Multi-angle displacement switching chassis structure for talk-on speaker and control method thereof

Abstract

The invention provides a multi-angle displacement switching chassis structure for a walkie-talkie speaker and a control method thereof, and relates to the field of sound amplification systems. The method comprises: determining a real-time relative position relationship between a walkie-talkie speaker and a follow target by using a UWB positioning device; acquiring real-time road surface information by using a vibration detection device; acquiring real-time obstacle information by using an obstacle detection device, and generating a dynamic following path and dynamic following parameters; determining a dynamic sound amplification angle according to the real-time relative position relationship, the dynamic following path and the dynamic following parameters; determining a dynamic counterweighting scheme according to the real-time road surface information, the dynamic following speed and the dynamic driving wheel speed difference; controlling a wheel group mechanism to move according to the dynamic following path and the dynamic following parameters; controlling an angle adjustment component to adjust a rotation angle of the walkie-talkie speaker according to the dynamic sound amplification angle; and controlling a counterweighting mechanism to adjust three-dimensional coordinates of a plurality of counterweight blocks according to the dynamic counterweighting scheme, and having the advantage of realizing automatic following of the walkie-talkie speaker.

Description

Technical Field

[0001] The invention relates to the field of sound amplification systems, and in particular to a multi-angle displacement switching chassis structure for a talkie speaker and a control method thereof. Background Art

[0002] A speaker is a device that can convert audio signals into sound. In layman's terms, it refers to a speaker mainframe or subwoofer box with a built-in power amplifier, which amplifies the audio signal and plays it back by the speaker itself, making it louder. With the advancement of technology, most tourist attractions have set up smart explanation speakers to explain the historical background and stories of the scenic spots, making it easier for staff to understand the scenic spots.

[0003] In the prior art, smart explanation speakers are generally placed in a fixed position for playback. Since the smart explanation speakers cannot be moved, the sound propagation range is limited. If they need to be moved to a farther position, they need to be moved manually, which is inconvenient to use.

[0004] Therefore, it is necessary to provide a multi-angle displacement switching chassis structure for a walkie-talkie speaker and a control method thereof, so as to realize automatic following of the walkie-talkie speaker. Summary of the invention

[0005] The present invention provides a multi-angle displacement switching chassis structure for a walkie-talkie speaker, comprising a frame and a transmission mechanism, a wheel set mechanism, a controller and a counterweight mechanism arranged on the frame; the frame is also provided with an angle adjustment component, and the walkie-talkie speaker is arranged on the angle adjustment component; the counterweight mechanism comprises a plurality of counterweight blocks arranged at different positions of the frame and a counterweight adjustment component for adjusting the three-dimensional coordinates of the plurality of counterweight blocks; the frame is also provided with a UWB positioning device, an obstacle detection device and a vibration detection device; the controller is used to control the wheel set mechanism, the counterweight mechanism and the angle adjustment component based on information collected by the UWB positioning device, the obstacle detection device and the vibration detection device, so as to automatically follow the walkie-talkie speaker.

[0006] Further, the vibration detection equipment includes a plurality of vibration detection devices arranged at different positions of the frame; the distribution of the plurality of vibration detection devices is determined based on the following process: determining a plurality of initial vibration detection positions of the frame through finite element analysis; obtaining a vibration detection data set of the frame corresponding to each test road surface under a plurality of test road surfaces, wherein the vibration detection data set includes vibration test data collected at a plurality of initial vibration detection positions; for each of the initial vibration detection positions, determining a vibration change parameter corresponding to the initial vibration detection position according to the vibration test data collected at the initial vibration detection position corresponding to each test road surface; screening a plurality of candidate vibration detection positions from the plurality of initial vibration detection positions according to the vibration change parameter corresponding to each of the initial vibration detection positions; extracting a vibration feature of each of the candidate vibration detection positions corresponding to each test road surface according to the vibration detection data set of the frame corresponding to each test road surface; calculating an association parameter of any two candidate vibration detection positions according to the vibration feature of each of the candidate vibration detection positions corresponding to each test road surface; screening a plurality of target vibration detection positions from the plurality of candidate vibration detection positions according to the association parameter of any two candidate vibration detection positions; and setting the plurality of vibration detection devices at the plurality of target vibration detection positions.

[0007] The present invention provides a control method for a multi-angle displacement switching chassis structure for a walkie-talkie speaker, which is applied to the multi-angle displacement switching chassis structure for the walkie-talkie speaker, comprising: determining the real-time relative position relationship between the walkie-talkie speaker and a follow target through a UWB positioning device; obtaining real-time road surface information through a vibration detection device; obtaining real-time obstacle information through an obstacle detection device; generating a dynamic following path and dynamic following parameters according to the real-time relative position relationship, the real-time road surface information and the real-time obstacle information, wherein the dynamic following parameters include a dynamic following speed and a dynamic driving wheel speed difference; determining a dynamic sound amplification angle according to the real-time relative position relationship, the dynamic following path and the dynamic following parameters; determining a dynamic counterweighting scheme according to the real-time road surface information, the dynamic following speed and the dynamic driving wheel speed difference; controlling a wheel group mechanism to move according to the dynamic following path and the dynamic following parameters; controlling the angle adjustment component to adjust the rotation angle of the walkie-talkie speaker according to the dynamic sound amplification angle; and controlling the counterweighting mechanism to adjust the three-dimensional coordinates of a plurality of counterweight blocks according to the dynamic counterweighting scheme.

