WO2020087751A1 - 一种音频设备定向显示方法、装置和音频设备 - Google Patents

一种音频设备定向显示方法、装置和音频设备 Download PDF

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Publication number
WO2020087751A1
WO2020087751A1 PCT/CN2018/125272 CN2018125272W WO2020087751A1 WO 2020087751 A1 WO2020087751 A1 WO 2020087751A1 CN 2018125272 W CN2018125272 W CN 2018125272W WO 2020087751 A1 WO2020087751 A1 WO 2020087751A1
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WO
WIPO (PCT)
Prior art keywords
audio device
user
display screen
display
compensation angle
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PCT/CN2018/125272
Other languages
English (en)
French (fr)
Inventor
赵吉福
董学会
Original Assignee
歌尔股份有限公司
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Publication date
Application filed by 歌尔股份有限公司 filed Critical 歌尔股份有限公司
Priority to US17/309,139 priority Critical patent/US11551633B2/en
Publication of WO2020087751A1 publication Critical patent/WO2020087751A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
    • G06F3/147—Digital output to display device ; Cooperation and interconnection of the display device with other functional units using display panels
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G09G5/003—Details of a display terminal, the details relating to the control arrangement of the display terminal and to the interfaces thereto
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/02—Casings; Cabinets ; Supports therefor; Mountings therein
    • H04R1/023—Screens for loudspeakers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/161—Detection; Localisation; Normalisation
    • G06V40/165—Detection; Localisation; Normalisation using facial parts and geometric relationships
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/18—Eye characteristics, e.g. of the iris
    • G06V40/19—Sensors therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/02—Casings; Cabinets ; Supports therefor; Mountings therein
    • H04R1/028—Casings; Cabinets ; Supports therefor; Mountings therein associated with devices performing functions other than acoustics, e.g. electric candles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
    • H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
    • H04R1/323—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only for loudspeakers
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2320/00—Control of display operating conditions
    • G09G2320/06—Adjustment of display parameters
    • G09G2320/068—Adjustment of display parameters for control of viewing angle adjustment
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2354/00—Aspects of interface with display user
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2201/00—Details of transducers, loudspeakers or microphones covered by H04R1/00 but not provided for in any of its subgroups
    • H04R2201/02—Details casings, cabinets or mounting therein for transducers covered by H04R1/02 but not provided for in any of its subgroups
    • H04R2201/025—Transducer mountings or cabinet supports enabling variable orientation of transducer of cabinet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2201/00—Details of transducers, loudspeakers or microphones covered by H04R1/00 but not provided for in any of its subgroups
    • H04R2201/02—Details casings, cabinets or mounting therein for transducers covered by H04R1/02 but not provided for in any of its subgroups
    • H04R2201/028—Structural combinations of loudspeakers with built-in power amplifiers, e.g. in the same acoustic enclosure
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2420/00—Details of connection covered by H04R, not provided for in its groups
    • H04R2420/07—Applications of wireless loudspeakers or wireless microphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2499/00—Aspects covered by H04R or H04S not otherwise provided for in their subgroups
    • H04R2499/10—General applications
    • H04R2499/15—Transducers incorporated in visual displaying devices, e.g. televisions, computer displays, laptops

Definitions

  • the invention relates to a directional display method and device of audio equipment and audio equipment.
  • Some smart multimedia devices on the market are mostly equipped with display screens.
  • the display screen can be used not only to display related information, but also to realize human-computer interaction control of smart speakers through a touch screen display.
  • the display direction of the display screen of the smart speaker is generally fixed, and cannot be adjusted in real time.
  • the user needs to move to the opposite side of the display or manually when viewing the display or performing touch operations. Moving the speaker box results in poor human-computer interaction and affects the user experience.
  • the invention provides a directional display method, device and audio equipment of audio equipment, to solve the problem of poor human-computer interaction effect caused by the inability of the display screen to face the user accurately in the prior art solutions.
  • An aspect of the present invention provides an audio device directional display method.
  • the audio device includes an adjustable position display screen.
  • the method of the present invention includes: determining a user's spatial position; based on the user's spatial position, the center position of the audio device, and the display screen The relationship between the three of the center position determines the horizontal compensation angle and vertical compensation angle of the display direction of the display screen relative to the user space position; adjust the display direction of the display screen so that the horizontal compensation angle and the vertical compensation angle are zero.
  • the directional display method of the present invention can determine the horizontal compensation of the display direction of the display screen relative to the user space position by using the positional relationship among the user space position, the center position of the audio device and the center position of the display screen Angle and vertical compensation angle, through the adjustment of the two degrees of freedom of the display screen, the horizontal compensation angle and the vertical compensation angle are adjusted to zero degrees, so that the display direction of the display screen can be accurately aligned with the user space position in real time to ensure that the user is in the audio equipment The best viewing range to enhance the user ’s visual experience.
  • the audio equipment includes a display screen with adjustable position.
  • the apparatus of the present invention includes: a positioning unit for determining a user's space position; The relationship between the spatial position, the center position of the audio device, and the center position of the display screen, respectively determine the horizontal compensation angle and vertical compensation angle of the display direction of the display screen relative to the user's space position; the adjustment unit is used to adjust the The direction is displayed so that the horizontal compensation angle and vertical compensation angle are zero.
  • the calculation unit can determine the display direction of the display screen relative to the user space by using the positional relationship among the user space position, the center position of the audio equipment, and the center position of the display screen.
  • the horizontal compensation angle and vertical compensation angle of the position the adjustment unit adjusts the two degrees of freedom of the display screen, so that the horizontal compensation angle and the vertical compensation angle are adjusted to zero degrees, so that the display direction of the display screen can be accurately aligned with the user space position in real time To ensure that the user is in the best viewing range of the audio device and enhance the user's visual experience.
  • an audio device including a spherical camera array and an adjustable position display screen, and further includes a processor and a machine-readable storage medium storing machine-executable instructions. After reading the machine-executable instructions in the storage medium, the processor can execute the above audio device directional display method.
  • the audio device of the present invention can determine the horizontal compensation angle of the display direction of the display screen relative to the user space position by using the positional relationship among the user space position, the center position of the audio device and the center position of the display screen And the vertical compensation angle, through the adjustment of the two degrees of freedom of the display screen, the horizontal compensation angle and the vertical compensation angle are adjusted to zero degrees, so that the display direction of the display screen can be accurately aligned with the user space position in real time to ensure that the user is in the audio equipment The best viewing range improves the user's visual experience.
  • Another aspect of the present invention provides a readable storage medium that stores executable instructions, and the executable instructions are executed by a processor to implement the audio device directional display method described above.
  • FIG. 1 is a structural diagram of an audio device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart of a method for directional display of an audio device according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a user using an audio device according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of panoramic images at different moments shown in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the relative position relationship between the user and the first circle shown in an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a user in a plane rectangular coordinate system according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a user in a vertical rectangular coordinate system according to an embodiment of the present invention.
  • FIG. 8 is a structural block diagram of an audio device directional display device according to an embodiment of the present invention.
