WO2021227571A1

WO2021227571A1 - Smart device, and method and system for controlling smart speaker

Info

Publication number: WO2021227571A1
Application number: PCT/CN2021/075139
Authority: WO
Inventors: 刘广松; 王梓瑞; 杨青
Original assignee: 苏州触达信息技术有限公司
Priority date: 2020-05-13
Filing date: 2021-02-04
Publication date: 2021-11-18
Also published as: CN112104929A

Abstract

The present invention provides a smart device, and a method and system for controlling a smart speaker. The smart device comprises: a first sound detecting module configured to detect a first sound signal directly reaching the first sound detecting module; a second sound detecting module configured to detect a second sound signal directly reaching the second sound detecting module, wherein the first sound signal and the second sound signal are simultaneously emitted from a same smart speaker; an angle determining module configured to determine a time difference between a receiving time point of the first sound signal and a receiving time point of the second sound signal, and determine a relative angle between the smart device and the smart speaker on the basis of the distance between the first sound detecting module and the second sound detecting module and the time difference; and a sending module configured to send to the smart speaker a notification message comprising the relative angle, so that the smart speaker directionally emits a sound to the smart device on the basis of the relative angle. Directional sounding based on relative angle calculation is achieved.

Description

一种智能设备、控制智能音箱的方法和***Smart device, method and system for controlling smart speaker

技术领域Technical field

本发明实施方式涉及声音处理技术领域，更具体地，涉及一种智能设备、控制智能音箱的方法和***。The embodiments of the present invention relate to the technical field of sound processing, and more specifically, to a smart device, a method and a system for controlling a smart speaker.

背景技术Background technique

随着室内定位技术和通信技术的不断发展，移动终端的功能日趋丰富，极大地提高了人们日常工作、生活的便捷性和娱乐性。目前，市场推出的智能音箱多是按预设定的响度来播放，或者可以使用移动终端无线控制音频的播放、音量的调节。With the continuous development of indoor positioning technology and communication technology, the functions of mobile terminals are becoming more abundant, which greatly improves the convenience and entertainment of people's daily work and life. At present, most of the smart speakers introduced in the market are played according to a preset loudness, or a mobile terminal can be used to wirelessly control audio playback and volume adjustment.

目前，在基于用户位置的音频音量、方向控制智能音箱的方法中，现有技术主要通过麦克风阵列拾取语音的音量大小判断用户距离，或者通过测距传感器获取用户位置，继而反馈给智能音箱调节音量大小。At present, in the method of controlling the smart speaker based on the audio volume and direction of the user's position, the prior art mainly judges the user's distance by the volume of the voice picked up by the microphone array, or obtains the user's position through the ranging sensor, and then feeds back to the smart speaker to adjust the volume size.

发明内容Summary of the invention

本发明实施方式提出一种智能设备、控制智能音箱的方法和***。The embodiment of the present invention proposes a smart device, a method and system for controlling a smart speaker.

本发明实施方式的技术方案如下：The technical scheme of the embodiment of the present invention is as follows:

一种智能设备，包括：第一声音检测模块，用于检测直达所述第一声音检测模块的第一声音信号；第二声音检测模块，用于检测直达所述第二声音检测模块的第二声音信号；其中所述第一声音信号和所述第二声音信号为同一智能音箱同时发射的；角度确定模块，用于确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差；基于第一声音检测模块与第二声音检测模块之间的距离以及所述时间差，确定该智能设备与该智能音箱之间的相对角度；发送模块，用于将包含所述相对角度的告知消息发送给智能音箱，从而由所述智能音箱基于所述相对角度向所述智能设备定向发射声音。An intelligent device, comprising: a first sound detection module for detecting a first sound signal directly reaching the first sound detection module; a second sound detection module for detecting a second sound signal directly reaching the second sound detection module Sound signal; wherein the first sound signal and the second sound signal are simultaneously transmitted by the same smart speaker; the angle determination module is used to determine the difference between the receiving moment of the first sound signal and the receiving moment of the second sound signal Time difference; based on the distance between the first sound detection module and the second sound detection module and the time difference, determine the relative angle between the smart device and the smart speaker; sending module, used to notify the relative angle The message is sent to the smart speaker, so that the smart speaker directionally emits sound to the smart device based on the relative angle.

在一个实施方式中，角度确定模块，用于基于

确定θ，其中arcsin为反正弦函数，d＝t*c，t为所述时间差，c为声音的传播速度，D为第一声音检测模块与第二声音检测模块之间的距离；基于θ确定智能设备与该智能音箱之间的相对角度

其中

In one embodiment, the angle determination module is used for

Determine θ, where arcsin is the arcsine function, d=t*c, t is the time difference, c is the propagation speed of sound, D is the distance between the first sound detection module and the second sound detection module; determine based on θ The relative angle between the smart device and the smart speaker

in

在一个实施方式中，所述智能设备包括：智能手机；智能耳机；智能遥控器；平板电脑；个人数字助理；智能手环；智能眼镜。In one embodiment, the smart device includes: a smart phone; a smart headset; a smart remote control; a tablet computer; a personal digital assistant; a smart bracelet; and smart glasses.

一种控制智能音箱的方法，该方法适用于包括第一声音检测模块和第二声音检测模块的智能设备，该方法包括：检测直达所述第一声音检测模块的第一声音信号，检测直达所述第二声音检测模块的第二声音信号，其中所述第一声音信号和所述第二声音信号为同一智能音箱同时发射的；确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差；基于第一声音检测模块与第二声音检测模块之间的距离以及所述时间差，确定智能设备与智能音箱之间的相对角度；将包含所述相对角度的告知消息发送给智能音箱，从而由所述智能音箱基于所述相对角度向所述智能设备定向发射声音。A method for controlling a smart speaker. The method is suitable for a smart device including a first sound detection module and a second sound detection module. The method includes: detecting a first sound signal that reaches the first sound detection module directly, and detecting The second sound signal of the second sound detection module, wherein the first sound signal and the second sound signal are simultaneously transmitted by the same smart speaker; the receiving time of the first sound signal and the receiving time of the second sound signal are determined Based on the distance between the first sound detection module and the second sound detection module and the time difference, determine the relative angle between the smart device and the smart speaker; send a notification message containing the relative angle to the smart A sound box, so that the smart sound box directionally emits sound to the smart device based on the relative angle.

在一个实施方式中，其中确定智能设备与智能音箱之间的相对角度包括：基于

确定θ，其中arcsin为反正弦函数，d＝t*c，t为所述时间差，c为声音的传播速度，D为第一声音检测模块与第二声音检测模块之间的距离；基于θ确定智能设备与智能音箱之间的相对角度

其中

In one embodiment, determining the relative angle between the smart device and the smart speaker includes: based on

in

在一个实施方式中，该方法还包括：确定该智能设备与智能音箱之间的距离；在所述告知消息中进一步携带所述距离；其中所述智能音箱基于相对角度向所述智能设备定向发射声音包括：智能音箱中的扬声器阵列基于所述相对角度和所述距离向所述智能设备定向发射声音，其中所述声音的音量与所述距离具有单调递增关系。In one embodiment, the method further includes: determining the distance between the smart device and the smart speaker; further carrying the distance in the notification message; wherein the smart speaker directionally transmits to the smart device based on the relative angle The sound includes: a 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.

一种控制智能音箱的***，包括：智能音箱，用于发射声音信号；智能设备，包括：第一声音检测模块，用于检测所述声音信号中的、直达所述第一声音检测模块的第一声音信号；第二声音检测模块，用于检测所述声音信号中的、直达所述第二声音检测模块的第二声音信号，其中所述第一声音信号和所述第二声音信号为所述智能音箱同时发射的；角度确定模块，用于确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差，基于第一声音检测模块与第二声音检测模块之间的距离以及所述时间差，确定该智能设备与该智能音箱之间的相对角度；发送模块，用于将包含所述相对角度的告知消息发送给智能音箱；其中所述智能音箱，还用于基于所述相对角度向所述智能设备定向发射声音。A system for controlling a smart speaker includes: a smart speaker for emitting sound signals; a smart device including: a first sound detection module for detecting a first sound detection module in the sound signal that directly reaches the first sound detection module A sound signal; a second sound detection module for detecting a second sound signal directly to the second sound detection module in the sound signal, wherein the first sound signal and the second sound signal are The smart speakers are simultaneously transmitted; the angle determination module is used to determine the time difference between the receiving moment of the first sound signal and the receiving moment of the second sound signal, based on the distance between the first sound detection module and the second sound detection module And the time difference, determining the relative angle between the smart device and the smart speaker; a sending module, configured to send a notification message containing the relative angle to the smart speaker; wherein the smart speaker is also used to The relative angle emits sound to the smart device in a directional direction.

在一个实施方式中，所述智能音箱，用于基于所述相对角度确定发射角度，按照所述发射角度向所述智能设备定向发射声音。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.

一种计算机可读存储介质，其中存储有计算机可读指令，该计算机可读指令用于执行如上任一项所述的控制智能音箱的方法A computer-readable storage medium, in which computer-readable instructions are stored, and the computer-readable instructions are used to execute the method for controlling a smart speaker as described in any one of the above

从上述技术方案可以看出，智能设备包括：第一声音检测模块，用于检测直达第一声音检测模块的第一声音信号；第二声音检测模块，用于检测直达第二声音检测模块的第二声音信号；其中第一声音信号和第二声音信号为同一智能音箱同时发射的；角度确定模块，用于确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差；基于第一声音检测模块与第二声音检测模块之间的距离以及时间差，确定该智能设备与该智能音箱之间的相对角度；发送模块，用于将包含相对角度的告知消息发送给智能音箱，从而由智能音箱基于相对角度向智能设备定向发射声音。由此可见，本发明实现了基于相对角度计算的定向发声，提高了用户体验。It can be seen from the above technical solutions that the smart device includes: a first sound detection module for detecting a first sound signal directly reaching the first sound detection module; a second sound detection module for detecting a first sound signal directly reaching the second sound detection module Two sound signals; where the first sound signal and the second sound signal are simultaneously transmitted by the same smart speaker; the angle determination module is used to determine the time difference between the receiving moment of the first sound signal and the receiving moment of the second sound signal; based on The distance and time difference between the first sound detection module and the second sound detection module determine the relative angle between the smart device and the smart speaker; the sending module is used to send a notification message containing the relative angle to the smart speaker, thereby The smart speaker directionally emits sound to the smart device based on the relative angle. It can be seen that the present invention realizes directional sound based on relative angle calculation, and improves user experience.