[0008] Furthermore, the real-time relative position relationship between the walkie-talkie speaker and the follow target is determined by the UWB positioning device, including: obtaining the arrival time of the signal emitted by the UWB signal source set on the follow target to each UWB receiver included in the UWB positioning device; calculating the time difference between the signal arriving at different UWB receivers according to the arrival time of the signal arriving at each UWB receiver included in the UWB positioning device; and determining the real-time relative position relationship between the walkie-talkie speaker and the follow target according to the time difference between the signal arriving at different UWB receivers.

[0009] Furthermore, real-time road surface information is obtained through a vibration detection device, including: determining a weight corresponding to each target vibration detection position included in the vibration detection device according to a vibration change parameter of each target vibration detection position and an associated parameter of any two target vibration detection positions; establishing a flatness prediction model according to vibration test data collected at an initial vibration detection position corresponding to each test road surface and a weight corresponding to each target vibration detection position, wherein the input of the flatness prediction model includes the vibration characteristics of each target vibration detection position and the weight corresponding to each target vibration detection position; for each vibration detection device included in the vibration detection device, generating a vibration sequence according to vibration data collected by the vibration detection device at multiple time points, performing variational mode decomposition on the vibration sequence to generate a vibration inherent mode function, extracting the function characteristics of the vibration inherent mode function, and generating the vibration characteristics of the target vibration detection position where the vibration detection device is located, wherein the vibration characteristics of the target vibration detection position include the function characteristics of each vibration inherent mode function; inputting the vibration characteristics of each target vibration detection position and the weight corresponding to each target vibration detection position into the flatness prediction model, and the flatness prediction model outputs real-time road surface flatness.

[0010] Furthermore, a dynamic following path and dynamic following parameters are generated according to the real-time relative position relationship, real-time road surface information and real-time obstacle information, including: generating a dynamic following path according to the real-time relative position relationship and the real-time obstacle information through a path planning algorithm; generating dynamic following parameters according to the dynamic following path and the real-time road surface flatness.

[0011] Furthermore, dynamic following parameters are generated according to the dynamic following path and real-time road surface information, including: determining an initial following speed according to the path length of the dynamic following path; generating a dynamic following speed according to the real-time road surface smoothness and the initial following speed; for any two adjacent path nodes of the dynamic following path, calculating the steering angles of the two adjacent path nodes, and determining the dynamic driving wheel speed difference corresponding to the two adjacent path nodes according to the steering angles of the two adjacent path nodes, the dynamic following speed and the real-time road surface smoothness.

[0012] Furthermore, a dynamic sound amplification angle is determined based on the real-time relative position relationship, the dynamic following path and the dynamic following parameters, including: determining an initial sound amplification angle based on the real-time relative position relationship; for each path node of the dynamic following path, calculating a compensation sound amplification angle based on the dynamic driving wheel speed difference corresponding to the path node and the next path node; and determining the dynamic sound amplification angle based on the initial sound amplification angle and the compensation sound amplification angle.

[0013] Furthermore, a dynamic weight balancing scheme is determined based on the real-time road surface information, the dynamic following speed and the dynamic driving wheel speed difference, including: for any two adjacent path nodes of the dynamic following path, judging whether to perform weight adjustment based on the vibration data collected at multiple time points by each vibration detection device included in the vibration detection equipment; if it is determined to perform weight adjustment, determining the dynamic weight balancing scheme corresponding to the two adjacent path nodes based on the real-time road surface flatness, the dynamic following speed and the dynamic driving wheel speed difference corresponding to the two adjacent path nodes.

[0014] Furthermore, according to the real-time road surface smoothness, dynamic following speed and the dynamic driving wheel speed difference corresponding to the two adjacent path nodes, a dynamic weight balancing scheme corresponding to the two adjacent path nodes is determined, including: establishing multiple sample weight balancing schemes; determining similar sample weight balancing schemes from the multiple sample weight balancing schemes according to the real-time road surface smoothness, dynamic following speed and the dynamic driving wheel speed difference corresponding to the two adjacent path nodes; generating a dynamic weight balancing scheme corresponding to the two adjacent path nodes according to the real-time road surface smoothness, dynamic following speed, the dynamic driving wheel speed difference corresponding to the two adjacent path nodes and similar sample weight balancing schemes through a scheme generation model.

[0015] Compared with the prior art, the multi-angle displacement switching chassis structure for the talkie speaker and the control method thereof provided by the present invention have at least the following beneficial effects:

[0016] 1. Through the integrated UWB positioning device, obstacle detection device and vibration detection device, the chassis structure can sense the positional relationship between the speaker and the target, obstacles in the surrounding environment and the vibration of the road in real time. Based on this information, the controller can intelligently adjust the path, speed and speed difference of the wheel group mechanism to achieve automatic following and flexible displacement of the speaker. The angle adjustment component allows the speaker to automatically adjust its rotation angle according to the real-time relative position relationship and dynamic following path, thereby ensuring that the sound can be accurately conveyed to the audience. This multi-angle sound amplification capability improves the coverage and clarity of the sound, especially in complex and changing environments. The counterweight mechanism and counterweight adjustment component can intelligently adjust the three-dimensional coordinates of multiple counterweight blocks according to real-time road information and dynamic following speed, thereby optimizing the stability and balance of the chassis structure. This dynamic counterweight solution helps to reduce bumps and shakes on uneven roads and improve the user experience of the speaker. The vibration detection device provides important road information to the controller by accurately measuring the vibration of the frame under different road conditions. This information helps the controller better adjust the wheel mechanism's travel strategy and weight distribution scheme to adapt to different types of road conditions.

