Method for determining speaker position changes

Abstract

The present disclosure relates to methods for determining changes in speaker position. A system and method are described for determining whether a speaker arrangement has been repositioned, tilted, rotated, or has had a changed environment such that one or more parameters used to drive the speaker may be altered and / or a complete reconfiguration of the speaker system may be performed. In one embodiment, the system may include a set of sensors. The sensors provide readings that are analyzed to determine 1) whether the speaker has moved since a previous analysis, and / or 2) the extent of the change in the distance and / or orientation of the speaker since a previous analysis. Based on determining that the level of movement is below a threshold, the system adjusts the previous parameters used to drive one or more speakers. By adjusting the previous parameters rather than performing a complete recalibration, the system provides a more efficient technique to ensure that the speakers continue to produce accurate sound for the listener.

Description

[0001] This application is a divisional application of the invention patent application with application number 201580064407.3, application date September 29, 2015, and invention name “Method for determining changes in speaker position”.

[0002] This application claims priority to U.S. Provisional Patent Application No. 62 / 057,999, filed on September 30, 2014, and this application is hereby incorporated by reference into that provisional patent application. Technical Field

[0003] A system and method are disclosed for determining whether a speaker arrangement has been repositioned, tilted, rotated or otherwise moved such that one or more parameters used to drive the speaker can be altered and / or a complete reconfiguration of the speaker or speaker system can be performed. Other embodiments are also described. Background Art

[0004] Computers and home electronics typically utilize speakers to output sound to a listening area. Each speaker may be composed of one or more transducers arranged on a single plane or surface of an associated cabinet or housing. In order to correctly direct the sound to one or more listeners, these speakers must be manually oriented so that the sound produced by each speaker is aimed at the target as expected. The orientation may include applying a specific drive setting or other configuration parameters to each of the one or more transducers in the speaker. For example, the speaker may be initially oriented and configured so that the corresponding transducer produces a sound beam directed to the listener. However, any movement of the speaker may require 1) manual adjustment of the drive setting, or 2) complete recalibration of the system so that the generated sound is correctly aimed at the target listener again. Therefore, in these traditional systems, the listener must manually determine that one or more of the speakers have moved so that recalibration and / or adjustment can be performed. This repeated manual determination of movement and corresponding adjustment may be time-consuming and may provide a poor user experience.

[0005] The approaches described in this section are approaches that could be pursued, but not necessarily approaches that have been previously conceived or pursued. Therefore, unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Summary of the invention

[0006] The present invention discloses a system and method for determining whether a speaker device has been repositioned, tilted, rotated, or has changed environment such that one or more parameters used to drive the speaker may be changed and / or a complete reconfiguration of the speaker or speaker system may be performed. In one embodiment, the system may include a set of sensors integrated with the speaker or otherwise in communication with the speaker. In one embodiment, the sensors may include one or more of a camera, a still image camera, a compass, an accelerometer, a light sensor, a wireless antenna, a thermometer, a current / voltage monitor, a microphone, a gyroscope, and a barometer / pressure monitor. In other embodiments, other sensing devices may be integrated with the speaker or otherwise in communication with the speaker.

[0007] The sensors may provide various readings that are analyzed to determine 1) whether a speaker has moved since a previous analysis, and / or 2) the extent of the change in the distance of movement and / or orientation of the speaker since a previous analysis. Upon determining that the level of movement is below a threshold, the systems and methods attempt to adjust the previous parameters used to drive one or more of the speakers. By adjusting the previous parameters rather than performing a complete recalibration, the systems and methods provide a more efficient technique to ensure that the speakers continue to produce accurate sound at the listener's location despite small movement / changes. However, upon determining larger or unquantifiable movement / changes, the systems and methods may trigger a complete recalibration of one or more of the speakers. Thus, the systems and methods described herein provide a more robust procedure for adjusting speakers based on different levels of movement and change.

[0008] The above summary does not include an exhaustive list of all aspects of the present invention. It is contemplated that the present invention includes all systems and methods that can be implemented by all suitable combinations of the various aspects summarized above and disclosed in the detailed description below and specifically pointed out in the claims filed with this patent application. Such combinations have specific advantages that are not specifically set forth in the above summary of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Embodiments of the present invention are described by way of example and are not limited to the illustrations of the various drawings, in which similar reference numerals indicate similar elements. It should be noted that reference to "one" or "an" embodiment in the present disclosure is not necessarily the same embodiment, and this means at least one. In addition, for the sake of simplicity and to reduce the total number of drawings, a given drawing may be used to illustrate features of more than one embodiment of the present invention, and not all elements in the drawings may be required for a given embodiment.

[0010] Figure 1 A diagram of a listening area with an audio receiver, a set of speakers, and a listener is shown according to one embodiment.

[0011] Figure 2A A component diagram of an audio receiver according to one embodiment is shown.

[0012] Figure 2B A component diagram of a loudspeaker according to one embodiment is shown.

[0013] Figure 3 A top cutaway view of a loudspeaker according to one embodiment is shown.

[0014] Figure 4 The symmetric nature of a loudspeaker according to one embodiment is shown.

[0015] Figure 5 A set of directivity patterns that may be generated by a loudspeaker are shown according to one embodiment.

[0016] Figure 6 A method for configuring a speaker based on detected movement and / or changes to the speaker's environment is shown according to one embodiment.

[0017] Fig. 7A Shown is a top view of the bottom end of a speaker with an integrated camera facing downward, according to one embodiment.

[0018] Figure 7B Shown is a directional / perspective view captured by a camera integrated within a speaker according to one embodiment. DETAILED DESCRIPTION

[0019] Several embodiments described with reference to the accompanying drawings are now explained. Although many details are set forth, it should be understood that some embodiments of the present invention can be implemented without these details. In other cases, well-known circuits, structures and techniques are not shown in detail to avoid obscuring the understanding of this description.

[0020] Figure 1 A view of a listening area 101 with an audio receiver 103, a set of speakers 105A and 105B, and a listener 107 is shown. Audio receiver 103 may be coupled to speakers 105A and 105B to drive various transducers 109 in speakers 105A and 105B to emit various beam patterns of sound or other sounds into listening area 101. In one embodiment, speakers 105A and 105B may be configured to generate beam patterns representing various channels of a piece of sound program content. For example, speakers 105A and 105B may generate beam patterns representing the left front, right front, and front center channels of a piece of sound program content (e.g., the soundtrack of a musical piece or a movie).

[0021] Figure 2A1 shows a component diagram of an audio receiver 103 according to one embodiment. The audio receiver 103 can be any electronic device capable of driving one or more transducers 109 in speakers 105A and 105B. For example, the audio receiver 103 can be a desktop computer, a laptop computer, a tablet computer, a home theater receiver, a set-top box, and / or a mobile device (e.g., a smart phone). The audio receiver 103 can include a hardware processor 201 and a memory unit 203.

