CN112104929A - Intelligent equipment, and method and system for controlling intelligent loudspeaker box - Google Patents
Intelligent equipment, and method and system for controlling intelligent loudspeaker box Download PDFInfo
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/08—Mouthpieces; Microphones; Attachments therefor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
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Abstract
The invention provides intelligent equipment, and a method and a system for controlling an intelligent sound box. The intelligent device includes: the first sound detection module is used for detecting a first sound signal which directly reaches the first sound detection module; the second sound detection module is used for detecting a second sound signal which directly reaches the second sound detection module; the first sound signal and the second sound signal are transmitted by the same intelligent sound box at the same time; an angle determining module, configured to determine a time difference between a receiving time of the first sound signal and a receiving time of the second sound signal; determining a relative angle between the intelligent device and the intelligent sound box based on the distance between the first sound detection module and the second sound detection module and the time difference; and the sending module is used for sending the notification message containing the relative angle to the intelligent sound box, so that the intelligent sound box directionally emits sound to the intelligent equipment based on the relative angle. Directional sounding based on relative angle calculation is achieved.
Description
Technical Field
The embodiment of the invention relates to the technical field of sound processing, in particular to intelligent equipment, and a method and a system for controlling an intelligent sound box.
Background
With the continuous development of indoor positioning technology and communication technology, the functions of the mobile terminal are increasingly abundant, and the convenience and entertainment of daily work and life of people are greatly improved. At present, most of the smart sound boxes in the market play according to preset loudness, or play and volume adjustment of audio can be controlled by using a mobile terminal in a wireless manner.
At present, in a method for controlling a smart speaker based on audio volume and direction of a user position, in the prior art, a user distance is mainly determined according to the volume of a microphone array picking up voice, or the user position is obtained through a distance measuring sensor, and then the user position is fed back to the smart speaker to adjust the volume.
Disclosure of Invention
The embodiment of the invention provides intelligent equipment, and a method and a system for controlling an intelligent sound box.
The technical scheme of the embodiment of the invention is as follows:
a smart device, comprising: a first sound detection module for detecting a first sound signal that reaches the first sound detection module directly; a second sound detection module for detecting a second sound signal that reaches the second sound detection module; the first sound signal and the second sound signal are transmitted by the same intelligent sound box at the same time; an angle determining module, configured to determine a time difference between a receiving time of the first sound signal and a receiving time of the second sound signal; determining a relative angle between the intelligent device and the intelligent sound box based on the distance between the first sound detection module and the second sound detection module and the time difference; and the sending module is used for sending the notification message containing the relative angle to the intelligent sound box, so that the intelligent sound box directionally emits sound to the intelligent equipment based on the relative angle.
In one embodiment, the angle determination module is configured to determine the angle based on
Determining theta, wherein arcsin is an arcsine function, d ═ t × c, t is the time difference, and c isThe propagation speed of sound, D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a smart device and the smart speaker based on θ
Wherein
In one embodiment, the smart device comprises: a smart phone; an intelligent earphone; an intelligent remote controller; a tablet computer; a personal digital assistant; a smart bracelet; intelligent glasses.
A method of controlling a smart speaker, the method being applicable to a smart device including a first sound detection module and a second sound detection module, the method comprising: detecting a first sound signal which directly reaches the first sound detection module, and detecting a second sound signal which directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are simultaneously emitted by the same intelligent sound box; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a relative angle between the intelligent device and the intelligent sound box based on the distance between the first sound detection module and the second sound detection module and the time difference; and sending a notification message containing the relative angle to the smart sound box, so that the smart sound box directionally emits sound to the smart device based on the relative angle.
In one embodiment, wherein determining the relative angle between the smart device and the smart speaker comprises: based on
Determining theta, wherein arcsin is an arcsine function, D is t x c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a smart device and a smart speaker based on θ
Wherein
In one embodiment, the method further comprises: determining the distance between the intelligent equipment and the intelligent sound box; further carrying the distance in the notification message; wherein the smart speaker directionally emits sound to the smart device based on the relative angle comprises: an array of speakers in a smart speaker directionally emits sound to the smart device based on the relative angle and the distance, wherein a volume of the sound has a monotonically increasing relationship with the distance.
A system for controlling a smart speaker, comprising: the intelligent sound box is used for emitting sound signals; smart device, comprising: the first sound detection module is used for detecting a first sound signal which is directly transmitted to the first sound detection module in the sound signals; the second sound detection module is used for detecting a second sound signal which is directly transmitted to the second sound detection module in the sound signals, wherein the first sound signal and the second sound signal are simultaneously transmitted by the intelligent sound box; the angle determining module is used for determining the time difference between the receiving time of the first sound signal and the receiving time of the second sound signal, and determining the relative angle between the intelligent equipment and the intelligent sound box based on the distance between the first sound detecting module and the second sound detecting module and the time difference; the sending module is used for sending the notification message containing the relative angle to the intelligent sound box; the smart sound box is further used for directionally emitting sound to the smart device based on the relative angle.
In one embodiment, the smart speaker is configured to determine an emission angle based on the relative angle, and directionally emit sound to the smart device according to the emission angle.
In one embodiment, the smart device comprises: a smart phone; an intelligent earphone; an intelligent remote controller; a tablet computer; a personal digital assistant; a smart bracelet; intelligent glasses.
A computer readable storage medium having stored therein computer readable instructions for executing the method of controlling a smart sound box as described in any one of the above
According to the technical scheme, the intelligent device comprises: the first sound detection module is used for detecting a first sound signal which directly reaches the first sound detection module; the second sound detection module is used for detecting a second sound signal which directly reaches the second sound detection module; the first sound signal and the second sound signal are transmitted by the same intelligent sound box at the same time; an angle determining module, configured to determine a time difference between a receiving time of the first sound signal and a receiving time of the second sound signal; determining a relative angle between the intelligent device and the intelligent sound box based on the distance between the first sound detection module and the second sound detection module and the time difference; and the sending module is used for sending the notification message containing the relative angle to the intelligent sound box, so that the intelligent sound box directionally emits sound to the intelligent equipment based on the relative angle. Therefore, the method and the device realize the directional sounding based on the relative angle calculation, and improve the user experience.
