Proximity dependent sound distribution for compact audio reproduction devices

Abstract

Techniques for generating sound in a system including a compact audio reproduction device are described. In some embodiments, the techniques include determining a first distance between a first speaker and the compact audio reproduction device; determining a first corner frequency of a first distance filter based on the first distance; generating a first modified audio signal for the first speaker, wherein an amplitude of the first modified audio signal is based on an input audio signal and the first distance filter; and transmitting the first modified audio signal to the first speaker.

Description

[0001] Cross - reference to related applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 607,659, filed on December 8, 2023, entitled "Proximity - related Sound Radiation". The subject matter of this related application is hereby incorporated herein by reference. Technical field

[0003] The contemplated embodiments generally relate to audio systems and, more particularly, to proximity - related sound distribution in compact audio reproduction devices. Background art

[0004] A variety of consumer devices output sound to enhance the user experience when interacting with the consumer device. For example, various products emit sound to entertain the user. In such products, the sound - generating circuit stores pre - recorded sound files or generates the sound to be output on - the - fly. When the product receives an input, such as pressing a button, the sound - generating circuit loads the pre - recorded sound file or generates the sound and drives the speaker to output the corresponding audio. Currently, audio reproduction devices can be formed to be as small as 1 or 2 cubic centimeters in physical size, enabling many new audio applications. For example, compact audio devices can now be included in small interactive devices, such as interchangeable parts of interactive toys.

[0005] At least one drawback of compact audio devices is that it is difficult for them to reproduce the timbre of many pre - recorded or generated sounds. Specifically, compact audio devices typically cannot generate the desired low - frequency audio output level. This undesirable characteristic may be due to the limited battery capacity of the compact audio device and / or the limited volume behind the speaker. For example, due to battery - life considerations, many compact audio devices do not operate at full - drive voltage levels to avoid an undesirable short playback time. Additionally, due to the limited size of such devices, the volume behind the speaker (which is the enclosed space behind the speaker diaphragm) is inherently too small to produce sufficient bass response. As a result, compact audio devices experience a roll - off at frequencies up to 1000 Hz and typically cannot output notes below 650 Hz, which amounts to a full three - octave bandwidth missing compared to outputs from larger systems. For example, traditional - sized Bluetooth speakers and soundbars typically have audio outputs as low as 80 Hz or lower. Due to the lack of low - frequency audio output that many compact audio devices cannot produce, the sound of a V8 engine played through a compact audio device may sound more like a small motorcycle, and other sounds (such as the broad - spectrum sound generated by drums) may be difficult or impossible to accurately reproduce via a compact audio device.

[0006] Another disadvantage of compact audio devices is that the battery life can be extremely limited. Thus, in many cases, the audio playback time of compact audio devices can be unacceptably short. Additionally, in some cases, in order to maintain a minimum audio playback time before battery discharge, the sound output level of compact audio devices is typically limited to such a low level that the speakers included in the compact audio devices cannot achieve high-fidelity output, thus degrading the listening experience.

[0007] As previously mentioned, there is a need in the art for more efficient techniques for more effectively reproducing low-frequency output using compact audio devices. Summary of the Invention

[0008] One embodiment of the present disclosure recites a computer-implemented method that includes: determining a first distance between a first speaker and a compact audio reproduction device; determining a first corner frequency of a first distance filter based on the first distance; generating a first modified audio signal for the first speaker, wherein the amplitude of the first modified audio signal is based on an input audio signal and the first distance filter; and transmitting the first modified audio signal to the first speaker.

[0009] At least one technical advantage of the disclosed technology over the prior art is that, using the disclosed technology, an audio system including a compact audio reproduction device can distribute audio signals to one or more satellite speakers in a physical listening area, thereby extending the frequency range of the reproduced sound and not causing listener confusion due to the apparent position of the sound source deviating from the position of the device / object within the listening environment. Specifically, the distance between the compact audio reproduction device and the satellite speaker within the listening environment is determined, and an additional band-limited signal to be sent to the satellite speaker is created based on that distance. By providing the additional band-limited signal to the satellite speaker, such as for generating low-frequency audio output, the audio system provides real-time audio reproduction with an extended frequency range for an object within the listening environment. Thus, the audio system effectively provides increased bandwidth, more natural reproduction of sound within the listening environment, which responds to the movement of an object or device, including the compact audio reproduction device, within the listening environment. Additionally, such extended-frequency-range audio reproduction can be generated without the need for large and expensive processing resources. Furthermore, by using techniques compatible with a variable number of satellite speakers, an audio system using the disclosed technology can provide perceptually accurate audio within the listening environment using any number of speakers positioned within the listening environment. These technical advantages provide one or more technical improvements over prior art methods. Brief Description of the Drawings

[0010] In order to understand the manner in which the above-described features of the various embodiments can be detailed, the inventive concept briefly outlined above can be described more specifically by reference to the various embodiments, some of which are shown in the drawings. However, it should be noted that the drawings only show typical embodiments of the inventive concept and should not be considered to limit the scope in any way, and there are other equivalent embodiments.

[0011] Figure 1A and Figure 1B is a simplified diagram showing an audio processing system according to various embodiments;

[0012] Figure 2 shows an example distance filter for generating an audio signal based on a measured distance between a satellite speaker and a compact audio reproduction device;

[0013] Figure 3 shows, according to various embodiments, the Figure 1A or Figure 1B example physical listening environment occupied by the audio processing system and speakers; and

[0014] Figure 4 shows a flowchart of method steps for generating an audio signal based on the distance from one or more satellite speakers to a tracked physical object according to various embodiments. Detailed Description

[0015] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the various embodiments. However, it will be apparent to one of ordinary skill in the art that the inventive concept may be practiced without one or more of these specific details.

[0016] Introduction

[0017] According to various embodiments, an audio processing system runs audio reproduction with an extended frequency range for an object or device in a listening environment that includes a compact audio reproduction device, even if one or more objects change position in real time within the listening environment. In an embodiment, a distance between the compact audio reproduction device and a satellite speaker within the listening environment is determined. Based on the distance and an audio input signal representing sound associated with the object or device, a modified audio signal for the satellite speaker is generated and transmitted to the satellite speaker. Generally, the modified audio signal is a band-limited signal, such as for generating low-frequency audio that the compact audio reproduction device cannot output and that is output by the satellite speaker. Thus, the audio processing system uses the audio stream from the satellite speaker to extend the audio playback experience provided by the compact audio reproduction device. In this way, the audio processing system produces a more immersive listening experience by providing reproduced sound that has increased bandwidth, sounds more natural, and responds to movement of the object or device within the listening environment that includes the compact audio reproduction device associated with the reproduced sound.

[0018] System Overview

[0019] Figure 1A and Figure 1B FIG. 1 is a simplified diagram showing an audio processing system 100 according to various embodiments. As shown, the audio processing system 100 includes, but is not limited to, a computing device 110, a compact audio reproduction device 140, one or more sensors 150, and one or more satellite speakers 160. In Figure 1A the illustrated embodiment, the computing device 110 is shown as being located external to the compact audio reproduction device 140, while in Figure 1B others, the computing device 110 is shown as being located internal to the compact audio reproduction device 140.

