Calibration control method for speaker, apparatus, device, and readable storage medium

[0001] This application is a continuation application of International Application No. PCT/CN2021/139414, filed on Dec. 18, 2021, which claims priority to Chinese Patent Application No. 202111402276.9, filed on Nov. 23, 2021. The disclosures of the above-mentioned applications are incorporated herein by reference in their entireties.

[0002] The present application relates to the technical field of smart speakers, and in particular to a calibration control method for a speaker, an apparatus, a device, and a readable storage medium.

[0003] At present, there are more and more smart speaker products with more and more functions, such as on-demand songs, online shopping, or understanding the weather forecast. They can also control smart home device, such as opening curtains, setting the refrigerator temperature, and heating the water heater in advance etc., and these functions generally need to be implemented on the basis of human-computer interaction through voice recognition.

[0004] Smart speakers on the present market generally use fixed-position speakers. In home application scenarios, users often shuttle back and forth in their homes frequently, with unstable positions and short and long distances from the smart speakers, so that the speaker is too far away from the user, resulting in inaccurate or unresponsive voice recognition. Therefore, smart speakers need to be equipped with a rotation function to rotate the speaker to the direction facing the user based on the user's voice position. That is, the smart speaker determines the user's position through sound source positioning, and then the smart speaker follows the sound source to rotate to the user's position, thereby improving the voice recognition rate of the smart speaker, responding to the voice information input by the user, and performing the operations indicated by the voice information.

[0005] However, the rotation control accuracy of smart speakers is often easily subject to the external force interference. For example, external forces pushing, pressing, and moving the smart speakers can easily cause the rotation control accuracy to decrease. When the smart speaker rotates with the external force, it is likely that there will be rotation deviation, which will reduce the voice recognition rate of the smart speaker and seriously affect the human-computer interaction between the user and the smart speaker.

[0006] The main objective of the present application is to provide a calibration control method for a speaker, an apparatus, a device, and a computer-readable storage medium, aiming to solve the technical problem that the rotation control accuracy of the speaker is easily reduced after being subject to the external force interference.

[0007] In order to achieve the above objective, the present application provides a calibration control method for the speaker, which includes the following steps:

• • [0008] obtaining real-time inertial measurement unit (IMU) data of the speaker, and determining whether the speaker is subject to an external force interference according to the real-time IMU data;
  • [0009] in response to determining that the speaker is subject to the external force interference, detecting a current attitude inclination of the speaker when the external force interference is eliminated, and comparing the current attitude inclination with a pre-stored reference attitude inclination to obtain an inclination change value; and
  • [0010] in response to the inclination change value being greater than a preset inclination threshold, performing a rotation calibration operation on the IMU module in the speaker.

[0011] In an embodiment, after the comparing the current attitude inclination with the pre-stored reference attitude inclination to obtain the inclination change value, the method further includes:

• • [0012] in response to the inclination change value being less than or equal to the preset inclination threshold, determining whether a position change value of the speaker is greater than a preset displacement threshold; and
  • [0013] in response to the position change value of the speaker being greater than the preset displacement threshold, performing the rotation calibration operation on the IMU module in the speaker.

[0014] In an embodiment, a calibration reference point is provided within a rotation angle range between the calibration starting point and the calibration ending point, and an actual rotation angle value of the speaker rotating from the calibration starting point to the calibration reference point is configured to be the reference rotation angle value, the determining whether the position change value of the speaker is greater than the preset displacement threshold includes:

• • [0015] controlling the speaker to be rotated to the calibration reference point, and controlling the speaker to collect a current environment image;
  • [0016] comparing the current environment image with a pre-stored reference environment image to obtain an image deviation value; and
  • [0017] determining whether the position change value of the speaker is greater than the preset displacement threshold based on the image deviation value.

[0018] In an embodiment, the determining whether the position change value of the speaker is greater than the preset displacement threshold includes:

• • [0019] obtaining an intensity value corresponding to the external force interference, and detecting whether the intensity value is greater than a preset intensity threshold; and
  • [0020] based on a detection result of whether the intensity value is greater than the preset intensity threshold, determining whether the position change value of the speaker is greater than the preset displacement threshold.

[0021] In an embodiment, after the detecting the current attitude inclination of the speaker when the external force interference is eliminated, the method includes:

• • [0022] determining whether the current attitude inclination is greater than a predetermined inclination safety warning threshold;
  • [0023] in response to the current attitude inclination being greater than the inclination safety warning threshold, generating a warning prompt that “the attitude inclination of the speaker is too large”; and
  • [0024] in response to the current attitude inclination being less than or equal to the inclination safety warning threshold, comparing the current attitude inclination with the pre-stored reference attitude inclination to obtain the inclination change value.

[0025] In an embodiment, the performing the rotation calibration operation on the IMU module in the speaker includes:

• • [0026] determining a calibration starting point and a calibration ending point of the speaker;
  • [0027] controlling the speaker to rotate from the calibration starting point to the calibration ending point, and during a rotation process of the speaker, collecting an actual rotation angle value of the speaker and mapping IMU data corresponding to the actual rotation angle value, the actual rotation angle value is a rotation angle value calculated from the calibration starting point that the speaker that has been rotated; and
  • [0028] calibrating the IMU module according to the actual rotation angle value and the mapping IMU data.

[0029] In an embodiment, the calibrating the IMU module according to the actual rotation angle value and the mapping IMU data includes:

• • [0030] determining a monitoring rotation angle value corresponding to the actual rotation angle value according to the mapping IMU data;
  • [0031] calculating an angle monitoring error of the IMU module according to the actual rotation angle value and the monitoring rotation angle value; and
  • [0032] calibrating the IMU module according to the angle monitoring error.

[0033] In addition, in order to achieve the above objective, the present application further provides a calibration control apparatus for a speaker, including: a collection module, an analysis module, and a calibration module.

[0034] The collection module is configured to obtain real-time IMU data of the speaker, and determine whether the speaker is subject to an external force interference according to the real-time IMU data.