Drawings
Fig. 1 is an exemplary flowchart of a method for determining a relative angle between smart devices according to the present invention.
Fig. 2 is a schematic diagram illustrating the principle of relative angle determination between smart devices according to the present invention.
FIG. 3 is a schematic diagram of the calculation of relative angles between smart devices according to the present invention.
Fig. 4 is a first exemplary diagram of determining a pair of direct signals according to the present invention.
Fig. 5 is a second exemplary diagram illustrating the determination of a pair of direct signals according to the present invention.
Fig. 6 is a schematic diagram of a first exemplary arrangement of a first sound detection module and a second sound detection module in a smart device according to the present invention.
Fig. 7 is a schematic diagram of a second exemplary arrangement of a first sound detection module and a second sound detection module in a smart device according to the present invention.
Fig. 8 is a schematic diagram of the relative positioning of a first smart device and a second smart device in accordance with the present invention.
FIG. 9 is a schematic diagram showing relative angles in a smart device interface according to the present invention.
FIG. 10 is a flowchart illustrating an exemplary process for relative positioning between smart devices according to the present invention.
Fig. 11 is a block diagram of a smart device according to the present invention.
Fig. 12 is a flowchart of a method of controlling a smart sound box according to the present invention.
Fig. 13 is a block diagram of a system for controlling a smart speaker according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the accompanying drawings.
In order to realize the relative direction positioning between the intelligent devices by using software without additionally adding hardware, so that the relative positioning has universality, the devices of different manufacturers can realize interoperation and mutual compatibility, and the innovative application of the intelligent devices is explored on the basis of the interoperation and the compatibility, the embodiment of the invention provides a sound (preferably ultrasonic) based relative direction identification scheme between the intelligent devices, the hardware is not required to be additionally added, the software can be used for realizing the relative direction identification between the two intelligent devices, and the positioning result is accurate and reliable.
First, an intelligent device (intelligent device) refers to any device, apparatus or machine having computing processing capabilities. Fig. 1 is an exemplary flowchart of a method for determining a relative angle between smart devices according to the present invention. The method is applicable to a first intelligent device which comprises a first sound detection module and a second sound detection module. The first sound detection module and the second sound detection module are fixedly installed in the first intelligent device. For example, the first sound detection module may be implemented as one microphone or a set of microphone arrays arranged in the first smart device. Likewise, the second sound detection module may be implemented as one microphone or a set of microphone arrays arranged in the first smart device different from the first sound detection module.
As shown in fig. 1, the method includes:
step 101: enabling the first sound detection module to detect a first sound signal sent by the second intelligent device and directly reaching the first sound detection module, and enabling the second sound detection module to detect a second sound signal sent by the second intelligent device and directly reaching the second sound detection module, wherein the first sound signal and the second sound signal are sent by the second intelligent device at the same time.
Here, the second smart device may emit one sound signal or emit a plurality of sound signals at the same time.
Such as: when the second intelligent device sends out a sound signal, the first sound detection module and the second sound detection module in the second intelligent device respectively detect the sound signal. Wherein: the detection signal, which is detected by the first sound detection module and is directly transmitted to the first sound detection module, is determined as a first sound signal; the detection signal detected by the second sound detection module, which is the sound signal that reaches the first sound detection module, is determined as the second sound signal. For another example, when the second smart device emits multiple sound signals simultaneously, such as an ultrasonic signal and an audible sound signal. A first sound detection module in the second smart device is adapted to detect ultrasonic signals and a second sound detection module is adapted to detect audible sound signals. The first sound detection module detects the ultrasonic signal, and the second sound detection module detects the audible sound signal. Wherein: the detection signal, which is detected by the first sound detection module and through which the ultrasonic signal reaches the first sound detection module, is determined as a first sound signal; the detection signal detected by the second sound detection module, at which the audible sound signal reaches the second sound detection module, is determined to be a second sound signal.
In other words, the first sound signal and the second sound signal may be respective detection signals of the first sound detection module and the second sound detection module for the same sound signal emitted by the second smart device. Or, the first sound signal and the second sound signal may be respective detection signals of different sound signals emitted by the first sound detection module and the second sound detection module simultaneously for the second smart device.
Step 102: a time difference between the moment of reception of the first sound signal and the moment of reception of the second sound signal is determined.
Here, the first smart device (e.g., a CPU in the first smart device) may record the reception timing of the first sound signal and the reception timing of the second sound signal, and calculate a time difference between the two.
Step 103: and determining a relative angle between the first intelligent device and the second intelligent device based on the distance between the first sound detection module and the second sound detection module and the time difference.
For example, step 103 may be performed by the CPU of the first smart device.
In one embodiment, determining the relative angle between the first smart device and the second smart device in step 103 includes: based on
Determining theta; wherein arcsin is an arcsine function, D is t × c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a first smart device and a second smart device based on θ
Wherein
The value of the time difference determined in step 102 may be a positive number or a negative number. When the value of the time difference is positive, the receiving time of the second sound signal is earlier than the receiving time of the first sound signal, so that the relative angle phi between the first intelligent device and the second intelligent device is generally an acute angle; when the value of the time difference is negative, the receiving time of the first sound signal is earlier than the receiving time of the second sound signal, so the relative angle phi between the first smart device and the second smart device is generally obtuse.
In an embodiment of the present invention, the first sound signal is a signal that is directly transmitted to the first sound detection module from the second smart device, and the second sound signal is a signal that is directly transmitted to the second sound detection module from the second smart device. In fact, either the first sound detection module or the second sound detection module may receive a signal that is emitted from the second smart device and is not direct (e.g., a reflection or multiple emissions past an obstacle). Therefore, how to determine the direct signal from the received multiple signals has a significant meaning.
