CN111650946A

CN111650946A - Intelligent Bluetooth sound box that can follow automatically

Info

Publication number: CN111650946A
Application number: CN201910157814.9A
Authority: CN
Inventors: 任海洲; 郭鸿儒; 曾鸣; 李鑫; 刘则之; 黄海鸿
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-03-02
Filing date: 2019-03-02
Publication date: 2020-09-11

Abstract

The invention discloses an intelligent Bluetooth sound box capable of automatically following. The method mainly comprises the following steps: the system comprises a main circuit board, a Bluetooth array antenna, a loudspeaker, a lithium battery, a coding and decelerating direct current motor, an ultrasonic obstacle avoidance sensor, a falling prevention sensor and the like. The position of bluetooth sound source can also be detected to bluetooth array antenna when transmitting audio signal to according to bluetooth signal's distance, follow the bluetooth sound source and remove, thereby can make the audio amplifier remain throughout near the bluetooth sound source, when the person of facilitating the use moves about in different rooms, the uninterrupted perfect listening music experience of providing that bluetooth audio amplifier can last is experienced.

Description

Intelligent Bluetooth sound box that can follow automatically

Technical Field

The invention relates to a Bluetooth array antenna technology and an automatic following technology, in particular to an intelligent Bluetooth sound box capable of automatically following.

Background

The automatic following technology is a technology for performing automatic following by means of identification of a specific target, and has been greatly developed in recent years, and great progress is made in both detection modes and reliability. Wherein the automatic following equipment based on UWB ultra wide band range finding has gained fine effect in the aspect of following precision and reliability, but its shortcoming lies in that the module is with high costs, and is incompatible with techniques such as current bluetooth, wifi. Under the condition, the directional positioning method based on the Bluetooth array antenna becomes another option, the phase difference between signals received by a plurality of Bluetooth antennas is used for calculating the angle of a Bluetooth signal source, the existing Bluetooth module can be used, the Bluetooth function of the mobile phone can be used for realizing the orientation, no additional equipment is required to be added, and the method has wider application potential.

The bluetooth speaker is as mainstream consumer electronics, has extensive application in the music broadcast field, and all music players almost all have bluetooth connection function on the market, but ordinary bluetooth speaker can only be placed at specific place motionless, when the cell-phone passes through bluetooth speaker broadcast music, people still need to hold the cell-phone and walk about in the room usually, when people walk to another room from a room, bluetooth speaker can't follow the removal, has influenced the experience that people listened to the music. If the Bluetooth sound box can automatically follow the position of the mobile phone when playing music, better music listening experience can be brought to people.

The utility model patent of application No. 201521014645.7 is that the utilization is placed many sets of audio amplifier in the room of difference, utilizes the sensor to detect the human body in which room and decides the audio amplifier in which room of opening, though can realize similar function, but the hardware investment is big, and the equipment connection is complicated, is unsuitable to be promoted.

Disclosure of Invention

The technical scheme is as follows:

in order to achieve the purpose, the invention discloses an intelligent Bluetooth sound box capable of automatically following. The system mainly comprises the following modules: (1) the automobile anti-falling device comprises a main circuit board, (2) a Bluetooth array antenna, (3) a loudspeaker (4) a lithium battery, (5) a coding deceleration direct current motor, (6) wheels (7) an ultrasonic obstacle avoidance sensor, (8) an anti-falling sensor, (10) a bottom plate, and (11) an upper shell and a lower shell.

The main circuit board comprises (1) a single chip microcomputer, (2) a Bluetooth module, (3) a battery charging module, (4) a motor driving module, (5) an audio power amplifier module, (6) 6-axis accelerometer and gyroscope modules, and (7) a USB interface, wherein a schematic diagram of functional modules on the main circuit board is shown in figure 2.

The Bluetooth array antenna is composed of at least three monopole antennas arranged on a straight line, the distance between the antenna units is smaller than the Bluetooth wavelength, the Bluetooth antenna is positioned on the upper part of the sound box, and the antenna plane is horizontally arranged.

The Bluetooth module is positioned on the main circuit board and has the functions of receiving and transmitting digital signals and audio signals and processing phase difference information of the signals received by the array antenna and intensity information of the signals so as to obtain azimuth data of the Bluetooth signals.

The loudspeaker and the power amplifier module are used for realizing the music playing function and the voice playing function of the Bluetooth sound box, the power amplifier module is positioned on the main circuit board, the two loudspeakers are respectively positioned below the upper part shell, and the loudspeakers are symmetrically arranged left and right to provide audio of a left sound channel and a right sound channel.

The charging circuit is positioned on the main circuit board and is responsible for charging the lithium ion battery and managing the battery.

The left motor and the right motor are arranged at the left end and the right end of the bottom plate, and the motors are direct-current coding speed reduction motors and are used for driving wheels to walk.

The wheels are arranged on motor shafts of the left motor and the right motor, and the motors can control the sound boxes to turn, go straight and retreat through differential speed.

Accelerometer and gyroscope, preferably use 6 axis accelerometer MPU6050, and it is used for the gesture of perception audio amplifier, detects whether the audio amplifier is picked up, keeps the audio amplifier balanced when following the walking.

The ultrasonic obstacle avoidance sensors are arranged on the left side and the right side of the advancing direction of the sound box and are responsible for providing obstacle avoidance service for the sound box and sensing whether an obstacle exists in front or not

The anti-falling sensor is used for detecting the edge of a desktop or a stair and preventing the sound box from falling from a high place.

