Spatial positioning method and device, audio playing equipment and storage medium

Abstract

The invention relates to a spatial positioning method and device, audio playing equipment and a storage medium. And indicating a plurality of audio playing devices deployed in the preset space to synchronously play preset audio pulse signals, and collecting the audio pulse signals played by the plurality of audio playing devices. Wherein the audio playing devices adopt different playing frequencies when playing the audio pulse signals. Then, the pulse time difference between the collected audio pulse signals played by each audio playing device and the audio pulse signals played by other audio playing devices is calculated; and finally, calculating the relative position of each audio playing device and other audio playing devices in a preset space based on the pulse time difference, and determining the spatial positioning of each audio playing device. Therefore, under the condition that extra hardware investment is not needed, the positioning precision of spatial positioning of the audio playing equipment is improved.

Description

Technical Field

[0001] This disclosure relates to the field of computer technology, and in particular to a method, apparatus, audio playback device, and storage medium for spatial positioning. Background Technology

[0002] Currently, spatial positioning technologies mainly include ultrasonic positioning, Bluetooth positioning, and Wi-Fi positioning. Ultrasonic positioning determines the location of an object by emitting and receiving ultrasonic signals, requiring specialized ultrasonic transmitters and receivers. Wi-Fi positioning utilizes existing Wi-Fi network infrastructure, determining device location by measuring the signal strength (RSSI) or time of arrival (ToA) of different Wi-Fi access points (APs), necessitating sufficient APs to provide accurate signal strength data. It can be seen that both ultrasonic and Wi-Fi positioning require additional hardware investment. Bluetooth positioning, on the other hand, estimates the distance between devices by broadcast signal strength (RSSI), requiring no additional hardware investment. However, Bluetooth positioning has lower accuracy and cannot meet the requirements for precise positioning.

[0003] Therefore, how to improve the accuracy of spatial positioning without additional hardware investment is an urgent problem to be solved. Summary of the Invention

[0004] This disclosure provides a method, apparatus, audio playback device, and storage medium for spatial positioning to address the shortcomings of related technologies.

[0005] According to a first aspect of the embodiments of this disclosure, a spatial positioning method is proposed, comprising:

[0006] The system instructs multiple audio playback devices deployed in a preset space to synchronously play a preset audio pulse signal, and collects the audio pulse signal played by the multiple audio playback devices; wherein, each audio playback device uses a different playback frequency when playing the audio pulse signal;

[0007] Calculate the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices;

[0008] Based on the pulse time difference, the relative position of each audio playback device with other audio playback devices in the preset space is calculated to determine the spatial positioning of each audio playback device.

[0009] According to a second aspect of the present disclosure, a spatial positioning device is provided, comprising:

[0010] An instruction module is used to instruct multiple audio playback devices deployed in a preset space to synchronously play a preset audio pulse signal, and to collect the audio pulse signal played by the multiple audio playback devices; wherein, each audio playback device uses a different playback frequency when playing the audio pulse signal;

[0011] The calculation module is used to calculate the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices.

[0012] The positioning module is used to calculate the relative position of each audio playback device and other audio playback devices in the preset space based on the pulse time difference, and to determine the spatial positioning of each audio playback device.

[0013] According to a third aspect of the present disclosure, an audio playback device is provided, comprising:

[0014] processor;

[0015] Memory used to store processor-executable instructions;

[0016] The processor is used to implement the above-mentioned spatial positioning method.

[0017] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, which, when the instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to perform the method steps for implementing the above-described spatial positioning.

[0018] The technical solutions provided by the embodiments of this disclosure can include at least the following beneficial effects:

[0019] According to embodiments of this disclosure, multiple audio playback devices deployed in a preset space are instructed to synchronously play a preset audio pulse signal, and the audio pulse signals played by the multiple audio playback devices are collected. This ensures that the multiple audio playback devices start playing the preset audio pulse signal at the same time, providing a common time reference for subsequent calculation of pulse time differences.

[0020] On the other hand, by comparing the audio pulse signals played by multiple audio playback devices, the pulse time difference between the multiple audio playback devices is calculated. Furthermore, based on the pulse time difference, the relative position of each audio playback device in the preset space is calculated. Thus, without additional hardware investment, the positioning accuracy of spatial positioning of audio playback devices is improved.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram illustrating the relative positions of several audio playback devices according to some embodiments of the present disclosure.

[0024] Figure 2 This is a schematic flowchart illustrating a spatial positioning method according to some embodiments of the present disclosure.

[0025] Figure 3 It is based on Figure 2 A schematic diagram illustrating another spatial positioning method based on the illustrated embodiment.

[0026] Figure 4 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment.

[0027] Figure 5 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment.

[0028] Figure 6 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment.

[0029] Figure 7 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment.

[0030] Figure 8 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment.

[0031] Figure 9 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment.

[0032] Figure 10 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment.

[0033] Figure 11This is a schematic block diagram illustrating a spatial positioning device according to some embodiments of the present disclosure.

[0034] Figure 12 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the embodiment illustrated.

[0035] Figure 13 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the embodiment illustrated.

[0036] Figure 14 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the embodiment illustrated.