[0035] The analysis module is configured to in response to determining that the speaker is subject to the external force interference, detect a current attitude inclination of the speaker when the external force interference is eliminated, and compare the current attitude inclination with a pre-stored reference attitude inclination to obtain an inclination change value.

[0036] The calibration module is configured to in response to the inclination change value being greater than a preset inclination threshold, perform a rotation calibration operation on the IMU module in the speaker.

[0037] In addition, in order to achieve the above objective, the present application further provides a calibration control device for a speaker, including: a memory, a processor, and a calibration control program stored on the memory and executable on the processor, when the calibration control program is executed by the processor, the above calibration control method for the speaker is implemented.

[0038] In addition, in order to achieve the above objective, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a calibration control program. When the calibration control program is executed by a processor, the above calibration control method for the speaker is implemented.

[0039] It should be noted that since the amount of change in the attitude inclination of the speaker is greater than a certain amount, the detection accuracy of the rotation angle of the speaker's IMU module will be reduced, thereby affecting the rotation control accuracy of the speaker. In the present application, when the external force interference is eliminated, the current attitude inclination of the speaker is detected, and the current attitude inclination is compared with the pre-stored reference attitude inclination to obtain the inclination change value. In response to the inclination angle change value of the speaker is greater than the preset inclination threshold, a rotation calibration operation is performed on the IMU module in the speaker to ensure that the IMU module can be recalibrated in time when the amount of change in attitude inclination of the speaker device is greater than a certain amount due to external force interference, so that the IMU module still maintains good monitoring accuracy for the rotation angle, and the speaker can still maintain good rotation control accuracy.

[0040] The present application corrects the IMU module's measurement error of the rotation angle of the speaker by performing the rotation calibration operation on the IMU module in the speaker when the inclination change value of the speaker is greater than the preset inclination threshold due to external force interference, so that in the application process of making the speaker rotate following the user's movement, the IMU can accurately check the angle value of the current rotation of the speaker, thereby improving the rotation control accuracy of the speaker.

[0050] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings.

[0051] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a thorough understanding of the disclosure, and to fully convey the scope of the disclosure to those skilled in the art.

[0052] As shown in FIG. 1, FIG. 1 is a schematic diagram of the terminal\apparatus structure of the hardware operating environment involved in an embodiment of the present application.

[0053] The terminal in the embodiment of the present application is a calibration control device.

[0054] As shown in FIG. 1, the terminal may include: a processor 1001, such as a center processing unit (CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is configured to realize connection communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. In an embodiment, the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may include a standard wired interface or a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 maybe a high-speed random access memory (RAM) or a stable memory (non-volatile memory (NVM)), such as a disk memory. The memory 1005 may be a storage apparatus independent of the aforementioned processor 1001.

[0055] In an embodiment, the terminal may also include a camera, radio frequency (RF) circuit, sensor, audio circuit, Wi-Fi module, etc. The sensors may be such as light sensors, motion sensors and other sensors. In an embodiment, the light sensor may include an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor can turn off the display screen and/or the backlight when the terminal device moves to the ear. The terminal device can further be provided with other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor, etc., which will not be described again here.

[0056] Those skilled in the art can understand that the terminal structure shown in FIG. 1 does not limit the terminal, and may include more or fewer components than shown, or combine certain components, or include different components arrangement.

[0057] As shown in FIG. 1, memory 1005, which is a computer storage medium, may include an operating system, a network communication module, a user interface module and a calibration control program.

[0058] In the terminal shown in FIG. 1, the network interface 1004 is mainly configured to connect to the backend server and communicate with the backend server. The user interface 1003 is mainly configured to connect to the client (user equipment (UE)) and communicate with the client; and the processor 1001 can be configured to call the calibration control program stored in memory 1005 and perform the following operations:

• • [0059] obtaining real-time inertial measurement unit (IMU) data of the speaker, and determining whether the speaker is subject to an external force interference according to the real-time IMU data;
  • [0060] in response to determining that the speaker is subject to the external force interference, detecting a current attitude inclination of the speaker when the external force interference is eliminated, and comparing the current attitude inclination with a pre-stored reference attitude inclination to obtain an inclination change value; and
  • [0061] in response to the inclination change value being greater than a preset inclination threshold, performing a rotation calibration operation on the IMU module in the speaker.

[0062] Smart speakers on the present market generally use fixed-position speakers. In home application scenarios, users often shuttle back and forth in their homes frequently, with unstable positions and short and long distances from the smart speakers, so that the speaker is too far away from the user, resulting in inaccurate or unresponsive voice recognition. Therefore, smart speakers need to be equipped with a rotation function to rotate the speaker to the direction facing the user based on the user's voice position. That is, the smart speaker determines the user's position through sound source positioning, and then the smart speaker follows the sound source to rotate to the user's position, thereby improving the voice recognition rate of the smart speaker, realizing intelligent interaction between the users and the smart speaker.

[0063] However, the rotation control accuracy of smart speakers is often easily subject to the external force interference. For example, external forces pushing, pressing, and moving the smart speakers can easily cause the rotation control accuracy to decrease. When the smart speaker rotates with the external force, it is likely that there will be rotation deviation, which will reduce the voice recognition rate of the smart speaker and seriously affect the human-computer interaction between the user and the smart speaker.

[0064] Regarding the above problem, after repeated testing and experimental research, the present application found that the attitude inclination of the speaker changes due to external force, thereby leading to monitoring errors in the IMU module. For example, the three-axis gyroscope in the IMU module will offset due to the changes in attitude inclination, thereby affecting the three-axis gyroscope's detection accuracy for the rotation angle of the speaker. However, the IMU module's monitoring accuracy for the rotation angle of the speaker directly affects the rotation control accuracy of the speaker.

[0065] Based on this, as shown in FIG. 2, the present application provides a calibration control method for the speaker. In the first embodiment of the calibration control method for the speaker, the calibration control method for the speaker includes the following steps.

