requirement, for example, in an application scene where the smart device is a remote control car, the smart device needs to move in a corresponding direction according to an audio signal and a sound source direction; or in the application scene of the communication service robot, the audio signal and the sound source direction can be used as a basis for the robot to identify the communication position. Therefore, after the audio signal and the sound source direction are acquired, the processor is further required to generate a motion control signal according to the audio signal and/or the sound source direction, so that the smart device can be suitable for motions in various application scenarios.
And 104, controlling the intelligent equipment to execute corresponding movement by adopting the movement control signal.
In a specific implementation, the processor controls the motion of the intelligent device by using the motion control signal, so that the intelligent device executes the motion required by the audio signal, and the technical purpose of flexibly controlling the intelligent device is achieved.
In the embodiment of the invention, an audio signal is acquired through a microphone array arranged on the intelligent equipment and is sent to a processor on the intelligent equipment, and the sound source direction of the audio signal is determined through the processor based on amplitude information acquired from the audio signal; and then, according to the audio signals and/or the sound source direction, corresponding motion control signals are generated to control the intelligent equipment, so that the technical problems of low manipulation flexibility and convenience of the intelligent equipment in the prior art are solved, and the manipulation flexibility and the use convenience of the intelligent equipment are effectively improved through an audio signal control mode of the intelligent equipment.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for controlling motion of an intelligent device according to a second embodiment of the present invention, including:
in the embodiment of the present invention, the specific implementation process of the steps 201-202 is similar to that of the steps 101-102, and is not described herein again.
Further, the smart device is further provided with a multi-channel audio amplifier, and before the step 202, the method may further include the following steps:
and amplifying amplitude information acquired from the audio signal through the multi-channel audio amplifier to determine the sound source direction of the audio signal.
In a specific implementation, in order to improve the accuracy of determining the sound source direction of the audio signal, a multi-channel audio amplifier may be further disposed in the smart device, and the multi-channel audio amplifier is connected to the microphone array, so that before the processor receives the audio signal collected by the microphone array, the audio signal can be amplified by the multi-channel audio amplifier, for example, the amplitude of the audio signal is increased, thereby increasing the accuracy of identifying the audio signal.
Optionally, the audio signal includes specific instruction information and/or non-specific instruction information, and the step 103 may be replaced by the following step 203 and 205:
in the embodiment of the present invention, in order to facilitate the user operation and improve the operation convenience of the smart device, one or more pieces of specific instruction information may be set, such as forward, backward, leftward, rightward, left-front, right-front, left-back, right-back, left-rotation, right-rotation, stop, and the like. After the processor receives the audio signal, whether one or more pieces of specific instruction information exist in the audio signal is detected, and if yes, whether the current specific instruction information is the last specific instruction information in the one or more pieces of specific instruction information is judged.
In a specific implementation, the audio signal received by the intelligent device may include a plurality of pieces of specific instruction information, for example, a left instruction and a right instruction are received simultaneously in the same direction, and at this time, the processor identifies whether the current specific instruction information is complete and the last specific instruction information, so as to avoid a risk that the intelligent device cannot move due to an identification error.
in an example of the present invention, if the current specific instruction information is the last specific instruction information, the current movement direction of the intelligent device is directly used as the reference direction, and the first target movement direction and the first target movement speed of the intelligent device are determined according to the information included in the current specific instruction information.
In another example of the present invention, if the current specific instruction information is not the last specific instruction information, it is continuously determined whether the current specific instruction information is the last specific instruction information in the one or more specific instruction information, and the current movement mode of the smart device is maintained.
Optionally, if the intelligent device continuously receives multiple pieces of specific instruction information, when receiving a second piece of specific instruction information, immediately stopping the movement of the first piece of specific instruction information, and performing deceleration, and when the intelligent device decelerates to 0, executing the second piece of specific instruction information.
And step 205, generating a motion control signal by using the first target motion direction and the first target motion speed.
In an embodiment of the invention, the processor uses a first target movement direction and said first target movement speed to generate the movement control signal. For example, moving forward at 0.5m/s, the first target moving direction of the intelligent device is determined as the current moving direction of the intelligent device, and the first target moving speed is 0.5 m/s.