[0017] 2. By determining the initial vibration detection position through finite element analysis, the vibration of the frame under different working conditions can be foreseen in the design stage, so as to select the vibration detection position in a targeted manner. Acquiring vibration detection data sets under various test road surfaces can ensure that the vibration detection device can cover the vibration conditions of the frame in various actual use scenarios, and improve the comprehensiveness and accuracy of vibration detection. By screening candidate vibration detection positions according to vibration change parameters, those positions where the vibration change is not obvious or the vibration signal is easily disturbed can be excluded, thereby avoiding the installation of unnecessary vibration detection devices at these positions. This method helps to reduce the redundancy of vibration detection devices and reduce costs while maintaining the effectiveness and reliability of the detection system. By extracting the vibration characteristics of each candidate vibration detection position corresponding to each test road surface, the vibration characteristics of the frame under different working conditions can be further analyzed, providing strong support for subsequent vibration analysis and fault diagnosis. By calculating the correlation parameters of any two candidate vibration detection positions, the correlation between vibration signals at different positions can be evaluated, which helps to identify key vibration sources and vibration transmission paths. Screening the target vibration detection positions according to the correlation parameters can ensure that the vibration detection device can cover the key vibration areas of the frame with the least number and the best layout. This layout helps improve the efficiency and accuracy of vibration detection while reducing system complexity and cost.

[0018] 3. Obtaining real-time road surface information through vibration detection equipment and predicting road surface flatness using a flatness prediction model can achieve real-time perception and accurate prediction of road conditions. This helps the chassis structure to make corresponding adjustments according to road conditions, such as adjusting the following speed, steering angle, and weight balance scheme, thereby improving driving stability and safety. According to real-time road surface information, dynamic following speed, and dynamic driving wheel speed difference, the dynamic weight balance scheme is determined, and the center of gravity and stability of the chassis structure can be adjusted in real time. By establishing a sample weight balance scheme and a scheme generation model, the intelligent optimization and rapid generation of the weight balance scheme can be achieved, improving the adaptability and stability of the chassis structure.

[0019] 4. Generate dynamic follow path and dynamic follow parameters based on real-time relative position relationship, real-time road information and real-time obstacle information to ensure that the speaker can flexibly and accurately follow the target. The adjustment of dynamic parameters can adapt to the changes of road surface and obstacles in real time, and improve the accuracy and efficiency of following. Determine the dynamic sound amplification angle based on the dynamic follow path and dynamic follow parameters to ensure that the sound is always directed toward the audience, improving the sound quality and listening experience. By calculating the compensation sound amplification angle, the sound amplification effect can be further optimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0021] Figure 1 is a schematic diagram of a process for determining the distribution of multiple vibration detection devices according to some embodiments of this specification;

[0022] Figure 2 It is a flow chart of a control method for a multi-angle displacement switching chassis structure of a talkback speaker according to some embodiments of the present specification. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0024] Figure 1 is a structural schematic diagram of a multi-angle displacement switching chassis structure for a talk-on speaker according to some embodiments of the present specification, such as Figure 1As shown, the multi-angle displacement switching chassis structure for the talkie speaker may include a frame and a transmission mechanism arranged on the frame, two sets of wheel mechanisms, a cover, a controller and a counterweight mechanism.

[0025] Specifically, the main body of the frame is made of square tubes that are precision-processed and welded. Its main function is to provide installation points for other components, provide a spatial environment for transmission mechanisms, two sets of wheel mechanisms, covers, controllers, counterweight mechanisms, batteries and other components, and is the main force-bearing component.

[0026] The frame is provided with a motor fixing tray and a bearing seat support plate. The motor tray and the reducer are directly installed by four bolts. The motor tray is used to fix the reduction motor to ensure its stable output environment. The bearing seat is installed on the bearing seat support plate by bolts.

[0027] The frame is equipped with a track mounting bracket, which consists of a track wheel mounting bracket, a tension wheel mounting bracket, and a track wheel mounting bracket. It is sturdy and reliable, and easy to install and replace.

[0028] The transmission mechanism includes a motor, a reducer, a coupling and a gear transmission assembly. The output shaft of the motor is coaxially connected to the input shaft of the reducer, the output shaft of the reducer is connected to one end of the coupling, and the other end of the coupling is connected to the gear transmission assembly. The reducer and the motor are fixed with sealing ring bolts. The reducer is sealed with oil inside, the external fins are passively cooled, and the reducer and the transmission connection flange are fixed by a limit device. The transmission mechanism has the characteristics of simple structure, durability and easy maintenance. The transmission connection flange and the gear plate are fixed by bolts, and the transmission connection flange and the reducer are fixed by a limit device, providing direct power transmission, without power loss caused by other external components, and maximizing the output of useful power.

[0029] The wheel set mechanism includes driving wheels, tensioning wheels, supporting wheels and track rollers. The supporting wheels are used to bear weight, the tensioning wheels are mainly used to tighten the track to limit the track position, and the towing wheels can effectively prevent the track from jumping when it moves to the upper part, and also avoid the power loss caused by the track jumping.

[0030] The covering member comprises an upper cover plate, a guard plate and two crawlers, wherein the upper cover plate is arranged above the vehicle frame, the guard plate is arranged on the side of the vehicle frame, and the crawlers are arranged on the wheel assembly mechanism.

[0031] The vehicle frame is also provided with an angle adjustment component, and the talk-along speaker is arranged on the angle adjustment component.

[0032] The counterweight mechanism comprises a plurality of counterweight blocks arranged at different positions of the frame and a counterweight adjustment component for adjusting the three-dimensional coordinates of the plurality of counterweight blocks.

