CN113064576A - Volume adjusting method and device, mobile equipment and storage medium - Google Patents
Volume adjusting method and device, mobile equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a volume adjusting method, a volume adjusting device, a mobile device and a storage medium, wherein the method comprises the following steps: acquiring environment information of an environment in which a mobile device is located, wherein the environment information comprises: the passable area of the movable equipment in the current environment is used for representing the spaciousness of the current environment; and adjusting the current volume based on the environment information and the preset volume, determining the target volume, and performing voice playing based on the target volume. The current volume can be adaptively adjusted according to the environment information, the adaptive degree of the adaptive volume adjustment result and the current environment is favorably improved, and a user can hear the appropriate volume, so that better experience is provided for the user.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a volume adjusting method, a volume adjusting device, a mobile device and a storage medium.
Background
With the continuous development of science and technology in China, intelligent mobile equipment such as a mobile service robot starts to provide services in a plurality of scenes, such as hotel delivery, restaurant delivery, delivery and take-out in buildings and the like. Taking a mobile service robot as an example, the robot is more and more popular in interaction with people in the process of providing services, and the interaction can provide more convenient, faster and rich services for people.
In the volume adjustment technology in the prior art, the background noise is mostly separated according to pickup equipment such as a microphone, or the source of sound is tracked through a microphone array, and then the sound volume is increased according to the decibel of the background noise. However, the volume is adjusted only according to the base noise decibel, the consideration factor is single, and the accuracy of self-adaptive volume adjustment is not improved favorably.
Disclosure of Invention
According to the volume adjusting method, the volume adjusting device, the mobile equipment and the storage medium, the current volume can be adjusted in a self-adaptive mode according to various environmental quantities in the current environment, the adaptation degree of the self-adaptive volume adjusting result and the current environment is improved, namely the accuracy of the volume adjusting result is improved, the user can hear the appropriate volume, and therefore better service experience is provided for the user.
In a first aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a volume adjustment method is applied to a movable device with a voice function, and comprises the following steps:
acquiring environment information of an environment where the mobile device is located, wherein the environment information comprises: a passable area of the movable equipment in a current environment and an additional environment quantity, wherein the passable area is used for representing the spaciousness degree of the current environment, and the additional environment quantity comprises one or more combinations of a distance to a target audience, illumination brightness in the current environment and a background noise decibel value of the current environment; and adjusting the current volume based on the environment information and the preset volume, determining the target volume, and performing voice playing based on the target volume.
Preferably, the adjusting the current volume based on the environment information and a preset volume to determine a target volume includes: normalizing various environmental quantities contained in the environmental information, and respectively mapping the various environmental quantities to the interval from 0 to 1; and adjusting the current volume based on the environment information after the normalization processing and the preset volume, and determining the target volume.
Preferably, the adjusting the current volume based on the environment information after the normalization processing and the preset volume to determine the target volume includes: carrying out weighted average on various environmental quantities in the environmental information after the normalization processing to obtain an adjusting weight; and adjusting the current volume based on the product of the adjusting weight and the preset volume to determine the target volume.
Preferably, the obtaining of the passable area of the movable device in the current environment comprises: controlling a preset scanning device to scan the obstacles in the current environment, and obtaining effective point cloud data corresponding to the current environment based on a scanning result; matching the effective point cloud data with a pre-stored point cloud map set; if the matching is successful, obtaining the passable area of the movable equipment in the current environment according to the point cloud map matched from the point cloud map set; and if the matching fails, constructing a target map of the current environment based on the scanning result, and acquiring the passable area of the movable equipment in the current environment based on the target map.
Preferably, the obtaining, based on the scanning result, valid point cloud data corresponding to the current environment includes: dividing the point cloud data into a plurality of data subsets based on the distance between two adjacent points in the point cloud data contained in the scanning result; and for each data subset, counting the sum of the distances between all adjacent two points in the data subset, and determining the data subset with the distance sum exceeding a preset length threshold as the effective point cloud data corresponding to the current environment.
Preferably, the constructing a target map of the current environment based on the scanning result includes: determining the position of a target obstacle in the current environment based on the point cloud data of the target obstacle in the scanning result; constructing a target map of the current environment based on the location of the target obstacle in the current environment.