And step 206, controlling the intelligent device to execute corresponding movement by using the movement control signal.
Further, the smart device is further provided with a plurality of drivers and a mecanum wheel connected to the drivers, and the step 206 may include the following sub-steps 2061:
a substep 2061, controlling the rotation directions and rotation speeds of the plurality of drivers by using the motion control signal, so that the mecanum wheel moves according to the motion speed and motion direction corresponding to the motion control signal;
the Mecanum wheel is used for enabling the intelligent equipment to perform corresponding movement.
Mecanum wheels refer to wheels that, depending on the direction and speed of the respective wheel, the resulting combination of these forces produces a resultant force vector in any desired direction, thereby ensuring that the platform is free to move in the direction of the resultant force vector, without changing the direction of the wheels themselves. On its rim, many small rollers are obliquely distributed, so that the wheel can be transversely slided. The generatrix of the small rollers is particularly so that the envelope of each small roller is cylindrical when the wheel is turned around a fixed wheel spindle, so that the wheel can roll forward continuously. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnidirectional wheel. 4 novel wheels are combined, so that the all-directional movement function can be realized more flexibly and conveniently.
In the embodiment of the invention, the intelligent device is further provided with a plurality of drivers and a mecanum wheel connected with the drivers, the processor generates motion control signals according to current specific instruction information, then the motion control signals are adopted to control the rotation directions and the rotation speeds of the drivers, and the drivers rotate according to the rotation directions and the rotation speeds corresponding to the motion control signals, so that the mecanum wheel is driven to move, and the intelligent device is driven to move.
Taking a four-wheel-drive intelligent device as an example, if the motion control signal moves at 0.3m/s to the left front, the right front wheel and the right rear wheel are controlled to rotate forwards at a first speed, the left front wheel and the left rear wheel rotate forwards at a second speed, and the combined speed of the first speed and the second speed is equal to 0.3 m/s.
Referring to fig. 4, fig. 4 is a schematic diagram of a smart device according to an embodiment of the present invention, which includes a processor 3, a multi-channel audio amplifier 2, a microphone array 1, a mecanum wheel 5, and a driver 4.
In the embodiment of the invention, the audio signals collected by a microphone array are received, amplitude information is obtained from the audio signals, the sound source direction of the audio signals is determined according to the amplitude information, if one or more pieces of specific instruction information exist in the audio signals, whether the current specific instruction information is the last specific instruction information is judged, if yes, the current motion direction of the intelligent equipment is taken as the reference direction, the first target motion direction and the first target motion speed of the intelligent equipment are determined according to the current specific instruction information, so that a motion control signal is generated, the rotation directions and the rotation speeds of a plurality of drivers are controlled by the motion control signal, and a Mecanum wheel connected with the drivers drives the intelligent equipment according to the motion speed and the motion direction corresponding to the motion control signal. Therefore, the technical problems of low operation flexibility and convenience of the intelligent equipment in the prior art are solved, the omnidirectional motion of the intelligent equipment is realized, and the operation flexibility of the intelligent equipment is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a method for controlling motion of an intelligent device according to a third embodiment of the present invention, including:
in the embodiment of the present invention, the specific implementation process of step 301 is similar to that of step 101, and is not described herein again.
Further, the smart device is further provided with a multi-channel audio amplifier, and before the step 302, the method may further include the following steps:
and amplifying amplitude information acquired from the audio signal through the multi-channel audio amplifier to determine the sound source direction of the audio signal.
Optionally, the microphone array comprises a plurality of unidirectional microphones, and the step 102 may be replaced with the following step 302 and step 304:
in the embodiment of the invention, the microphone array comprises a plurality of unidirectional microphones, in order to determine the sound source direction more effectively, when an audio signal arrives, the audio signal is respectively collected from each unidirectional microphone, and then corresponding amplitude information is obtained from the collected audio signal, the amplitude information has corresponding values, and because the positions of the unidirectional microphones are different, the amplitude information values of the audio signal received by each unidirectional microphone are different, so that the sound source direction of the audio signal can be determined according to the amplitude information values subsequently.
