CN111289947B

CN111289947B - Information processing method, device and equipment

Info

Publication number: CN111289947B
Application number: CN201811493683.3A
Authority: CN
Inventors: 姚海通
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2018-12-07
Filing date: 2018-12-07
Publication date: 2023-04-07
Anticipated expiration: 2038-12-07
Also published as: CN111289947A

Abstract

The embodiment of the application provides an information processing method, an information processing device and information processing equipment, wherein the method comprises the following steps: transmitting a ranging audio signal in response to the ranging request; respectively collecting echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals; determining distances between the plurality of microphones and the obstacle respectively according to echo parameters of the plurality of echo signals; and determining relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle. The technical scheme provided by the embodiment of the application improves the utilization rate of the electronic equipment.

Description

Information processing method, device and equipment

Technical Field

The embodiment of the application relates to the technical field of intelligent sound boxes, in particular to an information processing method, device and equipment.

Background

With the rapid development of internet science and technology, the development of smart homes receives more and more attention, and particularly, various devices in homes are intelligently controlled through the internet of things technology to form various electronic devices. For example, the smart speaker is a product of a speaker upgrade, and a user can use voice networking through the smart speaker, and a relatively common internet access mode is that the user can use the smart speaker to perform services such as song ordering, online shopping, weather forecast, and in addition, can also control the smart home through the smart speaker, for example, set the temperature of a refrigerator, and the like.

In the prior art, various electronic devices provide intelligent services for users, and mostly collect control signals input by users, for example, voice signals input by users can be collected, and the control signals of users are processed for intelligent control, for example, an intelligent sound box can collect voice signals input by users, search feedback information corresponding to voice data input by users from a network, and play the feedback information. For example, the user may make a sound "what weather is today", and play the weather forecast after the recognition processing of the smart speaker and the network search.

However, various electronic devices can only perform device control, and most of the electronic devices provide a user with internet interaction services, or perform device control on the electronic devices themselves, for example, increase the sound of a smart speaker, resulting in a low utilization rate of the electronic devices.

Disclosure of Invention

The embodiment of the application provides an information processing method, device and equipment, which are used for solving the technical problem that the utilization rate of electronic equipment in the prior art is too low.

In a first aspect, an embodiment of the present application provides an information processing method, including:

transmitting a ranging audio signal in response to the ranging request;

respectively acquiring echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals;

determining distances between the plurality of microphones and the obstacle respectively according to echo parameters of the plurality of echo signals;

and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In a second aspect, an embodiment of the present application provides an information processing method, including:

transmitting a ranging audio signal in response to the ranging request;

sending the echo signals to a server, so that the server determines distances between the microphones and the obstacles according to echo parameters of the echo signals; and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In a third aspect, an embodiment of the present application provides an information processing method, including:

receiving a plurality of echo signals sent by electronic equipment; the plurality of echo signals are obtained by respectively acquiring echo signals of ranging audio signals reflected by obstacles by a plurality of microphones; the ranging audio signal is transmitted by the electronic device in response to a ranging request;

In a fourth aspect, an embodiment of the present application provides an information processing apparatus, including:

the request response module is used for responding to the ranging request and sending a ranging audio signal;

the signal acquisition module is used for acquiring echo signals of the ranging audio signals reflected by the obstacles by utilizing a plurality of microphones respectively to obtain a plurality of echo signals;

a distance determining module, configured to determine distances between the plurality of microphones and the obstacle, respectively, according to echo parameters of the plurality of echo signals;

and the information determining module is used for determining the distance between the electronic equipment and the obstacle and the direction of the obstacle relative to the electronic equipment according to the distances between the microphones and the obstacle.

In a fifth aspect, an embodiment of the present application provides an information processing apparatus, including:

the first response module is used for responding to the ranging request and sending a ranging audio signal;

the first acquisition module is used for acquiring echo signals of the ranging audio signals reflected by the obstacles by utilizing a plurality of microphones respectively to obtain a plurality of echo signals;

the signal sending module is used for sending the echo signals to a server so that the server can determine the distances between the microphones and the obstacles according to the echo parameters of the echo signals; and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In a sixth aspect, an embodiment of the present application provides an information processing apparatus, including:

the signal receiving module is used for receiving a plurality of echo signals sent by the electronic equipment; the plurality of echo signals are obtained by respectively acquiring echo signals of ranging audio signals reflected by obstacles by a plurality of microphones; the ranging audio signal is transmitted by the electronic device in response to a ranging request;

a first determining module, configured to determine distances between the plurality of microphones and the obstacle, respectively, according to echo parameters of the plurality of echo signals;

and the second determining module is used for determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In a seventh aspect, an embodiment of the present application provides an information processing apparatus, including: the storage component stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component;

the processing component is to:

transmitting a ranging audio signal in response to the ranging request; respectively collecting echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals; determining distances between the plurality of microphones and the obstacle respectively according to echo parameters of the plurality of echo signals; and determining the distance between the electronic equipment and the obstacle and the direction of the obstacle relative to the electronic equipment according to the distances between the microphones and the obstacle.

In an eighth aspect, an embodiment of the present application provides an information processing apparatus, including: the storage component stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component;

the processing component is to:

transmitting a ranging audio signal in response to the ranging request; respectively collecting echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals; sending the echo signals to a server, so that the server determines distances between the microphones and the obstacles according to echo parameters of the echo signals; and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In a ninth aspect, an embodiment of the present application provides an information processing apparatus, including: the storage component stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component;

the processing component is to:

receiving a plurality of echo signals sent by electronic equipment; the plurality of echo signals are obtained by respectively acquiring echo signals of ranging audio signals reflected by obstacles by a plurality of microphones; the ranging audio signal is transmitted by the electronic device in response to a ranging request; determining distances between the plurality of microphones and the obstacle respectively according to echo parameters of the plurality of echo signals; and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In the embodiment of the application, the electronic device can respond to a distance measurement request of a user, send a distance measurement audio signal, and respectively collect echo signals obtained by the distance measurement audio signal reflected by an obstacle by using a plurality of microphones to obtain a plurality of echo signals; according to the echo parameter of each echo signal, the distance between each of the plurality of microphones and the obstacle can be determined, and then the relative position information between the electronic device and the obstacle can be determined according to the distance between each of the plurality of microphones and the obstacle. The distance and direction of the obstacle are detected by sending the distance measurement audio signal and according to the echo principle, the use range of the electronic equipment is expanded, and the use rate of the electronic equipment is improved.

These and other aspects of the present application will be more readily apparent from the following description of the embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be 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 some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow chart illustrating one embodiment of an information processing method provided herein;

FIG. 2 is a flow chart illustrating a further embodiment of an information processing method provided by the present application;

FIG. 3 illustrates an example diagram of an obstacle relative to electronic device orientation determination provided herein;

FIG. 4 illustrates yet another example of an obstacle relative to electronic device orientation determination provided by the present application;

FIG. 5 is a flow chart illustrating a further embodiment of an information processing method provided by the present application;

FIG. 6 is a flow chart illustrating a further embodiment of an information processing method provided by the present application;

FIG. 7 is a schematic diagram illustrating an embodiment of an information processing apparatus provided herein;

FIG. 8 is a block diagram of an information processing apparatus according to an embodiment of the present disclosure

FIG. 9 is a schematic diagram illustrating an information processing apparatus according to yet another embodiment of the present disclosure;

FIG. 10 is a schematic diagram illustrating an information processing apparatus according to yet another embodiment of the present application;

FIG. 11 is a schematic diagram illustrating an information processing apparatus according to yet another embodiment of the present application;

fig. 12 is a schematic structural diagram of another embodiment of an information processing apparatus provided in the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In some of the flows described in the specification and claims of this application and in the above-described figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, the number of operations, e.g., 101, 102, etc., merely being used to distinguish between various operations, and the number itself does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.

