KR20230166372A - A sound system and a method of controlling the sound system for sound optimization - Google Patents

Abstract

The present invention relates to a sound system consisting of a plurality of sound output devices, wherein a first device among the plurality of sound output devices emits a radar signal, and one of the plurality of sound output devices transmits a radar signal to the plurality of sound output devices. Collects data related to received radar signals, and the one audio output device receives radar signals directly from the first device or reflected by a subject to the plurality of audio output devices and to the first device. Based on the re-received radar signal, the separation distance and directions from the subject for each of the plurality of audio output devices are calculated, and the location of the subject is detected based on the calculated separation distance and directions, and the detection The sound signal output of each of the plurality of sound output devices is controlled based on the position of the subject.

Description

A sound system and a method of controlling the sound system for sound optimization {A SOUND SYSTEM AND A METHOD OF CONTROLLING THE SOUND SYSTEM FOR SOUND OPTIMIZATION}

The present invention relates to a sound system consisting of a plurality of sound output devices, a sound system that controls the formation of an area (sweet spot) where sound is optimized, and a method of controlling the sound system.

Unlike the past, when sound was provided using one or two speakers placed adjacent to each other, today, with the development of communication technology, it is possible to connect multiple sound output devices to each other without distance restrictions, allowing for different separations within the space. Sound systems such as surround sound systems that provide three-dimensional sound through a plurality of sound output devices arranged in specific positions have emerged.

In the case of such a sound system, it may typically be formed of a main sound output device and at least one sub sound output device connected to the main sound output device, and the main sound output device and at least one sub sound output device are different from each other. By outputting sounds from different channels at different locations, it is possible to provide users with more realistic, high-quality sound.

On the other hand, when sound is output using a plurality of sound output devices, the directivity of the sound signal output from the plurality of sound output devices, the sound field, the phase of the sound, etc. are output from each sound output device in the space. An area in which sounds can be provided with optimal balance can be formed. This area is called the sweet spot, and typically the sweet spot is the intersection of the directions each sound output device is oriented within the sound listening zone formed by each sound output device, for example, the sound It can be formed in the central part of the listening zone.

Accordingly, within the sound listening zone, the quality of sound provided to the user may vary greatly depending on whether the user is located in the sweet spot. However, normally, the sweet spot is formed according to the setting state of each sound output device, and it had no choice but to be formed at a fixed position according to the state preset by the user, so the user had to use the sweet spot area formed by the preset bar. There is a problem that the user must directly control the directivity, sound field, or phase of each sound output device in order to listen to the sound or move the sweet spot area to the user's desired location. Therefore, a social need arose to automatically provide a sweet spot depending on the user's location.

Meanwhile, in response to these social needs, technologies that can change the location of the sweet spot according to the user's location have been developed, but these technologies detect the designated wireless device worn by the user and determine the user's location based on the detected wireless device. As an estimate, there is a problem that the sweet spot is formed according to the location of the designated wireless device, but not according to the user's location. In other words, there is a problem that it is difficult to form a sweet spot according to the user's location when the user is not wearing a specific wireless device.

The present invention aims to solve the above-described problems and other problems, and provides a sound system capable of automatically detecting the user's location and forming a sweet spot according to the detected user's location, and a control method of the sound system. It is provided.

In order to achieve the above or other objects, according to one aspect of the present invention, in a sound system according to an embodiment of the present invention, a first device among a plurality of sound output devices emits a radar signal, and one of the plurality of sound output devices emits a radar signal. One collects data related to radar signals received by the plurality of audio output devices, and the one audio output device receives the data directly from the first device or reflected by a subject to the plurality of audio output devices. Based on the received radar signals and the radar signal received again by the first device, the separation distance and directions from the subject for each of the plurality of audio output devices are calculated, and based on the calculated separation distances and directions Detecting the position of the subject and controlling sound signal output of each of the plurality of sound output devices based on the detected position of the subject.

In one embodiment, the one audio output device detects the location of each of the other audio output devices through wireless communication with other audio output devices, and based on the positions of each detected audio output device, A sound listening zone is formed, and the subject is located within the formed sound listening zone.

In one embodiment, the data related to the received radar signal includes information on the time when the radar signals were received by a specific audio output device, the intensity of the received radar signals, and the angles of arrival at which the radar signals were received. do.

In one embodiment, the one sound output device sets a preset first angle of arrival range to each of the plurality of sound output devices according to the shape of the sound listening zone, and sets a first angle of arrival range to each of the plurality of sound output devices. Among the received radar signals, only radar signals having an angle of arrival within the first angle of arrival range are extracted.

In one embodiment, the one audio output device further extracts only radar signals having an intensity greater than a preset threshold among the radar signals received by each of the plurality of audio output devices, and further extracts the intensity of the radar signals. Accordingly, among the further extracted radar signals, a radar signal directly received from the first device and a radar signal reflected by the subject and received by an audio output device are detected.

In one embodiment, the one sound output device is configured to provide a time interval until the radar signal reaches the subject based on the radiation time of the radar signal and the return time at which the radar signal is received by the first device. The subject arrival time, which is time, is calculated, and for each of the plurality of audio output devices, the reception time of the first signal, which is a radar signal directly received from the first device, and the first signal, which is the radar signal reflected and received by the subject, are calculated. 2. Detect the reception time of the signal, calculate the reception time of the first signal and the reception time of the second signal based on the emission time, and calculate the reception time of the first signal and the reception time of the second signal based on the first signal reception time and the second signal reception time. The reflected wave arrival time, which is the time taken longer as the radar signal passes through the subject, is calculated, a distance corresponding to the time difference between the subject arrival time and the reflected wave arrival time, and the second signal is received by each audio output device. It is characterized by detecting the position of the subject based on the angle of arrival.

In one embodiment, the plurality of audio output devices are time synchronized with each other, and information about the radiation time of the radar signal is shared.

In one embodiment, the one sound output device may determine at least one of the volume, sound field, and phase of the sound signal output from each of the plurality of sound output devices based on the detected location of the subject. It is characterized by controlling one.

