CN112104965B

CN112104965B - Sound amplification method and sound amplification system

Info

Publication number: CN112104965B
Application number: CN202011235581.9A
Authority: CN
Inventors: 陈孝良; 常乐; 阮明江
Original assignee: Beijing SoundAI Technology Co Ltd
Current assignee: Beijing SoundAI Technology Co Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-03-23
Anticipated expiration: 2040-11-09
Also published as: CN112104965A

Abstract

The invention is suitable for the technical field of sound amplification, and provides a sound amplification method and a sound amplification system, wherein the method comprises the following steps: adjusting current parameter information of the sound amplifying device based on the acquired current information of the preset sound amplifying influence factors; and performing sound amplification playing on the current language information of the commentator acquired by the voice acquisition device based on the current parameter information of the sound amplification device. According to the technical scheme provided by the invention, the sound amplifying device of the movable robot is used for sound amplifying playing, the burden that a commentator needs to wear sound amplifying equipment with him is avoided, parameters of the sound amplifying device can be intelligently adjusted according to different commentary scenes, the situations that the sound amplifying playing volume is too large or too small and the like are avoided, the audio-visual effect of a visiting user is ensured, the commentary experience of the visiting user is improved, and the overall commentary effect is improved.

Description

Sound amplification method and sound amplification system

Technical Field

The invention belongs to the technical field of sound reinforcement, and particularly relates to a sound reinforcement method and a sound reinforcement system.

Background

In the display process of the exhibition hall, the commentator is generally required to introduce each part of the exhibition hall to the visitors, and when the exhibition hall is large in area or large in number, the commentator needs to continuously improve the explanation sound to ensure that the visitors can hear the commentary. However, prolonged loud explanation can make the narrator fatiguing.

At present, a common mode is that the commentator carries with him a public address device, such as a bee or a loudspeaker, which can play the role of amplifying sound, but on one hand, the sound amplifying effect of the bee or the loudspeaker is limited, and on the other hand, because the bee or the loudspeaker have a certain weight, the burden of the commentator is increased when the commentator is continuously worn, so that the commentator is easy to fatigue, and the overall commentary effect is affected.

Disclosure of Invention

In view of this, embodiments of the present invention provide a sound reinforcement method and system to solve the technical problem in the prior art that the overall explanation effect is not good in the exhibition hall.

In a first aspect of the embodiments of the present invention, a sound amplification method is provided, including:

adjusting current parameter information of the sound amplifying device based on the acquired current information of the preset sound amplifying influence factors;

performing sound amplification playing on the current voice information of the commentator acquired by the voice acquisition device based on the current parameter information of the sound amplification device;

wherein, preset public address influence factor includes exhibition room space size, visitor user, air humidity, air temperature to and when the public address device is installed on mobile robot, at least one in the relative distance between mobile robot, the commentator and the visitor user.

In a second aspect of the embodiments of the present invention, there is provided an acoustic amplification system, at least including: the mobile robot is provided with a control device and a sound amplification device, and the voice acquisition device is connected with the control device in a wireless mode;

the control device includes:

the parameter adjusting module is used for adjusting the current parameter information of the sound amplifying device based on the acquired current information of the preset sound amplifying influence factors;

the playing control module is used for carrying out sound amplification playing on the current language information of the commentator acquired by the voice acquisition device based on the current parameter information of the sound amplification device;

A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method when executing the computer program.

A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described method.

Compared with the prior art, the embodiment of the invention has the following beneficial effects: the method comprises the steps of determining factors influencing the sound amplifying effect in advance, obtaining current information of preset sound amplifying influencing factors, wherein the current information refers to latest data information acquired by the preset sound amplifying influencing factors at the current moment, and then adjusting current parameter information of a sound amplifying device based on the obtained current information to realize that the sound amplifying device corresponds to different parameters in different commentary scenes; and further carrying out voice processing on the current voice information of the expressor acquired by the voice acquisition device to acquire the current voice information of the expressor, and controlling the sound amplification device to carry out sound amplification playing on the current voice information under the current parameter information. The public address equipment is played in the embodiment through the public address device of mobile robot, has removed the burden that the commentator need wear public address equipment with oneself from to can explain the scene according to the difference and carry out intelligent regulation to the parameter of public address device, avoid the appearance of circumstances such as the too big or undersize of volume that the public address was broadcast, guarantee visitor user's audio-visual effect, promote visitor user's the experience of explaining, thereby improve whole explanation effect.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a first schematic structural diagram of an acoustic amplification system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a sound reinforcement system according to an embodiment of the present invention;

fig. 3 is a first schematic flow chart of an implementation of the sound amplifying method according to the embodiment of the present invention;

fig. 4 is a schematic flow chart of an implementation process of the sound amplifying method according to the embodiment of the present invention;

fig. 5 is a schematic flow chart of an implementation of the sound reinforcement method according to the embodiment of the present invention;

fig. 6 is a schematic flow chart of an implementation of the sound reinforcement method according to the embodiment of the present invention;

fig. 7 is a schematic flow chart of an implementation of the sound amplifying method according to the embodiment of the present invention;

fig. 8 is a schematic flow chart of an implementation process of the sound amplifying method according to the embodiment of the present invention;

fig. 9 is a schematic diagram of a control device in the sound reinforcement system according to the embodiment of the present invention;

fig. 10 is a first schematic diagram of a parameter adjusting module in a control device in an audio amplifier system according to an embodiment of the present invention;

fig. 11 is a second schematic diagram of a parameter adjusting module in a control device in the sound reinforcement system according to the embodiment of the present invention;

fig. 12 is a third schematic view of a parameter adjusting module in a control device in the sound reinforcement system according to the embodiment of the present invention;

fig. 13 is a fourth schematic view of a parameter adjusting module in a control device in the sound amplifying system according to the embodiment of the present invention;

fig. 14 is a fifth schematic view of a parameter adjusting module in a control device in the sound amplifying system according to the embodiment of the present invention;

fig. 15 is a sixth schematic view of a parameter adjusting module in a control device in the sound amplifying system according to the embodiment of the present invention;

fig. 16 is a seventh schematic view of a parameter adjusting module in a control device in the sound amplifying system according to the embodiment of the present invention;

fig. 17 is a schematic diagram of a terminal device according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