[0020] The audio processing system 100 can be implemented in various forms, such as an interactive device that includes a processor and local memory, a personal computer, and the like. For example, the audio processing system 100 can be incorporated into one or more interactive toys ( For example , a bird toy that includes a voice box). Additionally or alternatively, in some embodiments, the audio processing system 100 can be incorporated into other types of non-toy consumer devices. The audio processing system 100 can use a dedicated processing device and / or a separate computing device (such as the user's mobile computing device or a cloud computing system) to perform certain processing functions. The audio processing system 100 can use any number of various types of sensors to detect various environmental values, and these sensors can be attached to other system components, integrated with other system components, or set up separately.

[0021] The compact audio reproduction device 140 serves as a sound source for an interactive toy or other object. Generally, the compact audio reproduction device 140 includes, but is not limited to, an input audio signal 132 and an input sound profile 134. Typically, the input audio signal 132 and / or the input sound profile 134 may correspond to sound effects or other sounds nominally generated by the toy or object in which the compact audio reproduction device 140 is included but actually generated by the internal speaker 142 and / or one or more satellite speakers 160 of the compact audio reproduction device 140. For example, the compact audio reproduction device 140 may be included in ( For example , an ambulance) or attached to an interactive toy, and store the input audio signal 132 and / or the input sound profile 134, either of which enables the internal speaker 142 to reproduce an associated sound output ( For example , a siren sound effect). In such a case, the audio processing application 120 tracks the distance between the satellite speaker 160 and the interactive toy within the physical listening environment and generates a set of modified audio signals for the satellite speaker 160 and the internal speaker 142 to reproduce the sound of the interactive toy.

[0022] As shown, the internal speaker 142 is disposed within the compact audio reproduction device 140. In contrast, the satellite speaker 160 is not disposed within the compact audio reproduction device 140 but is physically separated from the compact audio reproduction device 140.

[0023] In some embodiments, the compact audio reproduction device 140 may be a modular and / or removable component of such an interactive toy or object. In such an embodiment, one instance of the compact audio reproduction device 140 may be swapped out or replaced with a different instance of the compact audio reproduction device 140, and / or may be installed in multiple different interactive toys or objects to provide an immersive audio experience through the different interactive toys or objects. Thus, the compact audio reproduction device 140 may include, but is not limited to, the internal speaker 142, a wireless communication module 144, and / or a battery 146. In some embodiments, the compact audio reproduction device 140 may have a size of approximately one or two cubic centimeters. Thus, the compact audio reproduction device 140 typically has a limited battery life, and the built-in speaker 142 typically has a limited speaker rear volume. Thus, in such an embodiment, the compact audio reproduction device 140 may not be able to produce low-frequency sounds and may thus experience a roll-off at frequencies up to 1000 Hz.

[0024] The computing device 110 enables the implementation of various embodiments described herein. Thus, the computing device 110 generates an audio signal to drive the internal speaker 142 and one or more satellite speakers 160 to partially generate a sound field. The computing device 110 includes, but is not limited to, a processing unit 112 and a memory 114. The memory 114 stores, but is not limited to, an audio processing application 120, one or more modified audio signals 122, and one or more modified sound profiles 124. In an embodiment where the computing device 110 is implemented outside the compact audio reproduction device 140, as Figure 1B shown, the computing device 110 obtains an input sound profile 134 and / or an input audio signal 132 from the compact audio reproduction device 140, and stores the input sound profile 134 and / or the input audio signal 132. In such an embodiment, the audio processing application 120 can then identify the compact audio reproduction device 140 and retrieve the input sound profile 134 and / or the input audio signal 132 to generate a set of modified audio signals for reproduction by the satellite speakers 160 and the internal speaker 142.

[0025] In various embodiments, the computing device 110 transmits a set of modified audio signals to the internal speaker 142 and one of the one or more satellite speakers 160 in the audio processing system 100. In various embodiments, the computing device 110 can be a central unit in a home theater system, a soundbar, and / or another device that communicates with one or more satellite speakers 160, such as Figure 1A shown. In various embodiments, the computing device 110 can be included in the compact audio reproduction device 140, as Figure 1B shown. In various embodiments, the computing device 110 can be included in one or more devices, such as consumer products ( For example , interactive toys, portable speakers, gaming devices, etc.), smart home devices ( For example , smart lighting systems, security systems, digital assistants, etc., vans, etc.), communication systems ( For example , conference call systems, video conferencing systems, speaker amplification systems, etc.), etc. In various embodiments, the computing device 110 is located in various environments, including but not limited to indoor environments ( For example , living rooms, meeting rooms, conference halls, home offices, etc.) and / or outdoor environments ( For example , patios, rooftops, gardens, etc.). In some embodiments, the computing device 110 is a low-power, limited-processing, and / or limited-memory device that implements lightweight processing of incoming data. For example, the computing device 110 can be a RaspberryPi ( For example , Pi or ), which includes a processor (such as, a digital signal processor), a memory ( For example , 1 - 4MB RAM) and a storage device ( For example , a flash card). For example, the computing device 110 can be a development board, such as a microcontroller development board, or any other board that includes a processor used as a digital signal processor, such as Cortex M4, or other lightweight computing devices.

[0026] The processing unit 112 can be any suitable processor, such as a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), a multi-core processor, and / or any other type of processing unit, or a combination of two or more of the same type and / or different types of processing units, such as a system on a chip (SoC), or a CPU configured to operate in conjunction with a GPU. The processing unit 112 can be an on-board processor of a Raspberry Pi, Teensey, or other computing device. Generally speaking, the processing unit 112 can be any technically feasible hardware unit capable of processing data and / or executing software applications.

[0027] The memory 114 can include random access memory (RAM) modules, flash memory cells, or any other type of memory cells, or a combination thereof. The processing unit 112 is configured to read data from and write data to the memory 114. In various embodiments, the memory 114 includes non-volatile memory, such as an optical drive, a magnetic drive, a flash drive, or other storage devices. In some embodiments, a separate data repository (such as an external device) included in a network (“cloud storage device”) supplements the memory 114. The audio processing application 120 within the memory 114 can be executed by the processing unit 112 to implement the overall functions of the computing device 110, including the audio processing application 120 and / or processing incoming data from the sensor 150, and thus overall coordinate the operation of the computing device 110. The memory 114 can be an on-board memory of a Raspberry Pi, Teensey, or other computing device. In various embodiments, an interconnect bus (not shown) connects the processing unit 112, the memory 114, and any other components of the computing device 110.

[0028] Memory 114 stores the input audio signal 132 and / or the input sound profile 134 received from the compact audio reproduction device 140. For example, in some embodiments, the computing device 110 receives the input sound profile 134 including the input audio signal 132 from the compact audio reproduction device 140 and stores the input sound profile 134 in the memory 114. In some embodiments, the audio processing application 120 separately receives the input audio signal 132 and the input sound profile 134. Additionally or alternatively, in some embodiments, the computing device 110 stores one or more modified audio signals 122 generated based on the input audio signal 132. Further, in some embodiments, the memory 114 stores additional instances of the input audio signal 132 and / or the input sound profile 134 for one or more additional instances of the compact audio reproduction device 140. In such embodiments, the audio processing application 120 identifies a particular instance of the compact audio reproduction device 140 and retrieves the appropriate instance of the input audio signal 132 and / or the input sound profile 134 associated with the particular instance of the compact audio reproduction device 140.