[0037] Figure 15 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the embodiment illustrated.

[0038] Figure 16 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the embodiment illustrated.

[0039] Figure 17 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the embodiment illustrated.

[0040] Figure 18 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the embodiment illustrated.

[0041] Figure 19 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the embodiment illustrated.

[0042] Figure 20 This is a schematic block diagram illustrating an apparatus for spatial positioning according to an embodiment of the present disclosure. Detailed Implementation

[0043] Some embodiments of this disclosure will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. Various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but can be changed as will become apparent upon understanding this disclosure, except for operations that must be performed in a particular order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0044] The embodiments described in the following examples of this disclosure are not representative of all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0045] To create an immersive listening experience, it is usually necessary to configure the channels of each audio playback device. By precisely controlling the playback of each audio playback device, the sounds played by each device can reach the user's ears at the same time or in a predetermined order, allowing the user to experience a more realistic audio experience.

[0046] Before assigning channels to multiple audio playback devices, it's necessary to determine the relative positions of each device to ensure accurate channel allocation and create a three-dimensional, dynamic audio environment. The relative positions of the audio playback devices can be determined as follows: Figure 1 As shown.

[0047] Figure 1 This is a schematic diagram illustrating the relative positions of a plurality of audio playback devices according to some embodiments of the present disclosure.

[0048] exist Figure 1 In the diagram, audio playback devices A, B, and C form a triangle. Angles A, B, and C are the interior angles of the triangle, representing the angles between audio playback devices A, B, and C. Sides a, b, and c are the side lengths of the triangle, representing the distances between audio playback devices A, B, and C. Specifically, the distance between audio playback devices A and B is c, the distance between audio playback devices A and C is b, and the distance between audio playback devices B and C is a.

[0049] Please see Figure 2 , Figure 2This is a schematic flowchart illustrating a spatial positioning method according to some embodiments of the present disclosure.

[0050] like Figure 2 As shown, the spatial positioning method may include the following steps:

[0051] In step 202, multiple audio playback devices deployed in a preset space are instructed to synchronously play a preset audio pulse signal, and the audio pulse signal played by the multiple audio playback devices is collected; wherein, each audio playback device uses a different playback frequency when playing the audio pulse signal.

[0052] In step 204, the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices is calculated.

[0053] In step 206, the relative position of each audio playback device and other audio playback devices in the preset space is calculated based on the pulse time difference, and the spatial positioning of each audio playback device is determined.

[0054] In one possible implementation, multiple audio playback devices deployed in a preset space are instructed to synchronously play a preset audio pulse signal, and the audio pulse signals played by the multiple audio playback devices are collected.

[0055] Each audio playback device uses a different playback frequency when playing audio pulse signals. Figure 1 For example, audio playback devices A, B, and C are assigned audio pulse signals of 1000Hz, 2000Hz, and 3000Hz, respectively. This means that the audio pulse signal of audio playback device A oscillates 1000 times per second, that of audio playback device B oscillates 2000 times per second, and that of audio playback device C oscillates 3000 times per second. These different playback frequencies allow each audio playback device to be independently identified and processed when playing its audio pulse signal, thus facilitating subsequent time difference measurement and spatial positioning.

[0056] Then, the pulse time difference between the audio pulse signals played by each audio playback device and those played by other audio playback devices is calculated. Figure 1For example, audio playback device A calculates the pulse time difference between itself and audio playback device B, and also calculates the pulse time difference between itself and audio playback device C. Audio playback device B calculates the pulse time difference between itself and audio playback device A, and also calculates the pulse time difference between itself and audio playback device C. Audio playback device C calculates the pulse time difference between itself and audio playback device A, and also calculates the pulse time difference between itself and audio playback device B.

[0057] Finally, the relative position of each audio playback device with other audio playback devices in the preset space is calculated based on the pulse time difference, and the spatial positioning of each audio playback device is determined.

[0058] As described in the above embodiments, multiple audio playback devices begin playing a preset audio pulse signal simultaneously, providing a common time reference for subsequent calculation of the pulse time difference. Furthermore, by comparing the audio pulse signals played by multiple audio playback devices, the pulse time difference between them is calculated. Further, based on the pulse time difference, the relative position of each audio playback device in a preset space is calculated, thereby improving the positioning accuracy of spatial positioning of the audio playback devices without requiring additional hardware investment.

[0059] It should be noted that before instructing multiple audio playback devices deployed in a preset space to synchronously play a preset audio pulse signal, the audio playback devices need to acquire the preset audio pulse signal. There are several methods for the audio playback devices to acquire the preset audio pulse signal. For example, a target audio playback device can send the preset audio pulse signal and its corresponding playback frequency to other audio playback devices via a network, so that the other audio playback devices play the audio pulse signal at their respective playback frequencies. Another example is that each audio playback device pre-stores the preset audio pulse signal and its corresponding playback frequency. Yet another example is that a control device connected to multiple audio playback devices sends the preset audio pulse signal and its corresponding playback frequency to each audio playback device. This specification does not limit the method by which the audio playback devices acquire the preset audio pulse signal.

