Host device and audio signal playing method

Abstract

The application relates to a host device and an audio signal playing method. The host device comprises: obtaining a plurality of first three-dimensional coordinates corresponding to a plurality of sound boxes included in an audio system in a target three-dimensional rectangular coordinate system, and a second three-dimensional coordinate of a user corresponding to the audio system; determining a plurality of groups of relative spatial azimuth angles based on the plurality of first three-dimensional coordinates and the second three-dimensional coordinate; determining a plurality of similarity values based on the plurality of groups of relative spatial azimuth angles and a plurality of groups of standard spatial azimuth angles; the plurality of similarity values comprise a similarity value of any one group of relative spatial azimuth angles and any one group of standard spatial azimuth angles; determining a target mapping relationship between a plurality of standard sound channels and a plurality of sound boxes based on the plurality of similarity values, wherein the target mapping relationship is used for indicating a mapping relationship between each standard sound channel and a corresponding sound box; and controlling audio signals of the plurality of standard sound channels to be played through the corresponding sound boxes based on the target mapping relationship.

Description

Technical Field

[0001] Some embodiments of this application relate to audio processing technology. More specifically, they relate to a host device and a method for playing audio signals. Background Technology

[0002] While discrete home theater speakers can achieve excellent surround sound effects, they have strict requirements regarding speaker placement, symmetry, and spacing. This not only requires users to have certain professional placement knowledge, but also means that ordinary home environments often cannot meet the ideal placement conditions. Improper speaker placement or incorrect spacing can severely disrupt the sound field construction, leading to a significant decline in the listening experience. Summary of the Invention

[0003] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, some embodiments of this application provide a host device and an audio signal playback method.

[0004] In a first aspect, some embodiments of this application provide a host device, comprising an audio system with at least one satellite speaker, including: a controller configured to: acquire, in a target three-dimensional Cartesian coordinate system, a plurality of first three-dimensional coordinates corresponding to the plurality of speakers included in the audio system, and a second three-dimensional coordinate of the user corresponding to the audio system; determine, based on the plurality of first three-dimensional coordinates and the second three-dimensional coordinates, a plurality of sets of relative spatial azimuth angles, wherein any set of relative spatial azimuth angles includes the horizontal azimuth angle and the vertical azimuth angle of the corresponding speaker relative to the user; and determine, based on the plurality of sets of relative spatial azimuth angles and a plurality of sets of standard spatial azimuth angles, a... Multiple similarity values; these multiple sets of standard spatial azimuth angles correspond to multiple standard channels respectively; any set of standard spatial azimuth angles includes the standard horizontal azimuth angle and the standard vertical azimuth angle of the corresponding standard channel; these multiple similarity values ​​include the similarity value between any set of relative spatial azimuth angles and any set of standard spatial azimuth angles; based on these multiple similarity values, the target mapping relationship between the multiple standard channels and the multiple speakers is determined, and the target mapping relationship is used to indicate the mapping relationship between each standard channel and the corresponding speaker; based on the target mapping relationship, the audio signals of the multiple standard channels are controlled to be played through the corresponding speakers respectively.

[0005] In some embodiments of this application, for an audio system comprising a host device and at least one satellite speaker, which includes multiple speakers, multiple sets of relative spatial azimuth angles relative to the user are determined based on multiple first three-dimensional coordinates corresponding to the multiple speakers and the user's second three-dimensional coordinates. Then, based on the multiple sets of relative spatial azimuth angles and multiple sets of standard spatial azimuth angles, multiple similarity values ​​between multiple standard channels and multiple speakers are determined in spatial orientation. Based on the multiple similarity values, a target mapping relationship between the multiple standard channels and multiple speakers is determined. Then, based on the target mapping relationship, the audio signals corresponding to the multiple standard channels are respectively sent to the matched speakers for playback. Thus, based on the similarity value between the horizontal and vertical azimuth angles of the speaker relative to the user (i.e., a set of relative spatial azimuth angles corresponding to the speaker) and the horizontal and vertical azimuth angles of the standard channel relative to the user (i.e., a set of standard spatial azimuth angles corresponding to the standard channel), the speaker matched with each standard channel is determined. Then, the audio signal of the corresponding standard channel is played based on the matched speaker. Thus, based on the similarity between the multiple sets of standard spatial azimuth angles corresponding to multiple standard channels and the multiple sets of spatial azimuth angles corresponding to multiple speakers, the pairing of multiple standard channels with multiple speakers is completed. Without imposing hard constraints on the placement of the speakers, excellent surround sound playback effect can be achieved.

[0006] Furthermore, on the one hand, this solution combines horizontal and vertical azimuth angles to carry out all-round spatial matching, taking into account the horizontal azimuth deviation and vertical height azimuth deviation between the speaker and the standard channel, thus overcoming the limitations of two-dimensional planar sound field matching in related technologies. It can accurately reproduce the original three-dimensional spatial surround sound field and effectively improve the sense of audio spatial layering and the immersive listening experience. On the other hand, the entire process of speaker and standard channel orientation matching, channel mapping, and audio distribution can be completed automatically by the system, without any manual intervention or adjustment, significantly improving the matching efficiency between channels and speakers. It also lowers the barrier to entry for users; users do not need to have professional knowledge of speaker placement guidelines, nor do they need additional auxiliary operations such as taking photos and uploading them to complete the sound field adaptive adaptation. Furthermore, it does not require speakers to be placed according to official ideal positions, adapting to complex usage scenarios such as arbitrary speaker placement and dynamic changes in the user's listening position, always maintaining a relatively good pairing relationship between channels and speakers. This avoids sound quality defects such as sound field shift, surround sound failure, and sound field chaos caused by misaligned channels, ensuring that the audio system can output relatively stable and high-fidelity spatial audio effects in various spatial layouts.

[0007] In some embodiments of this application, the controller is specifically configured to: substitute the multiple sets of relative spatial azimuths and the multiple sets of standard spatial azimuths into the Euclidean distance formula to determine the multiple similarity values.

[0008] In some embodiments of this application, Euclidean distance has the characteristics of simple form, high computational efficiency and clear physical meaning. Therefore, by calculating multiple sets of similarity values ​​through the Euclidean distance formula, the actual spatial interval between the standard channel and the speaker can be intuitively reflected. Thus, based on multiple similarity values, the mapping relationship between multiple standard channels and multiple speakers can be accurately matched.

[0009] In some embodiments of this application, the controller is specifically configured to: determine multiple spatial similarity sets based on the multiple sets of relative spatial azimuth angles and multiple sets of standard spatial azimuth angles; each spatial similarity set includes the similarity values ​​between a corresponding set of standard spatial azimuth angles and each set of relative spatial azimuth angles; use each of the multiple spatial similarity sets as a target spatial similarity set, determine a first similarity value in the target spatial similarity set to obtain multiple first similarity values ​​corresponding to the multiple spatial similarity sets, wherein the first similarity value is the value in the target spatial similarity set that represents the highest similarity between the standard channel and the speaker spatial azimuth; if there are no different similarity values ​​corresponding to the same speaker among the multiple first similarity values, determine the target mapping relationship based on the multiple first similarity values, wherein the target mapping relationship is used to indicate the mapping relationship between the standard channel and the unique speaker corresponding to each first similarity value.

[0010] In some embodiments of this application, multiple similarity values ​​are grouped based on multiple standard channels to obtain multiple spatial similarity sets. Multiple first similarity values ​​are determined from the multiple spatial similarity sets. The multiple first similarity values ​​have a one-to-one relationship with the multiple spatial similarity sets, and the multiple first similarity values ​​are respectively the values ​​in the multiple spatial similarity sets that represent the highest similarity between the standard channel and the speaker's spatial orientation. In the case that there are no different similarity values ​​corresponding to the same speaker among the multiple first similarity values, a target mapping relationship for indicating the standard channel corresponding to each first similarity value and a unique speaker is determined. In this way, the target mapping relationship between multiple standard channels and multiple speakers can be quickly determined, which can improve the matching efficiency between channels and speakers, and can determine the most suitable speaker for playing audio signals of any standard channel, thereby improving the audio playback effect.

[0011] In some embodiments of this application, the controller is specifically configured to: when there are multiple target first similarity values ​​among the multiple first similarity values, and the multiple target first similarity values ​​correspond to the first speaker among the multiple speakers, determine a first mapping relationship based on the multiple target first similarity values. The first mapping relationship is used to indicate the mapping relationship between the first speaker and at least one first standard channel. The first mapping relationship is one of the target mapping relationships corresponding to the first speaker, and the at least one first standard channel is the standard channel that matches the first speaker among the multiple target first similarity values.

[0012] In some embodiments of this application, when multiple target first similarity values ​​correspond to the first speaker among multiple speakers, a first mapping relationship between the first speaker and at least one first standard channel is determined based on the multiple target first similarity values. Thus, when multiple standard channels correspond to the same speaker, i.e., the same speaker can match multiple different standard channels, the audio system can reasonably filter and bind one or at least two standard channels that are compatible with the speaker based on the quantified directional similarity results, effectively avoiding channel mismatch problems caused by a single matching logic, and further improving the overall matching accuracy between the speaker and the standard channel.

[0013] In some embodiments of this application, the controller is specifically configured to: determine at least one first difference value based on the plurality of target first similarity values, wherein the first difference value is used to indicate the difference between a third similarity value and a second similarity value, the second similarity value being the value among the plurality of target first similarity values ​​that represents the highest similarity between the standard channel and the speaker's spatial orientation; the third similarity value being any one of the plurality of target first similarity values ​​other than the second similarity value; and determine the standard channel corresponding to the second similarity value and the standard channel corresponding to the difference value among the at least one first difference value that is less than or equal to a first difference threshold as the at least one first standard channel, thereby determining a first mapping relationship.

[0014] In some embodiments of this application, at least one first difference value is obtained by calculating the difference between the third similarity value and the second similarity value among multiple target first similarity values. Then, based on the comparison between the at least one first difference value and a first difference threshold, it is determined whether there are other standard channels that match the first speaker besides the mapping relationship between the standard channel corresponding to the second similarity value and the first speaker. In this way, for scenarios where the same speaker can match multiple different standard channels, the audio system can rely on the quantified directional similarity results to reasonably filter and bind one or at least two standard channels that are suitable for the speaker, effectively avoiding the channel mismatch problem caused by a single matching logic, and further improving the overall matching accuracy between the speaker and the standard channels.

[0015] In some embodiments of this application, the controller is further configured to: when the number of the plurality of speakers is greater than the number of the plurality of standard channels, determine at least one second difference value based on the target spatial similarity set, wherein the second difference value is used to indicate the difference between a fourth similarity value and a first similarity value in the target spatial similarity set, wherein the fourth similarity value is any similarity value in the target spatial similarity set other than the corresponding first similarity value; and when a target second difference value exists among the at least one second difference value and the target second difference value is less than or equal to a second difference threshold, determine a second mapping relationship between the target speaker and the target standard channel corresponding to the target second difference value, wherein the target standard channel is the standard channel corresponding to the target spatial similarity set, and the target mapping relationship includes the second mapping relationship.

[0016] In some embodiments of this application, since the number of multiple speakers is greater than the number of multiple standard channels, at least two speakers are allowed to be matched with the same standard channel. Therefore, a fourth similarity value can be selected from the target space similarity set, where the difference between the fourth similarity value and the corresponding first similarity value is less than or equal to a second difference threshold. It is then determined that the speaker corresponding to the fourth similarity value has a second mapping relationship with the target standard channel, thereby ultimately achieving pairing and binding of a single target standard channel with at least two speakers. This setup can more accurately and reasonably select at least two speakers adapted to the same target standard channel in a non-symmetrical matching scenario where the number of speakers exceeds the number of standard channels, improving the multi-to-one channel matching logic and adapting to actual audio system layout scenarios where the number of speakers exceeds the number of channels.

[0017] In some embodiments of this application, the controller is further configured to: when there is a mapping relationship between the target standard channel and the plurality of second speakers among the plurality of speakers, determine the playback ratio of the audio signal of the plurality of second speakers corresponding to the target standard channel based on the plurality of fifth similarity values ​​in the target spatial similarity set that correspond to the plurality of second speakers respectively; wherein, the greater the spatial orientation similarity between the target standard channel and the target second speaker, as represented by the fifth similarity value corresponding to the target second speaker, the greater the playback ratio corresponding to the target second speaker; the target second speaker is any one of the plurality of second speakers.