[0022] The processor 201 and the memory unit 203 used collectively herein refer to any suitable combination of programmable data processing components and data storage that perform the operations required to implement the various functions and operations of the audio receiver 103. The processor 201 may be an application processor typically found in a smartphone, and the memory unit 203 may refer to a microelectronic non-volatile random access memory. An operating system may be stored in the memory unit 203 along with application programs specific to the various functions of the audio receiver 103, which are to be run or executed by the processor 201 to perform the various functions of the audio receiver 103.

[0023] The audio receiver 103 may include one or more audio inputs 205 for receiving audio signals from external devices and / or remote devices. For example, the audio receiver 103 may receive audio signals from a streaming service and / or a remote server. The audio signal may represent one or more channels of a piece of sound program content (e.g., a soundtrack of a musical work or a movie). For example, a single signal corresponding to a single channel of a multi-channel sound program content may be received via the input 205 of the audio receiver 103. As another example, a single signal may correspond to multiple channels of a piece of sound program content, which are multiplexed into a single signal.

[0024] In one embodiment, the audio receiver 103 may include a digital audio input 205A that receives a digital audio signal from an external device and / or a remote device. For example, the audio input 205A may be a TOSLINK connector, a high-definition multimedia interface (HDMI), or a digital wireless interface (e.g., a wireless local area network (WLAN) adapter or a Bluetooth receiver). In one embodiment, the audio receiver 103 may include an analog audio input 205B that receives an analog audio signal from an external device. For example, the audio input 205B may be a terminal, a Fahnerstock clip, or a phono plug designed to receive a wire or conduit and a corresponding analog signal.

[0025] In one embodiment, the audio receiver 103 may include an interface 207 for communicating with the speakers 105A and 105B. The interface 207 may utilize a wired medium (e.g., conduit or wire) to communicate with the speakers 105A and 105B, such as Figure 1In another embodiment, the interface 207 can communicate with the speaker array 105 via a wireless connection. For example, the network interface 207 can communicate with the speakers 105A and 105B using one or more wireless protocols and standards, including the IEEE 802.11 family of standards, IEEE 802.3, cellular Global System for Mobile Communications (GSM) standards, cellular code division multiple access (CDMA) standards, long term evolution (LTE) standards, and / or Bluetooth standards.

[0026] Figure 2B 1 shows a component diagram of a speaker 105A according to one embodiment. The speaker 105B may be configured similarly or identically to the speaker 105A. Figure 2B As shown, the speaker 105A can receive the driving signal from the audio receiver 103 through the corresponding interface 213 and drive each transducer 109 in the speaker 105A. Like the interface 207, the network interface 213 can utilize wired protocols and standards and / or one or more wireless protocols and standards, including the IEEE802.11 standard series, IEEE 802.3, cellular global mobile communication system (GSM) standard, cellular code division multiple access (CDMA) standard, long-term evolution (LTE) standard and / or Bluetooth standard. In some embodiments, the speaker 105A may include a digital-to-analog converter 209 and a power amplifier 211 to drive each transducer 109 in the speaker 105A.

[0027] like Figure 1 As shown, the speakers 105A and 105B contain a plurality of transducers 109 in corresponding enclosures 111. As shown, the enclosure 111 is a cylinder; however, in other embodiments, the enclosure 111 may be any shape, including a polyhedron, a truncated cone, a cone, an angular pyramid, a triangular prism, a hexagonal prism, a sphere, or a truncated cone, all of which have the following combined Figure 3 and Figure 4 The symmetry properties mentioned.

[0028] Figure 3 1 shows a top cross-sectional view of a speaker 105A according to one embodiment. Figure 1 and 3 As shown, the transducer 109 in the speaker 105A surrounds the cabinet 111 so that the transducer 109 can cover the curved surface of the cabinet 111 and is positioned together as a single ring, as shown. R Maintain vertical symmetry, such as Figure 4 This vertical symmetry allows the speaker array 105A to be symmetrical about the vertical axis. RRotation while maintaining a consistent placement of the transducers 109 directed relative to the listener 107. In some embodiments, the speaker array 105A can have multiple degrees of symmetry (eg, horizontal symmetry about a horizontal axis).

[0029] The transducer 109 may be any combination of a full-range driver, a mid-range driver, a subwoofer, a woofer, and a tweeter. Each transducer 109 may use a lightweight diaphragm or cone connected to a rigid basin or frame via a flexible suspension that forces a coil (e.g., a voice coil) to move axially through a cylindrical magnetic gap. When an electrical audio signal is applied to the voice coil, a magnetic field is formed by the current in the voice coil, making it a variable electromagnet. The coil and transducer 109 magnetic system interact with each other, thereby generating a mechanical force that moves the coil (and therefore the attached cone) back and forth, thereby reproducing sound under the control of an applied audio electrical signal from an audio source (such as an audio receiver 103). This drive of the transducer 109 of the speaker 105a may be "activated" by an audio source (e.g., an audio receiver 103), whereby the audio source may also be referred to as driving the transducer 109 or driving the speaker 105a. Although an electromagnetic dynamic speaker driver is described as being used as the transducer 109, those skilled in the art will recognize that other types of speaker drivers such as piezoelectric drivers, planar electromagnetic drivers, and electrostatic drivers are also possible. In addition, although shown and described as including multiple transducers 109 and operating as an array, in some embodiments, the speaker 105A may include a single transducer 109. Although Figure 1 Each of the speakers 105A, 105B is shown as having its transducers 109 arranged in a single ring lying in a plane and extending along the circumference of the cabinet 111 and driven as an array, but the speaker 105A may alternatively have more than one transducer ring that can be driven as an array.

[0030] Each transducer 109 may be independently and individually driven to produce sound in response to a separate or discrete audio signal received from an audio source (e.g., audio receiver 103). By allowing the transducers 109 in speaker 105A to be independently and individually driven according to different parameters and settings (including delays and energy levels), speaker 105A may produce multiple directivity patterns / beam patterns that accurately represent each channel of a piece of sound program content output by audio receiver 103. For example, in one embodiment, speaker 105A may produce Figure 5 One or more of the directivity patterns shown.