In a second aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a volume adjustment device comprising:
an obtaining module, configured to obtain environment information of an environment where a mobile device is located, where the environment information includes: a passable area of the movable equipment in a current environment and an additional environment quantity, wherein the passable area is used for representing the spaciousness degree of the current environment, and the additional environment quantity comprises one or more combinations of a distance to a target audience, illumination brightness in the current environment and a background noise decibel value of the current environment;
and the volume adjusting module is used for adjusting the current volume based on the environment information and the preset volume, determining the target volume and carrying out voice playing based on the target volume.
Preferably, the obtaining module includes:
the scanning sub-module is used for controlling a preset scanning device to scan the obstacles in the current environment and obtaining effective point cloud data corresponding to the current environment based on a scanning result;
the matching sub-module is used for matching the effective point cloud data with a pre-stored point cloud map set;
the first determining submodule is used for obtaining the passable area of the movable equipment in the current environment according to the point cloud map matched from the point cloud map set if the matching is successful;
and the second determining submodule is used for constructing a target map of the current environment based on the scanning result if the matching fails, and acquiring the passable area of the movable equipment in the current environment based on the target map.
In a third aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a mobile device, comprising: the device comprises a voice module, a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the method in the first aspect, and the voice module is connected with the processor and is used for performing voice playing based on the target volume determined by the method in the first aspect.
In a fourth aspect, the present invention provides the following technical solutions according to an embodiment of the present invention:
a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of the first aspects.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the embodiment of the invention provides a volume adjusting method, a volume adjusting device, a mobile device and a storage medium, which are applied to the mobile device with a voice function. According to the method, the environment information of the environment where the mobile equipment is located is obtained, and on the basis that the volume is preset by a user, the current volume is adjusted according to the environment information to obtain the target volume, so that the mobile equipment can play voice based on the target volume. The environment information comprises the passable area of the movable equipment in the current environment and additional environment quantity, the additional environment quantity comprises one or more combinations of the distance from a target listener, the illumination brightness in the current environment and the background noise decibel value of the current environment, so that the current volume can be adaptively adjusted according to the multiple environment quantities in the current environment, the adaptive degree of the adaptive volume adjustment result and the current environment is favorably improved, namely, the accuracy of the volume adjustment result is improved, a user can hear the proper volume in the current environment, and better service experience is provided for the user.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a volume adjustment method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a process for acquiring point cloud data according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a grid map provided in accordance with an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a volume adjustment device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a mobile device according to an embodiment of the present invention.
Detailed Description
By providing the volume adjustment method, the volume adjustment device, the mobile device and the storage medium, the current volume can be adaptively adjusted according to various environmental quantities in the current environment, so that the adaptation degree of the adaptive volume adjustment result and the current environment is improved, namely, the accuracy of the volume adjustment result is improved, and a user can hear the appropriate volume, thereby providing better service experience for the user.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
a volume adjusting method, a device, a mobile device and a storage medium are applied to the mobile device with a voice function, and the method comprises the following steps: acquiring environment information of an environment where the mobile device is located, wherein the environment information comprises: a passable area of the movable equipment in a current environment and an additional environment quantity, wherein the passable area is used for representing the spaciousness degree of the current environment, and the additional environment quantity comprises one or more combinations of a distance to a target audience, illumination brightness in the current environment and a background noise decibel value of the current environment; and adjusting the current volume based on the environment information and the preset volume, determining the target volume, and performing voice playing based on the target volume.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
It should be noted that the movable device mentioned in this embodiment may be a meal delivery robot, an express delivery robot, a route guidance robot, a floor sweeping robot, or other movable intelligent devices with a voice function, and the application is not limited in this respect. The obstacle may be a wall, a door, a pedestrian, or the like capable of reflecting electromagnetic waves. The point cloud data represents a set of vectors in a three-dimensional coordinate system, namely data of a three-dimensional space, and the data of obstacles in the three-dimensional space can be represented in the application. The preset scanning device is a device that can be used to scan obstacles in the environment, and it may be a lidar or other sensor that can scan obstacles around the mobile device.
In a first aspect, an embodiment of the present invention provides a volume adjustment method, which is applied to a mobile device with a voice function. Specifically, as shown in fig. 1, the volume adjustment method includes the following steps S101 to S102.
Step S101, obtaining environment information of the environment where the mobile device is located, wherein the environment information includes: the passable area of the movable equipment in the current environment is used for representing the spaciousness of the current environment.