Referring to fig. 5, fig. 5 shows a schematic diagram of a microphone array of the present invention, which includes 6 unidirectional microphones 1, and the microphone array is further communicatively connected to a multi-channel audio amplifier 2 and a processor 3;
referring to fig. 6, fig. 6 shows a schematic diagram of another microphone array of the present invention, which includes 8 unidirectional microphones 1, and is also communicatively connected to a multi-channel audio amplifier 2 and a processor 3.
in an example of the present invention, an audio signal may be converted into an electrical signal to obtain corresponding amplitude information, where the magnitude of the amplitude information represents the magnitude of the received audio signal, and a sound source direction of the audio signal may be determined according to a difference between a maximum value of the amplitude information and a second maximum value of the amplitude information by calculating the difference.
And step 304, determining the sound source direction of the audio signal according to the difference.
Optionally, after obtaining the difference, the size of the audio received by the unidirectional microphone with the maximum value of the amplitude information value corresponding to the second maximum value of the amplitude information value may be obtained through the difference, and the audio signal received at the fixed end has the highest amplitude due to the characteristic of the unidirectional microphone. Accordingly, the sound source direction of the audio signal can be determined by the difference value.
In another example of the present invention, the substeps 304 comprise the following substeps S11-S14:
a substep S11 of determining whether the difference is greater than a preset direction identification threshold;
substep S12, if the difference is greater than the preset direction identification threshold, determining that the sound source direction of the audio signal is the unidirectional microphone direction corresponding to the maximum value of the amplitude information;
substep S13, if the difference is less than or equal to the preset direction identification threshold, calculating a half of a deflection angle between a unidirectional microphone direction corresponding to a numerical maximum value of the amplitude information and a unidirectional microphone direction corresponding to a numerical second maximum value of the amplitude information as a target deflection angle;
and a substep S14, taking the unidirectional microphone direction corresponding to the maximum value of the magnitude information as a reference direction, and deflecting the unidirectional microphone direction corresponding to the second maximum value of the magnitude information by the target deflection angle to obtain the sound source direction of the audio signal.
Referring to fig. 7, fig. 7 is a flow chart illustrating the steps of a sound source direction determination process according to an embodiment of the present invention.
In the embodiment of the invention, firstly, audio signals are collected, then, a processor receives each audio signal output by a multi-channel audio amplifier, and whether a difference value C between a maximum value A of numerical values of amplitude information of the audio signals and a second maximum value B of the numerical values of the amplitude information is larger than a preset direction identification threshold value D is judged;
if so, determining the sound source direction of the audio signal as the unidirectional microphone direction corresponding to the numerical maximum value A of the amplitude information;
if not, calculating the deflection angle between A and B, taking half as the target deflection angle, and deflecting the target deflection angle to the unidirectional microphone direction corresponding to B by taking the unidirectional microphone direction corresponding to A as the reference to obtain the sound source direction of the audio signal.
Optionally, the preset direction identification threshold may be zero, or may be set by a person skilled in the art according to actual needs, and the embodiment of the present invention is not limited thereto.
305, generating a motion control signal according to the audio signal and/or the sound source direction;
optionally, the audio signal comprises instruction-specific information and/or non-instruction-specific information, and the step 305 may comprise the following sub-steps 3051-3053:
sub-step 3051, if there is no one or more pieces of specific instruction information in the audio signal, determining whether the current non-specific instruction information is the last non-specific instruction information of the one or more pieces of non-specific instruction information;
in the embodiment of the present invention, if there is no one or more pieces of specific instruction information in the audio signal, it indicates that the audio signal is non-specific instruction information at this time, and the smart device may not be able to identify the current instruction. Therefore, when the specific instruction information does not exist, the control of the intelligent device can be executed according to the non-specific instruction information by judging whether the current non-specific instruction information is the last non-specific instruction information.