In the display process of the exhibition hall, the commentator is generally required to introduce each part of the exhibition hall to the visitors, and when the exhibition hall is large in area or large in number, the commentator needs to continuously improve the explanation sound to ensure that the visitors can hear the commentary. In order to reduce the burden of the commentator, the commentator usually wears public address equipment, such as a bee or a loudspeaker, during the explanation. However, although the portable public address equipment can play a role of amplifying sound, on one hand, because the bee or the loudspeaker has a certain weight, the burden of the commentator is increased when the public address equipment is continuously worn on the body, and the commentator is easy to fatigue; on the other hand, in order to reduce the physical burden of the commentator as much as possible, the portable sound amplifying devices are usually small, so that the sound amplifying effect is limited, and the overall commentary effect is affected.

With the development of society and scientific progress, service robots have been widely used in various industries, for example, tour guide and explanation robots are used as functional public service robots and play an increasingly important role in exhibition in museums, science museums, product exhibition halls, and the like. However, the existing navigation commentary robot usually uses fixed public address playing parameters to perform navigation commentary, and cannot adjust parameters of a public address device according to different commentary scenes, so that when the commentary space is small, the commentary volume is too large; when the comment space is large, the comment volume is too small, and the like, so that the comment cannot be performed with higher efficiency by cooperating with a commentator.

The embodiment fully considers the factors influencing the sound amplifying effect, is creatively applied to sound amplifying playing of the sound amplifying device of the mobile robot, and can realize intelligent adjustment of parameters of the sound amplifying device under different explaining scenes, so that the sound amplifying device of the mobile robot can be better matched with an explicator for explanation, and a visitor can have better audio-visual experience under different explaining scenes, thereby improving the overall explaining effect.

In a first aspect of the present embodiment, referring to fig. 1, the sound reinforcement system 10 includes a mobile robot 11 and a voice collecting device 12, where the mobile robot 11 is provided with a control device 110 and a sound reinforcement device 111, and the voice collecting device 12 is wirelessly connected to the control device 110. Referring to fig. 2, the sound reinforcement system 10 includes a mobile robot 11, a voice collecting device 12, and a positioning tag 13 at a preset position of an announcer, where the mobile robot 11 includes a control device 110, a sound reinforcement device 111, and a mobile device 112, and both the mobile device 112 and the sound reinforcement device 111 are connected to the control device 110, where the sound reinforcement device 111 can perform sound reinforcement playing under the control of the control device 110, and the mobile device 112 can drive the robot to move under the control of the control device 110. The moving device 112 may be specifically configured as required, for example, the moving device is a universal wheel mounted at the bottom of the robot, and can move in any direction. The control device 110 can position the position of the commentator through the positioning tag 13, and adjust the position of the robot relative to the commentator according to the positioning result. The control device 110 may collect the voice information of the commentator through the voice collecting device 12, and play the voice information after amplifying the voice.

The voice collecting device 12 may be of various types as long as it can collect the voice of the commentator. For example, the voice collecting device 12 may be a handheld microphone or a microphone worn on the body of the commentator to facilitate the commentator to use the commentator by holding the commentator, and the microphone is provided with a wireless communication module which can wirelessly communicate with the control device 110 of the robot 11 so as to send collected voice information to the control device 110. For another example, the voice collecting device 12 may be a headset, which is connected to an electronic device such as a mobile phone, and sends the collected voice information to the control device 110 through the electronic device. The voice collecting device 12 can also be a microphone array, which can effectively improve the quality of sound collection.

The positioning tag 13 may be of different types according to the positioning manner, and may be disposed at any position of the commentator. For example, the positioning tag 13 may be disposed on the voice collecting device 12, and specifically, when the voice collecting device 12 is a handheld microphone, the positioning tag 13 may be disposed on the handheld microphone; when the voice collecting device 12 is a headset, the positioning tag 13 may be provided on the headset or on the electronic device. For another example, the positioning tag 13 may be disposed at a predetermined position on the commentator, for example, on a work card of the commentator, and the work card is worn on the commentator. Of course, the positioning tag may be disposed at other positions on the commentator, and is not limited herein.

Referring to fig. 3, a second aspect of the present embodiment provides a sound reinforcement method, which can be implemented by the sound reinforcement system described above, and can also be implemented in other manners. The sound reinforcement method may comprise the steps of:

step S21: and adjusting the current parameter information of the sound amplifying device based on the acquired current information of the preset sound amplifying influence factors.

The preset sound amplification influence factor is a predetermined factor that affects the sound amplification effect, and may be set according to experience, and includes one influence factor or multiple influence factors, and the specific preset sound amplification influence factor may be one or more of a spatial size of an exhibition hall where the sound amplification device 111 is located, visiting users (including the number and distribution of the visiting users), a location of the sound amplification device 111 in the commentary area, a relative distance between the sound amplification device 111 and the commentator and the visiting users, and a current air temperature and air humidity of the commentary area where the sound amplification device 111 is located. And acquiring current information of the preset sound amplification influence factors after the preset sound amplification influence factors are set, wherein the current information refers to the latest data information acquired by the preset sound amplification influence factors at the current moment.