[0033] The vehicle frame is also provided with a UWB positioning device, an obstacle detection device and a vibration detection device. The UWB positioning device includes a UWB signal source provided on the target to be followed and a plurality of UWB receivers provided on the vehicle frame, and the vibration detection device includes a plurality of vibration detection devices provided at different positions of the vehicle frame. The obstacle detection device may include a laser radar.

[0034] The controller is used to control the wheel mechanism, the counterweight mechanism and the angle adjustment component based on the information collected by the UWB positioning device, the obstacle detection device and the vibration detection device, so as to automatically follow the talk-along speaker.

[0035] Figure 2 is a schematic diagram of a flow chart of determining the distribution of multiple vibration detection devices according to some embodiments of this specification, such as Figure 2 As shown, in some embodiments, the distribution of the plurality of vibration detection devices is determined based on the following process:

[0036] Through finite element analysis, multiple initial vibration detection positions of the frame are determined;

[0037] Under multiple test road surfaces, a vibration detection data set of the vehicle frame corresponding to each test road surface is obtained, wherein the vibration detection data set includes vibration test data collected at multiple initial vibration detection positions, and the vibration test data may include vibration data of the initial vibration detection positions collected at multiple test time points, and different test road surfaces have different flatnesses;

[0038] For each initial vibration detection position, according to vibration test data collected at the initial vibration detection position corresponding to each test road surface, determine the vibration change parameter corresponding to the initial vibration detection position;

[0039] According to the vibration change parameter corresponding to each initial vibration detection position, a plurality of candidate vibration detection positions are screened from the plurality of initial vibration detection positions. For example, the initial vibration detection positions whose vibration change parameters are greater than a vibration change parameter threshold value may be screened as candidate vibration detection positions.

[0040] Extracting vibration characteristics of each candidate vibration detection position corresponding to each test road surface according to the vibration detection data set of the vehicle frame corresponding to each test road surface;

[0041] According to the vibration characteristics of each candidate vibration detection position corresponding to each test road surface, the correlation parameters of any two candidate vibration detection positions are calculated;

[0042] Selecting a plurality of target vibration detection positions from a plurality of candidate vibration detection positions according to correlation parameters between any two candidate vibration detection positions;

[0043] A plurality of vibration detection devices are arranged at a plurality of target vibration detection positions.

[0044] Specifically, multiple initial vibration detection positions of the frame may be determined through finite element analysis using the following process.

[0045] S11. Determine the dynamic characteristics analysis objectives of the multi-angle displacement switching chassis structure used for the talkie speaker, such as modal analysis, vibration response analysis, etc. Select appropriate finite element analysis software according to the analysis objectives, such as Ansys, Abaqus, etc.

[0046] S12. Obtaining detailed information such as geometric dimensions, material properties, and connection methods of a multi-angle displacement switching chassis structure for a talkback speaker.

[0047] S13. According to the actual shape and size of the multi-angle displacement switching chassis structure for the talkie speaker, a geometric model is established in the finite element analysis software. The geometric model is appropriately simplified to improve the calculation efficiency while maintaining the accuracy of the model.

[0048] S14. According to the material properties and analysis objectives of the multi-angle displacement switching chassis structure for the speaker, select a suitable unit type, such as shell unit, solid unit, etc. Determine the order and shape of the unit to adapt to the complex shape and stress conditions of the multi-angle displacement switching chassis structure for the speaker.

[0049] S15. Mesh the geometric model to generate a finite element model. The density of the mesh should be determined according to the stress condition and analysis objectives of the multi-angle displacement switching chassis structure used for the talkie speaker to ensure the accuracy of the calculation results.

[0050] S16. Define boundary conditions, such as fixed constraints, load conditions, etc., according to the actual working conditions of the multi-angle displacement switching chassis structure for the walkie-talkie speaker. Ensure the accuracy of the boundary conditions to reflect the actual stress conditions of the multi-angle displacement switching chassis structure for the walkie-talkie speaker.

[0051] S17, performing modal analysis to obtain the natural frequency and modal vibration shape of the multi-angle displacement switching chassis structure for the walkie-talkie speaker. According to the modal analysis results, the vibration sensitive areas and potential problem points of the multi-angle displacement switching chassis structure for the walkie-talkie speaker are determined.

[0052] S18. Apply known excitation to the finite element model and perform vibration response analysis. Observe the vibration response of the finite element model at different frequencies and determine the areas with larger vibrations and possible resonance points.

[0053] S19. Combine the results of modal analysis and vibration response analysis to comprehensively analyze the vibration characteristics of the multi-angle displacement switching chassis structure for the walkie-talkie speaker. Determine multiple initial vibration detection positions of the multi-angle displacement switching chassis structure for the walkie-talkie speaker, which should be located in vibration-sensitive areas, potential problem points, and possible resonance points.

[0054] For each initial vibration detection position, obtain the vibration test data of each test road surface corresponding to the initial vibration detection position, perform variational modal decomposition on the vibration test data of each test road surface corresponding to the initial vibration detection position, generate multiple vibration inherent modal functions corresponding to each test road surface at the initial vibration detection position, and extract the function characteristics of each vibration inherent modal function, such as center frequency, bandwidth, maximum amplitude value, amplitude root mean square value, energy distribution, etc. According to the function characteristics of the multiple vibration inherent modal functions corresponding to each test road surface at the initial vibration detection position, the vibration change parameter corresponding to the initial vibration detection position can be calculated.