[0031] In one embodiment, the speaker 105A may be configurable based on the position and orientation of the speaker 105A relative to other objects / surfaces in the listening area 101 and / or relative to other features of the listening area 101. For example, the speaker 105A may be associated with a set of parameters for driving its transducers 109 to produce a beam pattern or other sound formation. The parameters may define, for example, the relative phase (or delay) and relative gain of digital transducer drive signals (e.g., calculated by a digital beamforming process to obtain one or more beam patterns produced by the speaker 105a) that respectively drive the transducers 109. The parameters may be set to suit the characteristics of the environment in which the speaker 105A is located. For example, the parameters may adapt to 1) echoes caused by surfaces (e.g., walls, ceiling, and floor) and / or objects (e.g., furniture) in the listening area 101; 2) the distance between the speaker 105A and the speaker 105B; 3) the ambient temperature, ambient pressure, and / or ambient light level surrounding the speaker 105A; 4) the current / voltage level of the electrical outlet to which the speaker 105A and / or the speaker 105B are attached and / or 5) the proximity of the speaker 105A to the listener 107. By adapting to these factors, the parameters enable the speaker 105A to more accurately produce sound in the changing environment in which the speaker 105A is located.

[0032] In one embodiment, the speaker 105A may include an orientation and positioning unit 215 (see Figure 2B) is used to determine whether the speaker 105A has been repositioned, tilted, rotated, or whether the environment surrounding the speaker 105A has otherwise changed relative to a previous configuration / setup. In one embodiment, in response to determining that the speaker 105A has moved (e.g., its orientation about the vertical axis R has changed), the orientation and positioning unit 215 can determine a new set of parameters to apply to the speaker 105A using the processor 219. In one embodiment, the latter can individually adjust the respective digital transducer drive signals (of the transducer 109) before the drive signals are converted to analog form and amplified at the input of the transducer 109 (by the digital-to-analog converter 209 and the power amplifier 211). The new set of parameters accommodates the changed environment in which the speaker 105A is currently located (e.g., movement to a new position within the listening area 101 or a changed orientation relative to the listener 107 and other objects / surfaces in the listening area 101). In some embodiments, when the level / extent of movement (e.g., including a change in orientation) extends beyond a set threshold, the orientation and positioning unit 215 may determine that a complete recalibration of speaker 105A and / or speaker 105B needs to be performed. The orientation and positioning unit 215 provides a more efficient technique for maintaining sound accuracy by allowing a decision as to whether to perform a) only adjustments to current parameters based on a "small" movement of speaker 105A or b) a complete recalibration of the system in response to a "large" movement of speaker 105A.

[0033] In one embodiment, the speaker 105A may include a set of sensors 217. In this embodiment, one or more inputs from the sensors 217 may be used by the unit 215 to help 1) determine whether the speaker 105A has moved or the environment has changed; 2) adjust a previous set of parameters of the speaker 105A and / or the speaker 105B; and 3) determine whether a complete recalibration of the speaker 105A and / or the speaker array 105B needs to be performed. In one embodiment, the sensors 217 may include one or more of a camera, a still image camera, a compass, an accelerometer, a light sensor, a wireless antenna, a thermometer, a current / voltage monitor, a microphone, a gyroscope, and a barometer / pressure monitor. In other embodiments, other sensing devices may be integrated into the box 111 or otherwise communicate with the speaker 105A.

[0034] As described above, although described and shown with respect to speaker 105A, in some embodiments, speaker 105B may be similarly or identically configured. In addition, although described and shown as separate from audio receiver 103, in some embodiments, one or more components of audio receiver 103 may be integrated into speaker 105A. For example, speaker 105A may also include hardware processor 201, memory unit 203, and one or more audio inputs 205. In this embodiment, orientation and positioning unit 215 may be implemented as software stored in memory unit 203 that appropriately programs processor 201, or even as software that appropriately programs processor 219 (see Figure 2B However, in other embodiments, the positioning unit 215 can be implemented as one or more independent hardware circuits.

[0035] Now turn Figure 6 , which will describe a method 600 for configuring speaker 105A and / or speaker 105B. In one embodiment, method 600 determines whether speaker 105A has been repositioned, tilted, rotated, or the environment surrounding speaker 105A has changed based on a set of inputs from sensor 217. After determining that speaker 105A has moved, method 600 may responsively 1) change the parameters used to drive each of transducers 109 (without having to again determine the complete environment surrounding speakers 105a, 105b) or 2) trigger a complete recalibration of speaker 105A and / or speaker 105B (during which the complete environment surrounding speakers 105a, 105b is determined, for example, by utilizing a device separate from speakers 105a, 105b and separate from audio receiver 103 (such as another camera or microphone array); this may include determining the position of one speaker relative to the other.)

[0036] Although shown and described in a particular order, in other embodiments, the operations of method 600 may be performed in a different order. For example, in some embodiments, one or more operations of method 600 may be performed during overlapping time periods.

[0037] Each operation of method 600 may be performed by one or more components in audio receiver 103, speaker 105A, and / or other devices operating within listening area 101. For example, in one embodiment, one or more operations of method 600 may be performed by orientation and positioning unit 215 based on a set of inputs from sensor 217. Each operation of method 600 will now be described below by way of example.

[0038] The method 600 may begin at operation 601, which determines 1) an initial position and orientation of the speakers 105A and / or 105B, and / or 2) the environment surrounding the speakers 105A and / or 105B. The position / orientation and environmental characteristics may be determined at operation 601 by performing an initial calibration of the speakers 105A and 105B and / or the audio receiver 103 in the listening area 101. For example, during installation / placement of the speakers 105A and 105B in the listening area 101, a full calibration procedure may be performed. The calibration procedure determines 1) the position of the speakers 105A and 105B in the listening area 101 and their orientation relative to a target (e.g., a listener 107) and / or other objects (e.g., other speakers 105A / 105B), and / or 2) characteristics of the environment surrounding the speakers 105A, speakers 105B, and / or the listener 107. These characteristics may include the ambient temperature, ambient pressure, and ambient light levels surrounding speaker 105A and / or speaker 105B, and / or the current / voltage levels of an electrical outlet to which speaker 105A and / or speaker 105B is attached.

[0039] In one embodiment, the calibration procedure may be performed by a series of audible or inaudible sounds played through the speakers 105A and 105B and detected by a separate listening device (e.g., a separate microphone or microphone array, or a microphone or microphone array integrated into a mobile device (such as a smart phone, headset, or tablet) located near or at the expected location of the listener 107). In this embodiment, each transducer 109 in the speakers 105A and 105B may be driven separately to produce separate sounds during separate or overlapping time intervals. Based on the arrival time and level difference between the corresponding detected sounds, the calibration procedure may determine the relative position and orientation of the speakers 105A and 105B.

[0040] Although described with respect to utilizing sound and microphones, in other embodiments, the calibration procedure at operation 601 may utilize other techniques to determine the position, orientation, and environment of the speakers 105A and 105B. For example, a video or still image taken by a separate camera device from an appropriate distance away from the speakers 105a, 105b may capture the entire listening area 101 within its field of view, including the speakers 105A and 105B and / or the listener 107. Based on an object recognition process performed based on these captured videos / images, the relative position and orientation of the speakers 105A and 105B may be determined.