[0066] Step S100, obtaining real-time IMU data of the speaker, and determining whether the speaker is subject to an external force interference according to the real-time IMU data.

[0067] The real-time IMU data of the speaker can be obtained based on the IMU module in the speaker. The IMU module can include a three-axis gyroscope and a three-axis acceleration sensor. The real-time IMU data is data measured in real time by the acceleration sensor and gyroscope, such as acceleration, angular velocity and attitude inclination. Those skilled in the art know that the acceleration sensor can detect whether the acceleration on the three axes changes to determine whether the speaker is subject to the external force interference.

[0068] In response to determining that the speaker is subject to the external force interference, step S200 is executed: detecting the current attitude inclination of the speaker when the external force interference is eliminated, and comparing the current attitude inclination with the pre-stored reference attitude inclination to obtain the inclination change value.

[0069] It should be noted that the reference attitude inclination is the latest attitude inclination collected by the speaker before being subject to the external force interference.

[0070] Those skilled in the art can understand that, according to the real-time IMU data collected by the acceleration sensor and gyroscope in the IMU module, it can be determined whether the external interference to the speaker has been eliminated. In addition, the attitude inclination represents the inclination angle of the speaker on the vertical plane, and the current attitude inclination of the speaker can be detected based on the acceleration sensor. Since external force interference may continue to affect the attitude inclination of the speaker, the embodiment detects the current attitude inclination of the speaker when the external force interference is eliminated, thereby avoiding the inaccurate attitude inclination detection when the external force interference of the speaker is not eliminated.

[0071] Step S300, in response to the position change value of the speaker being greater than the preset displacement threshold, performing the rotation calibration operation on the IMU module in the speaker.

[0072] In an embodiment, the rotation calibration operation is to control the speaker to perform a rotation simulation operation. In the rotation simulation operation, the IMU module detects the IMU data of the speaker at each rotation angle value, and implements the calibration on the IMU module according to the IMU data at each rotation angle value.

[0073] The preset inclination threshold can be preset by those skilled in the art according to the actual situation, in order to better detect whether the amount of change in the attitude inclination affects the rotation control accuracy of the speaker, and is not specifically limited in the embodiment.

[0074] In an embodiment, in response to that the amount of change in the attitude inclination is greater than the preset inclination threshold, the reference attitude inclination is updated based on the current attitude inclination.

[0075] It should be noted that since the amount of change in the attitude inclination of the speaker is greater than a certain amount, the detection accuracy of the rotation angle of the speaker's IMU module will be reduced, thereby affecting the rotation control accuracy of the speaker. In the embodiment, when the external force interference is eliminated, the current attitude inclination of the speaker is detected, and the current attitude inclination is compared with the pre-stored reference attitude inclination to obtain the inclination change value. In response to the inclination angle change value of the speaker is greater than the preset inclination threshold, a rotation calibration operation is performed on the IMU module in the speaker to ensure that the IMU module can be recalibrated in time when the amount of change in attitude inclination of the speaker device is greater than a certain amount due to external force interference, so that the IMU module still maintains good monitoring accuracy for the rotation angle, and the speaker can still maintain good rotation control accuracy.

[0076] The embodiment corrects the IMU module's measurement error of the rotation angle of the speaker by performing the rotation calibration operation on the IMU module in the speaker when the inclination change value of the speaker is greater than the preset inclination threshold due to external force interference, so that in the application process of making the speaker rotate following the user's movement, the IMU can accurately check the angle value of the current rotation of the speaker, thereby improving the rotation control accuracy of the speaker.

[0077] In an embodiment, based on the first embodiment, the step S300, in response to the position change value of the speaker being greater than the preset displacement threshold, performing the rotation calibration operation on the IMU module in the speaker, includes:

[0078] in response to the amount of change in the attitude inclination being greater than the preset inclination threshold, based on the current attitude inclination, updating the reference attitude inclination, and performing the rotation calibration operation on the IMU module in the speaker.

[0079] In the embodiment, in response to that the amount of change in the attitude inclination is greater than the preset inclination threshold, the reference attitude inclination is updated based on the current attitude inclination, thereby ensuring that the current attitude inclination collected after being subject to an external force interference next time can be compared with the latest attitude inclination collected before the speaker being subject to the external force interference. In addition, the reliability of the determination result of whether the inclination change value of the speaker is greater than the preset inclination threshold is also improved, which further ensures that the IMU module can be recalibrated in time when the amount of change in attitude inclination of the speaker device is greater than a certain amount due to external force interference.

[0080] In an embodiment, as shown in FIG. 3, based on the above first embodiment, a second embodiment of the calibration control method for the speaker of the present application is provided. In the embodiment, after the comparing the current attitude inclination with the pre-stored reference attitude inclination to obtain the inclination change value, the method further includes:

• • [0081] step S600, in response to the inclination change value being less than or equal to the preset inclination threshold, determining whether a position change value of the speaker is greater than a preset displacement threshold.

[0082] It should be noted that the preset displacement threshold can be preset by those skilled in the art according to the actual situation, in order to better determine whether the amount of change in the position of the speaker affects the rotation control accuracy of the speaker, and is not specifically limited in the embodiment.

[0083] In an embodiment, in response to that the position change value of the speaker is greater than the preset displacement threshold, the rotation calibration operation is performed on the IMU module in the speaker. In response to that the inclination change value being less than or equal to the preset inclination threshold, the processing is skipped.

[0084] Experimental research has found that changes in the position of the speaker may also affect the rotation control accuracy of the speaker. When the position of the speaker changes, for example, the user moves the speaker to another placement, or the user pushes the speaker to cause displacement. Even if the attitude inclination of the speaker has not changed, when the speaker rotates following the user through sound source positioning or image positioning, the changed position of the speaker is also likely to interfere with other objects, thereby affecting the rotation function of the speaker.