[0060] Please see Figure 3 , Figure 3 It is based on Figure 2 A schematic diagram illustrating another spatial positioning method based on the illustrated embodiment. (See diagram below.) Figure 3 As shown, the method may further include:

[0061] In step 302, the system clocks of the multiple audio playback devices are synchronized.

[0062] In practical applications, to achieve synchronized playback of multiple audio pulse signals, the system clocks of all audio playback devices must be synchronized, and they must begin playing the audio pulse signals at the same time. If the system clocks are not synchronized, the played audio pulse signals may be misaligned or delayed. This will lead to inaccurate calculated pulse time differences, reducing the positioning accuracy of spatial positioning of the audio playback devices.

[0063] One possible implementation involves synchronizing the system clocks of multiple audio playback devices. There are various methods for synchronizing the system clocks. For example, an external time source can be used, running Network Time Protocol (NTP) or other network time synchronization protocols, allowing multiple audio playback devices to periodically communicate with the external time source and adjust their system clocks accordingly to maintain accuracy and consistency. Another example is setting a high-precision clock source within the audio playback devices, providing accurate time information to maintain the accuracy and consistency of the system clocks across the devices. This specification does not limit the methods used for synchronizing the system clocks of multiple audio playback devices.

[0064] As can be seen from the above embodiments, synchronizing the system clocks of multiple audio playback devices can improve the accuracy of the subsequently calculated pulse time difference, thereby improving the positioning accuracy of spatial positioning of multiple audio playback devices.

[0065] Please see Figure 4 , Figure 4 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment is shown. Figure 4 As shown, the method may include:

[0066] In step 402, for any two audio playback devices, the synchronization data packets exchanged between the two audio playback devices in at least two rounds of data synchronization are obtained. The synchronization data packets include: synchronization request data packets and synchronization response data packets for the synchronization request data packets.

[0067] In step 404, the transmission delay of at least two first clock differences and at least two rounds of synchronization data packets is determined based on the transmission and reception times of the synchronization request data packets and the transmission and reception times of the synchronization response data packets in response to the synchronization request data packets between the two audio playback devices.

[0068] In step 406, a second clock difference is determined from the at least two first clock differences based on the transmission delay of at least two rounds of synchronization data packets.

[0069] In step 408, the second clock difference is corrected to obtain a third clock difference, and clock synchronization is performed on the two audio playback devices based on the third clock difference.

[0070] In practical applications, network interference such as network jitter or network congestion can disrupt communication between audio playback devices and external time sources, thereby affecting the synchronization accuracy of the system clocks in multiple audio playback devices.

[0071] In one possible implementation, for any two audio playback devices, the synchronization data packets exchanged during at least two rounds of data synchronization between the two audio playback devices are obtained. The synchronization data packets mentioned here include: synchronization request data packets and synchronization response data packets for the synchronization request data packets.

[0072] The specific process of data synchronization is as follows:

[0073] At time t1, the first electronic device sends a synchronization request data packet (containing the current system clock data) to the second electronic device. The second electronic device receives the synchronization request data packet at time t2 and records the time of t2 into the current synchronization request data packet. At time t3, the second electronic device records the current clock of t3 into the synchronization response data packet and sends it to the first electronic device. The first electronic device receives the synchronization response data packet at time t4 and records the time of t4 into the synchronization response data packet to complete one data synchronization.

[0074] Then, based on the transmission and reception times of at least two rounds of synchronization request data packets and the transmission and reception times of synchronization response data packets in response to the synchronization request data packets between the two audio playback devices, the first clock difference between the at least two devices and the transmission delay of at least two rounds of synchronization data packets are determined. The transmission delay mentioned here can refer to the time difference between sending the synchronization request data packet and receiving the synchronization response data packet.

[0075] For example, the first clock difference = ((t4-t1)-(t3-t2)) / 2, and the transmission delay = t4-t1. If t1 = 0µs, t2 equals 5000µs, t3 = 5005µs, and t4 = 25µs, then the first clock difference = ((25-0)-(5005-5000)) / 2 = 10µs, and the transmission delay = 25-0 = 25µs.

[0076] Next, based on the transmission delay of at least two rounds of synchronization data packets, a second clock difference is determined from at least two first clock differences. For example, the second clock difference is a clock difference value with relatively small error selected from the first clock differences according to preset conditions. By determining a more reliable second clock difference from multiple first clock differences based on the transmission delay of the synchronization data packets, the impact of network interference is reduced, the accumulation of errors caused by network interference in the second clock difference is reduced, and thus the impact of network interference on synchronization accuracy is reduced.

[0077] Finally, the second clock difference is corrected to obtain the third clock difference, and clock synchronization is performed on the two audio playback devices based on the third clock difference. Specifically, when this clock synchronization is the first clock synchronization between the first and second audio playback devices, the second clock difference is determined as the third clock difference. When this clock synchronization is the nth clock synchronization between the first and second audio playback devices, the third clock difference for the nth clock synchronization is obtained based on the third clock difference of the (n-1)th clock synchronization, the second clock difference of the nth clock synchronization, and the filtering coefficients. Here, n is a positive integer not less than 2. The specific formula is as follows:

[0078] T(n)=T(n-1)*(1-k)+k*Δtn, (n>=2)

[0079] In the above formula, T(1) = Δt1, T(n) is the third clock difference of the nth clock synchronization, T(n-1) is the third clock difference of the (n-1)th clock synchronization, k is the filter coefficient, 0 ≤ k ≤ 1.0, and Δtn is the second clock difference of the nth clock synchronization.