[0029] The sensor 150 includes various types of sensors for tracking the positions of the compact audio reproduction device 140 and each satellite speaker 160 within the listening environment (not shown). Additionally or alternatively, in some embodiments, the sensor 150 includes various types of sensors for measuring the distances between the compact audio reproduction device 140 and each satellite speaker 160. For example, in some embodiments, the sensor 150 includes various types of tracking sensors that obtain sensor data, such as optical sensors, position sensors, IMUs, audio sensors, and the like. In an embodiment where one or more sensors 150 are disposed within the compact audio reproduction device 140, the compact audio reproduction device 140 sends the sensor data in one or more messages to the audio processing application 120 for processing to determine the position of the compact audio reproduction device 140. Similarly, in an embodiment where one or more sensors 150 are physically separated from the compact audio reproduction device 140, one or more sensors 150 send the sensor data in one or more messages to the audio processing application 120 for processing to determine the position of the compact audio reproduction device 140.

[0030] The sensor 150 may include various types of sensors that obtain sensor data from the listening environment. For example, the computing device 150 may include sensors for receiving multiple types of sounds ( For example, an auditory sensor for subsonic pulses, ultrasonic waves, voice commands, etc.). In some embodiments, sensor 150 includes optical sensors (such as RGB cameras, time-of-flight cameras, infrared cameras, depth cameras), quick response (QR) code tracking systems, potentiometers, proximity or presence sensors, motion sensors (such as accelerometers or inertial measurement units (IMUs)( For example , triaxial accelerometers, gyroscope sensors, and / or magnetometers)), pressure sensors, etc. Additionally, in some embodiments, sensor 150 may include wireless sensors (including radio frequency (RF) sensors( For example , sonar, and radar)) and / or wireless communication protocols (including Bluetooth, Bluetooth Low Energy (BLE), cellular protocols, and / or near field communication (NFC)).

[0031] In some embodiments, sensor 150 is a proximity sensor. In such embodiments, sensor 150 may use any technically feasible distance measurement technique, including but not limited to using ultrasonic waves, infrared light, computer imaging modes, etc. For example, in some embodiments, sensor 150 includes a microphone disposed within the compact audio reproduction device 140, which is capable of detecting inaudible audio signals generated by each satellite speaker 160 to determine the distance between the compact audio reproduction device 140 and each satellite speaker 160. In another example, in some embodiments, sensor 150 includes an ultrasonic sensor that measures the distance to the satellite speaker 160 by transmitting sound waves towards the satellite speaker 160 and measuring the time interval required for a portion of the transmitted sound waves to reflect back to the ultrasonic sensor. Additionally or alternatively, in some embodiments, one or more sensors 150 are disposed within each satellite speaker 160.

[0032] In some embodiments, the audio processing device 100 includes other types of sensors (not shown) in addition to sensor 150 to obtain information about the acoustic environment. Other types of sensors include cameras, quick response (QR) code tracking systems, motion sensors (such as accelerometers or inertial measurement units (IMUs)( For example , triaxial accelerometers, gyroscope sensors, and / or magnetometers)), pressure sensors, etc. Additionally, in some embodiments, sensor 150 may include wireless sensors (including radio frequency (RF) sensors( For example , sonar, and radar)) and / or wireless communication protocols (including Bluetooth, Bluetooth Low Energy (BLE), cellular protocols, and / or near field communication (NFC)).

[0033] Each of the one or more satellite speakers 160 and the internal speaker 142 provides sound output by reproducing the respective received audio signal. In some embodiments, the one or more satellite speakers 160 can be part of a wired or wireless speaker system, or part of any other device that generates sound output. In contrast, the compact audio reproduction device 140 includes an internal speaker. In various embodiments, the satellite speakers 160 can be incorporated into a speaker array and / or a single device ( For example , provided in a body having a form factor that includes multiple speakers) and share a common location. In various embodiments, the satellite speakers 160 are implemented using any number of different conventional form factors, such as a single consumer product, a discrete speaker device, a personal speaker, a body-worn (head, shoulder, arm, etc.) speaker device, and the like. In some embodiments, the satellite speakers 160 can be connected to an output device that additionally provides other forms of output, such as a display device that provides visual output.

[0034] Each of the one or more satellite speakers 160 and the internal speaker 142 of the audio processing system 100 can be an audio output device of any technically feasible type. For example, in some embodiments, each satellite speaker 160 and / or internal speaker 142 includes one or more digital speakers that receive an audio signal in digital form and convert the audio output signal into a pressure change or sound energy via a transducer process. According to various embodiments, each of the multiple satellite speakers 160 generates the sound output of the compact audio reproduction device 140 based on the modified audio signal 122 received from the audio processing application 120. Similarly, the internal speaker 142 generates the sound output of the compact audio reproduction device 140 based on the input audio signal 132 received from the audio processing application 120.

[0035] In operation, the audio processing application 120 determines the relative distances of the compact audio reproduction device 140 to one or more satellite speakers 160 and generates audio signals for reproduction by at least one satellite speaker 160 and / or the internal speaker 142. Specifically, the audio processing application 120 generates an input audio signal 132 for the internal speaker 142 and at least one modified audio signal 122 for reproduction by at least one satellite speaker 160. In some embodiments, the audio processing application 120 generates the modified audio signal 122 and the input audio signal 132 by first determining the distances between the compact audio reproduction device 140 and each satellite speaker 160. The audio processing application 120 then uses the respective calculated distances of each satellite speaker 160 to generate a set of modified audio signals that are adjusted at least according to the calculated distances. The audio processing application 120 then transmits the input audio signal 132 to the compact audio reproduction device 140 for reproduction by the internal speaker 142 and transmits the respective modified audio signals 122 to each satellite speaker 160 for reproduction.

[0036] In various embodiments, the audio processing application 120 determines the current distances between the compact audio reproduction device 140 and each satellite speaker 160 in the physical listening environment. Additionally or alternatively, the audio processing application 120 tracks these distances when the compact audio reproduction device 140 or the satellite speaker 160 moves. For example, in certain cases, the audio processing application 120 receives sensor data from one or more sensors 150. In such cases, the sensor data can include distance data for a given satellite speaker 160, such as a series of optical data and / or a series of auditory data received in response to a test signal generated by the computing device 110. In such cases, the sensor data can indicate the distances between the compact audio reproduction device 140 and each satellite speaker 160 at a given time, and the audio processing application 120 processes the sensor data to determine the distances between the compact audio reproduction device 140 and each satellite speaker 160. In some embodiments, the sensor data indicates that at least one satellite speaker 160 or the compact audio reproduction device 140 is moving. In embodiments where one or more sensors 150 are disposed within the satellite speaker 160, the satellite speaker 160 can acquire sensor data when moving and transmit a series of messages containing the acquired sensor data. In such embodiments, the audio processing application 120 can receive and aggregate the sensor data contained in the series of messages and determine the trajectory and / or current position of the satellite speaker 160.