[0018] In some embodiments of this application, for a many-to-one matching scenario where multiple second speakers are matched to the same target standard channel, the fifth similarity value corresponding to each of the multiple second speakers within the target spatial similarity set can be used to adaptively calculate the audio signal playback weight corresponding to each second speaker, thus determining a differentiated audio playback ratio. In this way, the volume and signal ratio of each speaker can be dynamically adjusted based on the matching degree between the actual spatial location of the speakers and the standard channel. Speakers with higher spatial matching degrees bear higher audio playback weights, further conforming to the real spatial acoustic propagation laws, weakening the sound field interference problem caused by multiple speakers operating in the same channel, making the spatial sound field transition more natural and smooth, and further improving the spatial fidelity and listening comfort of surround sound.

[0019] In some embodiments of this application, the controller is further configured to: determine a plurality of relative distances based on the plurality of first three-dimensional coordinates and second three-dimensional coordinates, the plurality of relative distances indicating the relative distances between the plurality of speakers and the user respectively; determine a plurality of volume compensation coefficients corresponding to the plurality of speakers based on the ratios of the plurality of relative distances to the target uniform distance respectively; and perform corresponding compensation processing on the sound pressure of the audio signals played by the plurality of speakers based on the plurality of volume compensation coefficients; wherein, when the target volume compensation coefficient is less than 1, a target sound pressure attenuation is determined based on the target volume compensation coefficient, and sound pressure attenuation compensation is performed based on the target sound pressure attenuation; when the target volume compensation coefficient is greater than 1, a target sound pressure increase is determined based on the target volume compensation coefficient, and sound pressure increase compensation is performed based on the target sound pressure increase; the target volume compensation coefficient is any one of the plurality of volume compensation coefficients.

[0020] In some embodiments of this application, a volume compensation coefficient is calculated based on the actual relative distance between the speaker and the user, and targeted sound pressure attenuation or gain compensation is performed. This adaptively compensates for sound energy loss caused by distance, balances the output loudness of different speakers, allows the user to experience a uniform volume at the listening position, optimizes the spatial sound field performance, and simultaneously achieves fully automated volume compensation, improving system usability.

[0021] In some embodiments of this application, the controller is specifically configured to: determine a plurality of first volume compensation coefficients based on the ratios of the plurality of relative distances to the target uniform distance; determine a plurality of azimuth deviations corresponding to the plurality of speakers based on the plurality of sets of relative spatial azimuths and the plurality of sets of standard spatial azimuths, wherein the target azimuth deviation indicates the degree of azimuth deviation between the horizontal azimuth of the third speaker in one set of spatial azimuths and the horizontal azimuth of the standard spatial azimuth of the standard channel corresponding to the third speaker; the target azimuth deviation is any one of the plurality of azimuth deviations, and the third speaker is the speaker corresponding to the target azimuth deviation. Based on the target ratios of the multiple azimuth deviations to the target uniform azimuth deviation, multiple second volume compensation coefficients are determined; the second volume compensation coefficients decrease as the target ratio increases; the multiple volume compensation coefficients are determined based on the multiple first volume compensation coefficients and the multiple second volume compensation coefficients; wherein, the target volume compensation coefficient is obtained by weighting the first volume compensation coefficient corresponding to the fourth speaker with the reciprocal of the second volume compensation coefficient corresponding to the fourth speaker; therefore, the target speaker compensation coefficient is any one of the multiple volume compensation coefficients, and the fourth speaker is one of the multiple speakers corresponding to the target volume compensation coefficient.

[0022] In some embodiments of this application, not only is a first volume compensation coefficient for each speaker determined based on the actual relative distance between the speaker and the user, but a second volume compensation coefficient is also determined based on the relationship between the degree of deviation of the speaker's horizontal azimuth angle from the standard channel's horizontal azimuth angle and the target uniform azimuth deviation. Then, by weighting the first and second volume compensation coefficients, a target volume compensation coefficient for each speaker is obtained. This approach simultaneously considers both propagation distance and azimuth deviation, resulting in a more comprehensive compensation logic and higher adjustment precision compared to single-dimensional compensation relying solely on distance. It can both offset the loudness attenuation caused by long-distance sound wave propagation and dynamically correct the volume according to the degree of azimuth deviation, mitigating sound field discontinuities and sound image shifts caused by angular deviations, making the overall sound field distribution more aligned with design expectations. Ultimately, this ensures coordinated and unified loudness output from speakers at different distances and placement angles, further enhancing the spatial audio's layering, balance, and overall listening experience.

[0023] Secondly, some embodiments of this application provide an audio signal playback method applied to a host device that forms an audio system with at least one satellite speaker, comprising: acquiring multiple first three-dimensional coordinates corresponding to multiple speakers included in the audio system in a target three-dimensional Cartesian coordinate system, and second three-dimensional coordinates corresponding to a user of the audio system; determining multiple sets of relative spatial azimuth angles based on the multiple first three-dimensional coordinates and the second three-dimensional coordinates, wherein any set of relative spatial azimuth angles includes the horizontal azimuth angle and the vertical azimuth angle of the corresponding speaker relative to the user; and determining multiple sets of relative spatial azimuth angles and multiple sets of standard spatial azimuth angles, Multiple similarity values ​​are determined; these multiple sets of standard spatial azimuth angles correspond to multiple standard channels; any set of standard spatial azimuth angles includes the standard horizontal azimuth angle and the standard vertical azimuth angle of the corresponding standard channel; these multiple similarity values ​​include the similarity value between any set of relative spatial azimuth angles and any set of standard spatial azimuth angles; based on these multiple similarity values, the target mapping relationship between the multiple standard channels and the multiple speakers is determined, and the target mapping relationship is used to indicate the mapping relationship between each standard channel and the corresponding speaker; based on the target mapping relationship, the audio signals of the multiple standard channels are controlled to be played through the corresponding speakers.

[0024] Thirdly, some embodiments of this application provide a computer-readable storage medium, including: storing a computer program on the computer-readable storage medium, wherein when the computer program is executed by a processor, it implements the audio signal playback method as shown in the second aspect.

[0025] Fourthly, some embodiments of this application provide a computer program product, including: when the computer program product is run on a computer, causing the computer to implement the audio signal playback method as shown in the second aspect. Attached Figure Description

[0026] To more clearly illustrate the implementation methods in some embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0027] Figure 1 The diagram illustrates an application scenario of an audio system according to some embodiments; Figure 2 A hardware configuration block diagram of a display device 200 according to some embodiments is shown; Figure 3 One of the schematic diagrams showing the placement of an audio system according to some embodiments is shown; Figure 4 A second schematic diagram showing the placement of an audio system according to some embodiments is shown; Figure 5 This is the third schematic diagram showing the placement of an audio system according to some embodiments; Figure 6 This is shown as a fourth schematic diagram illustrating the placement of an audio system according to some embodiments; Figure 7 A schematic diagram of the structure of a host device according to some embodiments is shown; Figure 8 A schematic diagram of a satellite speaker according to some embodiments is shown; Figure 9 One of the schematic flowcharts of an audio signal playback method according to some embodiments is shown; Figure 10 A second schematic flowchart of an audio signal playback method according to some embodiments is shown. Detailed Implementation

[0028] To make the objectives and implementation methods of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the exemplary embodiments described are only some embodiments of this application, and not all embodiments.

[0029] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0030] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0031] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0032] The host device provided in this application embodiment can be a display device with audio signal processing capability or a speaker device with audio signal processing capability.

[0033] The display device provided in this application can have various implementation forms, such as a television, a smart television, a laser projection device, a monitor, an electronic bulletin board, an electronic table, a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle electronic device, etc.

[0034] Figure 1 This is a schematic diagram illustrating an operational scenario between a display device and a control device according to an embodiment, wherein the control device includes a smart device or a control apparatus. Figure 1 As shown, the user can operate the display device 200 through the smart device 300 or the control device 100. The display device 200 can play audio signals through the audio system 500. The audio system 500 includes a host device and satellite speakers 1, 2, and 3. The display device 200 can be either a source device for the audio system 500 or a host device within the audio system 500.

[0035] In some embodiments, the control device 100 may be a remote control. Communication between the remote control and the display device includes infrared protocol communication, Bluetooth protocol communication, and other short-range communication methods, controlling the display device 200 wirelessly or via wired means. Users can control the display device 200 by inputting user commands through buttons on the remote control, voice input, control panel input, etc.

[0036] In some embodiments, a smart device 300 (such as a mobile terminal, tablet computer, computer, laptop computer, etc.) can also be used to control the display device 200. For example, an application running on the smart device can be used to control the display device 200.

[0037] In some embodiments, the display device may receive instructions not through the aforementioned smart devices or control devices, but through touch or gestures.

[0038] In some embodiments, the display device 200 can also be controlled in ways other than the control device 100 and the smart device 300. For example, it can be controlled by directly receiving the user's voice commands through a module configured inside the display device 200 for acquiring voice commands, or it can be controlled by receiving the user's voice commands through a voice control device set outside the display device 200.

[0039] In some embodiments, the display device 200 also communicates with the server 400. The display device 200 may communicate via a local area network (LAN), wireless local area network (WLAN), and other networks. The server 400 may provide various content and interactive features to the display device 200. The server 400 may be a cluster or multiple clusters, and may include one or more types of servers.

[0040] like Figure 2 The display device 200 includes at least one of the following: a tuner 210, a communicator 220, a detector 230, an external device interface 240, a controller 250, a display 260, an audio output interface 270, a user interface 280, an external memory, and a power supply.

[0041] In some embodiments, the controller includes a processor, a video processor, an audio processor, a graphics processor, RAM, ROM, and a first interface to an nth interface for input / output.

[0042] The display 260 includes a display screen assembly for presenting images, a driving assembly for driving image display, a component for receiving image signals from the controller output, and a user interface for displaying video content, image content, menu control interface, and user control UI.

[0043] The display 260 can be an LCD display, an OLED display, or a projection display, and can also be a projection device and a projection screen.

[0044] The communicator 220 is a component used to communicate with external devices or servers according to various communication protocol types. For example, the communicator may include at least one of the following: a Wi-Fi module, a Bluetooth module, a wired Ethernet module, other network communication protocol chips or near-field communication protocol chips, and an infrared receiver. The display device 200 can establish the transmission and reception of control signals and data signals with the external control device 100 or the server 400 through the communicator 220.

[0045] User interface 280 can be used to receive control signals from control device 100 (such as an infrared remote control). It can also be used to directly receive user input operation commands and convert the operation commands into commands that display device 200 can recognize and respond to; in this case, it can be called a user input interface.

[0046] Detector 230 is used to collect signals from the external environment or to interact with the external environment. For example, detector 230 includes a light receiver, a sensor for collecting ambient light intensity; or, detector 230 includes an image acquisition device, such as a camera, which can be used to collect external environmental scenes, user attributes, or user interaction gestures; or, detector 230 includes a sound acquisition device, such as a microphone, for receiving external sounds. The external device interface 240 may include, but is not limited to, one or more of the following: High Definition Multimedia Interface (HDMI), analog or high-definition component input interface (component), composite video input interface (CVBS), USB input interface (USB), RGB port, etc. It may also be a composite input / output interface formed by multiple interfaces mentioned above.

[0047] The tuner / demodulator 210 receives broadcast television signals via wired or wireless means, and demodulates audio and video signals, such as EPG data signals, from multiple wireless or wired broadcast television signals.

[0048] In some embodiments, the controller 250 and the tuner 210 may be located in different separate devices, that is, the tuner 210 may also be located in an external device of the main device where the controller 250 is located, such as an external set-top box.

[0049] The controller 250 controls the operation of the display device and responds to user operations through various software control programs stored in memory (internal or external memory). The controller 250 controls the overall operation of the display device 200. For example, in response to receiving a user command to select a UI object to display on the monitor 260, the controller 250 can perform operations related to the object selected by the user command.

[0050] Users can input commands through a graphical user interface (GUI) displayed on the monitor 260, and the user input interface receives the user input commands through the GUI. Alternatively, users can input commands by entering specific sounds or gestures, and the user input interface receives the user input commands by recognizing the sounds or gestures through sensors.

[0051] While discrete home theater speakers can achieve excellent surround sound effects, they have strict requirements regarding speaker placement, symmetry, and spacing. This necessitates not only a certain level of professional placement knowledge from the user but also an ideal home environment. However, users typically have limited professional placement knowledge, and different home environments often fail to meet these ideal conditions. Therefore, improper speaker placement or misaligned spacing can severely disrupt the sound field, leading to a significant decline in listening quality.