Specifically, the information of the preset sound amplification influence factors is acquired by using an image acquisition device and various sensors according to a set frequency and is transmitted to the control device 110, the control device 110 confirms the latest received acquisition information as current information, after the current information is determined, a target setting parameter is determined according to the corresponding relation between the preset sound amplification influence factor information and a recommended setting parameter, and a parameter adjusting instruction of the sound amplification device of the movable robot is determined according to the difference value between the target setting parameter and the current time setting parameter of the sound amplification device 111, wherein the parameter adjusting instruction is used for controlling the sound amplification device to perform parameter adjustment, and comprises the content of volume, sound amplification position adjustment and the like. For example, the exhibition hall space size is used as the preset sound amplification influence factor, and the volume is used as the volumeParameters of the sound amplifying device, a corresponding table of each exhibition hall space size and recommended set volume is predetermined, and the current space size information of the determined explanation area is 240m³Then, it is determined that the target volume information is 60 db according to the mapping table, and the set volume of the sound reinforcement device 111 at the current time is 55 db, then it is determined that the parameter adjustment instruction is 5 db, and the current volume is adjusted to 60 db by using the parameter adjustment instruction, but it is also possible to determine the parameter adjustment instruction without using the difference between the target volume information and the set volume of the sound reinforcement device at the current time, and if the parameter adjustment instruction is directly determined to be 60 db.

In a possible implementation manner, the current parameter information may be current volume information, the current volume information may reflect the volume of the sound amplification playing sound, and through investigation and research in advance, the corresponding relationship between the information of the preset sound amplification influence factor and the recommended set volume is determined, if there are 10 rooms with different sizes in the exhibition hall, the recommended set volume of each space is determined according to the spatial dimensions of the 10 rooms, where the recommended set volume is the sound amplification volume that will not make the visiting user feel noisy and will not make the visiting user hear the voice information that is not played, that is, the situation that the sound amplification playing volume is too large or the volume is too small is avoided. When there are a plurality of preset public address influence factors, besides determining the correspondence table between different values of each public address influence factor and different recommended set volumes, the current information of the plurality of preset public address influence factors can be used to adjust the current parameter information of the public address apparatus 111 in the following manner: determining a main influence factor, namely a factor which has the largest influence on the sound amplifying effect, from a plurality of preset sound amplifying influence factors, determining a corresponding table of different values and different recommended set volumes of the main influence factor, and determining a corresponding table of different values of each non-main influence factor and different volume adjustment coefficients and a weighting coefficient corresponding to each non-main influence factor, after determining the current information of a plurality of preset sound amplification influence factors, determining the current recommended set volume according to the current information of the main influence factors, determining the current volume adjusting coefficient according to the current information of the non-main influence factors, determining the sum result of the products of the volume adjusting coefficients of the non-main influence factors and the corresponding weight coefficients, and determining the current volume information of the sound amplifying device by using the product of the sum result and the current recommended set volume. For example, when the preset sound amplification influence factors are the exhibition room space size and the visiting users, the number and the distribution situation of the visiting users are considered while considering the exhibition room space size, wherein the main influence factor is the exhibition room space size, the visiting users are non-main influence factors, the distribution situation of the visiting users is divided into different grades according to a predetermined rule, such as dividing the distribution grade into three situations of dispersion, medium congestion and congestion, predetermined correspondence tables of different space sizes and different recommended set volumes, correspondence tables of the visiting users 'number and first volume adjustment coefficients, correspondence tables of the visiting users' distribution grade and second volume adjustment coefficients, first weight coefficients corresponding to the visiting users 'number and second weight coefficients corresponding to the visiting users' distribution grade, after the image acquisition device confirms the number and the distribution situation of the visiting users, the method comprises the steps of calling the space size of an explanation area where an image acquisition device is located, determining current recommended set volume, determining a current first volume adjustment coefficient and a current second volume adjustment coefficient according to the number of visiting users and the distribution levels of the visiting users in a current frame image, determining the addition result of the product of the current first volume adjustment coefficient and a first weight coefficient and the product of the current second volume adjustment coefficient and a second weight coefficient, determining the product of the addition result and the current recommended set volume as target volume information, and adjusting the current volume information of a sound amplifier to the target volume information.

In another possible implementation manner, the current parameter information may be a current public address position, and the current public address position information refers to a position and an orientation of the public address apparatus 111. When the sound reinforcement means 111 in the exhibition hall are turnable loudspeakers, the orientation of the loudspeakers can be determined according to the position of the visiting user. For example, the visiting user is taken as a preset sound amplification influence factor, the orientation of a fixedly-arranged loudspeaker is taken as parameter information, the area of the comment area where the loudspeaker is located is divided into A, B, C areas in advance, then the number of the visiting users in the three areas is confirmed by using an image acquisition device, the area with the most visiting users at the current moment is screened out, the orientation of the loudspeaker is adjusted, the area right in front of the adjusted loudspeaker is the area with the most visiting users, and the visiting users in the area can better hear the voice information played in sound amplification. When a plurality of speakers fixedly installed at different positions of a display hall are available, whether visiting users exist in different speaker preset ranges can be judged through an image acquisition device, if yes, the positions of the speakers are determined, the speakers are turned on, sound amplification playing is carried out by using the speakers, the orientation of the speakers is adjusted according to the distribution condition of the visiting users in different areas of an explanation area where the speakers are located, the front side of the speakers faces the area where the visiting users are the most, and therefore the positions and the orientations of the speakers are controlled. When the speaker is mounted on the mobile robot 11, the distance between the mobile robot 11 and the visiting user is determined in real time, target position information of the mobile robot 11 is determined based on the real-time distance and the preset distance, for example, a difference between the real-time distance and the preset distance is determined, current position information of the mobile robot 11 is further determined, target position information of the mobile robot is determined based on the current position information of the mobile robot 11 and the difference, and then the current position information of the mobile robot 11 is adjusted to the target position information.