附图说明Description of the drawings

图1为本发明智能设备间的相对角度确定方法的示范性流程图。Fig. 1 is an exemplary flowchart of a method for determining a relative angle between smart devices of the present invention.

图2为本发明智能设备间相对角度确定的原理示意图。Figure 2 is a schematic diagram of the principle of determining the relative angle between smart devices of the present invention.

图3为本发明智能设备间相对角度的计算原理图。Fig. 3 is a calculation principle diagram of the relative angle between the smart devices of the present invention.

图4为本发明确定一对直达信号的第一示范性示意图。Fig. 4 is a first exemplary schematic diagram of determining a pair of direct signals according to the present invention.

图5为本发明确定一对直达信号的第二示范性示意图。Fig. 5 is a second exemplary schematic diagram of determining a pair of direct signals according to the present invention.

图6为本发明的第一声音检测模块和第二声音检测模块在智能设备中的第一示范性布置示意图。Fig. 6 is a schematic diagram of a first exemplary arrangement of the first sound detection module and the second sound detection module in the smart device of the present invention.

图7为本发明的第一声音检测模块和第二声音检测模块在智能设备中的第二示范性布置示意图。Fig. 7 is a schematic diagram of a second exemplary arrangement of the first sound detection module and the second sound detection module in the smart device of the present invention.

图8为本发明第一智能设备和第二智能设备的相对定位示意图。Fig. 8 is a schematic diagram of the relative positioning of the first smart device and the second smart device of the present invention.

图9为本发明在智能设备界面中展示相对角度的示意图。Fig. 9 is a schematic diagram showing the relative angle in the interface of the smart device according to the present invention.

图10为本发明智能设备间相对定位的示范性处理流程图。Fig. 10 is an exemplary processing flowchart of relative positioning between smart devices of the present invention.

图11为根据本发明的智能设备的结构图。Fig. 11 is a structural diagram of a smart device according to the present invention.

图12为根据本发明控制智能音箱的方法的流程图。Fig. 12 is a flowchart of a method for controlling a smart speaker according to the present invention.

图13为根据本发明控制智能音箱的***的结构图。Fig. 13 is a structural diagram of a system for controlling a smart speaker according to the present invention.

具体实施方式Detailed ways

为使本发明的目的、技术方案和优点更加清楚，下面结合附图对本发明作进一步的详细描述。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

为不额外添加硬件地、利用软件实现智能设备间相对方向定位，使得该相对定位具备普适性，不同厂家的设备都能实现互操作和互兼容，并基于此探索智能设备的创新应用，本发明实施方式提出一种基于声音(优选为超声)的智能设备间相对方向识别方案，无需额外添加硬件，可以利用软件实现两台智能设备间的相对方向识别，定位结果准确且可靠。In order not to add additional hardware and use software to realize the relative orientation of smart devices, the relative positioning has universal applicability. Devices of different manufacturers can achieve interoperability and compatibility. Based on this, innovative applications of smart devices will be explored. The embodiment of the invention proposes a sound (preferably ultrasound)-based relative direction recognition scheme between smart devices, without additional hardware, and software can be used to realize the relative direction recognition between two smart devices, and the positioning result is accurate and reliable.

首先，智能设备(intelligent device)是指任何一种具有计算处理能力的设备、器械或者机器。图1为本发明智能设备间的相对角度确定方法的示范性流程图。该方法适用于第一智能设备，第一智能设备包括第一声音检测模块和第二声音检测模块。第一声音检测模块和第二声音检测模块在第一智能设备中被固定安装。比如，第一声音检测模块可以实施为布置在第一智能设备中的一个麦克风或一组麦克风阵列。同样地，第二声音检测模块可以实施为布置在第一智能设备中的、不同于第一声音检测模块的一个麦克风或一组麦克风阵列。First, intelligent device (intelligent device) refers to any kind of equipment, equipment or machine with computing and processing capabilities. Fig. 1 is an exemplary flowchart of a method for determining a relative angle between smart devices of the present invention. The method is applicable to a first smart device, and the first smart device includes 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 smart device. For example, the first sound detection module may be implemented as a microphone or a set of microphone arrays arranged in the first smart device. Likewise, the second sound detection module may be implemented as a microphone or a group of microphone arrays arranged in the first smart device that is different from the first sound detection module.

如图1所示，该方法包括：As shown in Figure 1, the method includes:

步骤101：使能第一声音检测模块检测第二智能设备发出并直达第一声音检测模块的第一声音信号，使能第二声音检测模块检测第二智能设备发出并直达第二声音检测模块的第二声音信号，其中第一声音信号和第二声音信号为第二智能设备同时发出的。Step 101: Enable the first sound detection module to detect the first sound signal sent by the second smart device and reach the first sound detection module, and enable the second sound detection module to detect the second sound detection module sent by the second smart device and reach the second sound detection module The second sound signal, where the first sound signal and the second sound signal are simultaneously emitted by the second smart device.

在这里，第二智能设备可以发出一个声音信号或同时发出多个声音信号。Here, the second smart device can send out one sound signal or send out multiple sound signals at the same time.

比如：当第二智能设备发出一个声音信号时，第二智能设备中的第一声音检测模块和第二声音检测模块分别检测该声音信号。其中：第一声音检测模块检测到的、该声音信号直达第一声音检测模块的检测信号被确定为第一声音信号；第二声音检测模块检测到的、该声音信号直达第一声音检测模块的检测信号，被确定为第二声音信号。再比如，当第二智能设备同时发出多个声音信号时，比如发出一个超声波信号，一个可听声音信号。第二智能设备中的第一声音检测模块适配于检测超声波信号，第二声音检测模块适配于检测可听声音信号。第一声音检测模块检测该超声波信号，第二声音检测模块该可听声音信号。其中：第一声音检测模块检测到的、该超声波信号直达第一声音检测模块的检测信号被确定为第一声音信号；第二声音检测模块检测到的、该可听声音信号直达第二声音检测模块的检测信号，被确定为第二声音信号。For example, when the second smart device sends out a sound signal, the first sound detection module and the second sound detection module in the second smart device respectively detect the sound signal. Wherein: the detection signal detected by the first sound detection module and the sound signal directly reaching the first sound detection module is determined to be the first sound signal; the detection signal detected by the second sound detection module and the sound signal directly reaching the first sound detection module The detection signal is determined to be the second sound signal. For another example, when the second smart device sends out multiple sound signals at the same time, for example, it sends out an ultrasonic signal and an audible sound signal. The first sound detection module in the second smart device is adapted to detect ultrasonic signals, and the 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 detected by the first sound detection module and the ultrasonic signal reaching the first sound detection module is determined to be the first sound signal; the second sound detection module detected the audible sound signal directly reaching the second sound detection The detection signal of the module is determined to be the second sound signal.

换句话说，第一声音信号和第二声音信号，可以为第一声音检测模块和第二声音检测模块针对第二智能设备发出的同一声音信号的分别检测信号。或，第一声音信号和第二声音信号，可以为第一声音检测模块和第二声音检测模块针对第二智能设备同时发出的不同声音信号的分别检测信号。In other words, the first sound signal and the second sound signal may be separate 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 separate detection signals of the first sound detection module and the second sound detection module for different sound signals simultaneously emitted by the second smart device.

步骤102：确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差。Step 102: Determine the time difference between the receiving moment of the first sound signal and the receiving moment of the second sound signal.

在这里，第一智能设备(比如，第一智能设备中的CPU)可以记录第一声音信号的接收时刻以及第二声音信号的接收时刻，并计算这两者之间的时间差。Here, the first smart device (for example, the CPU in the first smart device) can record the receiving time of the first sound signal and the receiving time of the second sound signal, and calculate the time difference between the two.

步骤103：基于第一声音检测模块与第二声音检测模块之间的距离以及时间差，确定第一智能设备与第二智能设备之间的相对角度。Step 103: Determine the relative angle between the first smart device and the second smart device based on the distance and the time difference between the first sound detection module and the second sound detection module.

比如，可以由第一智能设备的CPU执行步骤103。For example, step 103 may be executed by the CPU of the first smart device.

在一个实施方式中，步骤103中确定第一智能设备与第二智能设备之间的相对角度包括：基于

确定θ；其中arcsin为反正弦函数，d＝t*c，t为所述时间差，c为声音的传播速度，D为第一声音检测模块与第二声音检测模块之间的距离；基于θ确定第一智能设备与第二智能设备之间的相对角度

其中

In one embodiment, determining the relative angle between the first smart device and the second smart device in step 103 includes:

Determine θ; where arcsin is the arcsine function, d=t*c, t is the time difference, c is the propagation speed of sound, D is the distance between the first sound detection module and the second sound detection module; determined based on θ The relative angle between the first smart device and the second smart device

in

其中，步骤102中确定出的时间差的值可以为正数，也可以为负数。当所述时间差的值为正数时，第二声音信号的接收时刻早于第一声音信号的接收时刻，因此第一智能设备与第二智能设备之间的相对角度φ通常为锐角；当时间差的值为负数时，第一声音信号的接收时刻早于第二声音信号的接收时刻，因此第一智能设备与第二智能设备之间的相对角度φ通常为钝角。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 the relative angle φ between the first smart device and the second smart device is usually an acute angle; when the time difference When the value of is a negative number, the receiving time of the first sound signal is earlier than the receiving time of the second sound signal, so the relative angle φ between the first smart device and the second smart device is usually an obtuse angle.