  • FIG. 9 is a structural block diagram of an audio device according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a system hardware structure according to an embodiment of the present invention.
  • the technology of the present invention may be implemented in the form of hardware and / or software (including firmware, microcode, etc.).
  • the technology of the present invention may take the form of a computer program product on a computer-readable medium storing instructions, which may be used by or in conjunction with an instruction execution system.
  • a computer-readable medium may be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions.
  • computer-readable media may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, devices, or propagation media.
  • Specific examples of computer-readable media include: magnetic storage devices such as magnetic tapes or hard disks (HDD); optical storage devices such as compact disks (CD-ROM); memories such as random access memory (RAM) or flash memory; and / or wired / Wireless communication link.
  • the audio device in this embodiment includes smart speakers and other products.
  • the audio device includes a casing (2, 9, 10) with an egg-shaped structure at the bottom, the casing includes a lower casing 9, an upper casing 10, and a top cover 2, and the bottom of the lower casing 9 has an egg-shaped structure. That is, a semi-spherical shape as shown in FIG.
  • the lower shell 9 and the upper shell 10 are connected by gear engagement
  • the upper shell 10 is a cylindrical structure, in an example, the upper shell 10 is provided with gears inside, and the inner wall of the lower shell 9 is provided with
  • the gear ring is meshed with a gear, the gear is driven by a motor, and the upper cover 2 can be fixed on the upper end of the upper casing 10 by means of glue or screw fixation; Of panoramic cameras and at least two sets of binocular cameras.
  • the display screen 8 is provided at the upper shell 10, and the upper shell is driven to rotate by the motor drive gear for horizontal selection, so as to achieve horizontal adjustment of the display direction of the display screen 8.
  • a movable swinging member 5 suspended at a central position of the casing by a fixing bracket 4 is provided inside the casing, and an annular electromagnetic assembly 6 surrounding the swinging member is provided on the inner side wall of the casing.
  • the electromagnetic assembly includes an annular array formed by a plurality of solenoids.
  • the annular array of the plurality of solenoids is fixed on the inner side wall of the housing.
  • the ring array is a ring axis array structure that evenly surrounds the inner wall of the bottom of the lower shell. The more the number of solenoids, the higher the control accuracy.
  • the number of solenoids can be set according to the accuracy requirements.
  • the display screen of the audio device can follow the upper case to rotate in the horizontal direction, and follow the swing of the swing member to tilt in the vertical direction, whereby the display screen of the audio device can be performed according to the following directional display method Control to realize the accurate directional tracking of the display screen.
  • a method of the present invention provides an audio device directional display method.
  • the audio device includes a display screen with adjustable position.
  • a display screen with adjustable position For the composition of the audio device in this embodiment, refer to the related description above.
  • FIG. 2 is a flowchart of an audio device directional display method according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment includes:
  • S220 according to the relationship between the user's spatial position, the center position of the audio device, and the center position of the display screen, respectively determine the horizontal compensation angle and the vertical compensation angle of the display direction of the display screen relative to the user's space position.
  • the positional relationship between the user space position, the center position of the audio device and the center position of the display screen is used to determine the horizontal compensation angle and vertical compensation of the display direction of the display screen relative to the user space position Angle, by adjusting the two degrees of freedom of the display, the horizontal compensation angle and the vertical compensation angle are adjusted to zero degrees, so that the display direction of the display can be accurately aligned with the user's space position in real time, ensuring that the user is in the best viewing of the audio equipment Scope to enhance the user ’s visual experience.
  • step S210 is executed to determine the user space position, where the user space position includes the user's eye position.
  • This embodiment preferably determines the user's eye position, that is, the user space position can be understood as the middle position of the user's eyes.
  • the user space position is determined by the following methods: first, the panoramic camera in the spherical camera array is used for continuous photography to obtain a panoramic image; then, according to the change in the position of the foreground relative to the background of the panoramic image at different times, the panoramic image is determined The user existing in the; then, based on the user's position in the panoramic image and the proportional relationship between the length of the panoramic image and the first circumference, determine the user's position relative to the center position of the audio device, the first circumference is the spherical camera array The projection circle on the horizontal plane where the center position of the audio equipment is located.
  • the panoramic camera in the spherical camera array can be activated in response to the acquired activation signal.
  • the activation signal includes an electrical signal generated according to a voice signal carrying preset keywords.
  • the voice signal can be picked up through the microphone array in the audio device and The voice signal is converted into an electrical signal.
  • the panoramic camera is started according to the carried preset keywords, and the panoramic camera is used to take continuous photos to compare photos at different moments, and analyze whether there is a user around the audio device.
  • the user is not absolutely stationary at any time, and the high-definition panoramic camera can perfectly capture the user's movement.
  • the target A and the audio device are located in the same space.
  • two panoramic images at time t0 and time t1 are obtained, which can be determined by comparing the position change of the same target in the two panoramic images Whether the target is a user.
  • target A is located at position Ia0, at time t1, target A is located at position Ia1, it can be determined that there is a displacement difference ⁇ Ia between target A at times t0 and t1, indicating that at this time in the same background, Target A has moved and it is determined that Target A is the user.
  • the user's relative first circumference can be determined s position.
  • the projection circle of the spherical camera array on the horizontal plane where the center position of the audio device is expanded is a line segment with a certain length, and the first circle length in FIG. 4 is L; where the center position of the first circle and the center of the audio device The location corresponds to the same location.
  • the base point O of the line segment corresponds to the right end of the panoramic image, it is determined that the distance between the user A in the panoramic image and the right end of the panoramic image in the panoramic image at t1 is Ia1.
  • the position of user A relative to the first circle is a direction at an angle ⁇ with the OO ′ direction, that is, the direction of ray L ′ in FIG. 5 is the direction of user A relative to the center position of the audio device.
  • step S220 After determining the user space position, proceed to step S220, that is, according to the relationship between the user's space position, the center position of the audio device, and the center position of the display screen, respectively determine the level of the display direction of the display screen relative to the user space position Compensation angle and vertical compensation angle; where the display direction of the display screen includes the direction indicated by the first connection between the center position of the audio device and the center position of the display screen, and the center position of the audio device is on the vertical line in the space of the audio device .
  • the application starts the binocular camera facing the user to take a picture of the user's direction, and the user image taken through the binocular camera is based on the binocular camera's
  • the distance between the user ’s eyes relative to the center position of the audio device is determined, and then the horizontal compensation angle and vertical compensation angle of the display direction relative to the user ’s eyes are determined, and the display screen is adjusted based on the horizontal compensation angle and the vertical compensation angle
  • the display direction enables the center position of the adjusted display screen to be aligned with the user's eyes, so that the display screen accurately tracks the user's position for directional display, and ensures the user's best visual experience.
  • the horizontal compensation angle of the display direction of the display screen relative to the user space position is determined by the following method: first, a horizontal rectangular coordinate system is established for the origin according to the center position of the audio device; then, the horizontal direction in the spherical camera array is used to correspond to the user The position's binocular camera determines the user's horizontal position coordinates; then a horizontal compensation angle is formed on the horizontal rectangular coordinate system between the second connection and the first connection between the horizontal position coordinates and the center position of the audio device.