[0052] To alleviate this problem, microphone-based calibration solutions have emerged. These solutions use microphones to collect sound signals, calculate signal delay and amplitude to detect the spatial position and coordinates of satellite speakers, and then adjust multi-channel gain and delay parameters based on the obtained speaker location data to achieve corresponding sound field compensation. However, this traditional calibration method is susceptible to interference from ambient reflected sound and spatial reverberation, resulting in large errors in speaker position calculation and limiting the accuracy of sound field compensation.

[0053] like Figure 3 As shown, inconsistent installation or placement heights of the audio system can lead to uneven heights between the left and right speakers. This results in asymmetrical deviations in the sound pressure level, phase difference, and propagation delay of the left and right channels at the user's listening position, causing sound image positioning to shift. Users cannot perceive a stable, centered sound image, thus disrupting the immersive sound field. Similarly, excessive surround speaker jitter (i.e., a large deviation in the surround speaker placement angle) causes the sound wave incidence direction to deviate from the designed sound field range, easily resulting in scattered and blurry surround sound image positioning and a decreased sense of spatial presence.

[0054] Meanwhile, the calibration methods of related technologies mostly involve playing pink noise signals, analyzing and calculating microphone pickup, or relying on users to assist in detection through mobile phone images. This not only requires users to have certain professional knowledge, but also requires them to follow complicated steps, which is not convenient and seriously affects the user experience.

[0055] Discrete home theater systems impose strict limitations on listening position. Users can only achieve a balanced, full, and relatively accurate sound field when positioned in specific locations. Once outside this area, the sound field shifts significantly, the sense of direction and layering of the sound decreases dramatically, and the overall listening experience is greatly diminished.

[0056] Some embodiments of this application provide an audio system that determines the speakers matched to each standard channel based on the similarity value between the horizontal and vertical azimuth angles of the speakers relative to the user (i.e., a set of relative spatial azimuth angles corresponding to the speakers) and the horizontal and vertical azimuth angles of the standard channels relative to the user (i.e., a set of standard spatial azimuth angles corresponding to the standard channels). Then, the audio signal of the corresponding standard channel is played based on the matched speakers. Thus, based on the similarity between the multiple sets of standard spatial azimuth angles corresponding to multiple standard channels and the multiple sets of spatial azimuth angles corresponding to multiple speakers, the pairing of multiple standard channels with multiple speakers is completed. Without imposing hard constraints on the placement of the speakers, excellent surround sound playback effect can be achieved.

[0057] In some embodiments of this application, such as... Figure 4As shown, the audio system includes a host device and at least one satellite speaker. The host device may include speaker devices (loudspeakers), and the audio system may include at least one satellite speaker. In some embodiments, the host device does not include speaker devices, and the audio system may include multiple satellite speakers.

[0058] For example, according to the home theater usage methods of related technologies, the speakers need to be arranged strictly in a front-to-back, left-to-right manner, and the channel to which each speaker is responsible must be clearly defined. Taking a 5.0 channel home theater as an example, the audio system includes the main unit and satellite speakers 1-5. The placement of each speaker in the audio system is as follows: Figure 5 As shown. However, the technology involved in some embodiments of this application can overcome the above limitations, such as... Figure 6 As shown, the main unit and satellite speakers can be flexibly placed, and users can experience a great surround sound effect no matter where they are.

[0059] In some embodiments of this application, such as Figure 7The diagram illustrates a feasible structure of the host device 700, which includes an audio input module 701, an audio processing module 702, and a position detection module 703. The audio input module 701 serves as the system's audio source entry point, supporting multiple input compatibility and covering mainstream wired / wireless audio source interfaces for home audio-visual systems. HDMI IN is for high-definition audio and video synchronous input (e.g., TVs, players), optical fiber is for digital audio input (e.g., set-top boxes, CD players), and Bluetooth is for wireless audio input (e.g., mobile phones, tablets). It may also include other expansion interfaces to adapt to more audio source devices. The audio processing module 702 is the processing center of the entire audio system, performing audio processing based on speaker and user position. The audio processing module 702 includes a decoding unit, a sound field rendering unit, a wireless audio transmission unit, and a sound amplification unit. The decoding unit decodes digital audio signals input from HDMI, optical fiber, Bluetooth, etc., restoring them to the original audio data. The sound field rendering unit performs speaker channel allocation, volume compensation, and delay compensation based on the user position data from the position detection module 703 and the position data of each speaker. The wireless audio transmission unit is used to wirelessly transmit the processed audio signal to other speakers. The sound amplification unit is used to drive the host device's built-in speakers to play the corresponding channel's audio signal. The position detection module 703 is responsible for real-time detection of the user / listener's position and the position of each speaker, providing data for sound field adjustment. The position detection module 703 may include a millimeter-wave radar unit and an ultra-wideband (UWB) transceiver unit 1. The millimeter-wave radar unit is used to achieve non-contact position, distance, and attitude detection using millimeter-wave radar, with strong anti-interference and fast response. The UWB transceiver unit 1 includes at least four UWB sub-units (serving as a positioning base station with known coordinates, which is a spatial reference benchmark for positioning; the following embodiment uses four UWB sub-units as an example for explanation), used to achieve high-precision (centimeter-level) positioning through ultra-wideband (UWB) technology, and can cooperate with the UWB transceiver unit 2 at the speaker end to obtain a relatively accurate position of each speaker. The detection results (user location, location of each speaker) are fed back to the audio processing module 702 for speaker channel allocation, volume compensation, delay compensation, etc.

[0060] In some embodiments of this application, combined with Figure 7 ,like Figure 8 The diagram shows a feasible structural schematic of a satellite speaker 800. The satellite speaker includes a UWB transceiver unit 2, a wireless audio receiving unit, and a sound amplification unit. The UWB transceiver unit 2 works in conjunction with the host device's UWB transceiver unit 1 to achieve high-precision positioning using ultra-wideband (UWB) technology, enabling relatively accurate positioning of each speaker. The wireless audio receiving unit acquires the processed audio signal sent by the host device. The sound amplification unit drives the corresponding satellite speaker's loudspeaker to play the audio signal for the corresponding channel.

[0061] Some embodiments of this application provide a host device that forms an audio system with at least one satellite speaker, including: a controller configured to: acquire multiple first three-dimensional coordinates corresponding to the multiple speakers included in the audio system in a target three-dimensional Cartesian coordinate system, and a second three-dimensional coordinate of the user corresponding to the audio system.

[0062] The host device may include one or more speakers, or it may not include speakers. If the host device does not include speakers, the multiple speakers may include multiple satellite speakers (in which case at least one satellite speaker is considered multiple satellite speakers). If the host device includes speakers, the multiple speakers may include at least one satellite speaker, as well as the speakers included in the host device.

[0063] It should be noted that in some embodiments of this application, any one of the multiple speakers is a mono speaker.

[0064] The target rectangular coordinate system can be established with any point on the host device as the origin, or it can be established with any point on any satellite speaker as the origin.

[0065] For example, a target Cartesian coordinate system is established with the center of the host device as the origin. If the multiple speakers include the speakers in the host device, the first three-dimensional coordinates of the speakers in the host device can be determined based on the position of the speakers in the host device. Based on the target three-dimensional Cartesian coordinate system, the first three-dimensional coordinates corresponding to each satellite speaker are obtained by performing three-dimensional positioning on each satellite speaker. Based on the target three-dimensional Cartesian coordinate system, the second three-dimensional coordinates are obtained by performing three-dimensional positioning on the user.

[0066] The specific three-dimensional positioning technology for each satellite speaker can be determined based on the actual situation. For example, it can be a positioning technology based on UWB Time Difference of Arrival (TDoA), a positioning technology based on UWB Angle of Arrival (AoA), or a positioning technology based on UWB Phase Difference of Arrival (PDoA).

[0067] The technology used for three-dimensional positioning of the user can be determined based on the actual situation. For example, it can be UWB-based TDoA, TOA, AoA, or PDoA positioning technologies, or frequency-modulated continuous wave (FMCW) positioning technology based on millimeter-wave radar. Alternatively, Bluetooth, WiFi, RSSI radio frequency positioning, binocular vision, lidar, acoustic positioning, and inertial fusion positioning can also be used to achieve three-dimensional spatial positioning of the user.

[0068] The technical principle of three-dimensional positioning based on UWB TDoA is as follows: at least four UWB base stations (corresponding to four UWB sub-units) receive the signals transmitted by the UWB tag to be located (corresponding to UWB transceiver unit 2), respectively. The distance difference equation is established by using the time difference of the signal arriving at different UWB base stations, and the three-dimensional coordinates of the UWB tag to be located are solved by solving the system of equations.

[0069] For example, a right-handed three-dimensional Cartesian coordinate system is established with the physical geometric center of the host device as the origin O (0,0,0), providing a unified spatial reference for positioning and audio parameter calculation. The coordinate system is defined as follows: X-axis: Horizontal left and right direction, with the right side of the host device being the positive X-axis direction and the left side of the host device being the negative X-axis direction; Y-axis: Vertical direction, with the ground plane where the host device is located as the Y=0 reference plane, upward is the positive direction of the Y-axis, and downward is the negative direction of the Y-axis; Z-axis: The horizontal front-to-back direction. The positive direction of the Z-axis is the front of the host device facing the user, and the negative direction is the rear of the host device. Coordinate unit: meter (m). All positioning data are converted to three-dimensional rectangular coordinates in this coordinate system.

[0070] The host device can determine the three-dimensional coordinates of the four UWB sub-units within the host device based on their relative positions within the host device.

[0071] The host device determines the three-dimensional coordinates of the satellite speakers using UWB TDoA-based positioning technology. For example... Figure 7 and Figure 8 As shown, the host device has a built-in UWB transceiver unit 1, which includes 4 fixed-position UWB sub-units. Each satellite speaker has a built-in UWB transceiver unit 2, which enables centimeter-level three-dimensional positioning of the satellite speaker at a positioning frequency of 20Hz, meeting the real-time requirements.

[0072] Hardware Deployment and Calibration: The host device contains four UWB sub-units, which serve as the master base station and slave base stations, respectively. Their absolute coordinates are set as follows: , , and The satellite speaker's built-in UWB transceiver unit 2 uses the same frequency band (3.1~10.6GHz, ultra-wideband) as the host device's UWB transceiver unit 1, supporting nanosecond-level narrow pulse transmission and reception. Upon power-up, the module automatically pairs with the host device, establishing a unique ID mapping. The four UWB sub-units share the host device's local clock source, achieving nanosecond-level clock synchronization.

[0073] In some embodiments of this application, taking the positioning of a target satellite speaker based on UWB TDoA positioning technology as an example, it is assumed that the first three-dimensional coordinates of the target satellite speaker are... The UWB transceiver unit 2 of the target satellite speaker is the target UWB unit. The target satellite speaker transmits GHz-band UWB nanosecond-level narrow pulses (3.1GHz~10.6GHz) at regular intervals through the target UWB unit, and the pulse carries a unique identification ID of the device.

[0074] The four UWB sub-cells receive the pulse signal emitted by the target UWB cell and record the arrival time of the pulse signal respectively. The timestamp accuracy reaches the nanosecond level. Based on the speed of light c = 3 × 10⁸ m / s, the distance differences from the target UWB cell to each of the four UWB sub-cells are calculated using the following formula: , in, This can be the time when any one of the four UWB sub-units receives the pulse signal emitted by the target UWB unit of the target satellite speaker.

[0075] Based on the distance formula between two points in space, establish a system of distance difference equations to solve for the coordinates of the satellite speaker: .

[0076] In some embodiments of this application, the time-series coordinate data of the target satellite speaker is obtained by repeatedly executing the above-described UWB TDoA-based positioning process (multiple sets of three-dimensional coordinate data obtained by the target satellite speaker periodically sending continuous pulse signals). A smoothing filtering algorithm is used to process the time-series coordinate data to filter out random noise introduced by environmental interference, and finally the positioning accuracy of the satellite speaker is relatively stably controlled within ±5cm.

[0077] Specifically, the process of performing three-dimensional positioning of the target satellite speaker is executed for any satellite speaker to obtain the first three-dimensional coordinates corresponding to each satellite speaker, which will not be elaborated here.

[0078] In some embodiments of this application, the process of locating a user based on millimeter-wave radar FMCW positioning technology may include, as detailed in the following description.

[0079] The host device has a built-in 60GHz millimeter-wave radar module (which has higher positioning accuracy and better angular resolution compared to 24GHz radar). It uses FMCW technology combined with the 8-antenna array phase difference method to realize the user's three-dimensional coordinate detection, human target recognition and anti-interference filtering. The positioning frequency is 10Hz, which is matched with the audio processing rhythm.

