CN106708041B - Intelligent sound box and directional moving method and device of intelligent sound box - Google Patents
Intelligent sound box and directional moving method and device of intelligent sound box Download PDFInfo
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- CN106708041B CN106708041B CN201611138478.6A CN201611138478A CN106708041B CN 106708041 B CN106708041 B CN 106708041B CN 201611138478 A CN201611138478 A CN 201611138478A CN 106708041 B CN106708041 B CN 106708041B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- 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
Abstract
The invention discloses a directional moving method of an intelligent sound box, which comprises the following steps: controlling a microphone array to collect sound wave information; determining the direction of a sound source according to the collected sound wave information; and driving the intelligent sound box to move towards the sound source direction. According to the technical scheme, the direction of the sound source is determined according to the collected sound wave information so as to drive the intelligent sound box to move towards the direction of the sound source. Under the condition that the remote controller is out of power or damaged, the intelligent sound box is controlled to move to the position where sound is emitted by sound control, adjustment or closing of the sound box is achieved, the intelligent degree is high, and the remote controller is convenient for a user to use. The invention also discloses an intelligent sound box directional moving device and an intelligent sound box.
Description
Technical Field
The invention mainly relates to the technical field of intelligent sound boxes, in particular to an intelligent sound box, a directional moving method of the intelligent sound box and a device thereof.
Background
Along with the popularization of sound boxes, the requirement of users on the intellectualization of the sound boxes is higher and higher, far-field identification can be realized by a plurality of intelligent sound box with microphone arrays at present, beam forming is carried out according to sound source positioning information provided by the microphone arrays, but the sound boxes are fixed and cannot move. Under the condition that the remote controller is lost, power is not available or damaged, a user wants to operate the sound box and needs to walk beside the sound box by himself to realize the operation of the sound box, the intelligent degree is low, and the remote controller is more inconvenient to use for users who are inconvenient to move.
Disclosure of Invention
The invention mainly aims to provide an intelligent sound box, and a directional movement method and device of the intelligent sound box, and aims to solve the problems that the intelligent degree of the sound box is low and the sound box is inconvenient to use in the prior art.
In order to achieve the purpose, the intelligent sound box provided by the invention comprises a box body and a loudspeaker, wherein the box body is provided with a collecting device for collecting external sound wave information and a walking device for driving the sound box to move.
Preferably, the acquisition device is a microphone array.
In addition, in order to achieve the above object, the present invention further provides a directional movement method for a smart sound box, where the directional movement method for a smart sound box includes the following steps:
controlling the intelligent sound box to receive voice information and analyzing the received voice information into voice text information;
when the analyzed voice text information is consistent with the preset voice text information, controlling the microphone array to collect sound wave information;
and determining the sound source direction according to the collected sound wave information, and controlling the intelligent sound box to move towards the sound source direction.
Preferably, the step of determining the sound source direction according to the collected sound wave information and controlling the smart speaker to move towards the sound source direction includes:
acquiring a microphone array point with the maximum energy in sound wave information acquired by a microphone array, taking the microphone array point as a first acquisition point, taking a microphone array point which acquires the sound wave information earliest in the microphone array as a second acquisition point;
when the first acquisition point and the second acquisition point are the same, determining the normal direction of the sound box plane where the first acquisition point or the second acquisition point is located as the sound source direction; when the first acquisition point is different from the second acquisition point, determining the normal direction of the sound box plane where the second acquisition point is located as the sound source direction;
and controlling the intelligent sound box to move towards the sound source direction.
Preferably, the step of controlling the smart sound box to move towards the sound source further comprises:
acquiring an included angle between a preset reference direction of the intelligent sound box and a sound source direction;
calculating a complementary angle of the included angle according to the included angle;
controlling a preset reference direction of the intelligent sound box to rotate towards the sound source direction by the angle value of the complementary angle;
when the preset reference direction of the intelligent sound box is perpendicular to the sound source direction, the intelligent sound box is controlled to move towards the sound source direction.
Preferably, the step of determining the sound source direction according to the collected sound wave information and controlling the smart speaker to move towards the sound source direction further includes:
detecting whether the intelligent sound box meets an obstacle or not;
when the intelligent sound box meets the obstacle, the intelligent sound box is controlled to stop.
In addition, in order to achieve the above object, the present invention further provides a directional mobile device for a smart speaker, including:
the first control module is used for controlling the intelligent sound box to receive the voice information and analyzing the received voice information into voice text information;
the second control module is used for controlling the microphone array to collect sound wave information when the analyzed voice text information is consistent with the preset voice text information;
and the third control module is used for determining the sound source direction according to the collected sound wave information and controlling the intelligent sound box to move towards the sound source direction.