The applicant found that: typically, the received signal stream (steam) of each sound detection module comprises a direct channel and a reflected channel. The direct channel can be determined simply and conveniently according to the following principle: the signal strength of the direct channel is typically strongest among all the signals detected by the sound detection module.
Thus, in one embodiment, the method further comprises: the method comprises the steps that a first sound detection module receives sound signals with the intensity larger than a preset threshold value in a preset time window in sound signal streams of second intelligent equipment, and the sound signals are determined to be the first sound signals; and determining that the sound signal with the intensity larger than the preset threshold value in the preset time window in the sound signal stream of the second intelligent device is received by the second sound detection module as the second sound signal.
Fig. 4 is a first exemplary diagram of determining a pair of direct signals according to the present invention. In fig. 4, the sound signal stream detected by the first sound detection module is steam1, the steam1 contains a plurality of pulse signals varying along time (T), and the threshold value of the predetermined signal strength is T. It can be seen that the signal strength of the pulse signal 50 in steam1 is greater than the threshold value T over the range of time window 90. The sound signal stream detected by the second sound detection module is steam2, the steam2 contains a plurality of pulse signals varying along time (T), and the threshold value of the predetermined signal strength is also T. It can be seen that the signal strength of the pulse signal 60 in steam2 is greater than the threshold value T over the range of time window 90. Thus, the pulse signal 50 is determined to be the first sound signal; the pulse signal 60 is a second sound signal.
In addition, the applicant has also found that: the direct channel can be accurately determined by comprehensively considering the following two principles: principle (1), among all signals detected by the sound detection module, the signal strength of the direct channel is generally strongest; principle (2), joint discrimination: the distance difference d converted from the arrival time difference of two direct channel signals (the first sound signal and the second sound signal) should not be larger than the distance between the first sound detection module and the second sound detection module.
Thus, in one embodiment, the method further comprises: determining sound signals with the intensity larger than a preset threshold value in a sound signal stream of second intelligent equipment detected by a first sound detection module to form a first candidate signal set; determining sound signals with the intensity larger than the preset threshold value in the sound signal flow of the second intelligent device detected by the second sound detection module to form a second candidate signal set; determining a respective time difference between a time of receipt of each sound signal in the first candidate signal set and a time of receipt of each sound signal in the second candidate signal set; and determining a pair of sound signals with the time difference smaller than M as the first sound signal and the second sound signal, wherein M is (D/c), D is the distance between the first sound detection module and the second sound detection module, and c is the propagation speed of sound.
Fig. 5 is a second exemplary diagram illustrating the determination of a pair of direct signals according to the present invention. In fig. 5, the sound signal stream detected by the first sound detection module is steam1, the steam1 contains a plurality of pulse signals varying along time (T), and the threshold value of the predetermined signal strength is T. It can be seen that in steam1, the signal strength of the pulse signal 50 is greater than the threshold value T, and therefore the first set of candidate signals contains the pulse signal 50. The sound signal stream detected by the second sound detection module is steam2, the steam1 contains a plurality of pulse signals varying along time (T), and the threshold value of the predetermined signal strength is also T. It can be seen that in steam2, the signal strength of both pulse signal 60 and pulse signal 70 is greater than the threshold value T, and therefore the second set of candidate signals includes pulse signal 60 and pulse signal 70.
Furthermore, a time difference d1 between the reception instants of the pulse signal 50 in the first candidate signal set and the pulse signal 60 in the second candidate signal set is determined, and a time difference d2 between the reception instants of the pulse signal 50 in the first candidate signal set and the pulse signal 70 in the second candidate signal set is determined. Assuming that D1 is smaller than M and D2 is larger than M, where M ═ D/c, D is the distance between the first and second sound detection modules, and c is the propagation speed of sound. Therefore, the pulse signal 50 of the pair of sound signals related to d1 is determined as the first sound signal, and the pulse signal 60 of the pair of sound signals is determined as the second sound signal.
Preferably, the first and second sound signals are ultrasonic waves having a code division multiple access format and contain a media access control address (MAC) of the second smart device.
Accordingly, the first smart device can accurately identify the source of the sound signal based on the MAC address of the second smart device contained in the sound signal. When a plurality of sound sources emitting sound signals exist in the environment, the first intelligent device can accurately determine the relative angle with the sound source by using two direct signals from the same sound source without being interfered by other sound sources based on the extraction of the MAC address in the sound signals.
The embodiment of the invention also provides a relative angle determination method between the intelligent devices. The method is applicable to a first intelligent device, wherein the first intelligent device comprises a first sound detection module and a second sound detection module, and the method comprises the following steps: determining a first moment when an ultrasonic signal sent by second intelligent equipment directly reaches a first sound detection module; determining a second moment when the ultrasonic signal directly reaches the second sound detection module; determining a time difference between the first time and the second time; and determining a relative angle between the first intelligent device and the second intelligent device based on the distance between the first sound detection module and the second sound detection module and the time difference.
In one embodiment, determining the relative angle between the first smart device and the second smart device comprises: based on
Determining theta; wherein arcsin is an arcsine function, D is t × c, t is a time difference, c is a sound propagation speed, and D is a distance between the first sound detection module and the second sound detection module; determining a relative angle between a first smart device and a second smart device based on θWherein
In one embodiment, the method further comprises at least one of the following processes:
(1) determining the ultrasonic signal with the intensity larger than a preset threshold value in a preset time window in the ultrasonic signal stream of the second intelligent device received by the first sound detection module as the ultrasonic signal directly reaching the first sound detection module, and determining the time of receiving the ultrasonic signal directly reaching the first sound detection module as the first time; and determining the ultrasonic signal with the intensity larger than the preset threshold value in the preset time window in the ultrasonic signal flow of the second intelligent device received by the second sound detection module as the ultrasonic signal of the direct second sound detection module, and determining the time of receiving the ultrasonic signal of the direct second sound detection module as the second time.