[0055] For example, the vibration change parameter corresponding to the initial vibration detection position can be calculated according to the following formula:

[0056]

[0057] in, is the vibration change parameter corresponding to the i-th initial vibration detection position, is the total number of test pavements, is the vibration similarity of the i-th initial vibration detection position on the m-th test road surface and the n-th test road surface, is the weight corresponding to the kth vibration natural mode function, greater than 0, , is the total number of vibration natural mode functions obtained by a variational mode decomposition, is the total number of function features, is the g-th function characteristic of the k-th vibration natural mode function of the m-th test road surface corresponding to the i-th initial vibration detection position, is the g-th function characteristic of the k-th vibration natural mode function of the n-th test road surface corresponding to the i-th initial vibration detection position, It is the cosine similarity between the g-th function feature of the k-th vibration natural mode function of the m-th test road surface corresponding to the ith initial vibration detection position and the g-th function feature of the k-th vibration natural mode function of the n-th test road surface corresponding to the ith initial vibration detection position.

[0058] The correlation parameters of two candidate vibration detection positions may be calculated according to the function characteristics of a plurality of vibration natural mode functions of each test road surface corresponding to any two candidate vibration detection positions.

[0059] For example, the correlation parameters of two candidate vibration detection positions can be calculated according to the following formula:

[0060]

[0061] in, is the association parameter between the e-th candidate vibration detection position and the f-th candidate vibration detection position, is the preset weight, greater than 0, , is the correlation parameter of the kth vibration natural mode function between the eth candidate vibration detection position and the fth candidate vibration detection position, is the preset weight, greater than 0, , is the correlation parameter between the g-th function feature of the k-th vibration natural mode function of the e-th candidate vibration detection position and the f-th candidate vibration detection position, is the g-th function feature of the k-th vibration natural mode function of the m-th test road surface corresponding to the e-th candidate vibration detection position, It is the g-th function feature of the k-th vibration natural mode function of the m-th test road surface corresponding to the f-th candidate vibration detection position.

[0062] The following process can be used to select multiple target vibration detection positions from multiple candidate vibration detection positions according to the associated parameters of any two candidate vibration detection positions:

[0063] S21. For each candidate vibration detection position, according to the association parameters between the candidate vibration detection position and each other candidate vibration detection position, calculate the mean value of the association parameters corresponding to the candidate vibration detection position;

[0064] S22, sorting the plurality of candidate vibration detection positions from large to small according to the associated parameter mean values, and obtaining a sorting result;

[0065] S23, according to the sorting result, extracting a plurality of candidate vibration detection positions to form a current position group, for example, extracting the top three candidate vibration detection positions to form the current position group;

[0066] S24, determining whether the number of candidate vibration detection positions included in the current position group is greater than a quantity threshold (e.g., 10), if so, taking the candidate vibration detection positions included in the current position group as target vibration detection positions, if not, executing S25;

[0067] S25, extracting the candidate vibration detection position with the highest ranking from the remaining candidate vibration detection positions that have not been extracted according to the sorting result;

[0068] S26, calculating a global correlation parameter mean according to correlation parameters of any two candidate vibration detection positions included in the current position group and correlation parameters between each candidate vibration detection position included in the current position group and the extracted candidate vibration detection position;

[0069] S27, judging whether the global correlation parameter mean is greater than the global correlation parameter mean threshold, if so, adding the extracted candidate vibration detection position with the highest ranking to the current position group, and executing S24, if not, executing S28;

[0070] S28. According to the sorting result, extract the next candidate vibration detection position from the remaining candidate vibration detection positions that have not been extracted, and execute S26.

[0071] For example, the global correlation parameter mean can be calculated according to the following formula:

[0072]

[0073] in, is the global correlation parameter mean, is the association parameter between the e-th candidate vibration detection position and the f-th candidate vibration detection position included in the current position group, is the association parameter between the e-th candidate vibration detection position included in the current position group and the extracted candidate vibration detection position, The number of candidate vibration detection positions included in the current position group.

[0074] The quantity threshold may be determined based on the difference in the associated parameters of any two candidate vibration detection positions. For example, the variance of the associated parameters may be calculated based on the associated parameters of any two candidate vibration detection positions. The larger the variance of the associated parameters, the larger the quantity threshold.

[0075] Figure 2 is a flow chart of a control method for a multi-angle displacement switching chassis structure of a talkback speaker according to some embodiments of the present specification, such as Figure 2 As shown, the control method for the multi-angle displacement switching chassis structure of the talkie speaker may include the following steps.

[0076] Step 210: Determine the real-time relative position relationship between the talk-along speaker and the follow target through the UWB positioning device.

[0077] Specifically include:

[0078] Acquire the arrival time of the signal transmitted by the UWB signal source arranged on the target to be followed and arriving at each UWB receiver included in the UWB positioning device;

[0079] According to the arrival time of the signal at each UWB receiver included in the UWB positioning device, the time difference between the signal arriving at different UWB receivers is calculated;

[0080] According to the time difference between the signals reaching different UWB receivers, the real-time relative position relationship between the talkie speaker and the tracking target is determined.