The embodiment of the invention is mainly applied to the electronic equipment capable of realizing intelligent control, and the distance measurement is automatically carried out by utilizing the distance measurement signal sent by the microphone of the electronic equipment, so that the application range of the electronic equipment is expanded, and the utilization rate of the electronic equipment is improved.

In the prior art, electronic equipment mostly realizes equipment control under the control of a certain instruction set by a user, for example, an intelligent sound box can collect a sound signal sent by the user, recognize the sound signal, obtain characters of sound sent by the user, for example, "how the weather is today", the intelligent sound box can search weather information matched with the sound characters sent by the user based on the internet, and play the weather information. However, most of the existing electronic devices provide internet interactive services for users or control the electronic devices themselves, such as increasing the sound volume of the electronic devices, and the electronic devices have a narrow range of use and a low utilization rate in actual use.

In order to solve the above problems, the inventor thinks that, in an electronic device, particularly an electronic device including a microphone array, such as a smart speaker, can collect a sound emitted by a user, and can also collect an echo of the sound emitted by the electronic device, and determine a distance and a relative direction between an obstacle and the electronic device by using an echo principle, so that the distance and the direction between the electronic device and the obstacle can be provided, and the use efficiency of the electronic device can be improved. Accordingly, the inventors propose a technical solution of the present application.

In the embodiment of the invention, the electronic equipment can respond to the distance measurement request of the user, send the distance measurement audio signal, and respectively collect echo signals obtained by the distance measurement audio signal reflected by the obstacle by utilizing a plurality of microphones to obtain a plurality of echo signals; according to the echo parameter of each echo signal, the distance between each of the plurality of microphones and the obstacle can be determined, and then the relative position information between the electronic equipment and the obstacle can be determined according to the distance between each of the plurality of microphones and the obstacle. The distance and direction of the obstacle are detected by sending the ranging audio signal and according to the echo principle, the use range of the electronic equipment is expanded, and the use rate of the electronic equipment is improved.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

As shown in fig. 1, a schematic structural diagram of an embodiment of an information processing method according to an embodiment of the present invention is provided, where the method includes the following steps:

101: in response to the ranging request, a ranging audio signal is transmitted.

The embodiment of the invention can be applied to electronic equipment, in particular to electronic equipment comprising a microphone array, wherein the electronic equipment can be an intelligent sound box and the like.

The ranging request is sent by a user and detected and obtained by the electronic equipment. Specifically, the electronic device collects a user voice signal and identifies the user's voice signal, and if the identified voice signal is associated with ranging, confirms that the ranging request is received.

As an optional manner, in order to obtain the ranging request quickly, when the electronic device collects a voice signal of the user, the voice signal may be sent to the server for identification processing, so as to reduce processing pressure of the electronic device and improve identification speed of the ranging request. At this time, the transmitting a ranging audio signal in response to the ranging request may further include:

collecting a sound signal sent by a user;

sending the sound signal to a server side for the server side to identify and process the sound signal, and sending a ranging request to electronic equipment when the problem corresponding to the sound signal is determined to be the ranging request;

and receiving a ranging request corresponding to the sound signal sent by the server.

The ranging audio signal is a signal sent by the electronic device and used for measuring the distance between the obstacle and the electronic device.

When the electronic equipment is the intelligent sound box, the distance measurement audio signals can be sent out through the audio output equipment of the intelligent sound box, so that the distance measurement is carried out on the barrier.

In practical applications, the sound emitted by the user may be collected by a microphone of the electronic device.

In order to reduce the loss of sound during transmission and achieve accurate capture of the echo signal, sending the ranging audio signal in response to the ranging request may specifically refer to sending a preset ranging audio signal in response to the ranging request. The distance measurement audio signal can be a high-frequency signal or an audio signal meeting a certain rule, so that the electronic equipment can accurately capture the audio signal and obtain an accurate electronic signal. An audio signal that satisfies a certain rule may specifically mean that sound parameters such as audio and volume conform to a certain rule, so as to obtain minimum attenuation during sound transmission.

102: and respectively acquiring echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals.

The echo signals obtained by the distance measurement audio signals of each microphone reflected by the obstacle are different from each other, that is, the echo signals obtained by the distance measurement audio signals reflected by the obstacle are respectively collected by the microphones, and the obtained echo signals are different from each other. As a possible implementation manner, the plurality of echo signals being different from each other may mean that the signal frequency, the volume, or the power of each echo signal are different.

An electronic device, particularly an intelligent sound box, may be provided with a microphone array for collecting echoes emitted or reflected in different directions, and the plurality of microphone arrays may include a plurality of microphones for respectively collecting sound signals. Therefore, as an alternative, a plurality of echo signals may be obtained by using a plurality of microphones in a microphone array to respectively collect echo signals obtained by reflecting the audio ranging signals by an obstacle.

In a practical application, the space where the electronic device is located may include a plurality of obstacles, and the obstacle that reflects the ranging audio signal collected in this application refers to the obstacle that is closest to the electronic device. Therefore, the obstacle in the echo signal obtained by the multiple microphones respectively collecting the ranging audio signal reflected by the obstacle may be the obstacle closest to the electronic device.

At this time, the acquiring, by the plurality of microphones, echo signals obtained by reflecting the ranging audio signal by an obstacle, respectively, may include:

and acquiring first echo signals obtained by the plurality of microphones respectively acquiring the distance measurement audio signals reflected by the obstacle to obtain a plurality of echo signals. That is, for a plurality of echo signals obtained by reflecting the ranging audio signal collected by each microphone by the obstacle, the first echo signal, which is obtained by reflecting the ranging audio signal collected by the microphone by the obstacle and has the earliest receiving time, is determined from the plurality of echo signals.

As a possible implementation manner, a plurality of microphones (MIC, microphone) may be installed in the electronic device, and the plurality of microphones may constitute a Microphone array of the electronic device, and each Microphone has a different position and respectively collects respective echo signals. The plurality of echo signals may be arranged in the form of a circular MIC array in order to collect echo signals from various directions.

Since the acoustic velocity is high when the echo signal is transmitted in the air, for example, the acoustic velocity is generally 340 m/S, and if the effective distance between two MICs is less than 10cm (centimeter), the difference between the receiving times of the two MICs, that is, S/340, is less than 0.000294117647059 seconds, can be calculated and obtained, and the transmission time can be ignored. Therefore, the effective distance between two MICs should be greater than 10cm (centimeters). The effective distance between the two MICs refers to the difference in distance between the two MICs of the person and the obstacle.

To facilitate the identification of the echo signals for each MIC acquisition, in one possible design, a corresponding MIC tag may be provided for each MIC, and the tag of each MIC may include the position of the MIC in the MIC array, and in addition, each MIC tag may be used to identify the echo signals for the MIC acquisition to distinguish the echo signals for different MICs.

103: and determining the distances between the plurality of microphones and the obstacle respectively according to the echo parameters of the plurality of echo signals.

104: and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

As an implementation manner, the positions of the microphones of the plurality of microphones may be set in advance, that is, the distances between the plurality of microphones with known positions and the obstacle may be determined according to the echo parameters of the plurality of echo signals. When the positions of the microphones are known, the direction of the obstacle relative to the electronic equipment can be determined by utilizing a triangle solving mode according to the distance between the microphones and the obstacle.

Optionally, after obtaining the echo parameters of the multiple echoes, it may be determined whether the echo parameters of the multiple echoes meet the use requirement, and if not, the echo parameters of the multiple echoes may be rejected. As a possible implementation manner, the echo parameter may include volume or power of an echo signal, specifically, the volume or power of each echo may be calculated through a signal, when the volume does not satisfy a preset volume threshold or the power does not satisfy a power threshold, it may be determined that the echo does not meet the use requirement, and when the volume satisfies the preset volume threshold or the power satisfies the power threshold, it may be determined that the echo meets the use requirement.