[0085] In the embodiment, in response to that the inclination change value of the speaker is less than or equal to the preset inclination threshold, it can be determined that the amount of change in the current attitude inclination of the speaker is not enough to cause a deviation in the monitoring accuracy of the rotation angle by the IMU module in the speaker. Therefore, the embodiment adopts the step of in response to the inclination change value being less than or equal to the preset inclination threshold, determining whether a position change value of the speaker is greater than a preset displacement threshold, thereby further determining whether the amount of change in the current position of the speaker will cause a deviation in the monitoring accuracy of the rotation angle of the IMU module, and ensuring that the speaker can still maintain good rotation control accuracy when being subject to the external force interference.

[0086] In an embodiment, the determining whether the position change value of the speaker is greater than the preset displacement threshold includes:

• • [0087] step a, obtaining an intensity value corresponding to the external force interference, and detecting whether the intensity value is greater than a preset intensity threshold.

[0088] It can be understood that the amount of change in acceleration on tree axes of the acceleration sensor can be detected to calculate the intensity value corresponding to the external force interference of the speaker.

[0089] The preset intensity threshold can be preset by those skilled in the art according to the actual situation, in order to better detect whether the intensity value make the amount of change in the position of the speaker be greater than the preset displacement threshold, and is not specifically limited in the embodiment.

[0090] Step b, based on a detection result of whether the intensity value is greater than the preset intensity threshold, determining whether the position change value of the speaker is greater than the preset displacement threshold.

[0091] In an embodiment, in response to that the intensity value is greater than the preset intensity threshold, it is determined that the position change value of the speaker is greater than the preset displacement threshold; in response to that the intensity value is less than or equal to the preset intensity threshold, it is determined that the position change value of the speaker is less than or equal to the preset displacement threshold.

[0092] Those skilled in the art can understand that the greater the intensity value corresponding to the external force interference to the speaker, the greater the amount of change in the position of the speaker. Based on this principle, the embodiment accurately determines the position of the speaker through the step of based on a detection result of whether the intensity value is greater than the preset intensity threshold, determining whether the position change value of the speaker is greater than the preset displacement threshold. When it is determined that the position change value of the speaker is greater than the preset displacement threshold, the IMU module is recalibrated, ensuring that the IMU module still maintains good monitoring accuracy for the rotation angle, thereby making the speaker maintain good rotation control accuracy when being subject to the external force interference.

[0093] In an embodiment, a calibration reference point is provided within a rotation angle range between the calibration starting point and the calibration ending point, and an actual rotation angle value of the speaker rotating from the calibration starting point to the calibration reference point is configured to be the reference rotation angle value, the determining whether the position change value of the speaker is greater than the preset displacement threshold includes:

• • [0094] step c, controlling the speaker to be rotated to the calibration reference point, and controlling the speaker to collect a current environment image.

[0095] The current environment image can be collected by a front camera. It should be noted that the calibration starting point represents the rotation starting point of the speaker for rotation calibration operation, and the calibration ending point represents the rotation ending point of the speaker for rotation calibration operation. The calibration starting point and the calibration ending point can be preset by those skilled in the art before the speaker is put on the market, or the user can customize the settings after the speaker is put on the market. The calibration reference point is provided within the rotation angle range between the calibration starting point and the calibration ending point.

[0096] Step d, comparing the current environment image with a pre-stored reference environment image to obtain an image deviation value.

[0097] It should be noted that the reference environment image is the latest environment image collected when the speaker is rotated to the calibration reference point before being subject to the external force interference.

[0098] Those skilled in the art have conducted in-depth research on how to compare images to obtain image deviation values, and will not be described in details here. For example, the image can be grayscaled and then binarized to obtain the total image binarization value, and the total image binarization value of the current environment image can be compared with the total image binarization value of the reference environment image, thereby obtaining the image deviation value.

[0099] Step e, determining whether the position change value of the speaker is greater than the image deviation value based on the image deviation value.

[0100] In an embodiment, in response to that the image deviation value is greater than a preset image deviation value, it is determined that the position change value of the speaker is greater than the preset displacement threshold; in response to that the image deviation value is less than or equal to a preset image deviation value, it is determined that the position change value of the speaker is less than or equal to the preset displacement threshold. The preset image deviation value can be preset by those skilled in the art according to the actual situation, in order to better detect whether the image deviation value make the amount of change in the position of the speaker be greater than the preset displacement threshold, and is not specifically limited in the embodiment.

[0101] Those skilled in the art can understand that the greater the difference between the latest environment image collected when the speaker is rotated to the calibration reference point before being subject to the external force interference and the current environment image collected when the speaker is rotated to the calibration reference point after being subject to the external force interference, the greater the amount of change in the position of the speaker. Based on this principle, the embodiment accurately determines whether the position change value of the speaker is greater than the preset displacement threshold through the step of comparing the current environment image with a pre-stored reference environment image to obtain an image deviation value; and determining whether the position change value of the speaker is greater than the preset displacement threshold based on the image deviation value. When it is determined that the position change value of the speaker is greater than the preset displacement threshold, the IMU module is recalibrated, ensuring that the IMU module still maintains good monitoring accuracy for the rotation angle, thereby making the speaker maintain good rotation control accuracy when being subject to the external force interference.

[0102] In an embodiment, based on the first embodiment, in the embodiment, the in response to the inclination change value being greater than the preset inclination threshold, performing the rotation calibration operation on the IMU module in the speaker includes:

• • [0103] step f, in response to the image deviation value being greater than the preset image deviation threshold, based on the current environment image, updating the reference environment image, and performing the rotation calibration operation on the IMU module in the speaker.

[0104] In the embodiment, through the step of in response to the image deviation value being greater than the preset image deviation threshold, based on the current environment image, updating the reference environment image, it can be ensured that the current environment image collected after being subject to the external force interference next time can be compared with the latest environment image collected when the speaker is rotated to the calibration reference point before being subject to the external force interference, thereby improving the accuracy of the image deviation value, and improving the reliability of the determination result of whether the position change value is greater than the preset displacement threshold.