[0037] Sound distribution of a compact audio reproduction device using a distance filter

[0038] In various embodiments, the audio processing application 120 generates audio signals for the internal speaker 142 and the satellite speakers 160 based on a set of calculated distances and one or more distance filters. In various embodiments, the audio processing application 120 uses one or more distance filters to modify the amplitude and / or phase of the input audio signal 132 to generate different modified audio signals 122 for one or more satellite speakers 160 based on the respective calculated distances between each satellite speaker 160 and the compact audio reproduction device 140. Additionally or alternatively, in some embodiments, the audio processing application 120 uses other functions to modify the input audio signal 132 based on the orientation of one or more satellite speakers 160 relative to the compact audio reproduction device 140.

[0039] In various embodiments, the audio processing application 120 selects a distance filter 128 from a set of candidate distance filters 128. For example, the computing device 110 may store a set of candidate distance filters 128, such as low-pass filters, high-pass filters, second-order or higher-order low-pass filters, second-order or higher-order high-pass filters, and / or band-pass filters. In an embodiment, the selected distance filter 128 attenuates the gain of the input audio signal 132 and / or changes its phase based on the distance between the compact audio reproduction device 140 and a particular satellite speaker 160. In such a case, the audio processing application 120 uses the selected distance filter 128 to modify the amplitude and / or phase of the input audio signal 132 for a given satellite speaker 160 and the internal speaker 142 based on the calculated distance between the given satellite speaker 160 and the compact audio reproduction device 140. In this way, the audio processing application 120 uses the selected distance filter 128 to generate the respective modified audio signals 122 for each satellite speaker 160 and a separate modified audio signal 122 for the internal speaker 142.

[0040] In some embodiments, to generate a particular modified audio signal 122, the audio processing application 120 uses a distance filter that includes a combination of two filters. In such an embodiment, the first of these filters attenuates the amplitude of the high-frequency portion of the input audio signal 132 and sends the resulting modified audio signal 122 to the satellite speaker 160. In contrast, the second of these filters attenuates the amplitude of the low-frequency portion of the input audio signal 132 and sends the resulting modified audio signal 122 to the internal speaker 142. Various example embodiments of the distance filter 128 are described below in connection with Figure 2 and Figure 3 describe various example embodiments of the distance filter 128.

[0041] Figure 2An example distance filter 200 for generating an audio signal based on a measured distance between a satellite speaker 160 and a compact audio reproduction device 140 is shown. In Figure 2 the illustrated embodiment, the distance filter 200 includes a low-pass filter 210 and a high-pass filter 220 (dashed lines). The low-pass filter 210 indicates the audio spectrum portion of the input audio signal 132 included in the modified audio signal 122 transmitted to the satellite speaker 160, while the high-pass filter 220 indicates the audio spectrum portion of the input audio signal 132 included in the modified audio signal 122 transmitted to the internal speaker 142.

[0042] As shown, the low-pass filter 210 includes a corner frequency 212 at which the frequency of the input audio signal 132 begins to drop to a zero amplitude value at a maximum threshold frequency 214, and the high-pass filter 220 includes a corner frequency 222 at which the frequency of the input audio signal 132 begins to drop to a zero amplitude value at a minimum threshold frequency 224. Thus, the low-pass filter 210 includes a falling region 216 corresponding to the portion of the audio spectrum of the input audio signal 132 between the corner frequency 212 and the maximum threshold frequency 214, while the high-pass filter 220 includes a falling region 226 corresponding to the portion of the audio spectrum of the input audio signal 132 between the corner frequency 222 and the minimum threshold frequency 224. In Figure 2 the illustrated embodiment, the falling region 216 of the low-pass filter 210 overlaps with the falling region 226 of the high-pass filter 220. In other embodiments, the degree of overlap between the falling region 216 and the falling region 226 is less than Figure 2 that shown in Figure 2 . Alternatively, in some embodiments, the degree of overlap between the falling region 216 and the falling region 226 is greater than Figure 2 that shown in

[0043] In Figure 2In the illustrated embodiment, a distance filter 200 may be employed to generate a first modified audio signal 122 for the internal speaker 142 and a second modified audio signal 122 for at least one satellite speaker 160. Thus, in this embodiment, the output audio stream associated with the input audio signal 132 may be split between two or more speakers, where the speaker(s) (e.g., one or more satellite speakers 160) that can more effectively reproduce the low-frequency sound output receive the low-frequency portion of the input audio signal 132, while the internal speaker 142 receives the high-frequency portion of the input audio signal 132. Accordingly, one or more satellite speakers 160 of the audio processing system 100 reproduce the portion of the audio spectrum of the input audio signal 132 that cannot be reproduced by the internal speaker 142, thereby significantly enhancing the sound quality delivered to the listener. Additionally, although the overall level of the audio output may increase slightly when the distance filter 200 processes the input audio signal 132 in this manner, the psychoacoustic loudness of the audio output by the audio processing system 100 does not increase proportionally due to the perceived low loudness weighting of frequencies below 200 Hz. For example, the Fletcher-Munson curves indicate that the perceived loudness of such low frequencies is much lower than the equal sound pressure level (SPL) of 1 - 3 kHz. Thus, placing an interactive toy or other object incorporating the compact audio reproduction device 140 within the threshold distance of the satellite speaker 160 causes the audio processing application 120 to employ the distance filter 200, resulting in an increase in the fullness of the sound produced by the audio processing system 100 without a sharp increase in loudness.

[0044] In Figure 2 In the illustrated embodiment, the corner frequency 212 of the low-pass filter 210 is a frequency different from the corner frequency 222 of the high-pass filter 220. In other embodiments, the corner frequency 212 of the low-pass filter 210 may be the same as the corner frequency 222 of the high-pass filter 220. In such an embodiment, the combined output of the internal speaker 142 and the one or more satellite speakers 160 reproduces frequencies across substantially the entire audio band without frequency gaps where the speakers emit audio with high amplitude.

[0045] In some embodiments, the low-pass filter 210 and / or the high-pass filter 220 are first-order filters. In other embodiments, the distance filter 200 includes higher-order filters, such as second-order filters, third-order filters, fourth-order filters, and / or even higher-order filters. These second-order and higher-order filters can result in a more abrupt transition between the passband and the stopband of the low-pass filter 210 and / or the high-pass filter 220. In some embodiments, the characteristics of the low-pass filter 210 and / or the high-pass filter 220 can be pre-determined and employed in the form of a look-up table that is based on the measured distance between the compact audio reproduction device 140 and the satellite speaker 160. Thus, in such embodiments, the low-pass filter 210 and / or the high-pass filter 220 can be selected from such a look-up table.