In one embodiment, the one sound output device sets a second angle of arrival range corresponding to outside the sound listening zone to each of the plurality of sound output devices, and receives the sound from each of the plurality of sound output devices. The shape of a wall formed around each of the plurality of sound output devices is detected based on radar signals having an angle of arrival within the second angle of arrival range among the radar signals.

In one embodiment, the one sound output device is configured to output the first signal based on the radiation time of the radar signal and the return time at which the radar signal having an angle of arrival within the second angle of arrival range is received by the first device. 1 Detecting the shape of a wall around the device, detecting an audio output device among the plurality of audio output devices that has received a radar signal with an angle of arrival within the second angle of arrival range and an intensity greater than a preset intensity, and detecting the detected sound An output device calculates the reception time of the first signal based on the reception time of the first signal, which is a radar signal directly received from the first device, and the radiation time, and has an angle of arrival within the second angle of arrival range. Among the radar signals, the reception time of the second signal, which is a radar signal received by being reflected from a surrounding wall, is calculated based on the reception time and the radiation time, and the reception time of the second signal corresponding to the calculated reception time of the first signal is calculated. Calculating an elliptical graph based on the distance and the distance corresponding to the reception time of the second signal, and detecting the shape of the wall between the detected sound output device and the first device based on the calculated elliptical graph. do.

In one embodiment, the plurality of audio output devices are formed of at least one master device and at least one slave device, and one of the audio output devices is the master device.

In one embodiment, when the preset time elapses, the master device changes the first device to another audio output device and detects the location of the subject again.

In one embodiment, the master device detects the location of each slave device based on the location of the master device through wireless communication with the slave devices, and generates sound based on the detected positions of the master device and slave devices. A listening zone is formed, and the preset time interval is characterized in that it varies based on the size and shape of the sound listening zone.

In one embodiment, the master device limits the operation of other devices around the sound listening zone depending on whether the sound listening zone is activated, and activation of the sound listening zone determines whether a subject in the sound listening zone is detected. It is characterized by being determined according to .

In one embodiment, the other device is a robot cleaner, and the master device transmits information about the size and shape of the sound listening zone to the robot cleaner, so that the robot cleaner enters the sound listening zone. It is characterized by limiting.

According to one aspect of the present invention in order to achieve the above or other objects, a method of controlling a sound system according to an embodiment of the present invention includes the plurality of sound output devices performing wireless communication with each other to detect each other's positions. and a first step of forming a sound listening zone based on the detected positions, a second step of the first device among the plurality of sound output devices emitting radar signals according to a preset order, and the plurality of sound output devices. One of the devices is configured to transmit the radar signal to a subject located within a sound listening zone based on the radiation time at which the radar signal is emitted from the first device and the return time at which the radar signal is received by the first device. A third step of calculating the subject arrival time, which is the time until the object arrives, and wherein the one audio output device is a radar signal directly received from the first device with respect to at least one of the plurality of audio output devices. A fourth step of detecting the reception time of the first signal and the reception time of the second signal, which is a radar signal reflected and received by the subject, and wherein any one of the audio output devices is at least one of the plurality of audio output devices. For one, a fifth step of calculating the reflected wave arrival time, which is the time it takes longer for the radar signal to pass through the subject, based on the reception time of the detected first signal and the reception time of the second signal; , the one audio output device, with respect to at least one of the plurality of audio output devices, based on the distance corresponding to the time difference between the arrival time of the subject and the arrival time of the reflected wave and the direction in which the second signal was received. A sixth step of detecting the position of the subject, and wherein the one audio output device determines among the volume, sound field, and phase of the audio signal output from each of the plurality of audio output devices according to the detected position of the subject. It is characterized by comprising a seventh step of controlling at least one.

In one embodiment, in the fourth step, the one sound output device is installed on each of the plurality of sound output devices according to the shape of the sound listening zone with respect to at least one of the plurality of sound output devices. Step 4-1 of setting a set first angle of arrival range, wherein the one audio output device selects an angle of arrival within the first angle of arrival range among radar signals received by at least one of the plurality of audio output devices. A 4-2 step of extracting only radar signals having a radar signal having an intensity greater than a preset threshold among the radar signals received by at least one of the plurality of audio output devices. A 4-3 step of further extracting only the first signal, and wherein the one audio output device selects the first signal based on the strength of the radar signals among the radar signals received by at least one of the plurality of audio output devices. and a 4-4 step of detecting the second signal.

In one embodiment, an eighth step in which the one sound output device changes the first device to another sound output device according to the preset order when a preset time has elapsed, and the one sound output device The device performs the second to seventh steps again to re-detect the position of the subject according to the radar signal emitted from the changed first device, and each of the plurality of sound output devices according to the detected position of the subject. It further includes a ninth step of controlling the sound signal output from, wherein the preset time varies depending on at least one of the size and shape of the sound listening zone.

In one embodiment, the sixth step is step 6-1, wherein the one sound output device sets a second angle of arrival range corresponding to outside the sound listening zone for each of the plurality of sound output devices. A step, wherein the one sound output device, based on radar signals having an angle of arrival within the second angle of arrival range among the radar signals received by each of the plurality of sound output devices, the plurality of sound output devices. It is characterized in that it further includes a 6-2 step of detecting the shape of the wall formed around each.

In one embodiment, in step 6-2, the one audio output device receives a radar signal having a radiation time of the radar signal and an angle of arrival within the second angle of arrival range to the first device. a step of detecting the shape of a wall around the first device based on the returned time, and wherein one of the audio output devices has an angle of arrival within the second angle of arrival range among the plurality of audio output devices and is preset. Step b of detecting an audio output device that has received a radar signal with an intensity greater than or equal to the intensity, and wherein the one audio output device detects a first signal, wherein the detected audio output device is a radar signal received directly from the first device. A step c of calculating the reception time of the first signal based on the reception time and the emission time, and the one audio output device detects peripheral radar signals having an angle of arrival within the second angle of arrival range. A step d of calculating the reception time of the third signal based on the reception time of the third signal, which is a radar signal received after being reflected from the wall, and the radiation time, and the one of the audio output devices, the calculated first Step e of calculating an elliptical graph based on the distance corresponding to the reception time of the signal and the distance corresponding to the reception time of the third signal, and the one of the audio output devices detecting the detection based on the elliptical graph It is characterized in that it further comprises a step f of detecting the shape of the wall between the sound output device and the first device.