(2) Determining ultrasonic signals with the intensity larger than a preset threshold value in ultrasonic signal streams of the second intelligent device detected by the first sound detection module to form a first candidate signal set; determining the ultrasonic signals with the intensity larger than the preset threshold value in the ultrasonic signal flow of the second intelligent device detected by the second sound detection module to form a second candidate signal set; determining a respective time difference between the time of receipt of each ultrasonic signal in the first candidate signal set and the time of receipt of each ultrasonic signal in the second candidate signal set; the receiving time of a pair of ultrasonic signals with the time difference smaller than M is determined as a first time and a second time, wherein M is (D/c), D is the distance between the first sound detection module and the second sound detection module, and c is the propagation speed of sound.
The principle and calculation process of the relative positioning of the present invention are exemplarily explained as follows.
Fig. 2 is a schematic diagram illustrating the principle of relative angle determination between smart devices according to the present invention. FIG. 3 is a schematic diagram of the calculation of relative angles between smart devices according to the present invention. As shown in fig. 2, a microphone a1 disposed at the bottom of smart device a emits an ultrasonic signal containing the MAC address of smart device a, and smart device B (not shown in fig. 2) has two microphones, microphone B1 and microphone B2, respectively, disposed at a distance. Wherein: the microphone b1 receives the direct signal L1 of the ultrasonic signal, and the microphone b2 receives the direct signal L2 of the ultrasonic signal. The ultrasonic signals reach the indirect signals of the microphone b1 and the microphone b2 after being transmitted by the obstacles, and do not participate in the subsequent relative angle calculation. Because the intelligent equipment is small, especially when two intelligent equipment are far away from each other, the direct signal L1、L2Can be considered as parallel lines.
As shown in FIG. 3, L1、L2Direct signals (not signals reflected by obstacles) received by the microphone B1 and the microphone B2 of the smart device B, respectively; d is the distance between microphone b1 and microphone b 2. For example, if the microphone B1 and the microphone B2 are respectively disposed at the upper and lower ends of the smart device B, D may be the length of the smart device B; from microphone b2 to direct signal L1Making a vertical line, wherein the distance between the vertical foot and the microphone b1 is d, and d is L1And L2Using a correlation algorithm of the signals, the direct signal L can be determined1Relative to the direct signal L2D may be calculated based on the delay time difference t, where d is t × c, and c is the propagation speed of sound in a medium (such as air); theta is an auxiliary angle, wherein
Therefore, the relative angle of the intelligent device A and the intelligent device B can be calculated
Wherein
Preferably, smart device a and smart device B may be implemented as at least one of: a smart phone; a tablet computer; a smart watch; a smart bracelet; an intelligent sound box; a smart television; an intelligent earphone; smart robots, and the like.
The first sound detection module and the second sound detection module may be arranged at a plurality of locations of the smart device. Fig. 6 is a schematic diagram of a first exemplary arrangement of a first sound detection module and a second sound detection module in a smart device according to the present invention. In fig. 6, the first sound detection module 18 and the second sound detection module 19 are respectively disposed at both ends of the smart device in the length direction, and thus the length D of the smart device can be directly determined as the distance between the first sound detection module 18 and the second sound detection module 19. Fig. 7 is a schematic diagram of a second exemplary arrangement of a first sound detection module and a second sound detection module in a smart device according to the present invention. In fig. 7, the first sound detection module 18 and the second sound detection module 19 are respectively disposed at both ends of the smart device in the width direction, and thus the width D of the smart device can be directly determined as the distance between the first sound detection module 18 and the second sound detection module 19.
The above exemplary descriptions have been provided for the arrangement of the first sound detection module and the second sound detection module in the smart device, and those skilled in the art will appreciate that such descriptions are merely exemplary and are not intended to limit the scope of the embodiments of the present invention.
In fact, currently, a smart device usually has two sets of microphones, and the two sets of microphones can be applied to the embodiment of the present invention as the first sound detection module and the second sound detection module without changing the smart device in terms of hardware.
The following describes a typical example of calculating a relative angle between smart devices using ultrasound based on an embodiment of the present invention.
Fig. 8 is a schematic diagram of the relative positioning of a first smart device and a second smart device in accordance with the present invention. FIG. 10 is a flowchart illustrating an exemplary process for relative positioning between smart devices according to the present invention. In fig. 7, respective processing paths of two combined microphones detecting sound signals are illustrated, in which an Analog-to-Digital Converter (ADC) is a device converting an Analog signal of a continuous variable into a discrete Digital signal; a band-pass filter (BPF) is a device that allows waves of a particular frequency band to pass while shielding other frequency bands. The ultrasonic-based relative direction identification step between two intelligent devices comprises the following steps:
the first step is as follows: the first smart device transmits a location signal in ultrasound format containing the Mac address of the smart device 1.
The second step is that: and the two groups of microphones of the second intelligent device respectively detect the positioning signals, resolve the Mac address from the respective detected positioning signals, and confirm that the respective detected positioning signals originate from the same sound source based on the Mac address.
The third step: the second intelligent device calculates the distance difference d between two direct signals of the positioning signal based on the time difference between the two direct signals detected by the two groups of microphones contained in the second intelligent device.
The fourth step: second smart device computing
The incident angle of the signal
I.e. the relative angle of the first smart device and the second smart device, where D is the distance between the two sets of microphones in the second smart device.
The fifth step: the second intelligent device displays the relative angle on the display interface of the second intelligent device
Thereby prompting the user for the relative orientation of the first smart device. For example, FIG. 9 is a diagram illustrating relative angles in an interface of a smart device according to the present inventionIntention is.