[0080] The detection principle includes distance measurement, angle measurement, and coordinate transformation.

[0081] Ranging (FMCW algorithm): The radar transmits a linear frequency modulated continuous wave, the frequency of which changes linearly with time. When the signal encounters a human target, it reflects to form an echo. The echo and the transmitted wave are mixed at the radar receiver to obtain a difference frequency signal. Based on the frequency of the difference frequency signal, the straight-line distance D from the user to the host device is calculated using the following formula: ,in: The difference frequency signal frequency, The frequency modulation slope of the radar transmitted wave. It is the speed of light.

[0082] Angle measurement (8-antenna array phase difference method): The radar receiver uses an 8-antenna array. By utilizing the phase difference of the same echo received by different antennas, the user's horizontal azimuth angle in the XZ plane is calculated. (0° is directly in front of the host device, negative is to the left, and positive is to the right) and the vertical elevation angle in the YZ plane. (The ground plane of the host equipment is 0°, and the top is positive).

[0083] Coordinate transformation: transforming the polar coordinates measured by radar Convert to Cartesian coordinates in the host device's 3D coordinate system to obtain the user's absolute 3D coordinates. The conversion formula is: .

[0084] In some embodiments of this application, anti-interference and human target recognition optimization can also be performed, specifically including: static environment modeling, after the system starts, the radar first performs static modeling of the surrounding environment, recording the echo characteristics of fixed objects such as walls, furniture, and home appliances to form a static feature library; dynamic target filtering, using the CFAR (Constant False Alarm Rate) algorithm, comparing real-time echo characteristics with the static feature library, filtering out static targets and retaining only dynamic targets; human feature recognition, based on human micro-motion characteristics (breathing, slight limb movements), performing secondary screening of dynamic targets, excluding interfering targets such as pets and moving objects, ensuring that only the location of human users is detected, achieving uniqueness in user positioning. Thus, through pre-spatial modeling and human feature recognition, differences can be quickly identified, more accurately, and more efficiently.

[0085] In some embodiments of this application, the controller is further configured to: determine multiple sets of relative spatial azimuth angles based on the plurality of first three-dimensional coordinates and second three-dimensional coordinates, wherein any set of relative spatial azimuth angles includes the corresponding horizontal azimuth angle and vertical azimuth angle of the speaker relative to the user.

[0086] Taking the target satellite speaker as an example, the calculation of the target satellite speaker... relative users A set of relative spatial azimuth angles, including horizontal and vertical azimuth angles, serves as the basis for channel mapping: 1. Calculate the spatial vector from the user to the target satellite speaker: ; 2. Calculate the horizontal azimuth angle (0° is directly in front of the user, negative is to the left, and positive is to the right, ranging from -180° to +180°): ; 3. Calculate the vertical azimuth angle (The user's horizontal plane is 0°, above is positive, below is negative, range -90° to +90°): .

[0087] For multiple speakers, the target satellite speakers are calculated according to the above method. relative users The method of obtaining a set of relative spatial azimuth angles for multiple speakers is not elaborated here.

[0088] In some embodiments of this application, the controller is further configured to: determine multiple similarity values ​​based on the multiple sets of relative spatial azimuth angles and the multiple sets of standard spatial azimuth angles; the multiple sets of standard spatial azimuth angles correspond to multiple standard audio channels respectively; any set of standard spatial azimuth angles includes the standard horizontal azimuth angle and the standard vertical azimuth angle corresponding to the standard audio channel; the multiple similarity values ​​include the similarity value between any set of relative spatial azimuth angles and any set of standard spatial azimuth angles.

[0089] Before determining multiple similarity values, it is necessary to first obtain the standard channel orientation reference (i.e., multiple sets of standard spatial azimuth angles) for multi-channel audio, and define it as the ideal azimuth angle relative to the user, as a reference standard for channel mapping as shown in Table 1 below (taking 5.1 channel as an example, it can be extended to any multi-channel audio as needed): Table 1

[0090] Among them, similarity algorithms such as Euclidean distance, cosine similarity, and Manhattan distance can be used to calculate the similarity value between any set of relative spatial azimuth angles and any set of standard spatial azimuth angles.

[0091] In some embodiments of this application, Euclidean distance is used as an example to calculate the similarity value between any set of relative spatial azimuth angles and any set of standard spatial azimuth angles.

[0092] Let any set of standard spatial azimuth angles be denoted as... , Let any set of relative spatial azimuth angles be denoted as , Based on the following Euclidean distance formula, multiple similarity values ​​were calculated. The Euclidean distance formula is as follows: ,in, Used to characterize standard spatial azimuth. , and relative spatial azimuth The similarity value. The smaller the value, the higher the standard spatial azimuth. relative spatial azimuth The higher the similarity, the higher the standard spatial azimuth. Corresponding standard channels and relative spatial azimuth angles The better the matching speaker.

[0093] In some embodiments of this application, the controller is further configured to: determine the target mapping relationship between the multiple standard channels and the multiple speakers based on the multiple similarity values, wherein the target mapping relationship is used to indicate the mapping relationship between each standard channel and the corresponding speaker.

[0094] In some embodiments of this application, the target mapping relationship may include a one-to-one correspondence between multiple standard channels and multiple speakers, or it may include a non-one-to-one correspondence between multiple standard channels and multiple speakers. For example, there may be one standard channel corresponding to one speaker, one standard channel corresponding to at least two speakers, or at least two standard channels corresponding to one speaker.

[0095] In some embodiments of this application, the controller is further configured to: control the audio signals of the multiple standard channels to be played through the corresponding speakers based on the target mapping relationship.

[0096] In some embodiments of this application, the host device has a built-in high-performance audio decoding chip that supports decoding of mainstream audio formats. It can decode input audio signals (HDMI, Bluetooth, AUX, optical fiber, etc.) into standard multi-channel audio data, supports multiple mainstream multi-channel formats, and stores the decoded audio data according to channel classification to provide raw data for subsequent dynamic mapping.

[0097] For example, the decoded standard channel data includes: left channel (L), right channel (R), center channel (C), left surround channel (LS), right surround channel (RS), subwoofer (SW), etc., and each channel data is independent and can be modulated individually.

[0098] In some embodiments of this application, the target mapping relationship between multiple standard channels and multiple speakers is determined based on the similarity value between the actual spatial orientation of multiple speakers relative to the user and the standard spatial orientation of the standard channels. Then, based on the target mapping relationship, the decoded standard multi-channel audio data is automatically allocated to the speakers corresponding to each standard channel, realizing "speaker orientation determines channel allocation", without manual intervention, and adapting to any number of host devices and satellite speakers in any placement position.

[0099] In some embodiments of this application, for an audio system comprising a host device and at least one satellite speaker, which includes multiple speakers, multiple sets of relative spatial azimuth angles relative to the user are determined based on multiple first three-dimensional coordinates corresponding to the multiple speakers and the user's second three-dimensional coordinates. Then, based on the multiple sets of relative spatial azimuth angles and multiple sets of standard spatial azimuth angles, multiple similarity values ​​between multiple standard channels and multiple speakers are determined in spatial orientation. Based on the multiple similarity values, a target mapping relationship between the multiple standard channels and multiple speakers is determined. Then, based on the target mapping relationship, the audio signals corresponding to the multiple standard channels are respectively sent to the matched speakers for playback. Thus, based on the similarity value between the horizontal and vertical azimuth angles of the speaker relative to the user (i.e., a set of relative spatial azimuth angles corresponding to the speaker) and the horizontal and vertical azimuth angles of the standard channel relative to the user (i.e., a set of standard spatial azimuth angles corresponding to the standard channel), the speaker matched with each standard channel is determined. Then, the audio signal of the corresponding standard channel is played based on the matched speaker. Thus, based on the similarity between the multiple sets of standard spatial azimuth angles corresponding to multiple standard channels and the multiple sets of spatial azimuth angles corresponding to multiple speakers, the pairing of multiple standard channels with multiple speakers is completed. Without imposing hard constraints on the placement of the speakers, excellent surround sound playback effect can be achieved.

[0100] Furthermore, on the one hand, this solution combines horizontal and vertical azimuth angles for comprehensive spatial matching, taking into account both horizontal and vertical azimuth deviations between the speaker and the standard channel. This overcomes the limitations of two-dimensional planar sound field matching in related technologies, enabling more accurate reproduction of the original three-dimensional surround sound field and effectively enhancing the audio spatial layering and immersive listening experience. On the other hand, the entire process of speaker and standard channel azimuth matching, channel mapping, and audio distribution can be completed automatically by the system, requiring no manual intervention or adjustment, significantly improving the matching efficiency between channels and speakers. Simultaneously, it lowers the user barrier; users do not need to possess professional knowledge of speaker placement specifications or require additional auxiliary operations such as taking photos and uploading them to complete the sound field adaptive adaptation. In addition, there is no need for speakers to be placed according to the official ideal position specifications. It can adapt to complex usage scenarios such as speakers being placed randomly and users' listening positions changing dynamically. It always maintains a relatively good pairing relationship between the channels and speakers, avoiding sound quality defects such as sound field shift, surround sound failure, and sound field chaos caused by channel misalignment. It ensures that the audio system can output relatively stable and high-fidelity spatial audio effects in various spatial layouts.

[0101] In some embodiments of this application, the controller is specifically configured to: substitute the multiple sets of relative spatial azimuths and the multiple sets of standard spatial azimuths into the Euclidean distance formula to determine the multiple similarity values.

[0102] In some embodiments of this application, Euclidean distance has the characteristics of simple form, high computational efficiency and clear physical meaning. Therefore, by calculating multiple sets of similarity values ​​through the Euclidean distance formula, the actual spatial interval between the standard channel and the speaker can be intuitively reflected. Thus, based on multiple similarity values, the mapping relationship between multiple standard channels and multiple speakers can be accurately matched.

[0103] In some embodiments of this application, the relationship between the number of multiple standard channels and the number of multiple speakers is not limited. That is, the number of multiple standard channels can be equal to the number of multiple speakers, the number of multiple standard channels can be greater than the number of multiple speakers, or the number of multiple standard channels can be less than the number of multiple speakers.

[0104] In some embodiments of this application, multiple usable similarity values ​​can be directly determined based on multiple similarity values, and then the target mapping relationship can be determined based on these multiple usable similarity values. The multiple usable similarity values ​​are used to characterize the spatial orientation similarity between the standard channel and the speaker being greater than or equal to a first target similarity threshold.

[0105] For example, when the smaller the similarity value, the greater the spatial similarity between the standard channel and the speaker (e.g., the similarity value is calculated using the Euclidean distance algorithm), the multiple usable similarity values ​​are less than or equal to the first similarity threshold among the multiple similarity values; when the larger the similarity value, the greater the spatial similarity between the standard channel and the speaker (e.g., the similarity value is calculated using the cosine similarity algorithm), the multiple usable similarity values ​​are greater than or equal to the second similarity threshold among the multiple similarity values.

[0106] In some embodiments of this application, if there are no at least two available similarity values ​​corresponding to the same standard channel among the multiple available similarity values, and there are no at least two available similarity values ​​corresponding to the same speaker, then the target mapping relationship is used to indicate the one-to-one mapping relationship between multiple standard channels and multiple speakers, that is, a standard channel and its unique corresponding speaker, and a speaker and its unique corresponding standard channel.

[0107] In some embodiments of this application, if there are at least two available similarity values ​​corresponding to the same standard channel among multiple available similarity values, but there are no at least two available similarity values ​​corresponding to the same speaker, then the target mapping relationship includes a mapping relationship of one standard channel corresponding to at least two speakers, but does not include a mapping relationship of one speaker corresponding to at least two standard channels, and may include a one-to-one mapping relationship of one speaker corresponding to one standard channel.

[0108] In some embodiments of this application, if there are no at least two available similarity values ​​corresponding to the same standard channel among multiple available similarity values, but there are at least two available similarity values ​​corresponding to the same speaker, then the target mapping relationship does not include a mapping relationship where one standard channel corresponds to at least two speakers, but includes a mapping relationship where one speaker corresponds to at least two standard channels, and may include a one-to-one mapping relationship where one speaker corresponds to one standard channel.

[0109] In some embodiments of this application, if there are at least two available similarity values ​​corresponding to the same standard channel among a plurality of available similarity values, and there are at least two available similarity values ​​corresponding to the same speaker, then the target mapping relationship includes a mapping relationship of one standard channel to at least two speakers, and includes a mapping relationship of one speaker to at least two standard channels, and may also include a one-to-one mapping relationship of one speaker to one standard channel.