In the embodiment of the present invention, the electronic device may send a ranging audio signal in response to a ranging request, and acquire echo signals obtained by reflecting the ranging audio signal by an obstacle by using a plurality of microphones, respectively, to obtain a plurality of echo signals, and according to echo parameters of different echo signals, may determine distances between the plurality of microphones and the obstacle, respectively, and then may determine a distance between the electronic device and the obstacle and a direction of the obstacle with respect to the electronic device by using the distances between the plurality of microphones and the obstacle. Electronic equipment can realize automatic range finding and direction under user control, and extension application range improves the utilization ratio, simultaneously, still measures to the relative direction of barrier except that the range finding, obtains the more accurate measuring result of barrier relatively, and the measuring result is more comprehensive, can improve measuring result's validity.

In order to obtain the distance and direction from the electronic device to the obstacle during the sound transmission process, as an embodiment, as shown in fig. 2, the difference from the embodiment shown in fig. 1 is that, in step 104 of the embodiment shown in fig. 1: after determining the distance between the electronic device and the obstacle and the direction of the obstacle relative to the electronic device according to the distances between the plurality of microphones and the obstacle, the method may further include:

201: and outputting prompt information corresponding to the relative position information of the electronic equipment and the obstacle.

The electronic device may include a display screen through which a distance from the electronic device to the obstacle and a direction of the obstacle relative to the electronic device are output in text form.

The electronic device may also output the distance from the electronic device to the obstacle and the direction of the obstacle relative to the electronic device in the form of voice through an audio output device, such as a microphone.

By outputting the distance between the electronic equipment and the obstacle and the direction of the obstacle relative to the electronic equipment, the user can conveniently know the distance between the obstacle of the electronic equipment and the direction of the obstacle relative to the electronic equipment.

The electronic device may be a mobile device such as a robot or an intelligent vehicle, and during the actual movement of the electronic device, a movement path may be planned in advance according to the distance between the electronic device and the obstacle and the direction of the obstacle relative to the electronic device, so as to avoid collision with the obstacle. Therefore, as another embodiment, after determining the distance between the electronic device and the obstacle and the direction of the obstacle relative to the electronic device according to the distances between the microphones and the obstacle, the method may further include:

setting a movement route according to the relative position information of the electronic equipment and the obstacle;

and moving according to the movement route.

Optionally, the movement route may include a movement distance and a movement direction, and the movement of the electronic device according to the movement route may specifically include a movement according to the movement distance and the movement direction. In practical applications, in order to avoid collision with the obstacle, different movement paths and movement directions may be included in the actual movement process, for example, after moving a first movement distance in a first movement direction, the actual movement process is converted into a second movement distance in a second movement direction, where the first movement direction and the second movement direction are different, and collision with the obstacle can be avoided when the first movement direction is converted into the second movement direction.

According to the embodiment of the invention, the electronic equipment is controlled to move according to the set movement route, so that the electronic equipment can be prevented from colliding with the obstacle, and the electronic equipment is protected.

In a possible design, the relative position information of the electronic device and the obstacle may specifically include: a distance of the electronic device relative to the obstacle and/or a direction of the electronic device relative to the obstacle.

As an embodiment, the determining the relative position information of the electronic device and the obstacle according to the distances from the plurality of microphones to the obstacle respectively includes:

and determining the distance of the electronic equipment relative to the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

Considering that a plurality of microphones are all located in the electronic device body, and the distance between each microphone in the microphone matrix is very small relative to the distance between the electronic device and the obstacle, the electronic device can use the distance between any microphone and the obstacle as the distance between the electronic device and the obstacle.

In some embodiments, the determining the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle respectively may include:

and taking the distance between any microphone and the obstacle as the distance between the electronic equipment and the obstacle.

The distance between the electronic equipment and the obstacle is obtained by using the microphone array in the electronic equipment body, so that the using function of the electronic equipment is increased, and the utilization rate of the electronic equipment is improved. Meanwhile, the obstacle can be measured by avoiding using traditional equipment such as an infrared distance meter, and the equipment cost of the electronic equipment is reduced.

As another embodiment, the determining the relative position information of the electronic device and the obstacle according to the distances from the plurality of microphones to the obstacle respectively comprises:

and determining the direction of the electronic equipment relative to the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

Because the traditional distance measurement mode only measures the distance of an object and does not pay attention to the direction, the relative direction between the obstacle and the electronic equipment can be determined besides the determination of the distance between the electronic equipment and the obstacle, so that the obtained information is more comprehensive, and the effective utilization of the electronic equipment is further realized.

In order to accurately obtain the distance and the direction between the electronic device and the obstacle, the distance and the direction may be obtained by solving a triangle calculation, and therefore, as an embodiment, the determining the direction of the electronic device relative to the obstacle according to the distances between the plurality of microphones and the obstacle respectively includes:

determining any two target microphones; determining a circle which is formed by taking each target microphone as a center of a circle and taking the distance between each target microphone and the obstacle as a radius; determining an external common tangent formed by circles corresponding to the two target microphones respectively; and determining the direction of the obstacle relative to the electronic equipment based on the directions of the external common tangent line relative to the any two microphones.

Alternatively, any two target microphones may be two microphones having a distance difference from the obstacle of more than 10 centimeters to determine that any two target microphones may yield a distance from the obstacle.

The determining of the two arbitrary target microphones may refer to determining two arbitrary microphones of a plurality of microphones, where the two arbitrary target microphones may be a first target microphone and a second target microphone, respectively. And determining any two target microphones, namely determining the distance between the any two target microphones and the obstacle respectively. That is, a first target distance of the first target microphone from the obstacle and a second distance of the second target microphone from the obstacle may be determined.

The determining a circle having a center at each target microphone and a radius at a distance from the obstacle may include: determining a first circle formed by taking the first target microphone as a circle center and the first target distance as a radius, and a second circle formed by taking the second target microphone as a circle center and the second target distance as a radius.

The determining of the external common tangent line formed by the circles corresponding to the two target microphones may include determining the external common tangent line between the first circle and the second circle. And an included angle formed by the external common tangent line and a straight line formed by the two target microphones is the direction of the obstacle relative to the electronic equipment.

In some embodiments, determining the direction of the obstacle relative to the electronic device based on the direction of the common tangent relative to the two target microphones may include: and determining an included angle formed by the external common tangent and a straight line formed by the two target microphones as the direction of the obstacle relative to the electronic equipment.

For convenience of understanding, as shown in fig. 3, in an exemplary diagram of a determination method of an orientation of an obstacle relative to an electronic device in the embodiment of the present application, which is drawn by taking the principle of an external common tangent as an example, in fig. 3, two

target microphones

301 and 302 are respectively shown, a circle corresponding to the target microphone 301 is 303, a circle corresponding to the target microphone 302 is 304, and external common tangents of the two

circles

301 and 302 are 305, and in some embodiments, the orientation of the obstacle relative to the electronic device may be an included angle 306 between the external common tangent and a straight line formed by the

target microphones

301 and 302.

The direction of the obstacle relative to the electronic equipment can be obtained through a common tangent principle, and an external common tangent formed by two circles formed by two target microphones is obtained through graphic processing and common tangent calculation. In the actual calculation process, a coordinate system with the centers of the microphones as the origin may be set, and then an equation of an external common tangent formed by two circles formed by two target microphones may be calculated and obtained, and then the direction of the obstacle relative to the electronic device may be obtained by tracing. To simplify the calculation, the direction of the obstacle relative to the electronic device may be calculated based on the origin of the coordinate system, for example, the direction of the obstacle relative to the electronic device may be determined based on the tangent point of the obstacle and two circles formed by the origin relative to the two target microphones.

In the embodiment of the invention, the position and the direction of the obstacle and the electronic equipment can be determined according to the external common tangent of two circles formed by two target microphones and the distance between the two microphones and the obstacle, and the accurate direction and distance can be obtained.