Preferably, the third control module includes:
the microphone array point is used as a first acquisition point, and the microphone array point which acquires the sound wave information earliest in the microphone array is used as a second acquisition point;
the determining unit is used for determining that the normal direction of the sound box plane where the first collecting point or the second collecting point is located is the sound source direction when the first collecting point and the second collecting point are the same; when the first acquisition point is different from the second acquisition point, determining the normal direction of the sound box plane where the second acquisition point is located as the sound source direction;
the determining unit is also used for controlling the intelligent sound box to move towards the sound source direction.
Preferably, the third control module further comprises:
the second acquisition unit is used for acquiring an included angle between the preset reference direction of the intelligent sound box and the sound source direction;
the calculation unit is used for calculating a complementary angle of the included angle according to the included angle;
the third control module is further configured to:
controlling a preset reference direction of the intelligent sound box to rotate towards the sound source direction by the angle value of the complementary angle;
when the preset reference direction of the intelligent sound box is perpendicular to the sound source direction, the intelligent sound box is controlled to move towards the sound source direction.
Preferably, the directional mobile device of smart sound box further comprises:
the detection module is used for detecting whether the intelligent sound box meets an obstacle or not;
and the fourth control module is used for controlling the intelligent sound box to stop when the intelligent sound box meets the obstacle.
According to the directional moving method of the intelligent sound box, the microphone array is controlled to collect sound wave information, and the sound source direction is determined according to the collected sound wave information, so that the intelligent sound box is controlled to move towards the sound source direction. Under the circumstances that the remote controller is lost, no electricity or damaged in order to realize, remove the position of sending sound with sound control intelligence audio amplifier, do not need the user to walk to the audio amplifier next door and carry out audio amplifier control, improved the intelligent degree of audio amplifier, facilitate the use.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the smart sound box of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a method for directionally moving a smart sound box according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of the directional movement method of an intelligent sound box according to the present invention;
fig. 4 is a functional block diagram of a first embodiment of the directional mobile device of an intelligent sound box according to the present invention;
FIG. 5 is a schematic diagram of a detailed functional module of a third control module of a second embodiment of the directional mobile device of an intelligent sound box according to the present invention;
FIG. 6 is a schematic diagram of a detailed functional module of a third control module of a third embodiment of the directional mobile device of an intelligent sound box according to the present invention;
fig. 7 is a functional block diagram of a fourth embodiment of the directional mobile device of smart sound box according to the present invention;
FIG. 8 is a functional diagram of the audio processing function of the directional mobile device of the smart speaker according to the present invention;
fig. 9 is a functional schematic diagram of a hardware system of the directional mobile device of the smart sound box according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides an intelligent sound box.
Referring to fig. 1, in an embodiment of the present invention, the smart speaker includes: the loudspeaker box comprises a box body and a loudspeaker, wherein a collecting device for collecting external sound wave information and a walking device for driving a loudspeaker box to move are arranged on the box body.
The intelligent sound box walking device can drive the sound box to move towards the direction of sound wave information according to the external sound wave information acquired by the acquisition device. In a preferred embodiment, the acquisition device is a microphone array MIC, the traveling device is a universal wheel UW, and after the microphone array MIC acquires external sound wave information, the intelligent sound box identifies the source of the sound wave information and then drives the universal wheel UW to drive the sound box to move towards the sound wave direction. Microphone array MIC arranges around the audio amplifier to fully gather external sound wave information, and be convenient for carry out the direction and confirm to the sound wave information who gathers. In other embodiments, the collection device may be a sound wave collector and the walking device may be a combination of conventional wheels and steering mechanism. The intelligent sound box is moved by the acquisition device and the walking device, so that the intelligent degree is high, and the use is convenient.
The invention provides a directional moving method of an intelligent sound box, and referring to fig. 2, in a first embodiment, the directional moving method of the intelligent sound box comprises the following steps:
step S10, controlling the intelligent sound box to receive the voice information and analyzing the received voice information into voice text information;
the present embodiment provides a directional moving method for an intelligent sound box, which controls the sound box to receive voice information when the environment where the sound box is located has the voice information. The voice recognition chip for the non-specific person voice recognition is adopted to receive the voice information, and the non-specific person voice recognition does not aim at the recognition technology of the specified person, does not distinguish age and gender, and only needs to speak the same language. After the voice recognition chip receives the voice information, the voice information is analyzed into voice text information through operation in the chip (based on the existing voice recognition technology), and the voice text information is a series of machine languages which can be recognized by a machine.