[0110] In some embodiments of this application, not only is a one-to-one mapping relationship between multiple standard channels and multiple speakers supported, but also a mapping relationship between one standard channel and at least two speakers, and a mapping relationship between one speaker and at least two standard channels can be supported. Specifically, this can be determined based on multiple available similarity values. In this way, a better pairing relationship between channels and speakers can be determined based on the actual placement of the host device and at least one satellite speaker, thereby avoiding sound quality defects such as sound field shift, surround sound failure, and sound field chaos caused by channel misalignment, and ensuring that the audio system can output a relatively stable and high-fidelity spatial audio effect under various spatial layouts.

[0111] In some embodiments of this application, the controller is specifically configured to: determine multiple spatial similarity sets based on the multiple sets of relative spatial azimuth angles and multiple sets of standard spatial azimuth angles; each spatial similarity set includes the similarity values ​​between a corresponding set of standard spatial azimuth angles and each set of relative spatial azimuth angles; use each of the multiple spatial similarity sets as a target spatial similarity set, determine a first similarity value in the target spatial similarity set to obtain multiple first similarity values ​​corresponding to the multiple spatial similarity sets, wherein the first similarity value is the value in the target spatial similarity set that represents the highest similarity between the standard channel and the speaker spatial azimuth; if there are no different similarity values ​​corresponding to the same speaker among the multiple first similarity values, determine the target mapping relationship based on the multiple first similarity values, wherein the target mapping relationship is used to indicate the mapping relationship between the standard channel and the unique speaker corresponding to each first similarity value.

[0112] It is understandable that, based on the multiple sets of relative spatial azimuth angles and the multiple sets of standard spatial azimuth angles, multiple spatial similarity sets are determined. The similarity values ​​included in these multiple spatial similarity sets are multiple similarity values, that is, multiple similarity values ​​are grouped according to standard channels. One standard channel corresponds to one spatial similarity set. Each similarity value in a spatial similarity set is the similarity value between a set of standard spatial azimuth angles corresponding to that standard channel and each set of relative spatial azimuth angles.

[0113] It is understandable that, when the similarity value is smaller, indicating a greater spatial similarity between the standard channel and the speaker (such as when the similarity value is calculated using the Euclidean distance algorithm), the speaker that best matches the standard channel corresponding to the target spatial similarity set can be determined based on the minimum value in the target spatial similarity set; conversely, when the similarity value is larger, indicating a greater spatial similarity between the standard channel and the speaker (such as when the similarity value is calculated using the cosine similarity algorithm), the speaker that best matches the standard channel corresponding to the target spatial similarity set can be determined based on the maximum value in the target spatial similarity set.

[0114] In some embodiments of this application, multiple similarity values ​​are grouped based on multiple standard channels to obtain multiple spatial similarity sets. Multiple first similarity values ​​are determined from the multiple spatial similarity sets. The multiple first similarity values ​​have a one-to-one relationship with the multiple spatial similarity sets, and the multiple first similarity values ​​are respectively the values ​​in the multiple spatial similarity sets that represent the highest similarity between the standard channel and the speaker's spatial orientation. In the case that there are no different similarity values ​​corresponding to the same speaker among the multiple first similarity values, a target mapping relationship for indicating the standard channel corresponding to each first similarity value and a unique speaker is determined. In this way, the target mapping relationship between multiple standard channels and multiple speakers can be quickly determined, which can improve the matching efficiency between channels and speakers, and can determine the most suitable speaker for playing audio signals of any standard channel, thereby improving the audio playback effect.

[0115] In some embodiments of this application, when the number of multiple standard channels is equal to the number of multiple speakers, a one-to-one mapping relationship between the multiple standard channels and the multiple speakers can be obtained; when the number of multiple standard channels is less than the number of multiple speakers, a one-to-one mapping relationship between each of the multiple standard channels and its unique corresponding speaker can be obtained (some speakers do not have a matching standard channel); when the number of multiple standard channels is greater than the number of multiple speakers, a one-to-one mapping relationship between each of the multiple speakers and its unique corresponding standard channel can be obtained (some standard channels do not have a matching speaker).

[0116] In some embodiments of this application, the controller is specifically configured to: when there are multiple target first similarity values ​​among the multiple first similarity values, and the multiple target first similarity values ​​correspond to the first speaker among the multiple speakers, determine a first mapping relationship based on the multiple target first similarity values. The first mapping relationship is used to indicate the mapping relationship between the first speaker and at least one first standard channel. The first mapping relationship is one of the target mapping relationships corresponding to the first speaker, and the at least one first standard channel is the standard channel that matches the first speaker among the multiple target first similarity values.

[0117] The mapping relationship between the first speaker and at least one first standard channel may include: the mapping relationship between the first speaker and one first standard channel, or the mapping relationship between the first speaker and at least two first standard channels.

[0118] It is understandable that, since multiple target first similarity values ​​are the highest similarity values ​​representing the similarity between the standard channels and the speaker in the spatial similarity set corresponding to at least two standard channels, then at least two standard channels corresponding to multiple target first similarity values ​​are best matched with the first speaker. In this case, it can be determined that the audio signals of the at least two standard channels are played through the first speaker. Alternatively, at least one target first similarity value that satisfies the first condition can be selected from multiple target first similarity values, and then it can be determined that at least one standard channel corresponding to at least one target first similarity value is best matched with the first speaker, and the audio signals of the at least one standard channel are played through the first speaker.

[0119] The first condition can be that the spatial similarity between the standard channel and the speaker is greater than or equal to the second target similarity threshold, or the difference between the first similarity value and the target with the highest similarity between the standard channel and the speaker is less than or equal to a certain difference threshold.

[0120] In some embodiments of this application, when multiple target first similarity values ​​correspond to the first speaker among multiple speakers, a first mapping relationship between the first speaker and at least one first standard channel is determined based on the multiple target first similarity values. Thus, when multiple standard channels correspond to the same speaker, i.e., when the same speaker can match multiple different standard channels, the audio system can reasonably filter and bind one or at least two standard channels that are compatible with the speaker based on the quantified directional similarity results, effectively avoiding channel mismatch problems caused by a single matching logic, and further improving the overall matching accuracy between the speaker and the standard channel.

[0121] In some embodiments of this application, the controller is specifically configured to: determine at least one first difference value based on the plurality of target first similarity values, wherein the first difference value is used to indicate the difference between a third similarity value and a second similarity value, the second similarity value being the value among the plurality of target first similarity values ​​that represents the highest similarity between the standard channel and the speaker's spatial orientation; the third similarity value being any one of the plurality of target first similarity values ​​other than the second similarity value; and determine the standard channel corresponding to the second similarity value and the standard channel corresponding to the difference value among the at least one first difference value that is less than or equal to a first difference threshold as the at least one first standard channel, thereby determining a first mapping relationship.

[0122] The first difference threshold can be determined based on the actual situation.

[0123] It is understandable that when there are multiple targets with a first similarity value of two targets, a first difference value can be determined; when there are multiple targets with a first similarity value of at least three targets, at least two first difference values ​​can be determined.

[0124] It is understandable that if a first difference value is less than or equal to a first difference threshold, then the standard channel corresponding to the third similarity threshold of that first difference value matches the first speaker; otherwise, they do not match.

[0125] It can be understood that the first mapping relationship includes the mapping relationship between the standard channel corresponding to the second similarity value and the first speaker. If at least one of the first difference values ​​is a target first difference value that is less than or equal to the first difference threshold, then the first mapping relationship also includes the mapping relationship between the standard channel corresponding to the target first difference value (the corresponding third similarity value) and the first speaker. The target first difference value may include one or more.

[0126] It is understood that if there is no first difference value less than or equal to the first difference threshold among at least one first difference value, then the first mapping relationship only includes the mapping relationship between the standard channel and the first speaker corresponding to the second similarity value.

[0127] In some embodiments of this application, at least one first difference value is obtained by calculating the difference between the third similarity value and the second similarity value among multiple target first similarity values. Then, based on the comparison between the at least one first difference value and a first difference threshold, it is determined whether there are other standard channels that match the first speaker besides the mapping relationship between the standard channel corresponding to the second similarity value and the first speaker. In this way, for scenarios where the same speaker can match multiple different standard channels, the audio system can rely on the quantified directional similarity results to reasonably filter and bind one or at least two standard channels that are suitable for the speaker, effectively avoiding the channel mismatch problem caused by a single matching logic, and further improving the overall matching accuracy between the speaker and the standard channels.

[0128] In some embodiments of this application, when at least two standard channels are mapped to the same speaker, the audio signals corresponding to the at least two standard channels can be fused, and then the fused overall audio signal can be played uniformly through the single speaker. This solves the problems of audio signal conflict and chaotic sound output when a single speaker corresponds to multiple standard channels. Simultaneously, by relying on the matching results of spatial similarity as a pre-constraint, it ensures that the spatial orientations of the multiple channels participating in the fusion are similar, preventing sound field distortion and sound misalignment after channel fusion. Especially in scenarios where the number of hardware speakers is insufficient (the number of standard channels is greater than the number of speakers), it still ensures the overall spatial audio playback effect and listening consistency.

[0129] In some embodiments of this application, the controller is further configured to: when the number of the plurality of speakers is greater than the number of the plurality of standard channels, determine at least one second difference value based on the target spatial similarity set, wherein the second difference value is used to indicate the difference between a fourth similarity value and a first similarity value in the target spatial similarity set, wherein the fourth similarity value is any similarity value in the target spatial similarity set other than the corresponding first similarity value; and when a target second difference value exists among the at least one second difference value and the target second difference value is less than or equal to a second difference threshold, determine a second mapping relationship between the target speaker and the target standard channel corresponding to the target second difference value, wherein the target standard channel is the standard channel corresponding to the target spatial similarity set, and the target mapping relationship includes the second mapping relationship.

[0130] The second difference threshold can be the same as or different from the first difference threshold. The specific value of the second difference threshold can be determined according to the actual situation.

[0131] It is understood that at least one second difference value is used to determine whether there are other speakers in the target spatial similarity set besides the speaker corresponding to the first similarity value that match the target standard channel.

[0132] It can be understood that if the target second difference value is less than or equal to the second difference threshold, then the speaker corresponding to the fourth similarity value of the target second difference value matches the target standard speaker.

[0133] It should be noted that the target spatial similarity set can be any one of multiple spatial similarity sets. Therefore, for multiple spatial similarity sets, the above process can be performed to determine whether the corresponding standard channel matches at least two speakers.

[0134] In some embodiments of this application, since the number of multiple speakers is greater than the number of multiple standard channels, at least two speakers are allowed to be matched with the same standard channel. Therefore, a fourth similarity value can be selected from the target space similarity set, where the difference between the fourth similarity value and the corresponding first similarity value is less than or equal to a second difference threshold. It is then determined that the speaker corresponding to the fourth similarity value has a second mapping relationship with the target standard channel, thereby ultimately achieving pairing and binding of a single target standard channel with at least two speakers. This setup can more accurately and reasonably select at least two speakers adapted to the same target standard channel in a non-symmetrical matching scenario where the number of speakers exceeds the number of standard channels, improving the multi-to-one channel matching logic and adapting to actual audio system layout scenarios where the number of speakers exceeds the number of channels.

[0135] In some embodiments of this application, the controller is further configured to: when there is a mapping relationship between the target standard channel and the plurality of second speakers among the plurality of speakers, determine the playback ratio of the audio signal of the plurality of second speakers corresponding to the target standard channel based on the plurality of fifth similarity values ​​in the target spatial similarity set that correspond to the plurality of second speakers respectively; wherein, the greater the spatial orientation similarity between the target standard channel and the target second speaker, as represented by the fifth similarity value corresponding to the target second speaker, the greater the playback ratio corresponding to the target second speaker; the target second speaker is any one of the plurality of second speakers.

[0136] In this system, the target standard channel can be any one of multiple standard channels. The target standard channel is mapped to multiple second speakers, meaning the audio signal of the target standard channel is played through these second speakers. A channel splitting strategy can be employed to distribute the audio signal of the target standard channel according to an appropriate playback ratio, allowing multiple second speakers to jointly play the target standard channel's audio signal.