In this embodiment, the environment information includes environment quantity affecting sound propagation effect of the mobile device, and may include one or more combinations of a distance between the mobile device and a target listener, a brightness of illumination in the current environment, and a background noise decibel value of the current environment.
The passable area can be used for representing the spaciousness degree of the current environment, and the larger the passable area is, the more spacious the current environment is, and the volume of the movable equipment needs to be adaptively improved. When the illumination brightness in the current environment is in a higher range, the volume of the mobile device needs to be increased accordingly. When the average distance of the mobile device from the target listener is at a longer distance, the volume of the mobile device needs to be increased accordingly. The background noise decibel value can be used for representing the background sound of the current environment, and when the background noise decibel value of the current environment is higher, the volume of the mobile equipment needs to be improved correspondingly.
In a specific embodiment, obtaining the passable area of the mobile device in the current environment may include: controlling a preset scanning device to scan obstacles in the current environment, obtaining effective point cloud data corresponding to the current environment based on a scanning result, and matching the effective point cloud data with a point cloud map set stored in advance; if the matching is successful, obtaining the passable area of the movable equipment in the current environment according to the point cloud map matched from the point cloud map set; and if the matching fails, constructing a target map of the current environment based on the scanning result, and acquiring the passable area of the movable equipment in the current environment based on the target map.
The effective point cloud data is effective barrier information capable of determining the spaciousness degree of the current environment, and the obtained effective point cloud data can avoid the influence of other ineffective barrier information on a scanning result.
Specifically, the movable device can scan the obstacle of the current environment by controlling the laser radar, and point cloud data of the obstacle is obtained. A reference map template corresponding to the scanning range of the laser radar exists in the mobile device, and as shown in fig. 2, the reference map template may be a pure gray value map used for reflecting the scanning range that the laser radar can implement. When the obstacles in the current environment are scanned, point cloud data of the obstacles in the range of the reference map template can be obtained, and a scanning result is obtained. The gray and white border of the diagram is a point cloud data set, the white part represents a passable area of the movable equipment, and the gray part represents a non-passable area. It should be noted that the reference map template may be pre-stored by the mobile device, or may be obtained by current scanning.
Further, in order to avoid the influence of other invalid obstacle information on the scanning result, after the point cloud data of the obstacle is acquired, the point cloud data is divided into a plurality of data subsets based on the distance between two adjacent points in the point cloud data contained in the scanning result. And for each data subset, counting the sum of the distances between all adjacent two points in the data subset, and determining the data subset with the distance sum exceeding a preset length threshold as effective point cloud data corresponding to the current environment.
In a specific embodiment, the data subset division manner may be: sequentially traversing the point cloud data, calculating the distance between the current point and the previous point in the point cloud data, and judging whether the distance is greater than a preset segmentation threshold value; when the distance is larger than the segmentation threshold, adding the current point into a newly constructed data subset; and when the distance is smaller than or equal to the segmentation threshold, adding the current point to the data subset where the previous point is located. The segmentation threshold value can be set according to an actual application scene and multiple tests.
For example, point cloud data scanned by the laser radar of the current frame is obtained, and is denoted as { p1(x, y), p2(x, y), … pn (x, y) }. And according to the distance between the cloud data of two adjacent points in the point cloud data set, dividing the point cloud data set into a plurality of data subsets, wherein the data subsets comprise { c1, c2, … ct }, and t < n. The specific calculation process is to sequentially calculate the distance A between two adjacent points in the point cloud data set to be | pk-pk-1 |. When A is larger than the segmentation threshold, the current point pk is added to a newly constructed data subset, and when A is smaller than or equal to the segmentation threshold, the current point pk is added to the data subset where the previous point pk-1 is located.
Of course, in other embodiments of the present invention, a clustering algorithm may also be used to divide the point cloud data into a plurality of data subsets, which will not be described in detail herein.
And for each data subset, counting the sum B of the distances between all adjacent two points in the data subset, namely the sum B of the distances between all adjacent two points in the data subset { c1, c2 and … ct }, which is c1+ c2+ … ct, and determining the data subset with the distance sum B exceeding a preset length threshold value L as the effective point cloud data corresponding to the current environment. The preset length threshold L may be set according to an actual application scenario and multiple tests.