  • a horizontal rectangular coordinate system can be established as the origin according to the center position of the audio device.
  • the X axis of the established horizontal rectangular coordinate system is a straight line connecting the current center position of the display screen and the center position of the audio device. That is, the current first connection is the X axis, and the user's horizontal position coordinates (xa, ya) are located in the following manner, according to the second connection L2 and the first connection between the horizontal position coordinates and the center position of the audio device
  • a horizontal compensation angle a is formed on the rectangular coordinate system of the horizontal plane between L1 (that is, the positive direction of the X axis). Referring to FIG. 6, connect the line between the user ’s horizontal position coordinate point and the coordinate origin O shown in FIG.
  • the angle ⁇ formed by the shaft is determined as the horizontal compensation angle.
  • tana
  • the horizontal compensation angle can be obtained. Since the user has a certain width in the horizontal direction, when analyzing and recognizing the image taken by the binocular camera, the relative center point of the user in the horizontal direction represents the horizontal position of the user A, for example, the center position between the user's eyes Indicates the horizontal position of user A.
  • the distance measurement method of the user in the rectangular coordinate system of the horizontal plane is determined by using the distance measurement method of the binocular camera.
  • the horizontal position coordinates of the user can be determined by using the distance parameter between the binocular cameras that take the user's image and the displacement difference of the same target in the image taken by the binocular camera in the spherical camera array.
  • the user can use a distance measuring device and a binocular camera to detect the user's horizontal position coordinates in the horizontal rectangular coordinate system.
  • the photosensitive test device can detect the camera's photographing behavior, and measure the relative angle between the camera and the photosensitive test device.
  • the position of the camera is measured according to the time difference received by the camera coordinate. You can also use ultrasonic ranging or laser ranging to get the user's coordinate position.
  • the vertical compensation angle of the display direction of the display screen relative to the position of the user's eyes is determined by the following method: first, a vertical rectangular coordinate system is established for the origin according to the center position of the audio device; The binocular camera whose direction corresponds to the user's position determines the vertical position coordinates of the user's eyes; then the third connection and the first connection between the vertical position coordinates and the center position of the audio device are formed on the vertical rectangular coordinate system Vertical compensation angle.
  • the vertical rectangular coordinate system can be established as the origin according to the center position of the audio device, and the X axis of the established vertical rectangular coordinate system is where the connection between the current display center position and the audio device center position is A straight line, that is, the current first line is the X axis, and the user's vertical position coordinates (xa, za) are located in the following manner, according to the third line L3 and the first line between the vertical position coordinates and the center position of the audio device
  • the distance measurement method of the user's eyes in the rectangular coordinate system of the vertical plane is determined by the distance measurement method of the binocular camera.
  • the vertical position coordinates of the user's eye can be determined by using the distance parameter between the binocular cameras that capture the user's image in the spherical camera array and the displacement difference of the eyes in the image captured by the binocular camera.
  • the distance measuring device can be used with a binocular camera to detect the vertical position coordinates of the user's eye in the vertical rectangular coordinate system.
  • the photosensitive test device can detect the camera's photographing behavior, and measure the relative angle between the camera and the photosensitive test device.
  • the position of the camera is measured according to the time difference received by the camera coordinate.
  • Ultrasonic distance measurement or laser distance measurement can also be used to obtain the coordinate position of the user's eye.
  • step S230 is continued, that is, the display direction of the display screen is adjusted so that the horizontal compensation angle and the vertical compensation angle are zero.
  • the display screen is provided on the target casing.
  • the target casing is the upper casing of the audio device.
  • the display screen is provided on the upper casing.
  • the interior of the audio device includes a movable swing member and a surround The electromagnetic component of the oscillating member.
  • This embodiment can drive the target housing of the audio device to rotate in the horizontal direction, so that the horizontal compensation angle is zero, and the display screen is rotated in the horizontal direction; the set size, direction, and / or set frequency are generated by controlling the electromagnetic components
  • the magnetic field force drives the swing member to move in the internal space of the audio device, so that the vertical compensation angle is zero, and the tilt of the display screen in the vertical direction is realized.
  • the upper casing can be driven by a motor-driven gear to rotate the display screen in the horizontal direction; and the center of gravity of the audio device is changed by driving the swing member to swing, and the display screen can be tilted in the vertical direction.
  • This embodiment can realize two degrees of freedom of the display direction of the display screen, that is, the adjustment of the vertical angle corresponding to the pitch direction of the audio device and the horizontal angle corresponding to the rotation direction of the audio device, accurately controlling the directional display of the audio device, and improving the user's vision Experience.
  • Another aspect of the present invention provides an audio equipment directional display device.
  • the audio device includes a display screen with adjustable position.
  • a display screen with adjustable position For the composition of the audio device in this embodiment, refer to the related description above.
  • FIG. 8 is a structural block diagram of a directional display device for audio equipment according to an embodiment of the present invention. As shown in FIG. 8, the device in this embodiment includes:
  • the positioning unit 81 is used to determine the user space position
  • the calculation unit 82 is used to determine the horizontal compensation angle and the vertical compensation angle of the display direction of the display screen relative to the user's space position according to the relationship between the user's spatial position, the center position of the audio device, and the center position of the display screen;
  • the adjusting unit 83 is used to adjust the display direction of the display screen so that the horizontal compensation angle and the vertical compensation angle are zero.
  • the calculation unit can determine the relative display direction of the display screen by using the positional relationship between the user space position, the center position of the audio device, and the center position of the display screen.
  • the horizontal compensation angle and vertical compensation angle of the user space position the adjustment unit adjusts the two degrees of freedom of the display screen, so that the horizontal compensation angle and the vertical compensation angle are adjusted to zero degrees, so that the display direction of the display screen can be accurately aligned with the user in real time.
  • the spatial position ensures that the user is in the best viewing range of the audio device and enhances the user's visual experience.
  • the display direction of the display screen includes the direction indicated by the first connection between the center position of the audio device and the center position of the display screen, and the center position of the audio device is located on a vertical line in the space of the audio device.
  • the audio device further includes a spherical camera array
  • the positioning unit 81 is used to continuously take pictures using the panoramic camera in the spherical camera array to obtain a panoramic image; according to the change in the position of the foreground relative to the background in the panoramic image at different times, determine A user existing in the panoramic image; based on the user's position in the panoramic image and the proportional relationship between the length of the panoramic image and the first circumference, determine the user's position relative to the center position of the audio device, the first circumference being the spherical shape
  • the projection circle of the camera array on the horizontal plane where the center position of the audio equipment is located.
  • the calculation unit 82 includes: a horizontal compensation angle calculation module and a vertical compensation angle calculation module;
  • the horizontal compensation angle calculation module is used to establish a horizontal rectangular coordinate system based on the center position of the audio device; use the binocular camera corresponding to the user position in the horizontal direction of the spherical camera array to determine the user's horizontal position coordinates; according to the horizontal position coordinates and the audio device's A horizontal compensation angle is formed on the rectangular coordinate system of the horizontal plane between the second connection line between the center positions and the first connection line.