在本发明实施方式中，第一声音信号为自第二智能设备直达第一声音检测模块的信号，第二声音信号为自第二智能设备直达第二声音检测模块的信号。实际上，无论是第一声音检测模块还是第二声音检测模块，都可能收到自第二智能设备发出且非直达的信号(比如，经过障碍物的一次反射或多次发射)。因此，如何从接收到的多个信号中确定出直达信号具有显著意义。In the embodiment of the present invention, the first sound signal is a signal from the second smart device to the first sound detection module, and the second sound signal is a signal from the second smart device to the second sound detection module. In fact, both the first sound detection module and the second sound detection module may receive non-direct signals (for example, one reflection or multiple transmissions from an obstacle) from the second smart device. Therefore, how to determine the direct signal from the received multiple signals has significant meaning.

申请人发现：通常情况下，每个声音检测模块的接收信号流(stream)都包含直达信道与反射信道。可以依据如下原则简单且便利地确定直达信道：在声音检测模块检测到的所有信号中，直达信道的信号强度一般是最强的。The applicant found that: under normal circumstances, the received signal stream of each sound detection module includes a direct channel and a reflection channel. The direct channel can be determined simply and conveniently based on the following principle: Among all the signals detected by the sound detection module, the signal strength of the direct channel is generally the strongest.

因此，在一个实施方式中，该方法还包括：将第一声音检测模块接收第二智能设备的声音信号流中的、在预定时间窗口内强度大于预定门限值的声音信号，确定为所述第一声音信号；将第二声音检测模块接收第二智能设备的声音信号流中的、在所述预定时间窗口内强度大于所述预定门限值的声音信号，确定为所述第二声音信号。Therefore, in one embodiment, the method further includes: determining a sound signal whose intensity is greater than a predetermined threshold within a predetermined time window from the sound signal stream of the second smart device received by the first sound detection module as said The first sound signal; the second sound detection module receives the sound signal of the sound signal stream of the second smart device that has an intensity greater than the predetermined threshold within the predetermined time window, and determines it as the second sound signal .

图4为本发明确定一对直达信号的第一示范性示意图。在图4中，第一声音检测模块检测到的声音信号流为stream1，stream1包含沿着时间(t)变化的多个脉冲信号，预定信号强度的门限值为T。可见，在时间窗口90的范围内，stream1中的脉冲信号50的信号强度大于门限值T。第二声音检测模块检测到的声音信号流为stream2，stream2包含沿着时间(t)变化的多个脉冲信号，预定信号强度的门限值同样为T。可见，在时间窗口90的范围内，stream2中的脉冲信号60的信号强度大于门限值T。因此，确定脉冲信号50为第一声音信号；脉冲信号60为第二声音信号。Fig. 4 is a first exemplary schematic 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 stream1, which contains multiple pulse signals that vary along time (t), and the predetermined signal strength threshold is T. It can be seen that within the range of the time window 90, the signal strength of the pulse signal 50 in the stream1 is greater than the threshold T. The sound signal stream detected by the second sound detection module is stream2, which contains multiple pulse signals that vary along time (t), and the predetermined signal strength threshold is also T. It can be seen that within the range of the time window 90, the signal strength of the pulse signal 60 in the stream2 is greater than the threshold value T. Therefore, it is determined that the pulse signal 50 is the first sound signal; the pulse signal 60 is the second sound signal.

另外，申请人还发现：可以综合考虑以下两个原则准确地确定直达信道：原则(1)、在声音检测模块检测到的所有信号中，直达信道的信号强度一般是最强的；原则(2)、联合判别法：两条直达信道信号(第一声音信号和第二声音信号)的到达时间差所换算出的距离差d不应大于第一声音检测模块和第二声音检测模块之间的距离。In addition, the applicant also found that the following two principles can be comprehensively considered to accurately determine the direct channel: principle (1), among all signals detected by the sound detection module, the signal strength of the direct channel is generally the strongest; principle (2) ), joint discrimination method: the distance difference d calculated by the difference in arrival time of the two direct channel signals (the first sound signal and the second sound signal) should not be greater than the distance between the first sound detection module and the second sound detection module .

因此，在一个实施方式中，该方法还包括：在第一声音检测模块检测第二智能设备的声音信号流中确定出强度大于预定门限值的声音信号，以形成第一候选信号集；在第二声音检测模块检测第二智能设备的声音信号流中确定出强度大于所述预定门限值的声音信号，以形成第二候选信号集；确定第一候选信号集中的每个声音信号的接收时刻与第二候选信号集中的每个声音信号的接收时刻之间的各自的时间差；将所述时间差小于M的一对声音信号，确定为所述第一声音信号和第二声音信号，其中M＝(D/c),D为第一声音检测模块与第二声音检测模块之间的距离，c为声音的传播速度。Therefore, in one embodiment, the method further includes: determining, in the sound signal stream of the second smart device that the first sound detection module detects, a sound signal with a strength greater than a predetermined threshold to form a first candidate signal set; The second sound detection module detects the sound signal in the sound signal stream of the second smart device and determines the sound signal whose intensity is greater than the predetermined threshold to form a second candidate signal set; determines the reception of each sound signal in the first candidate signal set The respective time difference between the time and the receiving time of each sound signal in the second candidate signal set; a pair of sound signals whose time difference is less than M is determined as the first sound signal and the second sound signal, where M =(D/c), D is the distance between the first sound detection module and the second sound detection module, and c is the sound propagation speed.

图5为本发明确定一对直达信号的第二示范性示意图。在图5中，第一声音检测模块检测到的声音信号流为stream1，stream1包含沿着时间(t)变化的多个脉冲信号，预定信号强度的门限值为T。可见，在stream1中，脉冲信号50的信号强度大于门限值T，因此第一候选信号集包含脉冲信号50。第二声音检测模块检测到的声音信号流为stream2，stream1包含沿着时间(t)变化的多个脉冲信号，预定信号强度的门限值同样为T。可见，在stream2中，脉冲信号60和脉冲信号70的信号强度都大于门限值T，因此第二候选信号集包含脉冲信号60和脉冲信号70。Fig. 5 is a second exemplary schematic diagram of determining 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 stream1, which contains multiple pulse signals that vary along time (t), and the predetermined signal strength threshold is T. It can be seen that in stream1, the signal strength of the pulse signal 50 is greater than the threshold value T, so the first candidate signal set includes the pulse signal 50. The sound signal stream detected by the second sound detection module is stream2, stream1 contains multiple pulse signals that vary along time (t), and the predetermined signal strength threshold is also T. It can be seen that in stream2, the signal strength of the pulse signal 60 and the pulse signal 70 are both greater than the threshold value T, so the second candidate signal set includes the pulse signal 60 and the pulse signal 70.

而且，确定第一候选信号集中的脉冲信号50与第二候选信号集中的脉冲信号60的接收时刻之间的时间差d1，以及确定第一候选信号集中的脉冲信号50与第二候选信号集中的脉冲信号70的接收时刻之间的时间差d2。假定d1小于M，d2大于M，其中M＝(D/c)，D为第一声音检测模块与第二声音检测模块之间的距离，c为声音的传播速度。因此，将与d1相关的一对声音信号中的脉冲信号50确定为第一声音信号，且该对声音信号中的脉冲信号60确定为第二声音信号。Furthermore, the time difference d1 between the receiving moments 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 the pulse signal 50 in the first candidate signal set and the pulse signal in the second candidate signal set are determined. The time difference d2 between the reception moments of the signal 70. Assume that d1 is less than M and d2 is greater than M, where M=(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. Therefore, the pulse signal 50 in the pair of sound signals related to d1 is determined as the first sound signal, and the pulse signal 60 in the pair of sound signals is determined as the second sound signal.

优选地，第一声音信号和第二声音信号为具***分多址格式的超声波且包含第二智能设备的媒体访问控制地址(MAC)。Preferably, the first sound signal and the second sound signal are ultrasonic waves having a code division multiple access format and include a media access control address (MAC) of the second smart device.

因此，第一智能设备可以基于包含在声音信号中的第二智能设备的MAC地址，准确识别声音信号的来源。当环境中存在多个发出声音信号的声源时，第一智能设备基于提取声音信号中的MAC地址，可以准确利用来自于同一声源的两个直达信号确定与该声源的相对角度，而不会受到其它声源的干扰。Therefore, the first smart device can accurately identify the source of the sound signal based on the MAC address of the second smart device included in the sound signal. When there are multiple sound sources emitting sound signals in the environment, the first smart device can accurately use two direct signals from the same sound source to determine the relative angle to the sound source based on the MAC address extracted from the sound signal. Will not be interfered by other sound sources.

本发明实施方式还提出了一种智能设备间的相对角度确定方法。该方法适用于第一智能设备，第一智能设备包括第一声音检测模块和第二声音检测模块，该方法包括：确定第二智能设备发出的超声波信号直达第一声音检测模块的第一时刻；确定超声波信号直达第二声音检测模块的第二时刻；确定第一时刻与第二时刻之间的时间差；基于第一声音检测模块与第二声音检测模块之间的距离以及时间差，确定第一智能设备与第二智能设备之间的相对角度。The embodiment of the present invention also proposes a method for determining the relative angle between smart devices. The method is applicable to a first smart device, and the first smart device includes a first sound detection module and a second sound detection module. The method includes: determining the first moment when an ultrasonic signal sent by the second smart device reaches the first sound detection module; Determine the second moment when the ultrasonic signal reaches the second sound detection module; determine the time difference between the first moment and the second moment; determine the first intelligence based on the distance and time difference between the first sound detection module and the second sound detection module The relative angle between the device and the second smart device.