In yet another possible implementation manner, the current parameter information may include current volume information and current public address location information, where the current volume information may be determined separately according to the above content, and the current public address location information may be determined separately according to the above content, and only the same parameter adjustment instruction may be used to perform adjustment, such as moving forward by a distance of 1 meter and adjusting the volume upward by 5 db.

Step S22: and performing sound amplification playing on the current language information of the commentator acquired by the voice acquisition device based on the current parameter information of the sound amplification device.

When the commentator needs to perform commentary, the commentator can start the voice acquisition device 12, at this time, the voice acquisition device 12 is connected with the control device 110 of the mobile robot 11, the voice acquisition device 12 sends the current voice information acquired in real time to the control device 110, the control device 110 performs voice processing on the current voice information after receiving the current voice information to obtain a corresponding sound amplification instruction, and controls the sound amplification device 111 to work according to the sound amplification instruction, so as to realize the sound reinforcement playing of the current voice information under the condition that the sound reinforcement device 111 is in the current parameter information, realize that the sound reinforcement device corresponds to different parameter information under different commentary scenes, so that the visiting user can clearly and comfortably hear the voice information played by the public address in each commentary scene, even in the case that the voice of the commentator is small, the user can clearly hear the commentary content.

Specifically, when the current parameter information is current sound amplification position information, target sound amplification position information is determined based on the obtained current information of preset sound amplification influence factors, the target sound amplification position information is position information to be subjected to sound amplification, the current sound amplification position information of the sound amplification device is adjusted to the target sound amplification position information, and then when the current sound amplification position information is determined to be the target sound amplification position information, sound amplification playing is performed on the current voice information of the commentator obtained by a voice acquisition device. When the current parameter information is current sound amplifying position information and current volume information, determining target sound amplifying position information and target volume information of a sound amplifying device based on the obtained current information of preset sound amplifying influence factors, wherein the target volume information is the volume to be subjected to sound amplifying playing, adjusting the current sound amplifying position information of the sound amplifying device to the target sound amplifying position information, adjusting the current volume information of the sound amplifying device to the target volume information, and then enabling the sound amplifying device to be at the target sound amplifying position to perform sound amplifying playing on the current voice information of the commentator obtained by the voice acquisition device through the target volume information.

The sound reinforcement method provided by the embodiment has the beneficial effects that: in this embodiment, factors affecting the sound amplification effect are determined in advance, current information of the preset sound amplification influencing factors is acquired, then a parameter adjusting instruction of the sound amplification device 111 of the mobile robot 11 is determined based on the acquired current information, the sound amplification device 111 is controlled to perform parameter adjustment according to the parameter adjusting instruction, and current parameter information of the adjusted sound amplification device 111 is determined, so that the sound amplification device 111 corresponds to different parameters in different explanatory scenes; the current voice information of the commentator acquired by the voice acquisition device 12 is further subjected to voice processing to acquire a sound amplification instruction, and the sound amplification device 111 is controlled to perform sound amplification playing on the current voice information under the current parameter information according to the sound amplification instruction. The public address device 111 of the mobile robot 11 is used for public address playing in the embodiment, so that the burden that a commentator needs to wear public address equipment with him is avoided, parameters of the public address device 111 can be intelligently adjusted according to different commentary scenes, the situations that the public address volume is too large or too small and the like are avoided, the audio-visual effect of a visitor is guaranteed, the commentary experience of the visitor is improved, and the overall commentary effect is improved.

Referring to fig. 4, further, when the preset public address influence factor includes the size of the exhibition hall space, the current information includes current space size information; the step S21 is to adjust the current parameter information of the acoustic amplification device based on the acquired current information of the preset acoustic amplification influence factor, and includes:

step S21a, determining the current space size information of the explanation area where the sound reinforcement device is located;

step S21b, adjusting current parameter information of the sound reinforcement device based on the current spatial dimension information.

When the same mobile robot explains in different space sizes, the parameters of the sound reinforcement device 111 are different, for example, in a relatively open space, the volume needs to be properly increased, and in a relatively narrow space, the volume needs to be properly decreased, so that the space size of the exhibition hall can be used as a preset sound reinforcement influence factor, and the acquired current information should be the current space size information.

Specifically, the spatial size of each commentary area in the exhibition hall may be stored in advance, and after the commentary area where the sound reinforcement device 111 is located is determined, the current spatial size information may be determined by retrieving the pre-stored spatial size. When the sound reinforcement device 111 is fixedly installed at a certain position, identification information is set for each sound reinforcement device 111, and the explanation area where the sound reinforcement device 111 is located can be determined according to the identification information, so that the current space size information of the explanation area is called. When the sound reinforcement device 111 is installed on the mobile robot 111, the mobile robot 11 has a positioning function, and can determine the narration area where the mobile robot is located, for example, the mobile robot can acquire an image by using a monocular camera, a binocular camera, a depth camera, and other devices, process the acquired image, input the processed image into a neural network, link the acquired image information with the actual position of the robot, complete the positioning, and certainly, complete the positioning by using laser, infrared, or ultrasonic methods, and the like. In a possible implementation manner, information of each explanation area in the exhibition hall is collected in advance, a three-dimensional space model of the exhibition hall is established, and when the explanation area where the mobile robot 11 is located is determined, the three-dimensional space model is directly called, so that accurate current space size information can be determined.