  • the vertical compensation angle calculation module is used to establish a vertical rectangular coordinate system based on the center position of the audio device; use the binocular camera in the spherical camera array corresponding to the user position in the vertical direction to determine the vertical position coordinates of the user's eye; according to the vertical position coordinates and A vertical compensation angle is formed on the rectangular coordinate system of the vertical plane between the third connection line and the first connection line between the center positions of the audio equipment.
  • the display screen is disposed on the target housing, and the inside of the audio device includes a movable swing member and an electromagnetic component surrounding the swing member.
  • the adjusting unit 83 is used to drive the target housing of the audio device to rotate in the horizontal direction, so that the horizontal compensation angle is zero; it is also used to generate a set size, direction, and / or set frequency by controlling the electromagnetic component
  • the magnetic field force drives the swing member to move in the internal space of the audio device so that the vertical compensation angle is zero.
  • the relevant parts can be referred to the description of the method embodiments.
  • the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located One place, or can be distributed to multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement without paying creative labor.
  • Another aspect of the invention provides an audio device.
  • the audio device in this embodiment includes a spherical camera array and a display screen with adjustable position, and further includes a processor and a machine-executable storage device.
  • the machine-readable storage medium of instructions by reading and executing the machine-executable instructions in the machine-readable storage medium, the processor can execute the audio device directional display method described above.
  • the audio device in this embodiment can determine the level of the display direction relative to the user space position by using the positional relationship among the user space position, the center position of the audio device, and the center position of the display screen Compensation angle and vertical compensation angle, by adjusting the two degrees of freedom of the display screen, the horizontal compensation angle and the vertical compensation angle are adjusted to zero degrees, so that the display direction of the display screen can be accurately aligned with the user space position in real time to ensure that the user is in the audio
  • the best viewing range of the device improves the user's visual experience.
  • the center position of the audio device is on the vertical line in the space of the audio device.
  • the spherical camera array includes a panoramic camera on the top of the audio device and at least two sets of binocular cameras.
  • the position-adjustable display screen is arranged on the upper shell of the audio equipment shell.
  • the upper shell of the audio equipment is provided with gears, and the inner wall of the lower shell of the audio equipment is provided with a ring gear meshing with the gears.
  • the gears are driven by the motor.
  • the bottom of the lower shell of the audio equipment is an egg-shaped structure.
  • a movable swinging member is suspended at the center of the interior of the casing.
  • a ring-shaped electromagnetic component surrounding the swinging member is provided on the inner side wall of the casing. The magnetic force of the direction and / or set frequency drives the swinging member to move, so that the display direction of the display screen can be tilted at a desired angle.