[0046] In some embodiments, the corner frequency 212 of the low-pass filter 210 and the corner frequency 222 of the high-pass filter 220 are each determined based on the measured distance between the compact audio reproduction device 140 and the satellite speaker 160 associated with the low-pass filter 210. Thus, in such embodiments, the corner frequency 212 and the corner frequency 222 vary according to the measured distance. For example, as the measured distance between the compact audio reproduction device 140 and the satellite speaker 160 increases, the corner frequency 212 of the low-pass filter 210 decreases to a lower frequency, as shown by arrow 218. Thus, the low-frequency portion of the audio spectrum of the input audio signal 132 is used to generate the modified audio signal 122 transmitted to the satellite speaker 160. For example, as the measured distance between the compact audio reproduction device 140 and the satellite speaker 160 increases, the corner frequency 222 of the high-pass filter 220 decreases to a lower frequency, as shown by arrow 228. Thus, a greater high-frequency portion of the audio spectrum of the input audio signal 132 is used to generate the modified audio signal 122 transmitted to the internal speaker 142. Conversely, as the measured distance between the compact audio reproduction device 140 and the satellite speaker 160 decreases, the corner frequency 212 of the low-pass filter 210 increases to a higher frequency. Thus, a greater low-frequency portion of the audio spectrum of the input audio signal 132 is used to generate the modified audio signal 122 transmitted to the satellite speaker 160. Similarly, as the measured distance between the compact audio reproduction device 140 and the satellite speaker 160 decreases, the corner frequency 222 of the high-pass filter 220 increases to a lower frequency, as shown by arrow 228. Thus, a smaller high-frequency portion of the audio spectrum of the input audio signal 132 is used to generate the modified audio signal 122 transmitted to the internal speaker 142.

[0047] In Figure 2In the illustrated embodiments, certain frequencies are depicted as cutoff frequency 214 and cutoff frequency 224. These frequencies are illustrative. In practice, any technically feasible frequencies for cutoff frequency 214 and cutoff frequency 224 can be implemented in distance filter 200. Additionally, cutoff frequency 214 and / or cutoff frequency 224 can vary according to the measured distance. For example, in some embodiments, cutoff frequency 214 can vary between 1 kHz and 7 kHz, and cutoff frequency 224 can vary between 100 Hz and 1 kHz.

[0048] In Figure 2 the illustrated embodiments, distance filter 200 is implemented as a set of two filters. In embodiments where the audio processing system includes three or more satellite speakers, distance filter 200 can be implemented as a set of three or more filters, where one filter corresponds to internal speaker 142, and a corresponding filter corresponds to each of the different satellite speakers 160. Additionally, in embodiments where more than one satellite speaker 160 is included in audio processing system 100, the amplitude of distance filter 200 can be further modified to account for two or more satellite speakers 160 playing sound. That is, when two (or more) satellite speakers 160 radiate sound to reinforce internal speaker 142, if each filter included in distance filter 200 has the same amplitude, the level of low-frequency sound from two or more satellite speakers 160 can be greater than the output of internal speaker 142. Thus, in one embodiment, when two (or more) satellite speakers 160 are included in audio processing system 100, the amplitude of the distance filter for each satellite speaker 160 can be reduced by a certain amount, which can be, for example, 6 dB. Other reductions in amplitude can also be made, such as 3 dB, or other values.

[0049] In some embodiments, the above-described filter can also modify the amplitude of input audio signal 132 outside of minimum and maximum thresholds. Although the term "distance filter" is used herein, it should be understood that this term can refer to a pair of filters, one for attenuating the high-frequency portion of input audio signal 132 and the other for attenuating the low-frequency portion of input audio signal 132.

[0050] In various embodiments, the audio processing application 120 drives the computing device 110 to transmit a set of modified audio signals 122 to one or more satellite speakers 160 of the audio processing system 100. In some embodiments, each of the corresponding satellite speakers 160 receives the corresponding modified audio signal 122 from the computing device 110 via a wired, wireless stream, or via a network. After receiving the corresponding modified audio signal 122, each satellite speaker 160 reproduces a corresponding audio output ( For example , generating sound waves) within the physical listening environment based on the corresponding modified audio signal 122. In various embodiments, the audio outputs (sound waves) generated by the one or more satellite speakers 160 and the internal speaker 142 combine to generate a sound field that provides a perceptually accurate location of the compact audio reproduction device 140 within the physical listening environment, or provides a perceptually accurate location of an object or device disposed within the physical listening environment and including the compact audio reproduction device 140.

[0051] Figure 3 Illustrated is an example physical listening environment 310 occupied by the Figure 1A or Figure 1B audio processing system 100 and satellite speakers 160 according to various embodiments. As shown, the physical listening environment 310 includes, but is not limited to, a set of multiple satellite speakers 160(1), 160(2), and 160(3) (collectively referred to herein as satellite speakers 160), one or more sensors 150, and a physical object 302. The physical object 302 can be an interactive toy, device, or other object that is disposed within the physical listening environment 310 and includes the compact audio reproduction device 140.

[0052] The physical listening environment 310 can be a part of a real-world environment that includes one or more satellite speakers 160. In various embodiments, the physical listening environment 310 can include any technically feasible number of satellite speakers 160. In such an embodiment, the audio processing application 120 calculates the distances between the physical object 302 and each satellite speaker 160 and distributes the corresponding modified audio signals 122 to each satellite speaker 160 and the internal speaker 142.

[0053] In Figure 3In the illustrated embodiments, one or more sensors 150 are disposed within each satellite speaker 160 and within the physical listening environment 310. As described above, in some embodiments, one or more sensors 150 may also be disposed within the physical object 302. Alternatively, in some embodiments, the sensors may be disposed within the physical listening environment 310 rather than within the satellite speakers 160. Alternatively, in some embodiments, the sensors may be disposed within the satellite speakers 160 rather than within the physical listening environment 310.

[0054] In operation, the audio processing application 120 determines the respective distances between each satellite speaker 160 and the physical object 302 within the physical listening environment 310. For example, in some embodiments, the audio processing application determines the distance D1(1) between the physical object 302 and the satellite speaker 160, the distance D2(2) between the physical object 302 and the satellite speaker 160, and the distance D3(3) between the physical object 302 and the satellite speaker 160. As described above, the audio processing application 120 employs a suitable distance filter 200 to generate respective modified audio signals 122 for each satellite speaker 160 and the input speaker 142, where the distance filter 200 is selected based on the distances D1, D2, and D3. Thus, the audio processing application 120 uses the distance filter 200 to generate a modified audio signal 122 for the satellite speaker 160(1) to modify the amplitude and / or phase of the input audio signal 132 according to the distance D1, uses the distance filter 200 to generate a modified audio signal 122 for the satellite speaker 160(2) to modify the amplitude and / or phase of the input audio signal 132 according to the distance D2, and uses the distance filter 200 to generate a modified audio signal 122 for the satellite speaker 160(3) to modify the amplitude and / or phase of the input audio signal 132 according to the distance D3. In this way, the audio processing application 120 drives the satellite speakers 160 and the internal speaker 142 to generate in real time a sound field with a wider frequency range than the sound field generated by the internal speaker 142 alone. Additionally, according to the embodiments described herein, the satellite speakers 160 and the internal speaker 142 can generate a sound field that provides a perceptually accurate representation of the position of the physical object 302 within the physical listening environment 310. In such an embodiment, the sound field is not perceptually affected by the portion of the sound field originating from the physically more distant satellite speakers 160 and gives the listener the impression that all the sounds originate from the physical object 302.