Step 3052, if yes, taking the sound source direction as a second target movement direction of the intelligent device;
optionally, if the current non-specific instruction information is the last non-specific instruction information of the one or more pieces of non-specific instruction information, the moving direction of the smart device may be determined according to the sound source direction as a second target moving direction of the smart device.
Further, if the current non-specific instruction information is not the last non-specific instruction information of the one or more pieces of non-specific instruction information, the judging process is continuously executed until the last non-specific instruction information appears.
And a substep 3053 of generating a motion control signal according to the second object motion direction and a predetermined second object motion speed.
In an alternative embodiment of the invention, a predetermined second target movement speed may be set for the smart device, which is adjusted according to the speed contained in the recognizable specific instruction information when the specific instruction information arrives, and the processor generates a movement control signal to control the movement of the smart device according to the second target movement direction and the predetermined second target movement speed when the non-specific instruction information is received.
Alternatively, the predetermined second target moving speed may be set to 0.5m/s, 0.3m/s, etc., or may be specifically set by those skilled in the art according to practical situations, and the present invention is not limited thereto.
And step 306, controlling the intelligent device to execute corresponding movement by using the movement control signal.
In the embodiment of the present invention, the specific implementation process of step 306 is similar to that of step 206, and is not described herein again.
In the embodiment of the invention, the audio signals collected by a microphone array are received, after the audio signals are amplified by a multi-channel audio amplifier, amplitude information is obtained from the audio signals collected by each unidirectional microphone of the microphone array, the difference value between the maximum value of the numerical value of the amplitude information and the second maximum value of the numerical value is calculated, and the sound source direction of the audio signals is determined based on the comparison of the difference value and a preset direction identification threshold value; and if the received non-specific instruction information is the last non-specific instruction information, taking the sound source direction as a second target motion direction of the intelligent equipment, generating a motion control signal by combining a preset second target motion speed, and controlling the intelligent equipment to execute corresponding motion. Therefore, the technical problems of low operation flexibility and convenience of the intelligent equipment in the prior art are solved, the intelligent equipment can be controlled to execute corresponding movement under the condition of receiving non-specific instruction information, and the operation flexibility of the intelligent equipment is further improved.
Referring to fig. 8, fig. 8 is a block diagram of a hardware circuit connection of an intelligent device according to an embodiment of the present invention, which includes a power module, a front microphone, a left microphone, a right microphone, a rear microphone, a driver 1, a driver 2, a driver 3, a driver 4, an MCU processor, and a multi-channel audio amplifier.
And audio signals are acquired through the front microphone, the left microphone, the right microphone and the rear microphone, are input into the multi-channel audio amplifier to be amplified and then are sent to the MCU processor, the MCU processor generates a motion control signal, and the driver 1, the driver 2, the driver 3 and the driver 4 are controlled to enable the intelligent equipment to move.
And the power supply module is used for supplying power to the driver 1, the driver 2, the driver 3, the driver 4, the MCU processor and the multi-channel audio amplifier.
Referring to fig. 9, an embodiment of the present invention provides a motion control apparatus for an intelligent device, where a microphone array is disposed on the intelligent device, and the motion control apparatus includes:
an audio signal receiving module 901, configured to receive an audio signal collected by the microphone array;
a sound source direction determining module 902, configured to determine a sound source direction of the audio signal based on amplitude information obtained from the audio signal;
a motion control signal generating module 903, configured to generate a motion control signal according to the audio signal and/or the sound source direction;
and an intelligent device control module 904, configured to control the intelligent device to execute corresponding motion by using the motion control signal.
The embodiment of the invention also provides the electronic equipment, which comprises a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the motion control method of the smart device according to any one of the above embodiments according to instructions in the program code.
An embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by the processor, implements the motion control method of the smart device according to any one of the above embodiments.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A motion control method of an intelligent device is characterized in that a microphone array is arranged on the intelligent device, and comprises the following steps:
receiving an audio signal collected by the microphone array;
determining a sound source direction of the audio signal based on amplitude information acquired from the audio signal;
generating a motion control signal according to the audio signal and/or the sound source direction;
and controlling the intelligent equipment to execute corresponding movement by adopting the movement control signal.