Step S20, when the analyzed voice text information is consistent with the preset voice text information, controlling the microphone array to collect the sound wave information;
in the embodiment, after the received voice information is analyzed into the machine language which can be identified by a machine, the machine language is compared with the preset voice text information, the preset voice text information is the machine language corresponding to the serial number or name of the intelligent sound box, when the analyzed voice text information is consistent with the preset voice text information, the external voice information is sent out aiming at the intelligent sound box, if the external voice information is inconsistent with the preset voice text information, the external voice information is not sent out aiming at the sound box, the intelligent sound box is described for assisting understanding, the specific embodiment is used for describing, the intelligent sound box is named as M, the machine language corresponding to the intelligent sound box is 01101, when the external voice information is N and the analyzed machine language is 01110, the analyzed voice text information is judged to be inconsistent with the preset voice text information, and the external voice information is not sent out aiming at the sound box, the sound box has no action; only when the machine language of '01101' is analyzed by the external voice information, the microphone array is controlled to collect the sound wave information of the voice information. Understandably, sound wave information passes through the air propagation, the microphone arrays arranged around the intelligent sound box are controlled to receive the sound wave information, echo interference is generated due to the fact that the sound waves are reflected when the sound waves touch obstacles outside the intelligent sound box during propagation, then the sound generated by the intelligent sound box during playing also interferes with the sound wave information, echo cancellation is needed, specifically, an AEC echo cancellation algorithm can be adopted or an echo cancellation chip is used for carrying out echo cancellation, and therefore the precision of the collected sound wave information is high.
And step S30, determining the sound source direction according to the collected sound wave information, and controlling the intelligent sound box to move towards the sound source direction.
Understandably, sound wave information comes from a certain sound source of an environment where the intelligent sound box is located, the microphones on the microphone arrays can receive the sound wave information, but the distances between different microphones and the sound source are inconsistent, so that the time for receiving the sound wave information is inconsistent with the energy propagated by the received sound waves, please refer to fig. 8, after the sound wave information is received by the microphone arrays, echo cancellation is performed by using an AEC echo cancellation algorithm, Near end is the sound wave information collected by the microphone arrays, far end is echo interference information, Near end and far end find a microphone array point which receives the sound wave information earliest and an array point which has the largest energy propagated in the received sound waves after the acoustic wave information is cancelled by the AEC echo cancellation, and a DOA direction positioning algorithm is performed on the position of the microphone array point, so that the sound source direction is determined, and the intelligent sound box is controlled to move towards the sound source direction. Specifically, after the sound source direction is determined, the motor is controlled to send the moving signal, the motor receives the moving signal to drive the walking device of the intelligent sound box to move towards the sound source direction, so that the intelligent sound box is close to the sound source, and the intelligent sound box is convenient to use.
The directional moving method of the intelligent sound box comprises the following steps: controlling the intelligent sound box to receive voice information and analyzing the received voice information into voice text information; when the analyzed voice text information is consistent with the preset voice text information, controlling the microphone array to collect sound wave information; and determining the sound source direction according to the collected sound wave information, and controlling the intelligent sound box to move towards the sound source direction. Referring to fig. 9, an MIC is a microphone array for collecting external acoustic information; ADC is analog-to-digital conversion, the collected sound wave information is analog quantity signals, and the ADC is required to be converted into digital quantity signals; the FPGA is a field programmable gate array and is used for compressing the multi-channel signal into a single-channel signal; the CPU is a central processing unit and is used for carrying out operation processing on the received external information and then outputting the external information to other elements; I2S is an integrated circuit built-in audio bus used for signal transmission; audio out is an Audio output for outputting an Audio signal; a is a universal wheel driving circuit used for driving a universal wheel; and B is a power amplifier used for amplifying the output audio signal so as to drive a loudspeaker to make a sound. This technical scheme is when intelligent audio amplifier receives with predetermineeing the speech information that text message is unanimous, sound wave information is gathered to control MIC, ADC converts the analog quantity information that MIC gathered into machine recognizable digital quantity information, compress into single channel signal with multichannel signal through FPGA thereafter, transmit CPU through I2S and carry out the operation processing, it removes to control universal wheel drive circuit A drive universal wheel according to the operation processing result, the audio amplifier carries out normal audio output simultaneously, through confirming the sound source direction, thereby control intelligent audio amplifier towards the sound source direction removal, in order to realize moving the position of sending out sound with sound control intelligent audio amplifier, carry out the song change to intelligent audio amplifier, adjust operations such as broadcast volume, the intelligent degree of audio amplifier has been improved, and is convenient to use.