[0055] In various embodiments, the audio processing application 120 adjusts the movement of one or more satellite speakers 160 within a physical listening environment 310. In such embodiments, the audio processing application 120 receives sensor data from one or more sensors 150, the sensor data indicating the distance between a physical object 302 and each satellite speaker 160 at a particular time. In some embodiments, the sensor data indicates that at least one satellite speaker is moving. In one example, the audio processing application 120 obtains the sensor data in the form of tracking data, the tracking data including a series of optical data obtained by an optical sensor, and / or a series of auditory data received by one or more microphones in response to a test signal generated by the computing device 110. In such embodiments, the audio processing application 120 processes the tracking data to determine the current distance of each satellite speaker 160 from the physical object 302. Additionally or alternatively, in some embodiments, the audio processing application 120 receives sensor data generated by a position sensor and / or IMU ( For example , acceleration measurement, magnetic field measurement, angular rate, etc.) disposed on a particular satellite speaker 160. For example, the satellite speaker 160 (1) transmits a series of messages containing sensor data as it moves within the physical listening environment 310. In such a case, the audio processing application 120 receives and aggregates the sensor data included in the messages and determines the trajectory and / or current distance D1 of the particular satellite speaker 160.

[0056] Proximity-Related Sound Distribution Process for Compact Audio Reproduction Devices

[0057] Figure 4 A flowchart showing method steps for generating an audio signal based on the distance from a satellite speaker 160 to a tracked physical object 302 is shown. Although the method steps are described with reference to Figures 1A to 3 embodiments, those skilled in the art will understand that any system configured to implement the method steps in any order falls within the scope of the present disclosure.

[0058] As shown, method 400 begins at step 402, where audio processing application 120 receives sensor data indicating the distance between physical object 302 and one or more satellite speakers 160. In various embodiments, audio processing application 120, executing on computing device 110, tracks the distance between physical object 302 and each satellite speaker 160 within physical listening environment 310. In various embodiments, audio processing application 120 receives sensor data from one or more sensors 150 coupled to computing device 110, where the sensor data indicates the distance between physical object 302 and each satellite speaker 160 at a given time. In some embodiments, the sensor data indicates that at least one satellite speaker 160 is moving. In some embodiments, the sensor data indicates that at least one physical object among multiple tracked physical objects ( For example , physical object 302) is moving. In one example, audio processing application 120 obtains sensor data from one or more sensors 150 coupled to computing device 110 ( For example , tracking data of a given satellite speaker 160 as a series of optical data, and / or a series of auditory data received in response to a test signal generated by computing device 110). Additionally or alternatively, in some embodiments, audio processing application 120 receives sensor data generated by a position sensor and / or IMU ( For example , acceleration measurement, magnetic field measurement, angular rate, etc.) disposed on satellite speaker 160.

[0059] At step 404, computing device 110 determines the current distance between physical object 302 and each satellite speaker 160 in a set of satellite speakers 160. In some embodiments, computing device 110 determines the current distance based on the sensor data. Additionally or alternatively, in some embodiments, audio processing application 120 performs additional processing required to calculate the distance from the tracked physical object 302 to one or more satellite speakers 160. In some embodiments, audio processing application 120 uses signal processing steps to convert a pulse to a distance or to convert a sensor output voltage to a distance. In various embodiments, audio processing application 120 calculates a set of distances between the position of each satellite speaker 160 and the tracked physical object 302. In some embodiments, audio processing application 120 calculates the physical distance ( For example , Euclidean distance) from physical object 302 to each satellite speaker 160 in physical listening environment 310 to determine distances D1, D2, and / or D3.

[0060] At step 406, the audio processing application 120 selects the distance filter 200. In various embodiments, the audio processing application 120 selects the distance filter 200 from a set of candidate distance filters for use in generating a set of audio signals for a set of satellite speakers 160 and an internal speaker 142. In various embodiments, the audio processing application 120 uses the distance filter 200 to apply a calculated distance for a particular satellite speaker 160 to modify the amplitude and / or phase of the input audio signal 132 when generating a modified audio signal 122 for that particular satellite speaker 160 or the internal speaker 142 for reproduction. For example, the computing device 110 may store a set of candidate distance filters 200, such as a first-order high-pass filter, a first-order low-pass filter, a higher-order high-pass or low-pass filter, etc., each of which attenuates the gain of the input audio signal 132 and / or changes its phase based on the distance between the tracked physical object 302 and a particular satellite speaker 160.

[0061] At step 408, the audio processing application 120 generates different modified audio signals 122 for each satellite speaker 160 and the internal speaker 142 based on the measured or calculated distances D1, D2, and / or D3 and the selected distance filter 200. In various embodiments, the audio processing application 120 uses the selected distance filter 200 to modify the amplitude and / or phase of the input audio signal 132 for each satellite speaker 160 and the internal speaker 142 based on the respective calculated distances D1, D2, and / or D3 between the satellite speaker 160 and the tracked physical object 302.

[0062] In various embodiments, based on the input audio signal 132, the audio processing application 120 generates a set of modified audio signals 122 that includes different modified audio signals 122 for each satellite speaker 160 and the internal speaker 142. In an embodiment, the audio processing application 120 generates the modified audio signal by modifying the input audio signal 132 using the selected distance filter 200. For example, the audio processing application 120 generates a modified audio signal for the satellite speaker 160 by modifying the amplitude of the input audio signal 132 using the selected distance filter 200. In one embodiment, the distance filter 200 modifies the amplitude of the input audio signal 132 according to a suitable measured or calculated distance ( For example , distance D1, D2, or D3) such that the bandwidth of the modified audio signal 122 decreases as the measured or calculated distance increases. In some embodiments, the distance filter 200 modifies the amplitude of the input audio signal 132 according to the measured or calculated distance such that the corner frequency of the modified audio signal 122 decreases as the measured or calculated distance increases.

[0063] In some embodiments, a distance filter 200 is applied to an input audio signal 132 between a minimum distance and a maximum distance. In such cases, the audio processing application 120 compares the measured or calculated distance to a minimum distance threshold and / or a maximum distance threshold. When the audio processing application 120 determines that the measured or calculated distance meets the threshold, the audio processing application 120 applies the selected distance filter 200. Thus, in such embodiments, when a particular satellite speaker 160 moves beyond a certain maximum distance threshold, a modified audio signal 122 is not generated for that particular satellite speaker 160 or the modified audio signal 122 is not transmitted to that particular satellite speaker 160. Additionally or alternatively, in such embodiments, when a particular satellite speaker 160 moves within a certain minimum distance threshold (and is thus near the physical object 302), a modified audio signal 122 is not generated for the internal speaker 142. Instead, a modified audio signal 122 is generated for that particular satellite speaker 160, the modified audio signal including most or all of the audio spectrum of the input audio signal 132, and no modified audio signal 122 is generated for the internal speaker 142. Thus, in such embodiments, when a particular satellite speaker 160 moves near the physical object 302, that particular satellite speaker 160 (rather than the internal speaker 142) reproduces the sound associated with the physical object 302.

[0064] At step 410, the audio processing application 120 transmits the modified audio signal to one or more satellite speakers 160. In various embodiments, the audio processing application 120 drives the computing device 110 to transmit a set of modified audio signals to one or more satellite speakers 160 and the internal speaker 142. In some embodiments, each satellite speaker 160 and the internal speaker 142 receive different modified audio signals 122 from the computing device 110 via wired, wireless streaming, or via a network. After receiving the modified audio signal 122, each satellite speaker 160 and the internal speaker 142 reproduce the respective modified audio signal 122 to generate sound waves within the physical listening environment 310. In various embodiments, the sound waves generated by a set of satellite speakers 160 and the internal speaker 142 combine to generate a sound field that provides a perceptually accurate location of the physical object 302 within the physical listening environment 310.

