TWI756607B - Automatic positioning speaker device and sound system thereof - Google Patents

Abstract

An automatic positioning speaker device and a sound system thereof is provided. The automatic positioning speaker device includes a sound module, a camera module, a control module and a moving module. The sound module is configured to play an audio. The camera module is configured to capture a plurality of user images at different location. The control module can identify the user's face orientation according to the user images, calculate the user's face height from the ground according to an elevation angle and a position of the camera module while each shooting, and calculate a to-be-placed position of the speaker device according to the face orientation and the face height from the ground. The moving module moves the speaker device to the to-be-placed position.

Description

Speaker device for automatic placement and sound system thereof

This case describes a speaker device and a sound system, especially a speaker device with automatic positioning and its sound system.

Music has always been one of the main entertainments of human beings. People often listen to music to soothe their mood. However, with the advancement of technology, people begin to pursue the quality of listening to music and the feeling of listening to music. There are all kinds of speakers on the market, especially smart speakers are growing rapidly in the global market, and more than 60% of the usage scenarios of smart speakers are for listening to music. However, there is usually only one speaker or smart speaker on the market, and with the change of the user's position, the best position to play music will also change. Taking listening to two-channel music as an example, the listening position should be equidistant from the two speakers. Once fixed, the best listening position is also fixed. If the listener moves around the room to do other things, the quality of listening to the music must be sacrificed. In addition, when there are multiple speakers, due to the fixed placement, it will also cause space occupation and troubles in wiring layout and charging.

In view of the above, the present application provides an automatic positioning speaker device including a broadcasting module, a photographing module, a control module and a moving module. The audio module is used to play audio. The camera module is used for capturing a plurality of user images for the user at different shooting positions in stages. The control module recognizes the face orientation of the user according to the user images, calculates the height of the user's face from the ground according to the shooting elevation angle and shooting position of the user images, and calculates the height of the user's face from the ground according to the face orientation and the face off the ground. Height calculates the placement of the speaker unit. The moving module moves the speaker device to the corresponding position.

According to some embodiments, the control module compares a face model of the user according to the image of the user to identify the face orientation of the user.

According to some embodiments, the control module calculates a moving distance according to the moving time and speed between different shooting positions, so as to calculate the height of the face from the ground according to the moving distance and the shooting elevation angle.

According to some embodiments, the automatically positioned speaker device further includes a man-machine interface module, which receives a control command from the user, so that the speaker device moves toward the user according to the control command.

According to some embodiments, the automatically positioned speaker device further includes a distance sensing module for detecting an obstacle on the moving path of the speaker device, so that the control module controls the moving module to avoid the obstacle.

According to some embodiments, the automatically positioned speaker device further includes a distance sensing module. When the speaker device moves to a corresponding position, the distance sensing side module detects a distance between the speaker device and an obstacle adjacent to the speaker device. , when the spacing is smaller than a preset value, the control module adjusts the position to make the spacing greater than or equal to the preset value.

According to some embodiments, the automatically positioned speaker device further includes an environment sensing module for detecting the environment where the speaker device is located and generating an environment parameter, the control module generates an indoor map according to the environment parameter, and moves The module moves the speaker device to the corresponding position according to the indoor map.

According to some embodiments, the control module calculates a distance between the placement and the obstacles adjacent to the placement according to the indoor map, and when the distance is less than a preset value, the control module adjusts the placement so that the distance is greater than or equal to the preset value.

The present application also provides an automatic positioning multi-speaker sound system comprising a plurality of the aforementioned speaker devices.

According to some embodiments, each sound box device includes a communication module, and at least one main sound box device in the sound box device transmits the position corresponding to the at least one main sound box device to at least one pair of sound box devices in the sound box device through the communication module, at least A pair of speaker devices calculates and adjusts the placement corresponding to at least one pair of speaker devices according to the placement corresponding to at least one main speaker device.

Therefore, according to some embodiments, the speaker device determines the optimal playback position of the speaker device by finding the orientation of the user's face and the height of the user's face from the ground, and automatically moves to the corresponding placement position, so that the user can use The user can get the best listening enjoyment without moving their position. In addition, through a sound system composed of multiple speaker devices that can be placed in their own positions, the wiring problem and space occupation problem between the speaker devices can be reduced, and the user can obtain the best listening effect at any time. The mobility of the speaker device can also be easier to charge.