Further, in another embodiment of the directional moving method of the smart sound box of the present invention, step S30 includes:
step S31, acquiring a microphone array point with the largest energy in the sound wave information acquired by the microphone array, taking the microphone array point as a first acquisition point, taking the microphone array point which acquires the sound wave information earliest in the microphone array as a second acquisition point;
step S32, when the first acquisition point and the second acquisition point are the same, determining the normal direction of the sound box plane where the first acquisition point or the second acquisition point is located as the sound source direction; when the first acquisition point is different from the second acquisition point, determining the normal direction of the sound box plane where the second acquisition point is located as the sound source direction;
and step S33, controlling the intelligent sound box to move towards the sound source direction.
Specifically, the sound wave information originates from a certain sound source point of the environment where the intelligent sound box is located, according to the sound wave energy attenuation theory, the closer to the sound source point, the smaller the energy attenuation, and the microphone array is distributed around the sound box, so that the sound wave information energy received by the microphone closest to the sound source point is the largest theoretically. But the sound box is used as playing equipment and can make sound, so that echo interference is formed on sound wave information received by the microphone; meanwhile, in the process of transmitting sound waves, partial sound waves are reflected when the sound waves touch obstacles, so that echo interference is also formed, the sound wave energy information received by the microphone is not only the sound wave energy information sent by the sound source point, and therefore, the judgment standard that the microphone array point with the maximum energy in the collected sound wave information is used as the sound source direction is not accurate, and the microphone array point is used as a first collection point. Meanwhile, the microphone closest to the sound source point receives sound wave information earliest, and the microphone array point serves as a second acquisition point. And judging whether the first acquisition point and the second acquisition point are the same microphone array point, if so, determining that the direction corresponding to the first acquisition point or the second acquisition point is the sound source direction, and if not, determining that the direction corresponding to the second acquisition point is the sound source direction. According to the principle that the point is the shortest with the perpendicular line of the plane, the direction corresponding to the first acquisition point or the second acquisition point is the normal line direction of the plane where the first acquisition point or the second acquisition point is located.
Further, step S33 includes:
acquiring an included angle between a preset reference direction of the intelligent sound box and a sound source direction;
calculating a complementary angle of the included angle according to the included angle; controlling a preset reference direction of the intelligent sound box to rotate towards the sound source direction by the angle value of the complementary angle;
when the preset reference direction of the intelligent sound box is perpendicular to the sound source direction, the intelligent sound box is controlled to move towards the sound source direction.
Specifically, be provided with on the intelligent audio amplifier and preset the reference direction, this reference direction is preferably the operation plane direction towards user operation in the intelligent audio amplifier, acquire the contained angle of this operation plane direction and sound source direction, according to the contained angle size, subtract this contained angle with 90 and calculate the complementary angle value that obtains this contained angle, the preset reference direction of control intelligent audio amplifier rotates this complementary angle value towards the sound source direction, so that preset the reference direction and the sound source direction is perpendicular, afterwards, drive intelligent audio amplifier and remove towards the sound source direction, thereby make intelligent audio amplifier be close to the sound source, the user can change the song to intelligent audio amplifier, adjust operations such as broadcast volume, intelligent degree is high, and convenient operation.
Further, referring to fig. 3, on the basis of the first embodiment of the projector debugging and installing method of the present invention, a second embodiment of the projector debugging and installing method is proposed, and in the second embodiment, the step S30 is followed by the step of:
step S40, detecting whether the intelligent sound box meets an obstacle;
and step S50, when the intelligent sound box meets the obstacle, controlling the intelligent sound box to stop.
Understandably, the environment where the smart speaker is located may have other objects besides the speaker, and the smart speaker may touch the object in the moving process to block the smart speaker from moving forward, so that the object is used as an obstacle relative to the smart speaker. In order to prevent that smart speaker from moving the condition that damages the audio amplifier after running continuously before touchhing the barrier in the removal process, whether run into the barrier to smart speaker in this embodiment and detect. Preferably, a mode of monitoring the driving current of the driving device in real time is adopted, the driving device is used for driving the walking device to move, the power is in direct proportion to the current under the condition of certain voltage, namely the larger the current is, the larger the power is, when the intelligent sound box touches an uphill road section in the moving process, the sum of the friction force and the partial gravity of the intelligent sound box per se needs to be overcome, namely the resistance which needs to be overcome by the driving force is increased, the power is increased by increasing the current, and the increased resistance is overcome to do work. Because the ascending slope section of the environment where the intelligent sound box is located is not too long and the gradient is not too large, the current increase is not too large and the duration is not too long. When touchhing the barrier, the condition that lasts the increase can appear in the electric current, predetermine the electric current and predetermine the time through setting up, when monitoring the electric current increase to being greater than predetermineeing electric current and duration and being greater than predetermineeing the time, judge for touchhing the barrier, control intelligent audio amplifier stops, and sends out the police dispatch newspaper, and the mode of warning can be suggestion music, suggestion alarm etc.. In other embodiments, can be through whether infrared ray detection touches the barrier, be provided with infrared emission device and infrared receiving device on the intelligent audio amplifier, intelligent audio amplifier removes in-process emitter transmission infrared ray, and when touchhing the barrier, infrared reflection returns and is received by infrared receiving device, and control intelligent audio amplifier stops to send out the police dispatch newspaper, prevent that intelligent audio amplifier from damaging.