[0137] For example, when the smaller the similarity value, the greater the spatial similarity between the standard channel and the speaker (e.g., the similarity value is calculated using the Euclidean distance algorithm), the playback ratio corresponding to the target second speaker is equal to the ratio of the reciprocal of the fifth similarity value corresponding to the target second speaker to the sum of the reciprocals of the multiple fifth similarity values. Specifically, the playback ratio of each second speaker can be calculated using the following formula: ,in: For speakers Play standard channel audio The playback ratio of the audio signal, where n is the ratio of the standard channel. The number of speakers with a mapping relationship is such that the sum of the proportions of all speakers is 100%. Thus, the smaller the similarity value, the greater the spatial similarity between the target second speaker and the target standard channel. Therefore, the speaker with a smaller similarity value corresponds to a larger playback proportion, allowing speakers with higher spatial matching and better sound field fit to carry more audio signal output. This allocation method conforms to the spatial hearing perception law of human ears and the real acoustic propagation characteristics, weakens the sound field interference and sound muddiness caused by multiple speakers emitting sound in the same channel at the same time, makes the spatial sound field transition more natural and smooth, and further improves the spatial reproduction and listening comfort of surround sound.

[0138] For example, when the similarity value is higher, indicating a greater spatial similarity between the standard channel and the speaker (e.g., similarity value calculated using a cosine similarity algorithm), the playback ratio corresponding to the target second speaker is equal to the ratio of the fifth similarity value corresponding to the target second speaker to the sum of multiple fifth similarity values. Thus, a higher similarity value indicates a greater spatial similarity between the target second speaker and the target standard channel, resulting in a higher playback ratio for speakers with higher similarity values. This allows speakers with better spatial matching and sound field fit to carry more audio signal output. This allocation method aligns with the spatial auditory perception patterns of the human ear and the characteristics of real acoustic propagation, mitigating sound field interference and muddiness caused by multiple speakers emitting sound simultaneously in the same channel. It makes the transition of the spatial sound field more natural and smooth, further improving the spatial fidelity and listening comfort of surround sound.

[0139] In some embodiments of this application, for a many-to-one matching scenario where multiple second speakers are matched to the same target standard channel, the fifth similarity value corresponding to each of the multiple second speakers within the target spatial similarity set can be used to adaptively calculate the audio signal playback weight corresponding to each second speaker, thus determining a differentiated audio playback ratio. In this way, the volume and signal ratio of each speaker can be dynamically adjusted based on the matching degree between the actual spatial location of the speakers and the standard channel. Speakers with higher spatial matching degrees bear higher audio playback weights, further conforming to the real spatial acoustic propagation laws, weakening the sound field interference problem caused by multiple speakers operating in the same channel, making the spatial sound field transition more natural and smooth, and further improving the spatial fidelity and listening comfort of surround sound.

[0140] In some embodiments of this application, the audio signal of the target standard channel can be evenly distributed so that multiple second speakers can play the same source audio signal at the same power.

[0141] In some embodiments of this application, since the subwoofer channel is omnidirectional, the audio signal corresponding to the subwoofer channel can be played through any speaker. Therefore, if multiple speakers include a dedicated subwoofer speaker, the audio signal of the subwoofer channel is played through that dedicated subwoofer speaker. If multiple speakers do not include a dedicated subwoofer speaker, the subwoofer channel can be assigned to the speaker closest to the user, thus providing the user with a better bass playback effect.

[0142] In some embodiments of this application, the controller is further configured to: determine a plurality of relative distances based on the plurality of first three-dimensional coordinates and second three-dimensional coordinates, the plurality of relative distances indicating the relative distances between the plurality of speakers and the user respectively; determine a plurality of volume compensation coefficients corresponding to the plurality of speakers based on the ratios of the plurality of relative distances to the target uniform distance respectively; and perform corresponding compensation processing on the sound pressure of the audio signals played by the plurality of speakers based on the plurality of volume compensation coefficients; wherein, when the target volume compensation coefficient is less than 1, a target sound pressure attenuation is determined based on the target volume compensation coefficient, and sound pressure attenuation compensation is performed based on the target sound pressure attenuation; when the target volume compensation coefficient is greater than 1, a target sound pressure increase is determined based on the target volume compensation coefficient, and sound pressure increase compensation is performed based on the target sound pressure increase; the target volume compensation coefficient is any one of the plurality of volume compensation coefficients.

[0143] The target uniform distance is a preset distance threshold, which can be determined according to actual needs.

[0144] Among them, multiple volume compensation coefficients can be equal to the ratio of multiple relative distances to the target uniform distance, or equal to the product of the ratio of multiple relative distances to the target uniform distance and a preset coefficient, or equal to the sum of the ratio of multiple relative distances to the target uniform distance and a preset constant.

[0145] It is understandable that sound in free space follows the inverse square law, with sound pressure level attenuating as the propagation distance increases. To compensate for distance differences, volume compensation is needed for speakers at different distances. The steps are as follows: The relative distance between the user and each speaker is calculated based on the following formula. ; ; Assuming the target has a uniform distance of... (Assumed to be 1.5m, but user-defined distance is supported; this is the ideal listening distance). Calculate the volume compensation coefficient Based on the inverse square law, the formula is as follows; ; like (The speaker is far from the user) >1, Increase the speaker volume to compensate for sound pressure attenuation; like (The speaker is close to the user) <1. Lower the speaker volume to avoid excessive sound pressure. In some embodiments of this application, the process of determining the sound pressure attenuation or sound pressure compensation based on the speaker compensation coefficient can refer to related technologies. For example, the sound pressure attenuation or sound pressure compensation can be determined using the following formula. ,in These are the default parameters for the audio system.

[0146] In some embodiments of this application, the volume compensation coefficient is limited. Specifically, to prevent the volume from being too loud or too soft, the volume compensation coefficient is set to not exceed a preset range, and when it exceeds the range, the boundary value is taken.

[0147] For example, the preset range can be ∈ [0.2, 2.0].

[0148] In some embodiments of this application, a volume compensation coefficient is calculated based on the actual relative distance between the speaker and the user, and targeted sound pressure attenuation or gain compensation is performed. This adaptively compensates for sound energy loss caused by distance, balances the output loudness of different speakers, allows the user to experience a uniform volume at the listening position, optimizes the spatial sound field performance, and simultaneously achieves fully automated volume compensation, improving system usability.

[0149] In some embodiments of this application, the controller is specifically configured to: determine a plurality of first volume compensation coefficients based on the ratios of the plurality of relative distances to the target uniform distance; determine a plurality of azimuth deviations corresponding to the plurality of speakers based on the plurality of sets of relative spatial azimuths and the plurality of sets of standard spatial azimuths, wherein the target azimuth deviation indicates the degree of azimuth deviation between the horizontal azimuth of the third speaker in one set of spatial azimuths and the horizontal azimuth of the standard spatial azimuth of the standard channel corresponding to the third speaker; the target azimuth deviation is any one of the plurality of azimuth deviations, and the third speaker is the speaker corresponding to the target azimuth deviation. Based on the target ratios of the multiple azimuth deviations to the target uniform azimuth deviation, multiple second volume compensation coefficients are determined; the second volume compensation coefficients decrease as the target ratio increases; the multiple volume compensation coefficients are determined based on the multiple first volume compensation coefficients and the multiple second volume compensation coefficients; wherein, the target volume compensation coefficient is obtained by weighting the first volume compensation coefficient corresponding to the fourth speaker with the reciprocal of the second volume compensation coefficient corresponding to the fourth speaker; therefore, the target speaker compensation coefficient is any one of the multiple volume compensation coefficients, and the fourth speaker is one of the multiple speakers corresponding to the target volume compensation coefficient.

[0150] Since the horizontal azimuth angle of the speaker may deviate significantly from that of the standard channel, compensating for the speaker volume solely based on the actual relative distance between the speaker and the user may not achieve a uniform surround sound effect. Therefore, in some embodiments of this application, the deviation of the speaker's horizontal azimuth angle from that of the standard channel is incorporated to enhance and compensate for the speaker volume. The specific steps are as follows: For example, assume the target uniform azimuth deviation (For example, surround sound is assumed to be 60° / speaker, meaning one surround sound speaker is distributed every 60° around the user); calculate the azimuth deviation of each speaker. If the speaker is the only speaker corresponding to a certain standard channel, then the degree of directional deviation... If the speaker is a sub-speaker that has been split into channels for a standard channel, Calculate the second volume compensation coefficient. The greater the azimuth deviation, the smaller the second volume compensation coefficient, as shown in the following formula.

[0151] .like ,Pick ,in, It is a positive number greater than 0 and less than 1, and the specific value can be determined according to the actual situation.

[0152] Calculate the final volume compensation coefficient , .in, , Two coefficients are set according to the characteristics of the audio system.

[0153] The main unit adjusts the audio output power of each satellite speaker according to the final volume compensation coefficient to achieve more accurate volume compensation.

[0154] Volume compensation is achieved through sound pressure level adjustment, and the volume compensation formula is as follows: ,in These are the default parameters for the audio system.

[0155] In some embodiments of this application, not only is a first volume compensation coefficient for each speaker determined based on the actual relative distance between the speaker and the user, but a second volume compensation coefficient is also determined based on the relationship between the degree of deviation of the speaker's horizontal azimuth angle from the standard channel's horizontal azimuth angle and the target uniform azimuth deviation. Then, by weighting the first and second volume compensation coefficients, a target volume compensation coefficient for each speaker is obtained. This approach simultaneously considers both propagation distance and azimuth deviation, resulting in a more comprehensive compensation logic and higher adjustment precision compared to single-dimensional compensation relying solely on distance. It can both offset the loudness attenuation caused by long-distance sound wave propagation and dynamically correct the volume according to the degree of azimuth deviation, mitigating sound field discontinuities and sound image shifts caused by angular deviations, making the overall sound field distribution more aligned with design expectations. Ultimately, this ensures coordinated and unified loudness output from speakers at different distances and placement angles, further enhancing the spatial audio's layering, balance, and overall listening experience.

[0156] In some embodiments of this application, the controller is further configured to: determine multiple relative distances based on the multiple first three-dimensional coordinates and the multiple three-dimensional coordinates, the multiple relative distances being used to indicate the relative distances between the multiple speakers and the user respectively; determine multiple propagation time differences corresponding to the multiple speakers based on the differences between the multiple relative distances and the target uniform distance respectively; and perform corresponding correction processing on the playback time of the audio signals played by the multiple speakers based on the multiple propagation time differences; wherein, when the target propagation time difference is less than 0, delay processing is performed on the audio signals of the corresponding speakers based on the target propagation time difference; when the target propagation time difference is greater than 0, advance processing is performed on the audio signals of the corresponding speakers based on the target propagation time difference; the target propagation time difference is any one of the multiple propagation time differences.

[0157] The uniform distance to the target can be determined based on the actual situation.

[0158] The sound from speakers at different distances from the user reaches the user's ears at different times, which can cause phase shift and disrupt the spatial sense and consistency of surround sound. Therefore, audio delay compensation is added to ensure that the sound from all satellite speakers reaches the user's ears synchronously. The specific steps are as follows.

[0159] Calculate the propagation time difference for each speaker. , at a uniform distance from the target For reference, the propagation time difference is the actual distance (i.e., the relative distance between the user and each speaker). The difference between the uniform distance to the target and the speed of light is calculated by dividing by the speed of light.

[0160] like >0 (the speaker is farther away, the propagation time is longer), so the audio signal of the speaker is processed in advance and sent ahead of time, with a lead time of 0. ;like <0 (the speaker is closer, the propagation time is shorter), so the audio signal from the speaker is delayed, and the audio signal is sent with a delay time of | |

[0161] Among them, the delay accuracy is as follows: the accuracy of delay processing or advance processing reaches the microsecond level (μs) to ensure phase consistency.

[0162] In some embodiments of this application, the host device distributes the audio signal, after channel mapping and parameter compensation, to the corresponding speaker via a wireless audio link such as Bluetooth 5.3 or WiFi 6, according to the speaker's unique ID. After receiving the audio data, the speaker's wireless audio receiving module amplifies it through an audio power amplifier and finally plays it through the speaker to achieve a synchronous and immersive surround sound effect.

[0163] In some embodiments of this application, the wireless audio link adopts a low-latency coding protocol (such as aptX Low Latency, LDAC), with an audio transmission latency of <20ms, ensuring the synchronization of positioning data and audio playback, and avoiding audio "stuttering" or "offset" when the user's location changes.

[0164] In some embodiments of this application, the audio system adopts a fully automated closed-loop working mode, requiring no manual intervention. The complete workflow from startup to playback is divided into four parts: initialization stage, real-time detection stage, audio processing stage, and playback and dynamic update stage, as described below.