及拍攝位置61，計算使用者14之臉部離地高度EH，於是可依據臉部朝向16及臉部離地高度EH計算音箱裝置10的擺位12。詳細的計算方式，將於後述。移動模組50便可依據計算結果移動音箱裝置10至對應的擺位12。Referring to FIGS. 1 , 2 and 4 , FIG. 1 shows a block diagram of an automatically positioned speaker device 10 according to some embodiments. FIG. 2 illustrates, according to some embodiments, a side view of a user 14 captured by the speaker device 10 . FIG. 4 illustrates a top view of the position 12 and the user 14 of the speaker device 10 , according to some embodiments. The automatically positioned speaker device 10 includes a broadcasting module 20 , a photographing module 30 , a control module 40 and a moving module 50 . The playing module 20 is used for playing audio. The photographing module 30 is used to capture a plurality of user images for the user 14 at different photographing positions 61 in stages. The control module 40 can identify the face orientation 16 of the user 14 (as shown in FIG. 4 ) according to the user images, and according to the shooting elevation angles of the user images captured each time

and the photographing position 61 , the height EH of the user 14's face from the ground is calculated, and then the position 12 of the speaker device 10 can be calculated according to the face orientation 16 and the height EH of the face from the ground. The detailed calculation method will be described later. The moving module 50 can move the speaker device 10 to the corresponding position 12 according to the calculation result.

The aforementioned broadcasting module 20 is, for example, but not limited to, an electrodynamic speaker, a piezoelectric speaker, an electrode speaker, a plasma speaker, a cone speaker, a flat panel speaker, a dome speaker, a horn speaker, and the like.

The aforementioned photographing module 30 is, for example, but not limited to, a camera, a video camera, an optical imaging device, and the like. In some embodiments, the lens of the camera module 30 has the functions of pan, tilt and zoom. In some embodiments, the camera module 30 includes a stepper motor. The aforementioned moving module 50 is, for example, but not limited to, a two-wheel propulsion device, a crawler propulsion device, and the like.

The aforementioned control module 40 is, for example, but not limited to, a central processing unit (CPU, Central Processing Unit), a microprocessor (Microprocessor), an application-specific integrated circuit (ASIC, Application-specific Integrated Circuit), and a system-on-chip (SOC, System on chip). a Chip) and so on. In some embodiments, the control module 40 can be electrically connected to the broadcasting module 20 , the photographing module 30 and the moving module 50 through the bus bar.

The aforementioned control module 40 recognizes a face orientation 16 of the user 14 according to the user images. For example, first, the control module 40 obtains the two-dimensional coordinates of six feature points on the face of the user 14 through the user images, and the six feature points are the tip of the nose, the chin, the corner of the left eye, the corner of the right eye, and the corner of the left mouth. and the right corner of the mouth, and then establish the three-dimensional coordinates of the six feature points according to the two-dimensional coordinates. These three-dimensional coordinates can be obtained by comparing a general three-dimensional face model, and then according to the three-dimensional coordinates of the six feature points, the six features The pixel coordinates (or two-dimensional coordinates) of the point and the internal parameters of the camera module 30 calculate the rotation matrix and the translation matrix, and use the Direct Linear Transform (DLT) to obtain the face of the user 14 according to the rotation matrix and the translation matrix. The left and right flip direction of the face is the yaw angle (Yaw), so as to obtain the face orientation 16.

In some embodiments, the control module 40 compares the face model of the user 14 to identify the face orientation 16 of the user 14 according to the user image. For example, when the user 14 uses the speaker device 10 for the first time, the camera module 30 scans the face of the user 14 to generate a face model, which is stored in the speaker device 10 , and when the speaker device 10 is used later, the control module 40 The two-dimensional coordinates of the six feature points (as described above) of the face of the user 14 can be obtained according to the user images, and then the six feature points are established according to the two-dimensional coordinates against the face model. In this way, the accuracy of the calculation can be improved, so as to obtain the face orientation 16 of the user 14 with higher accuracy.