The invention also provides a directional mobile device of an intelligent sound box, which is mainly applied to the intelligent sound box, and referring to fig. 4, in a first embodiment, the directional mobile device of the intelligent sound box provided by the invention comprises:
the first control module 10 is configured to control the smart sound box to receive voice information and parse the received voice information into voice text information;
in this embodiment, a directional moving method of an intelligent sound box is provided, when there is voice information in an environment where the sound box is located, the first control module 10 controls the sound box to receive the voice information. The voice recognition chip for the non-specific person voice recognition is adopted to receive the voice information, and the non-specific person voice recognition does not aim at the recognition technology of the specified person, does not distinguish age and gender, and only needs to speak the same language. After the voice recognition chip receives the voice information, the voice information is analyzed into voice text information through the operation in the chip, and the voice text information is a series of machine languages which can be recognized by a machine.
The second control module 20 is configured to control the microphone array to collect sound wave information when the parsed voice text information is consistent with the preset voice text information;
in the embodiment, after the received voice information is analyzed into the machine language which can be identified by a machine, the machine language is compared with the preset voice text information, the preset voice text information is the machine language corresponding to the serial number or name of the intelligent sound box, when the analyzed voice text information is consistent with the preset voice text information, the external voice information is sent out aiming at the intelligent sound box, if the external voice information is inconsistent with the preset voice text information, the external voice information is not sent out aiming at the sound box, the intelligent sound box is described for assisting understanding, the specific embodiment is used for describing, the intelligent sound box is named as M, the machine language corresponding to the intelligent sound box is 01101, when the external voice information is N and the analyzed machine language is 01110, the analyzed voice text information is judged to be inconsistent with the preset voice text information, and the external voice information is not sent out aiming at the sound box, the sound box has no action; only when the external speech information analyzes the machine language of "01101", the second control module 20 controls the microphone array to collect the sound wave information of the speech information. Understandably, sound wave information passes through the air propagation, the microphone arrays arranged around the intelligent sound box are controlled to receive the sound wave information, echo interference is generated due to the fact that the sound waves are reflected when the sound waves touch obstacles outside the intelligent sound box during propagation, then the sound generated by the intelligent sound box during playing also interferes with the sound wave information, echo cancellation is needed, specifically, an AEC echo cancellation algorithm can be adopted or an echo cancellation chip is used for carrying out echo cancellation, and therefore the precision of the collected sound wave information is high.
And the third control module 30 is configured to determine a sound source direction according to the collected sound wave information, and control the smart speaker to move towards the sound source direction.
Understandably, sound wave information comes from a certain sound source of an environment where the intelligent sound box is located, the microphones on the microphone arrays can receive the sound wave information, but the distances between different microphones and the sound source are inconsistent, so that the time for receiving the sound wave information is inconsistent with the energy propagated by the received sound waves, please refer to fig. 8, after the sound wave information is received by the microphone arrays, echo cancellation is performed by using an AEC echo cancellation algorithm, Near end is the sound wave information collected by the microphone arrays, far end is echo interference information, Near end and far end find a microphone array point which receives the sound wave information earliest and an array point which has the largest energy propagated in the received sound waves after the acoustic wave information is cancelled by the AEC echo cancellation, and a DOA direction positioning algorithm is performed on the position of the microphone array point, so that the sound source direction is determined, and the intelligent sound box is controlled to move towards the sound source direction. Specifically, after the sound source direction is determined, the motor is controlled to send the moving signal, the motor receives the moving signal to drive the walking device of the intelligent sound box to move towards the sound source direction, so that the intelligent sound box is close to the sound source, and the intelligent sound box is convenient to use.