[0065] After transmitting the audio signal to a set of satellite speakers 160, the audio processing application 120 returns to step 402 to optionally track any additional movement of the physical object 302 and / or one or more satellite speakers 160 of the audio processing system 100. For example, the audio processing application 120 returns to step 402 to detect the movement of one or more satellite speakers 160 to a new position in the physical listening environment 310, which indicates a new distance between the moving satellite speaker 160 and the physical object 302. In this case, the audio processing application 120 repeats at least a portion of method 400 to calculate and / or measure the distance between the physical object 302 and the satellite speaker at the new position.

[0066] In summary, the audio processing application determines the distance between the position of the compact audio reproduction device and the position of each satellite speaker of the audio processing system. After determining the distance, the audio processing application then generates a modified audio signal for that satellite speaker based on the respective measured or calculated distance of each satellite speaker. When generating the modified audio signal, the audio processing application determines a high-pass, low-pass, or band-pass filter for a given audio signal of the speaker based on the determined distance. The audio processing application then distributes the modified audio signal to the respective satellite speaker and the internal speaker of the compact audio reproduction device for reproduction in the physical listening environment.

[0067] At least one technical advantage of the disclosed technology over the prior art is that, using the disclosed technology, an audio system including a compact audio reproduction device can distribute an audio signal to one or more satellite speakers in a physical listening area, thereby extending the frequency range of the reproduced sound and not causing listener confusion due to the apparent position of the sound source deviating from the position of the device / object within the listening environment. Specifically, the distance between the compact audio reproduction device and the satellite speaker within the listening environment is determined, and an additional band-limited signal to be sent to the satellite speaker is created based on that distance. By providing the additional band-limited signal to the satellite speaker, e.g., for generating a low-frequency audio output, the audio system provides real-time audio reproduction with an extended frequency range for an object in the listening environment. Thus, the audio system effectively provides increased bandwidth and more natural reproduction of sound in the listening environment, the sound being responsive to the movement of the object or device including the compact audio reproduction device within the listening environment. Additionally, this extended frequency range audio reproduction can be generated without the need for large and expensive processing resources. Further, by using a technology compatible with a variable number of satellite speakers, an audio system using the disclosed technology can provide perceptually accurate audio within the listening environment using any number of speakers positioned within the listening environment. These technical advantages provide one or more technical improvements over prior art methods.

[0068] Aspects of the present disclosure are also described in accordance with the following clauses.

[0069] 1. In some embodiments, a computer-implemented method for generating sound in a system including a compact audio reproduction device, the method comprising: determining a first distance between a first speaker and the compact audio reproduction device; determining a first corner frequency of a first distance filter based on the first distance; generating a first modified audio signal for the first speaker, wherein an amplitude of the first modified audio signal is based on an input audio signal and the first distance filter; and transmitting the first modified audio signal to the first speaker.

[0070] 2. The computer-implemented method according to clause 1, further comprising: determining a second corner frequency of a second distance filter based on the first distance; and generating a second modified audio signal for a second speaker, wherein an amplitude of the second modified audio signal is based on the input audio signal and the second distance filter.

[0071] 3. The computer-implemented method according to clause 1 or 2, wherein the second speaker is disposed within the compact audio reproduction device.

[0072] 4. The computer-implemented method according to any one of clauses 1 to 3, wherein the first speaker is located outside the compact audio reproduction device.

[0073] 5. The computer-implemented method according to any one of clauses 1 to 4, further comprising: determining that the first distance between the first speaker and the compact audio reproduction device has changed from a first distance value to a second distance value; determining a second corner frequency of the first distance filter based on the second distance value of the first distance; generating a second modified audio signal for the first speaker, wherein an amplitude of the second modified audio signal is based on the input audio signal, the first distance filter, and the second corner frequency; and transmitting the second modified audio signal to the first speaker.

[0074] 6. The computer-implemented method according to any one of clauses 1 to 5, wherein when the second distance value is greater than the first distance value, the second corner frequency is lower than the first corner frequency.

[0075] 7. The computer-implemented method according to any one of clauses 1 to 6, further comprising: determining that the first distance between the first speaker and the compact audio reproduction device exceeds a threshold distance value; and not transmitting an audio signal to the first speaker.

[0076] 8. A computer-implemented method as described in any one of clauses 1 to 7, further comprising: determining that the first distance between the first speaker and the compact audio reproduction device is less than a threshold distance value; and not transmitting an audio signal to a second speaker disposed within the compact audio reproduction device.

[0077] 9. A computer-implemented method as described in any one of clauses 1 to 8, wherein the compact audio reproduction device includes components of an interactive toy.

[0078] 10. A computer-implemented method as described in any one of clauses 1 to 9, wherein the components include at least one of modular components of the interactive toy or removable components of the interactive toy.

[0079] 11. A computer-implemented method as described in any one of clauses 1 to 10, wherein determining the first distance includes tracking the first speaker via one or more distance sensors.

[0080] 12. A computer-implemented method as described in any one of clauses 1 to 11, wherein at least one of the one or more distance sensors is disposed within the compact audio reproduction device.

[0081] 13. A computer-implemented method as described in any one of clauses 1 to 12, wherein at least one of the one or more distance sensors is disposed within the first speaker.

[0082] 14. In some embodiments, one or more non-transitory computer-readable media store instructions that, when executed by one or more processors, cause the one or more processors to perform the following steps: determining a first distance between a first speaker and a compact audio reproduction device; determining a first corner frequency of a first distance filter based on the first distance; generating a first modified audio signal for the first speaker, wherein the amplitude of the first modified audio signal is based on an input audio signal and the first distance filter; and transmitting the first modified audio signal to the first speaker.

[0083] 15. The non-transitory computer-readable media as described in clause 14, which stores additional instructions that, when executed by one or more processors, cause the one or more processors to perform the following steps: determining a second corner frequency of a second distance filter based on the first distance; and generating a second modified audio signal for a second speaker, wherein the amplitude of the second modified audio signal is based on the input audio signal and the second distance filter.

[0084] 16. A non-transitory computer-readable medium as described in clause 14 or 15, storing additional instructions which, when executed by one or more processors, cause the one or more processors to perform the following steps: determining that the first distance between the first speaker and the compact audio reproduction device has changed from a first distance value to a second distance value; determining a second corner frequency of the first distance filter based on the second distance value of the first distance; generating a second modified audio signal for the first speaker, wherein the amplitude of the second modified audio signal is based on the input audio signal, the first distance filter, and the second corner frequency; and transmitting the second modified audio signal to the first speaker.

[0085] 17. A non-transitory computer-readable medium as described in any one of clauses 14 to 16, storing additional instructions which, when executed by one or more processors, cause the one or more processors to perform the following steps: determining a second distance between a second speaker and the compact audio reproduction device; determining a second corner frequency of a second distance filter based on the second distance; generating a second modified audio signal for the second speaker, wherein the amplitude of the second modified audio signal is based on the input audio signal and the second distance filter; and transmitting the second modified audio signal to the second speaker.