及拍攝位置61計算使用者14之臉部離地高度EH。舉例來說，音箱裝置10的拍攝位置61與使用者14之間有一距離X，該拍攝位置61與使用者14之間具有一拍攝仰角

，當拍攝仰角

及距離X都獲得，即可運用三角函數以及畢氏定理獲得臉部離地高度EH，如式1所示。

(式1)As shown in FIG. 2 , the control module 40 is based on the shooting elevation angle of the user image

and the photographing position 61 to calculate the height EH of the user 14's face from the ground. For example, there is a distance X between the shooting position 61 of the speaker device 10 and the user 14 , and there is a shooting elevation angle between the shooting position 61 and the user 14

, when shooting at an elevation angle

and distance X are obtained, and the face height EH from the ground can be obtained by using trigonometric functions and Pythagorean theorem, as shown in Equation 1.

(Formula 1)

為經由攝影模組30的上下傾斜(Tile)功能量測而得。在一些實施例中，拍攝仰角

及距離X可以運用影像成像原理計算而得，即利用臉部定位的像素及攝影模組30的焦距相關資訊測量拍攝仰角

及距離X，舉例來說，經由式2來獲得視角後，找尋臉部像素對應的位置，以計算拍攝仰角

，以及如式3所示，運用焦距、使用者影像的大小以及實物大小計算距離X，其中式2之

代表視角，d代表底片在一個方向的大小，f代表焦距。式3之f代表焦距，E代表實物大小，G代表使用者影像的大小。在一些實施例中，使用者14與拍攝位置61之間的距離X為經由距離感測模組(容後詳述)偵測而得。

(式2)

(式3)In some embodiments, the elevation angle is captured

It is measured through the tilt function of the camera module 30 . In some embodiments, the elevation angle is captured

and the distance X can be calculated by using the principle of image imaging, that is, using the pixels positioned on the face and the focal length-related information of the camera module 30 to measure the shooting elevation angle

and distance X, for example, after obtaining the angle of view through Equation 2, find the position corresponding to the face pixel to calculate the shooting elevation angle

, and as shown in Equation 3, the distance X is calculated using the focal length, the size of the user's image, and the actual size, where Equation 2

represents the angle of view, d represents the size of the film in one direction, and f represents the focal length. In formula 3, f represents the focal length, E represents the actual size, and G represents the size of the user's image. In some embodiments, the distance X between the user 14 and the photographing position 61 is detected by a distance sensing module (described in detail later).

(Formula 2)

(Formula 3)

計算臉部離地高度EH。舉例來說，首先控制模組40於第一拍攝位置611獲得第一拍攝仰角

，並經過一移動時間移動至第二拍攝位置612並獲得第二拍攝仰角

，其中可透過移動時間及速率計算移動距離MD，接著運用三角函數及畢氏定理可計算獲得臉部離地高度EH，如式4所示。在一些實施例中，音箱裝置10做等速率的移動。在一些實施例中，量測臉部離地高度EH時會受到攝影模組30離地高度的影響，因此計算臉部離地高度EH需考慮攝影模組30離地的高度，如式5所示，其中CH代表攝影模組30離地的高度。

(式4)

(式5)Referring to FIG. 3, FIG. 3 illustrates, according to some embodiments, the speaker device 10 captures side views of the user 14 multiple times. In some embodiments, the control module 40 calculates the moving distance MD according to the moving time and speed between the different shooting positions 61, so as to calculate the moving distance MD and the shooting elevation angle according to the moving distance MD

Calculate the height of the face above the ground EH. For example, first, the control module 40 obtains the first shooting elevation angle at the first shooting position 611

, and move to the second shooting position 612 after a moving time and obtain the second shooting elevation angle

, in which the moving distance MD can be calculated through the moving time and speed, and then the face height EH can be obtained by using trigonometric functions and Pythagorean theorem, as shown in Equation 4. In some embodiments, the loudspeaker device 10 moves at a constant rate. In some embodiments, the height of the camera module 30 is affected by the height of the camera module 30 when measuring the height EH of the face. Therefore, the height of the camera module 30 from the ground needs to be considered when calculating the height EH of the face, as shown in Equation 5 shown, wherein CH represents the height of the camera module 30 from the ground.