In practical applications, there may be two microphones with the same distance from the obstacle, and at this time, it may be determined that the obstacle is located on a midperpendicular of a line segment formed by the two microphones, and in order to simplify the process of determining the distance and the direction between the electronic device and the obstacle, as another embodiment, the determining the direction of the electronic device relative to the obstacle according to the distances between the microphones and the obstacle may include:

determining a first microphone and a second microphone which are the same in distance with the obstacle in the plurality of microphones and a third microphone which is positioned in a first direction of a straight line formed by the connection of the first microphone and the second microphone;

if the distance between the third microphone and the obstacle is smaller than the distance between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic equipment is a first direction of a line segment formed by the first microphone and the second microphone;

and if the distance between the third microphone and the obstacle is greater than that between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic equipment is a second direction of a line segment formed by the first microphone and the second microphone.

Wherein the second direction is opposite to the first direction.

If the distance between the third microphone and the obstacle is smaller than that between the first microphone and the obstacle, the direction of the obstacle is the same as that of the third microphone; if the distance between the third microphone and the obstacle is larger than that between the first microphone and the obstacle, the direction of the obstacle is opposite to that of the third microphone.

If the first microphone and the second microphone are at the same distance from the obstacle, the obstacle is located on a perpendicular bisector of a line segment formed by the first microphone and the second microphone, but the perpendicular bisector of the line segment formed by connecting the first microphone and the second microphone actually corresponds to two directions. The first direction in which the third microphone is located on the line segment formed by the first microphone and the second microphone may refer to the left or above the line segment formed by the first microphone and the second microphone, and may specifically refer to the left or above the perpendicular bisector of the line segment formed by the first microphone and the second microphone. The second direction opposite to the first direction may be right or above a line segment formed by the first microphone and the second microphone, and may specifically be right or above a perpendicular bisector formed by the first microphone and the second microphone, and the obstacle is located in the first direction or the second direction.

As shown in fig. 4, a perpendicular bisector 403, which forms a line segment 402 with two microphones 401, is in a first direction with respect to the left side of the display screen and in a second direction with respect to the right side of the display screen. If the third microphone 404 is located in the first direction relative to the perpendicular bisector, when the distance s1 between the third microphone 404 and the obstacle 405 is smaller than the distance s2 between the first microphone 401 or the second microphone 402 and the obstacle 405, the obstacle 405 is located in the first direction relative to the perpendicular bisector of the line segment formed by the first microphone 401 and the second microphone 402, and the first direction relative to the perpendicular bisector where the third microphone is located is the same as the first direction relative to the perpendicular bisector. If the third microphone 404 is located in the second direction with respect to the perpendicular bisector, and if the distance s3 between the third microphone 404 and the obstacle 405 is greater than the distance between the first microphone 401 or the second microphone 402 and the obstacle 405, the obstacle 405 is located in the first direction with respect to the perpendicular bisector of the line segment formed by the first microphone 401 and the second microphone 402, opposite to the distance of the third microphone with respect to the perpendicular bisector. Of course, the direction of the two microphones 401 relative to the display screen on the vertical line in the line segment may be arbitrary, and the left and right of the relative display screen described in this application are merely exemplary.

In the embodiment of the invention, in order to accurately obtain the direction of the obstacle relative to the electronic device, the distance between the third microphone and the obstacle and the distance between the first microphone or the second microphone and the obstacle need to be determined according to the difference.

In order to obtain an accurate distance and direction of the obstacle relative to the electronic device, as a further embodiment, the determining the direction of the electronic device relative to the obstacle according to the distances from the plurality of microphones to the obstacle respectively may include:

determining a reference microphone, a first connection microphone, and a second connection microphone; the distance between the reference microphone and the obstacle is a reference distance, and the distance between the first connecting microphone and the obstacle is a first distance, and the distance between the second connecting microphone and the obstacle is a second distance;

determining a first included angle between two line segments formed by connecting the obstacle with the first connecting microphone and the second connecting microphone respectively and a second included angle between a line segment formed by connecting the first microphone and the second microphone and a line segment formed by connecting the first microphone and the obstacle according to the microphone distance between the first connecting microphone and the second connecting microphone, the first distance and the second distance; the distance between the position of the obstacle corresponding to the vertex of the first included angle and the reference microphone is a reference distance;

and determining that the direction of the barrier relative to a straight line formed by connecting the first microphone and the second microphone is the direction of the barrier relative to the electronic equipment based on the first included angle and the second included angle.

In some embodiments, the determining the relative position information of the electronic device and the obstacle according to the distances from the plurality of microphones to the obstacle respectively may include:

and determining the reference distance as the distance between the electronic equipment and the obstacle.

The reference distance is used as the distance between the electronic equipment and the obstacle, so that the targeted distance measurement can be realized, the distance reference significance is higher, and the accuracy and the effectiveness of the distance of the electronic equipment are improved.

In some embodiments, the reference microphone, the first connection microphone, and the second connection microphone may be any three of the plurality of microphones to process microphones for all distances.

Of course, in order to calculate the direction of the electronic device and the obstacle in more detail and obtain a more accurate calculation result, as an embodiment, the determining the reference microphone, the first connection microphone and the second connection microphone includes:

and respectively obtaining the reference microphone, the first connecting microphone and the second connecting microphone according to the distance sequence of the three microphones and the obstacle from large to small.

By sequencing different microphones according to the distances from the obstacles, the simpler and more accurate position relation between the straight line or line segment formed by the first connecting microphone and the second connecting microphone and the obstacles can be obtained by taking the reference microphone as a reference, and the method is favorable for simplifying the calculation and improving the accuracy of the calculation.

In order to obtain an accurate relative direction of the electronic device and the obstacle, as another embodiment, the determining, based on the first angle and the second angle, that the direction of the obstacle relative to a line formed by connecting the first microphone and the second microphone is the direction of the obstacle relative to the electronic device includes:

determining a perpendicular to a line segment that the obstacle forms with respect to a connection of the first microphone and the second microphone; the intersection point of the vertical line and a line segment formed by connecting the first microphone and the second microphone is a foot;

calculating and obtaining the offset distance between the foot and the first microphone by using the second included angle and the first distance;

determining a target direction of a straight line formed by the connection of the obstacle relative to the first microphone and the second microphone according to the first included angle and the reference distance;

and determining that on a line segment formed by connecting the first microphone and the second microphone, a target direction of a perpendicular line at an offset distance from the first microphone relative to the line segment and a straight line formed by connecting the first microphone and the second microphone is the direction of the obstacle relative to the electronic equipment.

According to the embodiment of the invention, the distance and the direction between the electronic equipment and the obstacle are accurately obtained through the distances between the microphones and the obstacle.

As an embodiment, the determining the distances from the plurality of microphones to the obstacle respectively according to the echo parameters of the plurality of echo signals includes:

and determining the distance between each of the plurality of microphones and the obstacle according to the echo transmission time or the echo volume attenuation of the plurality of echo signals.

In some embodiments, the determining the distances of the plurality of microphones from the obstacle according to the echo transmission time or the echo volume attenuation of the plurality of echo signals includes:

determining distances between the plurality of microphones and the obstacle according to the products of the echo transmission times of the plurality of echo signals and the sound velocity respectively; alternatively, the first and second electrodes may be,

and determining the distances between the plurality of microphones and the obstacle according to an attenuation formula corresponding to the attenuation of the echo volume of the plurality of echo signals.

Wherein, the echo parameter of the multiple echo signals may refer to echo transmission time or signal volume attenuation of the multiple echo signals. That is, the distances between the plurality of microphones and the obstacle may be determined based on the echo propagation time or the echo volume attenuation of the plurality of echo signals, respectively.

The echo parameter of each echo signal can be used to measure the echo parameter generated by the echo signal during transmission.