The sound system and the control method of the sound system according to the present invention will be described as follows.

According to at least one of the embodiments of the present invention, the present invention automatically tracks the user's location even when the user does not possess a specific wireless device and forms the location and shape of the sweet spot differently depending on the tracked user's location. The effect is that you can do it.

In addition, according to at least one of the embodiments of the present invention, the present invention detects the shape of the wall around each sound output device and the shape of the wall between adjacent sound output devices, and takes the detected wall shape into consideration to provide sweetness according to the user's location. It has the effect of forming a spot.

Figure 1 is a block diagram showing the configuration of a master device that controls and manages other audio output devices in an audio output system according to an embodiment of the present invention.
Figure 2 is a block diagram showing the configuration of an audio output device (slave device) connected to a master device in an audio output system according to an embodiment of the present invention.
Figure 3 is a flowchart showing an operation process of tracking a user's location and forming a sweet spot according to the tracked user's location in an audio output system according to an embodiment of the present invention.
Figure 4 is an exemplary diagram illustrating an example of a sound listening zone formed by a master device and a slave device in an audio output system according to an embodiment of the present invention.
FIG. 5 is a flowchart showing the operation process of calculating the distance between the subject and the sound output device based on the radar signal of the reference device received by the sound output device during the operation process of FIG. 3.
FIG. 6 is an exemplary diagram illustrating an example of calculating the distance between an audio output device and a subject according to the first signal, the second signal, the reference signal transmission time, and the reference signal return time according to the operation process of FIG. 5.
FIG. 7 is an exemplary diagram illustrating an example of filtering effective signals among radar signals of a reference device received by an audio output device in the operation process of FIG. 3.
FIGS. 8A and 8B are diagrams illustrating an example in which the size and position of a sweet spot change according to the movement of a subject in a sound system according to an embodiment of the present invention.
Figure 9 is an example diagram illustrating an example in which the shape of a surrounding wall is detected by a radar signal transmitted from a sound output device in a sound system according to an embodiment of the present invention.
Figure 10 is a flowchart showing an operation process in which the shape of a surrounding wall is detected by a radar signal transmitted from a sound output device in a sound system according to an embodiment of the present invention.
FIG. 11 is an exemplary diagram showing an example of an elliptical graph formed between a reference device and another adjacent audio output device according to the time when the other adjacent audio output device receives a radar signal during the operation process of FIG. 10.
FIGS. 12A and 12B are flowcharts and examples showing a process and example of setting channels in slave devices based on the location of the master device in a sound system according to an embodiment of the present invention.
Figure 13 is an example diagram illustrating an example in which the operation of other nearby devices is controlled based on the sound listening zone in a sound system according to an embodiment of the present invention.

It should be noted that the technical terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention. Additionally, as used herein, singular expressions include plural expressions, unless the context clearly dictates otherwise. The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves.

As used herein, “consists of.” or “including.” Terms such as these should not be construed as necessarily including all of the various components or steps described in the specification, and some of the components or steps may not be included, or additional components or steps may be included. It should be interpreted to include more.

Additionally, when describing the technology disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the technology disclosed in this specification, the detailed description will be omitted.

In addition, the attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes. In addition, each embodiment described below, as well as a combination of embodiments, are changes, equivalents, or substitutes included in the spirit and technical scope of the present invention, and of course, may fall within the spirit and technical scope of the present invention. .

Figure 1 is a block diagram showing the configuration of a master device that controls and manages other audio output devices in an audio output system according to an embodiment of the present invention. In this case, the sound output system according to the embodiment of the present invention may include a plurality of sound output devices, and the master device may be any one of the plurality of sound output devices.

Referring to FIG. 1, the master device 100 includes a wireless communication unit 110, a location calculation unit 120, an audio output unit 130, a user input unit 140, a memory 150, and a master control unit 160. ) may be configured to include. The components shown in FIG. 1 are not essential for implementing an audio output device, so the master device 100 described herein may have more or fewer components than those listed above.

More specifically, among the components, the wireless communication unit 110 may include one or more modules that enable wireless communication between the master device 100 and other audio output devices or peripheral devices. To this end, the wireless communication unit 110 may be provided with a short-range communication unit 111 for short-distance communication, and the short-range communication unit 111 uses at least one of various short-range communication technologies between the master device and other nearby devices. can support wireless communication.

As an example, the short-range communication unit 111 may be a communication unit capable of communication using Bluetooth, infrared communication, or UWB (Ultra Wideband) technology. Additionally, the short-range communication unit 111 may be configured to enable IOT (Internet of Thing) communication using the at least one short-range communication technology.

Additionally, the wireless communication unit 110 may include a radar unit 112 that radiates a preset radio wave (hereinafter referred to as a radar signal) for detecting a subject and receives a radar signal reflected by the subject. In this case, the radar unit may be configured to emit and receive microwaves having a preset wavelength (e.g., a wavelength of 10 to 100 cm) as a radar signal.

Meanwhile, the wireless communication unit 110 may be provided with an antenna unit 113 for transmitting and receiving radio signals for short-range communication and the radar signal of the short-range communication unit 111. In this case, the antenna unit 113 may be provided with a plurality of antennas, and the plurality of antennas may be configured to transmit and receive both the radar signal as well as the wireless signal for short-distance communication.

Here, the antennas of the antenna unit 113 may be arranged at a certain distance from each other so that the angle at which signals are received by each antenna, that is, the angle of arrival (AOA), is different. In this case, there may be a difference in the angle at which the signal is received from each antenna, that is, the angle of arrival, and this difference in angle of arrival can be used to detect the direction in which the signal source is located.