(Formula 4)

(Formula 5)

。在一些實施例中，該距離A可以由控制模組40依據臉部離地高度EH以及拍攝仰角

計算獲得，如式6所示。在一些實施例中，該距離A以及該夾角

可以由使用者14透過人機介面模組(容後詳述)自行定義適合的長度及大小，以此讓使用者14獲得最佳的聆聽效果。在一些實施例中，控制模組40依據臉部離地高度EH來計算及決定最適當的距離A，依據臉部朝向16來計算及決定最適當的夾角

，並藉由距離A以及夾角

來計算擺位12。

(式6)As shown in FIG. 4 , there is a distance A and an included angle between the position 12 of the speaker device 10 and the face 16 of the user 14

. In some embodiments, the distance A can be controlled by the control module 40 according to the height EH of the face from the ground and the shooting elevation angle

Calculated, as shown in Equation 6. In some embodiments, the distance A and the included angle

The appropriate length and size can be defined by the user 14 through the man-machine interface module (described in detail later), so that the user 14 can obtain the best listening effect. In some embodiments, the control module 40 calculates and determines the most appropriate distance A according to the height EH of the face from the ground, and calculates and determines the most appropriate angle according to the face orientation 16

, and by the distance A and the included angle

to calculate the placement 12.

(Formula 6)

(式7)In some embodiments, when the control module 40 calculates that the placement 12 of the speaker device 10 is not the optimal playback position according to the face orientation 16 and the face height EH, the sound attenuation formula can be used to control the volume increase or decrease, and Adjust the position 12 so that the user 14 can obtain the same listening effect. For example, when the position 12 calculated by the control module 40 is too close to the wall 651 (as shown in FIG. 5 ) near the position 12, It will cause the echo effect to be too large to affect the listening experience of the user 14 or when the calculated position 12 is an unplaceable position, such as beyond the boundary of the indoor space, at this time, through the sound attenuation formula, as shown in Equation 7, control the volume increase. The same sound quality can also be obtained, wherein Lp2 represents the sound pressure level of the placement 12 , Lp1 represents the sound pressure level of the optimal playback position, and r1 represents the distance between the optimal playback position and the user 14 .

(Formula 7)

In some embodiments, the speaker device 10 further includes a man-machine interface module, which receives a control command from the user 14 , so that the speaker device 10 moves toward the user 14 according to the control command. The human-machine interface module can be a communication module for wireless transmission, such as but not limited to Bluetooth, wireless hotspot WiFi, mobile communication, etc., or a communication module for wired transmission, such as but not limited to Ethernet (Ethernet), Universal Serial Bus (USB), etc., it can also be an input interface composed of buttons, knobs, touch screens, voice input, etc., or a remote control device. The control command can be a voice control command, a voice signal, a control signal, a remote control signal, and the like. In some embodiments, the control module 40 is electrically connected to the human-machine interface module through the bus bar.

In some embodiments, the speaker device 10 further includes a distance sensing module for detecting the obstacle 65 on the moving path of the speaker device 10 , so that the control module 40 controls the moving module 50 to avoid the obstacle 65 (shown in Figure 5). The distance sensing module can be an infrared sensor, a sound wave sensor, a laser sensor, and the like. In some embodiments, the speaker device 10 is set with a preset value. When the distance sensing module detects that the distance 67 (as shown in FIG. 5 ) between the speaker device 10 and the obstacle 65 on the moving path is smaller than the preset value, The control module 40 controls the movement module 50 to make the speaker device 10 avoid the obstacle 65 . In some embodiments, the control module 40 is electrically connected to the distance sensing module via the bus bar.

In some embodiments, when the speaker device 10 moves to the corresponding position 12 , the distance sensing module detects a distance 67 between the speaker device 10 and the obstacle 65 adjacent to the speaker device 10 , and the distance 67 is smaller than a predetermined distance. When the value is set, the control module 40 adjusts the position 12 so that the distance 67 is greater than or equal to the preset value. For example, after the speaker device 10 is moved to the corresponding position 12, it is determined whether the speaker device 10 is too close to the obstacle 65, for example, the speaker device 10 is too close to the wall 651 (as shown in FIG. 5). When the distance 67 from the wall 651 is smaller than the preset value, adjust the placement 12 to a proper position so that the distance 67 between the speaker device 10 and the wall 651 is greater than or equal to the preset value. In some embodiments, after the control module 40 adjusts the position 12, the volume can be increased or decreased by the aforementioned sound attenuation formula, so that the user 14 can obtain the same listening experience.