The echo transmission time may refer to a time difference between a start time when the electronic device sends out the ranging audio signal and an end time when the echo signal is received. Assuming that the echo transmission time of the echo signal is T, the distance between the microphone for collecting the echo signal and the obstacle is: l = speed of sound T/2; in practical applications, the sound velocity can be determined according to the environment of the electronic device, and is influenced by factors such as transmission medium, temperature and pressure in the environment, and generally speaking, the sound velocity is about 340 m/s when the sound velocity is transmitted in air with 1 standard atmosphere and 15 degrees centigrade.

Besides the time of transmission by echo, the distance of transmission can also be determined by the attenuation of sound volume during sound transmission. The echo attenuation formula is a common formula for calculating the sound transmission distance by using sound attenuation, and is not described herein again.

As shown in fig. 5, a flowchart of an embodiment of an information processing method according to an embodiment of the present invention is provided, where the method includes the following steps:

501: transmitting a ranging audio signal in response to the ranging request;

502: respectively acquiring echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals;

503: sending the echo signals to a server, so that the server determines distances between the microphones and the obstacles according to echo parameters of the echo signals; and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

The electronic equipment can utilize the microphone located in the body of the electronic equipment to collect echo signals emitted by the electronic equipment and reflected by the obstacle, and send the echo signals to the server, and at the moment, the server can determine the relative position information of the electronic equipment and the obstacle based on the echo signals, so that the utilization rate of the electronic equipment is improved, and the application range of the electronic equipment is expanded.

Optionally, the electronic device may further receive the relative position information of the electronic device and the obstacle, which is sent by the server. The electronic device may output prompt information corresponding to the relative position information of the electronic device and the obstacle based on the relative position information of the electronic device and the obstacle.

Optionally, the electronic device may further set a movement route of the electronic device according to the relative position information of the electronic device and the obstacle, and move according to the movement route.

As shown in fig. 6, a flowchart of an embodiment of an information processing method according to an embodiment of the present invention is provided, where the method may include the following steps:

601: receiving a plurality of echo signals sent by electronic equipment; the plurality of echo signals are obtained by respectively acquiring echo signals of ranging audio signals reflected by obstacles by a plurality of microphones; the ranging audio signal is transmitted by the electronic device in response to a ranging request;

602: determining distances between the plurality of microphones and the obstacle respectively according to echo parameters of the plurality of echo signals;

603: and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

As a possible implementation manner, the server may further generate prompt information corresponding to the relative position information of the electronic device and the obstacle, and send the prompt information corresponding to the relative position information of the electronic device and the obstacle to the electronic device, so that the electronic device outputs the relative position information of the electronic device and the obstacle.

As another possible implementation manner, the server may further set a movement route according to the relative position information between the electronic device and the obstacle, and send the movement route to the electronic device, at this time, the electronic device may receive the movement route sent by the server and move according to the movement route.

The step that the server determines the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively comprises the following steps:

In some embodiments, the determining, by the server, the distance between the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle respectively includes:

As another embodiment, the determining, by the server, the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle respectively includes:

In order to accurately obtain the distance and the direction between the electronic device and the obstacle, the distance and the direction may be obtained by solving a triangle calculation, and therefore, as an embodiment, the determining, by the server, the direction of the electronic device relative to the obstacle according to the distances between the plurality of microphones and the obstacle respectively includes:

determining any two target microphones; determining a circle which is formed by taking each target microphone as a center of a circle and taking the distance between each target microphone and the obstacle as a radius; determining an external common tangent formed by corresponding circles of the two target microphones respectively; and determining the direction of the obstacle relative to the electronic equipment based on the directions of the external common tangent line relative to the any two microphones.

if the distance between the third microphone and the obstacle is smaller than that between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic equipment is a first direction located on a line segment formed by the first microphone and the second microphone;

and if the distance between the third microphone and the obstacle is greater than that between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic equipment is a second direction located on a line segment formed by the first microphone and the second microphone.

Wherein the second direction is opposite to the first direction.

In the embodiment of the invention, in order to accurately obtain the direction of the obstacle relative to the electronic device, the distance between the third microphone and the obstacle needs to be determined by the difference between the distance between the first microphone or the second microphone and the obstacle.

In order to obtain an accurate distance and direction of the obstacle relative to the electronic device, as another embodiment, the determining, by the server, the direction of the electronic device relative to the obstacle according to the distances between the plurality of microphones and the obstacle, respectively, may include:

In some embodiments, the determining, by the server, the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle, respectively, may include:

In some embodiments, the server-side reference microphone, the first connection microphone, and the second connection microphone may be any three microphones of the plurality of microphones to process microphones for all distances.

Of course, in order to calculate the direction of the electronic device and the obstacle in more detail and obtain a more accurate calculation result, as an embodiment, the server determines the reference microphone, the first connection microphone and the second connection microphone, and includes:

By sequencing different microphones according to the distances from the obstacles, the simpler and more accurate position relation between the straight line or line segment formed by the first connecting microphone and the second connecting microphone and the obstacles can be obtained by taking the reference microphone as a reference, which is beneficial to simplifying the calculation and improving the accuracy of the calculation.

determining a perpendicular to a line segment that the obstacle forms with respect to a connection of the first microphone and the second microphone; the intersection point of the vertical line, a line segment formed by connecting the first microphone and the second microphone is a foot;

determining that on a line segment formed by connecting the first microphone and the second microphone, a target direction of a straight line formed by connecting the first microphone and the second microphone and a perpendicular line at an offset distance from the first microphone is opposite to the target direction, and the target direction is a direction of the obstacle relative to the electronic device.

In the embodiment of the invention, the server side accurately obtains the distance and the direction between the electronic equipment and the obstacle through the distances between the microphones and the obstacle.

As an embodiment, the determining, by the server, distances between the plurality of microphones and the obstacle respectively according to the echo parameters of the plurality of echo signals includes:

In some embodiments, the determining, by the server, respective distances between the plurality of microphones and the obstacle according to the echo transmission time or the echo volume attenuation of the plurality of echo signals includes:

determining the distances between the plurality of microphones and the obstacle according to the products of the echo transmission time of the plurality of echo signals and the speed of sound respectively; alternatively, the first and second electrodes may be,

For a detailed manner of acquiring the direction and/or distance of the electronic device relative to the obstacle, the steps executed by the server are the same as those executed by the electronic device, and are not described herein again.

As shown in fig. 7, a schematic structural diagram of an embodiment of an information processing apparatus according to an embodiment of the present invention is provided, where the apparatus may include the following modules:

a request response module 701, configured to send a ranging audio signal in response to a ranging request;

a signal collecting module 702, configured to collect echo signals of the ranging audio signal reflected by an obstacle by using multiple microphones, respectively, to obtain multiple echo signals;

a distance determining module 703, configured to determine, according to echo parameters of the echo signals, distances between the microphones and the obstacle respectively;

an information determining module 704, configured to determine relative position information of the electronic device and the obstacle according to distances between the plurality of microphones and the obstacle, respectively.

In the embodiment of the present invention, the electronic device may send a ranging audio signal in response to the ranging request, and acquire echo signals obtained by reflecting the ranging audio signal by an obstacle by using a plurality of microphones, respectively, to obtain a plurality of echo signals, and may determine distances between the plurality of microphones and the obstacle, respectively, according to echo parameters of different echo signals, and then may determine a distance between the electronic device and the obstacle and a direction of the obstacle relative to the electronic device by using the distances between the plurality of microphones and the obstacle. The electronic equipment can realize automatic distance measurement and direction under the control of a user, the use range is expanded, and the utilization rate is improved.

In order to enable a user to obtain the distance and direction of an obstacle from the electronic device during sound transmission, as an embodiment, the apparatus further includes:

and the information output module is used for outputting prompt information corresponding to the relative position information of the electronic equipment and the obstacle.