在一个实施方式中，确定第一智能设备与第二智能设备之间的相对角度包括：基于

确定θ；其中arcsin为反正弦函数，d＝t*c，t为时间差，c为声音的传播速度，D为第一声音检测模块与第二声音检测模块之间的距离；基于θ确定第一智能设备与第二智能设备之间的相对角度

其中

In one embodiment, determining the relative angle between the first smart device and the second smart device includes: based on

Determine θ; where arcsin is the arcsine function, d=t*c, t is the time difference, c is the propagation speed of sound, D is the distance between the first sound detection module and the second sound detection module; determine the first based on θ The relative angle between the smart device and the second smart device

in

在一个实施方式中，该方法还包括下列处理中的至少一个：In one embodiment, the method further includes at least one of the following treatments:

(1)、将第一声音检测模块接收第二智能设备的超声波信号流中的、在预定时间窗口内强度大于预定门限值的超声波信号，确定为直达第一声音检测模块的超声波信号，将接收到该直达第一声音检测模块的超声波信号的时刻确定为所述第一时刻；将第二声音检测模块接收第二智能设备的超声波信号流中的、在所述预定时间窗口内强度大于所述预定门限值的超声波信号，确定为直达第二声音检测模块的超声波信号，将接收到该直达第二声音检测模块的超声波信号的时刻确定为所述第二时刻。(1) Determine the ultrasonic signal that has an intensity greater than a predetermined threshold within a predetermined time window from the ultrasonic signal stream received by the second smart device by the first sound detection module as the ultrasonic signal that reaches the first sound detection module, and The moment when the ultrasonic signal directly reaching the first sound detection module is received is determined as the first moment; the second sound detection module receives the ultrasonic signal stream of the second smart device with an intensity greater than all in the predetermined time window. The ultrasonic signal with the predetermined threshold value is determined as the ultrasonic signal directly reaching the second sound detection module, and the time when the ultrasonic signal directly reaching the second sound detection module is received is determined as the second time.

(2)、在第一声音检测模块检测第二智能设备的超声波信号流中确定出强度大于预定门限值的超声波信号，以形成第一候选信号集；在第二声音检测模块检测第二智能设备的超声波信号流中确定出强度大于所述预定门限值的超声波信号，以形成第二候选信号集；确定第一候选信号集中的每个超声波信号的接收时刻与第二候选信号集中的每个超声波信号的接收时刻之间的各自的时间差；将时间差小于M的一对超声波信号的接收时刻，确定为第一时刻和第二时刻，其中M＝(D/c),D为第一声音检测模块与第二声音检测模块之间的距离，c为声音的传播速度。(2) In the ultrasonic signal stream of the second smart device detected by the first sound detection module, it is determined that the ultrasonic signal whose intensity is greater than the predetermined threshold is formed to form the first candidate signal set; the second smart device is detected by the second sound detection module. Determine the ultrasonic signal with intensity greater than the predetermined threshold value from the ultrasonic signal stream of the device to form the second candidate signal set; determine the receiving time of each ultrasonic signal in the first candidate signal set and every second candidate signal set. The respective time difference between the receiving moments of two ultrasonic signals; the receiving moments of a pair of ultrasonic signals with a time difference less than M are determined as the first moment and the second moment, where M=(D/c), D is the first sound The distance between the detection module and the second sound detection module, c is the sound propagation speed.

下面对本发明的相对定位的原理和计算过程进行示范性说明。The principle and calculation process of the relative positioning of the present invention will be exemplified below.

图2为本发明智能设备间相对角度确定的原理示意图。图3为本发明智能设备间相对角度的计算原理图。如图2所示，布置在智能设备A底部的麦克风a1发射超声信号，该超声信号包含智能设备A的MAC地址，智能设备B(图2中没有示出)具有相隔布置的两个麦克风，分别为麦克风b1和麦克风b2。其中：麦克风b1接收该超声信号的直达信号L1，麦克风b2接收该超声信号的直达信号L2。该超声信号经过障碍物发射后到达麦克风b1和麦克风b2的非直达信号，不参与后续的相对角度计算。由于智能设备较小，特别是两台智能设备相距较远时，因此直达信号L ₁、L ₂可以视为平行线。 Figure 2 is a schematic diagram of the principle of determining the relative angle between smart devices of the present invention. Fig. 3 is a calculation principle diagram of the relative angle between the smart devices of the present invention. As shown in Figure 2, the microphone a1 arranged at the bottom of the smart device A emits an ultrasonic signal, which contains the MAC address of the smart device A, and the smart device B (not shown in Figure 2) has two microphones arranged apart, respectively It is microphone b1 and microphone b2. 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 signal reaches the non-direct signals of microphone b1 and microphone b2 after being emitted by obstacles, and does not participate in the subsequent relative angle calculation. Since the smart device is small, especially when the two smart devices are far apart, the direct signals L ₁ and L ₂ can be regarded as parallel lines.

如图3所示，L ₁、L ₂分别表示智能设备B的麦克风b1、麦克风b2接收到的直达信号(不是经障碍物反射的信号)；D为麦克风b1和麦克风b2之间的距离。比如，如果麦克风b1和麦克风b2分别布置在智能设备B的上下两端，那么D可以为智能设备B的长度；自麦克风b2向直达信号L ₁作垂线，垂足与麦克风b1之间的距离即为d，d为L ₁和L ₂的距离差，运用信号的相关算法可以确定直达信号L ₁相对于直达信号L ₂的延迟时间差t，可以基于延迟时间差t计算出d，其中d＝t*c,c为声音在介质(比如空气)中的传播速度；θ为辅助角度，其中

因此，可以计算出智能设备A与智能设备B的相对角度

其中

优选地，智能设备A与智能设备B可以实施为下列中的至少一个：智能手机；平板电脑；智能手表；智能手环；智能音箱；智能电视；智能耳机；智能机器人，等等。 As shown in Figure 3, L ₁ and L ₂ respectively represent the direct signals received by the microphone b1 and the microphone b2 of the smart device B (not the signal reflected by the obstacle); D is the distance between the microphone b1 and the microphone b2. For example, if the microphone and the microphone b1 b2 are disposed in upper and lower ends of the smart device B, then D may be a length B of the smart device; b2 to the direct signal from the microphone for vertical L _1, the distance between the pedal and the microphone b1 That is d, d is _{the distance difference between L 1} and L ₂ , using signal correlation algorithms to determine _{the delay time difference t of the direct signal L 1} relative to the direct signal L ₂ , and d can be calculated based on the delay time difference t, where d=t *c, c is the propagation speed of sound in the medium (such as air); θ is the auxiliary angle, where

Therefore, the relative angle of smart device A and smart device B can be calculated

in

Preferably, the smart device A and the smart device B can be implemented as at least one of the following: a smart phone; a tablet computer; a smart watch; a smart bracelet; a smart speaker; a smart TV; a smart headset; a smart robot, and so on.

可以在智能设备的多个位置处布置第一声音检测模块和第二声音检测模块。图6为本发明的第一声音检测模块和第二声音检测模块在智能设备中的第一示范性布置示意图。在图6中，第一声音检测模块18和第二声音检测模块19分别布置在智能设备在长度方向上的两端，因此可以直接将智能设备的长度D确定为第一声音检测模块18和第二声音检测模块19之间的距离。图7为本发明的第一声音检测模块和第二声音检测模块在智能设备中的第二示范性布置示意图。在图7中，第一声音检测模块18和第二声音检测模块19分别布置在智能设备在宽度方向上的两端，因此可以直接将智能设备的宽度D确定为第一声音检测模块18和第二声音检测模块19之间的距离。The first sound detection module and the second sound detection module may be arranged at multiple locations of the smart device. Fig. 6 is a schematic diagram of a first exemplary arrangement of the first sound detection module and the second sound detection module in the smart device of the present invention. In FIG. 6, the first sound detection module 18 and the second sound detection module 19 are respectively arranged at both ends of the smart device in the length direction. Therefore, the length D of the smart device can be directly determined as the first sound detection module 18 and the first sound detection module 18 and the second sound detection module. The distance between two sound detection modules 19. Fig. 7 is a schematic diagram of a second exemplary arrangement of the first sound detection module and the second sound detection module in the smart device of the present invention. In FIG. 7, the first sound detection module 18 and the second sound detection module 19 are respectively arranged at both ends of the smart device in the width direction. Therefore, the width D of the smart device can be directly determined as the first sound detection module 18 and the first sound detection module 18 and the second sound detection module. The distance between two sound detection modules 19.

以上示范性描述了第一声音检测模块和第二声音检测模块在智能设备中的布置示意图，本领域技术人员可以意识到，这种描述仅是示范性的，并不用于限定本发明实施方式的保护范围。The above exemplarily describes the layout diagram of the first sound detection module and the second sound detection module in the smart device. Those skilled in the art may realize that this description is only exemplary and is not used to limit the implementation of the present invention. protected range.

实际上，目前智能设备通常都具有两组麦克风，可以将这两组麦克风作为第一声音检测模块和第二声音检测模块应用在本发明实施方式中，而无需在硬件上改动智能设备。In fact, the current smart device usually has two sets of microphones, and these two sets of microphones can be used as the first sound detection module and the second sound detection module in the embodiments of the present invention without changing the smart device in hardware.

下面描述基于本发明实施方式利用超声计算智能设备间的相对角度的典型实例。The following describes a typical example of using ultrasound to calculate the relative angle between smart devices based on the embodiment of the present invention.