Referring to fig. 5, further, if the preset public address influence factor includes a visiting user, the current information includes information of the current visiting user; the step S21 is to adjust the current parameter information of the acoustic amplification device based on the acquired current information of the preset acoustic amplification influence factor, and includes:

step S21c, obtaining an image of a visiting user in the current comment area according to a preset frequency, identifying the image of the visiting user, and determining information of the current visiting user.

Step S21d, adjusting current parameter information of the sound reinforcement device based on the current visiting user information.

When the same current comment area corresponds to different visiting users, the parameters of the sound amplifying devices 111 are different, so that the visiting users are used as preset sound amplifying influence factors, and the current information is the current visiting user information. At this time, the image acquired by the image acquisition device is the image of the visiting user in the current comment area, that is, the main acquisition object in the image is the visiting user, the image acquisition device may be arranged at a high position of the current comment area or on the mobile robot 11, or the image acquisition device may be a global monitoring camera in the current comment area, and the sound amplification system directly calls the image of the visiting user acquired by the global camera.

In one possible implementation, the number of the visiting users and the distribution of the visiting users in the current commentary area are jointly determined as the current visiting user information. In the same comment space, when the number of visiting users is large, the volume of the sound amplifying device 111 should be properly increased to ensure that each visiting user can hear the current voice information played by the sound amplifying device 111 clearly, and when the visiting users are scattered, the volume of the sound amplifying device 111 should also be properly increased, so that the number of the visiting users and the distribution of the visiting users in the current comment area jointly form the current visiting user information. Specifically, the number of users may be determined by the number of human heads in the current narration area. In order to reduce the computational load of robot image recognition and improve the response speed of the sound amplifying system, the number of the human heads can be obtained by image recognition of a server according to images of visiting users collected by the global camera, and the sound amplifying system can be directly called to the server. Certainly, the robot may use the human head as a target object to identify the image of the visiting user, determine the number of the visiting users according to the number of the human heads in the image of the visiting user, and determine the distribution of the visiting users in the current comment area according to the distribution of the human heads in the image of the visiting user. For example, the head of a human body in an image of a visitor is detected, a detection frame of each head of the human body is determined, a pixel coordinate corresponding to the center of the detection frame is taken as a pixel coordinate of the head of the human body, a spatial coordinate of the head of the human body is determined according to parameters of an image acquisition device and the pixel coordinate of the head of the human body, and the distribution of the visitor in a current comment area can be determined according to the determined spatial coordinate of each head of the human body.

In another possible implementation manner, after the image of the visiting user is obtained, face recognition and motion recognition are performed on the image of the visiting user, face recognition is performed on the image of the visiting user to determine expression information of the visiting user, whether the visiting user is in a proper audio-visual state can be determined according to the expression information of the visiting user, and when the visiting user does not hear clearly or the volume of amplifying sound is too large, expressions such as frowns and the like often exist in the visiting user, so that whether the parameter setting of the sound amplifying device 111 is reasonable can be judged according to the expressions of the visiting user. When the visiting user is in a better audio-visual state, the action of the visiting user can be determined, for example, when the visiting user has a clapping action, a meditation action, or the like, the parameter setting of the sound amplifier 111 is proved to be reasonable, and in order to accurately determine the audio-visual state of the visiting user, the expression information of the visiting user and the action information of the visiting user are determined as the current visiting user information in the present embodiment.

In another possible implementation manner, the visiting user image in the current comment area is obtained according to a preset frequency, and face recognition and action recognition are performed on the visiting user image to determine current visiting user information which is composed of the number of visiting users, the distribution of the visiting users in the current comment area, expression information of the visiting users and action information of the visiting users. After determining various information of the current visiting user, determining the number of the visiting users, the distribution of the visiting users in the current comment area, the expression information of the visiting users and the action information of the visiting users respectively corresponding to weight coefficients, determining the weighting result as the information of the current visiting user according to the number of the visiting users, the distribution of the visiting users in the current comment area, the expression information of the visiting users, the action information of the visiting users and the corresponding weight coefficients, determining target setting parameters according to the corresponding relation between the set information of the current visiting user and the set recommended setting parameters after determining the information of the current visiting user, and determining parameter adjusting instructions according to the target setting parameters to adjust the parameters of the sound amplifying device.

Referring to fig. 6, further, when the sound reinforcement device 111 is installed on a mobile robot and the preset sound reinforcement influence factor includes a relative distance between the mobile robot, an announcer, and a visiting user, the current information includes current distance information; the step S21 is to adjust the current parameter information of the acoustic amplification device based on the acquired current information of the preset acoustic amplification influence factor, and includes:

step S21 e: a first real-time distance between the mobile robot and an explicator is obtained.

Step S21 f: and acquiring a second real-time distance between the mobile robot and the visiting user.

Step S21 g: and determining current distance information based on the first real-time distance, the second real-time distance and a preset distance.

Step S21 h: and adjusting the current parameter information of the sound amplifying device based on the current distance.