  • Another aspect of the invention provides a system.
  • the system provided by this application may be implemented by software, or by hardware or a combination of hardware and software.
  • the system provided by the present application may include a processor 1001 and a machine-readable storage medium 1002 storing machine-executable instructions.
  • the processor 1001 and the machine-readable storage medium 1002 can communicate via a system bus 1003. And, by reading and executing the machine-executable instructions in the machine-readable storage medium 1002 corresponding to the directional display logic of the audio device, the processor 1001 can execute the audio device directional display method described above.
  • Another aspect of the invention provides a machine-readable storage medium.
  • the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are executed by the processor, the directional display method of the audio device described above is implemented.
  • readable storage medium of the embodiment of the present invention may be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions.
  • readable storage media may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, devices, or propagation media.
  • Specific examples of readable storage media include: magnetic storage devices such as magnetic tapes or hard disks (HDD); optical storage devices such as compact disks (CD-ROM); memories such as random access memory (RAM) or flash memory; and / or wired / Wireless communication link.
  • the machine-readable storage medium may include a computer program, and the computer program may include code / computer-executable instructions, which when executed by the processor, cause the processor to perform, for example, the audio device directional display method flow described above and any variations thereof.
  • the computer program may be configured to have, for example, computer program code including computer program modules.
  • the code in the computer program may include one or more program modules. It should be noted that the division mode and number of modules are not fixed, and those skilled in the art may use appropriate program modules or program module combinations according to actual conditions.
  • the processor may execute, for example The audio device directed display process described above and any variations thereof.
  • the words “first” and “second” are used to distinguish the same or similar items with basically the same functions and functions. Personnel can understand that the words “first” and “second” do not limit the number and execution order.

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Abstract

本发明公开一种音频设备定向显示方法、装置和音频设备。本发明的音频设备包括可调整位置的显示屏，本发明的方法包括通过球形摄像头阵列确定用户空间位置；根据用户的空间位置、音频设备的中心位置以及显示屏的中心位置三者之间的关系，分别确定显示屏的显示方向相对用户空间位置的水平补偿角度和垂直补偿角度；调整显示屏的显示方向，以使得水平补偿角度和垂直补偿角度为零。本发明可以对显示屏进行水平方向和垂直方向两个方向的自由度进行调整，使显示屏的显示方向实时、准确地对准用户位置，保证用户处于音频设备的最佳观看范围，提升用户的视觉体验。

Description

一种音频设备定向显示方法、装置和音频设备
本申请要求于2018年10月29日提交中国专利局、申请号为201811271462.1、发明名称为“一种音频设备定向显示方法、装置和音频设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种音频设备的定向显示方法、装置和音频设备。
背景技术
随着生活水平的提高，智能家居越来越多的出现在人们的日常生活中，而智能音箱作为其中的一类产品广受大众欢迎。市场上的一些智能多媒体设备大多设置有显示屏，显示屏不仅可以用于显示相关信息，还可以通过触控显示屏实现智能音箱的人机交互控制。
目前，智能音箱的显示屏的显示方向一般是固定的，不能实时调整，以实时跟踪用户进行定向显示，使得用户在观看显示屏或者进行触控操作时，都需要移动至显示屏的对面或手动对音箱进行移动，导致人机交互效果差，影响用户体验。
发明内容
本发明提供了一种音频设备的定向显示方法、装置和音频设备，以解决现有技术方案中显示屏无法精准朝向用户导致人机交互效果差的问题。
本发明的一个方面提供了一种音频设备定向显示方法，音频设备包括可调整位置的显示屏，本发明的方法包括：确定用户空间位置；根据用户的空间位置、音频设备的中心位置以及显示屏的中心位置三者之间的关系，分别确定显示屏的显示方向相对用户空间位置的水平补偿角度和垂直补偿角度；调整显示屏的显示方向，以使得水平补偿角度和垂直补偿角度为零。
本发明的定向显示方法在确定用户空间位置后，利用用户空间位置、音频设备的中心位置和显示屏的中心位置三者之间的位置关系，可以确定显示屏显示方向相对用户空间位置的水平补偿角度和垂直补偿角度，通过对显示屏两个自由度的调整，使水平补偿角度和垂直补偿角度都被调成为零度，实 现显示屏显示方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳观看范围，提升用户的视觉体验。