In some embodiments, the speaker device 10 further includes an environment sensing module for detecting the environment where the speaker device 10 is located, and generating environment parameters, the control module 40 generates an indoor map according to the environment parameters, and the mobile module 50 moves the speaker device 10 to the corresponding position 12 according to the indoor map. The environmental sensing module is, for example, but not limited to, an infrared sensor, an acoustic sensor, a laser sensor, and the like. For example, after the environment sensing module looks around the environment and state where the speaker device 10 is located in a 360-degree all-round way, the environment parameters are generated, and the control module 40 generates an indoor map according to the environment parameters. 40 After calculating the position 12 of the speaker device 10 according to the face orientation 16 and the face height EH, mark the position of the position 12 on the indoor map, and then the moving module 50 moves the speaker according to the position marked on the indoor map. The device 10 is moved to the corresponding swing position 12 . In some embodiments, the environmental parameter may be that an infrared sensor uses infrared rays to measure the placement position and the corresponding distance of indoor objects, the acoustic wave sensor uses sound waves to measure the placement position and the mutual corresponding distance of indoor objects, or The laser sensor uses the laser to measure the parameters generated by the placement position and the corresponding distance of the indoor objects.

Referring to FIG. 5 , FIG. 5 is a schematic diagram of the position 12 and the obstacle 65 on the indoor map according to some embodiments. In some embodiments, the control module 40 calculates the distance 67 between the position 12 and the obstacle 65 adjacent to the position 12 according to the indoor map, and when the distance 67 is smaller than a predetermined value, the control module 40 adjusts the position 12 And make the distance 67 greater than or equal to the preset value. For example, when the control module 40 calculates the position 12 of the speaker device 10 according to the face orientation 16 and the height EH of the face from the ground, and marks the position 12 on the indoor map, the position 12 is determined. Whether the position on the map is too close to the obstacle 65, for example, the position 12 is too close to the wall 651, when the distance 67 between the position 12 and the wall 651 is smaller than the preset value, adjust the position 12 to an appropriate position so that the swing The distance 67 between the position 12 and the wall 651 is greater than or equal to the preset value, or when the position 12 is a position where the speaker device 10 cannot be placed, such as beyond the boundary of the indoor map, adjust the position 12 to an appropriate position so that the The distance 67 between the bit 12 and the wall 651 is greater than or equal to the preset value. In some embodiments, after the control module 40 adjusts the position 12, the volume can be increased or decreased by the aforementioned sound attenuation formula, so that the user 14 can obtain the same listening experience.

，來計算自身的擺位12以符合一音箱擺位準則（例如5.1聲道國際聯盟推薦的標準配置(ITU-R BS 775)）。Referring to FIGS. 4 and 6 , FIG. 6 is a schematic top view of a multi-speaker sound system 80 according to some embodiments. The self-positioning multi-speaker sound system 80 includes a plurality of the aforementioned speaker devices 10 . For example, after the control module 40 of the speaker device 10 calculates the position 12, in order to allow the user 14 to have the best listening experience, each speaker device 10 will detect the position of the other speaker device 10 through the distance sensing module. position, and adjust its own position 12, so that the user 14 can obtain multi-channel sound field effects. In some embodiments, when the speaker device 10 cannot capture the user's image, the position of the other speaker device 10 can be detected and the difference between the position 12 of the other speaker device 10 and the face orientation 16 of the user 14 can be used. The distance A and the included angle

, to calculate its own position 12 to comply with a speaker positioning criterion (such as the standard configuration recommended by the 5.1-channel International Alliance (ITU-R BS 775)).

In some embodiments, each speaker device 10 includes a communication module, and at least one main speaker device 71 in the speaker device 10 transmits the position 12 corresponding to the at least one main speaker device 71 to the speaker device 10 via the communication module. The at least one pair of speaker devices 73 calculates and adjusts the position 12 corresponding to the at least one pair of speaker devices 73 according to the position 12 corresponding to the at least one main speaker device 71 . For example, the main speaker device 71 preferentially moves to its own position 12, and transmits its own position 12 to the sub-speaker device 73 through the communication module. The sub-speaker device 73 calculates and calculates Adjust its own position 12.

The foregoing embodiments are described in which each speaker device 10 calculates its own position 12, however, in some embodiments, the master speaker device 71 calculates the position 12 of each speaker device 10, and preferentially moves to its own After setting the position 12 , the corresponding position 12 of the sub-speaker device 73 is output through the communication module. The sub-speaker device 73 obtains the corresponding position 12 through the communication module and starts to move to the corresponding position 12 . In some embodiments, the main speaker device 71 and the sub-speaker device 73 can move to the corresponding placement 12 at the same time, or the sub-speaker device 73 arrives at the corresponding placement 12 earlier than the main speaker device 71 .