The electronic device may be a mobile device such as a robot or an intelligent vehicle, and during the actual movement of the electronic device, a movement path may be planned in advance according to the distance between the electronic device and the obstacle and the direction of the obstacle relative to the electronic device, so as to avoid collision with the obstacle. Thus, as yet another embodiment, the apparatus further comprises:

the route setting module is used for setting a movement route according to the relative position information of the electronic equipment and the barrier;

and the movement module is used for moving according to the movement route.

Optionally, the movement route may include a movement distance and a movement direction, and the movement of the electronic device according to the movement route may specifically include a movement according to the movement distance and the movement direction. In practical applications, in order to avoid collision with the obstacle, different movement paths and movement directions may be included in the actual movement process, for example, after moving a first movement distance in a first movement direction, the actual movement process is converted into a second movement distance in a second movement direction, where the first movement direction and the second movement direction are different, the first movement distance and the second movement distance are different, and collision with the obstacle can be avoided when the first movement direction is converted into the second movement direction.

As one embodiment, the information determination module includes:

and the distance determining unit is used for determining the distance of the electronic equipment relative to the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In some embodiments, the distance determining unit may be specifically configured to:

The distance between the electronic equipment and the obstacle is obtained by using the microphone array in the electronic equipment body, the using function of the electronic equipment is increased, and the utilization rate of the electronic equipment is improved. Meanwhile, the obstacle can be measured by avoiding using traditional equipment such as an infrared distance meter, and the equipment cost of the electronic equipment is reduced.

As yet another embodiment, the information determination module includes:

and the direction determining unit is used for determining the direction of the electronic equipment relative to the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In order to accurately obtain the distance and the direction between the electronic device and the obstacle, the distance and the direction may be obtained by solving a triangle, and thus, as one embodiment, the direction determining unit includes:

a first determining subunit, configured to determine any two target microphones;

the second determining subunit is used for determining a circle which is formed by taking the center of each target microphone as the center of a circle and the radius of the distance between each target microphone and the obstacle as the radius;

a third determining subunit, configured to determine an external common tangent formed by circles corresponding to the two target microphones, respectively;

a fourth determining subunit, configured to determine a direction of the obstacle with respect to the electronic device based on a direction of the external common tangent with respect to the two target microphones.

The determining a circle centered at each target microphone and formed with a radius of a distance of each target microphone from the obstacle may include: a first circle centered on the first target microphone and having a radius of the first target distance and a second circle centered on the second target microphone and having a radius of the second target distance are determined.

In the embodiment of the invention, the position and the direction of the obstacle and the electronic equipment can be determined according to the external common tangent of two circles formed by the two target microphones and the distance between the two microphones and the obstacle, and the accurate direction and distance can be obtained.

In practical applications, there may be two microphones with the same distance from the obstacle, and at this time, it may be confirmed that the obstacle is located on a midperpendicular of a line segment formed by the two microphones, and in order to simplify the process of determining the distance and the direction between the electronic device and the obstacle, the direction determining unit includes, as a further embodiment:

a fifth determining subunit, configured to determine a first microphone and a second microphone that are located at the same distance from the obstacle, and a third microphone that is located in a first direction of a straight line formed by connecting the first microphone and the second microphone, from among the plurality of microphones;

a sixth determining subunit, configured to determine, if the distance between the third microphone and the obstacle is smaller than the distance between the first microphone and the obstacle, that a direction of the obstacle with respect to the electronic device is a first direction located on a line segment formed by the first microphone and the second microphone;

a seventh determining subunit, configured to determine, if the distance between the third microphone and the obstacle is greater than the distance between the first microphone and the obstacle, that the direction of the obstacle relative to the electronic device is a second direction located on a line segment formed by the first microphone and the second microphone; wherein the second direction is opposite to the first direction.

In order to obtain an accurate distance and direction of an obstacle with respect to an electronic device, as still another embodiment, the direction determining unit includes:

a selection subunit for determining a reference microphone, a first connection microphone and a second connection microphone; the distance between the reference microphone and the obstacle is a reference distance, and the distance between the first connecting microphone and the obstacle is a first distance, and the distance between the second connecting microphone and the obstacle is a second distance;

an included angle determining subunit, configured to determine, according to a microphone distance between a first connection microphone and a second connection microphone, the first distance, and the second distance, a first included angle between two line segments formed by connecting the obstacle to the first connection microphone and the second connection microphone, respectively, and a second included angle between a line segment formed by connecting the first microphone and the second microphone, and a line segment formed by connecting the first microphone and the obstacle; the distance between the position of the obstacle corresponding to the vertex of the first included angle and the reference microphone is a reference distance;

and the result determining subunit is used for determining that the direction of the barrier relative to a straight line formed by connecting the first microphone and the second microphone is the direction of the barrier relative to the electronic equipment based on the first included angle and the second included angle.

In some embodiments, the information determination module may be to:

Of course, in order to perform more detailed calculation on the direction of the electronic device and the obstacle and obtain a more accurate calculation result, as an embodiment, the selecting subunit includes:

and the sequencing module is used for sequencing according to the distances between the three microphones and the obstacle and respectively obtaining the reference microphone, the first connecting microphone and the second connecting microphone according to the sequence of the distances from large to small.

As yet another embodiment, the result determination subunit includes:

the vertical line determining module is used for determining the vertical line of the obstacle relative to a line segment formed by connecting the first microphone and the second microphone; the intersection point of the vertical line, a line segment formed by connecting the first microphone and the second microphone is a foot;

the offset determining module is used for calculating and obtaining the offset distance between the foot and the first microphone by using the second included angle and the first distance;

a direction determining module, configured to determine, according to the first included angle and the reference distance, a target direction in which the obstacle is connected to the first microphone and the second microphone to form a straight line;

and a second direction determining module, configured to determine that, on a line segment formed by connecting the first microphone and the second microphone, a target direction, which is opposite to a perpendicular line at an offset distance from the first microphone and in which the first microphone and the second microphone are connected to form a straight line, is a direction of the obstacle relative to the electronic device.

According to the embodiment of the invention, the distance and the direction between the electronic equipment and the obstacle are accurately obtained through the distance between the plurality of microphones and the obstacle.

As one embodiment, the distance determination module includes:

and the fourth distance unit is used for determining the distance between each of the plurality of microphones and the obstacle according to the echo transmission time or the echo volume attenuation of the plurality of echo signals.

In certain embodiments, the fourth distance unit comprises:

a first calculating subunit, configured to determine distances between the plurality of microphones and the obstacle according to products of echo transmission times of the plurality of echo signals and a speed of sound, respectively; alternatively, the first and second electrodes may be,

and the second calculating subunit is used for determining the distances between the plurality of microphones and the obstacle according to an attenuation formula corresponding to the attenuation of the echo volumes of the plurality of echo signals.

The echo transmission time may refer to a time difference between a start time when the electronic device sends out the ranging audio signal and an end time when the echo signal is received. Assuming that the echo transmission time of the echo signal is T, the distance between the microphone for collecting the echo signal and the obstacle is: l = sonic speed T/2; in practical applications, the sound velocity can be determined according to the environment of the electronic device, and is influenced by factors such as transmission medium, temperature and pressure in the environment, and generally speaking, the sound velocity is about 340 m/s when the sound velocity is transmitted in air with 1 standard atmosphere and 15 degrees centigrade.

Besides the transmission time by echo, the distance of transmission can also be determined by the attenuation of sound volume during sound transmission. The echo attenuation formula is a common formula for calculating the sound transmission distance by using sound attenuation, and is not described herein again.