2. The method according to claim 1, wherein the audio signal includes specific instruction information and/or non-specific instruction information, and the step of generating the motion control signal according to the audio signal and/or the sound source direction includes:
if one or more pieces of specific instruction information exist in the audio signal, judging whether the current specific instruction information is the last specific instruction information of the one or more pieces of specific instruction information;
if so, determining a first target movement direction and a first target movement speed of the intelligent equipment by taking the current movement direction of the intelligent equipment as a reference direction according to the current specific instruction information;
and generating a motion control signal by adopting the first target motion direction and the first target motion speed.
3. The method of claim 1, wherein the microphone array comprises a plurality of unidirectional microphones, and wherein the step of determining the sound source direction of the audio signal based on the amplitude information obtained from the audio signal comprises:
respectively acquiring corresponding amplitude information from the audio signals collected by each one-way microphone; the amplitude information has a corresponding value;
calculating a difference between a numerical maximum value of the amplitude information and a numerical second maximum value of the amplitude information;
and determining the sound source direction of the audio signal according to the difference value.
4. The method according to claim 3, wherein the step of determining the sound source direction of the audio signal according to the difference comprises:
judging whether the difference value is larger than a preset direction identification threshold value or not;
if the difference value is larger than the preset direction identification threshold value, determining that the sound source direction of the audio signal is the unidirectional microphone direction corresponding to the numerical maximum value of the amplitude information;
if the difference is smaller than or equal to the preset direction identification threshold, calculating half of a deflection angle between a unidirectional microphone direction corresponding to the maximum value of the numerical value of the amplitude information and a unidirectional microphone direction corresponding to the second maximum value of the numerical value of the amplitude information as a target deflection angle;
and deflecting the target deflection angle to the unidirectional microphone direction corresponding to the second maximum value of the numerical value of the amplitude information by taking the unidirectional microphone direction corresponding to the maximum value of the numerical value of the amplitude information as a reference direction to obtain the sound source direction of the audio signal.
5. The method according to claim 1, wherein the audio signal includes specific instruction information and/or non-specific instruction information, and the step of generating the motion control signal according to the audio signal and/or the sound source direction includes:
if one or more pieces of specific instruction information do not exist in the audio signal, judging whether the current non-specific instruction information is the last non-specific instruction information of the one or more pieces of non-specific instruction information;
if so, taking the sound source direction as a second target movement direction of the intelligent equipment;
and generating a motion control signal according to the second target motion direction and a preset second target motion speed.
6. The method of claim 2 or 5, wherein the smart device is further provided with a plurality of drivers and mecanum wheels connected to the drivers, and wherein the step of using the motion control signals to control the smart device to perform corresponding motions comprises:
the motion control signals are adopted to control the rotation directions and the rotation speeds of the drivers, so that the Mecanum wheels move according to the motion speeds and the motion directions corresponding to the motion control signals;
the Mecanum wheel is used for enabling the intelligent equipment to perform corresponding movement.
7. The method according to claim 1, wherein the smart device is further provided with a multi-channel audio amplifier, and the step of determining the sound source direction of the audio signal based on the amplitude information obtained from the audio signal comprises:
and amplifying amplitude information acquired from the audio signal through the multi-channel audio amplifier to determine the sound source direction of the audio signal.
8. The utility model provides a motion control device of smart machine which characterized in that, be provided with the microphone array on the smart machine, include:
the audio signal receiving module is used for receiving the audio signals collected by the microphone array;
a sound source direction determining module, configured to determine a sound source direction of the audio signal based on amplitude information obtained from the audio signal;
the motion control signal generation module is used for generating a motion control signal according to the audio signal and/or the sound source direction;
and the intelligent equipment control module is used for adopting the motion control signal to control the intelligent equipment to execute corresponding motion.
9. An electronic device comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the motion control method of the smart device according to any one of claims 1-7 according to instructions in the program code.
10. A readable storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by the processor, implements the method for motion control of a smart device according to any of claims 1-7.
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