For example, assume that in the environment shown in fig. 8, the first smart device is embodied as a smart speaker and the first smart device is embodied as a smart phone.
The method comprises the following steps: the intelligent sound box transmits an ultrasonic signal, wherein the ultrasonic signal comprises a Mac address of the intelligent sound box and is a signal based on a CDMA (code division multiple access) technical framework.
Step two: the two sets of microphone arrays of the smart phone receive the ultrasonic signals and solve a Mac address of the smart sound box, and meanwhile, the smart phone solves a distance difference d between two direct signals of the two sets of microphone arrays. Wherein: suppose that in the respective received signal streams stream1 and stream2 of the two groups of microphone arrays, there are direct signals whose signal intensity peaks are greater than the threshold value T, respectively, and thus the principle 1 is satisfied; further assume the arrival time difference of the two direct signals
Calculating d corresponding to the Δ t, wherein
The two sets of microphone distances D are known (i.e. the handset length), assuming 0.145m, and D < D is visible, thus satisfying principle 2. Therefore, the two direct signals can be selected to calculate the relative angle, where d is 0.014 (m).
Step three: smartphone computing
Then the angle of incidence of the signal
The smart phone displays an angle of 84.4 degrees on a display screen of the smart phone, namely the smart sound box is in the direction of 84.4 degrees of the smart phone.
By using the identification method of the relative direction between the two intelligent devices, the relative distance between the two intelligent devices can be further obtained. The following scenario is envisaged: the system comprises at least two intelligent devices, wherein at least one intelligent device a is used for transmitting an ultrasonic positioning signal, and the ultrasonic positioning signal contains the MAC address of the intelligent device a; and the intelligent equipment b is used for receiving the ultrasonic positioning signal, resolving the incident angle of the signal and calculating the relative distance between the intelligent equipment b and the intelligent equipment a after further movement.
Based on the above description, the embodiment of the present invention further provides an application scenario in which a smart device (e.g., a smart phone, a smart headset, etc.) capable of generating sound is used to control a smart speaker according to the above relative angle calculation manner.
Fig. 11 is a block diagram of a smart device according to the present invention. A first sound detection module and a second sound detection module are arranged in the intelligent device, and a fixed distance is reserved between the first sound detection module and the second sound detection module. The size of the smart device is generally small, and therefore the distance between the first sound detection module and the second sound detection module arranged in the smart device is far smaller than the distance between the smart device and the smart speaker.
As shown in fig. 11, the smart device includes: a first sound detection module for detecting a first sound signal that reaches the first sound detection module directly; a second sound detection module for detecting a second sound signal that reaches the second sound detection module; the first sound signal and the second sound signal are transmitted by the same intelligent sound box at the same time; an angle determining module, configured to determine a time difference between a receiving time of the first sound signal and a receiving time of the second sound signal; determining a relative angle between the intelligent device and the intelligent sound box based on the distance between the first sound detection module and the second sound detection module and the time difference; and the sending module is used for sending the notification message containing the relative angle to the intelligent sound box, so that the intelligent sound box directionally emits sound to the intelligent equipment based on the relative angle. The first and second sound detection modules may be implemented as microphones or microphone arrays, respectively.
The smart device is adapted to be held or worn by a user, such as may be implemented as a smartphone, smart headset, smart remote control, tablet computer, personal digital assistant, smart bracelet, smart glasses, and so forth.
The smart sound box utilizes a built-in microphone (or a microphone array) to simultaneously transmit a first sound signal which directly reaches the first sound detection module and a second sound signal which directly reaches the second sound detection module. For example, the smart speaker may multiplex a microphone originally in the smart speaker to simultaneously emit the first and second sound signals. Or, a microphone is additionally arranged on the intelligent sound box, and the first sound signal and the second sound signal are simultaneously emitted by utilizing the newly-added microphone.
The manner in which the smart device calculates the relative angle with the smart speaker may refer to the determination method regarding the relative angle shown in fig. 1. The smart device corresponds to the first smart device in the method shown in fig. 1, and the smart speaker corresponds to the second smart device in the method shown in fig. 1, which is not repeated herein to describe the process of determining the relative angle. The intelligent device can utilize a built-in controller to execute the relative angle determination process, or utilize a single chip microcomputer, a single board computer or a DSP or other control modules to execute the relative angle determination process.
In one embodiment, the angle determination module is configured to determine the angle based on
Determining theta, wherein arcsin is an arcsine function, D is t x c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a smart device and the smart speaker based on θ
Wherein
Moreover, the sending module can send the notification message containing the relative angle to the server or the home gateway by using a wireless communication mode, so that the server or the home gateway sends the notification message to the smart sound box. Optionally, the sending module may directly send the notification message including the relative angle to the smart speaker by using communication modes such as bluetooth communication, infrared communication, ultrasonic communication, near field communication, zigbee communication, and the like.
After receiving the notification message, the smart sound box directionally emits sound to the smart device based on the relative angle. For example, the smart speaker first determines an emission angle based on the relative angle, and then directionally emits sound to the smart device according to the emission angle. Therefore, the intelligent sound box can directionally emit sound to the intelligent equipment, and a user of the intelligent equipment can directionally hear the sound. Therefore, the sound of the smart speaker of the present invention no longer spreads the sound over 360 degrees as in the conventional manner, but directionally transmits the sound along a certain path.
In one embodiment, a speaker array in the smart box directionally emits sound to the smart device based on the angle of emission, or an ultrasonic directional sound generator in the smart box directionally emits sound to the smart device based on the angle of emission.
Specifically, the smart sound box may implement directional sound emission based on a variety of directional sound technologies. Such as:
1. speaker array technology: the array is formed by a large number of high frequency horns to form a beam, the beam direction, i.e. the main lobe direction, having the highest energy, which is directed at the smart device that is positioned based on this relative angle. Specifically, the smart speaker includes: an array processor for generating an audio signal containing a beam tilt angle directed at the smart device based on the transmit angle; a digital-to-analog converter for converting the audio signal into an analog format; the power amplifier is used for power amplifying the audio signal output by the digital-to-analog converter; and the loudspeaker array is used for transmitting the audio signal output by the power amplifier.