本发明的另一个方面提供了一种音频设备定向显示装置，音频设备包括可调整位置的显示屏，本发明的装置包括：定位单元，用于确定用户空间位置；计算单元，用于根据用户的空间位置、音频设备的中心位置以及显示屏的中心位置三者之间的关系，分别确定显示屏的显示方向相对用户空间位置的水平补偿角度和垂直补偿角度；调整单元，用于调整显示屏的显示方向，以使得水平补偿角度和垂直补偿角度为零。
本发明的定向显示装置在定位单元确定用户空间位置后，计算单元利用用户空间位置、音频设备的中心位置和显示屏的中心位置三者之间的位置关系，可以确定显示屏显示方向相对用户空间位置的水平补偿角度和垂直补偿角度，调整单元通过对显示屏两个自由度的调整，使水平补偿角度和垂直补偿角度都被调成为零度，实现显示屏显示方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳观看范围，提升用户的视觉体验。
本发明的另一个方面提供了一种音频设备，包括球形摄像头阵列和可调整位置的显示屏，还包括处理器和存储有机器可执行指令的机器可读存储介质，通过读取并执行机器可读存储介质中的机器可执行指令，处理器可执行上述的音频设备定向显示方法。
本发明的音频设备在确定用户空间位置后，利用用户空间位置、音频设备的中心位置和显示屏的中心位置三者之间的位置关系，可以确定显示屏显示方向相对用户空间位置的水平补偿角度和垂直补偿角度，通过对显示屏两个自由度的调整，使水平补偿角度和垂直补偿角度都被调成为零度，实现显示屏显示方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳观看范围，提升用户的视觉体验。
本发明的另一个方面提供了一种可读存储介质，存储有可执行指令，可执行指令被处理器执行时以实现上述的音频设备定向显示方法。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一部分附图，对于本领域普通技术人员来讲， 在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明实施例示出的音频设备的结构图；
图2为本发明实施例示出的音频设备定向显示方法流程图；
图3为本发明实施例示出的用户使用音频设备的示意图；
图4为本发明实施例示出的不同时刻的全景图像示意图；
图5为本发明实施例示出的用户与第一圆周的相对位置关系示意图；
图6为本发明实施例示出的用户在平面直角坐标系中的示意图；
图7为本发明实施例示出的用户在垂直直角坐标系中的示意图；
图8为本发明实施例示出的音频设备定向显示装置的结构框图；
图9为本发明实施例示出的音频设备的结构框图；
图10为本发明实施例示出的系统硬件结构示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
以下，将参照附图来描述本发明的实施例。但是应该理解，这些描述只是示例性的，而并非要限制本发明的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本发明的概念。
在此使用的术语仅仅是为了描述具体实施例，而并非意在限制本发明。这里使用的词语“一”、“一个(种)”和“该”等也应包括“多个”、“多种”的意思，除非上下文另外明确指出。此外，在此使用的术语“包括”、“包含”等表明了所述特征、步骤、操作和/或部件的存在，但是并不排除存在或添加一个或多个其他特征、步骤、操作或部件。
在此使用的所有术语(包括技术和科学术语)具有本领域技术人员通常所理解的含义，除非另外定义。应注意，这里使用的术语应解释为具有与本说明书的上下文相一致的含义，而不应以理想化或过于刻板的方式来解释。
附图中示出了一些方框图和/或流程图。应理解，方框图和/或流程图中的一些方框或其组合可以由计算机程序指令来实现。这些计算机程序指令可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，从而这些指令在由该处理器执行时可以创建用于实现这些方框图和/或流程图中所说明的功能/操作的装置。
因此，本发明的技术可以硬件和/或软件(包括固件、微代码等)的形式来实现。另外，本发明的技术可以采取存储有指令的计算机可读介质上的计算机程序产品的形式，该计算机程序产品可供指令执行系统使用或者结合指令执行系统使用。在本发明的上下文中，计算机可读介质可以是能够包含、存储、传送、传播或传输指令的任意介质。例如，计算机可读介质可以包括但不限于电、磁、光、电磁、红外或半导体系统、装置、器件或传播介质。计算机可读介质的具体示例包括：磁存储装置，如磁带或硬盘(HDD)；光存储装置，如光盘(CD-ROM)；存储器，如随机存取存储器(RAM)或闪存；和/或有线/无线通信链路。
为便于说明本实施例音频设备定向显示方式，本发明首先通过下述实施例说明音频设备的组成结构，本实施例的音频设备包括智能音箱等产品。
如图1所示，音频设备包括底部为蛋形结构的壳体(2，9，10)，壳体包括下壳9、上壳10和顶盖2，下壳9的底部为蛋形结构，即如图2所示的类半球形，下壳9与上壳10通过齿轮啮合连接，上壳10为柱形结构，一个示例中，上壳10内部设置有齿轮，下壳9内壁设置有与齿轮啮合的齿环，齿轮由电机驱动，上盖2可以通过胶粘或螺钉固定的方式固定在上壳10上端；球形摄像头阵列1设置在上盖2上，球形摄像头阵列1包括位于音频设备顶部的全景摄像头和至少两组双目摄像头。显示屏8设置在上壳10处，利用电机驱动齿轮转动带动上壳进行水平选择，实现显示屏8显示方向的水平调整。
壳体内部设置有通过固定支架4悬挂在壳体中心位置上的可活动的摆动件5，壳体内侧壁上设置有环绕摆动件的环形电磁组件6。一个示例中，电磁组件包括多个螺线管形成的环形阵列，多个螺线管的环形阵列固定在壳体的内侧壁，为保证精确控制摆动件产生预期的运动，多个螺线管的环形阵列为均匀环绕在下壳底部内侧壁上的环形轴阵列结构，螺线管的数量越多，控制精度越高，螺线管的数量可以根据精度要求设定。通过控制环形电磁组件产生设定大小和方向的磁场力，吸引摆动件摆动，使显示屏的显示方向实现期望角度的倾斜。
在本实施例中，音频设备的显示屏可以跟随上壳进行水平方向的转动，以及跟随摆动件的摆动进行垂直方向的倾斜，由此，可以根据下述定向显示方式对音频设备的显示屏进行控制，实现显示屏的精准定向跟踪用户得功能。
本发明的一个方法提供了一种音频设备定向显示方法。
在本实施例中，音频设备包括可调整位置的显示屏，本实施例的音频设备的组成结构可以参考上文的相关描述。
图2为本发明实施例示出的音频设备定向显示方法的流程图，如图2所示，本实施例的方法包括：
S210，确定用户空间位置。
S220，根据用户的空间位置、音频设备的中心位置以及显示屏的中心位置三者之间的关系，分别确定显示屏的显示方向相对用户空间位置的水平补偿角度和垂直补偿角度。
S230，调整显示屏的显示方向，以使得水平补偿角度和垂直补偿角度为零。
本实施例在确定用户空间位置后，利用用户空间位置、音频设备的中心位置和显示屏的中心位置三者之间的位置关系，确定显示屏显示方向相对用户空间位置的水平补偿角度和垂直补偿角度，通过对显示屏两个自由度的调整，使水平补偿角度和垂直补偿角度都被调成为零度，实现显示屏显示方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳观看范围，提升用户的视觉体验。
以下结合图2-7对上述步骤S210-S230进行详细的说明。
首先，执行步骤S210，即确定用户空间位置，其中用户空间位置包括用户的眼部位置，本实施例优选地确定用户的眼部位置，即用户空间位置可以理解为用户双眼中间位置。在一个实施例中，通过下述方法确定用户空间位置：首先利用球形摄像头阵列中的全景摄像头进行连续拍照，获取全景图像；接着根据不同时刻的全景图像中前景相对背景的位置变化，确定全景图像中存在的用户；然后，根据用户在全景图像中的位置，以及全景图像的长度与第一圆周长之间的比例关系，确定用户相对音频设备中心位置的用户位置，第一圆周为球形摄像头阵列在音频设备中心位置所在水平面上的投影圆周。
本实施例可以响应于获取的启动信号，启动球形摄像头阵列中的全景摄像头，启动信号包括根据携带预设关键词的语音信号生成的电信号，可以通过音频设备中的麦克风阵列拾取语音信号并将语音信号转换为电信号，在语音信号携带预设关键词时，根据所携带的预设关键词启动全景摄像头，利用 全景摄像头进行连续拍照进行不同时刻的照片对比，分析音频设备周围是否存在用户。
用户在任何时刻都不是绝对静止的，高清晰度的全景摄像头可以完美的捕捉用户的移动。如图4所示，目标A与音频设备位于同一空间内，全景摄像头拍摄完成后，获取t0时刻和t1时刻的两张全景图像，通过对比两张全景图像中同一目标的位置变换情况即可确定目标是否为用户。
以目标A为例，在t0时刻，目标A位于Ia0位置，在t1时刻，目标A位于Ia1位置，即可确定目标A在t0与t1时刻存在位移差ΔIa，说明此时在相同的背景中，目标A发生了移动，确定目标A为用户。