[0081] Specifically, the UWB signal source set on the tracking target is responsible for transmitting ultra-short pulse signals. These signals have an extremely short duration, usually in the nanosecond level, and therefore can provide a very accurate basis for time measurement. The UWB positioning device includes multiple UWB receivers, which are responsible for receiving signals transmitted from the UWB signal source. Each receiver has a high-precision time measurement capability and can accurately record the time of signal arrival. The UWB signal source transmits an ultra-short pulse signal, which is received by each UWB receiver in the UWB positioning device. Each UWB receiver records the timestamp of the signal arrival. The timestamps recorded by each UWB receiver are collected to form a set of arrival time data. For each UWB receiver, the difference in signal arrival time between it and other UWB receivers is calculated. This usually involves comparing the timestamp of each UWB receiver with the timestamp of a reference UWB receiver (or the first UWB receiver to receive the signal). Based on the principle of time difference positioning (TDoA), the location of the transmitting source is determined by measuring the propagation time difference of the signal from the transmitting source to different UWB receivers. This method requires at least three UWB receivers to receive the same signal and locate the source by calculating the time difference. According to the TDoA principle, a mathematical model is established to describe the relationship between the time difference between the signal arriving at different UWB receivers and the location of the source. This usually involves knowledge of geometry and trigonometry. By solving the mathematical model, the real-time position of the follow target (i.e., the UWB signal source) relative to the UWB positioning device (including each UWB receiver) can be calculated. Furthermore, since the relative position relationship between the walkie-talkie speaker and the follow target is known (for example, fixed on the follow target or maintaining a certain distance and angle), the real-time relative position relationship between the walkie-talkie speaker and the UWB positioning device can be determined.

[0082] Step 220, obtaining real-time road surface information through vibration detection equipment.

[0083] Specifically include:

[0084] Determining a weight corresponding to each target vibration detection position included in the vibration detection device according to a vibration change parameter of each target vibration detection position and an associated parameter of any two target vibration detection positions;

[0085] A flatness prediction model is established according to the vibration test data collected at the initial vibration detection position corresponding to each test road surface and the weight corresponding to each target vibration detection position, wherein the input of the flatness prediction model includes the vibration characteristics of each target vibration detection position and the weight corresponding to each target vibration detection position, and the flatness prediction model may be a convolutional neural network model;

[0086] For each vibration detection device included in the vibration detection equipment, a vibration sequence is generated according to vibration data collected by the vibration detection device at multiple time points, a variational modal decomposition is performed on the vibration sequence to generate a vibration inherent modal function, a function feature of the vibration inherent modal function is extracted, and a vibration feature of a target vibration detection position where the vibration detection device is located is generated, wherein the vibration feature of the target vibration detection position includes a function feature of each vibration inherent modal function;

[0087] The vibration characteristics of each target vibration detection position and the weight corresponding to each target vibration detection position are input into the smoothness prediction model, and the smoothness prediction model outputs the real-time road surface smoothness.

[0088] For example, the weight corresponding to the target vibration detection position can be calculated according to the following formula:

[0089]

[0090] in, is the weight corresponding to the qth target vibration detection position, is the mean value of the associated parameters corresponding to the qth target vibration detection position, which can be obtained by averaging the associated parameters of the target vibration detection position and each other target vibration detection position. is the mean value of the associated parameters corresponding to the y-th target vibration detection position, is the total number of target vibration detection positions.

[0091] Step 230: Obtain real-time obstacle information through obstacle detection equipment.

[0092] Step 240 , generating a dynamic following path and dynamic following parameters according to the real-time relative position relationship, the real-time road surface information and the real-time obstacle information.

[0093] The dynamic following parameters include the dynamic following speed and the dynamic driving wheel speed difference.

[0094] Specifically include:

[0095] Generate a dynamic following path according to the real-time relative position relationship and real-time obstacle information through a path planning algorithm (e.g., A* algorithm, Dijkstra algorithm, backtracking algorithm, greedy algorithm, genetic algorithm, etc.);

[0096] Generate dynamic following parameters according to the dynamic following path and the real-time road surface smoothness.

[0097] In some embodiments, the dynamic following parameters are generated according to the dynamic following path and the real-time road surface information, including:

[0098] Determining an initial following speed according to the path length of the dynamic following path, wherein the longer the path length is, the greater the initial following speed is;

[0099] Generate a dynamic following speed according to the real-time road surface smoothness and the initial following speed, wherein the smaller the real-time road surface smoothness is, the greater the difference between the dynamic following speed and the initial following speed is;

[0100] For any two adjacent path nodes of the dynamic following path, the steering angles of the two adjacent path nodes are calculated, and the dynamic driving wheel speed difference corresponding to the two adjacent path nodes is determined according to the steering angles of the two adjacent path nodes, the dynamic following speed and the real-time road surface flatness, wherein the dynamic driving wheel speed difference is the difference in speed of the driving wheels of the two sets of wheel group mechanisms.

[0101] Specifically, on a rough road surface, if the steering angle during a U-turn is too large, the multi-angle displacement switching chassis structure for the talkie speaker may lose stability due to the uneven road surface. Therefore, it is necessary to determine the dynamic driving wheel speed difference corresponding to the two adjacent path nodes according to the steering angle, dynamic following speed and real-time road surface smoothness of the two adjacent path nodes to improve stability. For example, the dynamic driving wheel speed difference corresponding to the two adjacent path nodes can be determined by a speed difference determination model according to the steering angle, dynamic following speed and real-time road surface smoothness of the two adjacent path nodes, wherein the speed difference determination model can be a convolutional neural network model.

[0102] Step 250, determining the dynamic sound amplification angle according to the real-time relative position relationship, the dynamic following path and the dynamic following parameters.

[0103] Specifically include:

[0104] Determine the initial sound amplification angle according to the real-time relative position relationship, wherein the initial sound amplification angle is the angle at which the follow-up speaker faces the follow target;

[0105] For each path node of the dynamic following path, the compensation sound amplification angle is calculated according to the dynamic driving wheel speed difference corresponding to the path node and the next path node, and the dynamic sound amplification angle is determined according to the initial sound amplification angle and the compensation sound amplification angle.