[0041] In some embodiments, data from built-in sensors 217 may be used in operation 601. For example, based on the values ​​received from sensors 217, operation 601 may determine 1) the initial position and orientation of speakers 105A and / or 105B, and 2) the initial environment in which speakers 105A and / or 105B are located.

[0042] At operation 603, a piece of sound program content may be received or retrieved so that the piece of content may be played through speakers 105A and / or 105B. A piece of sound program content may represent a piece of music, a soundtrack of a movie, or any other similar recording to be played to listeners 107 in listening area 101 through speakers 105A and / or 105B.

[0043] At operation 603, a segment of sound program content may be received from a variety of sources, including streaming Internet services, set-top boxes, local or remote computers, and personal audio and video devices, via one or more inputs 205 of audio receiver 103. Although described as being received from a remote or external source, in some embodiments, a segment of sound program content may alternatively be "local" to audio receiver 103, thereby originating from audio receiver 103 or being generated by the audio receiver and / or speaker 105A. For example, a segment of sound program content may be stored in memory unit 203 of audio receiver 103 and retrieved at operation 603.

[0044] In operation 605, a first set of parameters for a segment of sound program content played back through speakers 105A and / or 105B may be determined. The first set of parameters may include delays, level differences, gain values, and / or phase values ​​for driving each transducer 109 in speakers 105A and / or 105B. In one embodiment, the first set of parameters is generated based on information determined as follows: 1) the initial position and orientation of speakers 105A and / or 105B, and 2) the initial environment where speakers 105A and / or 105B are located. In this embodiment, the first set of parameters enables speakers 105A and 105B to produce an expected set of sounds at the location of listener 107 based on the initial positioning and orientation of speakers 105A and 105B relative to objects / structures and listener 107 and the initial environment surrounding speakers 105A and / or 105B. For example, speakers 105A and 105B may use the first set of parameters to generate beam patterns, each of which represents a separate channel for a segment of sound program content. In one embodiment, a beamforming process is performed to generate a first set of parameters such that they allow the speaker 105a (or speaker 105b, or both) to generate a desired beam pattern based on the initial positioning and orientation of the speakers 105a, 105b determined in operation 601. In one embodiment, the beamforming process may be performed by appropriately programming the processor 201 of the audio receiver 103, and the first set of parameters may then be provided to the processor 219 in the speakers 105a, 105b (which in turn may transmit the respective transducer drive signals in digital form to the DAC 209).

[0045] After determining the first set of parameters, operation 607 may utilize the parameters determined at operation 605 to play the segment of sound program content received at operation 603. As described above, the first set of parameters allows for the production of a desired set of sounds at the location of listener 107. For example, as described above, the first set of parameters may allow for the production of separate sound beams corresponding to respective audio channels for the segment of sound program content.

[0046] Since the parameters are generated based on the positioning and orientation of speakers 105A and 105B relative to each other, relative to listener 107, and / or relative to other objects and structures in listening area 101, the sound generated at operation 607 may accurately represent the desired sound scene presented by a piece of sound program content. However, since the first set of parameters is closely associated with the position, orientation, and current environment of speakers 105A and 105B, any movement of one or more of speakers 105A and 105B may result in an inaccurate or non-ideal sound experience for listener 107.

[0047] In order to attempt to compensate for the movement of speakers 105A and / or 105B, operation 609 may determine whether one or more of speakers 105A and 105B has been repositioned, tilted, rotated or otherwise moved, and / or whether the environment surrounding speakers 105A and / or 105B has changed. If no changes have occurred, method 600 may return to operation 607 to continue playing the segment of audio program content using the first set of parameters.

[0048] In one embodiment, operation 609 may determine this moving / changing environment based on input from one or more of the sensors 217. Movement may include both vertical and horizontal changes in the listening area 101. As described above, in one embodiment, the sensors 217 may include one or more of a camera, a still image camera, a compass, an accelerometer, a light sensor, a wireless antenna, a thermometer, a current / voltage monitor, a microphone, a gyroscope, and a barometer / pressure monitor. The input from each of these sensors 217 will be described below by way of example. In other embodiments, other types of sensors may be used to detect the moving / changing environment of the speakers 105A and / or 105B.

[0049] Although described below with respect to speaker 105A, the sensor may operate similarly with respect to speaker 105B. Thus, detecting movement of either speaker 105A and 105B may trigger a first set of parameter adjustments, or a complete recalibration, for both speakers 105A and 105B.

[0050] camera

[0051] In one embodiment, a still image camera or video camera may be attached to the speaker 105A to determine movement and / or reorientation of the speaker. For example, one or more cameras may be located at the top and / or bottom of the enclosure 111. In one embodiment, the camera may be focused / pointed directly downward and / or upward relative to the bottom or top of the speaker 105A (i.e., the optical axis of the camera is pointed at 90° relative to the surface of the top or bottom of the speaker 105A). For example, Fig. 7A A top view of the cabinet 111 looking down at the bottom end of the speaker 105A is shown (the transducer 109 is omitted in this figure). As shown, the camera 217A is positioned on the bottom end so that the camera 217A is looking down, such as Figure 7B Middle Arrow D In this embodiment, the camera can observe the surface on which the speaker 105A is located, such as a floor or a tabletop. As described above, in some embodiments, the camera can be the same as described above with respect to Fig. 7A and 7BA similar approach as described is positioned on top of the speaker 105A so that the camera can view the ceiling or other structure located above the speaker 105A.

[0052] One or more cameras of the speaker 105A may capture images at regular intervals or in response to another triggering event. For example, a camera positioned along the bottom end of the speaker 105A may capture a static image of the floor, table, or other surface on which the speaker 105A is located every minute. However, in other embodiments, other time intervals may be utilized.

[0053] The captured images may be compared to each other to determine whether the speaker 105A has moved to a new location (e.g., moved since operation 601). These comparisons may utilize pattern recognition / matching techniques to reveal movement. For example, in operation 601, a pattern recognized in the wood grain of a hardwood floor captured in a first image may be located at the rightmost edge of the first image. In contrast, in operation 609, the same pattern captured in a second (subsequently captured) image may be located at the center of the second image. This apparent movement in the pattern may indicate that the speaker 105A has moved to the left between operations 601 and 609. In one embodiment, the distance that the speaker 105A has moved may be determined based on the distance between the pattern in the first image and the pattern in the second image. As described in more detail below, this determined movement distance and direction of the speaker 105A may be used to generate a new set of parameters for driving the speaker 105A and / or the speaker 105B without requiring a complete recalibration of the speakers 105A and 105B.