Meanwhile, the location calculation unit 120 can calculate the distances between the master device 100 and each audio output device and the directions in which each audio output device is located based on the signals received from the wireless communication unit 110. there is.

As an example, the location calculation unit 120 detects the time at which the wireless signal transmitted from the first audio output device is transmitted and the time at which the second audio output device receives the transmitted wireless signal, so that the wireless signal is The time taken to be transmitted to the second audio output device can be detected. And detect the distance between the first audio output device and the second audio output device based on the detected time, and based on the signal angles of arrival (AOA) received at each of the plurality of antennas of the second audio output device. The direction in which the first audio output device is placed can be calculated based on the second audio output device.

In this case, the first audio output device may be a slave device placed around the master device 100. And the second audio output device may be the master device 100. That is, the master device 100 can calculate the direction and distance in which each of the plurality of slave devices is placed based on the master device 100 through one-to-one signal exchange with each slave device, and the calculated distance and direction Based on this, the location of each slave device can be determined. And the determined locations of the slave devices can be used by the master control unit 160 to form a sound listening zone.

Meanwhile, the location calculation unit 160 may further include a configuration for detecting the location of a user, that is, a subject, located within the sound listening zone based on a radar signal emitted from the master device 100 or any one slave device. You can. Hereinafter, the user located within the sound listening zone will be referred to as the “subject.”

For example, when the master device 100 emits a radar signal, the radar signal emitted from the master device 100 is reflected by the subject and received back to the master device 100 or received by at least one other audio output device. It can be. In this case, the radar signal may be reflected not only from the subject but also from at least one other audio output device. In this case, the size of the reflected radar signal may vary depending on the distance traveled, that is, the location of the reflected object.

For example, if the subject is within a sound listening zone, the subject may be closer to the master device 100 than other sound output devices. Therefore, the intensity of the radar signal reflected by the subject may be greater than that of the signal reflected from other audio output devices. Additionally, the radar signal reflected by the subject may be received from the inside of the sound listening zone. That is, the size of the reflected and received radar signal and the radar signal can be received within a preset angle. Therefore, it may be possible to determine whether the radar signal is a radar signal reflected from a subject or a radar signal reflected from another sound output device based on the angle at which the radar signal is received, that is, the angle of arrival (AOA).

Therefore, the position calculation unit 120 can detect only valid radar signals based on the angle of arrival among the radar signals received by each audio output device. Additionally, among the received radar signals, only valid radar signals can be detected based on signal strength. To detect such effective signals, the position calculation unit 120 filters the received reflected signals based on size according to a preset threshold or filters based on a preset angle of arrival range (AOA ranging). It may include a signal detection unit 122.

Here, the preset threshold value and the preset angle of arrival range may vary depending on the size of the sound listening zone, the location of each nearby sound output device, or the location of an adjacent wall, etc. For example, the preset angle of arrival range may be determined according to the direction in which other adjacent audio output devices are arranged.

For example, with respect to the first sound output device oriented at the center of the sound listening zone, the second sound output device is located 45 degrees (135 degrees) to the left of the first sound output device, and the third sound output device is When located 45 degrees to the right of the first audio output device, the direction in which the second audio output device is located and the direction in which the third audio output device is located relative to the first audio output device are An included angle of 90 degrees can be formed. In this case, the master device 100 may set an angle of arrival range from a maximum of 45 degrees to 135 degrees corresponding to the included angle to the first audio output device. That is, the angle of arrival range can be determined depending on the directions in which adjacent audio output devices are arranged.

Therefore, when the size or shape of the sound listening zone is different, the directions in which adjacent sound output devices are arranged may be different. Therefore, the angle of arrival range set for each sound output device may vary depending on the size or shape of the sound listening zone.

Meanwhile, a plurality of preset threshold values and the angle of arrival range corresponding to the size or shape of different sound listening zones may be stored in the memory 150 of the master device 100 of the sound system according to an embodiment of the present invention. . In this case, the position calculation unit 120, under the control of the master control unit 160, determines one of a plurality of pre-stored threshold values based on the size or shape of the detected sound listening zone and a plurality of pre-stored angles of arrival. Any one of the ranges can be set in the signal detection unit 122.

Meanwhile, the position calculation unit 120 may further include an artificial intelligence unit 121 to determine an appropriate value of the threshold and the limited angle of arrival. Here, the artificial intelligence unit 121 may be trained in advance based on learning data about the size or shape of various sound listening zones and various surrounding environments. In this case, the artificial intelligence unit 121 determines the optimal threshold value according to the learning, based on the size and shape of the sound listening zone detected according to the distance and direction between each sound output device and the result of detecting the surrounding environment. and the angle of arrival range can be determined.

The artificial intelligence unit 121 serves to process information based on artificial intelligence technology, and includes one or more modules that perform at least one of information learning, information inference, information perception, and natural language processing. It can be included.

Here, learning can be achieved through the machine learning (machine running) technology. The machine learning technology is a technology that collects and learns large-scale information based on at least one algorithm, and judges and predicts information based on the learned information. Learning information is the operation of identifying the characteristics, rules, and judgment standards of information, quantifying the relationship between information, and predicting new data using the quantified patterns.

The algorithms used by these machine learning techniques can be algorithms based on statistics, for example, decision trees that use tree-structured forms as predictive models, or artificial intelligence that mimics the structure and function of neural networks in living things. Neural network, genetic programming based on biological evolution algorithms, clustering, which distributes observed examples into subsets called clusters, and Monte Carlo, which calculates function values as probabilities through randomly extracted random numbers. It may be a method (Montercarlo method), etc.

As a field of machine learning technology, deep learning technology is a technology that performs at least one of learning, judging, and processing information using an artificial neural network algorithm. An artificial neural network may have a structure that connects layers and transmits data between layers. This deep learning technology can learn a vast amount of information through an artificial neural network using GPU (graphic processing unit) optimized for parallel computation.