[0105] In an embodiment, as shown in FIG. 4, based on the above first embodiment, a third embodiment of the calibration control method for the speaker of the present application is provided. In the embodiment, after the detecting the current attitude inclination of the speaker when the external force interference is eliminated, the method includes:

• • [0106] step S400, determining whether the current attitude inclination is greater than a predetermined inclination safety warning threshold.

[0107] Those skilled in the art can understand that whether the external interference to the speaker has been eliminated can be determined according to the real-time IMU data collected by the acceleration sensor and gyroscope in the IMU module. In addition, the current attitude inclination of the speaker can be detected based on the acceleration sensor. Since external force interference may continue to affect the attitude inclination of the speaker, the embodiment detects the current attitude inclination of the speaker when the external force interference is eliminated, thereby avoiding the inaccurate attitude inclination detection when the external force interference of the speaker is not eliminated.

[0108] It should be noted that in the embodiment, an acceleration sensor can be configured to detect the attitude inclination angle of the speaker. The attitude inclination angle represents the inclination angle of the speaker on the vertical plane. Since the acceleration sensor is affected by gravity when placed stationary, there will be a gravitational acceleration of 1 g. By measuring the component of the gravitational acceleration on the X or Y axis, the inclination angle on the vertical plane can be calculated, and then whether the speaker is placed stably is determined according to the attitude inclination of the speaker.

[0109] In an embodiment, in response to that the current attitude inclination is less than or equal to the inclination safety warning threshold, the current attitude inclination is compared with the pre-stored reference attitude inclination to obtain the inclination change value; in response to that the current attitude inclination is greater than the inclination safety warning threshold, step S500 is executed: generating a warning prompt that “the attitude inclination of the speaker is too large”.

[0110] The inclination safety warning threshold can be set by those skilled in the art according to the actual situation to better determine whether there is a great dumping risk of the speaker, which is not specifically limited by the embodiment.

[0111] Since when an external force acts on the speaker, the placement of the speaker is tilted, and the placement of the speaker is unstable, which may cause the speaker to dump at any time. For example, when the speaker rotates according to the user's orientation in the actual application process, the center of gravity of the speaker loses balance and then the speak rolls over.

[0112] The embodiment obtains the current attitude inclination of the speaker to determine whether the speaker is tilted due to external force interference. If the attitude inclination is greater than the inclination safety warning threshold, a warning prompt is generated that “the attitude inclination of the speaker is too large”, thereby reminding the user that the current speaker placement is not stable and the current placement attitude of the speaker needs to be re-provided, thus improving the adaptability and robustness of the calibration control method in the embodiment of the present application.

[0113] In an embodiment, as shown in FIG. 5, the speaker of the embodiment includes a front camera, a front microphone, a display, and a speaker host. The front camera and the front microphone are provided on the side where the display screen is located. In the embodiment, after turning on the front microphone, the speaker host can identify the audio signals collected by the microphone, and perform corresponding operations according to the recognized voice information, such as searching, playing audio, etc., thereby conducting voice interaction with the user. In an embodiment, the front camera can be configured to collect video images, and identify whether there is a human body in the video image. When the human body is identified, the front microphone of the smart speaker is turned on, so that the front microphone is turned on when it is determined that there is a need for interaction, thereby saving speaker power consumption. Besides, in addition to determining the user's orientation based on the manner of performing sound source positioning through the front microphone, the user's orientation can also be determined through image positioning. For example, the video image collected by the front camera can be configured to identify the video image and determine whether there is a human body in the video image. If there is a human body in the video image, the human body orientation in the video image is identified, and then the speaker is controlled to rotate to the human body orientation, so as to improve the accuracy of the speaker host's voice recognition of the user.

[0114] In an embodiment, as shown in FIG. 6, based on the above embodiment, a fourth embodiment of the calibration control method for the speaker of the present application is provided. In the embodiment, the performing the rotation calibration operation on the IMU module in the speaker includes:

• • [0115] step S310, determining a calibration starting point and a calibration ending point of the speaker.

[0116] The calibration starting point represents the rotation starting point of the speaker for rotation calibration operation, and the calibration ending point represents the rotation ending point of the speaker for rotation calibration operation. The calibration starting point and the calibration ending point can be preset by those skilled in the art before the speaker is put on the market, or the user can customize the settings after the speaker is put on the market.

[0117] Step S320, controlling the speaker to rotate from the calibration starting point to the calibration ending point, and during a rotation process of the speaker, collecting an actual rotation angle value of the speaker and mapping IMU data corresponding to the actual rotation angle value.

[0118] The actual rotation angle value is a rotation angle value calculated from the calibration starting point that the speaker that has been rotated. In addition, the mapping IMU data represents the IMU data measured by the gyroscope and acceleration sensor when the speaker rotates to different actual rotation angle values. The mapping IMU data may include the rotation angular velocity of the speaker, and the integral of the rotation angular velocity over time, etc.

[0119] Step S330, calibrating the IMU module in the speaker according to the actual rotation angle value and the mapping IMU data.

[0120] The angular velocity and acceleration in the mapping IMU data can be fitted using the least square algorithm to calculate the monitoring rotation angle value, and the actual rotation angle value can be compared with the monitoring rotation angle value to obtain the offset scale of the gyroscope, and then the gyroscope in the IMU module is calibrated.

[0121] The embodiment of the present application controls the speaker to restart from the calibration starting point of the speaker to rotate to a calibration ending point of the speaker, and during a rotation process of the speaker, collects the actual rotation angle value of the speaker and mapping IMU data corresponding to the actual rotation angle value, thereby calibrating the gyroscope's offset scale according to the actual rotation angle value and the mapping IMU data.

[0122] In an embodiment, before the step of collecting the actual rotation angle value of the speaker, the method includes:

• • [0123] step g, during the rotation of the speaker, counting the pulse data output by the motor in the speaker, and determining the actual rotation angle value of the speaker according to the quantity of pulse data.