[0054] In the example provided above, a pattern in the floor is identified in both the first image and the second image. However, in other embodiments, movement may be determined based on the absence of the pattern in the second image. Since the pattern is not located in the second image, operation 609 may determine that speaker 105A has moved, but the specific distance and / or direction of the movement may not be inferred. In this embodiment, as will be described in more detail below, since the extent and direction of the movement may be unknown, a complete recalibration of speakers 105A and 105B may be performed.

[0055] In one embodiment, the tilt or rotation of the speaker 105A can be determined based on detecting that a pattern identified in the first image is captured from a different perspective / angle in the second image and / or rotated in the second image. In this embodiment, the specific tilt or rotation degree can be determined based on the difference between each of the first image and the second image.

[0056] In one embodiment, a pattern observed in a first image may appear larger or smaller in a second image. This change in apparent size may indicate that the speaker 105A has been raised or lowered (e.g., mounted on a wall or removed and placed on the floor). In this embodiment, the specific distance moved may be determined based on the change in pattern size between the first image and the second image.

[0057] Although described above with respect to a still image camera, in some embodiments, a video camera may be used. In such embodiments, the video camera may capture video at specified time intervals for a predetermined duration and / or capture video in response to another triggering event. The captured video may be examined to determine movement and / or determine the direction and extent of movement in a manner similar to that described above with respect to a still image camera.

[0058] The camera used in the speaker 105A can utilize any image / video capture technology. For example, the camera can utilize a charge coupled device (CCD) and / or a complementary metal oxide semiconductor (CMOS) active pixel sensor. In some embodiments, the camera can utilize a low frame rate sensor (e.g., ten frames per second) and / or a low fidelity sensor, such as such sensors used in a computer mouse. By utilizing a reduced-power sensor, the camera used in the speaker 105A can consume less energy and provide a more compact fit compared to other higher-quality devices, while not significantly compromising relative motion estimation.

[0059] compass

[0060] In one embodiment, the speaker 105A may include a compass to determine the changing orientation of the speaker 105A. In this embodiment, movement of the speaker 105A may trigger corresponding different azimuth outputs from the compass indicating the degree of rotation. For example, rotating the speaker 105A counterclockwise by fifteen degrees may produce an output of -15°, while rotating the speaker 105A clockwise by fifteen degrees may produce an output of 15°. Thus, both the direction of rotation and the degree of rotation may be determined by the compass. The compass may utilize any type of sensor technology. For example, the compass may be a magnetic compass or a gyrocompass.

[0061] Gyroscope

[0062] In one embodiment, the speaker 105A may include a gyroscope to detect the tilt and / or rotation of the speaker 105A. For example, the gyroscope may determine the amount that the speaker 105A has been rotated or tilted relative to a previous orientation (e.g., the orientation of the speaker 105A at operation 601). Similar to a compass, the gyroscope may output the degree and direction of the orientation change. The gyroscope may utilize any type of sensor technology, for example, the gyroscope may be a micro-electromechanical system (MEMS) gyroscope, a fiber optic gyroscope (FOG), a hemispherical resonant gyroscope (HRG), a vibrating structure gyroscope (VSG), a dynamically tuned gyroscope (DTG), or a London moment gyroscope.

[0063] Light Sensor

[0064] In one embodiment, speaker 105A may include a light sensor to detect the ambient light level surrounding speaker 105A. The light sensor may be a photoresistor or light-dependent resistor (LDR) that decreases in resistance as incident light increases. In one embodiment, the detection of more or less ambient light may indicate a change in the environment of speaker 105A. For example, using a heuristic, operation 609 may determine that speaker 105A is initially in an environment where the light level does not extend beyond a certain level during a specified period of time (e.g., twenty-four hours). Upon detecting a light level that exceeds the certain level or exceeds a predetermined change in the level, operation 609 may determine that speaker 105A has moved to a new location. In response to this general determination of movement, a complete recalibration of speaker 105A and / or speaker 105B may need to be performed, as will be described below. Although described with respect to upper light levels, similar comparisons and determinations may be made with respect to lower light levels.

[0065] Accelerometer

[0066] In one embodiment, the speaker 105A may include an accelerometer to measure the acceleration of the speaker 105A. For example, the accelerometer may detect that the speaker 105A is accelerating at a rate of 0.2 meters per second. This acceleration information may be used to determine the total movement of the speaker 105A and the direction of movement of the speaker 105A. The accelerometer may be any type of accelerometer, including a capacitive accelerometer, a piezo-resistive accelerometer, a magnetic induction accelerometer, a micro-electromechanical (MEMS) accelerometer, etc.

[0067] In one embodiment, the readings from the accelerometer can be used to determine that the speaker 105A has been moved to a new surface or has been mounted in a different manner. For example, when the speaker 105A is placed on a hard surface (e.g., a table or hardwood floor), the sound from the speaker 105A may produce more severe vibrations than when the speaker 105A is placed on a soft surface (e.g., a carpeted floor). Similarly, when the speaker 105A is mounted on a rigid structure (e.g., mounted on a wall), the sound from the speaker 105A may produce more severe vibrations than when the speaker 105A is not attached to a rigid structure (e.g., placed on a carpeted floor). These changes in the placement of the speaker 105A may indicate that the speaker 105A has been moved and / or that the environment surrounding the speaker 105A has changed (i.e., the speaker 105A has been placed on a different surface).

[0068] thermometer

[0069] In one embodiment, the speaker 105A may include a thermometer to measure the ambient temperature surrounding the speaker 105A. In one embodiment, detecting that the temperature output from the thermometer has exceeded a previously recorded temperature may indicate that the speaker 105A has moved to another environment. For example, heuristic data may indicate that the speaker 105A is typically in an area where the ambient temperature is never above 75° Fahrenheit. However, the temperature reading at operation 609 may indicate that the ambient temperature surrounding the speaker 105A has risen to 90° Fahrenheit. This change in temperature may indicate that the speaker 105A has moved relative to the previous reading. Similar inferences may be made about historical low temperature levels. In one embodiment, the temperature level may be related to the time of year / season.

[0070] antenna

[0071] In one embodiment, the speaker 105A may include one or more antennas for detecting and / or transmitting wireless signals. In one embodiment, the antennas may be associated with the interface 213 - see Figure 2B Thus, the antenna may be adapted / designed for use with the IEEE 802.11 family of standards, the cellular Global System for Mobile Communications (GSM) standard, the cellular Code Division Multiple Access (CDMA) standard, the Long Term Evolution (LTE) standard, and the Bluetooth standard.