Meanwhile, in this specification, the artificial intelligence unit 121 may be understood as the same component as the master control unit 160. In this case, the functions performed by the artificial intelligence unit 121 described in this specification may be expressed as being performed by the master control unit 160.

Additionally, the location calculator 120 may include a distance calculator 123 that calculates the distance based on the received signal. The distance calculation unit 123 calculates the effective signal based on the difference between the time when the valid signal detected by the signal detection unit 122 is received and the time when the valid signal is transmitted, that is, the arrival time, and the speed of light (C). The transmitted distance, that is, the separation distance between the subject and the audio output device or the separation distance from the audio device that transmitted the effective signal, can be calculated.

Meanwhile, in the above description, an example has been described in which the location calculation unit 120 calculates the distance between the master device 100 and the subject in the sound listening zone using the radar signal emitted from the master device 100, but the master device ( Of course, based on the radar signal emitted from 100), the distance between each of the other audio output devices, that is, the slave devices, and the subject can be calculated.

For example, when a radar signal is emitted from the master device 100, the radar signal may be directly received by the first slave device (first signal). Here, the first slave device may be a slave device adjacent to the master device 100. Additionally, the radar signal may be reflected by the subject and received by the first slave device (second signal). In addition, assuming that there are four slave devices in addition to the master device 100, the emitted radar signal is transmitted to the second, third, and fourth slave devices located at a greater distance from the master device than the first slave device, respectively. It can be reflected. And the reflected radar signals can be respectively received by the first slave device (third signal, fourth signal, and fifth signal).

In this case, the first slave device is responsible for the strengths of the radar signals (first to fifth signals) received by the first slave device, the angles of arrival at which each radar signal was received, and the reception times at which each radar signal was received. Information can be transmitted to the master device 100. Then, the master device 100 can input the information received from the first slave device into the location calculation unit 120. And the location calculation unit 120 can detect valid signals according to the amplitudes of the radar signal and the angles of arrival of the radar signal received by the first slave device through the signal detection unit 122.

In this case, the strength of the radar signal (first signal) transmitted directly from the master device 100 without reflection by the subject may be the strongest. And when a subject is located within the sound listening zone, the subject may be closer to the first slave device than to the second to fourth slave devices. Therefore, the radar signal (second signal) of the master device 100 reflected and received from the subject is better than the radar signal (third signal to fifth signal) reflected from the second to fourth slave devices, and the master device ( It may have the strongest intensity next to the first signal received directly from 100). Accordingly, the signal detection unit 122 may perform filtering based on a preset signal threshold and detect the first signal and the second signal as valid signals according to the filtering result.

And the signal detection unit 122 may classify the detected first and second signals according to their strengths. In this case, the first signal with the strongest intensity may be classified as a signal received directly from the master device 100, and the second signal with the next intensity may be classified as a second signal received after being reflected by the subject. there is.

Then, the location calculation unit 120 can detect the reception times at which the first signal and the second signal were received. Here, the second signal is a signal received by the first audio output device when the radar signal emitted from the master device 100 is reflected by the subject. After the radar signal moves from the master device 100 to the subject, It may be a signal that has moved from the subject to the first audio output device. Therefore, the time from the time the radar signal is emitted from the master device 100 until the second signal is received by the first audio output device, that is, the arrival time of the second signal, is the time when the radar signal is transmitted to the master device 100. It may include the time taken to move from the subject to the subject.

Meanwhile, the time that the radar signal travels from the master device 100 to the subject is calculated based on the time when the radar signal emitted from the master device 100 is received again by the master device 100, that is, the return time. It can be. In this case, the return time is the time it takes for the radar signal to travel back and forth between the master device 100 and the subject, so the time corresponding to half of the return time is for the radar signal to reach the subject from the master device 100. It may take some time.

Accordingly, the position calculation unit 120 may subtract a time corresponding to half of the return time from the arrival time of the second signal under the control of the master control unit 100. Then, the time it takes for the radar signal to reach the first audio output device from the subject can be calculated. Then, the distance calculation unit 123 can calculate the distance between the subject and the first audio output device based on the calculated time.

Meanwhile, the direction in which the subject is located may be determined based on the angle of arrival of the second signal. Accordingly, the position calculation unit 120 may determine the position of the subject with respect to the first sound output device based on the angle of arrival of the second signal and the calculated distance between the subject and the first sound output device.

In a similar manner, the location calculation unit 120 may detect the location of the subject based on each of the second to fourth slave devices. Additionally, the position of the subject calculated based on each audio output device can be input to the master control unit 160. Then, the master control unit 160 can control the sound output of the sound output unit 130 and each connected slave device so that a sweet spot is formed based on the calculated position of the subject. In this case, the master control unit 160 may control the sound field and phase of the sound output from the sound output unit 130 and each of the connected slave devices to form a sweet spot according to the position of the subject.

Meanwhile, the audio output unit 130 may output an audio signal under the control of the master control unit 160. To this end, the sound output unit 130 may include at least one speaker, and may change the sound field or phase of the sound output under the control of the master control unit 160.

Additionally, the user input unit 140 is for receiving information from a user and may include at least one input means such as a remote controller or at least one button or switch.

Meanwhile, the user input unit 140 may further include a microphone for receiving the user's voice. In this case, the user input unit 140 may further include a voice recognition unit (not shown) for recognizing the user's voice input through a microphone, and the user's voice recognized through the voice recognition unit is input from the user. This information can be input to the master control unit 160, analyzed by the master control unit 160, and processed as a user's control command.

Additionally, the memory 150 stores data supporting various functions of the master device 100. The memory 150 may store an application program running on the master device 100, data and commands for operating the master device 100. For this purpose, the memory 150 can store data and commands for controlling the location calculation unit 120, and information (distance and direction) about the location of each slave device calculated by the location calculation unit 120. can be saved. In addition, the location of the subject calculated based on each slave device can be stored, and information about the times at which radar signals are emitted from the master device 100 and each slave device and the order in which the radar signals are emitted can be stored. Additionally, the memory 150 can store data transmitted from each slave device.