[0080] As can be seen from the above embodiments, correcting the second clock difference can further reduce the error caused by network interference such as network jitter or network congestion in the second clock difference, thereby further improving the synchronization accuracy.

[0081] Please see Figure 5 , Figure 5 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment is shown. Figure 5 As shown, the method may include:

[0082] In step 502, when the audio pulse signal played by each audio playback device is in digital signal form, the audio pulse signal played by each audio playback device is demodulated to obtain the audio pulse signal in analog signal form of each audio playback device.

[0083] In step 504, based on the analog signal form of the audio pulse signal of each audio playback device, the pulse time difference between the acquired audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices is calculated.

[0084] In practical applications, the audio pulse signals played by audio playback devices can be in digital or analog form. Before calculating the pulse time difference between audio pulse signals played by multiple audio playback devices, it is necessary to first determine the signal type of the audio pulse signals, and then, based on the signal type, use different methods to calculate the pulse time difference between the audio pulse signals played by multiple audio playback devices.

[0085] In one possible implementation, if the audio pulse signal played by each audio playback device is in digital signal form, then the audio pulse signal played by each audio playback device is demodulated to obtain the audio pulse signal in analog signal form for each audio playback device.

[0086] Then, based on the audio pulse signal in analog form of each audio playback device, the pulse time difference between the acquired audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices is calculated.

[0087] Please see Figure 6 , Figure 6 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment is shown. Figure 6 As shown, the method may include:

[0088] In step 602, the candidate pulse time difference between the audio pulse signal played by each audio playback device acquired within a certain number of pulse cycles and the audio pulse signal played by other audio playback devices is calculated.

[0089] In step 604, the average value of the plurality of candidate pulse time differences is calculated as the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices.

[0090] In practical applications, audio playback devices may miss some audio pulse signals when they begin acquiring them. This leads to low accuracy or even no accuracy in calculating the pulse time difference for a single pulse cycle. Furthermore, random and systematic errors caused by various factors can occur within a single pulse cycle, which also results in low accuracy of the calculated pulse time difference.

[0091] In one possible implementation, the candidate pulse time difference between the audio pulse signal played by each audio playback device acquired within a number of pulse cycles and the audio pulse signal played by other audio playback devices is calculated.

[0092] Then, the average value of several candidate pulse time differences is calculated as the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices.

[0093] As can be seen from the above embodiments, calculating the average value of several candidate pulse time differences can reduce random and systematic errors caused by various factors, thereby obtaining a more stable and accurate pulse time difference.

[0094] Please see Figure 7 , Figure 7 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment is shown. Figure 7 As shown, the method may include:

[0095] In step 702, the distance between each audio playback device and other audio playback devices in the preset space is calculated based on the pulse time difference.

[0096] In step 704, the relative position of each audio playback device and other audio playback devices in the preset space is calculated based on the distance, and the spatial positioning of each audio playback device is determined.

[0097] In one possible implementation, the distance between each audio playback device and other audio playback devices in a preset space is calculated based on the pulse time difference. The specific formula is as follows:

[0098] s = t * v

[0099] In the above formula, s is the distance, t is the pulse time difference, and v is the speed of sound, which is generally 340m / s.

[0100] Then, based on the distance calculation, the relative position of each audio playback device with other audio playback devices in the preset space is determined to determine the spatial positioning of each audio playback device.

[0101] by Figure 1 For example, using the cosine function, we can calculate the cosine values ​​of angles A, B, and C respectively. The specific formulas are as follows:

[0102]

[0103]

[0104]

[0105] In the above formula, cos represents the cosine function, A, B, and C are the interior angles of the triangle, and a, b, and c are the side lengths of the triangle.

[0106] Then, through the inverse cosine function (usually represented as arccos, cosine) -1 ), thus obtaining the size of angle A, the size of angle B, and the size of angle C.

[0107] Finally, based on the distances between audio playback devices A, B, and C, and the angles between them, the relative positions of each audio playback device and other audio playback devices in the preset space are calculated, thus determining the spatial positioning of multiple audio playback devices.

[0108] It should be noted that if there are more than three audio playback devices, any three audio playback devices can be selected from the multiple audio playback devices, and the relative positions between these three audio playback devices can be calculated. This process can be repeated to calculate the relative positions between all audio playback devices.

[0109] Please see Figure 8 , Figure 8 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment is shown. Figure 8 As shown, the method may include:

[0110] In step 802, a target audio playback device is determined from the plurality of audio playback devices.

[0111] In step 802, based on the relative position of the target audio playback device and other audio playback devices, different playback channels are assigned to the multiple audio playback devices respectively, so that the multiple audio playback devices can synchronously play audio data based on the assigned playback channels.