[0072] In one embodiment, the antenna may be used to detect general wireless noise / signals in the area of ​​the speaker 105A at operation 609. Comparing these detected wireless signal / noise values ​​to the heuristic data, operation 609 may determine that the speaker 105A has moved. For example, in some embodiments, the speaker 105A may be initially located in an environment with a large amount of microwave noise and / or near a wireless base station with a particular service set identifier (SSID). In response to detecting a decrease in microwave noise levels and / or a loss of detection of the base station, operation 609 may determine that the speaker 105A has moved from the initial location.

[0073] In one embodiment, triangulation of the speaker 105A relative to multiple wireless devices may be performed to determine the exact location of the speaker 105A. For example, using received signal strength indication (RSSI) readings from three or more wireless devices (e.g., access points, wireless controllers, mobile phones, etc.), the location of the speaker 105A may be estimated. This estimated location may be compared to a previous location to determine if the speaker 105A has moved.

[0074] microphone

[0075] In one embodiment, the speaker 105A may include one or more microphones. The microphone can sense sounds and convert these sensed sounds into electrical signals. The microphone can be any type of acoustic-electric transducer or sensor, including a micro-electromechanical system (MEMS) microphone, a piezoelectric microphone, an electret condenser microphone, or a dynamic microphone. The microphones can operate together as a microphone array. In such embodiments, array processing can be performed, which can use various weights and delays for microphone signals to produce a range of polar pickup patterns, such as cardioid, omnidirectional, and figure 8. The generated polar pattern changes the direction and area of ​​the sound captured at the location adjacent to the speaker 105A. In one embodiment, the polar pattern of the microphone can change continuously over time.

[0076] In one embodiment, the microphone can be used to determine the position of the speaker 105A relative to another sound source. For example, the microphone can detect sounds within the cabinet 111 of the speaker 105a, which are emitted from the speaker 105B. Based on these detected sounds and the knowledge of the time when the sound was initially played by the speaker 105B or the level at which the sound was played, operation 609 can determine the delay time and / or level difference. Based on the general or specific determination of the propagation of sound in the listening area 101, these delay and level difference values ​​can be used to estimate the relative distance between the speaker 105A and the speaker 105B. By comparing these values ​​with the previous position / distance, operation 609 can determine whether the speaker 105A has moved relative to another sound source and the direction and distance of the movement.

[0077] Although described as calculating the position / distance relative to speaker 105B, in other embodiments, other sound sources may be utilized. For example, in other embodiments, sound from listener 107 or noise from a fixed source (e.g., noise from a refrigerator compressor) may be used to calculate the position / distance using similar techniques.

[0078] In one embodiment, the microphone can be used to determine the characteristics of the environment in which the speaker 105A is currently located. For example, the microphone can be used to detect the sound emitted by the speaker 105A. The detected sound can be analyzed to determine the presence of an echo, the level of the echo, and the delay between the echo and the initial output sound. For example, in one embodiment, a large echo that appears with minimal delay can indicate that the speaker 105A is adjacent to a wall or other hard surface (e.g., furniture). In one embodiment, the presence and characteristics of the echo can be compared with previously detected sounds to determine whether the speaker 105A has moved. For example, the absence of an echo or a reduction in the level of the echo compared to a previous microphone reading can indicate that the speaker 105A has moved.

[0079] Pressure Sensors

[0080] In one embodiment, the speaker 105A may include a pressure sensor to detect the pressure surrounding the speaker 105A. In one embodiment, the pressure sensor may be a microphone or a barometer. The pressure sensor may determine the movement of the speaker 105A based on changes in ambient pressure. For example, at operation 601, the air pressure may be detected as 1000 millibars. In contrast, at operation 609, the air pressure may be detected as 1100 millibars. This change in pressure may indicate that the speaker 105A environment has changed and has moved. The movement may be attributed to moving to a new floor within a building. In one embodiment, the pressure level may be related to the time of year / season.

[0081] Current / voltage sensor

[0082] In one embodiment, the speaker 105A may include a current / voltage monitor. The current / voltage monitor may monitor the current level and / or voltage level from the electrical outlet from which the speaker 105A receives power. For example, the current / voltage sensor may indicate that the speaker 105A is currently receiving 15 amps at 121 volts. In contrast, the current / voltage sensor may have previously detected 14 amps at 119 volts. This change in current and / or voltage may indicate that the speaker 105A has been plugged into a different outlet because new measurements are thereby moved between measurements.

[0083] In one embodiment, one or more of the above sensor values ​​may be used to determine movement of the speaker 105A by comparison to a set of associated thresholds and / or levels of change. For example, at operation 609, the determined current ambient light level may be compared to a threshold provided by a previous measurement (e.g., the ambient light value recorded at operation 601). In response to determining that the detected ambient light value at operation 609 differs from the threshold ambient light value by a predetermined amount of change, operation 609 may determine that the speaker 105A has moved. As described above, the thresholds may be specific to the time of year and the time of day.

[0084] In one embodiment, the sensor 217 can record values ​​at predetermined time intervals (e.g., at one-minute intervals). In other embodiments, one or more of the sensors 217 can remain active at all times. In one embodiment, one of the sensors 217 can trigger another sensor 217 to power on. For example, an accelerometer, gyroscope, compass, or antenna can be used to trigger a camera, light sensor, thermometer, microphone, pressure sensor, and / or current / voltage sensor to power on. In these embodiments, based on the accelerometer, gyroscope, compass, and / or antenna detecting movement as described above, one or more of these devices can trigger other sensors to power on. In this way, power can be saved while allowing potentially more power-consuming sensors to operate to detect movement of the speaker 105A.

[0085] Although described above with respect to the analysis of individual sensors 217 to determine the environmental movement or change of the speaker 105A, in other embodiments, operation 609 may use a combination of two or more sensors 217 for the analysis. For example, operation 609 may determine an overall confidence level of environmental movement or change based on readings from multiple sensors 217. In this embodiment, one sensor 217 may strongly indicate movement, while multiple other sensors 217 may indicate that the speaker 105A has not moved. Therefore, operation 609 may infer that the movement determination made by one sensor 217 is inaccurate based on the contrary conclusions of most of the other sensors 217.

[0086] Similarly, in one embodiment, the extent and / or direction of movement of the speaker 105A may be calculated based on inputs from multiple sensors 217. For example, analysis of the readings from the camera may indicate that the speaker 105A has moved one meter to the left, while the readings from the antenna may indicate that the speaker 105A has moved three meters to the left. In this embodiment, operation 609 may average the two distance values ​​and determine that the speaker 105A has moved two meters to the left. Similar calculations may also be applied to the direction value. Although described as a strict average between values, in other embodiments, a weighted average may be calculated based on the confidence level of a specific sensor 217 reading (e.g., based on signal strength, alignment of the calculated value with other calculated estimates, and / or confidence of historical analysis of each estimate). In other embodiments, other statistical and analytical techniques may be used in operation 609 to determine the extent of movement and movement.