After the effective point cloud data is determined, an environment map corresponding to the effective point cloud data needs to be determined, and then the passable area in the current environment is determined based on the environment map.
In specific implementation, in order to conveniently acquire passable area data and quickly realize adaptive volume adjustment in actual use, a point cloud map set of a plurality of application environments can be constructed and stored in advance, and the application environments are used as known environments, so that the point cloud map can be directly matched when the mobile equipment reaches the known environments, and reconstruction is not needed.
At this time, after obtaining the effective point cloud data of the current environment, in order to verify whether the current environment is a known environment, the effective point cloud data may be matched with a point cloud map set stored in advance based on the obtained effective point cloud data.
In a specific embodiment, when the mobile device detects a certain amount of effective Point cloud data through the laser radar, the Point cloud map set stored in the hard disk of the mobile device is traversed, and laser data acquired by the mobile device is calculated through an Iterative Closest Point (ICP) algorithm or other algorithms. And sequentially matching the laser data with the data in the key frame data set in the point cloud map to find the frame with the maximum matching degree and the corresponding maximum matching degree. It should be noted that the key frame data may be data of the distance between the stored location and the obstacle of the current environment when the mobile device is at different locations during the map building and operation process.
When the obtained maximum matching degree is larger than or equal to a threshold value M, judging that the matching is successful, and using a detection method of a known environment; and when the maximum matching degree is smaller than the threshold value M, judging that the matching is failed, and using a detection method of an unknown environment.
The inspection method of the known environment comprises the following steps: and obtaining the passable area of the movable equipment in the current environment according to the point cloud map matched from the point cloud map set.
In a specific embodiment, each point cloud map stored by the mobile device includes a corresponding passable area, and after the point cloud map is matched, the passable area in the current environment can be obtained directly according to the point cloud map. Of course, in other embodiments of the present invention, the passable area in the current environment may also be obtained according to the matched point cloud map, and then the passable area in the current environment may be obtained based on the area.
The method for checking the unknown environment comprises the following steps: and constructing a target map of the current environment based on the scanning result, and acquiring the passable area of the movable equipment in the current environment based on the target map.
Wherein, constructing the target map of the current environment based on the scanning result may include: determining the position of the target obstacle in the current environment based on the point cloud data of the target obstacle in the scanning result; and constructing a target map of the current environment based on the position of the target obstacle in the current environment. Wherein the target obstacle is an obstacle that does not affect the communication of the mobile device.
In a specific embodiment, after the movable device scans and acquires the obstacle of the current environment through the laser radar, the scanned obstacle is screened to obtain the target obstacle. And determining the position of the target obstacle in the current environment, and then creating a point cloud map of the current environment based on the position of the target obstacle.
As shown in fig. 3, as an alternative embodiment, the point cloud map may be a grid map, and the process of creating the grid map may include: and marking the area between the center of the laser radar and the target obstacle as a free passable area based on the position of the target obstacle, and then counting the area of the free passable area to obtain the passable area. And after the passable area and the target obstacle are eliminated, defining other areas on the reference map template as unknown areas, thereby obtaining the grid map containing the passable area, the target obstacle and the unknown areas. Specifically, in fig. 3, a gray portion represents an unknown area, a black portion represents a target obstacle, and a white portion represents a passable area.
Of course, in other embodiments of the present invention, after the valid point cloud data is determined, the position of the target obstacle in the current environment is determined directly through the valid point cloud data without matching, and a target map is constructed.
In a specific embodiment, the illumination brightness in the current environment where the mobile device is located can be collected by a camera or other optical sensor mounted on the mobile device. For example, the mobile device may take an image of the target user through a camera and analyze the illumination intensity of the image through internal software, such as MATLAB or other software with image illumination processing algorithms, which is not limited herein.
The distance of the mobile device from the target audience can be determined by a lidar, camera or other sensor mounted on the mobile device that can scan the distance of obstacles around the mobile device, for example: the sensor here may be a distance sensor or the like. In particular, the mobile device may acquire positional relationship data with an obstacle, which may be a wall, a passerby, or a target user, via a lidar. Based on the obstacle information, the position data of the wall and the passerby are removed by adopting a method for removing the data abnormal value, and the position data of the target user is obtained. The average distance of the mobile device from all the target users is then counted. The method for eliminating data outliers may be a dixon test or a grassbs test, and will not be described in detail here.