The information processing apparatus shown in fig. 7 can execute the information processing method shown in the embodiment shown in fig. 1, and the implementation principle and the technical effect are not described again. The specific manner in which each module and unit of the information processing apparatus in the above embodiments perform operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

As shown in fig. 8, a schematic structural diagram of an embodiment of an information processing apparatus according to an embodiment of the present invention may include:

a storage component 801 and a processing component 802, wherein the storage component 801 stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component 802;

the processing component 802 is configured to:

transmitting a ranging audio signal in response to the ranging request; respectively collecting echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals; determining distances between the plurality of microphones and the obstacle respectively according to echo parameters of the plurality of echo signals; and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

In order to enable a user to obtain a distance and a direction from an obstacle to the electronic device during sound transmission, as an embodiment, the processing component may be further configured to:

and outputting prompt information corresponding to the relative position information of the electronic equipment and the obstacle.

The electronic device may be a mobile device such as a robot or an intelligent vehicle, and during the actual movement of the electronic device, a movement path may be planned in advance according to the distance between the electronic device and the obstacle and the direction of the obstacle relative to the electronic device, so as to avoid collision with the obstacle. Thus, as a further embodiment, the processing component may be further specifically configured to:

and moving according to the movement route.

In one possible design, the relative position information of the electronic device and the obstacle may specifically include: a distance of the electronic device relative to the obstacle and/or a direction of the electronic device relative to the obstacle.

As an embodiment, the determining, by the processing component, the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle is specifically:

In some embodiments, the determining, by the processing component, the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle may specifically be:

and taking the distance between any microphone and the obstacle as the distance of the electronic equipment relative to the obstacle.

As another embodiment, the determining, by the processing component, the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle may specifically be:

Because the traditional distance measuring mode only measures the distance of the object and does not pay attention to the direction, the relative direction between the obstacle and the electronic equipment can be determined besides the determination of the distance between the electronic equipment and the obstacle, so that the obtained information is more comprehensive, and the effective utilization of the electronic equipment is further realized.

In order to accurately obtain the distance and the direction between the electronic device and the obstacle, the distance and the direction may be obtained by solving a triangle calculation, and therefore, as an embodiment, the determining, by the processing component, the direction of the electronic device relative to the obstacle according to the distances between the plurality of microphones and the obstacle may specifically be:

determining any two target microphones; determining a circle which is formed by taking each target microphone as a center of a circle and taking the distance between each target microphone and the obstacle as a radius;

determining an external common tangent formed by circles corresponding to the two target microphones respectively;

determining a direction of the obstacle relative to the electronic device based on a direction of the common external tangent relative to the two target microphones.

In practical applications, there may be two microphones with the same distance from the obstacle, and at this time, it may be determined that the obstacle is located on a midperpendicular of a line segment formed by the two microphones, and in order to simplify the process of determining the distance and the direction between the electronic device and the obstacle, as another embodiment, the processing component may specifically determine the direction of the electronic device relative to the obstacle according to the distances between the microphones and the obstacle:

determining a first microphone and a second microphone which are the same in distance with the obstacle in the plurality of microphones and a third microphone which is positioned in a straight line first direction formed by the connection of the first microphone and the second microphone;

if the distance between the third microphone and the obstacle is larger than that between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic equipment is a second direction of a line segment formed by the first microphone and the second microphone; wherein the second direction is opposite to the first direction.

In order to obtain the accurate distance and direction of the obstacle relative to the electronic device, as another embodiment, the processing component may specifically determine, according to the distances between the plurality of microphones and the obstacle, the direction of the electronic device relative to the obstacle by:

determining a first included angle between two line segments formed by connecting the barrier with the first connecting microphone and the second connecting microphone respectively and a second included angle between a line segment formed by connecting the first microphone and the second microphone and a line segment formed by connecting the first microphone and the barrier according to the microphone distance between the first connecting microphone and the second connecting microphone, the first distance and the second distance; the distance between the position of the obstacle corresponding to the vertex of the first included angle and the reference microphone is a reference distance;

based on the first included angle and the second included angle, determining that the direction of the barrier relative to a straight line formed by connecting the first microphone and the second microphone is the direction of the barrier relative to the electronic equipment.

Of course, in order to calculate the direction of the electronic device and the obstacle in more detail and obtain a more accurate calculation result, as an embodiment, the processing component may specifically determine the reference microphone, the first connection microphone and the second connection microphone as:

As another embodiment, the determining, by the processing component based on the first angle and the second angle, that the direction of the obstacle relative to the straight line formed by the first microphone and the second microphone is the direction of the obstacle relative to the electronic device may specifically be:

determining a perpendicular to the obstacle with respect to a line segment formed by the first microphone and the second microphone; the intersection point of the vertical line, a line segment formed by connecting the first microphone and the second microphone is a foot;

As an embodiment, the determining, by the processing component, the respective distances between the plurality of microphones and the obstacle according to the echo parameters of the plurality of echo signals may specifically be:

In some embodiments, the determining, by the processing component, the respective distances between the plurality of microphones and the obstacle according to the echo transmission time or the echo volume attenuation of the plurality of echo signals may specifically be:

The echo transmission time may refer to a time difference between a start time when the electronic device sends out the ranging audio signal and an end time when the echo signal is received. Assuming that the echo transmission time of the echo signal is T, the distance between the microphone collecting the echo signal and the obstacle is: l = speed of sound T/2; in practical applications, the sound velocity can be determined according to the environment of the electronic device, and is influenced by factors such as transmission medium, temperature and pressure in the environment, and generally speaking, the sound velocity is about 340 m/s when the sound velocity is transmitted in air with 1 standard atmosphere and 15 degrees centigrade.

In addition, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the computer program can implement the information processing method according to the embodiment shown in fig. 1.

Fig. 9 is a schematic structural diagram of an embodiment of an information processing apparatus according to an embodiment of the present invention, where the apparatus may include the following modules:

a first response module 901, configured to send a ranging audio signal in response to a ranging request;

a first collecting module 902, configured to separately collect echo signals of the ranging audio signal reflected by an obstacle by using multiple microphones, to obtain multiple echo signals;

a signal sending module 903, configured to send the multiple echo signals to a server, so that the server determines, according to echo parameters of the multiple echo signals, distances between the multiple microphones and the multiple obstacles, respectively; and determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively.

The automatic distance measurement and direction relative to the barrier can be realized through the electronic equipment, the application range is expanded, and the utilization rate is improved.

The information processing apparatus shown in fig. 9 may execute the information processing method shown in the embodiment shown in fig. 1, and details of the implementation principle and the technical effect are not repeated. The specific manner in which each module and unit of the information processing apparatus in the above embodiments perform operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

The information processing apparatus shown in fig. 9 may be configured as an information processing device, and as shown in fig. 10, the information processing device may include: a storage component 1001 and a processing component 1002, wherein the storage component 1001 stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component 1002;

the processing component 1002 is configured to:

The automatic distance measurement and direction of the electronic equipment relative to the barrier can be realized through the electronic equipment, the application range is expanded, and the utilization rate is improved.

The information processing apparatus shown in fig. 10 may execute the information processing method shown in the embodiment shown in fig. 5, and the implementation principle and the technical effect are not described again. The specific manner in which the operations performed by the processing components in the information processing apparatus in the above-described embodiments have been described in detail in the embodiments related to the method, and will not be described in detail here.

In addition, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a computer, the information processing method of the embodiment shown in fig. 5 may be implemented.

As shown in fig. 11, a schematic structural diagram of another embodiment of an information processing apparatus according to an embodiment of the present invention is provided, where the apparatus may include the following modules:

a signal receiving module 1101, configured to receive multiple echo signals sent by an electronic device; the plurality of echo signals are obtained by respectively acquiring echo signals of ranging audio signals reflected by obstacles by a plurality of microphones; the ranging audio signal is transmitted by the electronic device in response to a ranging request;

a first determining module 1102, configured to determine distances between the plurality of microphones and the obstacle, respectively, according to echo parameters of the plurality of echo signals;

a second determining module 1103, configured to determine, according to distances between the plurality of microphones and the obstacle, relative position information between the electronic device and the obstacle.