图8为本发明第一智能设备和第二智能设备的相对定位示意图。图10为本发明智能设备间相对定位的示范性处理流程图。在图7中，示意出检测声音信号的两组合麦克风的各自的处理路径，其中，模/数转换器(Analog-to-Digital Converter，ADC)是将连续变量的模拟信号转换为离散的数字信号的器件；带通滤波器(band-pass filter，BPF)是允许特定频段的波通过同时屏蔽其他频段的设备。基于超声的两台智能设备间相对方向识别步骤包括：Fig. 8 is a schematic diagram of the relative positioning of the first smart device and the second smart device of the present invention. Fig. 10 is an exemplary processing flowchart of relative positioning between smart devices of the present invention. In Figure 7, the respective processing paths of the two combined microphones for detecting sound signals are schematically shown. Among them, an analog-to-digital converter (ADC) converts a continuous variable analog signal into a discrete digital signal. A device; a band-pass filter (BPF) is a device that allows waves in a specific frequency band to pass while shielding other frequency bands. The steps of identifying the relative direction between two smart devices based on ultrasound include:

第一步：第一智能设备发射超声格式的定位信号，该定位信号包含智能设备1的Mac地址。Step 1: The first smart device transmits a positioning signal in an ultrasound format, and the positioning signal contains the Mac address of the smart device 1.

第二步：第二智能设备的两组麦克风分别检测定位信号，从各自检测到的定位信号中解析出Mac地址，并基于Mac地址确认各自检测到的定位信号源自同一声源。Step 2: The two sets of microphones of the second smart device respectively detect positioning signals, parse out the Mac addresses 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.

第三步：第二智能设备基于自身所包含的两组麦克风分别检测出的、针对定位信号的两个直达信号之间的时间差计算出这两个直达信号的距离差d。Step 3: The second smart device calculates the distance difference d between the two direct signals for the positioning signal based on the time difference between the two direct signals detected by the two sets of microphones contained in the second smart device.

第四步：第二智能设备计算

则信号入射角度

即为第一智能设备与第二智能设备的相对角度，其中D为第二智能设备中这两组麦克风的距离。 The fourth step: the second smart device calculation

The signal incident angle

That is, the relative angle between 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.

第五步：第二智能设备在自身的显示界面上显示相对角度

从而提示用户第一智能设备的相对方向。比如，图9为本发明在智能设备界面中展示相对角度的示意图。 Step 5: The second smart device displays the relative angle on its display interface

Thereby prompting the user the relative direction of the first smart device. For example, FIG. 9 is a schematic diagram showing the relative angle in the interface of the smart device according to the present invention.

举例说明，假定在图8所示的环境中，第一智能设备具体实施为智能音箱，第一智能设备具体实施为智能手机。For example, assume that in the environment shown in FIG. 8, the first smart device is specifically implemented as a smart speaker, and the first smart device is specifically implemented as a smart phone.

步骤一：该智能音箱发射超声信号，该超声信号包含智能音箱的Mac地址，且为基于CDMA码分多址技术架构的信号。Step 1: The smart speaker transmits an ultrasonic signal. The ultrasonic signal includes the Mac address of the smart speaker and is a signal based on the CDMA code division multiple access technology architecture.

步骤二：智能手机的两组麦克风阵列接收超声信号并解算出智能音箱的Mac地址，同时，智能手机解算出两组麦克风阵列的两个直达信号之间的距离差d。其中：假定两组克风阵列的各自接收信号流stream1和stream2中，分别存在信号强度峰值大于门限值T的直达信号，因此满足原则1；再假定这两个直达信号的到达时间差

计算对应于该Δt的d，其中

两组麦克风距离D为已知(即手机长度)，假定为0.145m，可见d＜D，因此满足原则2。因此，可以选定这两个直达信号计算相对角度，其中d＝0.014(m)。 Step 2: The two microphone arrays of the smart phone receive ultrasonic signals and calculate the Mac address of the smart speaker. At the same time, the smart phone calculates the distance difference d between the two direct signals of the two microphone arrays. Among them: Assume that in the respective received signal streams stream1 and stream2 of the two groups of Kefeng arrays, there are direct signals with signal strength peaks greater than the threshold value T, so principle 1 is satisfied; then assume the arrival time difference of the two direct signals

Calculate d corresponding to the Δt, where

The distance D between the two sets of microphones is known (that is, the length of the mobile phone), which is assumed to be 0.145m, and it can be seen that d<D, so principle 2 is satisfied. Therefore, these two direct signals can be selected to calculate the relative angle, where d=0.014 (m).

步骤三：智能手机计算

那么信号入射角度

智能手机在自己的显示屏幕上显示角度84.4°，即智能音箱在智能手机的84.4°方向。 Step 3: Smartphone calculation

Then the signal incident angle

The smart phone displays an angle of 84.4° on its display screen, that is, the smart speaker is in the 84.4° direction of the smart phone.

利用两个智能设备间相对方向的识别方法，可进一步获得两个智能设备间的相对距离。设想如下场景：有至少两个智能设备，其中，至少一个智能设备a，用于发射超声定位信号，该超声定位信号包含智能设备a的MAC地址；至少一个智能设备b，用于接收超声定位信号并解算信号入射角度，并在进一步发生移动后计算与智能设备a的相对距离。Using the method of identifying the relative direction between two smart devices, the relative distance between the two smart devices can be further obtained. Imagine the following scenario: there are at least two smart devices, of which, at least one smart device a is used to transmit an ultrasonic positioning signal, the ultrasonic positioning signal contains the MAC address of the smart device a; at least one smart device b is used to receive the ultrasonic positioning signal And calculate the incident angle of the signal, and calculate the relative distance to the smart device a after further movement.

基于上述描述，本发明实施方式还提出了根据上述相对角度计算方式，利用可以发声的智能设备(比如，智能手机、智能耳机，等等)控制智能音箱的应用场景。Based on the foregoing description, the embodiment of the present invention also proposes an application scenario in which a smart device (such as a smart phone, a smart earphone, etc.) that can produce sound is used to control a smart speaker according to the foregoing relative angle calculation method.

图11为根据本发明的智能设备的结构图。该智能设备中布置有第一声音检测模块和第二声音检测模块，第一声音检测模块和第二声音检测模块之间具有固定的距离。智能设备的尺寸通常较小，因此布置在智能设备中的第一声音检测模块和第二声音检测模块之间的距离，远小于智能设备与智能音箱的距离。Fig. 11 is a structural 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 smart device, and there is a fixed distance between the first sound detection module and the second sound detection module. The size of the smart device is usually small, so the distance between the first sound detection module and the second sound detection module arranged in the smart device is much smaller than the distance between the smart device and the smart speaker.

如图11所示，智能设备，包括：第一声音检测模块，用于检测直达所述第一声音检测模块的第一声音信号；第二声音检测模块，用于检测直达所述第二声音检测模块的第二声音信号；其中所述第一声音信号和所述第二声音信号为同一智能音箱同时发射的；角度确定模块，用于确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差；基于第一声音检测模块与第二声音检测模块之间的距离以及所述时间差，确定该智能设备与该智能音箱之间的相对角度；发送模块，用于将包含所述相对角度的告知消息发送给智能音箱，从而由所述智能音箱基于所述相对角度向所述智能设备定向发射声音。第一声音检测模块和第二声音检测模块可以分别实施为麦克风或麦克风阵列。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; a second sound detection module for detecting a sound that reaches the second sound detection module The second sound signal of the module; wherein the first sound signal and the second sound signal are simultaneously transmitted by the same smart speaker; the angle determination module is used to determine the reception time of the first sound signal and the reception of the second sound signal The time difference between the moments; based on the distance between the first sound detection module and the second sound detection module and the time difference, determine the relative angle between the smart device and the smart speaker; the sending module is used to include the The notification message of the relative angle is sent to the smart speaker, so that the smart speaker directionally emits sound to the smart device based on the relative angle. The first sound detection module and the second sound detection module may be implemented as microphones or microphone arrays, respectively.

智能设备适于被用户手持或穿戴，比如可以实施为智能手机、智能耳机、智能遥控器、平板电脑、个人数字助理，智能手环、智能眼镜，等等。Smart devices are suitable for being held or worn by users, for example, they can be implemented as smart phones, smart earphones, smart remote controls, tablet computers, personal digital assistants, smart bracelets, smart glasses, and so on.

智能音箱利用内置的麦克风(或麦克风阵列)同时发射直达第一声音检测模块的第一声音信号和直达第二声音检测模块的第二声音信号。比如，智能音箱可以复用智能音箱中原有的一个麦克风以同时发射第一声音信号和第二声音信号。或，在智能音箱上新增一个麦克风，利用新增麦克风同时发射第一声音信号和第二声音信号。The smart speaker uses a built-in microphone (or microphone array) to simultaneously transmit the first sound signal directly to the first sound detection module and the second sound signal directly to the second sound detection module. For example, the smart speaker can reuse an original microphone in the smart speaker to simultaneously transmit the first sound signal and the second sound signal. Or, add a microphone to the smart speaker, and use the newly added microphone to simultaneously transmit the first sound signal and the second sound signal.

智能设备计算与智能音箱之间的相对角度的方式，可以参照图1所示的关于相对角度的确定方法。智能设备对应于图1所示方法中的第一智能设备，智能音箱对应于图1所示方法中的第二智能设备，此处不再赘述相对角度的确定过程。智能设备可以利用内置的控制器执行相对角度的确定过程，或者利用单片机、单板机或DSP等控制模块执行相对角度的确定过程。For the manner of calculating the relative angle between the smart device and the smart speaker, refer to the method for determining 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. The process of determining the relative angle will not be repeated here. Smart devices can use the built-in controller to perform the relative angle determination process, or use a single-chip computer, single-board computer, or DSP and other control modules to perform the relative angle determination process.

在一个实施方式中，角度确定模块，用于基于

其中

In one embodiment, the angle determination module is used for

in

而且，发送模块可以利用无线通信方式将包含所述相对角度的告知消息发送到服务器或家庭网关，以由服务器或家庭网关将告知消息发送给智能音箱。可选地，发送模块可以直接利用蓝牙通讯、红外通讯、超声通讯、近场通讯、紫蜂通讯等通讯方式，直接将包含相对角度的告知消息发送到智能音箱。Moreover, the sending module can send the notification message containing the relative angle to the server or the home gateway by wireless communication, so that the server or the home gateway can send the notification message to the smart speaker. Optionally, the sending module can directly use communication methods such as Bluetooth communication, infrared communication, ultrasonic communication, near field communication, and Zigbee communication to directly send the notification message containing the relative angle to the smart speaker.