[0112] In practical applications, the channel settings of audio playback devices are crucial for creating an immersive experience. By simulating real-world sound environments, users can experience more realistic audio, such as airplanes flying overhead or people talking around them. However, improper channel allocation across different audio playback devices can lead to sound misalignment and incoherence, thus degrading the user's audio experience.

[0113] In one possible implementation, the multiple audio playback devices include multiple audio playback devices used for synchronously playing the same audio data. From these multiple audio playback devices, a target audio playback device is determined.

[0114] Then, based on the relative position of the target audio playback device and other audio playback devices, different playback channels are assigned to the multiple audio playback devices so that the multiple audio playback devices can synchronously play audio data based on the assigned playback channels.

[0115] It should be noted that the target audio playback device can refer to speakers installed on a display device. The display device can refer to a television, computer monitor, etc.

[0116] As can be seen from the above embodiments, allocating different playback channels according to the relative position of the target audio playback device and other audio playback devices helps ensure that the sound emitted by all audio playback devices reaches the user's ears at the same time or in a predetermined order. This results in a richer and more dynamic audio experience, enhancing immersion and the feeling of being there.

[0117] Please see Figure 9 , Figure 9 It is based on Figure 2 A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment is shown. Figure 9 As shown, the method may include:

[0118] In step 902, the center position among the multiple audio playback devices is determined based on their relative positions.

[0119] In step 902, based on the relative positions between the center position and the multiple audio playback devices, different playback channels are assigned to the multiple audio playback devices respectively, so that the multiple audio playback devices can synchronously play audio data based on the assigned playback channels.

[0120] In practical applications, a user's room may not have a display device such as a TV. To improve the user experience, different playback channels can be assigned to each audio playback device based on the central position between them.

[0121] In one possible implementation, the multiple audio playback devices include multiple audio playback devices used for synchronously playing the same audio data. The center position among the multiple audio playback devices is determined based on their relative positions.

[0122] Then, based on the relative positions of the central location and the multiple audio playback devices, different playback channels are assigned to the multiple audio playback devices so that the multiple audio playback devices can synchronously play audio data based on the assigned playback channels.

[0123] Please see Figure 10 , Figure 10 It is based on Figure 2A schematic flowchart illustrating another spatial positioning method based on the illustrated embodiment is shown. Figure 10 As shown, the method may include:

[0124] In step 1002, the playback mode is determined.

[0125] In step 1002, based on the playback mode and the relative position of the target audio playback device to other audio playback devices, different playback channels are dynamically assigned to the multiple audio playback devices.

[0126] In practical applications, different audio content types and production methods require different playback modes. For example, a meticulously crafted movie soundtrack might include specially designed surround sound effects, creating a comprehensive sound environment through multiple channels. A stereo-recorded song, on the other hand, needs to provide a left and right channel audio experience.

[0127] In one possible implementation, the playback mode is determined.

[0128] Then, based on the playback mode and the relative position of the target audio playback device to other audio playback devices, different playback channels are dynamically allocated to multiple audio playback devices.

[0129] As can be seen from the above embodiments, based on the determined playback mode, different playback channels are dynamically allocated to multiple audio playback devices, which can flexibly adapt to various playback needs and conditions, and further improve the user's audio experience.

[0130] Corresponding to the embodiments of the spatial positioning method described above, this disclosure also provides embodiments of a spatial positioning device.

[0131] Please see Figure 11 , Figure 11 This is a schematic block diagram illustrating a spatial positioning device according to some embodiments of the present disclosure.

[0132] like Figure 11 As shown, the device may include:

[0133] The instruction module 1102 is used to instruct multiple audio playback devices deployed in a preset space to synchronously play a preset audio pulse signal, and to collect the audio pulse signal played by the multiple audio playback devices; wherein, each audio playback device uses a different playback frequency when playing the audio pulse signal;

[0134] The calculation module 1104 is used to calculate the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices.

[0135] The positioning module 1106 is used to calculate the relative position of each audio playback device and other audio playback devices in the preset space based on the pulse time difference, and to determine the spatial positioning of each audio playback device.

[0136] Please see Figure 12 , Figure 12 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the illustrated embodiment. (See also...) Figure 12 As shown, the device further includes:

[0137] The synchronization module 1202 is used to synchronize the system clocks of the multiple audio playback devices.

[0138] Please see Figure 13 , Figure 13 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the illustrated embodiment. (See also...) Figure 13 As shown, the synchronization module includes:

[0139] The acquisition module 1302 is used to acquire, for any two audio playback devices, the synchronization data packets exchanged during at least two rounds of data synchronization between the two audio playback devices, wherein the synchronization data packets include: synchronization request data packets and synchronization response data packets for the synchronization request data packets;

[0140] The first determining module 1304 is used to determine at least two first clock differences and the transmission delay of at least two rounds of synchronization data packets based on the transmission and reception times of at least two rounds of synchronization request data packets between the two audio playback devices and the transmission and reception times of synchronization response data packets in response to the synchronization request data packets.

[0141] The second determining module 1306 is used to determine the second clock difference from the at least two first clock differences based on the transmission delay of the synchronization data packets in at least two rounds.