The position relationship between the mobile robot 11 and the commentator may affect the data transmission situation between the mobile robot 11 and the voice collecting device 12, and in order to ensure that the sound amplifying device 111 can continuously and clearly amplify and play the current voice information of the commentator, stable data transmission needs to be ensured, so that the relative distance between the mobile robot 11 and the commentator needs to be determined, that is, the first real-time distance between the mobile robot 11 and the commentator is obtained, specifically, a positioning tag may be set on the commentator, and the first real-time distance is determined by the positioning tag, or certainly, the first real-time distance may be determined by a sound source positioning manner. In order to ensure that the visiting user can hear the current voice information of the mobile robot 11 played in the public address, it is necessary to determine the relative distance between the mobile robot 11 and the visiting user, that is, to obtain the second real-time distance between the mobile robot 11 and the visiting user, and specifically, the second real-time distance may be determined by using an infrared detection method. Determining current distance information indicating relative distances between the mobile robot 11, the commentator and the visiting user according to the first real-time distance, the second real-time distance and a preset distance, wherein the preset distance may include a first preset distance threshold between the mobile robot 11 and the commentator and a second preset distance threshold between the mobile robot 11 and the visiting user, when one of the first real-time distance and the second real-time distance does not conform to the corresponding preset distance, using the first real-time distance not conforming to the first preset distance threshold or the second real-time distance not conforming to the second preset distance threshold as the current distance information, when the first real-time distance is used as the current distance information, determining a first difference between the first real-time distance and the first preset distance, determining a parameter adjustment instruction according to the first difference, wherein the parameter adjustment instruction is used for adjusting the position of the mobile robot 11, when the second real-time distance is taken as the current distance information, determining a second difference value between the second real-time distance and a second preset distance, and determining a parameter adjusting instruction according to the second difference value, such as moving forward by 1 meter; when the first real-time distance and the second real-time distance do not accord with the preset distance, in order to ensure the stability of data transmission between the movable robot 11 and the voice acquisition device 12, the second real-time distance is determined again after the distance is moved according to the first difference value, and if the second real-time distance does not accord with the second preset distance threshold value yet, the distance is moved according to the new second difference value.

In a possible implementation manner, the preset sound amplification influence factor is a space size of an exhibition hall, and a relative distance between the visiting user, the mobile robot 11, the commentator and the visiting user is preset, and then the current parameter information of the sound amplification device 111 is adjusted based on the current space size information, the current visiting user information and the current distance information.

Referring to fig. 7, further, when the preset public address influence factor includes air humidity, the current information includes current air humidity; the step S21 is to adjust the current parameter information of the acoustic amplification device based on the acquired current information of the preset acoustic amplification influence factor, and includes:

step S21 i: acquiring the current air humidity of the current explication area by using a first sensor;

step S21 j: and adjusting the current parameter information of the sound amplifying device based on the current air humidity.

Along with the increase of the air humidity, the propagation speed of sound becomes fast, the propagation of sound waves is easier, and the natural attenuation of high-frequency sound can be greatly reduced, so that the sound waves can be propagated farther than usual, namely, the air humidity can influence the sound amplification effect, and therefore, the preset sound amplification influence factor is set as the air humidity. The current air humidity acquired by the first sensor at the fixed position of the current explanation area is acquired, the first sensor can be installed on the movable robot 11 for acquiring the air humidity, and then the target volume information corresponding to the current air humidity is determined according to the corresponding table of the current air humidity and different recommended set volumes, so that the parameter adjusting instruction is determined. For example, when the current air humidity is high, the corresponding parameter adjustment instruction is to reduce the volume, and the specific reduction value is related to the current air humidity value, and may be determined according to the difference between the target volume information and the set volume of the sound reinforcement device at the current time.

Referring to fig. 8, further, when the preset public address influence factor includes an air temperature, the current information includes a current air temperature; the step S21 is to adjust the current parameter information of the acoustic amplification device based on the acquired current information of the preset acoustic amplification influence factor, and includes:

step S21 k: acquiring the current air temperature of the current explication area by using a second sensor;

step S21 l: and adjusting the current parameter information of the sound amplifying device based on the current air temperature.

The propagation speed of sound is related to the air temperature, so the air temperature can be used as a preset sound amplification influence factor. Specifically, the current air temperature of the current explanation area is obtained by using the second sensor, target volume information corresponding to the current air temperature is determined according to the current air temperature and a corresponding table of different recommended set volumes, and the volume of the sound reinforcement device at the current moment is adjusted to the target volume information.

In a possible implementation manner, the preset sound amplification influence factors are the size of the exhibition hall space, the visiting user, the air humidity, the air temperature, the relative distance between the mobile robot 11 and the commentator and the visiting user, and then the current parameter information of the sound amplification device is adjusted based on the current space size information, the current visiting user information, the current air humidity, the current air temperature and the current distance information. Specifically, the size of the exhibition hall space can be used as a main influence factor for adjusting the volume, the number of visiting users, the distribution level of the visiting users, the expression of the visiting users, the actions of the visiting users, the current air humidity and the current air temperature are used as non-main influence factors for adjusting the volume, a first weight coefficient of the number of the visiting users is determined, a corresponding table of different numbers of the visiting users and different first volume adjusting coefficients, a second weight coefficient of the distribution level of the visiting users, a corresponding table of different distribution levels of the visiting users and different second volume adjusting coefficients, a third weight coefficient of the expression of the visiting users, a corresponding table of different expressions of the visiting users and different third volume adjusting coefficients, a fourth weight coefficient of the actions of the visiting users, a corresponding table of different actions of the visiting users and different fourth volume adjusting coefficients, a fifth weight coefficient of the current air humidity, a corresponding table of different current air humidity and different fifth volume adjusting coefficients, a sixth weighting factor for the current air temperature, a table of correspondence of different current air temperatures to different sixth volume adjustment factors. The relative distance between the mobile robot 11 and the commentator and the visiting user is used as a main influence factor for adjusting the sound amplification position of the loudspeaker of the mobile robot, so that the main influence factor of the loudspeaker orientation of the distribution situation of the visiting user is obtained. Therefore, after determining the current space size information, the current number of visiting users, the current visiting user distribution level, the current visiting user expression information, the current visiting user action information, the current air humidity and the current air temperature, respectively determining the current recommended set volume, the current first volume adjusting coefficient, the current second volume adjusting coefficient, the current third volume adjusting coefficient, the current fourth volume adjusting coefficient, the current fifth volume adjusting coefficient and the current sixth volume adjusting coefficient, determining the addition result of the products of the volume adjusting coefficients and the respective corresponding weight coefficients, determining the product of the addition result and the current recommended set volume as the target volume information, further determining the target position information of the loudspeaker according to the determined current distance information, determining the loudspeaker target orientation information according to the determined distribution condition of the current visiting user in each area, and then adjusting the current position information of the mobile robot to the target position information, and adjusting the current volume information of the loudspeaker to the target volume information after adjusting the current orientation information of the loudspeaker to the target orientation information.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Referring to fig. 9, based on the same inventive concept, in the audio amplifier system 10 based on image recognition provided in the embodiment of the present invention, the control device 110 includes a parameter adjusting module 1101 and a playing control module 1102. The parameter adjusting module 1101 is configured to adjust current parameter information of the sound amplifying device based on the acquired current information of the preset sound amplifying influence factor; the playing control module 1102 is configured to perform sound amplification playing on the current voice information of the commentator, which is acquired by the voice acquisition device, based on the current parameter information of the sound amplification device; wherein, preset public address influence factor includes exhibition room space size, visitor user, air humidity, air temperature to and when the public address device is installed on mobile robot, at least one in the relative distance between mobile robot, the commentator and the visitor user.