The USB interface is positioned on the main circuit board, is responsible for the connection of the Bluetooth sound box and the computer and also serves as a charging power supply interface.

And the singlechip is positioned on the main circuit board and used for receiving the data of each sensor, processing the information sent by the Bluetooth module, calculating the position of a Bluetooth emission source and driving the following system to work.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

fig. 1 is a schematic diagram of a three-dimensional structure of an automatic following intelligent Bluetooth sound box. The system mainly comprises the following modules: (1) the automobile anti-falling device comprises a main circuit board, (2) a Bluetooth array antenna, (3) a loudspeaker (4) a lithium battery, (5) a coding deceleration direct current motor, (6) wheels (7) an ultrasonic obstacle avoidance sensor, (8) an anti-falling sensor, (10) a bottom plate, and (11) an upper shell and a lower shell.

FIG. 2 is a schematic diagram of a functional module of the main circuit board.

Detailed Description

The audio signal source of the Bluetooth sound box is a mobile phone or other music players with Bluetooth function. Taking a mobile phone as an example, after the bluetooth module on the speaker is successfully paired with the mobile phone, the speaker receives the audio signal from the mobile phone through the bluetooth module, and simultaneously receives the positioning data packet sent by the mobile phone. After the bluetooth array antenna at the top of the sound box receives the positioning data packet, the position of the mobile phone can be calculated according to the phase difference between different antenna units on the array antenna, and meanwhile, the distance between the mobile phone and the sound box can be calculated according to the intensity of the bluetooth signal. When people hold the mobile phone and move to other rooms, the strength of the Bluetooth signal can be weakened, and when the strength is weakened to a certain degree, the situation that the mobile phone is far away from the Bluetooth sound box needs to be moved to the position near the mobile phone is shown. At this moment, the singlechip can send out an instruction, and according to the bluetooth signal source position, driving motor drives the wheel and follows the walking, and in the process of following, can be according to the direction that array antenna surveyed, the automatic adjustment direction of following, the turning to of audio amplifier is controlled by the differential of left and right wheels. The ultrasonic sensor can detect the place ahead distance among the walking process, and when meetting the barrier, the audio amplifier can turn to automatically and avoid the barrier, then continues to follow the walking of bluetooth signal source, gets back to the default again until bluetooth signal intensity. When the anti-falling sensor detects the edge of an object, the sound box can be controlled to stop walking, and the sound box is prevented from falling and being damaged. The following distance range of the Bluetooth sound box can be adjusted at the mobile phone client side to meet different following distance requirements.

The intelligent following Bluetooth sound box has three following modes, namely a static following mode and an autonomous judgment following and calling mode, and when the intelligent following Bluetooth sound box is in the static mode, the Bluetooth sound box cannot actively follow a Bluetooth signal source and is only used as a static sound box; when the Bluetooth sound box is in the autonomous judgment following mode, the Bluetooth sound box can autonomously determine whether to follow a signal source according to the strength of the signal; when the mobile phone is in the calling mode, the Bluetooth sound box starts the tracking program only when the Bluetooth signal source or the followed mobile phone sends a following request, so that a more convenient following mode can be provided.

Claims

1. The utility model provides an intelligent bluetooth speaker that can follow automatically which characterized in that includes following module: (1) the automobile anti-falling device comprises a main circuit board, (2) a Bluetooth array antenna, (3) a loudspeaker (4) a lithium battery, (5) a coding deceleration direct current motor, (6) wheels, (7) an ultrasonic obstacle avoidance sensor, (8) an anti-falling sensor, (10) a bottom plate, and (11) an upper shell and a lower shell.

2. The bluetooth array antenna according to claim 1, wherein the bluetooth array antenna is composed of at least three monopole bluetooth antenna units arranged in parallel and equidistantly with feeding points arranged in a straight line, and the distance between the feeding points of the bluetooth antenna units is smaller than the bluetooth wavelength, and the bluetooth antenna plane is horizontally installed on the top of the speaker.

3. The intelligent Bluetooth speaker that can follow automatically of claim 1, characterized in that: the positioning principle of the Bluetooth array antenna is that AOA and RSSI are combined, angle data is obtained by calculating phase difference of signals received by each antenna unit on the array antenna, and distance data is obtained by calculating intensity of received Bluetooth signals.

4. The main circuit board of claim 1, wherein: the main circuit board comprises a single chip microcomputer (1), a Bluetooth module (2), a battery charging module (3), a motor driving module (4), an audio power amplifier module (5), an accelerometer and gyroscope module (6) and a USB interface (7).

5. The intelligent Bluetooth speaker that can follow automatically of claim 1, characterized in that: the number of the coding speed reduction direct current motors is 2, the motors are arranged on the left side and the right side of the bottom plate, and each motor shaft is provided with a wheel.

6. The intelligent Bluetooth speaker that can follow automatically of claim 1, characterized in that: the number of the ultrasonic obstacle avoidance sensors is 2, the ultrasonic obstacle avoidance sensors are arranged on the left side and the right side of the advancing direction of the sound box, and the detection surface faces forwards.

7. The intelligent Bluetooth speaker that can follow automatically of claim 1, characterized in that: the anti-falling sensor is positioned below the sound box and close to the front position, and the detection surface is installed downwards.