智能音箱接收到告知消息后，基于相对角度向智能设备定向发射声音。比如，智能音箱首先基于相对角度确定发射角度，再按照发射角度向智能设备定向发射声音。可见，智能音箱可以向智能设备定向发射声音，智能设备的用户可以定向听到该声音。因此，本发明的智能音箱的声音不再如传统方式在360度上扩散声音，而是有方向的、沿着一定的路径传送声音。After receiving the notification message, the smart speaker directionally emits sound to the smart device based on the relative angle. For example, a smart speaker first determines the emission angle based on the relative angle, and then emits sound to the smart device in a direction according to the emission angle. It can be seen that the smart speaker can directionally emit sound to the smart device, and the user of the smart device can hear the sound directionally. Therefore, the sound of the smart speaker of the present invention no longer diffuses the sound in 360 degrees as in the traditional way, but transmits the sound in a direction along a certain path.

在一个实施方式中，智能音箱中的扬声器阵列基于发射角度向智能设备定向发射声音，或智能音箱中的超声波定向发声器基于发射角度向智能设备定向发射声音。In one embodiment, the speaker array in the smart speaker directionally emits sound to the smart device based on the emission angle, or the ultrasonic directional sound generator in the smart speaker directionally emits sound to the smart device based on the emission angle.

具体地，智能音箱可以基于多种定向声技术实现定向发射声音。比如：Specifically, smart speakers can implement directional sound emission based on multiple directional sound technologies. for example:

1、扬声器阵列技术：通过大量的高频喇叭组成阵列以形成波束，波束方向即主瓣方向具有最高的能量，波束方向对准基于该相对角度被定位出的智能设备。具体地，智能音箱包括：阵列处理器，用于基于发射角度生成包含对准智能设备的波束偏角的音频信号；数模转换器，用于将音频信号转换为模拟格式；功率放大器，用于功率放大数模转换器输出的音频信号；扬声器阵列，用于发射功率放大器输出的音频信号。1. Loudspeaker array technology: A large number of high-frequency speakers form an array to form a beam. The beam direction, that is, the main lobe direction, has the highest energy, and the beam direction is aligned with the smart device that is positioned based on the relative angle. Specifically, the smart speaker includes: an array processor for generating an audio signal containing a beam deflection angle aimed at the smart device based on the emission angle; a digital-to-analog converter for converting the audio signal into an analog format; and a power amplifier for Power amplifies the audio signal output by the digital-to-analog converter; the speaker array is used to transmit the audio signal output by the power amplifier.

2、基于超声的声频定向传播技术：将可听声音信号调制到超声载波信号之上，并由超声换能器发射到空气中，不同频率的超声波在空气中传播的过程中，由于空气的非线性声学效应，这些信号会发生交互作用和自解调，进而产生频率为原超声频率之和(和频)与频率之差(差频)的新声波。若超声波选取合适，那么差频声波则可落在可听声区域。这样，借助超声波本身的高指向性，实现了声音定向传播的过程。具体的，智能音箱包括：超声波定向发声器。2. Ultrasound-based audio frequency directional propagation technology: The audible sound signal is modulated onto the ultrasonic carrier signal and emitted into the air by the ultrasonic transducer. When ultrasonic waves of different frequencies are propagated in the air, due to the non-uniformity of the air Linear acoustic effect, these signals will interact and self-demodulate, and then generate a new sound wave whose frequency is the sum of the original ultrasonic frequency (sum frequency) and the difference (difference frequency). If the ultrasonic wave is selected properly, the difference frequency sound wave can fall in the audible sound area. In this way, with the help of the high directivity of the ultrasound itself, the process of directional sound propagation is realized. Specifically, smart speakers include: an ultrasonic directional sounder.

以上示范性描述了智能音箱定向发声的典型实施例，本领域技术人员可以意识到，这种描述仅是示范性的，并不用于限定本发明实施方式的保护范围。The above exemplarily describes the typical embodiments of the directional sound generation of the smart speaker. Those skilled in the art may realize that this description is only exemplary and is not used to limit the protection scope of the embodiments of the present invention.

具体地，智能设备可以基于多种方式确定智能设备与智能音箱之间的距离。比如，基于声音定位(优选为超声定位)方式，等等。Specifically, the smart device can determine the distance between the smart device and the smart speaker based on multiple methods. For example, based on sound positioning (preferably ultrasonic positioning), and so on.

举例1：智能设备与智能音箱保持时间同步，第一声音信号进一步包含第一声音信号的发送时刻T1，其中智能设备确定智能设备与智能音箱之间的距离包括：智能设备中的控制器计算智能设备与智能音箱之间的距离L；其中L＝(T2-T1)×c；c为声音在空气中的传播速度；T2为第一声音信号的接收时刻。类似地，可以利用第二声音信号中包含的发送时刻以及第二声音信号的接收时刻确定智能设备与智能音箱之间的距离。Example 1: The smart device keeps time synchronization with the smart speaker, the first sound signal further includes the sending time T1 of the first sound signal, where the smart device determining the distance between the smart device and the smart speaker includes: the controller in the smart device calculates the intelligence The distance L between the device and the smart speaker; where L=(T2-T1)×c; c is the propagation speed of sound in the air; T2 is the receiving time of the first sound signal. Similarly, the sending time contained in the second sound signal and the receiving time of the second sound signal can be used to determine the distance between the smart device and the smart speaker.

举例2：基于智能设备的转动角度以及转动停止点处的智能设备与智能音箱之间的相对角度，确定转动停止点处的智能设备与智能音箱的距离。具体地，当以固定点A为圆心将智能设备从第一位置点T ₁转动到第二位置点T ₂时，确定智能设备的转动角度；其中在智能设备转动到第二位置点T ₂时，基于布置在智能设备上的第一声音检测模块和第二声音检测模块针对布置在位置点B处的智能音箱发送的直达声音信号的接收时间差所确定的、智能设备与智能音箱之间的相对角度已变化到零，或该相对角度经历变化到零后继续变化到角度α的过程，其中α不大于180度；基于相对角度和转动角度，确定智能设备与智能音箱的距离。 Example 2: Based on the rotation angle of the smart device and the relative angle between the smart device and the smart speaker at the rotation stop point, determine the distance between the smart device and the smart speaker at the rotation stop point. _{Specifically, when the smart device is rotated from the first position point T 1} to the second position point T ₂ with the fixed point A as the center, the rotation angle of the smart device is determined; wherein when the smart device rotates to the second position point T ₂ , Based on the relative difference between the smart device and the smart speaker determined based on the time difference between the first sound detection module and the second sound detection module arranged on the smart device for the direct sound signal sent by the smart speaker at the position B The angle has changed to zero, or the relative angle continues to change to an angle α after changing to zero, where α is not greater than 180 degrees; the distance between the smart device and the smart speaker is determined based on the relative angle and the rotation angle.

比如，在第二位置点T ₂处，相对角度为零；基于相对角度和转动角度，确定智能设备与智能音箱之间的距离包括：基于

确定当智能设备在第一位置点T ₁时，智能设备与智能音箱的距离R ₁；其中R ₂为固定点A与智能设备之间的距离；

为智能设备在第一位置点T ₁时，智能设备与智能音箱之间的相对角度；ψ ₁为转动角度，ψ ₁为角度∠T ₁AB。 For example, at the second position point T ₂ , the relative angle is zero; based on the relative angle and the rotation angle, determining the distance between the smart device and the smart speaker includes:

_{Determine the distance R 1} between the smart device and the smart speaker when the smart device is at the first position point T ₁ ; where R ₂ is the distance between the fixed point A and the smart device;

It is the relative angle between the smart device and the smart speaker when the smart device is at the first position point T ₁ _{; ψ 1} is the rotation angle, and ψ ₁ is the angle ∠T ₁ AB.

再比如，当在第二位置点T ₂处，相对角度为α时，基于所述相对角度和转动角度，确定智能设备与智能音箱之间的距离包括：基于

确定当智能设备在第二位置点T ₂时，智能设备与智能音箱之间的距离R ₁；其中R ₂为固定点A与智能设备之间的距离；

为智能设备在第二位置点T ₂时，智能设备与智能音箱之间的相对角度；ψ ₁为转动角度，ψ ₁为角度∠T ₂AB。 As another example, when, at _2, the relative angular position of the second point of [alpha] T, based on the relative angle and rotation angle, determining the distance between intelligent devices and intelligent speaker comprising: based

_{Determine the distance R 1} between the smart device and the smart speaker when the smart device is at the second position point T ₂ ; where R ₂ is the distance between the fixed point A and the smart device;

It is the relative angle between the smart device and the smart speaker when the smart device is at the second position point T ₂ _{; ψ 1} is the rotation angle, and ψ ₁ is the angle ∠T ₂ AB.