[0165] Initialization Phase (System Startup): The host device powers on and starts up, completing hardware self-tests (UWB transceiver unit 1, millimeter-wave radar unit, decoding unit, etc.), initializing the target's three-dimensional Cartesian coordinate system, and reading the pre-stored initial coordinates of at least four UWB sub-units (serving as base stations for UWB TDOA positioning) included in UWB transceiver unit 1; the satellite speakers power on, and UWB transceiver unit 2 (serving as tags to be located) automatically pairs with the host device. The host device assigns a unique ID to each satellite speaker and establishes a mapping relationship between the ID and UWB transceiver unit 2; the millimeter-wave radar starts up, performs static modeling of the surrounding environment, records the echo characteristics of fixed obstacles, generates a static feature library, and completes anti-interference calibration; the decoding unit initializes, loads supported audio formats and multi-channel modes, and waits for audio signal input. All satellite speakers transmit UWB pulse signals, and the host device completes coordinate calculation and filtering, storing the results in a buffer.

[0166] In some embodiments of this application, during the initialization phase, the satellite speaker can also report the pre-stored three-dimensional coordinates of the satellite speaker to the host device. The pre-stored three-dimensional coordinates of the satellite speaker can be obtained and saved by three-dimensional positioning during the last power-on, or they can be set at the factory.

[0167] Real-time detection phase (continuous operation): UWB transceiver unit 1 continuously receives UWB pulse signals from satellite speakers at a frequency of 20Hz, calculates and filters them, updates the three-dimensional coordinates of each satellite speaker, and stores them in the real-time coordinate cache; millimeter-wave radar unit continuously transmits and receives microwave signals at a frequency of 10Hz, detects the user's three-dimensional coordinates through CFAR algorithm and human micro-motion feature recognition, and updates the user's real-time coordinate cache; the host device judges whether the coordinates have changed in real time. If the satellite speaker coordinates change by ≥5cm, it is marked as "speaker position change"; if the user coordinates change by ≥5cm, it is marked as "user position change", triggering subsequent audio processing.

[0168] Audio processing stage (triggered operation): When an audio signal input or coordinate change is detected, the system triggers the audio processing flow. The processing time for a single operation is less than 10ms, ensuring real-time performance. The audio processing module decodes the input audio signal into standard multi-channel raw data, stores it according to channel classification, reads the real-time coordinates of the satellite speakers and the user, calculates the spatial azimuth angle of the satellite speakers relative to the user, completes multi-channel dynamic mapping according to the principle of "highest spatial azimuth similarity", determines the audio data allocation scheme for each satellite speaker, and calculates the first volume compensation coefficient and the second volume compensation coefficient for each satellite speaker based on the real-time relative distance between the user and the satellite speakers and the degree of horizontal azimuth angle deviation, thus obtaining the final volume compensation coefficient. At the same time, the propagation time difference is calculated to determine the delay / lead compensation coefficient. Based on the mapping scheme and compensation parameters (final volume compensation coefficient, and delay or lead compensation coefficient), the audio data of each satellite speaker is subjected to volume modulation and delay modulation to generate the final audio signal corresponding to each speaker.

[0169] Playback and Dynamic Update Phase (Continuous Operation): The host device distributes the modulated audio signal to the corresponding satellite speaker according to the satellite speaker ID via the wireless audio link; after receiving the audio data, the satellite speaker amplifies and plays it to achieve an immersive surround sound effect; the system continuously loops the "real-time detection-audio processing-data distribution" process, completing a full process update every 100ms to ensure that the audio parameters can be adapted in real time when the user or satellite speaker position changes, achieving a "dynamic following" intelligent effect.

[0170] In some embodiments of this application, in order to improve the stability, robustness and user experience of the system, this system is designed with multi-dimensional optimization strategies and a sound exception handling mechanism to cope with various complex scenarios and hardware failures.

[0171] The multi-dimensional optimization strategies include: Positioning accuracy is optimized by incorporating Kalman filtering into UWB positioning and multi-frame data fusion into millimeter-wave radar, effectively filtering out environmental interference and ensuring positioning accuracy. Real-time optimization employs multi-threaded real-time scheduling, with modules such as positioning, decoding, mapping, and compensation running in parallel. The processing time for a single operation is less than 10ms, and the latency for coordinate updates and audio adaptation is less than 100ms. Low power optimization: The satellite speaker's UWB tag adopts a "wake-up-report-sleep" low power mode, entering deep sleep during non-reporting periods, extending battery life to more than 6 months (powered by built-in battery). Multi-user adaptation: It supports millimeter-wave radar to detect up to 3 users at the same time, takes the center position of multiple users as the compensation benchmark, or distributes the audio power equally according to the number of users, adapting to multi-user listening scenarios. It is spatially adaptive, supporting any spatial layout (living room, bedroom, study, etc.), without the need to pre-determine the space size, and automatically adapts to the signal propagation characteristics of different environments.

[0172] In some embodiments of this application, when the fifth speaker cannot play the audio signal of the second standard channel, a sixth speaker is determined based on the first spatial similarity set corresponding to the second standard channel. The sixth speaker is the speaker corresponding to the sixth similarity value in the first spatial similarity set, where the sixth similarity value is the value in the first spatial similarity set that represents the highest spatial similarity between the standard channel and the speaker. The audio signal of the second standard channel is then played through the sixth speaker.

[0173] In some embodiments of this application, the conditions that cause the fifth speaker to be unable to play the audio signal of the second standard channel include any of the following: the host device cannot obtain the location of the fifth speaker (at this time the fifth speaker is a satellite speaker), the wireless audio link of the fifth speaker is interrupted (at this time the fifth speaker is a satellite speaker), or the fifth speaker is powered off or malfunctions.

[0174] In some embodiments of this application, due to the loss of the UWB signal of the fifth speaker (e.g., obstruction, excessive distance), the host device is unable to locate the satellite speaker, resulting in satellite speaker positioning loss. During the first period of UWB signal loss of the fifth speaker, the host device can use historical coordinate prediction combined with an inertial navigation strategy to determine the temporary replacement coordinates of the fifth speaker based on the historical motion trajectory of the fifth speaker, and perform channel mapping and audio signal compensation based on the temporary replacement coordinates. If the UWB signal loss of the fifth speaker exceeds the first period, the host device issues a prompt and automatically distributes the audio signal of the fifth speaker to the sixth speaker to avoid audio interruption. When the signal is restored, the coordinates are automatically calibrated and the original mapping scheme is restored.

[0175] In some embodiments of this application, if the wireless audio link of the fifth speaker is interrupted, the host device immediately distributes the audio signal of the fifth speaker to the sixth speaker and issues a wireless audio link interruption prompt; after the wireless audio link is restored, the original audio distribution scheme is automatically restored.

[0176] In some embodiments of this application, if the fifth speaker loses power or malfunctions, the system automatically identifies and triggers channel remapping, allocating the audio signal of the fifth speaker to the sixth speaker according to the directional similarity, ensuring that the multi-channel surround sound effect is not interrupted.

[0177] In some embodiments of this application, if the millimeter-wave radar does not detect a user (e.g., the user leaves or is completely blocked), the host device cannot obtain the user's location. In this case, the host device automatically switches to host device-centric mode, which allocates volume, compensates for volume, and adjusts audio delay based on the host device to maintain normal audio playback. When the user is detected again, the device immediately switches back to "user-centric mode".

[0178] In some embodiments of this application, when in a multi-audio signal input scenario, the host device supports priority settings and automatically selects the high-priority audio signal (such as HDMI > Bluetooth > AUX) for decoding to avoid signal conflicts.

[0179] To illustrate this solution in more detail, the following will use examples to illustrate it. Figures 9 to 10 To explain, it is understandable that Figures 9 to 10 The steps involved may include more or fewer steps in actual implementation, and the order of these steps may also differ, depending on whether the audio signal playback method provided in some embodiments of this application can be achieved. The executing entity of the audio signal playback method can be a host device, or a functional module or entity within the host device capable of implementing the audio signal playback method. Furthermore, the specific description of the audio signal playback method provided in some embodiments of this application can be found in the relevant description of the above-mentioned display device, and the same or similar technical effects can be achieved, so it will not be repeated here.

[0180] Figure 9 The flowchart illustrates the steps of an audio signal playback method implemented according to one or more embodiments of this application. The method is applied to a host device that forms an audio system with at least one satellite speaker. The audio signal playback method may include the following steps S901 to S905.

[0181] S901. Obtain the first three-dimensional coordinates corresponding to the multiple speakers included in the audio system in the target three-dimensional rectangular coordinate system, and the second three-dimensional coordinates of the user corresponding to the audio system.

[0182] S902. Based on the multiple first three-dimensional coordinates and second three-dimensional coordinates, determine multiple sets of relative spatial azimuth angles.

[0183] Any set of relative spatial azimuth angles includes the corresponding horizontal and vertical azimuth angles of the speaker relative to the user.

[0184] S903. Based on the multiple sets of relative spatial azimuths and multiple sets of standard spatial azimuths, determine multiple similarity values.

[0185] Among them, the multiple sets of standard spatial azimuth angles correspond to multiple standard audio channels; any set of standard spatial azimuth angles includes the standard horizontal azimuth angle and the standard vertical azimuth angle of the corresponding standard audio channel; the multiple similarity values ​​include the similarity value between any set of relative spatial azimuth angles and any set of standard spatial azimuth angles.

[0186] S904. Based on the multiple similarity values, determine the target mapping relationship between the multiple standard channels and the multiple speakers respectively.

[0187] The target mapping relationship is used to indicate the mapping relationship between each standard channel and the corresponding speaker.

[0188] S905. Based on the target mapping relationship, control the audio signals of the multiple standard channels to be played through the corresponding speakers respectively.

[0189] In some embodiments of this application, the above-mentioned S903 can be specifically implemented by the following S903a.

[0190] S903a, Substitute the multiple sets of relative spatial azimuths and the multiple sets of standard spatial azimuths into the Euclidean distance formula to determine the multiple similarity values.

[0191] In some embodiments of this application, combined with Figure 9 ,like Figure 10 As shown, S903 can be implemented by S903b, and S904 can be implemented by S904a to S904b.

[0192] S903b. Based on the multiple sets of relative spatial azimuths and multiple sets of standard spatial azimuths, determine multiple sets of spatial similarity.

[0193] Each spatial similarity set includes the similarity values ​​between a set of standard spatial azimuths and each set of relative spatial azimuths.

[0194] S904a. Take the multiple spatial similarity sets as target spatial similarity sets respectively, determine the first similarity value in the target spatial similarity set, so as to obtain multiple first similarity values ​​corresponding to the multiple spatial similarity sets respectively.

[0195] Among them, the first similarity value is the value that represents the highest similarity between the standard channel and the speaker in the spatial orientation of the target spatial similarity set.

[0196] S904b: If there are no different similarity values ​​corresponding to the same speaker among the multiple first similarity values, the target mapping relationship is determined based on the multiple first similarity values.

[0197] The target mapping relationship is used to indicate the mapping relationship between the standard channel and the unique speaker corresponding to each first similarity value.

[0198] In some embodiments of this application, the above-described S904 can also be implemented by the following S904c.

[0199] S904c. When there are multiple target first similarity values ​​among the multiple target first similarity values, and the multiple target first similarity values ​​correspond to the first speaker among the multiple speakers, a first mapping relationship is determined based on the multiple target first similarity values.

[0200] Wherein, the first mapping relationship is used to indicate the mapping relationship between the first speaker and at least one first standard channel. The first mapping relationship is one of the target mapping relationships that corresponds to the first speaker, and the at least one first standard channel is the standard channel that matches the first speaker among the plurality of target first similarity values.

[0201] In some embodiments of this application, the above-described S904c can also be implemented by the following S904c1 to S904c2.

[0202] S904c1. Based on the multiple target first similarity values, determine at least one first difference value.

[0203] The first difference value is used to indicate the difference between the third similarity value and the second similarity value. The second similarity value is the value that represents the highest similarity between the standard channel and the speaker spatial orientation among the multiple target first similarity values. The third similarity value is any one of the multiple target first similarity values ​​other than the second similarity value.

[0204] S904c2, the standard channel corresponding to the second similarity value and the standard channel corresponding to the difference value less than or equal to the first difference threshold among the at least one first difference value are determined as the at least one first standard channel, so as to determine the first mapping relationship.

[0205] In some embodiments of this application, the above-described S904 can also be implemented by the following S904d and S904e.

[0206] S904d, when the number of the plurality of speakers is greater than the number of the plurality of standard channels, at least one second difference value is determined based on the target space similarity set.

[0207] The second difference value is used to indicate the difference between the fourth similarity value and the first similarity value in the target space similarity set. The fourth similarity value is any similarity value in the target space similarity set other than the corresponding first similarity value.