[0106] Specifically, when the multi-angle displacement switching chassis structure for the walkie-talkie speaker rotates, the walkie-talkie speaker is driven to rotate, so that the sound amplification direction of the walkie-talkie speaker deviates from the following target. The compensation sound amplification angle is the rotation angle of the multi-angle displacement switching chassis structure for the walkie-talkie speaker. The walkie-talkie speaker is rotated in the opposite direction of the rotation direction of the multi-angle displacement switching chassis structure for the walkie-talkie speaker with equal angles, and the walkie-talkie speaker is adjusted to face the following target.

[0107] Step 260, determining a dynamic weight balancing scheme according to the real-time road surface information, the dynamic following speed and the dynamic driving wheel speed difference.

[0108] Specifically include:

[0109] For any two adjacent path nodes of the dynamic following path, judging whether to perform counterweight adjustment according to vibration data collected at multiple time points by each vibration detection device included in the vibration detection equipment;

[0110] If it is determined to perform weight adjustment, the dynamic weight adjustment scheme corresponding to the two adjacent path nodes is determined according to the real-time road surface flatness, the dynamic following speed and the dynamic driving wheel speed difference corresponding to the two adjacent path nodes.

[0111] Specifically, a stability evaluation model can be used to determine whether to adjust the counterweight based on vibration data collected at multiple time points by each vibration detection device included in the vibration detection equipment, wherein the stability evaluation model can be a long short-term memory network model.

[0112] In some embodiments, according to the real-time road surface flatness, the dynamic following speed and the dynamic driving wheel speed difference corresponding to the two adjacent path nodes, the dynamic weight balancing scheme corresponding to the two adjacent path nodes is determined, including:

[0113] Establish multiple sample weighting schemes;

[0114] Determine a similar sample weighting scheme from multiple sample weighting schemes according to the real-time road surface flatness, dynamic following speed, and the dynamic driving wheel speed difference corresponding to two adjacent path nodes;

[0115] The scheme generation model generates a dynamic weight balancing scheme corresponding to two adjacent path nodes according to the real-time road surface flatness, dynamic following speed, the dynamic driving wheel speed difference corresponding to two adjacent path nodes and similar sample weight balancing schemes, wherein the scheme generation model can be a convolutional neural network model.

[0116] Specifically, for each sample weighting scheme, the sample similarity can be calculated based on the difference between the road surface flatness, following speed and driving wheel speed difference corresponding to the sample weighting scheme and the real-time road surface flatness, dynamic following speed and dynamic driving wheel speed difference corresponding to two adjacent path nodes. The sample weighting scheme whose sample similarity is greater than the sample similarity threshold is regarded as a similar sample weighting scheme.

[0117] In some embodiments, step 240 and step 250 may be performed by a cloud platform, and the cloud platform may exchange data with the controller.

[0118] Step 270, controlling the wheel assembly mechanism to move according to the dynamic following path and the dynamic following parameters.

[0119] Step 280, controlling the angle adjustment component to adjust the rotation angle of the talkie speaker according to the dynamic sound amplification angle.

[0120] Step 290: According to the dynamic weight balancing scheme, control the weight balancing mechanism to adjust the three-dimensional coordinates of the plurality of weight balancing blocks.

[0121] In some embodiments, steps 270 to 290 may be performed by a controller.

[0122] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A multi-angle displacement switching chassis structure for a talkback speaker, characterized in that: The vehicle comprises a frame and a transmission mechanism, a wheel set mechanism, a controller and a counterweight mechanism arranged on the frame. The frame is also provided with an angle adjustment component, and the talkie speaker is arranged on the angle adjustment component. The counterweight mechanism includes a plurality of counterweight blocks arranged at different positions of the frame and a counterweight adjustment assembly for adjusting the three-dimensional coordinates of the plurality of counterweight blocks; The frame is also provided with a UWB positioning device, an obstacle detection device and a vibration detection device; The controller is used to control the wheel mechanism, the counterweight mechanism and the angle adjustment component based on the information collected by the UWB positioning device, the obstacle detection device and the vibration detection device, so as to automatically follow the talk-along speaker; The vibration detection device includes a plurality of vibration detection devices arranged at different positions of the frame; The distribution of the plurality of vibration detection devices is determined based on the following process: Determining a plurality of initial vibration detection positions of the frame through finite element analysis; Under multiple test road surfaces, obtaining a vibration detection data set of the frame corresponding to each test road surface, wherein the vibration detection data set includes vibration test data collected at multiple initial vibration detection positions; For each of the initial vibration detection positions, according to the vibration test data collected at the initial vibration detection position corresponding to each test road surface, determining the vibration change parameter corresponding to the initial vibration detection position; screening a plurality of candidate vibration detection positions from the plurality of initial vibration detection positions according to the vibration change parameter corresponding to each of the initial vibration detection positions; Extracting vibration characteristics of each candidate vibration detection position corresponding to each test road surface according to the vibration detection data set of the vehicle frame corresponding to each test road surface; Calculate the correlation parameters of any two candidate vibration detection positions according to the vibration characteristics of each test road surface corresponding to each candidate vibration detection position; screening a plurality of target vibration detection positions from the plurality of candidate vibration detection positions according to association parameters of any two candidate vibration detection positions; The plurality of vibration detection devices are disposed at the plurality of target vibration detection positions.