The background noise decibel value of current environment can carry out noise monitoring to current environment through microphone or other sound pickup equipment on one's body of mobile device, and specific flow can include: and monitoring the characteristic noise, and analyzing the obtained current noise, namely the decibel range of the background noise by software. The analysis software may be monitoring software such as a noise collector.
As an alternative embodiment, the current volume may be adjusted in combination with the passable area, the brightness of the illumination in the current environment, the distance to the target listener, and the decibel value of the background noise of the current environment. Of course, as another alternative embodiment, the current volume of the mobile device may also be adjusted by combining the passable area with one or both of other environmental information.
And S102, adjusting the current volume based on the environment information and the preset volume, determining the target volume, and performing voice playing based on the target volume.
Wherein, the preset volume is the volume preset by the user. For example, the user may set the volume according to standard time, i.e. one volume at daytime and one volume at night. For example, the volume set at times 20: 00-7: 00 is S, and the volume set at other times is S1.
Of course, besides defining the volume according to time, other factors may be combined to define the volume, such as: and the sound volume of the mobile equipment is set to be different under two scenes, namely a restaurant scene and a library scene.
In a specific embodiment, in order to fuse various types of environment information, the current volume can be adjusted based on the various types of environment information, various types of environment quantities included in the environment information can be normalized, and the various types of environment quantities are mapped into an interval of 0 to 1. And then adjusting the current volume based on the environmental information after the normalization processing and the preset volume to determine the target volume.
Specifically, normalization processing is performed on the area of the passable area in the current environment, and the obtained passable area is mapped into an interval from 0 to 1, wherein 0 corresponds to the minimum area, and 1 corresponds to the area included by the reference map template, so that the passable area Am after the normalization processing is obtained.
And normalizing the illumination brightness in the current environment, and mapping the acquired illumination brightness in the current environment into an interval from 0 to 1, wherein 0 corresponds to the darkest illumination and 1 corresponds to the brightest illumination to obtain an illumination brightness value Bl after normalization.
Normalizing the distance between the movable equipment and the target audience, mapping the obtained distance between the movable equipment and the target audience into an interval from 0 to 1, wherein 0 corresponds to the nearest distance, 1 corresponds to the distance of the maximum scanning range of a preset scanning device, obtaining the distance value after normalization processing, and averaging the distance values of all the target audiences to obtain the average distance Drp.
And carrying out normalization processing on the base noise decibel value in the current environment, and mapping the obtained base noise decibel value to an interval from 0 to 1, wherein 0 corresponds to the lowest decibel and 1 corresponds to the highest decibel to obtain the normalized base noise decibel value Ndb. Thereby obtaining the area Am of the passable area, the illumination brightness value Bl, the average distance Drp and the noise floor value Ndb after the normalization processing.
Carrying out weighted average on various environmental quantities in the environmental information after normalization processing to obtain an adjusting weight; and adjusting the current volume based on the product of the adjusting weight and the preset volume to determine the target volume.
In a specific embodiment, the normalized environmental information is multiplied by a corresponding weighting coefficient, and weighted average is performed to obtain an adjustment weight. The weighting coefficients can be determined according to actual application. For example, the preset volume is S, the adjustment weight is (k1 × Am + k2 × Drp + k3 × Bl + k4 × Ndb), the target volume C is (k1 × Am + k2 × Drp + k3 × Bl + k4 × Ndb) × S, and k1, k2, k3, and k4 represent weighting coefficients corresponding to respective pieces of environment information, and may be set according to a plurality of experiments.
As another alternative embodiment, the normalized environmental information may be multiplied by corresponding weighting coefficients, and then nonlinear calculation is performed to obtain the adjustment weight. And adjusting the current volume based on the product of the adjusting weight and the preset volume to determine the target volume. For example, the preset volume is S, the adjusting weight is (k5 xAm + k6 x Drp + k7 xBl + k8 xNdb)2The target volume C ═ k5 × Am + k6 × Drp + k7 × Bl + k8 × Ndb)2Xs, k5, k6, k7, and k8 represent weighting coefficients corresponding to the respective pieces of environmental information, and may be set according to a plurality of trials.