举例3：当智能设备非转动地从第一位置点移动到第二位置点时，基于第一位置点处的智能设备与智能音箱之间的相对角度以及第二位置点处的智能设备与智能音箱之间的相对角度，分别确定第二位置点处的智能设备与智能音箱的距离，其中第二位置点处的智能设备与第一位置点处的智能设备的方向相同。具体地，当智能设备在第一位置点处，基于布置在智能设备上的第一声音检测模块和第二声音检测模块针对智能音箱发送的直达声音信号的接收时间差，确定智能设备与智能音箱之间的相对角度1；当智能设备移动到第二位置点处，基于第一声音检测模块和第二声音检测模块针对智能音箱发送的直达声音信号的接收时间差，确定智能设备与智能音箱之间的相对角度2；其中第二位置点处的智能设备与第一位置点处的智能设备的方向相同；基于相对角度1和相对角度2，确定智能设备相对于智能音箱的相对位置。优选地，相对角度1为φ ₁，相对角度2为φ ₂；基于相对角度1和相对角度2，确定智能设备相对于智能音箱的相对位置包括：确定R ₂，其中

其中R ₂为第二位置点与智能设备之间的距离；c为声音的传播速度；ΔT为第一位置点处的第一声音检测模块针对直达第一声音检测模块的声音信号的检测时间窗口内的检测时刻与第二位置点处的第一声音检测模块针对直达第一声音检测模块的声音信号的检测时间窗口内的检测时刻之间的差值，或第一位置点处的第二声音检测模块针对直达第二声音检测模块的声音信号的检测时间窗口内的检测时刻与第二位置点处的第二声音检测模块针对直达第二声音检测模块的声音信号的检测时间窗口内的检测时刻之间的差值。 Example 3: When the smart device moves non-rotatably from the first location point to the second location point, based on the relative angle between the smart device and the smart speaker at the first location point and the smart device and the smart device at the second location point The relative angle between the speakers respectively determines the distance between the smart device at the second location point and the smart speaker, where the smart device at the second location point is in the same direction as the smart device at the first location point. Specifically, when the smart device is at the first location point, based on the time difference between the first sound detection module and the second sound detection module arranged on the smart device for the direct sound signal sent by the smart speaker, the difference between the smart device and the smart speaker is determined. When the smart device moves to the second position point, based on the time difference between the first sound detection module and the second sound detection module for the direct sound signal sent by the smart speaker, the difference between the smart device and the smart speaker is determined. Relative angle 2; where the direction of the smart device at the second location point is the same as the direction of 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 relative to the smart speaker is determined. Preferably, the relative angle 1 is φ ₁ and the relative angle 2 is φ ₂ ; 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: determining R ₂ , where

Where R ₂ is the distance between the second location point and the smart device; c is the sound propagation speed; ΔT is the detection time window of the first sound detection module at the first location point for the sound signal directly reaching the first sound detection module The difference between the detection time within the second location point and the detection time within the detection time window of the first sound detection module for the sound signal directly reaching the first sound detection module, or the second sound at the first location point The detection time within the detection time window of the detection module for the sound signal that reaches the second sound detection module and the detection time within the detection time window of the second sound detection module for the sound signal that reaches the second sound detection module at the second location point The difference between.

以上示范性描述了智能设备计算与智能音箱的距离的典型实施方式，本领域技术人员可以意识到，这种描述仅是示范性的，并不用于限定本发明实施方式的保护范围，比如智能设备还可以通过红外测距、蓝牙测距、非时间同步的超声测距等方式确定与智能音箱的距离。The above exemplarily describes the typical implementation of the smart device to calculate the distance to the smart speaker. Those skilled in the art may realize that this description is only exemplary and is not used to limit the protection scope of the embodiments of the present invention, such as smart devices. The distance to the smart speaker can also be determined by infrared ranging, Bluetooth ranging, non-time-synchronized ultrasonic ranging, etc.

进一步的，智能设备在告知消息中进一步携带智能设备与智能音箱的距离，从而智能音箱中的扬声器阵列基于相对角度和距离向智能设备定向发射声音，其中声音的音量与所述距离具有单调递增关系。Further, the smart device further carries the distance between the smart device and the smart speaker in the notification message, so that the speaker array in the smart speaker directionally emits sound to the smart device based on the relative angle and distance, wherein the volume of the sound has a monotonically increasing relationship with the distance .

优选地，当采用扬声器阵列技术实现定向发声时，还可以进一步结合智能音箱与智能设备之间的距离控制定向发射声音的音量。比如，当距离越大时，智能音箱发出的声音音量越大，从而克服路径传输衰减。因此，本发明还可以实现智能音箱根据用户位置及位置变化自适应调节音频音量和方向，提升音箱的智能化程度，使得用户体验更佳。Preferably, when the speaker array technology is used to achieve directional sound emission, the distance between the smart speaker and the smart device can be further combined to control the volume of the directional sound emission. For example, the greater the distance, the greater the volume of the sound emitted by the smart speaker, thereby overcoming the path transmission attenuation. Therefore, the present invention can also realize that the smart speaker adaptively adjusts the audio volume and direction according to the user's position and position changes, enhances the degree of intelligence of the speaker, and makes the user experience better.

图12为根据本发明控制智能音箱的方法的流程图。该方法适用于包括第一声音检测模块和第二声音检测模块的智能设备。Fig. 12 is a flowchart of a method for controlling a smart speaker according to the present invention. The method is suitable for smart devices that include a first sound detection module and a second sound detection module.

如图12所示，该方法包括：As shown in Figure 12, the method includes:

步骤1201：检测直达所述第一声音检测模块的第一声音信号，检测直达所述第二声音检测模块的第二声音信号，其中所述第一声音信号和所述第二声音信号为同一智能音箱同时发射的。Step 1201: Detect a first sound signal directly reaching the first sound detection module, and detect a second sound signal directly reaching the second sound detection module, wherein the first sound signal and the second sound signal are the same intelligent The speakers emit at the same time.

步骤1202：确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差。Step 1202: Determine the time difference between the receiving moment of the first sound signal and the receiving moment of the second sound signal.

步骤1203：基于第一声音检测模块与第二声音检测模块之间的距离以及所述时间差，确定该智能音箱与智能音箱之间的相对角度。Step 1203: Determine the relative angle between the smart speaker and the smart speaker based on the distance between the first sound detection module and the second sound detection module and the time difference.

步骤1204：将包含所述相对角度的告知消息发送给智能音箱，从而由所述智能音箱基于所述相对角度向所述智能设备定向发射声音。Step 1204: Send a notification message including the relative angle to the smart speaker, so that the smart speaker directionally emits sound to the smart device based on the relative angle.

在一个实施方式中，确定智能设备与智能音箱之间的相对角度包括：基于

其中

在一个实施方式中，该方法还包括：确定该智能设备与智能音箱之间的距离；在所述告知消息中进一步携带所述距离；其中所述智能音箱基于相对角度向所述智能设备定向发射声音包括：智能音箱中的扬声器阵列基于所述相对角度和所述距离向所述智能设备定向发射声音，其中所述声音的音量与所述距离具有单调递增关系。 In one embodiment, determining the relative angle between the smart device and the smart speaker includes: based on

in

In one embodiment, the method further includes: determining the distance between the smart device and the smart speaker; further carrying the distance in the notification message; wherein the smart speaker directionally transmits to the smart device based on the relative angle The sound includes: a 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.

在一个实施方式中，第一声音信号和第二声音信号为包含智能音箱的标识的超声波信号。因此，基于比对第一声音信号和第二声音信号中的各自标识，智能设备可以确认各自检测到的定位信号是否源自同一声源。In one embodiment, the first sound signal and the second sound signal are ultrasonic signals containing the identification of the smart speaker. Therefore, based on the comparison of the respective identifications in the first sound signal and the second sound signal, the smart device can confirm whether the positioning signals detected by each originate from the same sound source.

图13为根据本发明控制智能音箱的***的结构图。智能音箱30在地面上水平放置。智能音箱30中的麦克风20持续发射包含智能音箱30的标识的超声信号。当用户期望智能音箱30朝着自己定向播放音乐时，用户打开智能手机40中的APP，并触发APP中的播放按键。智能手机40的第一麦克风18和第二麦克风19分别检测包含智能手机40的唯一标识的超声信号。第一麦克风18和第二麦克风19之间的距离为D。当智能手机40中的控制器判定第一麦克风18和第二麦克风19接收到的超声信号中所包含的标识相同时，控制器分别计算出智能手机40与智能音箱30的相对角度

和智能手机40与智能音箱30之间的距离L。相对角度

为：麦克风20与第一麦克风18的连线E与第一麦克风18和第二麦克风19的连线A之间的夹角，或麦克风20与第二麦克风19的连线K与第一麦克风18和第二麦克风19的连线A之间的夹角，其中由于D相对于L足够小，这两个夹角可视为相同。 Fig. 13 is a structural diagram of a system for controlling a smart speaker according to the present invention. The smart speaker 30 is placed horizontally on the ground. The microphone 20 in the smart speaker 30 continuously emits an ultrasonic signal containing the logo of the smart speaker 30. When the user expects the smart speaker 30 to play music in its direction, 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 smart phone 40 respectively detect ultrasonic signals containing the unique identification of the smart phone 40. The distance between the first microphone 18 and the second microphone 19 is D. When the controller in the smart phone 40 determines that the identifiers contained in the ultrasonic signals received by the first microphone 18 and the second microphone 19 are the same, the controller respectively calculates the relative angles of the smart phone 40 and the smart speaker 30

And the distance L between the smart phone 40 and the smart speaker 30. Relative angle

Is: the angle between the line E between the microphone 20 and the first microphone 18 and the line A between the first microphone 18 and the second microphone 19, or the line K between the microphone 20 and the second microphone 19 and the first microphone 18 The angle between the line A and the second microphone 19, where D is sufficiently small relative to L, the two angles can be regarded as the same.

智能手机40经由无线通讯方式将包含相对角度

和距离L的告知消息发送到服务器，服务器将该告知消息转发到智能音箱30。智能音箱30计算出发射角度为(π-φ)。 The smartphone 40 will include relative angles via wireless communication

The notification message of the distance L is sent to the server, and the server forwards the notification message to the smart speaker 30. The smart speaker 30 calculates the emission angle to be (π-φ).

当智能音箱30内置超声波定向发声器时，基于发射角度(π-φ)向智能手机40定向发射声音。此时，定向发射的声音范围在直线B与直线C之间，其中直线B和直线C与穿过麦克风20的水平连线M之间的夹角是(π-φ)。位于直线B与直线C之间的、手持智能手机40的用户可以定向收听到声音，而且位于直线B与直线C之间各个位置处的音量都相同。When the smart speaker 30 has a built-in ultrasonic directional sounder, the sound is directionally emitted to the smart phone 40 based on the emission angle (π-φ). At this time, the sound range of the directional emission is between the straight line B and the straight line C, where the angle between the straight line B and the straight line C and the horizontal line M passing through the microphone 20 is (π-φ). The user holding the smartphone 40 located between the straight line B and the straight line C can listen to the sound directionally, and the volume at each position between the straight line B and the straight line C is the same.