Referring to fig. 10, further, when the preset public address influence factor includes a size of a space in an exhibition hall, the current information includes current size information, and the parameter adjusting module 1101 includes:

a spatial size determination unit 1101a configured to determine current spatial size information of an explanation area where the sound reinforcement apparatus is located;

a first parameter adjusting unit 1101b, configured to adjust current parameter information of the sound reinforcement device based on the current spatial dimension information.

Referring to fig. 11, further, when the preset public address influence factor includes a visiting user, the current information includes information of the current visiting user, and the parameter adjusting module 1101 includes:

the user information determining unit 1101c is configured to obtain a visiting user image in a current comment area according to a preset frequency, identify the visiting user image, and determine current visiting user information;

a second parameter adjusting unit 1101d, based on the current visiting user information, adjusts current parameter information of the sound reinforcement apparatus.

Further, the user information determining unit 1101c is configured to obtain a visiting user image in the current comment area according to a preset frequency, and identify the visiting user image with a human head as a target object, so as to determine current visiting user information composed of the number of visiting users and the distribution of the visiting users in the current comment area.

Further, the user information determining unit 1101c is configured to acquire an image of a visiting user in a current comment area according to a preset frequency, and perform face recognition and motion recognition on the image of the visiting user to determine current visiting user information that is composed of expression information of the visiting user and motion information of the visiting user.

Referring to fig. 12, further, when the sound reinforcement apparatus is installed on a mobile robot and the preset sound reinforcement influence factor includes a relative distance between the mobile robot, an announcer, and a visiting user, the current information includes current distance information, and the parameter adjusting module 1101 includes:

a first distance acquiring unit 1101e, configured to acquire a first real-time distance between the mobile robot and an commentator;

a second distance obtaining unit 1101f, configured to obtain a second real-time distance between the mobile robot and a visiting user;

a distance information determining unit 1101g that determines current distance information based on the first real-time distance, the second real-time distance, and a preset distance;

a third parameter adjusting unit 1101h adjusts current parameter information of the sound reinforcement device based on the current distance information.

Referring to fig. 13, further, when the preset public address influence factor includes air humidity, the current information includes current air humidity, and the parameter adjusting module 1101 includes:

an air humidity obtaining unit 1101i, configured to obtain a current air humidity of the currently illustrated area by using a first sensor;

a fourth parameter adjusting unit 1101j adjusts current parameter information of the sound reinforcement device based on the current air humidity.

Referring to fig. 14, further, when the preset acoustic amplification influencing factor includes an air temperature, the current information includes a current air temperature, and the parameter adjusting module 1101 includes:

an air temperature acquisition unit 1101k for acquiring the current air temperature of the currently illustrated area by using the second sensor;

a fifth parameter adjusting unit 1101l for adjusting current parameter information of the sound reinforcement device based on the current air temperature.

Referring to fig. 15, further, when the current parameter information is current public address location information, the parameter adjusting module 1101 includes:

a target position determining unit 1101m configured to determine target sound amplification position information based on the acquired current information of the preset sound amplification influence factor;

a target position adjusting unit 1101n configured to adjust current sound amplification position information of the sound amplification device to the target sound amplification position information;

the playing control module 1102 is configured to perform sound amplification playing on the current voice information of the commentator acquired by the voice acquisition device when it is determined that the current sound amplification position information is the target sound amplification position information.

Referring to fig. 16, further, when the current parameter information is current public address position information and current volume information, the parameter adjusting module 1101 includes:

a position volume determining unit 1101o configured to determine target sound amplification position information and target volume information of the sound amplification device based on the acquired current information of the preset sound amplification influence factor;

a position volume adjusting unit 1101p, configured to adjust current sound amplification position information of the sound amplification device to the target sound amplification position information, and then adjust current volume information of the sound amplification device to the target volume information;

the play control module 1102 is configured to perform sound amplification playing on the current voice information of the commentator acquired by the voice acquisition device when it is determined that the current volume information is the target volume information.

Of course, in other embodiments, each module of the control device 110 may further include one or more units for implementing corresponding functions, which are not described herein.