在分析不同时刻的全景图像，并确定全景图像中存在用户后，根据全景图像的长度与第一圆周长之间的比例关系，根据用户在全景图像中的位置，即可确定用户相对第一圆周的位置。
如图4所示，球形摄像头阵列在音频设备中心位置所在水平面上的投影圆周展开后为具有一定长度的线段，图4中第一圆周长为L；其中第一圆周的圆心位置与音频设备中心位置对应为同一位置。以该线段的一端O为基点，假设该线段的基点O对应全景图像的右端，确定t1时刻的全景图像中用户A在全景图像中与全景图像右端之间距离为Ia1那么根据公式
Figure PCTCN2018125272-appb-000001
可以确定用户A相对第一圆周的位置为与OO′方向成角度θ的方向，即图5中射线L′的方向为用户A相对音频设备中心位置的方向。
在确定用户空间位置之后，继续执行步骤S220，即根据用户的空间位置、音频设备的中心位置以及显示屏的中心位置三者之间的关系，分别确定显示屏的显示方向相对用户空间位置的水平补偿角度和垂直补偿角度；其中，显示屏的显示方向包括音频设备的中心位置与显示屏的中心位置的第一连线所指示的方向，音频设备的中心位置位于音频设备的空间中垂线上。
由于通过分析全景图像确定的用户位置为用户相对音频设备中心位置的方向，无法精确定位用户眼部相对音频设备中心位置的水平位置和垂直位置。 基于此情况，本申请在利用全景图像确定用户相对音频设备中心位置的方向后，启动朝向用户方向的双目摄像头对用户所在方向进行拍照，通过双目摄像头拍摄的用户图像并根据双目摄像头之间的距离，确定用户眼部相对音频设备中心位置的水平位置和垂直位置，进而确定显示屏显示方向相对用户眼部的水平补偿角度和垂直补偿角度，基于水平补偿角度和垂直补偿角度调整显示屏显示方向，使得调整后的显示屏的中心位置对准用户眼部，实现显示屏准确跟踪用户位置进行定向显示，保证用户的最佳视觉体验。
在一个实施例中，通过下述方法确定显示屏的显示方向相对用户空间位置的水平补偿角度：首先根据音频设备的中心位置为原点建立水平面直角坐标系；接着利用球形摄像头阵列中水平方向对应用户位置的双目摄像头确定用户的水平位置坐标；然后根据水平位置坐标与音频设备的中心位置之间的第二连线和第一连线之间在水平面直角坐标系上形成水平补偿角度。
如图6所示，可以根据音频设备的中心位置为原点设立水平面直角坐标系，所建立的水平面直角坐标系的X轴为当前显示屏中心位置与音频设备的中心位置的连线所在的直线，即当前的第一连线为X轴，通过下述方式定位用户的水平位置坐标(xa，ya)，根据水平位置坐标与音频设备的中心位置之间的第二连线L2和第一连线L1(即X轴正方向)之间在水平面直角坐标系上形成水平补偿角度a，参考图6，将图6中示出的用户的水平位置坐标点与坐标原点O之间的连线和X轴所成的夹角α确定为水平补偿角度。根据tana＝|ya|/|xa|可以获得水平补偿角度。由于用户在水平方向上是有一定宽度的，在利用双目摄像头拍摄的图像进行分析识别时，获取用户在水平方向的相对中心点表示用户A的水平位置，例如将用户双眼之间的中心位置表示用户A的水平位置。
一个实现方案中，利用双目摄像头测距离的方法确定用户在水平面直角坐标系中的水平位置坐标。例如，可以通过球形摄像头阵列中，利用拍摄用户图像的双目摄像头之间的距离参数，以及基于双目摄像头拍摄图像中同一目标的位移差，确定用户的水平位置坐标。
在另一个实现方案中，可以借助测距设备配合双目摄像头检测用户在水平面直角坐标系中的水平位置坐标。例如，利用光敏测试设备，光敏测试设备可以检测摄像头的拍照行为，测出摄像头与光敏测试设备的相对角度，在 用户佩戴光敏测试设备时，根据光敏测试设备接收到摄像头拍照行为的时间差，测算位置坐标。还可以利用超声测距或激光测距，获取用户的坐标位置。
在另一个实施例中，通过下述方法确定显示屏的显示方向相对用户眼部位置的垂直补偿角度：首先根据音频设备的中心位置为原点建立垂直面直角坐标系；接着利用球形摄像头阵列中垂直方向对应用户位置的双目摄像头确定用户眼部的垂直位置坐标；然后根据垂直位置坐标与音频设备的中心位置之间的第三连线和第一连线之间在垂直面直角坐标系上形成垂直补偿角度。
如图7所示，可以根据音频设备的中心位置为原点设立垂直面直角坐标系，所建立的垂直面直角坐标系的X轴为当前显示屏中心位置与音频设备的中心位置的连线所在的直线，即当前的第一连线为X轴，通过下述方式定位用户的垂直位置坐标(xa，za)，根据垂直位置坐标与音频设备的中心位置之间的第三连线L3和第一连线L1(即X轴正方向)之间在垂直面直角坐标系上形成垂直补偿角度β，参考图7，将图7中示出的用户眼部的垂直位置坐标点与坐标原点O之间的连线L3和X轴所成的夹角β确定为垂直补偿角度。根据tanβ＝|za|/|xa|可以获得垂直补偿角度β。
一个实现方案中，利用双目摄像头测距离的方法确定用户眼部在垂直面直角坐标系中的垂直位置坐标。例如，可以通过球形摄像头阵列中，利用拍摄用户图像的双目摄像头之间的距离参数，以及基于双目摄像头拍摄图像中眼部的位移差，确定用户眼部的垂直位置坐标。
在另一个实现方案中，可以借助测距设备配合双目摄像头检测用户眼部在垂直面直角坐标系中的垂直位置坐标。例如，利用光敏测试设备，光敏测试设备可以检测摄像头的拍照行为，测出摄像头与光敏测试设备的相对角度，在用户佩戴光敏测试设备时，根据光敏测试设备接收到摄像头拍照行为的时间差，测算位置坐标。还可以利用超声测距或激光测距，获取用户眼部的坐标位置。
在确定显示屏的显示方向相对用户空间位置的水平补偿角度和垂直补偿角度之后，继续执行步骤S230，即调整显示屏的显示方向，以使得水平补偿角度和垂直补偿角度为零。
本实施例中，显示屏设置在所述目标壳体上，例如参考图1，目标壳体为音频设备的上壳，将显示屏设置在上壳，音频设备内部包括可活动的摆动 件和环绕摆动件的电磁组件。本实施例可以驱动音频设备的目标壳体进行水平方向的转动，以使得水平补偿角度为零，实现显示屏在水平方向的转动；通过控制电磁组件产生设定大小、方向和/或设定频率的磁场力，驱动摆动件在音频设备内部空间中运动，以使得垂直补偿角度为零，实现显示屏在垂直方向的倾斜。
结合图1所示的音频设备，可以通过电机驱动齿轮带动上壳转动，实现显示屏在水平方向的转动；以及通过驱动摆动件摆动使音频设备重心发生变化，实现显示屏在垂直方向的倾斜，本实施例可以实现显示屏显示方向的两个自由度，即对应于音频设备俯仰方向的垂直角度和对应于音频设备旋转方向的水平角度的调节，精准控制音频设备定向显示的，提升用户的视觉体验。
本发明的另一个方面提供了一种音频设备定向显示装置。
在本实施例中，音频设备包括可调整位置的显示屏，本实施例的音频设备的组成结构可以参考上文的相关描述。
图8为本发明实施例示出的音频设备的定向显示装置的结构框图，如图8所示，本实施例的装置包括：
定位单元81，用于确定用户空间位置；
计算单元82，用于根据用户的空间位置、音频设备的中心位置以及显示屏的中心位置三者之间的关系，分别确定显示屏的显示方向相对用户空间位置的水平补偿角度和垂直补偿角度；
调整单元83，用于调整显示屏的显示方向，以使得水平补偿角度和垂直补偿角度为零。
本实施例中的定向显示装置在定位单元确定用户空间位置后，计算单元利用用户空间位置、音频设备的中心位置和显示屏的中心位置三者之间的位置关系，可以确定显示屏显示方向相对用户空间位置的水平补偿角度和垂直补偿角度，调整单元通过对显示屏两个自由度的调整，使水平补偿角度和垂直补偿角度都被调成为零度，实现显示屏显示方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳观看范围，提升用户的视觉体验。
其中，显示屏的显示方向包括音频设备的中心位置与显示屏的中心位置的第一连线所指示的方向，音频设备的中心位置位于所述音频设备的空间中垂线上。
在本实施例中，音频设备还包括球形摄像头阵列，定位单元81用于利用球形摄像头阵列中的全景摄像头进行连续拍照，获取全景图像；根据不同时刻的全景图像中前景相对背景的位置变化，确定全景图像中存在的用户；根据用户在全景图像中的位置，以及全景图像的长度与第一圆周长之间的比例关系，确定用户相对音频设备中心位置的用户位置，第一圆周为所述球形摄像头阵列在音频设备中心位置所在水平面上的投影圆周。
计算单元82包括：水平补偿角度计算模块和垂直补偿角度计算模块；
水平补偿角度计算模块用于根据音频设备的中心位置为原点建立水平面直角坐标系；利用球形摄像头阵列中水平方向对应用户位置的双目摄像头确定用户的水平位置坐标；根据水平位置坐标与音频设备的中心位置之间的第二连线和所述第一连线之间在水平面直角坐标系上形成水平补偿角度。
垂直补偿角度计算模块用于根据音频设备的中心位置为原点建立垂直面直角坐标系；利用球形摄像头阵列中垂直方向对应用户位置的双目摄像头确定用户眼部的垂直位置坐标；根据垂直位置坐标与所述音频设备的中心位置之间的第三连线和第一连线之间在垂直面直角坐标系上形成垂直补偿角度。