Meanwhile, the master control unit 160 can control the overall operation of the master device 100. As an example, the master control unit 160 may control the output of sound output from the sound output unit 130 and each of at least one connected slave device. Additionally, the wireless communication unit 110 can be controlled to control wireless signals transmitted or radiated, and data transmitted from each slave device can be received through wireless communication with each slave device.

In addition, the location calculation unit 120 can be controlled to calculate the location of each slave device and the location of the subject based on each slave device based on information transmitted from each slave device regarding the transmitted or radiated wireless signal. there is. And based on the calculated position of the subject, the sound output unit 130 and at least one connected slave device can be controlled so that at least one of the sound field and phase of the output sound is changed.

Meanwhile, Figure 2 is a block diagram showing the configuration of an audio output device (slave device) connected to the master device 100 in the audio output system according to an embodiment of the present invention.

Referring to FIG. 2, the slave device 200 may be configured to include a wireless communication unit 210, an audio output unit 220, a memory 230, a user input unit 240, and a slave control unit 250. there is. The components shown in FIG. 2 are not essential for implementing an audio output device, so the slave device 200 described herein may have more or fewer components than those listed above.

First, the wireless communication unit 210 may include one or more modules that enable wireless communication between other slave devices and the master device 100 or peripheral devices. To this end, the wireless communication unit 210 may be provided with a short-range communication unit 211 for short-range communication, and the short-range communication unit 211 uses at least one of various short-range communication technologies to communicate wirelessly with other nearby devices. can support.

Additionally, the wireless communication unit 210 may include a radar unit 212 configured to emit a radar signal for detecting a subject and receive a radar signal reflected by the subject. In this case, the radar unit 212 may be configured to emit and receive microwaves having a preset wavelength as radar signals.

Meanwhile, the wireless communication unit 210 may be provided with an antenna unit 213 for transmitting and receiving radio signals for short-distance communication and the radar signal of the short-range communication unit 211. In this case, the antenna unit 213 may be provided with a plurality of antennas, and the plurality of antennas may be configured to transmit and receive both the radar signal as well as the wireless signal for short-distance communication.

Here, the antennas of the antenna unit 213 may be arranged at a certain distance from each other so that the angle at which signals are received by each antenna, that is, the angle of arrival (AOA), is different. In this case, there may be a difference in the angle at which the signal is received from each antenna, that is, the angle of arrival, and this difference in angle of arrival can be used to detect the direction in which the signal source is located.

Meanwhile, the audio output unit 220 may output an audio signal under the control of the slave control unit 250. To this end, the sound output unit 230 may include at least one speaker, and may change the sound field or phase of the output sound under control of the slave control unit 250.

Additionally, the user input unit 240 is for receiving information from a user and may include at least one input means such as a remote controller or at least one button or switch.

Additionally, the memory 230 stores data supporting various functions of the slave device 200. The memory 230 may store application programs running on the slave device 200, data and commands for operating the slave device 200. In addition, the memory 230 can store information about the times at which radar signals are emitted from other audio output devices, that is, the master device 100 and each slave device 200, and the order in which the radar signals are emitted. Additionally, the memory 230 may store information about the time at which each radar signal is received by the antenna unit 213 and the angle of arrival of each radar signal.

Meanwhile, the slave control unit 250 can control the overall operation of the slave device 200. As an example, the slave control unit 250 may control the output of sound output from the sound output unit 220 according to the control of the master device 100. In this case, the slave controller 250 may change at least one of the sound field and phase of the output sound according to the control of the master device 100. In addition, the wireless communication unit 210 is controlled to control wireless signals transmitted or radiated, and information about the time at which each radar signal stored in the memory 230 is received and the angle of arrival of each radar signal is transmitted to the master device 100. You can.

Meanwhile, in the above description, the configurations of the master device 100 and the slave device 200 are described differently, but it goes without saying that the sound system according to an embodiment of the present invention may include a plurality of master devices 100.

As an example, in the sound system, each sound output device may have the same configuration as the master device 100. In this case, each sound output device can calculate the distance and direction to other adjacent sound output devices based on the radar signal it receives, and detects the distance between itself and the subject located within the sound listening zone and the direction in which the subject is located. can do.

Additionally, the time at which each audio output device emits a radar signal for detecting the position of a subject and other audio output devices can be shared between each audio output device, and the order of emitting the radar signal can also be shared. Additionally, information about the times at which radar signals were received and the angles of arrival at which radar signals were received can be shared between each audio output device. Additionally, the location information of the subject calculated from each audio output device can also be shared. In addition, each sound output device can control the sound field and phase of each sound output through collaboration with each other so that a sweet spot is formed around the location of the shared subject.

Meanwhile, for convenience of explanation, the following description will be made on the assumption that the sound system according to an embodiment of the present invention includes one master device 100. However, it goes without saying that the present invention is not limited to this.

In the following, embodiments related to the control method of a sound system according to an embodiment of the present invention that can be implemented through the master device 100 and at least one slave device 200 discussed above will be discussed with reference to the attached drawings. Let me see. It is obvious to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit and essential features of the present invention.

Figure 3 is a flowchart showing an operation process of tracking a user's location and forming a sweet spot according to the tracked user's location in a sound system according to an embodiment of the present invention. And Figure 4 is an exemplary diagram showing an example of a sound listening zone formed by the master device 100 and slave devices in a sound system according to an embodiment of the present invention.

First, referring to FIG. 3, each sound output device of the sound system according to an embodiment of the present invention can detect each other's positions through signal exchange (S300). In this case, each of the audio output devices can detect the distance and direction from each other using communication using wireless signals transmitted from a short-range communication unit such as UWB.

For example, one of each audio output device connects wireless communication with another audio output device connected according to a preset order, and is connected to the time when the wireless signal is transmitted and the angle at which the wireless signal is received, that is, the angle of arrival. Based on this, the location of another audio output device connected to the communication can be detected. Here, one of the devices may be the master device 100, and the other device may be a slave device.