[0124] As shown in FIG. 7, the motor is a rotary motor, which is configured to drive the speaker to rotate to realize the rotation control function of the speaker. The user application can represent intelligent service applications such as on-demand songs, online shopping, or understanding weather forecasts, and the functions of these user applications are realized on the basis of human-computer interaction through voice recognition. The sensor may include a three-axis acceleration sensor and a three-axis gyroscope in the IMU module. In addition, the main control board is electrically connected to the sensor and the motor respectively. The main control board receives the actual rotation angle value of the motor and the IMU data of the sensor to achieve calibration of the rotation control accuracy of the speaker.

[0125] Those skilled in the art can understand that the actual rotation angle value of the speaker can be calculated based on a certain preset algorithm and the quantity of the pulse data. For example, if the rotation angle corresponding to outputting one pulse data is 0.5 degrees, then when the motor outputs 50 pulse data, the corresponding actual rotation angle value can be calculated to be 25 degrees.

[0126] In another embodiment, before the step of collecting the actual rotation angle value of the speaker, the method includes:

• • [0127] step h, during the rotation of the speaker, counting the motor rotation time of the motor in the speaker, and determining the actual rotation angle value of the speaker according to the motor rotation time.

[0128] Those skilled in the art can understand that the actual rotation angle value of the speaker can be calculated based on a certain preset algorithm and the motor rotation time. For example, if the motor rotates for 1 second and the corresponding rotation angle is 3 degrees, then when the motor rotates for 10 seconds, the corresponding actual rotation angle value can be calculated to be 30 degrees.

[0129] In an embodiment, a calibration reference point is provided within the rotation angle range between the calibration starting point and the calibration ending point, and the actual rotation angle value of the speaker rotating from the calibration starting point to the calibration reference point is configured to be the reference rotation angle value; and before the step of collecting the actual rotation angle value of the speaker, the method includes:

• • [0130] step i, based on the proximity sensor in the speaker, detecting whether the speaker is rotated to the calibration reference point.

[0131] It should be noted that the calibration reference point is preset by those skilled in the art at a position between the calibration starting point and the calibration ending point, and the actual rotation angle value of the speaker rotating from the calibration starting point to the calibration reference point is configured to be the reference rotation angle value. The reference rotation angle value is stored in the speaker system, so that when the speaker performs subsequent rotation calibration operations, the reference rotation angle value can be retrieved to calibrate the IMU module. The reference rotation angle value may be 90 degrees, 180 degrees, or 210 degrees, etc.

[0132] Step j, in response to the speaker rotating to the calibration reference point, configuring the reference rotation angle value as the actual rotation angle value of the speaker.

[0133] In order to help understand the embodiments of the present application, a specific embodiment is enumerated. In an embodiment, when the speaker rotates to the calibration reference point during the rotation calibration operation, the calibration prestored in the speaker system is retrieved. The reference rotation angle value corresponding to the reference point is “180 degrees”, that is, the actual rotation angle value of the current speaker is 180 degrees. It should be noted that the specific embodiment does not constitute a limitation of the present application, and more transformations based on this also belong to the protection scope of the present application. For example, in an embodiment, a plurality of calibration reference points can be provided within the rotation angle range between the calibration starting point and the calibration ending point, such as 4 calibration reference points. The reference rotation angle value corresponding to the first calibration reference point is 60 degrees, the reference rotation angle value corresponding to the second calibration reference point is 120 degrees, the reference rotation angle value corresponding to the third calibration reference point is 180 degrees, and the reference rotation angle value corresponding to the fourth calibration reference point is 240 degrees. Thus, during one rotation of the speaker, the IMU module can be calibrated based on the positions of the plurality of calibration reference points, thereby improving the calibration accuracy and the calibration efficiency of the IMU module.

[0134] In the embodiment, when the speaker passes the calibration reference point, the speaker can determine the actual rotation angle value currently rotated, calibrate the IMU module according to the actual rotation angle value, and correct the IMU module's monitoring error of the speaker rotation angle, so that the IMU module can accurately monitor the angle value of the current rotation angle value of the speaker during the actual application, thereby improving the rotation control accuracy of the speaker.

[0135] In an embodiment, the step S320, controlling the speaker to restart from the calibration starting point of the speaker to rotate to a calibration ending point of the speaker, and during a rotation process of the speaker, collecting an actual rotation angle value of the speaker and mapping IMU data corresponding to the actual rotation angle value includes:

• • [0136] step k, controlling the speaker to rotate at a predetermined first rotation angular velocity from the calibration starting point to the calibration ending point, after the speaker rotates to the calibration ending point, updating the calibration ending point to the calibration starting point, and updating the calibration starting point to the calibration ending point.

[0137] Step l, controlling the speaker to rotate from the updated calibration starting point to the updated calibration ending point at a predetermined second rotation angular velocity.

[0138] The first rotation angular velocity is greater than the second rotation angular velocity.

[0139] Step n, during the rotation of the speaker, collecting the actual rotation angle value and the mapping IMU data corresponding to the actual rotation angle value of the speaker every preset rotation angle.

[0140] That is, in the embodiment, the speaker rotates once clockwise and counterclockwise respectively. One of the rotation directions is the IMU calibration for the high-speed rotation motion model, and another rotation direction is the IMU calibration for the low-speed rotation motion model.