The information processing apparatus shown in fig. 11 may execute the information processing method shown in the embodiment shown in fig. 6, and details of the implementation principle and the technical effect are not repeated. The specific manner in which each module and unit of the information processing apparatus in the above embodiments perform operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

The information processing apparatus in fig. 11 may be configured as an information processing device, and as shown in fig. 12, which is a schematic structural diagram of an embodiment of an information processing device provided in an embodiment of the present invention, the device may include: the storage component 1201 and the processing component 1202, the storage component 1201 stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component 1202;

the processing component 1202 is to:

The information processing apparatus shown in fig. 12 may execute the information processing method shown in the embodiment shown in fig. 6, and the implementation principle and the technical effect are not described again. The specific manner of the operations performed by the processing component in the information processing apparatus in the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail here.

In addition, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the computer program can implement the information processing method according to the embodiment shown in fig. 6.

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.

The above-described embodiments of the apparatus are merely illustrative, and 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 position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 in the embodiments of the present application.

Claims

1. An information processing method characterized by comprising:

transmitting a ranging audio signal in response to the ranging request;

determining relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively, wherein the relative position information comprises the direction of the electronic equipment relative to the obstacle determined by the first mode or the second mode;

determining a first microphone and a second microphone which are located at the same distance from the obstacle and a third microphone which is located in a first direction of a straight line formed by connecting the first microphone and the second microphone, if the distance between the third microphone and the obstacle is less than the distance between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic device is a first direction located on a line segment formed by the first microphone and the second microphone, and if the distance between the third microphone and the obstacle is greater than the distance between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic device is a second direction located on a line segment formed by the first microphone and the second microphone, wherein the second direction is opposite to the first direction; alternatively, the first and second electrodes may be,

and determining a reference microphone, a first connection microphone and a second connection microphone, wherein the reference microphone is a reference distance away from the obstacle, the first connection microphone is a second distance away from the obstacle, the first connection microphone is a first distance away from the obstacle, the second connection microphone is a second distance away from the obstacle, and according to the microphone distances from the first connection microphone to the second connection microphone, the first distance and the second distance, determining a first included angle between a line segment formed by connecting the obstacle with the first connection microphone and the second connection microphone and a second included angle between a line segment formed by connecting the obstacle with the second microphone and a line segment formed by connecting the first microphone with the obstacle, wherein the distance between the vertex of the first included angle and the reference microphone is a reference distance, and determining the direction of the obstacle relative to the direction of the electronic equipment relative to the direction of the obstacle.

2. The method according to claim 1, wherein after determining the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle, further comprising:

3. The method according to claim 1, wherein after determining the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle, further comprising:

setting a movement route according to the relative position information of the electronic equipment and the barrier;

and moving according to the movement route.

4. The method of claim 1, wherein the determining the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle respectively comprises:

5. The method of claim 4, wherein determining the distance of the electronic device from the obstacle according to the distances of the plurality of microphones from the obstacle comprises:

6. The method of claim 1, wherein the determining the relative position information of the electronic device and the obstacle according to the distances between the plurality of microphones and the obstacle respectively comprises:

7. The method of claim 1, wherein determining the reference microphone, the first connected microphone, and the second connected microphone comprises:

8. The method of claim 1, wherein determining that the direction of the obstacle relative to a line formed by the first microphone and the second microphone is the direction of the obstacle relative to the electronic device based on the first angle and the second angle comprises:

according to the first included angle and the reference distance, determining a target direction of a straight line formed by the connection of the obstacle relative to the first microphone and the second microphone;

9. The method of claim 1, wherein determining respective distances of the plurality of microphones from the obstacle based on echo parameters of the plurality of echo signals comprises:

10. The method of claim 9, wherein the determining distances of the plurality of microphones from the obstacle according to echo propagation time or echo volume attenuation of the plurality of echo signals comprises:

determining distances between the plurality of microphones and the obstacle according to the products of the echo transmission times of the plurality of echo signals and the sound velocity respectively; alternatively, the first and second liquid crystal display panels may be,

11. An information processing method characterized by comprising:

transmitting a ranging audio signal in response to the ranging request;

sending the echo signals to a server, so that the server determines distances between the microphones and the obstacles according to echo parameters of the echo signals; determining relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively;

the relative position information comprises the direction of the electronic equipment relative to the obstacle determined by the first mode or the second mode;

and determining a reference microphone, a first connection microphone and a second connection microphone, wherein the distance between the reference microphone and the obstacle is a reference distance, the distance between the first connection microphone and the obstacle is a first distance, the distance between the second connection microphone and the obstacle is a second distance, and according to the microphone distance between the first connection microphone and the second connection microphone, the first distance and the second distance, determining a first included angle between two line segments formed by connecting the obstacle with the first connection microphone and the second connection microphone respectively and a second included angle between a line segment formed by connecting the obstacle with the second microphone and a line segment formed by connecting the first microphone and the obstacle, wherein the distance between the vertex of the first included angle and the reference microphone corresponding to the position of the obstacle is a reference distance, and determining the direction of the obstacle relative to the line formed by connecting the first microphone and the second microphone is the direction of the obstacle relative to the electronic equipment based on the first included angle and the second included angle.

12. An information processing method characterized by comprising:

determining relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively;

13. An information processing apparatus characterized by comprising:

a distance determining module, configured to determine, according to echo parameters of the echo signals, distances between the microphones and the obstacle respectively;

the information determining module is used for determining the distance between the electronic equipment and the obstacle and the direction of the obstacle relative to the electronic equipment according to the distances between the microphones and the obstacle;

determining a first microphone and a second microphone, which are located at the same distance from the obstacle, of the plurality of microphones, and a third microphone located in a first direction of a straight line formed by the connection of the first microphone and the second microphone, if the distance between the third microphone and the obstacle is less than the distance between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic device is a first direction located on a line segment formed by the first microphone and the second microphone, and if the distance between the third microphone and the obstacle is greater than the distance between the first microphone and the obstacle, determining that the direction of the obstacle relative to the electronic device is a second direction located on a line segment formed by the first microphone and the second microphone, wherein the second direction is opposite to the first direction; alternatively, the first and second electrodes may be,

14. An information processing apparatus characterized by comprising:

the signal sending module is used for sending the echo signals to a server so that the server can determine the distances between the microphones and the obstacles according to the echo parameters of the echo signals; determining relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively;

15. An information processing apparatus characterized by comprising:

the second determining module is used for determining the relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively;

16. An information processing apparatus characterized by comprising: the storage component stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component;

the processing component is to:

transmitting a ranging audio signal in response to the ranging request; respectively acquiring echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals; determining distances between the plurality of microphones and the obstacle respectively according to echo parameters of the plurality of echo signals; determining the distance between the electronic equipment and the obstacle and the direction of the obstacle relative to the electronic equipment according to the distances between the microphones and the obstacle;

17. An information processing apparatus characterized by comprising: the storage component stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component;

the processing component is to:

transmitting a ranging audio signal in response to the ranging request; respectively acquiring echo signals of the ranging audio signals reflected by the obstacles by using a plurality of microphones to obtain a plurality of echo signals; sending the echo signals to a server, so that the server determines distances between the microphones and the obstacles according to echo parameters of the echo signals; determining relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively;

18. An information processing apparatus characterized by comprising: the storage component stores one or more computer instructions, and the one or more computer instructions are called and executed by the processing component;

the processing component is to:

receiving a plurality of echo signals sent by electronic equipment; the plurality of echo signals are obtained by respectively acquiring echo signals of ranging audio signals reflected by obstacles by a plurality of microphones; the ranging audio signal is transmitted by the electronic device in response to a ranging request; determining distances between the plurality of microphones and the obstacle respectively according to echo parameters of the plurality of echo signals; determining relative position information of the electronic equipment and the obstacle according to the distances between the plurality of microphones and the obstacle respectively;