In this embodiment, the first control module 10 controls the smart sound box to receive the voice information, and analyzes the received voice information into voice text information; when the analyzed voice text information is consistent with the preset voice text information, the second control module 20 controls the microphone array to collect the sound wave information; the third control module 30 determines the sound source direction according to the collected sound wave information, and controls the smart speaker to move towards the sound source direction. Referring to fig. 9, an MIC is a microphone array for collecting external acoustic information; ADC is analog-to-digital conversion, the collected sound wave information is analog quantity signals, and the ADC is required to be converted into digital quantity signals; the FPGA is a field programmable gate array and is used for compressing the multi-channel signal into a single-channel signal; the CPU is a central processing unit and is used for carrying out operation processing on the received external information and then outputting the external information to other elements; I2S is an integrated circuit built-in audio bus used for signal transmission; audio out is an Audio output for outputting an Audio signal; a is a universal wheel driving circuit used for driving a universal wheel; and B is a power amplifier used for amplifying the output audio signal so as to drive a loudspeaker to make a sound. This technical scheme is when intelligent audio amplifier receives with predetermineeing the speech information that text message is unanimous, sound wave information is gathered to control MIC, ADC converts the analog quantity information that MIC gathered into machine recognizable digital quantity information, compress into single channel signal with multichannel signal through FPGA thereafter, transmit CPU through I2S and carry out the operation processing, it removes to control universal wheel drive circuit A drive universal wheel according to the operation processing result, the audio amplifier carries out normal audio output simultaneously, through confirming the sound source direction, thereby control intelligent audio amplifier towards the sound source direction removal, in order to realize moving the position of sending out sound with sound control intelligent audio amplifier, carry out the song change to intelligent audio amplifier, adjust operations such as broadcast volume, the intelligent degree of audio amplifier has been improved, and is convenient to use.
Further, referring to fig. 5, based on the first embodiment of the directional moving apparatus for a smart sound box of the present invention, in the second embodiment of the directional moving apparatus for a smart sound box of the present invention, the third control module 30 includes:
the first acquisition unit 31 is configured to acquire a microphone array point with the largest energy in the sound wave information acquired by the microphone array, and use the microphone array point as a first acquisition point, and use a microphone array point which acquires the sound wave information earliest in the microphone array as a second acquisition point;
the determining unit 32 is configured to determine, when the first collecting point and the second collecting point are the same, that a normal direction of a sound box plane where the first collecting point or the second collecting point is located is a sound source direction; when the first acquisition point is different from the second acquisition point, determining the normal direction of the sound box plane where the second acquisition point is located as the sound source direction;
the determination unit 32 is further configured to control the smart speaker to move towards the sound source.
Specifically, the sound wave information originates from a certain sound source point of the environment where the intelligent sound box is located, according to the sound wave energy attenuation theory, the closer to the sound source point, the smaller the energy attenuation, and the microphone array is distributed around the sound box, so that the sound wave information energy received by the microphone closest to the sound source point is the largest theoretically. But the sound box is used as playing equipment and can make sound, so that echo interference is formed on sound wave information received by the microphone; meanwhile, in the process of propagation, the sound waves touch an obstacle, and part of the sound waves are reflected back to form echo interference, so that the sound wave energy information received by the microphone is not only the sound wave energy information sent by the sound source point, and therefore, the judgment standard that the microphone array point with the maximum energy in the sound wave information acquired by the first acquisition unit 31 is used as the sound source direction is not accurate, and the microphone array point is used as the first acquisition point. Meanwhile, the microphone closest to the sound source point receives sound wave information earliest, and the microphone array point serves as a second acquisition point. Whether the first acquisition point and the second acquisition point are the same microphone array point is judged, if yes, the determining unit 32 determines that the direction corresponding to the first acquisition point or the second acquisition point is the sound source direction, and if the first acquisition point and the second acquisition point are not the same point, the determining unit 32 determines that the direction corresponding to the second acquisition point is the sound source direction. According to the principle that the point is the shortest with the perpendicular line of the plane, the direction corresponding to the first acquisition point or the second acquisition point is the normal line direction of the plane where the first acquisition point or the second acquisition point is located.
Further, referring to fig. 6, based on the second embodiment of the directional moving device for smart sound box of the present invention, in the third embodiment of the directional moving device for smart sound box of the present invention, the third control module 30 further includes:
the second obtaining unit 33 is configured to obtain an included angle between a preset reference direction of the smart sound box and a sound source direction;
the calculating unit 34 is used for calculating a complementary angle of the included angle according to the included angle;
the third control module 30 is further configured to:
controlling a preset reference direction of the intelligent sound box to rotate towards the sound source direction by the angle value of the complementary angle;
when the preset reference direction of the intelligent sound box is perpendicular to the sound source direction, the intelligent sound box is controlled to move towards the sound source direction.