2. A control method for a multi-angle displacement switching chassis structure of a talkback speaker, characterized in that: The multi-angle displacement switching chassis structure for the talkie speaker as claimed in claim 1 comprises: Through the UWB positioning device, the real-time relative position relationship between the talk-along speaker and the tracking target is determined; Obtain real-time road surface information through vibration detection equipment; Obtain real-time obstacle information through obstacle detection equipment; Generate a dynamic following path and dynamic following parameters according to the real-time relative position relationship, the real-time road surface information and the real-time obstacle information, wherein the dynamic following parameters include a dynamic following speed and a dynamic driving wheel speed difference; Determining a dynamic sound amplification angle according to the real-time relative position relationship, the dynamic following path and the dynamic following parameters; Determining a dynamic weight balancing scheme according to the real-time road surface information, the dynamic following speed and the dynamic driving wheel speed difference; Controlling the wheel assembly mechanism to move according to the dynamic following path and the dynamic following parameters; According to the dynamic sound amplification angle, controlling the angle adjustment component to adjust the rotation angle of the talkie speaker; According to the dynamic counterweight scheme, the counterweight mechanism is controlled to adjust the three-dimensional coordinates of the plurality of counterweight blocks.

3. The control method for the multi-angle displacement switching chassis structure of the talkie speaker according to claim 2, characterized in that: The real-time relative position relationship between the speaker and the target is determined through the UWB positioning device, including: Acquire the arrival time of the signal transmitted by the UWB signal source arranged on the target to be followed and arriving at each UWB receiver included in the UWB positioning device; Calculate the time difference between the arrival of the signal at different UWB receivers according to the arrival time of the signal at each UWB receiver included in the UWB positioning device; According to the time difference between the signals reaching different UWB receivers, the real-time relative position relationship between the talkie speaker and the tracking target is determined.

4. The control method for the multi-angle displacement switching chassis structure for the talkie speaker according to claim 2 or 3, characterized in that: Obtain real-time road surface information through vibration detection equipment, including: Determining a weight corresponding to each target vibration detection position included in the vibration detection device according to a vibration change parameter of each target vibration detection position and an associated parameter of any two target vibration detection positions; A flatness prediction model is established according to the vibration test data collected at the initial vibration detection position corresponding to each test road surface and the weight corresponding to each target vibration detection position, wherein the input of the flatness prediction model includes the vibration characteristics of each target vibration detection position and the weight corresponding to each target vibration detection position; For each vibration detection device included in the vibration detection equipment, a vibration sequence is generated according to vibration data collected by the vibration detection device at multiple time points, the vibration sequence is subjected to variational modal decomposition to generate a vibration inherent modal function, function features of the vibration inherent modal function are extracted, and vibration features of a target vibration detection position where the vibration detection device is located are generated, wherein the vibration features of the target vibration detection position include function features of each vibration inherent modal function; The vibration characteristics of each target vibration detection position and the weight corresponding to each target vibration detection position are input into the smoothness prediction model, and the smoothness prediction model outputs the real-time road surface smoothness.

5. The control method for the multi-angle displacement switching chassis structure for the talkie speaker according to claim 4, characterized in that: Generate a dynamic following path and dynamic following parameters according to the real-time relative position relationship, real-time road information and real-time obstacle information, including: Generate a dynamic following path according to the real-time relative position relationship and the real-time obstacle information through a path planning algorithm; A dynamic following parameter is generated according to the dynamic following path and the real-time road surface smoothness.

6. The control method for the multi-angle displacement switching chassis structure for the talkie speaker according to claim 5, characterized in that: Generating dynamic following parameters according to the dynamic following path and real-time road surface information, including: Determining an initial following speed according to a path length of the dynamic following path; generating a dynamic following speed according to the real-time road surface flatness and the initial following speed; For any two adjacent path nodes of the dynamic following path, the steering angles of the two adjacent path nodes are calculated, and the dynamic driving wheel speed difference corresponding to the two adjacent path nodes is determined according to the steering angles of the two adjacent path nodes, the dynamic following speed and the real-time road surface flatness.

7. The control method for the multi-angle displacement switching chassis structure of the talkie speaker according to claim 6, characterized in that: Determining a dynamic sound amplification angle according to the real-time relative position relationship, the dynamic following path, and the dynamic following parameter includes: Determining an initial sound amplification angle according to the real-time relative position relationship; For each path node of the dynamic following path, a compensation sound amplification angle is calculated according to the dynamic driving wheel speed difference corresponding to the path node and the next path node, and the dynamic sound amplification angle is determined according to the initial sound amplification angle and the compensation sound amplification angle.

8. The control method for the multi-angle displacement switching chassis structure for the talkie speaker according to claim 6, characterized in that: Determining a dynamic weight balancing scheme according to the real-time road surface information, the dynamic following speed and the dynamic driving wheel speed difference includes: For any two adjacent path nodes of the dynamic following path, judging whether to perform counterweight adjustment according to vibration data collected at multiple time points by each vibration detection device included in the vibration detection equipment; If it is determined to perform weight adjustment, the dynamic weight adjustment scheme corresponding to the two adjacent path nodes is determined according to the real-time road surface flatness, the dynamic following speed and the dynamic driving wheel speed difference corresponding to the two adjacent path nodes.

9. The control method for the multi-angle displacement switching chassis structure of the talkie speaker according to claim 8, characterized in that: According to the real-time road surface flatness, dynamic following speed and the dynamic driving wheel speed difference corresponding to two adjacent path nodes, the dynamic weight balancing scheme corresponding to two adjacent path nodes is determined, including: Establish multiple sample weighting schemes; Determine a similar sample weighting scheme from the multiple sample weighting schemes according to the real-time road surface flatness, the dynamic following speed, and the dynamic driving wheel speed difference corresponding to two adjacent path nodes; The dynamic weight balancing scheme corresponding to two adjacent path nodes is generated through the scheme generation model according to the real-time road surface flatness, dynamic following speed, dynamic driving wheel speed difference corresponding to two adjacent path nodes and similar sample weight balancing schemes.

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