Referring to FIG. 7 , FIG. 7 is a schematic top view of a multi-speaker sound system 80 according to some embodiments. In some embodiments, the sub-speaker device 73 can calculate and adjust its own position 12 by setting the distance A between the main speaker device 71 and the user 14 as a radius to meet the speaker placement criteria (eg 5.1 Standard configuration recommended by the International Federation of Sound Channels (ITU-R BS 775)). In some embodiments, when the sub-speaker device 73 cannot be set in the corresponding position 12, the volume can be increased or decreased and the position 12 can be adjusted by the aforementioned sound attenuation formula, so that the user 14 can still obtain the same listening experience .

In some embodiments, the main speaker device 71 can fix the distance A between the speaker device 10 and the user 14, and use the distance A as the radius to calculate the placement 12 of the other sub-speaker devices 73 to meet the speaker placement criteria (eg 5.1-channel standard configuration recommended by the International Alliance (ITU-R BS 775)).

In some embodiments, the control module 40 of each speaker device 10 of the multi-speaker sound system 80 specifies the channel corresponding to each speaker device 10 according to the position 12 of each speaker device 10 . For example, when the position 12 of the speaker device 10 is located in front of the left side of the user 14, the control module 40 controls the broadcasting module 20 to play the audio corresponding to the left channel.

In some embodiments, each speaker device 10 of the multi-speaker sound system 80 plays audio simultaneously. For example, each speaker device 10 may include a communication module, and receive signals from other speaker devices 10 through the communication module, so that each speaker device 10 can play audio synchronously.

Referring to FIG. 8 , FIG. 8 shows a flowchart of the speaker device 10 executing the positioning 12 according to some embodiments. First, the speaker device 10 is moved to the hall where the user 14 is located (step S801 ). Here, the speaker device 10 can use the image captured by the camera module 30 to determine whether the user 14 is photographed, so as to determine whether the user 14 is located in the same room. If yes, it can be confirmed that the speaker device 10 is located in the same hall as the user 14, and the following step S802 can be continued;

In step S802 , it is determined whether the user 14 is using the speaker device 10 for the first time, and if so, a face model is first established (step S803 ), and if not, step S804 is continued. In step S803, the photographing module 30 scans the face of the user 14 to generate a face model. After step S803 is completed, step S804 is continued.

及臉部離地高度EH來測量並決定距離A的大小。而後，執行步驟S807，控制模組40利用使用者14的臉部朝向16來決定夾角

的大小，藉此可利用距離A及夾角

計算擺位12。在此，臉部朝向16、臉部離地高度EH、拍攝仰角∝、距離A及夾角β等計算方式已於前述說明，在此不再重複贅述。而後，便可執行步驟S830驅動移動模組50移動音箱裝置10至對應的擺位12。In step S804 , the control module 40 identifies the face orientation 16 of the user 14 . Next, step S805 is executed, and the control module 40 measures the height EH of the user 14's face above the ground. Then, step S806 is executed, and the photographing module 30 uses the photographing elevation angle

And the height of the face from the ground EH to measure and determine the size of the distance A. Then, step S807 is executed, and the control module 40 uses the face direction 16 of the user 14 to determine the included angle

The size of , whereby the distance A and the included angle can be used

Calculate placement 12. Here, calculation methods such as the face orientation 16, the face height EH from the ground, the shooting elevation angle ∝, the distance A, and the included angle β have been described above, and will not be repeated here. Then, step S830 can be executed to drive the moving module 50 to move the speaker device 10 to the corresponding position 12 .

After the speaker device 10 moves to the corresponding position 12, step S808 is executed to determine whether the distance 67 between the speaker device 10 and the obstacle 65 is appropriate, if not, for example, the distance 67 between the speaker device 10 and the obstacle 65 is smaller than the preset value, Step S820 is performed; if, for example, the distance 67 between the speaker device 10 and the obstacle 65 is greater than or equal to the preset value, step S811 is performed, and the speaker device 10 plays audio.

In step S820, the control module 40 determines whether the number of times of re-adjusting the position 12 exceeds the threshold value, if not, go back to step S806 and repeat the subsequent steps to adjust the position 12; if so, execute step S821 to remind the user 14 that the current After the sound field is optimized, and step S811 is executed, the speaker device 10 starts to play audio.