2. Ultrasound-based acoustic frequency directional propagation techniques: the audible sound signal is modulated onto the ultrasonic carrier signal and is emitted into the air by the ultrasonic transducer, and during the process that ultrasonic waves with different frequencies are propagated in the air, due to the nonlinear acoustic effect of the air, the signals can be interacted and self-demodulated, and then a new sound wave with the frequency of the sum (sum frequency) and the difference (difference frequency) of the original ultrasonic frequencies is generated. If the ultrasonic wave is chosen properly, the difference frequency sound wave can fall in the audible sound area. Thus, the process of directional sound propagation is realized by means of the high directivity of the ultrasonic wave. Specifically, intelligent audio amplifier includes: an ultrasonic directional sounder.
While the above exemplary description describes an exemplary embodiment of directional sound production for a smart sound box, those skilled in the art will appreciate that this description is merely exemplary and is not intended to limit the scope of embodiments of the present invention.
Specifically, the smart device may determine the distance between the smart device and the smart speaker based on a variety of ways. E.g. based on a sound localization (preferably ultrasound localization) approach, etc.
Example 1: the smart device keeps time synchronization with the smart speaker, and the first sound signal further includes a sending time T1 of the first sound signal, wherein the smart device determines the distance between the smart device and the smart speaker includes: a controller in the intelligent equipment calculates the distance L between the intelligent equipment and the intelligent sound box; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception timing of the first sound signal. Similarly, the time of transmission contained in the second sound signal and the time of reception of the second sound signal may be used to determine the distance between the smart device and the smart speaker.
Example 2: and determining the distance between the intelligent equipment at the rotation stop point and the intelligent sound box based on the rotation angle of the intelligent equipment and the relative angle between the intelligent equipment at the rotation stop point and the intelligent sound box. Specifically, the smart device is moved from a first location point T while centering around a fixed point A1Rotate to a second position point T2Determining the rotation angle of the intelligent equipment; wherein the smart device is rotated to a second position point T2The relative angle between the intelligent device and the intelligent sound box, which is determined based on the receiving time difference of the first sound detection module and the second sound detection module arranged on the intelligent device for the direct sound signal sent by the intelligent sound box arranged at the position point B, has changed to zero, or the relative angle undergoes a process of changing to an angle alpha continuously after changing to zero, wherein alpha is not more than 180 degrees; based on relative angle and rotation angle, determine the distance between the intelligent device and the intelligent sound boxAnd (5) separating.
For example, at the second position point T2Here, the relative angle is zero; based on relative angle and turned angle, confirm that the distance between smart machine and the smart sound box includes: based on
Determining when the smart device is at a first location point T1In time, the distance R between the intelligent equipment and the intelligent sound box1(ii) a Wherein R is2The distance between the fixed point A and the intelligent equipment is;
for the intelligent device at the first position point T1The relative angle between the intelligent device and the intelligent sound box is determined; psi1For angle of rotation, #1Is angle T1AB。
As another example, when at the second location point T2When the relative angle is alpha, determining the distance between the intelligent device and the intelligent sound box based on the relative angle and the rotation angle comprises: based on
Determining when the smart device is at the second location point T2In time, the distance R between the intelligent device and the intelligent sound box1(ii) a Wherein R is2The distance between the fixed point A and the intelligent equipment is;
for the intelligent device at the second position point T2The relative angle between the intelligent device and the intelligent sound box is determined; psi1For angle of rotation, #1Is angle T2AB。
Example 3: when the intelligent device moves from the first position point to the second position point in a non-rotating manner, the distances between the intelligent device and the intelligent sound box at the second position point are respectively determined based on the relative angle between the intelligent device and the intelligent sound box at the first position point and the relative angle between the intelligent device and the intelligent sound box at the second position point, wherein the intelligent device and the intelligent sound box at the second position pointThe smart devices at the first location point are oriented in the same direction. Specifically, when the intelligent device is at a first position point, determining a relative angle 1 between the intelligent device and the intelligent sound box based on a receiving time difference of a first sound detection module and a second sound detection module which are arranged on the intelligent device for a direct sound signal sent by the intelligent sound box; when the intelligent equipment moves to a second position point, determining a relative angle 2 between the intelligent equipment and the intelligent sound box based on the receiving time difference of the first sound detection module and the second sound detection module aiming at the direct sound signal sent by the intelligent sound box; wherein the smart device at the second location point is in the same orientation as the smart device at the first location point; based on the relative angle 1 and the relative angle 2, the relative position of the smart device with respect to the smart speaker is determined. Preferably, the relative angle 1 is phi1The relative angle 2 is phi2(ii) a Based on the relative angle 1 and the relative angle 2, determining the relative position of the smart device with respect to the smart speaker includes: determination of R2Wherein
Wherein R is2The distance between the second position point and the intelligent equipment; c is the propagation speed of sound; Δ T is a difference between a detection time within a detection time window of the first sound detection module at the first position point for the sound signal of the direct first sound detection module and a detection time within a detection time window of the first sound detection module at the second position point for the sound signal of the direct first sound detection module, or a difference between a detection time within a detection time window of the second sound detection module at the first position point for the sound signal of the direct second sound detection module and a detection time within a detection time window of the second sound detection module at the second position point for the sound signal of the direct second sound detection module.
While the above exemplary description describes exemplary embodiments in which the smart device calculates the distance to the smart speaker, those skilled in the art will appreciate that this description is merely exemplary and is not intended to limit the scope of the embodiments of the present invention, for example, the smart device may also determine the distance to the smart speaker by infrared ranging, bluetooth ranging, non-time-synchronized ultrasonic ranging, and the like.