[0141] In order to help understand the embodiments of the present application, a specific example is enumerated. When the speaker rotates clockwise, a high-speed rotation 0 to 360 degree speaker calibration model is established, and the speaker is controlled to rotate clockwise at a speed of 0.5 m/s, and the mapping IMU data is collected every 5 degrees. The mapping IMU data can include 3-axis gravity acceleration data and measured values of rotation angular velocity corresponding to different actual rotation angle values. When the speaker rotates to 360 degrees, the speaker is controlled to stop rotating and begins to rotate counterclockwise from the current position, that is, the current calibration ending point is updated to the calibration starting point, the calibration starting point is updated to the calibration ending point. The low-speed rotation 0 to 360 degree speaker calibration model is established, the speaker is controlled to rotate counterclockwise at a speed of 0.2 m/s, and the mapping IMU data is also collected every 5 degrees. That is, in the embodiment, the actual rotation angle value corresponding to the calibration starting point is 0 degrees, the actual rotation angle value corresponding to the calibration ending point is 360 degrees, and the preset rotation angle is 10 degrees, the first rotation angular velocity is 0.5 m/s, the second rotation angular velocity is 0.2 m/s. It should be noted that the specific embodiment does not constitute a limitation of the present application. More forms of transformation based on this also belong to the protection scope of the present application. For example, in an embodiment, the actual rotation angle value corresponding to the calibration starting point is 0 degrees, the actual rotation angle value corresponding to the calibration ending point is 355 degrees, the preset rotation angle is 5 degrees, the first rotation angular velocity is 0.6 m/s, and the second rotation angular velocity is 0.3 m/s. In an embodiment, the actual rotation angle value corresponding to the calibration starting point is 0 degrees, the actual rotation angle value corresponding to the calibration ending point is 350 degrees, the preset rotation angle is 5 degrees, and the first rotation angular velocity is 0.8 m/s, the second rotation angular velocity is 0.5 m/s.

[0142] In an embodiment, step S320, controlling the speaker to restart from the calibration starting point of the speaker to rotate to a calibration ending point of the speaker, and during a rotation process of the speaker, collecting an actual rotation angle value of the speaker and mapping IMU data corresponding to the actual rotation angle value, further includes:

• • [0143] step m, controlling the speaker to rotate at a predetermined third rotation angular velocity from the calibration starting point to the calibration ending point, after the speaker rotates to the calibration ending point, updating the calibration ending point to the calibration starting point, and updating the calibration starting point to the calibration ending point.

[0144] Step o, controlling the speaker to rotate at a predetermined third rotation angular velocity from the updated calibration starting point to the updated calibration ending point, after the speaker rotates to the updated calibration ending point, updating the calibration ending point to the calibration starting point again, and updating the calibration starting point to the calibration ending point.

[0145] Step p, controlling the speaker to rotate at a predetermined fourth rotation angular from the updated calibration starting point to the updated calibration ending point, after the speaker rotates to the updated calibration ending point, updating the calibration ending point to the calibration starting point again, and updating the calibration starting point to the calibration ending point, the third rotation angular velocity is greater than the fourth rotation angular velocity.

[0146] Step q, controlling the speaker to rotate from the updated calibration starting point to the updated calibration ending point at a predetermined fourth rotation angular;

[0147] Step r, during the rotation of the speaker, collecting the actual rotation angle value and the mapping IMU data corresponding to the actual rotation angle value of the speaker every preset rotation angle.

[0148] In an embodiment, the speaker rotates twice clockwise and counterclockwise respectively. One clockwise and counterclockwise rotation is the IMU calibration for the high-speed rotation motion model, and another clockwise and counterclockwise rotation is the IMU calibration for the low-speed rotation motion model.

[0149] In actual applications, due to the different speeds or orientations of the users walking in the room, there are also specific application scenarios with different rotation speeds and directions of rotation when the speakers rotate following the users. In order to enable the speaker to adapt to the rotation control of different rotation speeds and different rotation directions during the actual application process of following the user to rotate, it is also necessary to improve the rotation control accuracy of the speaker for different rotation speeds and different rotation directions. In an embodiment, during the rotation calibration operation process, a plurality of calibration mechanisms with different rotation calibration directions and rotation calibration speeds are provided to calibrate the rotation control accuracy of the speakers at different rotation speed levels and different rotation direction levels, further improving the rotation control accuracy of the speakers.

[0150] Furthermore, in the embodiment, according to the actual rotation angle value and the mapping IMU data, the steps for calibrating the IMU module in the speaker is refined, and the step S330 includes:

• • [0151] step s, determining the monitoring rotation angle value corresponding to the actual rotation angle value according to the mapping IMU data.

[0152] Those skilled in the art can understand that the mapping IMU data may include the acceleration detected by the acceleration sensor, the rotation angular velocity detected by the gyroscope, and the integral of the rotation angular velocity over time.

[0153] In an embodiment, the step of determining the monitoring rotation angle value corresponding to the actual rotation angle value according to the mapping IMU data includes:

• • [0154] step t, determining the monitoring rotation angular velocity corresponding to the actual rotation angle value based on the mapping IMU data; and
  • [0155] step u, obtaining a rotation cumulative duration corresponding to the actual rotation angle value, and calculating the monitoring rotation angle value corresponding to the actual rotation angle value according to the monitoring rotation angular velocity and the rotation cumulative duration.

[0156] In an embodiment, the solution formula for the monitoring rotation angle value can be:

[0157] $\theta \left(t+\Delta t\right)=\theta \left(t\right)+w\left(\theta \right)\mathrm{\omega \Delta }t;$

[0158] θ(t+Δt) is the monitoring rotation angle value, θ(t) is the actual rotation angle value corresponding to the calibration starting point. The actual rotation angle value corresponding to the calibration starting point is generally 0 degrees. w(θ) is the monitoring rotation angular velocity, ωΔt is the rotation cumulative duration corresponding to the actual rotation angle value.

[0159] It can be understood that w(θ)ωΔt is the integral of the monitoring rotation angle value over the rotation time, that is, the current monitoring rotation angle value of the speaker is the integral of the monitoring rotation angular velocity over the rotation time.

[0160] In the embodiment, the IMU module is pre-rotated to each actual rotation angle value, and the angular velocity sum corresponding to each actual rotation angle value and the integral of the angular velocity over the time are measured through the IMU module, thereby calculating the monitoring rotation angle value. It is convenient to subsequently compare the monitored rotation angle value with the actual rotation angle value, and then determine whether there is a monitoring error in the IMU module. If there is the monitoring error in the IMU module, the IMU module is calibrated according to the deviation angle value between the monitoring rotation angle value and the actual rotation angle value.

[0161] Step v, calculating the angle monitoring error of the IMU module according to the actual rotation angle value and the monitoring rotation angle value.