In some embodiments, since the control module 40 can calculate the distance 67 between the placement 12 and the obstacles 65 adjacent to the placement 12 according to the indoor map, and when the distance 67 is smaller than a preset value, the control module 40 adjusts the placement 12 The distance 67 is set to be greater than or equal to the preset value. Therefore, after step S807 is performed, step S808 can be performed to determine whether the distance 67 between the position 12 and the obstacle 65 is appropriate. If so, step S830 is performed to drive the moving module 50 Move the speaker device 10 to the corresponding position 12; if not, go to step S820 and repeat the subsequent steps.

Referring to FIG. 9 , FIG. 9 shows a flowchart of the speaker device 10 of the multi-speaker sound system 80 executing the positioning 12 according to some embodiments. When step S808 is executed to determine that the distance 67 between the speaker device 10 and the obstacle 65 is appropriate, step S809 is continued. Here, steps such as steps S801-S808, S820, and S821 have been described above, and will not be repeated here.

來計算其他音箱裝置10(例如副音箱裝置73)的擺位12。而後，便可執行步驟S831驅動移動模組50移動其他音箱裝置10(例如副音箱裝置73)至對應的擺位12。In step S809, the distance A and the included angle obtained in step S806 and step S807 by one or more speaker devices 10 (such as the main speaker device 71) are used

To calculate the placement 12 of other speaker devices 10 (eg, the sub-speaker device 73 ). Then, step S831 may be executed to drive the moving module 50 to move other speaker devices 10 (eg, the sub-speaker device 73 ) to the corresponding placement position 12 .

When the other speaker device 10 (eg, the sub-speaker device 73 ) moves to the corresponding position 12 , step S810 is executed to determine whether the distance 67 between the other speaker device 10 (eg, the sub-speaker device 73 ) and the obstacle 65 is appropriate, if not, Step S820 is executed and the subsequent steps are repeated; if yes, step S811 is executed, and the speaker device 10 (the main speaker device 71 and the sub-speaker device 73 ) starts to play audio.

In some embodiments, since the control module 40 can calculate the distance 67 between the placement 12 and the obstacles 65 adjacent to the placement 12 according to the indoor map, and when the distance 67 is smaller than a preset value, the control module 40 adjusts the placement 12 The distance 67 is greater than or equal to the preset value. Therefore, after step S809 is performed, step S810 can be performed to determine whether the distance 67 between the position 12 and the obstacle 65 is appropriate. If so, step S831 is performed to drive the moving module 50 Move the other speaker device 10 (the sub-speaker device 73 ) to the corresponding position 12 ; if not, go to step S820 and repeat the subsequent steps.

In some embodiments, the order of step S804 and step S805 can be reversed, and the order of step S806 and step S807 can be reversed.

In some embodiments, when the speaker device 10 performs the positioning 12, steps S801-S803, S808, S810, S820-S821 may be omitted. For example, after steps S830 and S831 are performed, step S811 is directly performed to play audio, and steps S808, S810, and S820-S821 need not be performed. For example, when step S801 is performed, step S804 and subsequent steps can be directly performed, and step S802 and step S803 need not be performed. For example, when the speaker device 10 and the user 14 are in the same room, step S802 or step S804 is directly executed without executing step S801. For example, when it is determined that the distance 67 between the speaker device 10 and the obstacle 65 is not appropriate after steps S808 and S810 are performed, step S806 and subsequent steps are repeated or step S821 is directly performed without performing step S820.

In some embodiments, since the order of step S806 and step S807 can be reversed, when step S820 is executed, the control module 40 can go back to execute step S807 and repeat the subsequent steps when it determines that the number of times of readjusting the position 12 does not exceed the threshold value Adjust the swing position 12. In some embodiments, since the order of step S806 and step S807 can be reversed, step S820 can be omitted. When it is determined that the distance 67 between the speaker device 10 and the obstacle 65 is not appropriate after steps S808 and S810 are performed, step S807 can be performed and repeated Its subsequent steps adjust the position 12 .

Therefore, according to some embodiments, the speaker device determines the optimal playback position of the speaker device by finding the orientation of the user's face and the height of the user's face from the ground, and automatically moves to the corresponding placement position, so that the user can use The user can get the best listening enjoyment without moving their position. In addition, through a sound system composed of multiple speaker devices that can be placed in their own positions, the problem of wiring between speaker devices and the problem of space occupation can be reduced, and users can obtain the best listening effect at any time. The mobility of the speaker device can also be easier to charge.