[0142] The correction module 1308 is used to correct the second clock difference to obtain a third clock difference, and to perform clock synchronization for the two audio playback devices based on the third clock difference.

[0143] Please see Figure 14 , Figure 14 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the illustrated embodiment. (See also...) Figure 14 As shown, the device further includes:

[0144] The demodulation module 1402 is used to demodulate the audio pulse signal played by each audio playback device when the acquired audio pulse signal played by each audio playback device is in digital signal form, so as to obtain the audio pulse signal in analog signal form of each audio playback device.

[0145] The computing module includes:

[0146] The calculation submodule 1404 is used to calculate the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices, based on the analog signal form of the audio pulse signal of each audio playback device.

[0147] Please see Figure 15 , Figure 15 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the illustrated embodiment. (See also...) Figure 15 As shown, the device further includes:

[0148] The first calculation module 1502 is used to calculate the candidate pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices, which are collected within a certain number of pulse cycles.

[0149] The second calculation module 1504 is used to calculate the average value of the several candidate pulse time differences, so as to serve as the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices.

[0150] Please see Figure 16 , Figure 16 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the illustrated embodiment. (See also...) Figure 16 As shown, the device further includes:

[0151] The first calculation module 1602 is used to calculate the distance between each audio playback device and other audio playback devices in the preset space based on the pulse time difference;

[0152] The second calculation module 1604 is used to calculate the relative position of each audio playback device and other audio playback devices in the preset space based on the distance, and to determine the spatial positioning of each audio playback device.

[0153] Please see Figure 17 , Figure 17 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the illustrated embodiment. (See also...) Figure 17 As shown, the device further includes:

[0154] The determining module 1702 is used to determine the target audio playback device from the plurality of audio playback devices;

[0155] The allocation module 1704 is used to allocate different playback channels to the multiple audio playback devices based on the relative position between the target audio playback device and other audio playback devices, so that the multiple audio playback devices can synchronously play audio data based on the allocated playback channels.

[0156] Please see Figure 18 , Figure 18 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the illustrated embodiment. (See also...) Figure 18 As shown, the device further includes:

[0157] The determining module 1802 is used to determine the center position among the multiple audio playback devices based on their relative positions.

[0158] The allocation module 1804 is used to allocate different playback channels to the multiple audio playback devices based on the relative positions between the center position and the multiple audio playback devices, so that the multiple audio playback devices can synchronously play audio data based on the allocated playback channels.

[0159] Please see Figure 19 , Figure 19 It is based on Figure 11 A schematic block diagram of another spatial positioning device is shown based on the illustrated embodiment. (See also...) Figure 19 As shown, the allocation module includes:

[0160] Module 1902 is used to determine the playback mode;

[0161] The dynamic allocation module 1904 is used to dynamically allocate different playback channels to the multiple audio playback devices based on the playback mode and the relative position of the target audio playback device to other audio playback devices.

[0162] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments of the relevant methods, and will not be elaborated upon here.

[0163] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0164] Accordingly, this disclosure also provides a user equipment, including: a processor;

[0165] Memory used to store processor-executable instructions;

[0166] The processor is used to implement the above-mentioned message processing method.

[0167] Accordingly, this disclosure also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described message processing method.

[0168] like Figure 20 As shown, Figure 20 This is a schematic block diagram illustrating a spatial positioning device 2000 according to embodiments of the present disclosure. For example, the device 2000 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0169] Reference Figure 20 The device 2000 may include one or more of the following components: a processing component 2002, a memory 2004, a power supply component 2006, a multimedia component 2008, an audio component 2010, an input / output (I / O) interface 2012, a sensor component 2014, and a communication component 2016.

[0170] Processing component 2002 typically controls the overall operation of device 2000, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 2002 may include one or more processors 2020 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 2002 may include one or more modules to facilitate interaction between processing component 2002 and other components. For example, processing component 2002 may include a multimedia module to facilitate interaction between multimedia component 2008 and processing component 2002.

[0171] Memory 2004 is configured to store various types of data to support the operation of device 2000. Examples of this data include instructions for any application or method operating on device 2000, contact data, phonebook data, messages, pictures, videos, etc. Memory 2004 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0172] Power supply component 2006 provides power to various components of device 2000. Power supply component 2006 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 2000.

[0173] The multimedia component 2008 includes a screen that provides an output interface between the device 2000 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 2008 includes a front-facing camera and / or a rear-facing camera. When the device 2000 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0174] Audio component 2010 is configured to output and / or input audio signals. For example, audio component 2010 includes a microphone (MIC) configured to receive external audio signals when device 2000 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 2004 or transmitted via communication component 2016. In some embodiments, audio component 2010 also includes a speaker for outputting audio signals.

[0175] I / O interface 2012 provides an interface between processing component 2002 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0176] Sensor assembly 2014 includes one or more sensors for providing status assessments of various aspects of device 2000. For example, sensor assembly 2014 can detect the on / off state of device 2000, the relative positioning of components such as the display and keypad of device 2000, changes in position of device 2000 or a component of device 2000, the presence or absence of user contact with device 2000, orientation or acceleration / deceleration of device 2000, and temperature changes of device 2000. Sensor assembly 2014 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 2014 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 2014 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0177] The communication component 2016 is configured to facilitate wired or wireless communication between the device 2000 and other devices. The device 2000 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, 4G LTE, 5G NR, or combinations thereof. In some embodiments of this disclosure, the communication component 2016 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In some embodiments of this disclosure, the communication component 2016 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0178] In some embodiments of this disclosure, the apparatus 2000 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described in any of the above embodiments.