[0087] When it is determined at operation 609 that speaker 105A has moved, method 600 may move to operation 611 to determine whether the movement is significant enough to warrant a complete recalibration of speaker 105A and / or speaker 105B. For example, where operation 609 determines the distance of movement and / or the degree of reorientation (e.g., rotation or tilt), operation 611 may compare these values ​​to a set of predetermined thresholds. In this embodiment, where it is determined that the determined values ​​from operation 609 are relatively small (e.g., less than the thresholds), method 600 may move to operation 613 to adjust the first set of parameters based on the values ​​from operation 609.

[0088] As described above, these parameters may include delays, level differences, gain values, and / or phase values ​​for driving each of the transducers 109 in the speakers 105A and / or 105B. Since the extent of the movement / reorientation determined at operation 609 is relatively small based on the comparison with the threshold at operation 611, a "small" adjustment may be made to the first set of parameters at operation 613 to generate a second set of parameters (without having to determine the complete environment of the speakers 105a, 105b again, or without having to recalibrate the system to generate a new set of parameters or settings for driving the transducers 109). The adjustments generated at operation 613 may be based on previously known similar configurations and / or other heuristic values. For example, the adjustments at operation 613 may be based on a positioning model of the speaker 105A, the speaker 105B, and / or the listener 107. In addition, the adjustments are such that the sound produced by the speakers 105A and / or 105B remains similar or the same at the location of the listener 107, despite the fact that the complete environment has not been recalibrated or determined. That is, the second (adjusted) set of parameters ensures that the sound level and sound viewing direction produced by speakers 105A and / or 105B at listener 107 after the movement detected at operation 609 are similar to or the same as the level and direction at listener 107 before speaker 105A was moved when the first set of parameters was utilized.

[0089] When the determined values ​​from operation 609 are 1) determined to be significant (i.e., above a predetermined threshold) at operation 611 or 2) operation 609 fails to produce a specific movement or change in the environmental value (i.e., operation 609 only determines that the speaker 105A has moved generally), the method 600 may move to operation 615. At operation 615, a complete recalibration of the speaker 105A and / or the speaker 105B may be performed to produce a second set of parameters. The complete recalibration may include utilizing an independent device other than the speakers 105A and 105B and the audio receiver 103 to determine the position, orientation, and environment of the speakers 105A and 105B. As described above, the complete recalibration may include playing a set of audible or inaudible test sounds through the speakers 105A and / or 105B and detecting these test sounds by an independent listening device that may be positioned adjacent to the listener 107. However, in other embodiments, other recalibration techniques may be utilized, including techniques based on input received from the sensor 217.

[0090] After generating the second set of parameters by either a small adjustment to the first set of parameters at operation 613 or by a complete recalibration at operation 615, operation 617 may play a segment of the sound program content received at operation 603 using the second set of parameters. Similar to the first set of parameters, the second set of parameters results in an expected set of sounds being produced at the location of listener 107 based on the new configuration of speaker 105A (by generating a drive signal for transducer 109 according to the second set of parameters). As described above, by detecting movement of speaker 105A and attempting to first "adjust only" the parameters used to drive speakers 105A and / or 105B before performing a complete recalibration, method 600 provides a more efficient solution to ensure accurate playback of audio at listening area 101.

[0091] As explained above, embodiments of the present invention may be articles of manufacture in which instructions are stored on a machine-readable medium (such as a microelectronic memory) that program one or more data processing components (generally referred to herein as "processors") to perform the above operations. In other embodiments, some of these operations may be performed by specific hardware components including hardwired logic components (e.g., dedicated digital filter blocks and state machines). Alternatively, those operations may be performed by any combination of programmed data processing components and fixed hardwired circuit components.

[0092] While certain embodiments have been described and shown in the drawings, it is to be understood that such embodiments are intended to illustrate the broad invention only and not to limit it, and that the invention is not limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those skilled in the art. Accordingly, the description is to be regarded as illustrative rather than restrictive.

Claims

1. A method for adjusting driving parameters for one or more loudspeakers, comprising: driving the one or more speakers by an audio source based on a first set of drive parameters to produce one or more beam patterns, the first set of drive parameters accommodating echoes caused by surfaces of a structure constituting a listening area in which the one or more speakers are located or objects located in the listening area; detecting a level of movement of the one speaker based on one or more sensors integrated in a cabinet of the one of the one or more speakers; if the level of movement of the one loudspeaker is below a threshold level, adjusting the first set of drive parameters to account for the level of movement of the one loudspeaker, resulting in a second set of drive parameters; as well as if the level of movement of the one loudspeaker is not below a threshold level, performing a complete recalibration of the one or more loudspeakers to generate the second set of drive parameters, the complete recalibration comprising determining positions of the one or more loudspeakers relative to a structure forming the listening area or an object located in the listening area, the second set of drive parameters accommodating echoes caused by a surface of the structure forming the listening area or an object located in the listening area; The one or more speakers are driven by the audio source based on the second set of drive parameters to produce a second one or more beam patterns, the second set of drive parameters comprising changes in delay and gain values ​​compared to the first set of drive parameters.

2. The method of claim 1, wherein at least one of the one or more speakers includes a microphone that detects sound emitted by the one or more speakers, the sound being used to determine the presence or level of echo. 3 . The method of claim 1 , wherein performing the full recalibration comprises using a device separate from the one or more speakers and the audio source to determine an environment for the one or more speakers.

4. The method of claim 3, wherein the full recalibration comprises generating a series of sounds by the one or more speakers and detecting the series of sounds by a microphone or microphone array of the device to determine the position and orientation of the one or more speakers. 5 . The method of claim 1 , wherein the full recalibration comprises determining the position and orientation of the one or more speakers based on a video or image using object recognition. 6 . The method of claim 1 , wherein at least one of the one or more speakers comprises a compass for determining an orientation of the at least one of the one or more speakers.

7. The method of claim 1, wherein the one or more sensors include one or more of: a video camera, a still image camera, a compass, an accelerometer, a light sensor, a wireless antenna, a thermometer, a current and voltage monitor, a microphone, a gyroscope, and a pressure monitor.

8. The method according to claim 1, further comprising: capturing, by a camera integrated on a top surface or a bottom surface of the one speaker, a first image representing an area above or below the one speaker at a first point in time; capturing, by the camera, a second image representing an area above or below the one speaker at a second point in time; detecting a pattern at a first position in the first image; detecting the pattern at a second position in the second image; as well as The movement level and movement direction of the one speaker are determined based on a distance between the first position in the first image and the second position in the second image.

9. The method of claim 1, wherein the movement describes one or more of a vertical movement, a horizontal movement, a tilt movement, and a rotational movement of the one speaker.