在一个实施例中，显示屏设置在所述目标壳体上，音频设备内部包括可活动的摆动件和环绕所述摆动件的电磁组件。
相应的，调整单元83用于驱动音频设备的目标壳体进行水平方向上的转动，以使得水平补偿角度为零；还用于通过控制电磁组件产生设定大小、方向和/或设定频率的磁场力，驱动摆动件在音频设备内部空间中运动，以使得垂直补偿角度为零。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
本发明的另一个方面提供了一种音频设备。
图9为本发明实施例示出的音频设备的结构框图，如图9所示，本实施 例中的音频设备包括球形摄像头阵列和可调整位置的显示屏，还包括处理器和存储有机器可执行指令的机器可读存储介质，通过读取并执行机器可读存储介质中的机器可执行指令，处理器可执行前文描述的音频设备定向显示方法。
本实施例中的音频设备在确定用户空间位置后，利用用户空间位置、音频设备的中心位置和显示屏的中心位置三者之间的位置关系，可以确定显示屏显示方向相对用户空间位置的水平补偿角度和垂直补偿角度，通过对显示屏两个自由度的调整，使水平补偿角度和垂直补偿角度都被调成为零度，实现显示屏显示方向实时精确地对准用户空间位置，保证用户处于音频设备的最佳观看范围，提升用户的视觉体验。
本实施例中音频设备的中心位置位于音频设备的空间中垂线上。球形摄像头阵列包括位于所述音频设备顶部的全景摄像头和至少两组双目摄像头。可调整位置的显示屏设置于音频设备壳体的上壳，音频设备的上壳内部设置有齿轮，音频设备的下壳内壁设置有与齿轮啮合的齿环，齿轮由电机驱动。音频设备的下壳底部为蛋形结构，壳体内部中心位置悬设有可活动的摆动件，壳体内侧壁上设置有环绕摆动件的环形电磁组件，通过控制环形电磁组件产生设定大小、方向、和/或设定频率的磁场力，驱动摆动件运动，使显示屏的显示方向实现期望角度的倾斜。
本发明的另一个方面提供了一种系统。
本申请提供的系统可以通过软件实现，也可以通过硬件或者软硬件结合的方式实现。以软件实现为例，参照图10所示，本申请提供的系统可包括处理器1001、存储有机器可执行指令的机器可读存储介质1002。处理器1001与机器可读存储介质1002可经由系统总线1003通信。并且，通过读取并执行机器可读存储介质1002中与音频设备的定向显示逻辑对应的机器可执行指令，处理器1001可执行前文描述的音频设备定向显示方法。
本发明的另一个方面提供了一种机器可读存储介质。
本发明实施例的机器可读存储介质，存储有机器可执行指令，机器可执行指令被处理器执行时以实现前文描述的音频设备的定向显示方法。
需要说明的是，本发明实施例的可读存储介质，例如可以是能够包含、存储、传送、传播或传输指令的任意介质。例如，可读存储介质可以包括但 不限于电、磁、光、电磁、红外或半导体系统、装置、器件或传播介质。可读存储介质的具体示例包括：磁存储装置，如磁带或硬盘(HDD)；光存储装置，如光盘(CD-ROM)；存储器，如随机存取存储器(RAM)或闪存；和/或有线/无线通信链路。
机器可读存储介质可以包括计算机程序，该计算机程序可以包括代码/计算机可执行指令，其在由处理器执行时使得处理器执行例如前文所描述的音频设备定向显示方法流程及其任何变形。
计算机程序可被配置为具有例如包括计算机程序模块的计算机程序代码。例如，在示例实施例中，计算机程序中的代码可以包括一个或多个程序模块。应当注意，模块的划分方式和个数并不是固定的，本领域技术人员可以根据实际情况使用合适的程序模块或程序模块组合，当这些程序模块组合被处理器执行时，使得处理器可以执行例如上文所描述的音频设备定向显示流程及其任何变形。
为了便于清楚描述本发明实施例的技术方案，在发明的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分，本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定。
以上所述，仅为本发明的具体实施方式，在本发明的上述教导下，本领域技术人员可以在上述实施例的基础上进行其他的改进或变形。本领域技术人员应该明白，上述的具体描述只是更好的解释本发明的目的，本发明的保护范围应以权利要求的保护范围为准。

Claims (14)

  1. 一种音频设备定向显示方法，音频设备包括可调整位置的显示屏，所述方法包括：
    确定用户空间位置；
    根据用户的空间位置、所述音频设备的中心位置以及所述显示屏的中心位置三者之间的关系，分别确定所述显示屏的显示方向相对所述用户空间位置的水平补偿角度和垂直补偿角度；
    调整所述显示屏的显示方向，以使得所述水平补偿角度和垂直补偿角度为零。
  2. 根据权利要求1所述的方法，其特征在于，所述用户空间位置包括所述用户的眼部位置。
  3. 根据权利要求1所述的方法，其特征在于，所述显示屏的显示方向包括所述音频设备的中心位置与所述显示屏的中心位置的第一连线所指示的方向，所述音频设备的中心位置位于所述音频设备的空间中垂线上。
  4. 根据权利要求3所述的方法，其特征在于，所述音频设备还包括球形摄像头阵列，所述确定用户空间位置，包括：
    利用所述球形摄像头阵列中的全景摄像头进行连续拍照，获取全景图像；
    根据不同时刻的全景图像中前景相对背景的位置变化，确定全景图像中存在的用户；
    根据用户在全景图像中的位置，以及全景图像的长度与第一圆周长之间的比例关系，确定用户相对音频设备中心位置的用户位置，所述第一圆周为所述球形摄像头阵列在音频设备中心位置所在水平面上的投影圆周。
  5. 根据权利要求4所述的方法，其特征在于，所述确定所述显示屏的显示方向相对所述用户空间位置的水平补偿角度和垂直补偿角度，包括：
    根据所述音频设备的中心位置为原点建立水平面直角坐标系；
    利用所述球形摄像头阵列中水平方向对应所述用户位置的双目摄像头确定所述用户的水平位置坐标；
    根据所述水平位置坐标与所述音频设备的中心位置之间的第二连线和所述第一连线之间在水平面直角坐标系上形成所述水平补偿角度。
  6. 根据权利要求5所述的方法，其特征在于，所述显示屏设置在所述目 标壳体上，所述调整所述显示屏的显示方向，包括：
    驱动所述音频设备的目标壳体进行水平方向上的转动，以使得所述水平补偿角度为零。
  7. 根据权利要求4所述的方法，其特征在于，所述确定所述显示屏的显示方向相对所述用户空间位置的水平补偿角度和垂直补偿角度，包括：
    根据所述音频设备的中心位置为原点建立垂直面直角坐标系；
    利用所述球形摄像头阵列中垂直方向对应所述用户位置的双目摄像头确定所述用户眼部的垂直位置坐标；
    根据所述垂直位置坐标与所述音频设备的中心位置之间的第三连线和所述第一连线之间在垂直面直角坐标系上形成所述垂直补偿角度。
  8. 根据权利要求7所述的方法，其特征在于，所述音频设备内部包括可活动的摆动件和环绕所述摆动件的电磁组件，所述调整所述显示屏的显示方向，包括：
    通过控制所述电磁组件产生设定大小、方向和/或设定频率的磁场力，驱动所述摆动件在音频设备内部空间中运动，以使得所述垂直补偿角度为零。
  9. 一种音频设备定向显示装置，音频设备包括可调整位置的显示屏，所述装置包括：
    定位单元，用于确定用户空间位置；
    计算单元，用于根据用户的空间位置、所述音频设备的中心位置以及所述显示屏的中心位置三者之间的关系，分别确定所述显示屏的显示方向相对所述用户空间位置的水平补偿角度和垂直补偿角度；
    调整单元，用于调整所述显示屏的显示方向，以使得所述水平补偿角度和垂直补偿角度为零。
  10. 一种音频设备，包括球形摄像头阵列和可调整位置的显示屏，还包括处理器和存储有机器可执行指令的机器可读存储介质，通过读取并执行机器可读存储介质中的机器可执行指令，处理器可执行如权利要求1-8任一项所述的音频设备定向显示方法。
  11. 根据权利要求10所述的音频设备，其特征在于，所述球形摄像头阵列包括位于所述音频设备顶部的全景摄像头和至少两组双目摄像头。
  12. 根据权利要求10所述的音频设备，其特征在于，可调整位置的显示 屏设置于所述音频设备壳体的上壳，所述音频设备的上壳内部设置有齿轮，所述音频设备的下壳内壁设置有与所述齿轮啮合的齿环，所述齿轮由电机驱动。
  13. 根据权利要求12所述的音频设备，其特征在于，所述下壳的底部为蛋形结构，所述壳体内部中心位置悬设有可活动的摆动件，壳体内侧壁上设置有环绕所述摆动件的环形电磁组件，通过控制所述环形电磁组件产生设定大小、方向、和/或设定频率的磁场力，驱动所述摆动件运动，使显示屏的显示方向实现期望角度的倾斜。
  14. 一种机器可读存储介质，存储有机器可执行指令，机器可执行指令被处理器执行时以实现如权利要求1-8任一项所述的音频设备定向显示方法。
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