Specifically, a preset reference direction is set on the smart sound box, the reference direction is preferably an operation plane direction facing a user operation in the smart sound box, the second obtaining unit 33 obtains an included angle between the operation plane direction and a sound source direction, the calculating unit 34 calculates a complementary angle value of the included angle by subtracting the included angle from 90 degrees according to the size of the included angle, the third control module 30 controls the preset reference direction of the smart sound box to rotate the complementary angle value towards the sound source direction, so that the preset reference direction is perpendicular to the sound source direction, and thereafter, the third control module 30 drives the smart sound box to move towards the sound source direction, so that the smart sound box is close to the sound source, the user can perform operations such as changing songs and adjusting playing volume on the smart sound box, and the intelligent degree is high and the operation is convenient.
Further, referring to fig. 7, based on the third embodiment of the directional mobile device of smart speaker of the present invention, in the fourth embodiment of the directional mobile device of smart speaker, the directional mobile device of smart speaker of the present invention further includes:
the detection module 40 is used for detecting whether the intelligent sound box meets an obstacle;
and the fourth control module 50 is configured to control the smart speaker to stop when the smart speaker encounters an obstacle.
Understandably, the environment where the smart speaker is located may have other objects besides the speaker, and the smart speaker may touch the object in the moving process to block the smart speaker from moving forward, so that the object is used as an obstacle relative to the smart speaker. In order to prevent that smart speaker from moving the condition that whether detection module 40 detects smart speaker meets the barrier or not, the condition that damages the audio amplifier appears after the barrier is met to last the marching forward in the removal process. Preferably, a mode of monitoring the driving current of the driving device in real time is adopted, the driving device is used for driving the walking device to move, the power is in direct proportion to the current under the condition of certain voltage, namely the larger the current is, the larger the power is, when the intelligent sound box touches an uphill road section in the moving process, the sum of the friction force and the partial gravity of the intelligent sound box per se needs to be overcome, namely the resistance which needs to be overcome by the driving force is increased, the power is increased by increasing the current, and the increased resistance is overcome to do work. Because the ascending slope section of the environment where the intelligent sound box is located is not too long and the gradient is not too large, the current increase is not too large and the duration is not too long. When touchhing the barrier, the condition that lasts the increase can appear in the electric current, predetermine the electric current and predetermine the time through the setting, when monitoring the electric current increase to be greater than predetermineeing electric current and duration and be greater than predetermineeing the time, judge for touchhing the barrier, fourth control module 50 controls intelligent audio amplifier and stops, and sends out the police dispatch newspaper, and the mode of alarm can be suggestion music, suggestion alarm etc.. In other embodiments, can be through whether infrared ray detection touches the barrier, be provided with infrared emission device and infrared receiving device on the intelligent audio amplifier, intelligent audio amplifier removes in-process emitter transmission infrared ray, and when touchhing the barrier, the infrared reflection returns and is received by infrared receiving device, and fourth control module 50 control intelligent audio amplifier stops to send out the police dispatch newspaper, prevent that intelligent audio amplifier from damaging.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. An intelligent sound box comprises a box body and a loudspeaker, and is characterized in that an acquisition device for acquiring external sound wave information and a walking device for driving the sound box to move are arranged on the box body, and the acquisition device is a microphone array MIC;
the intelligent sound box receives the voice information and analyzes the received voice information into voice text information;
when the analyzed voice text information is consistent with the preset voice text information, the intelligent sound box controls the microphone array to collect sound wave information;
the analog-to-digital conversion ADC of the intelligent sound box converts analog quantity sound wave information acquired by the MIC into digital quantity sound wave information which can be recognized by a machine;
compressing the multi-channel digital quantity sound wave information converted by the ADC into single-channel digital quantity sound wave information by the field programmable gate array FPGA of the intelligent sound box;
the audio bus I2S arranged in the intelligent sound box integrated circuit transmits the single-channel digital quantity sound wave information to a Central Processing Unit (CPU) for operation processing to obtain an operation processing result;
the intelligent sound box acquires a microphone array point with the maximum energy in the sound wave information acquired by the microphone array based on the operation processing result, the microphone array point is used as a first acquisition point, a microphone array point which acquires the sound wave information earliest in the microphone array is used as a second acquisition point;
when the first collecting point and the second collecting point are the same, the normal direction of the sound box plane where the first collecting point or the second collecting point is located is determined as the sound source direction by the intelligent sound box; when the first acquisition point is different from the second acquisition point, determining the normal direction of the sound box plane where the second acquisition point is located as the sound source direction;
the smart speaker moves toward the sound source.