Of course, besides the above method, the obtained environment information may be directly sent to an operation module capable of performing calculation based on the environment information inside the mobile device, and the target volume may be output to control the mobile device to perform voice playing based on the target volume.
Further, in order to avoid an excessive difference between the acquired target volume and the preset volume, a maximum value and a minimum value of the target volume may be defined. When the obtained target volume is larger than the maximum value, the movable equipment plays the voice at the maximum value of the target volume; when the target volume is less than the minimum value, the mobile device will play voice at the minimum value of the target volume. So that the target volume floats within a certain range above and below the volume set by the client.
In summary, the volume adjusting method provided by the embodiment of the present invention can adaptively adjust the current volume according to various environmental quantities in the current environment, and is beneficial to improve the adaptation degree of the adaptive volume adjustment result and the current environment, that is, improve the accuracy of the volume adjustment result, so that the user can hear the appropriate volume, thereby providing better service experience for the user.
In a second aspect, based on the same inventive concept, the present embodiment provides a volume adjustment device, as shown in fig. 4, including:
an obtaining module 401, configured to obtain environment information of an environment where the mobile device is located, where the environment information includes: the method comprises the following steps that the passable area of the movable equipment in the current environment is used for representing the spaciousness degree of the current environment, and the additional environment quantity comprises one or more combinations of the distance from a target audience, the illumination brightness in the current environment and the background noise decibel value of the current environment;
and a volume adjusting module 402, configured to adjust the current volume based on the environment information and a preset volume, determine a target volume, and perform voice playing based on the target volume.
As an alternative embodiment, the volume adjusting module 402 includes:
the normalization submodule is used for performing normalization processing on various environmental quantities contained in the environmental information and mapping the various environmental quantities into intervals from 0 to 1 respectively;
and the volume adjusting submodule is used for adjusting the current volume based on the environment information after the normalization processing and the preset volume and determining the target volume.
As an alternative embodiment, the volume adjustment sub-module is configured to:
carrying out weighted average on various environmental quantities in the environmental information after normalization processing to obtain an adjusting weight; and adjusting the current volume based on the product of the adjusting weight and the preset volume to determine the target volume.
As an alternative embodiment, the obtaining module 401 includes:
the scanning sub-module is used for controlling a preset scanning device to scan the obstacles in the current environment and obtaining effective point cloud data corresponding to the current environment based on the scanning result;
the matching sub-module is used for matching the effective point cloud data with a pre-stored point cloud map set;
the first determining submodule is used for obtaining the passable area of the movable equipment in the current environment according to the point cloud map matched from the point cloud map set if the matching is successful;
and the second determining submodule is used for constructing a target map of the current environment based on the scanning result if the matching fails, and acquiring the passable area of the movable equipment in the current environment based on the target map.
As an alternative embodiment, the scan sub-module is configured to:
dividing the point cloud data into a plurality of data subsets based on the distance between two adjacent points in the point cloud data contained in the scanning result; and for each data subset, counting the sum of the distances between all adjacent two points in the data subset, and determining the data subset with the distance sum exceeding a preset length threshold as effective point cloud data corresponding to the current environment.
As an alternative embodiment, the second determining submodule is configured to:
determining the position of the target obstacle in the current environment based on the point cloud data of the target obstacle in the scanning result; and constructing a target map of the current environment based on the position of the target obstacle in the current environment.
The above modules may be implemented by software codes, and in this case, the modules may be stored in a memory of the control device. The above modules may also be implemented by hardware, such as an integrated circuit chip.
The implementation principle and the generated technical effect of the volume adjusting device provided by the embodiment of the invention are the same as those of the method embodiment, and for the sake of brief description, no part of the embodiment of the device is mentioned, and reference may be made to the corresponding contents in the method embodiment.
In a third aspect, based on the same inventive concept, the present embodiment provides a mobile device 500, as shown in fig. 5, including: a speech module 504, a memory 501, a processor 502 and a computer program 503 stored on the memory 501 and executable on the processor 502, the processor 502 implementing the steps of the volume adjustment method of the first aspect when executing the program. The voice module 504 is connected to the processor 502, and is configured to play voice based on the target volume determined by the method of any one of the first aspect.
Since the movable device described in this embodiment is a movable device used for implementing the volume adjustment method in this embodiment, based on the volume adjustment method described in this embodiment, a person skilled in the art can understand the specific implementation of the movable device of this embodiment and various variations thereof, so that a detailed description of how to implement the method in this embodiment is not given here. The portable device used by those skilled in the art to implement the volume adjustment method in the embodiments of the present application is within the scope of the present application.