[0179] In some embodiments of this disclosure, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 2004 including instructions, which can be executed by a processor 2020 of the device 2000 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0180] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this disclosure can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented in hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this disclosure.

[0181] In the above detailed description, reference has been made to the accompanying drawings, which illustrate specific aspects of this disclosure by way of illustration. In this regard, terms indicating direction or positional relationship, such as “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential,” are used with reference to the orientation of the described figures. Since components of the described device can be positioned in multiple different orientations, directional terms are used for illustrative purposes and not for limitation. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concept of this disclosure. Therefore, the following detailed description should not be considered limiting.

[0182] It should be understood that, unless otherwise specifically indicated, features of various embodiments of this disclosure described herein can be combined with each other. As used herein, the term “and / or” includes any one of the relevant listed items and any combination of any two or more; similarly, “at least one of…” includes any one of the relevant listed items and any combination of any two or more.

[0183] It should be understood that, unless otherwise expressly specified and limited, the terms "joining," "attaching," "installing," "connecting," "linking," "fixing," etc., used in the embodiments of this disclosure should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms herein based on the specific circumstances.

[0184] Furthermore, the term "above" as used herein with respect to components, elements, or material layers formed or located "above" a surface may be used to indicate that the component, element, or material layer is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements, or layers are arranged between the surface and the component, element, or material layer. However, the term "above" as used with respect to components, elements, or material layers formed or located "above" a surface may also optionally have a specific meaning: that the component, element, or material layer is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, for example, in direct contact with the surface.

[0185] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0186] It should be understood that spatial relative terms, such as “above,” “upper,” “below,” and “lower,” are used herein to describe the relationship between one element and another shown in the figures. In addition to the orientation depicted in the figures, these spatial relative terms are also intended to encompass different orientations of the device in use or operation. For example, if the device in the figures is flipped, an element described as “above” or “upper” relative to another element would be “below” or “lower” relative to that other element. Thus, depending on the spatial orientation of the device, the term “above” encompasses both above and below orientations. Devices may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatial relative terms used herein should be interpreted accordingly.

[0187] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0188] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding the specification and drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0189] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0190] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0191] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0192] The methods and apparatus provided in the embodiments of this disclosure have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this disclosure. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this disclosure. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this disclosure. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

Claims

1. A method for spatial positioning, characterized in that, include: The system instructs multiple audio playback devices deployed in a preset space to synchronously play a preset audio pulse signal, and collects the audio pulse signal played by the multiple audio playback devices; wherein, each audio playback device uses a different playback frequency when playing the audio pulse signal; Calculate the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices; Based on the pulse time difference, the relative position of each audio playback device with other audio playback devices in the preset space is calculated, and the spatial positioning of each audio playback device is determined.

2. The method according to claim 1, characterized in that, Before instructing multiple audio playback devices deployed in a preset space to synchronously play a preset audio pulse signal, the method further includes: The system clocks of the multiple audio playback devices are synchronized.

3. The method according to claim 2, characterized in that, Synchronizing the system clocks of the multiple audio playback devices includes: For any two audio playback devices, acquire the synchronization data packets exchanged during at least two rounds of data synchronization between the two audio playback devices, wherein the synchronization data packets include: synchronization request data packets and synchronization response data packets for the synchronization request data packets; Based on the transmission and reception times of at least two rounds of synchronization request data packets between the two audio playback devices and the transmission and reception times of synchronization response data packets in response to the synchronization request data packets, the transmission delay of at least two first clock differences and at least two rounds of synchronization data packets is determined. The second clock difference is determined from the at least two first clock differences based on the transmission delay of at least two rounds of synchronization data packets; The second clock difference is corrected to obtain the third clock difference, and clock synchronization is performed on the two audio playback devices based on the third clock difference.

4. The method according to claim 1, characterized in that, Before calculating the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices, the method further includes: When the audio pulse signal played by each audio playback device is in digital signal form, the audio pulse signal played by each audio playback device is demodulated to obtain the audio pulse signal in analog signal form of each audio playback device. The calculation of the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices includes: Based on the analog signal form of the audio pulse signal of each audio playback device, the pulse time difference between the acquired audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices is calculated.

5. The method according to claim 1, characterized in that, The calculation of the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices includes: Calculate the candidate pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices, which are collected within a certain number of pulse periods. The average value of the candidate pulse time differences is calculated to serve as the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices.

6. The method according to claim 1, characterized in that, Calculating the relative position of each audio playback device with other audio playback devices in the preset space based on the pulse time difference, and determining the spatial positioning of each audio playback device, includes: The distance between each audio playback device and other audio playback devices in the preset space is calculated based on the pulse time difference; Based on the distance, the relative position of each audio playback device with other audio playback devices in the preset space is calculated, and the spatial positioning of each audio playback device is determined.