当智能音箱30内置扬声器阵列时，控制扬声器阵列基于发射角度(π-φ)和距离L向智能手机40定向发射声音，其中声音的音量与距离L具有单调递增关系。此时，声音的主波束的涵盖直线B与直线C所限定的区域，而且主波束的波束偏角为(π-φ)。因此，位于直线B与直线C之间的、手持智能手机40的用户可以定向收听到声音。而且，当距离L越大时，扬声器阵列发出的声音音量越大，从而克服路径传输衰减，以尽量保证位于直线B与直线C之间各个位置处的音量都相同。When the smart speaker 30 has a built-in speaker array, the speaker array is controlled to directionally emit sound to the smart phone 40 based on the emission angle (π-φ) and the distance L, where the volume of the sound and the distance L have a monotonically increasing relationship. At this time, the main beam of sound covers the area defined by the straight line B and the straight line C, and the beam deflection angle of the main beam is (π-φ). Therefore, the user who is holding the smartphone 40 between the straight line B and the straight line C can listen to the sound directionally. Moreover, as the distance L is greater, the volume of the sound emitted by the speaker array is greater, so as to overcome the path transmission attenuation, so as to ensure that the sound volume at each position between the straight line B and the straight line C is the same as possible.

本发明实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，该计算机程序被处理器执行时实现本发明上述各实施例中实现的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，所述的计算机可读存储介质，如只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等。The embodiment of the present invention also provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. In order to avoid repetition, I won’t repeat them here. Wherein, the computer-readable storage medium, such as read-only memory (Read-Only Memory, ROM for short), random access memory (Random Access Memory, RAM for short), magnetic disk, or optical disk, etc.

上面结合附图对本发明的实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本发明的保护之内。The embodiments of the present invention are described above with reference to the accompanying drawings, but the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative and not restrictive. Those of ordinary skill in the art are Under the enlightenment of the present invention, many forms can be made without departing from the purpose of the present invention and the scope of protection of the claims, and they all fall within the protection of the present invention.

Claims

一种智能设备，其特征在于，包括：A smart device, characterized in that it includes:

第一声音检测模块，用于检测直达所述第一声音检测模块的第一声音信号；The first sound detection module is configured to detect the first sound signal directly reaching the first sound detection module;

第二声音检测模块，用于检测直达所述第二声音检测模块的第二声音信号；其中所述第一声音信号和所述第二声音信号为同一智能音箱同时发射的；The second sound detection module is configured to detect a second sound signal directly reaching the second sound detection module; wherein the first sound signal and the second sound signal are simultaneously emitted by the same smart speaker;

角度确定模块，用于确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差；基于第一声音检测模块与第二声音检测模块之间的距离以及所述时间差，确定该智能设备与该智能音箱之间的相对角度；The angle determination module is used to determine the time difference between the receiving moment of the first sound signal and the receiving moment of the second sound signal; determining the time difference based on the distance between the first sound detection module and the second sound detection module and the time difference The relative angle between the smart device and the smart speaker;

发送模块，用于将包含所述相对角度的告知消息发送给智能音箱，从而由所述智能音箱基于所述相对角度向所述智能设备定向发射声音。The sending module is configured to send a notification message including the relative angle to the smart speaker, so that the smart speaker directionally emits sound to the smart device based on the relative angle.
根据权利要求1所述的智能设备，其特征在于，The smart device according to claim 1, wherein:

角度确定模块，用于基于
确定θ，其中arcsin为反正弦函数，d＝t*c，t为所述时间差，c为声音的传播速度，D为第一声音检测模块与第二声音检测模块之间的距离；基于θ确定智能设备与该智能音箱之间的相对角度
其中
Angle determination module for
Determine θ, where arcsin is the arcsine function, d=t*c, t is the time difference, c is the propagation speed of sound, D is the distance between the first sound detection module and the second sound detection module; determine based on θ The relative angle between the smart device and the smart speaker
in
根据权利要求1所述的智能设备，其特征在于，The smart device according to claim 1, wherein:

所述智能设备包括：智能手机；智能耳机；智能遥控器；平板电脑；个人数字助理；智能手环；智能眼镜。The smart device includes: a smart phone; a smart headset; a smart remote control; a tablet computer; a personal digital assistant; a smart bracelet; and smart glasses.
一种控制智能音箱的方法，其特征在于，该方法适用于包括第一声音检测模块和第二声音检测模块的智能设备，该方法包括：A method for controlling a smart speaker, characterized in that the method is suitable for a smart device including a first sound detection module and a second sound detection module, and the method includes:

检测直达所述第一声音检测模块的第一声音信号，检测直达所述第二声音检测模块的第二声音信号，其中所述第一声音信号和所述第二声音信号为同一智能音箱同时发射的；Detect the first sound signal directly reaching the first sound detection module, and detect the second sound signal directly reaching the second sound detection module, wherein the first sound signal and the second sound signal are simultaneously emitted by the same smart speaker of;

确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差；Determining the time difference between the receiving moment of the first sound signal and the receiving moment of the second sound signal;

基于第一声音检测模块与第二声音检测模块之间的距离以及所述时间差，确定智能设备与智能音箱之间的相对角度；Determine the relative angle between the smart device and the smart speaker based on the distance between the first sound detection module and the second sound detection module and the time difference;

将包含所述相对角度的告知消息发送给智能音箱，从而由所述智能音箱基于所述相对角度向所述智能设备定向发射声音。The notification message including the relative angle is sent to the smart speaker, so that the smart speaker directionally emits sound to the smart device based on the relative angle.
根据权利要求4所述的控制智能音箱的方法，其特征在于，其中确定智能设备与智能音箱之间的相对角度包括：The method for controlling a smart speaker according to claim 4, wherein determining the relative angle between the smart device and the smart speaker comprises:

基于
确定θ，其中arcsin为反正弦函数，d＝t*c，t为所述时间差，c为声音的传播速度，D为第一声音检测模块与第二声音检测模块之间的距离；基于θ确定智能设备与智能音箱之间的相对角度
其中
based on
Determine θ, where arcsin is the arcsine function, d=t*c, t is the time difference, c is the propagation speed of sound, D is the distance between the first sound detection module and the second sound detection module; determine based on θ The relative angle between the smart device and the smart speaker
in
根据权利要求4所述的控制智能音箱的方法，其特征在于，该方法还包括：确定该智能设备与智能音箱之间的距离；在所述告知消息中进一步携带所述距离；The method for controlling a smart speaker according to claim 4, wherein the method further comprises: determining the distance between the smart device and the smart speaker; further carrying the distance in the notification message;

其中所述智能音箱基于相对角度向所述智能设备定向发射声音包括：智能音箱中的扬声器阵列基于所述相对角度和所述距离向所述智能设备定向发射声音，其中所述声音的音量与所述距离具有单调递增关系。Wherein the smart speaker directionally emits sound to the smart device based on a relative angle includes: a 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 is the same as that of the smart device. The distance has a monotonically increasing relationship.
一种控制智能音箱的***，其特征在于，包括：A system for controlling smart speakers is characterized in that it comprises:

智能音箱，用于发射声音信号；Smart speakers, used to transmit sound signals;

智能设备，包括：第一声音检测模块，用于检测所述声音信号中的、直达所述第一声音检测模块的第一声音信号；第二声音检测模块，用于检测所述声音信号中的、直达所述第二声音检测模块的第二声音信号，其中所述第一声音信号和所述第二声音信号为所述智能音箱同时发射的；角度确定模块，用于确定第一声音信号的接收时刻与第二声音信号的接收时刻之间的时间差，基于第一声音检测模块与第二声音检测模块之间的距离以及所述时间差，确定该智能设备与该智能音箱之间的相对角度；发送模块，用于将包含所述相对角度的告知消息发送给智能音箱；The smart device includes: a first sound detection module, used to detect the first sound signal directly to the first sound detection module in the sound signal; a second sound detection module, used to detect the first sound signal in the sound signal , The second sound signal directly to the second sound detection module, wherein the first sound signal and the second sound signal are simultaneously transmitted by the smart speaker; the angle determination module is used to determine the first sound signal The time difference between the receiving time and the receiving time of the second sound signal, and determining the relative angle between the smart device and the smart speaker based on the distance between the first sound detection module and the second sound detection module and the time difference; A sending module, configured to send a notification message including the relative angle to the smart speaker;

其中所述智能音箱，还用于基于所述相对角度向所述智能设备定向发射声音。The smart speaker is also used to directionally emit sound to the smart device based on the relative angle.
根据权利要求7所述的控制智能音箱的***，其特征在于，The system for controlling smart speakers according to claim 7, wherein:

所述智能音箱，用于基于所述相对角度确定发射角度，按照所述发射角度向所述智能设备定向发射声音。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.
根据权利要求7所述的控制智能音箱的***，其特征在于，The system for controlling smart speakers according to claim 7, wherein:

所述智能设备包括：智能手机；智能耳机；智能遥控器；平板电脑；个人数字助理；智能手环；智能眼镜。The smart device includes: a smart phone; a smart headset; a smart remote control; a tablet computer; a personal digital assistant; a smart bracelet; and smart glasses.
一种计算机可读存储介质，其特征在于，其中存储有计算机可读指令，该计算机可读指令用于执行如权利要求4-6中任一项所述的控制智能音箱的方法。A computer-readable storage medium, wherein a computer-readable instruction is stored therein, and the computer-readable instruction is used to execute the method for controlling a smart speaker according to any one of claims 4-6.