Meanwhile, when the master device 100 detects the positions of all slave devices connected through sequential wireless communication, it creates a sound listening zone based on the positions of each detected slave device and itself, that is, the position of the master device 100. It can be formed (S302). In this case, the master device 100 can form a polygon with its own detected location and the location of each slave device as its vertices, and a virtual polygon formed by the master device 100 and a plurality of slave devices is formed. A space may be formed as the sound listening zone.

For example, when a sound system according to an embodiment of the present invention consists of a master device 100 and four slave devices 201, 202, 203, and 204, the sound listening zone 400 is as shown in FIG. 4. It may be formed as a pentagon-shaped area with the master device 100 and each slave device 201 to 204 as the vertex. In this case, the sound listening zone 400 may be an area that can provide three-dimensional sound to the user.

In this case, the master device 100 can set an angle of arrival range for itself and each slave device according to the shape of the currently formed sound listening zone.

As an example, in the case of the first slave device 201, the master device 100 determines the first slave device 201 based on the angle between the direction in which the adjacent second slave device 202 is placed and the direction in which the fourth slave device 204 is placed. The angle of arrival range corresponding to the slave device 201 can be set. In addition, with respect to the second slave device 202, the arrival corresponding to the second slave device 202 is based on the angle between the direction in which the adjacent first slave device 201 is placed and the direction in which the master device 100 is placed. Each range can be set. And the master device 100 itself corresponds to itself (the master device 100) based on the angle between the direction in which the adjacent second slave device 202 is placed and the direction in which the third slave device 203 is placed. You can set the angle of arrival range. Likewise, the angle of arrival range of the third slave device 203 and the fourth slave device 204 can be set.

Here, the angle of arrival range may be determined by the artificial intelligence unit 121. In this case, the artificial intelligence unit 121 sets the angle of arrival range set by the directions in which the other adjacent sound output devices are arranged as the maximum value, as described above, and sets a smaller range as the maximum value, and each sound as a result of pre-learning. It can be decided for each output device.

Meanwhile, even if a sound listening zone is formed as shown in FIG. 4, the sound output from each sound output device may be An area can be formed where these elements can be provided in an optimal balance. This area is called the sweet spot.

Accordingly, the sound system according to an embodiment of the present invention detects the user's position within the sound listening zone in real time so as to form a sweet spot according to the user's position within the sound listening zone, and according to the detected user's position. The area where the sweet spot is formed can be changed. To this end, each sound output device forming the sound system according to an embodiment of the present invention may be configured to emit a radar signal, and may detect a user in the sound listening zone based on a reflected wave of the emitted radar signal. You can.

To this end, the sound system can first synchronize the time between each sound output device (S304). In this case, the time of each slave device may be synchronized based on the master device 100. And at least one of the plurality of sound output devices constituting the sound system may emit a radar signal (S306). Here, the sound output device emitting the radar signal may be determined by the master device 100, and when there are a plurality of sound output devices emitting the radar signal, the order in which the radar signal is emitted from the plurality of sound output devices is determined by the master device 100. It may be determined by the device 100. That is, the master device 100 can control any one audio output device to emit a radar signal (S306), where the one audio output device can be any one slave device or itself.

Meanwhile, the device that emits a radar signal in step S306 may be called a reference device. And when the radar signal is emitted from the reference device in step S306, the emitted radar signal may be reflected to the user in the sound listening zone, that is, the subject, and other sound output devices other than the reference device. In this case, the reference device may receive a radar signal reflected from the subject or another sound output device, and the other sound output device may receive a radar signal reflected from the subject or another sound output device or a radar signal transmitted from the reference device. You can receive it directly.

Then, each sound output device can transmit information about radar signals received directly or reflected from the reference device to the master device. Additionally, the reference device can also transmit data about the radar signals it received to the master device. Here, the data on the received radar signals may include information on the intensity of the received radar signal, the angle at which the radar signal was received (angle of arrival), and the time at which the radar signal was received. Accordingly, the master device 100 can collect data of radar signals received by itself and data of radar signals received by each slave device (S308).

Then, the master device 100 can detect the location of the user, that is, the subject that reflected the radar signal, based on each audio output device based on the data of the collected radar signals (S310). To this end, the master device 100 may calculate the distance and direction between the reference device and the subject based on data of radar signals received from the reference device. In addition, based on the return time for the radar signal to travel back and forth between the reference device and the subject and the time when the radar signal reflected by the subject is received by the other sound output device, the distances between the other sound output device and the subject are calculated. can do. Additionally, by repeating this, the distances to the subject can be calculated based on each audio output device, including the master device 100 (S310).

Additionally, the master device 100 may identify the direction in which the subject is located based on each sound output device, based on the angle at which the radar signal reflected from the subject is received. And, based on the directions of the subject identified in each sound output device and the distances between each sound output device and the subject calculated in step S310, the location of the subject located within the sound listening zone, that is, the user, can be detected (S312 ).

Meanwhile, when the user's location within the sound listening zone is detected, the master device 100 may form a sweet spot based on the detected user's location (S314). To this end, the master device 100 can change at least one of the volume, sound field, and phase of the sound signal output from the sound output unit 130 of the master device 100 and each slave device (S314).

Accordingly, the sound system according to an embodiment of the present invention can detect the user's location within the sound listening zone, and a sweet spot can be formed based on the detected user's location. Moreover, as described above, the present invention detects the location of a subject based on a radar signal emitted from an audio output device, and the user's location can be detected even when the user does not possess a device that transmits a wireless signal. A sweet spot can be formed according to the detected user's location.

Meanwhile, the master device 100 may control the reference device to emit a radar signal again after the preset time interval has elapsed. In this case, the process from steps S306 to S314 may be performed again, and the location of the subject may be detected again.

Meanwhile, when the master device 100 detects the location of the subject based on the radar signal emitted from one sound output device according to the processes of FIG. 3, the other sound output device detects the location after a preset time interval has elapsed. Radar signals can be controlled to be emitted. That is, the master device 100 can change the reference device. In this case, the master device 100 may control the changed reference device so that it emits a radar signal, and accordingly, the process from steps S306 to S314 may be performed again. In this case, the location of the subject can be recalculated using the radar signal emitted from the changed reference device.