In a fourth aspect, based on the same inventive concept, the present embodiment provides a non-transitory computer-readable storage medium, wherein instructions of the storage medium, when executed by a processor of the removable device 500, enable the removable device 500 to perform a volume adjustment method, comprising the steps of any one of the methods of the first aspect.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A volume adjustment method applied to a mobile device having a voice function, the method comprising:
acquiring environment information of an environment where the mobile device is located, wherein the environment information comprises: a passable area of the movable equipment in a current environment and an additional environment quantity, wherein the passable area is used for representing the spaciousness degree of the current environment, and the additional environment quantity comprises one or more combinations of a distance to a target audience, illumination brightness in the current environment and a background noise decibel value of the current environment;
and adjusting the current volume based on the environment information and the preset volume, determining the target volume, and performing voice playing based on the target volume.
2. The method of claim 1, wherein said adjusting a current volume based on the environmental information and a preset volume, determining a target volume, comprises:
normalizing various environmental quantities contained in the environmental information, and respectively mapping the various environmental quantities to the interval from 0 to 1;
and adjusting the current volume based on the environment information after the normalization processing and the preset volume, and determining the target volume.
3. The method of claim 2, wherein the adjusting the current volume based on the normalized environmental information and the preset volume to determine the target volume comprises:
carrying out weighted average on various environmental quantities in the environmental information after the normalization processing to obtain an adjusting weight;
and adjusting the current volume based on the product of the adjusting weight and the preset volume to determine the target volume.
4. The method of claim 1, wherein obtaining the passable area of the mobile device in the current environment comprises:
controlling a preset scanning device to scan the obstacles in the current environment, and obtaining effective point cloud data corresponding to the current environment based on a scanning result;
matching the effective point cloud data with a pre-stored point cloud map set;
if the matching is successful, obtaining the passable area of the movable equipment in the current environment according to the point cloud map matched from the point cloud map set;
and if the matching fails, constructing a target map of the current environment based on the scanning result, and acquiring the passable area of the movable equipment in the current environment based on the target map.
5. The method of claim 4, wherein obtaining valid point cloud data corresponding to the current environment based on the scanning result comprises:
dividing the point cloud data into a plurality of data subsets based on the distance between two adjacent points in the point cloud data contained in the scanning result;
and for each data subset, counting the sum of the distances between all adjacent two points in the data subset, and determining the data subset with the distance sum exceeding a preset length threshold as the effective point cloud data corresponding to the current environment.
6. The method of claim 4, wherein said constructing a target map of the current environment based on the scan results comprises:
determining the position of a target obstacle in the current environment based on the point cloud data of the target obstacle in the scanning result;
constructing a target map of the current environment based on the location of the target obstacle in the current environment.
7. A volume adjustment device, comprising:
an obtaining module, configured to obtain environment information of an environment where a mobile device is located, where the environment information includes: a passable area of the movable equipment in a current environment and an additional environment quantity, wherein the passable area is used for representing the spaciousness degree of the current environment, and the additional environment quantity comprises one or more combinations of a distance to a target audience, illumination brightness in the current environment and a background noise decibel value of the current environment;
and the volume adjusting module is used for adjusting the current volume based on the environment information and the preset volume, determining the target volume and carrying out voice playing based on the target volume.
8. The apparatus of claim 7, wherein the acquisition module comprises:
the scanning sub-module is used for controlling a preset scanning device to scan the obstacles in the current environment and obtaining effective point cloud data corresponding to the current environment based on a scanning result;
the matching sub-module is used for matching the effective point cloud data with a pre-stored point cloud map set;
the first determining submodule is used for obtaining the passable area of the movable equipment in the current environment according to the point cloud map matched from the point cloud map set if the matching is successful;
and the second determining submodule is used for constructing a target map of the current environment based on the scanning result if the matching fails, and acquiring the passable area of the movable equipment in the current environment based on the target map.
9. A mobile device, comprising: a speech module, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 6 when executing the program, the speech module being connected to the processor for playing speech based on the target volume determined by the method of any one of claims 1 to 6.
10. A computer-readable storage medium, on 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 6.
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