Further, the smart device further carries the distance of the smart device from the smart speaker in the notification message, such that the speaker array in the smart speaker directionally emits sound to the smart device based on the relative angle and the distance, wherein the volume of the sound has a monotonically increasing relationship with the distance.
Preferably, when the directional sound production is realized by adopting the loudspeaker array technology, the volume of the directionally-emitted sound can be further controlled by combining the distance between the intelligent sound box and the intelligent equipment. For example, when the distance is larger, the sound volume emitted by the smart speaker is larger, so that the path transmission attenuation is overcome. Therefore, the intelligent sound box can also realize the self-adaptive adjustment of the volume and direction of the audio according to the position and the position change of the user, and the intelligent degree of the sound box is improved, so that the user experience is better.
Fig. 12 is a flowchart of a method of controlling a smart sound box according to the present invention. The method is applicable to the intelligent device comprising the first sound detection module and the second sound detection module.
As shown in fig. 12, the method includes:
step 1201: and detecting a first sound signal which directly reaches the first sound detection module and a second sound signal which directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are transmitted by the same intelligent sound box at the same time.
Step 1202: a time difference between the moment of reception of the first sound signal and the moment of reception of the second sound signal is determined.
Step 1203: and determining the relative angle between the intelligent sound box and the intelligent sound box based on the distance between the first sound detection module and the second sound detection module and the time difference.
Step 1204: and sending a notification message containing the relative angle to the smart sound box, so that the smart sound box directionally emits sound to the smart device based on the relative angle.
In one embodiment, the determinationThe relative angle between smart machine and the smart speaker includes: based on
Determining theta, wherein arcsin is an arcsine function, D is t x c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a smart device and a smart speaker based on θ
Wherein
In one embodiment, the method further comprises: determining the distance between the intelligent equipment and the intelligent sound box; further carrying the distance in the notification message; wherein the smart speaker directionally emits sound to the smart device based on the relative angle comprises: an array of speakers in a smart speaker directionally emits sound to the smart device based on the relative angle and the distance, wherein a volume of the sound has a monotonically increasing relationship with the distance.
In one embodiment, the first and second sound signals are ultrasonic signals containing an identification of the smart speaker. Thus, based on comparing the respective identifications in the first and second sound signals, the smart device may confirm whether the respective detected localization signals originate from the same sound source.
Fig. 13 is a block diagram of a system for controlling a smart speaker according to the present invention. The smart speaker 30 is horizontally placed on the ground. Microphone 20 in smart speaker 30 continuously emits an ultrasonic signal containing the identification of smart speaker 30. When the user desires to directionally play music towards the smart sound box 30, the user opens the APP in the smart phone 40 and triggers the play button in the APP. The first microphone 18 and the second microphone 19 of the smartphone 40 each detect an ultrasound signal containing a unique identification of the smartphone 40. The distance between the first microphone 18 and the second microphone 19 is D. When the controller in the smartphone 40 determines that the first microphone 18 is connected toWhen the ultrasonic signals received by the second microphone 19 have the same identifier, the controller calculates the relative angle between the smart phone 40 and the smart speaker 30
And a distance L between the smartphone 40 and the smartspeaker 30. Relative angle
Comprises the following steps: the angle between the line E of the microphone 20 to the first microphone 18 and the line a of the first microphone 18 and the second microphone 19, or the angle between the line K of the microphone 20 to the second microphone 19 and the line a of the first microphone 18 and the second microphone 19, where both angles can be considered the same since D is sufficiently small with respect to L.
The smart phone 40 will include the relative angle via wireless communication
And distance L, to the server, which forwards the notification message to smart speaker 30. The smart speaker 30 calculates the emission angle (pi-phi).
When the ultrasonic directional sound generator is built in the smart sound box 30, sound is directionally emitted to the smart phone 40 based on the emission angle (pi-phi). At this time, the directionally emitted sound ranges between the straight lines B and C, wherein the angle between the straight lines B and C and the horizontal line M passing through the microphone 20 is (pi-phi). A user of the handheld smartphone 40 positioned between the lines B and C can directionally hear the sound with the same volume at each location between the lines B and C.
When the smart sound box 30 is internally provided with the speaker array, the speaker array is controlled to directionally emit sound to the smartphone 40 based on the emission angle (pi-phi) and the distance L, wherein the volume of the sound has a monotonically increasing relationship with the distance L. At this time, the main beam of sound covers a region defined by the straight lines B and C, and the beam deflection angle of the main beam is (pi-phi). Thus, a user of the handheld smartphone 40 positioned between the straight lines B and C may directionally hear the sound. Moreover, as the distance L increases, the volume of sound emitted by the speaker array increases, thereby overcoming path propagation attenuation to ensure as much as possible that the volume is the same at each location between the straight line B and the straight line C.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process implemented in the above embodiments of the present invention, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A smart device, comprising:
a first sound detection module for detecting a first sound signal that reaches the first sound detection module directly;
a second sound detection module for detecting a second sound signal that reaches the second sound detection module; the first sound signal and the second sound signal are transmitted by the same intelligent sound box at the same time;
an angle determining module, configured to determine a time difference between a receiving time of the first sound signal and a receiving time of the second sound signal; determining a relative angle between the intelligent device and the intelligent sound box based on the distance between the first sound detection module and the second sound detection module and the time difference;
and the sending module is used for sending the notification message containing the relative angle to the intelligent sound box, so that the intelligent sound box directionally emits sound to the intelligent equipment based on the relative angle.
2. The smart device of claim 1,
an angle determination module for determining based on
Determining theta, wherein arcsin is an arcsine function, D is t x c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a smart device and the smart speaker based on θ
Wherein
3. The smart device of claim 1,
the smart device includes: a smart phone; an intelligent earphone; an intelligent remote controller; a tablet computer; a personal digital assistant; a smart bracelet; intelligent glasses.