2. A directional moving method of an intelligent sound box is characterized by comprising the following steps:
controlling the intelligent sound box to receive voice information and analyzing the received voice information into voice text information;
when the analyzed voice text information is consistent with the preset voice text information, controlling the microphone array to collect sound wave information;
the analog-to-digital conversion ADC converts analog quantity sound wave information acquired by the MIC into digital quantity sound wave information which can be recognized by a machine;
compressing the multi-channel digital quantity acoustic wave information converted by the ADC into single-channel digital quantity acoustic wave information by the field programmable gate array FPGA;
the integrated circuit built-in audio bus I2S transmits the single-channel digital quantity sound wave information to a Central Processing Unit (CPU) for operation processing to obtain an operation processing result;
based on the operation processing result, acquiring a microphone array point with the maximum energy in the sound wave information acquired by the microphone array, taking the microphone array point as a first acquisition point, taking a microphone array point which acquires the sound wave information earliest in the microphone array as a second acquisition point;
when the first acquisition point and the second acquisition point are the same, determining the normal direction of the sound box plane where the first acquisition point or the second acquisition point is located as the sound source direction; when the first acquisition point is different from the second acquisition point, determining the normal direction of the sound box plane where the second acquisition point is located as the sound source direction;
and controlling the intelligent sound box to move towards the sound source direction.
3. The method of claim 2, wherein the step of controlling the smart sound box to move towards the sound source comprises:
acquiring an included angle between a preset reference direction of the intelligent sound box and a sound source direction;
calculating a complementary angle of the included angle according to the included angle;
controlling a preset reference direction of the intelligent sound box to rotate towards the sound source direction by the angle value of the complementary angle;
when the preset reference direction of the intelligent sound box is perpendicular to the sound source direction, the intelligent sound box is controlled to move towards the sound source direction.
4. The method according to any one of claims 2 to 3, wherein the step of controlling the smart sound box to move towards the sound source further comprises:
detecting whether the intelligent sound box meets an obstacle or not;
when the intelligent sound box meets the obstacle, the intelligent sound box is controlled to stop.
5. The utility model provides a directional mobile device of smart sound box, its characterized in that, directional mobile device of smart sound box includes:
the first control module is used for controlling the intelligent sound box to receive the voice information and analyzing the received voice information into voice text information;
the second control module is used for controlling the microphone array to collect sound wave information when the analyzed voice text information is consistent with the preset voice text information;
the analog-digital conversion module is used for converting analog quantity sound wave information acquired by the MIC into digital quantity sound wave information which can be recognized by a machine;
the sound wave channel compression module is used for compressing the multi-channel digital quantity sound wave information converted by the ADC into single-channel digital quantity sound wave information;
the transmission module is used for transmitting the single-channel digital quantity acoustic wave information to a Central Processing Unit (CPU) for operation processing to obtain an operation processing result;
the directional mobile device of the intelligent sound box further comprises a third control module;
the third control module includes:
the first acquisition unit is used for acquiring a microphone array point with the largest energy in the sound wave information acquired by the microphone array based on the operation processing result, taking the microphone array point as a first acquisition point, taking the microphone array point which acquires the sound wave information earliest in the microphone array as a second acquisition point;
the determining unit is used for determining that the normal direction of the sound box plane where the first collecting point or the second collecting point is located is the sound source direction when the first collecting point and the second collecting point are the same; when the first acquisition point is different from the second acquisition point, determining the normal direction of the sound box plane where the second acquisition point is located as the sound source direction;
the determining unit is also used for controlling the intelligent sound box to move towards the sound source direction.
6. The directional movement apparatus of a smartspeaker as set forth in claim 5, wherein said third control module further comprises:
the second acquisition unit is used for acquiring an included angle between the preset reference direction of the intelligent sound box and the sound source direction;
the calculation unit is used for calculating a complementary angle of the included angle according to the included angle;
the third control module is further configured to:
controlling a preset reference direction of the intelligent sound box to rotate towards the sound source direction by the angle value of the complementary angle;
when the preset reference direction of the intelligent sound box is perpendicular to the sound source direction, the intelligent sound box is controlled to move towards the sound source direction.
7. The smart sound box directional mobile device of any one of claims 5 to 6, wherein the smart sound box directional mobile device further comprises:
the detection module is used for detecting whether the intelligent sound box meets an obstacle or not;
and the fourth control module is used for controlling the intelligent sound box to stop when the intelligent sound box meets the obstacle.
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