:夾角 EH:臉部離地高度

:拍攝仰角

:第一拍攝仰角

:第二拍攝仰角 61:拍攝位置 611:第一拍攝位置 612:第二拍攝位置 MD:移動距離 65:障礙物 651:牆壁 X:距離 67:間距 71:主音箱裝置 73:副音箱裝置 80:多音箱音響系統 S801~S811、S820~S821、S830~S831:步驟10: Speaker device 20: Broadcasting module 30: Photography module 40: Control module 50: Movement module 12: Positioning 14: User 16: Facial orientation A: Distance

:Included angle EH:Facial height from the ground

: Shooting elevation angle

: First shot elevation angle

: Second shooting elevation angle 61: Shooting position 611: First shooting position 612: Second shooting position MD: Moving distance 65: Obstacle 651: Wall X: Distance 67: Spacing 71: Main speaker device 73: Sub speaker device 80: Multi-speaker sound system S801~S811, S820~S821, S830~S831: steps

FIG. 1 is a block diagram of an automatically positioned speaker device according to some embodiments. FIG. 2 illustrates, according to some embodiments, a side view of a user captured by a speaker device. 3 illustrates, according to some embodiments, a side view of a user being photographed multiple times by the speaker device. FIG. 4 illustrates a top view of the speaker device and the user, according to some embodiments. FIG. 5 is a schematic diagram of positions and obstacles on an indoor map, according to some embodiments. 6 is a schematic top view of a multi-speaker sound system according to some embodiments. 7 is a schematic top view of a multi-speaker sound system according to some embodiments. FIG. 8 is a flow chart illustrating the positioning of the speaker device according to some embodiments. FIG. 9 is a flowchart illustrating the positioning of the speaker device of the multi-speaker sound system according to some embodiments.

10: Speaker device

20: Broadcasting module

30: Photography module

40: Control Module

50: Mobile Mods

Claims (9)

An automatic positioning speaker device, comprising: a broadcasting module for playing an audio; a photographing module for capturing a plurality of user images for a user at different shooting positions; a control The module identifies a face orientation of the user according to the user images, calculates a height of the user's face from the ground according to a shooting elevation angle and the shooting position of each user image, and calculates the height of the user's face from the ground according to the face A position of the speaker device is calculated by the orientation of the part and the height of the face from the ground; and a moving module, which moves the speaker device to the corresponding position; wherein, the control module is arranged according to the different shooting positions. A moving distance is calculated according to the moving time and speed between the moving distances, so as to calculate the height of the face from the ground according to the moving distance and the shooting elevation angles. The speaker device for automatic positioning according to claim 1, wherein the control module compares a face model of the user to identify the face orientation of the user according to the user image. The self-positioning speaker device according to claim 1 further includes a man-machine interface module that receives a control command from the user, so that the speaker device moves toward the user according to the control command. The self-positioning speaker device according to claim 1, further comprising a distance sensing module for detecting an obstacle on the moving path of the speaker device, so that the control module controls the moving module avoid the obstacle. The automatically positioned speaker device according to claim 1, further comprising a distance sensing module, when the speaker device moves to the corresponding position, the distance sensing module detects the speaker device and the speaker A distance between obstacles adjacent to the device, when the distance is less than a preset value, the control module adjusts the position so that the distance is greater than or equal to the preset value. The automatically positioned speaker device according to claim 1, further comprising an environment sensing module for detecting the environment where the speaker device is located, and generating an environment parameter, and the control module is based on the environment parameter An indoor map is generated, and the moving module moves the speaker device to the corresponding position according to the indoor map. The automatic positioning speaker device according to claim 6, wherein the control module calculates a distance between the positioning and an obstacle adjacent to the positioning according to the indoor map, and when the distance is less than a preset value, the The control module adjusts the placement so that the distance is greater than or equal to the preset value. An automatic positioning multi-speaker sound system, comprising: a plurality of speaker devices according to any one of claim 1 to 6. The automatic positioning multi-speaker audio system according to claim 8, wherein each of the speaker devices includes a communication module, and at least one main speaker device in the speaker devices transmits the corresponding at least one main speaker device through the communication module. The placement of the speaker device is to at least one pair of speaker devices among the speaker devices, and the at least one pair of speaker devices calculates and adjusts the placement corresponding to the at least one pair of speaker devices according to the placement corresponding to the at least one main speaker device bit.

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