[0208] S904e, if a target second difference value exists among the at least one second difference value, and the target second difference value is less than or equal to a second difference threshold, determine the second mapping relationship between the target speaker and the target standard channel corresponding to the target second difference value.

[0209] Wherein, the target standard channel is the standard channel corresponding to the target spatial similarity set, and the target mapping relationship includes the second mapping relationship.

[0210] In some embodiments of this application, after S904, the audio signal playback method provided in some embodiments of this application may further include the following S906.

[0211] S906. When there is a mapping relationship between the target standard channel and the multiple second speakers among the multiple speakers, the playback ratio of the audio signal of the target standard channel corresponding to each of the multiple second speakers is determined based on the multiple fifth similarity values ​​in the target spatial similarity set that correspond to the multiple second speakers respectively.

[0212] Among them, the greater the spatial similarity between the target standard channel and the target second speaker, as represented by the fifth similarity value corresponding to the target second speaker, the greater the playback ratio corresponding to the target second speaker; the target second speaker is any one of the plurality of second speakers.

[0213] In some embodiments of this application, after S904, the audio signal playback method provided in some embodiments of this application may further include the following S907 to S909.

[0214] S907. Based on the plurality of first three-dimensional coordinates and second three-dimensional coordinates, a plurality of relative distances are determined, which are used to indicate the relative distances between the plurality of speakers and the user, respectively.

[0215] S908. Based on the ratios of the multiple relative distances to the uniform target distance, determine the multiple volume compensation coefficients corresponding to the multiple speakers respectively.

[0216] S909. Based on the multiple volume compensation coefficients, the sound pressure of the audio signals played by the multiple speakers is compensated accordingly.

[0217] Specifically, when the target volume compensation coefficient is less than 1, the target sound pressure attenuation is determined based on the target volume compensation coefficient, and sound pressure attenuation compensation is performed based on the target sound pressure attenuation; when the target volume compensation coefficient is greater than 1, the target sound pressure increase is determined based on the target volume compensation coefficient, and sound pressure increase compensation is performed based on the target sound pressure increase; the target volume compensation coefficient is any one of the multiple volume compensation coefficients.

[0218] In some embodiments of this application, the above-mentioned S908 can be specifically implemented by the following S908a to S908b.

[0219] S908a. Determine multiple first volume compensation coefficients by comparing the ratios of the multiple relative distances to the uniform distance of the target.

[0220] S908b: Based on the multiple sets of relative spatial azimuth angles and the multiple sets of standard spatial azimuth angles, determine the multiple azimuth deviations corresponding to the multiple speakers respectively.

[0221] The target azimuth deviation is used to indicate the degree of azimuth deviation between the horizontal azimuth angle in a set of spatial azimuth angles of the third speaker and the horizontal azimuth angle in a set of standard spatial azimuth angles of the standard channel corresponding to the third speaker; the target azimuth deviation is any one of the plurality of azimuth deviations, and the third speaker is the speaker corresponding to the target azimuth deviation.

[0222] S908c: Based on the target ratio of the multiple azimuth deviations to the target uniform azimuth deviation, multiple second volume compensation coefficients are determined. The second volume compensation coefficients decrease as the target ratio increases.

[0223] S908d: Based on the plurality of first volume compensation coefficients and the plurality of second volume compensation coefficients, determine the plurality of volume compensation coefficients.

[0224] The target volume compensation coefficient is obtained by weighting the first volume compensation coefficient corresponding to the fourth speaker with the reciprocal of the second volume compensation coefficient corresponding to the fourth speaker; therefore, the target speaker compensation coefficient is any one of the multiple volume compensation coefficients, and the fourth speaker is one of the multiple speakers that corresponds to the target volume compensation coefficient.

[0225] The present invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described audio signal playback method and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0226] The computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0227] The present invention provides a computer program product, comprising: when the computer program product is run on a computer, causing the computer to implement the above-described audio signal playback method.

[0228] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0229] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are intended to better explain the principles and practical applications, thereby enabling those skilled in the art to better utilize the described embodiments and various different variations of embodiments suitable for specific use considerations.

Claims

1. A host device, characterized in that, An audio system comprising at least one satellite speaker includes: The controller is configured to: acquire, in the target three-dimensional Cartesian coordinate system, the multiple first three-dimensional coordinates corresponding to the multiple speakers included in the audio system, and the second three-dimensional coordinates corresponding to the user of the audio system; Based on the multiple first three-dimensional coordinates and the second three-dimensional coordinates, multiple sets of relative spatial azimuth angles are determined. Any set of relative spatial azimuth angles includes the corresponding horizontal azimuth angle and vertical azimuth angle of the speaker relative to the user. Based on the multiple sets of relative spatial azimuth angles and multiple sets of standard spatial azimuth angles, multiple similarity values ​​are determined; the multiple sets of standard spatial azimuth angles correspond to multiple standard audio channels; any set of standard spatial azimuth angles includes the standard horizontal azimuth angle and the standard vertical azimuth angle corresponding to the standard audio channel; the multiple similarity values ​​include the similarity value between any set of relative spatial azimuth angles and any set of standard spatial azimuth angles. Based on the multiple similarity values, the target mapping relationship between the multiple standard channels and the multiple speakers is determined, and the target mapping relationship is used to indicate the mapping relationship between each standard channel and the corresponding speaker; Based on the target mapping relationship, the audio signals of the multiple standard channels are controlled to be played through the corresponding speakers.

2. The host device according to claim 1, characterized in that, The controller is specifically configured as follows: Substitute the multiple sets of relative spatial azimuths and the multiple sets of standard spatial azimuths into the Euclidean distance formula to determine the multiple similarity values.

3. The host device according to claim 1, characterized in that, The controller is specifically configured as follows: Based on the multiple sets of relative spatial azimuths and multiple sets of standard spatial azimuths, multiple sets of spatial similarity are determined; any set of spatial similarity includes the similarity values ​​between a corresponding set of standard spatial azimuths and each set of relative spatial azimuths. The plurality of spatial similarity sets are respectively used as target spatial similarity sets. The first similarity value in the target spatial similarity set is determined to obtain a plurality of first similarity values ​​corresponding to the plurality of spatial similarity sets. The first similarity value is the value in the target spatial similarity set that represents the highest similarity between the standard channel and the speaker spatial orientation. If there are no different similarity values ​​corresponding to the same speaker among the plurality of first similarity values, the target mapping relationship is determined based on the plurality of first similarity values. The target mapping relationship is used to indicate the mapping relationship between the standard channel corresponding to each first similarity value and the unique speaker.

4. The host device according to claim 3, characterized in that, The controller is specifically configured as follows: If there are multiple target first similarity values ​​among the plurality of first similarity values, and the plurality of target first similarity values ​​correspond to the first speaker among the plurality of speakers, a first mapping relationship is determined based on the plurality of target first similarity values. The first mapping relationship is used to indicate the mapping relationship between the first speaker and at least one first standard channel. The first mapping relationship is one of the target mapping relationships that corresponds to the first speaker, and the at least one first standard channel is the standard channel that matches the first speaker among the plurality of target first similarity values.

5. The host device according to claim 4, characterized in that, The controller is specifically configured as follows: Based on the plurality of target first similarity values, at least one first difference value is determined. The first difference value is used to indicate the difference between the third similarity value and the second similarity value. The second similarity value is the value among the plurality of target first similarity values ​​that represents the highest similarity between the standard channel and the speaker's spatial orientation. The third similarity value is any one of the plurality of target first similarity values ​​other than the second similarity value; The standard channel corresponding to the second similarity value and the standard channel corresponding to the difference value less than or equal to the first difference threshold among the at least one first difference value are determined as the at least one first standard channel, so as to determine the first mapping relationship.

6. The host device according to claim 4, characterized in that, The controller is also configured to: When the number of the plurality of speakers is greater than the number of the plurality of standard channels, at least one second difference value is determined based on the target space similarity set. The second difference value is used to indicate the difference between the fourth similarity value and the first similarity value in the target space similarity set. The fourth similarity value is any similarity value in the target space similarity set other than the corresponding first similarity value. If a target second difference value exists among the at least one second difference value, and the target second difference value is less than or equal to a second difference threshold, a second mapping relationship between the target speaker and the target standard channel corresponding to the target second difference value is determined, wherein the target standard channel is the standard channel corresponding to the target spatial similarity set, and the target mapping relationship includes the second mapping relationship.

7. The host device according to claim 6, characterized in that, The controller is also configured to: When there is a mapping relationship between the target standard channel and the multiple second speakers among the multiple speakers, the playback ratio of the audio signal of the target standard channel corresponding to the multiple second speakers is determined based on the multiple fifth similarity values ​​in the target spatial similarity set that correspond to the multiple second speakers respectively; The greater the spatial similarity between the target standard channel and the target second speaker, as represented by the fifth similarity value corresponding to the target second speaker, the greater the playback ratio corresponding to the target second speaker; the target second speaker is any one of the plurality of second speakers.

8. The host device according to any one of claims 1-7, characterized in that, The controller is also configured to: Based on the plurality of first three-dimensional coordinates and the second three-dimensional coordinates, a plurality of relative distances are determined, which are used to indicate the relative distances between the plurality of speakers and the user, respectively. Based on the ratios of the relative distances to the uniform target distance, the volume compensation coefficients corresponding to the multiple speakers are determined. Based on the multiple volume compensation coefficients, the sound pressure of the audio signals played by the multiple speakers is compensated accordingly. Wherein, when the target volume compensation coefficient is less than 1, the target sound pressure attenuation is determined based on the target volume compensation coefficient, and sound pressure attenuation compensation is performed based on the target sound pressure attenuation. If the target volume compensation coefficient is greater than 1, the target sound pressure increase is determined based on the target volume compensation coefficient, and sound pressure increase compensation is performed based on the target sound pressure increase. The target volume compensation coefficient is any one of the plurality of volume compensation coefficients.

9. The host device according to claim 8, characterized in that, The controller is specifically configured as follows: The ratios of the relative distances to the uniform target distance are used to determine a plurality of first volume compensation coefficients; Based on the multiple sets of relative spatial azimuth angles and the multiple sets of standard spatial azimuth angles, multiple azimuth deviations corresponding to the multiple speakers are determined. The target azimuth deviation is used to indicate the degree of azimuth deviation between the horizontal azimuth angle in a set of spatial azimuth angles of the third speaker and the horizontal azimuth angle in a set of standard spatial azimuth angles of the standard channel corresponding to the third speaker. The target azimuth deviation is any one of the plurality of azimuth deviations, and the third speaker is the speaker corresponding to the target azimuth deviation; Based on the target ratios of the plurality of azimuth deviations to the target uniform azimuth deviation, a plurality of second volume compensation coefficients are determined; the second volume compensation coefficients decrease as the target ratios increase; The plurality of volume compensation coefficients are determined based on the plurality of first volume compensation coefficients and the plurality of second volume compensation coefficients; The target volume compensation coefficient is obtained by weighting the first volume compensation coefficient corresponding to the fourth speaker with the reciprocal of the second volume compensation coefficient corresponding to the fourth speaker. Therefore, the target speaker compensation coefficient is any one of the plurality of volume compensation coefficients, and the fourth speaker is one of the plurality of speakers that corresponds to the target volume compensation coefficient.

10. A method for playing audio signals, characterized in that, A host device used in an audio system comprising at least one satellite speaker, including: In the target three-dimensional Cartesian coordinate system, obtain the multiple first three-dimensional coordinates corresponding to the multiple speakers included in the audio system, and the second three-dimensional coordinates corresponding to the user of the audio system; Based on the multiple first three-dimensional coordinates and the second three-dimensional coordinates, multiple sets of relative spatial azimuth angles are determined. Any set of relative spatial azimuth angles includes the corresponding horizontal azimuth angle and vertical azimuth angle of the speaker relative to the user. Based on the multiple sets of relative spatial azimuth angles and multiple sets of standard spatial azimuth angles, multiple similarity values ​​are determined; the multiple sets of standard spatial azimuth angles correspond to multiple standard audio channels; any set of standard spatial azimuth angles includes the standard horizontal azimuth angle and the standard vertical azimuth angle corresponding to the standard audio channel; the multiple similarity values ​​include the similarity value between any set of relative spatial azimuth angles and any set of standard spatial azimuth angles. Based on the multiple similarity values, the target mapping relationship between the multiple standard channels and the multiple speakers is determined, and the target mapping relationship is used to indicate the mapping relationship between each standard channel and the corresponding speaker; Based on the target mapping relationship, the audio signals of the multiple standard channels are controlled to be played through the corresponding speakers.

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