[0086] 18. A non-transitory computer-readable medium as described in any one of clauses 14 to 17, wherein transmitting the second modified audio signal to the second speaker includes stopping transmitting the first modified audio signal to the first speaker.

[0087] 19. In some embodiments, an interactive toy for generating an audio output includes: at least one sensor for acquiring sensor data; an internal speaker; a memory storing instructions; and one or more processors which, when executing the instructions, are configured to perform the following steps: determining a first distance between a first satellite speaker and the interactive toy; determining a first corner frequency of a first distance filter based on the first distance; generating a first modified audio signal for the first satellite speaker, wherein the amplitude of the first modified audio signal is based on an input audio signal and the first distance filter; and transmitting the first modified audio signal to the first satellite speaker.

[0088] 20. The interactive toy as described in clause 19 further includes: determining a second corner frequency of a second distance filter based on the first distance; and generating a second modified audio signal for the second speaker, wherein the amplitude of the second modified audio signal is based on the input audio signal and the second distance filter.

[0089] The descriptions of the various embodiments have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

[0090] Aspects of the present embodiment may be embodied in a system, a method, or a computer program product. Thus, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, microcode, etc.), or an embodiment combining software aspects with hardware aspects, all of which may generally be referred to herein as a "module" or "system". In addition, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer-readable media having computer-readable program code embodied thereon.

[0091] Any combination of one or more computer-readable media may be utilized. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following media: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing media. In the context of this document, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0092] As described above, aspects of the present disclosure are described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus can implement the functions / actions specified in one or more blocks of the flowchart and / or block diagram. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable processor or gate array.

[0093] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, depending upon the functionality involved, or may sometimes be executed in the reverse order. It should also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can be implemented by a special purpose hardware-based system that performs the specified functions or actions, or by a combination of special purpose hardware and computer instructions.

[0094] While the foregoing is directed to embodiments of the present disclosure, other and further embodiments of the present disclosure may be devised without departing from the basic scope thereof, which is determined by the appended claims.

Claims

1. A computer-implemented method of generating sound in a system including a compact audio reproduction device, the computer-implemented method comprising: determining a first distance between a first speaker and the compact audio reproduction device; determining a first corner frequency of a first distance filter based on the first distance; generating a first modified audio signal for the first speaker, wherein an amplitude of the first modified audio signal is based on an input audio signal and the first distance filter; as well as The first modified audio signal is transmitted to the first speaker.

2. The computer-implemented method of claim 1 , further comprising: determining a second corner frequency of a second distance filter based on the first distance; as well as A second modified audio signal is generated for a second speaker, wherein an amplitude of the second modified audio signal is based on the input audio signal and the second distance filter.

3. The computer-implemented method of claim 2, wherein the second speaker is disposed within the compact audio reproduction device.

4. The computer-implemented method of claim 1, wherein the first speaker is located external to the compact audio reproduction device.

5. The computer-implemented method of claim 1 , further comprising: determining that the first distance between the first speaker and the compact audio reproduction device has changed from a first distance value to a second distance value; determining a second corner frequency of the first distance filter based on the second distance value of the first distance; generating a second modified audio signal for the first speaker, wherein an amplitude of the second modified audio signal is based on the input audio signal, the first distance filter, and the second corner frequency; and The second modified audio signal is transmitted to the first speaker. 6 . The computer-implemented method of claim 5 , wherein when the second distance value is greater than the first distance value, the second corner frequency is lower than the first corner frequency.

7. The computer-implemented method of claim 1 , further comprising: determining that the first distance between the first speaker and the compact audio reproduction device exceeds a threshold distance value; as well as No audio signal is transmitted to the first speaker.

8. The computer-implemented method of claim 1, further comprising: determining that the first distance between the first speaker and the compact audio reproduction device is less than a threshold distance value; as well as The audio signal is not transmitted to a second speaker disposed within the compact audio reproduction device.

9. The computer-implemented method of claim 1, wherein the compact audio reproduction device comprises a component of an interactive toy.

10. The computer-implemented method of claim 9, wherein the component comprises at least one of a modular component of the interactive toy or a removable component of the interactive toy.

11. The computer-implemented method of claim 1 , wherein determining the first distance comprises tracking the first speaker via one or more distance sensors.

12. The computer-implemented method of claim 11, wherein at least one of the one or more distance sensors is disposed within a compact audio reproduction device.

13. The computer-implemented method of claim 11, wherein at least one of the one or more distance sensors is disposed within the first speaker.

14. One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, cause the one or more processors to perform the following steps: determining a first distance between the first speaker and the compact audio reproduction device; determining a first corner frequency of a first distance filter based on the first distance; generating a first modified audio signal for the first speaker, wherein an amplitude of the first modified audio signal is based on an input audio signal and the first distance filter; and The first modified audio signal is transmitted to the first speaker.

15. The non-transitory computer readable medium of claim 14 storing further instructions which, when executed by one or more processors, cause the one or more processors to perform the following steps: determining a second corner frequency of a second distance filter based on the first distance; and A second modified audio signal is generated for a second speaker, wherein an amplitude of the second modified audio signal is based on the input audio signal and the second distance filter.

16. The non-transitory computer readable medium of claim 14 storing further instructions which, when executed by one or more processors, cause the one or more processors to perform the following steps: determining that the first distance between the first speaker and the compact audio reproduction device has changed from a first distance value to a second distance value; determining a second corner frequency of the first distance filter based on the second distance value of the first distance; generating a second modified audio signal for the first speaker, wherein an amplitude of the second modified audio signal is based on the input audio signal, the first distance filter, and the second corner frequency; and The second modified audio signal is transmitted to the first speaker.

17. The non-transitory computer readable medium of claim 14 storing further instructions which, when executed by one or more processors, cause the one or more processors to perform the following steps: determining a second distance between a second speaker and the compact audio reproduction device; determining a second corner frequency of a second distance filter based on the second distance; generating a second modified audio signal for the second speaker, wherein an amplitude of the second modified audio signal is based on the input audio signal and the second distance filter; and The second modified audio signal is transmitted to the second speaker.

18. The non-transitory computer readable medium of claim 17, wherein transmitting the second modified audio signal to the second speaker comprises ceasing to transmit the first modified audio signal to the first speaker.

19. An interactive toy for generating an audio output, the interactive toy comprising: at least one sensor for acquiring sensor data; Internal speakers; a memory for storing instructions; as well as One or more processors, wherein the one or more processors are configured to perform the following steps when executing the instructions: determining a first distance between the first satellite speaker and the interactive toy; determining a first corner frequency of a first distance filter based on the first distance; generating a first modified audio signal for the first satellite speaker, wherein an amplitude of the first modified audio signal is based on an input audio signal and the first distance filter; as well as The first modified audio signal is transmitted to the first satellite speaker.

20. The interactive toy of claim 19, further comprising: determining a second corner frequency of a second distance filter based on the first distance; as well as A second modified audio signal is generated for a second speaker, wherein an amplitude of the second modified audio signal is based on the input audio signal and the second distance filter.

Images