[0162] In an embodiment, the calculated monitoring rotation angle value is 182.30 degrees, and the actual rotation angle value is 180.00 degrees, which indicates that there is an error in the rotation control accuracy of the speaker. The angle monitoring error is 2.3 degrees at this time. The IMU module can be recalibrated according to the angle monitoring error of 2.3 degrees.

[0163] Step w, calibrating the IMU module according to the angle monitoring error.

[0164] In the embodiment, the deviation parameter between the actual rotation angle value and the monitoring rotation angle value are used to correct the drift error of the gyroscope in the IMU module caused by external force interference, thereby correcting the measurement error of the speaker rotation angle by the IMU module. In the actual application process of making the speaker rotate following the user's movement, the IMU can accurately check the angle value of the current rotation of the speaker, thereby improving the rotation control accuracy of the speaker.

[0165] In addition, as shown in FIG. 8, an embodiment of the present application further provides a calibration control apparatus for a speaker, including: a collection module, an analysis module, and a calibration module.

[0166] The collection module A10 is configured to obtain real-time IMU data of the speaker during a rotation calibration process, and determine whether the speaker is subject to an external force interference according to the real-time IMU data.

[0167] The analysis module A20 is configured to in response to determining that the speaker is subject to the external force interference, detect a current attitude inclination of the speaker when the external force interference is eliminated, and compare the current attitude inclination with a pre-stored reference attitude inclination to obtain an inclination change value.

[0168] The calibration module A30 is configured to in response to the inclination change value being greater than a preset inclination threshold, perform a rotation calibration operation on the IMU module in the speaker.

[0169] In an embodiment, analysis module A20 is further configured to:

• • [0170] in response to that the inclination change value is less than or equal to the preset inclination threshold, determine whether a position change value of the speaker is greater than a preset displacement threshold; and
  • [0171] in response to the position change value of the speaker is greater than the preset displacement threshold, perform the rotation calibration operation on the IMU module in the speaker.

[0172] In an embodiment, a calibration reference point is provided within a rotation angle range between the calibration starting point and the calibration ending point, and an actual rotation angle value of the speaker rotating from the calibration starting point to the calibration reference point is configured to be the reference rotation angle value, the calibration module A30 is further configured to:

• • [0173] control the speaker to be rotated to the calibration reference point, and control the speaker to collect a current environment image;
  • [0174] compare the current environment image with a pre-stored reference environment image to obtain an image deviation value; and
  • [0175] determine whether the position change value of the speaker is greater than the preset displacement threshold based on the image deviation value.

[0176] In an embodiment, the calibration module A30 is further configured to:

• • [0177] obtain an intensity value corresponding to the external force interference, and detect whether the intensity value is greater than a preset intensity threshold; and
  • [0178] based on a detection result of whether the intensity value is greater than the preset intensity threshold, determine whether the position change value of the speaker is greater than the preset displacement threshold.

[0179] In an embodiment, the analysis module A20 is further configured to:

• • [0180] determine whether the current attitude inclination is greater than a predetermined inclination safety warning threshold;
  • [0181] in response to that the current attitude inclination is greater than the inclination safety warning threshold, generate a warning prompt that “the attitude inclination of the speaker is too large”; and
  • [0182] in response to that the current attitude inclination is less than or equal to the inclination safety warning threshold, compare the current attitude inclination with the pre-stored reference attitude inclination to obtain the inclination change value.

[0183] In an embodiment, calibration module A30 is further configured to:

• • [0184] determine a calibration starting point and a calibration ending point of the speaker;
  • [0185] control the speaker to rotate from the calibration starting point to the calibration ending point, and during a rotation process of the speaker, collect an actual rotation angle value of the speaker and mapping IMU data corresponding to the actual rotation angle value, the actual rotation angle value is a rotation angle value calculated from the calibration starting point that the speaker that has been rotated; and
  • [0186] calibrate the IMU module according to the actual rotation angle value and the mapping IMU data.

[0187] In an embodiment, calibration module A30 is further configured to:

• • [0188] determine a monitoring rotation angle value corresponding to the actual rotation angle value according to the mapping IMU data;
  • [0189] calculate an angle monitoring error of the IMU module according to the actual rotation angle value and the monitoring rotation angle value; and
  • [0190] calibrate the IMU module according to the angle monitoring error.

[0191] Each functional module of the calibration control apparatus may be referred to the various embodiments of the calibration control method for the speaker of the present application, and will not be described again here.

[0192] In addition, the present application further provides a calibration control device for the speaker, including: a memory, a processor, and a calibration control program stored on the memory. The processor is configured to execute the calibration control program to implement the steps according to each embodiment of the above calibration control method for the speaker.

[0193] The present application further provides a readable storage medium that stores one or more programs. The one or more programs can further be executed by one or more processors to implement the above-mentioned steps according to each embodiment of the calibration control method for the speaker.

[0194] For various embodiments of the mode control apparatus and computer-readable storage medium of the Bluetooth headset of the present application, reference can be made to the various embodiments of the calibration control method for the speaker of the present application, which will not be repeated here.

[0195] It should be noted that, in this document, the terms “comprising”, “comprises” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or system that includes a series of elements not only includes those elements, it also includes other elements not expressly listed or inherent in the process, method, article or system. Without further limitation, an element defined by the statement “comprises a . . . ” does not exclude the presence of additional identical elements in a process, method, article or system that includes that element.

[0196] The above serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0197] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the existing technology. The computer software product is stored in a storage medium (such as read-only memory (ROM)/RAM, disk, compact disc (CD)), including several instructions to cause a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0198] The above are only some embodiments of the present application, and intended to limit the scope of the present application. Any equivalent structural or process transformations made according to the description and drawings of the present application, or direct/indirect application in other related technical fields are included in the scope of the present application.

[0199] Each embodiment in the specification is described in a parallel or progressive manner. Each embodiment focuses on its differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. As for the apparatus disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. For relevant details, please refer to the description in the method section.

[0200] Those of ordinary skill in the art can also understand that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of the present application.