Fig. 17 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 17, the terminal device 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62, such as a sound amplification program based on image recognition, stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the respective sound amplification method embodiments described above, such as the steps S21 to S22 shown in fig. 3. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 1101 to 1102 shown in fig. 9.

Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the terminal device 6.

The terminal device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 17 is merely an example of a terminal device 6 and does not constitute a limitation of terminal device 6 and may include more or fewer components than shown, or some components may be combined, or different components, for example, the terminal device may also include input output devices, network access devices, buses, etc.

The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used for storing the computer programs and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims

1. A method of sound reinforcement, comprising:

wherein the preset sound amplification influence factor comprises a relative distance between the mobile robot, the commentator and the visiting user when the sound amplification device is installed on the mobile robot;

or, the preset sound amplification influence factor comprises at least one of the size of the exhibition hall space, the visiting user, the air humidity and the air temperature, and the relative distance between the mobile robot, the commentator and the visiting user when the sound amplification device is installed on the mobile robot;

the current parameter information is current volume information, or the current parameter information is current sound amplification position information, or the current parameter information is current volume information and current sound amplification position information;

when the current parameter information is current volume information, determining the current volume information according to the corresponding relation between the information of the preset sound amplification influence factors and the recommended set volume;

when the current parameter information is current sound amplification position information, the current parameter information of the sound amplification device is adjusted based on the acquired current information of the preset sound amplification influence factors, and the adjusting method comprises the following steps:

determining target sound amplification position information based on the acquired current information of the preset sound amplification influence factors;

adjusting the current sound amplifying position information of the sound amplifying device to the target sound amplifying position information;

the playing of the current voice information of the commentator, which is acquired by the voice acquisition device, based on the current parameter information of the voice amplification device includes:

when the current sound amplifying position information is determined to be the target sound amplifying position information, sound amplifying playing is carried out on the current voice information of the commentator, which is acquired by a voice acquisition device;

when the current parameter information is current sound amplification position information and current volume information, the current parameter information of the sound amplification device is adjusted based on the acquired current information of the preset sound amplification influence factors, and the adjusting method comprises the following steps:

determining target sound amplification position information and target volume information of the sound amplification device based on the acquired current information of the preset sound amplification influence factors;

after adjusting the current sound amplification position information of the sound amplification device to the target sound amplification position information, adjusting the current volume information of the sound amplification device to the target volume information;

and when the current volume information is determined to be the target volume information, performing sound amplification playing on the current voice information of the expressor acquired by the voice acquisition device.

2. The sound reinforcement method according to claim 1, wherein when the preset sound reinforcement influence factor includes an exhibition hall space size, the current information includes current space size information;

the step of adjusting the current parameter information of the acoustic amplification device based on the acquired current information of the preset acoustic amplification influence factors includes:

determining current space size information of an explanation area where the sound reinforcement device is located;

and adjusting the current parameter information of the sound amplifying device based on the current space size information.

3. The sound reinforcement method according to claim 1, wherein when the preset sound reinforcement influence factor includes a visiting user, the current information includes current visiting user information;

acquiring a visiting user image in a current explication area according to a preset frequency, identifying the visiting user image, and determining the information of the current visiting user;

and adjusting the current parameter information of the sound amplifying device based on the current visiting user information.

4. The method as claimed in claim 3, wherein the step of obtaining the image of the visiting user in the current commentary area according to the preset frequency, recognizing the image of the visiting user, and determining the information of the current visiting user comprises:

the method comprises the steps of obtaining images of visiting users in a current comment area according to a preset frequency, and identifying the images of the visiting users by taking human heads as target objects so as to determine information of the visiting users, wherein the information of the visiting users is composed of the number of the visiting users and the distribution of the visiting users in the current comment area.

5. The method as claimed in claim 3, wherein the step of obtaining the image of the visiting user in the current commentary area according to the preset frequency, recognizing the image of the visiting user, and determining the information of the current visiting user comprises:

obtaining an image of a visiting user in a current explication area according to a preset frequency, and carrying out face recognition and action recognition on the image of the visiting user so as to determine current visiting user information consisting of expression information of the visiting user and action information of the visiting user.

6. Sound amplification method as claimed in any one of the claims 3 to 5,

the image acquisition device for acquiring the image of the visiting user is a global monitoring camera of the current comment area.

7. The sound reinforcement method according to claim 1, wherein when the sound reinforcement apparatus is mounted on a mobile robot and the preset sound reinforcement influence factor includes a relative distance between the mobile robot, an announcer, and a visiting user, the current information includes current distance information;

acquiring a first real-time distance between the mobile robot and an explicator;

acquiring a second real-time distance between the mobile robot and a visiting user;

determining current distance information based on the first real-time distance, the second real-time distance and a preset distance;

and adjusting the current parameter information of the sound amplifying device based on the current distance information.

8. The sound reinforcement method according to claim 1, characterized in that when the preset sound reinforcement influencing factor includes air humidity, the current information includes current air humidity;

acquiring the current air humidity of the current explication area by using a first sensor;

and adjusting the current parameter information of the sound amplifying device based on the current air humidity.

9. The sound reinforcement method according to claim 1, characterized in that when the preset sound reinforcement influencing factor includes an air temperature, the current information includes a current air temperature;

acquiring the current air temperature of the current explication area by using a second sensor;

and adjusting the current parameter information of the sound amplifying device based on the current air temperature.

10. An acoustic amplification system, comprising at least: the mobile robot is provided with a control device and a sound amplification device, and the voice acquisition device is connected with the control device in a wireless mode;

the control device includes:

the playing control module is used for carrying out sound amplification playing on the current voice information of the commentator acquired by the voice acquisition device based on the current parameter information of the sound amplification device;

11. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 9.