10. The method of claim 1, wherein the second set of drive parameters accommodates changes in distance between any of the one or more speakers.

11. The method of claim 1 , wherein the second set of driving parameters is adapted to a current or voltage level of a power outlet of any of the one or more speakers.

12. The method of claim 1, wherein the second set of driving parameters adapts to changes in ambient light levels, ambient temperature levels, or air pressure levels.

13. The method of claim 1, wherein the second set of drive parameters accommodates changes in the orientation of the one loudspeaker relative to objects or surfaces and a listener in the listening area.

14. A loudspeaker, comprising: A box body, the box body forming the structure of the speaker; one or more transducers, wherein the one or more transducers are integrated in the housing; one or more sensors for generating a sensor signal corresponding to a detected physical quantity associated with the speaker; and an orientation and positioning unit for determining movement of the loudspeaker or a change in the environment based on the sensor signal and generating new drive parameters in response to the detected movement of the loudspeaker, the new drive parameters being used to drive the one or more transducers, If the movement level of the loudspeaker is below a threshold level, the orientation and positioning unit generates the new driving parameters determined by adjusting the old driving parameters, if the level of movement of the loudspeaker is not below the threshold level, performing a complete recalibration of one or more loudspeakers including the loudspeaker to generate new drive parameters, the complete recalibration comprising determining positions of the one or more loudspeakers relative to a structure constituting a listening area in which the one or more loudspeakers are located or an object located in the listening area, the new drive parameters accommodating changes in echoes caused by a surface of the structure or an object in the listening area; The new driving parameters include changes in delay and gain values ​​compared to the old driving parameters.

15. The speaker of claim 14, wherein at least one of the one or more speakers includes a microphone to detect sound emitted by the one or more speakers, the sound being used to determine the presence or level of echo.

16. The loudspeaker of claim 14, wherein the complete recalibration comprises using equipment separate from the loudspeaker.

17. A speaker according to claim 16, wherein the full recalibration comprises a series of sounds produced by the one or more speakers and detected by a microphone or microphone array of the device to determine the position and orientation of the one or more speakers.

18. The speaker of claim 14, wherein the full recalibration comprises determining the position and orientation of the one or more speakers based on a video or image using object recognition.

19. The speaker of claim 14, further comprising: a camera integrated on a top or bottom surface of the speaker to capture 1) a first image representing an area above or below the speaker at a first point in time, and 2) a second image representing an area above or below the speaker at a second point in time, wherein the orientation and positioning unit 1) detects a pattern at a first position in the first image; 2) detecting the pattern at a second position in the second image; and 3) determining the movement level and movement direction of the speaker based on a distance between the first position in the first image and the second position in the second image.

20. The speaker of claim 14, wherein the movement describes one or more of vertical movement, horizontal movement, tilt movement, and rotational movement of the speaker.

21. The loudspeaker of claim 14, wherein the new drive parameters accommodate changes in distance between any of the one or more loudspeakers.

22. The speaker of claim 14, wherein the new drive parameters are adapted to the current or voltage level of a power outlet of any of the one or more speakers.

23. The loudspeaker of claim 14, wherein the new drive parameters adapt to changes in ambient light levels, ambient temperature levels, or air pressure levels.

24. The loudspeaker of claim 14, wherein the new drive parameters accommodate changes in the orientation of the loudspeaker relative to objects or surfaces and a listener in the listening area.

25. A non-transitory machine-readable storage medium for adjusting a drive parameter of one or more loudspeakers, the non-transitory machine-readable storage medium storing instructions that, when executed by a processor in a computer, driving the one or more speakers by an audio source to output one or more beam patterns based on a first set of drive parameters that accommodate echoes caused by surfaces or objects in a listening area; detecting a change in an environment of the one speaker in a listening area based on one or more sensors integrated within one of the one or more speakers; if the detected change is below a threshold level, adjusting the first set of drive parameters for driving the one or more speakers to account for the change in the one speaker; as well as If the detected change is not below the threshold level, performing a complete recalibration of the one or more loudspeakers to produce a second set of drive parameters, the complete recalibration comprising determining positions of the one or more loudspeakers relative to structures or objects in the listening area, the second set of drive parameters accommodating echoes caused by surfaces or objects in the listening area; wherein the second set of drive parameters comprises changes in delay and gain values ​​compared to the first set of drive parameters for the one or more speakers and is used to drive the one or more speakers to produce a second one or more beam patterns such that the sound level and sound viewing direction produced by the one or more speakers at a listener after the one speaker is moved are similar or identical to the sound level and sound viewing direction at the listener before the one speaker is moved when the first set of parameters is utilized.

26. The non-transitory machine-readable storage medium of claim 25, wherein at least one of the one or more speakers comprises a microphone that detects sound emitted by the one or more speakers, the sound being used to determine the presence or level of echo.

27. The non-transitory machine-readable storage medium of claim 25, wherein the complete recalibration comprises using a device separate from the one or more speakers.

28. The non-transitory machine-readable storage medium of claim 27, wherein the full recalibration comprises generating a series of sounds by the one or more speakers and detecting the series of sounds by a microphone or microphone array of the device to determine the position and orientation of the one or more speakers.

29. The non-transitory machine-readable storage medium of claim 25, wherein the full recalibration comprises determining the position and orientation of the one or more speakers based on a video or image using object recognition.

30. The non-transitory machine-readable storage medium of claim 25, wherein the non-transitory machine-readable storage medium stores further instructions that, when executed by the processor: detecting a pattern at a first location in a first image, wherein the first image is captured by a camera integrated on a top surface or a bottom surface of the one speaker, and the first image represents an area above or below the one speaker at a first point in time; detecting the pattern at a second position in a second image, wherein the second image is captured by the camera integrated on a top surface or a bottom surface of the one speaker, and the second image represents the area above or below the one speaker at a second point in time; as well as The change of the one speaker is determined based on a distance between the first position in the first image and the second position in the second image.

31. The non-transitory machine-readable storage medium of claim 25, wherein the change in the environment describes one or more of vertical movement, horizontal movement, tilt movement, and rotational movement of the one speaker.

32. The non-transitory machine-readable storage medium of claim 25, wherein the second set of drive parameters accommodates changes in distance between any of the one or more speakers.

33. The non-transitory machine-readable storage medium of claim 25, wherein the second set of driving parameters accommodates a current or voltage level of an electrical outlet of any of the one or more speakers.

34. The non-transitory machine-readable storage medium of claim 25, wherein the second set of drive parameters accommodates changes in ambient light levels, ambient temperature levels, or air pressure levels.

35. The non-transitory machine-readable storage medium of claim 25, wherein the second set of drive parameters accommodates changes in orientation of the one speaker relative to objects or surfaces and a listener in the listening area.

Images