CN218927808U - Palm sound positioning and moving device - Google Patents

Abstract

The utility model provides a palm sound positioning and moving device, which comprises a body, a control mechanism arranged on the body, a palm sound positioning mechanism connected with the control mechanism, an angle comparison mechanism connected with the control mechanism and a movement mechanism for driving the body to move, wherein the palm sound positioning mechanism is connected with the control mechanism; the palm sound positioning mechanism comprises a microphone array arranged on the body. The palm sound positioning mechanism is arranged on the body, palm sound of a user is collected and positioned by the microphone array, and then the motion mechanism is driven by the control mechanism to drive the body to move towards the direction of the user; meanwhile, whether the moving direction of the device is consistent with the direction of a user or not can be detected in real time through the angle comparison mechanism, and the control mechanism is convenient to drive the movement mechanism to adjust, so that the device can automatically move towards the direction of the user; the device can be used for accommodating various furniture, household products or toys, and effectively increases convenience.

Description

Palm sound positioning and moving device

Technical Field

The embodiment of the utility model relates to the technical field of intelligent equipment, in particular to a palm sound positioning mobile device.

Background

Along with the development of science and technology, more and more intelligent living equipment or toys enter families, so that the living comfort and convenience of people are greatly improved, but at present, the intelligent function of the Internet of things is only increased by many intelligent equipment or toys, the intelligence of the equipment or toys is improved, but equipment such as garbage cans cannot be positioned and moved according to the demands of users, and great inconvenience exists.

Disclosure of Invention

The utility model provides a palm sound positioning mobile device for solving the technical problem that the existing intelligent equipment is inconvenient to use.

The utility model provides a palm sound positioning and moving device, which comprises a body, a control mechanism arranged on the body, a palm sound positioning mechanism connected with the control mechanism, an angle comparison mechanism connected with the control mechanism and a movement mechanism for driving the body to move, wherein the palm sound positioning mechanism is connected with the control mechanism; the palm sound positioning mechanism comprises a microphone array arranged on the body.

Further, the motion mechanism comprises a driving wheel set and universal wheels which are arranged at the bottom of the body.

Further, the motion mechanism further comprises a steering engine connected with the universal wheels.

Further, the angle comparison mechanism adopts one or more of a geomagnetic sensor, a motor rotary encoder and a gyroscope sensor.

Further, the body comprises a fixed plate, and the movement mechanism is arranged below the fixed plate; the microphone array is arranged above the fixed plate.

Further, the driving wheel group comprises a motor arranged on the fixed plate and a wheel hub arranged at the output end of the motor.

Further, the driving wheel group comprises a motor connected with the fixing plate and a wheel hub arranged on the periphery of the motor.

Further, a containing cavity is arranged below the fixing plate.

Further, the body is also provided with an obstacle avoidance mechanism connected with the control mechanism; the obstacle avoidance mechanism adopts an infrared sensor or an ultrasonic sensor.

The beneficial effects of the utility model are as follows: the palm sound positioning mechanism is arranged on the body, palm sound of a user is collected and positioned by the microphone array, and then the motion mechanism is driven by the control mechanism to drive the body to move towards the direction of the user; meanwhile, whether the moving direction of the device is consistent with the direction of a user or not can be detected in real time through the angle comparison mechanism, and the control mechanism is convenient to drive the movement mechanism to adjust, so that the device can automatically move towards the direction of the user; the device can be used for accommodating various furniture, household products or toys, and the convenience is effectively improved; for example, the garbage can be moved to the position of the user under the instruction of the user, so that the user can conveniently discard garbage; of course, in addition to applause, the present application may also be used in a finger-or other impact-sound scene application.

Drawings

Fig. 1 is a perspective view of an embodiment of a palm sound positioning mobile device of the present utility model.

Fig. 2 is a perspective view of another embodiment of the applause positioning mobile device of the utility model.

Fig. 3 is a perspective view of a palm sound positioning mobile device according to another embodiment of the utility model.

Fig. 4 is a perspective view of still another embodiment of the applause positioning mobile device of the utility model.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The utility model will be described in further detail below with reference to the drawings by means of specific embodiments.

As shown in fig. 1-4, the utility model provides a palm sound positioning and moving device, which comprises a body 1, a control mechanism arranged on the body 1, a palm sound positioning mechanism connected with the control mechanism, an angle comparison mechanism connected with the control mechanism and a movement mechanism for driving the body 1 to move; the palm sound positioning mechanism comprises a microphone array 2 arranged on the body 1.

According to the utility model, a palm sound positioning mechanism is arranged on a body 1, palm sound of a user is collected and positioned by a microphone array 2, and then a control mechanism drives a movement mechanism to drive the body 1 to move towards the direction of the user; meanwhile, whether the moving direction of the device is consistent with the direction of a user or not can be detected in real time through the angle comparison mechanism, and the control mechanism is convenient to drive the movement mechanism to adjust, so that the device can automatically move towards the direction of the user; the device can be used for accommodating various furniture, household products or toys, and the convenience is effectively improved; for example, the garbage can be moved to the position of the user under the instruction of the user, so that the user can conveniently discard garbage; of course, in addition to applause, the present application may also be used in a finger-or other impact-sound scene application.

Specifically, the microphone array 2 can be designed into a uniform array, a circular array, a spiral array and a random array according to practical requirements, and is used for collecting and positioning palm sounds. After the device recognizes the voice signal, the signals collected by a plurality of microphones on the microphone array 2 are analyzed and calculated by a microprocessor to obtain the palm sound source direction. The following several kinds of sound source algorithms are mainly adopted,

1) Time arrival difference (TDOA, time Difference of Arrival)

TTDOA is mainly focused on calculating the time difference of arrival of the sound source at each microphone.