7. The method according to claim 1, characterized in that, The multiple audio playback devices include multiple audio playback devices used for synchronously playing the same audio data; the method further includes: From the plurality of audio playback devices, determine the target audio playback device; Based on the relative position of the target audio playback device to other audio playback devices, different playback channels are assigned to the multiple audio playback devices so that the multiple audio playback devices can synchronously play audio data based on the assigned playback channels.

8. The method according to claim 1, characterized in that, The multiple audio playback devices include multiple audio playback devices used for synchronously playing the same audio data; the method further includes: Based on the relative positions of the multiple audio playback devices, determine the center position among the multiple audio playback devices; Based on the relative positions between the central location and the multiple audio playback devices, different playback channels are assigned to the multiple audio playback devices so that the multiple audio playback devices can synchronously play audio data based on the assigned playback channels.

9. The method according to claim 7 or 8, characterized in that, Based on the relative position of the target audio playback device to other audio playback devices, different playback channels are assigned to the multiple audio playback devices, including: Determine the playback mode; Based on the playback mode and the relative position of the target audio playback device to other audio playback devices, different playback channels are dynamically allocated to the multiple audio playback devices.

10. A spatial positioning device, characterized in that, include: An instruction module is used to instruct multiple audio playback devices deployed in a preset space to synchronously play a preset audio pulse signal, and to collect the audio pulse signal played by the multiple audio playback devices; wherein, each audio playback device uses a different playback frequency when playing the audio pulse signal; The calculation module is used to calculate the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices. The positioning module is used to calculate the relative position of each audio playback device and other audio playback devices in the preset space based on the pulse time difference, and to determine the spatial positioning of each audio playback device.

11. The apparatus according to claim 10, characterized in that, The device further includes: The synchronization module is used to synchronize the system clocks of the multiple audio playback devices.

12. The apparatus according to claim 11, characterized in that, The synchronization module includes: The acquisition module is used to acquire, for any two audio playback devices, the synchronization data packets exchanged during at least two rounds of data synchronization between the two audio playback devices, wherein the synchronization data packets include: synchronization request data packets and synchronization response data packets for the synchronization request data packets; The first determining module is used to determine at least two first clock differences and the transmission delay of at least two rounds of synchronization data packets based on the transmission and reception times of at least two rounds of synchronization request data packets between the two audio playback devices and the transmission and reception times of synchronization response data packets in response to the synchronization request data packets. The second determining module is used to determine the second clock difference from the at least two first clock differences based on the transmission delay of the synchronization data packets in at least two rounds. The correction module is used to correct the second clock difference to obtain a third clock difference, and to perform clock synchronization for the two audio playback devices based on the third clock difference.

13. The apparatus according to claim 10, characterized in that, The device further includes: The demodulation module is used to demodulate the audio pulse signal played by each audio playback device when the acquired audio pulse signal is in digital signal form, so as to obtain the audio pulse signal in analog signal form of each audio playback device. The computing module includes: The calculation submodule is used to calculate the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices, based on the analog signal form of the audio pulse signal of each audio playback device.

14. The apparatus according to claim 10, characterized in that, The computing module includes: The first calculation module is used to calculate the candidate pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices, which are collected within a certain number of pulse cycles. The second calculation module is used to calculate the average value of the several candidate pulse time differences, so as to serve as the pulse time difference between the audio pulse signal played by each audio playback device and the audio pulse signal played by other audio playback devices.

15. The apparatus according to claim 10, characterized in that, The positioning module includes: The first calculation module is used to calculate the distance between each audio playback device and other audio playback devices in the preset space based on the pulse time difference; The second calculation module is used to calculate the relative position of each audio playback device and other audio playback devices in the preset space based on the distance, and to determine the spatial positioning of each audio playback device.

16. The apparatus according to claim 10, characterized in that, The multiple audio playback devices include multiple audio playback devices for synchronously playing the same audio data; the device further includes: The determining module is used to determine the target audio playback device from the plurality of audio playback devices; The allocation module is used to allocate different playback channels to the multiple audio playback devices based on the relative position of the target audio playback device and other audio playback devices, so that the multiple audio playback devices can synchronously play audio data based on the allocated playback channels.

17. The apparatus according to claim 10, characterized in that, The multiple audio playback devices include multiple audio playback devices for synchronously playing the same audio data; the device further includes: The determining module is used to determine the center position among the multiple audio playback devices based on their relative positions. The allocation module is used to allocate different playback channels to the multiple audio playback devices based on the relative positions between the central position and the multiple audio playback devices, so that the multiple audio playback devices can synchronously play audio data based on the allocated playback channels.

18. The apparatus according to claim 16 or 17, characterized in that, The allocation module includes: The determination module is used to determine the playback mode; The dynamic allocation module is used to dynamically allocate different playback channels to the multiple audio playback devices based on the playback mode and the relative position of the target audio playback device to other audio playback devices.

19. An audio playback device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is used to implement the method according to any one of claims 1 to 9.

20. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the mobile terminal, the mobile terminal is able to perform the steps of the method according to any one of claims 1 to 9.

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