4. A method for controlling a smart speaker, the method being applicable to a smart device including a first sound detection module and a second sound detection module, the method comprising:
detecting a first sound signal which directly reaches the first sound detection module, and detecting a second sound signal which directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are simultaneously emitted by the same intelligent sound box;
determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal;
determining a relative angle between the intelligent device and the intelligent sound box based on the distance between the first sound detection module and the second sound detection module and the time difference;
and sending a notification message containing the relative angle to the smart sound box, so that the smart sound box directionally emits sound to the smart device based on the relative angle.
5. The method of controlling a smart sound box of claim 4, wherein determining the relative angle between the smart device and the smart sound box comprises:
based on
Determining theta, wherein arcsin is an arcsine function, D is t x c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a smart device and a smart speaker based on θ
Wherein
6. The method of controlling a smart sound box of claim 4, further comprising: determining the distance between the intelligent equipment and the intelligent sound box; further carrying the distance in the notification message;
wherein the smart speaker directionally emits sound to the smart device based on the relative angle comprises: an array of speakers in a smart speaker directionally emits sound to the smart device based on the relative angle and the distance, wherein a volume of the sound has a monotonically increasing relationship with the distance.
7. A system for controlling a smart speaker, comprising:
the intelligent sound box is used for emitting sound signals;
smart device, comprising: the first sound detection module is used for detecting a first sound signal which is directly transmitted to the first sound detection module in the sound signals; the second sound detection module is used for detecting a second sound signal which is directly transmitted to the second sound detection module in the sound signals, wherein the first sound signal and the second sound signal are simultaneously transmitted by the intelligent sound box; the angle determining module is used for determining the time difference between the receiving time of the first sound signal and the receiving time of the second sound signal, and determining the relative angle between the intelligent equipment and the intelligent sound box based on the distance between the first sound detecting module and the second sound detecting module and the time difference; the sending module is used for sending the notification message containing the relative angle to the intelligent sound box;
the smart sound box is further used for directionally emitting sound to the smart device based on the relative angle.
8. The system for controlling a smart sound box according to claim 7,
and the intelligent sound box is used for determining an emission angle based on the relative angle and directionally emitting sound to the intelligent equipment according to the emission angle.
9. The system for controlling a smart sound box according to claim 7,
the smart device includes: a smart phone; an intelligent earphone; an intelligent remote controller; a tablet computer; a personal digital assistant; a smart bracelet; intelligent glasses.
10. A computer-readable storage medium having computer-readable instructions stored therein for performing the method of controlling a smart sound box of any one of claims 4-6.
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| CN202010402878.3A CN112104929A (en) | 2020-05-13 | 2020-05-13 | Intelligent equipment, and method and system for controlling intelligent loudspeaker box |
| PCT/CN2021/075139 WO2021227571A1 (en) | 2020-05-13 | 2021-02-04 | Smart device, and method and system for controlling smart speaker |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112969121A (en) * | 2021-04-12 | 2021-06-15 | 苏州触达信息技术有限公司 | Intelligent interaction system and method for earphone and multimedia equipment |
| WO2021227570A1 (en) * | 2020-05-13 | 2021-11-18 | 苏州触达信息技术有限公司 | Smart speaker device, and method and system for controlling smart speaker device |
| WO2021227571A1 (en) * | 2020-05-13 | 2021-11-18 | 苏州触达信息技术有限公司 | Smart device, and method and system for controlling smart speaker |
| CN113873392A (en) * | 2021-09-06 | 2021-12-31 | 深圳市海创嘉科技有限公司 | A smart speaker array system |
| WO2023051274A1 (en) * | 2021-09-30 | 2023-04-06 | 华为技术有限公司 | Method for guiding user, and electronic device |
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| AU2003223359A1 (en) * | 2002-03-27 | 2003-10-13 | Aliphcom | Nicrophone and voice activity detection (vad) configurations for use with communication systems |
| CN103366756A (en) * | 2012-03-28 | 2013-10-23 | 联想(北京)有限公司 | Sound signal reception method and device |
| CN105223543B (en) * | 2014-06-25 | 2018-06-19 | Tcl集团股份有限公司 | A kind of acoustic location method and its system based on audio device |
| CN107271963A (en) * | 2017-06-22 | 2017-10-20 | 广东美的制冷设备有限公司 | The method and apparatus and air conditioner of auditory localization |
| CN108966077A (en) * | 2018-06-19 | 2018-12-07 | 四川斐讯信息技术有限公司 | A kind of control method and system of speaker volume |
| CN110379439B (en) * | 2019-07-23 | 2024-05-17 | 腾讯科技（深圳）有限公司 | Audio processing method and related device |
| CN112104929A (en) * | 2020-05-13 | 2020-12-18 | 苏州触达信息技术有限公司 | Intelligent equipment, and method and system for controlling intelligent loudspeaker box |
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2020
- 2020-05-13 CN CN202010402878.3A patent/CN112104929A/en not_active Withdrawn
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227570A1 (en) * | 2020-05-13 | 2021-11-18 | 苏州触达信息技术有限公司 | Smart speaker device, and method and system for controlling smart speaker device |
| WO2021227571A1 (en) * | 2020-05-13 | 2021-11-18 | 苏州触达信息技术有限公司 | Smart device, and method and system for controlling smart speaker |
| CN112969121A (en) * | 2021-04-12 | 2021-06-15 | 苏州触达信息技术有限公司 | Intelligent interaction system and method for earphone and multimedia equipment |
| CN113873392A (en) * | 2021-09-06 | 2021-12-31 | 深圳市海创嘉科技有限公司 | A smart speaker array system |
| WO2023051274A1 (en) * | 2021-09-30 | 2023-04-06 | 华为技术有限公司 | Method for guiding user, and electronic device |
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Application publication date: 20201218 |