From the time difference between different microphones, we can draw a hyperbola, the different microphones being the two foci of the hyperbola. Likewise, we can draw a hyperbola based on the time difference between the different microphones, and the intersection of the two curves is the location of the noise source.

2) Beamforming (Beamforming)

The Beamforming method filters, weights and superimposes signals acquired by each sensor in the array to form a beam, scans the whole receiving space, and images the sound pressure distribution of a plane. Finding the direction of the applause source.

Specifically, the device can be used for accommodating various furniture, household products or toys, and the convenience is effectively improved. The product with palm sound positioning and automatic moving function towards the user can be combined with a mouse, a gesture recognition module or a desktop fan and other objects.

In an alternative embodiment, the movement mechanism comprises a driving wheel set 3 and a universal wheel 4 which are arranged at the bottom of the body 1. Specifically, the driving wheel set 3 includes a motor 31 mounted on the fixing plate and a hub mounted at an output end of the motor 31. Or the driving wheel set 3 comprises a motor 31 connected with the fixed plate and a wheel hub arranged at the periphery of the motor 31.

In this embodiment, the motor 31 can drive the wheel set 3 to rotate under the action of the motor 31, so as to drive the body 1 to move; specifically, the driving wheel set 3 comprises two driving wheels, and can realize the left and right steering operation of the device through the differential running of the left and right driving wheels, so that the device is simple and convenient.

In an alternative embodiment, the movement mechanism further comprises a steering engine 41 connected to the universal wheel 4. In this embodiment, the drive wheels provide forward power for the movement of the device, while steering the steering wheel 41 controls the direction of the universal wheels 4, thereby effecting left and right steering of the device.

In an alternative embodiment, the angle alignment mechanism employs one or more of a geomagnetic sensor, a motor 31 rotary encoder, and a gyroscopic sensor.

In this embodiment, a geomagnetic sensor is used, and when the device is triggered by voice, the relative angle a between the main body 1 and the direction of the sound source is calculated, and meanwhile, the relative angle B between the main body 1 and the direction of the earth magnetic field is also calculated from the data of the geomagnetic sensor. A, B two angles are combined to calculate the relative angle C between the sound source direction and the earth magnetic field direction. In the moving process of the body 1, geomagnetic sensor data are collected in real time, and the moving direction of the body 1 is kept consistent with the sound source direction and does not deviate.

The rotation amount of the motor 31 can be obtained in real time by using the motor 31 rotary encoder, and converted into the rotation amount of the wheel (and steering engine 41). The encoder data is integrated with the motion amount and converted into the direction and position of the body 1. Keeping the direction of motion of the body 1 coincident with the direction of the sound source without deviation.

Using the gyro sensor, the integral of the gyro data is converted into the rotation angle of the body 1. Keeping the direction of motion of the body 1 coincident with the direction of the sound source without deviation.

Or the three schemes are combined for use, so that the reliability of the system can be improved.

In an alternative embodiment, the body 1 comprises a fixed plate, and the movement mechanism is arranged below the fixed plate; the microphone array 2 is mounted above the fixed plate. In an alternative embodiment, a hollow receiving cavity 6 is also provided below the fixing plate. A receiving chamber 6 is provided which can be used for placing objects, such as remote controls, toys, etc.

In an alternative embodiment, the body 1 is further provided with an obstacle avoidance mechanism 5 connected with the control mechanism; the obstacle avoidance mechanism 5 adopts an infrared sensor or an ultrasonic sensor. The obstacle avoidance mechanism 5 is arranged, so that the device can avoid obstacles around and avoid damage to furniture or the device caused by horizontal impact and direct collision of the device.

In the description of the present specification, reference to the terms "one implementation," "some implementations," "one embodiment," "some embodiments," "in an alternative embodiment," "specifically," "example," "particular example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is a further detailed description of the utility model in connection with specific embodiments, and it is not intended that the utility model be limited to such description. It will be apparent to those skilled in the art that several simple deductions or substitutions can be made without departing from the spirit of the utility model.

Claims (7)

1. The palm sound positioning and moving device is characterized by comprising a body, a control mechanism arranged on the body, a palm sound positioning mechanism connected with the control mechanism, an angle comparison mechanism connected with the control mechanism and a movement mechanism for driving the body to move; the palm sound positioning mechanism comprises a microphone array arranged on the body;

the motion mechanism further comprises a steering engine connected with the universal wheels;

the angle comparison mechanism adopts one or more of a geomagnetic sensor, a motor rotary encoder and a gyroscope sensor.

2. The palm sound positioning and moving device according to claim 1, wherein the movement mechanism comprises a driving wheel set and a universal wheel which are arranged at the bottom of the body.

3. The palm sound positioning and moving device according to claim 2, wherein the body comprises a fixed plate, and the movement mechanism is installed below the fixed plate; the microphone array is arranged above the fixed plate.

4. The palm sound positioning and moving device according to claim 3, wherein the driving wheel set comprises a motor arranged on the fixing plate and a hub arranged at the output end of the motor.

5. The palm sound positioning and moving device according to claim 3, wherein the driving wheel set comprises a motor connected with the fixing plate and a hub arranged at the periphery of the motor.

6. A palm sound positioning and moving device according to claim 3 wherein a receiving chamber is also provided below the fixed plate.

7. The palm sound positioning and moving device according to claim 1, wherein the body is further provided with an obstacle avoidance mechanism connected with the control mechanism; the obstacle avoidance mechanism adopts an infrared sensor or an ultrasonic sensor.

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