In this way, the present invention can detect the location of the subject, that is, the user within the sound listening zone 400, at preset time intervals using radar signals emitted from a specific sound output device or another changed sound output device. Therefore, when the user moves, the user's moved location can be calculated again. Accordingly, the sound system of the present invention can track the user's location in real time and form a sweet spot according to the tracked user's location.

Meanwhile, the preset time interval for detecting the position of the subject 410 may vary based on the size or shape of the sound listening zone 400. In this case, the optimal subject position detection time interval may be determined by an artificial intelligence algorithm in which the optimal subject position detection time intervals for the size or shape of various sound listening zones are learned in advance. Here, the learned artificial intelligence algorithm can be mounted on the artificial intelligence unit 121 provided in the location calculation unit 120.

FIG. 5 is a flowchart showing in more detail the process of step S310 of calculating the distance between the subject and the sound output device based on the radar signal of the reference device received by the sound output device during the operation process of FIG. 3. And FIG. 6 is an example diagram for explaining the concept of calculating the distance between a reference device, an adjacent audio output device, and a subject according to the operation process of FIG. 5.

First, referring to FIG. 5, during the operation process of FIG. 3, when the operation process of calculating the distances between each sound output device and the subject in the sound listening zone based on the reception times of the received radar signals is started, the master The device 100 may first detect the time at which the radar signal emitted from the reference device, that is, the reference signal, is reflected by the subject 410 and received again by the reference device, that is, the reference signal return time (S500).

In this case, the radar signal reflected by the subject 410 and received again by the reference device may be the strongest radar signal among the radar signals received by the reference device within a preset angle of arrival range, and may be the radar signal received first. You can. This is because, as shown in FIG. 4, the sound listening zone 400 is formed in the form of a polygon with the position of each sound output device as a vertex. Therefore, if there is a user in the sound listening zone 400, the user, that is, the subject 410 ) may be closest to the reference device.

Accordingly, the master device 100 can detect the reception time of the radar signal that has the strongest strength and is received first among the radar signals received by the reference device within a preset angle of arrival range.

And when the reference signal return time is detected, the master device 100 calculates the difference between the time when the reference device emits the reference signal and the reference signal return time, and the reference signal is reflected by the subject after being emitted. The round trip time of the signal until it returns again, that is, the return time, can be calculated. And the time corresponding to half of the calculated return time can be calculated as the time until the reference signal reaches the subject from the reference device, that is, the subject arrival time (S502).

Referring to FIG. 6 , the reference device may be the first slave device 201. In this case, the radar signal emitted from the first slave device 201 may be radiated to each area of the sound listening zone 400, and when reflected to the subject 410 or another sound output device, it may be transmitted back to the reference device or other sound output device. It can be received by an output device.

Looking at this, the radar signal (reference signal) 601 emitted from the first slave device 201 (reference device) may be reflected by the subject 410, and the radar signal 602 reflected by the subject 410 ) can be received again by the first slave device 201. In this case, the time from when the radar signal 601 is emitted until the radar signal 602 reflected by the subject 410 is received can be detected as the return time for the radar signal to travel back and forth to the subject 410. Then, the master device 100 can calculate the time corresponding to half of the return time as the time it takes for the radar signal to reach the subject 410, that is, the subject arrival time.

Meanwhile, the master device 100 may select one of the audio output devices to calculate the distance to the subject 410 among the remaining audio output devices excluding the reference device according to a preset order (S504). Here, the sound output device according to the preset order may be the master device 100 itself.

Then, the master device 100 may extract the reception data of the radar signals collected from any one of the selected audio output devices among the reception data of the radar signals collected from each audio output device stored in the memory 150.

In this case, as shown in FIG. 6, assuming that the reference device is the first slave device 201 and the currently selected audio output device is the fourth slave device 204, the data of the extracted radar signals are the first slave device 201. 4 A radar signal 610 received directly by the slave device 204, a radar signal 620 reflected by the subject and received by the fourth slave device 204, and the second and third slave devices 202 and 203. The reception times of the radar signals 630 and 650 that are reflected and received by the fourth slave device 204, respectively, and the radar signal 640 that is reflected by the master device 100 and received by the fourth slave device 204, and It may include information about reception angle and signal strength.

And the master device 100 may filter at least one valid signal from the received data of the extracted radar signals based on a preset signal size threshold and angle of arrival range (S506). Here, the valid signal may be a signal having a magnitude greater than or equal to the preset threshold. It may also be a radar signal received within the preset angle of arrival range. Here, the preset signal size threshold and the angle of arrival range may be determined according to the size and shape of the sound listening zone formed in S302 of FIG. 3.

Additionally, in order to determine the optimal signal size critical angle or angle of arrival range, the master device 100 may further include an artificial intelligence unit 121 that is trained on a plurality of learning data according to various environments. In this case, the learned artificial intelligence unit 121 determines the location of each audio output device relative to the master device 100, that is, the distances between each audio output device and the master device 100, and the master device 100. The size and shape of the sound listening zone can be estimated based on the directions in which each sound output device is placed, and the optimal signal size critical angle or arrival angle range can be determined based on the estimated size and shape of the sound listening zone. there is.

Meanwhile, the master device 100 may detect a first signal and a second signal from the received data of the extracted radar signals as a result of the filtering (S508). Here, the first signal has an intensity greater than a preset threshold, and among radar signals received within a preset angle of arrival range, the radar signal transmitted from the reference device is directly received by the currently selected audio output device (610) ) can be. Additionally, the second signal may be a signal 620 received by the currently selected audio output device after the radar signal transmitted from the reference device is reflected by the subject.

FIG. 7 is an example diagram showing an example of filtering effective signals among radar signals received by the fourth slave device 204 within a preset angle of arrival range in step S506 of FIG. 5.

If the radar signals received within the angle of arrival range preset by the currently selected audio output device, that is, the fourth slave device 204, are as shown in FIG. 7, the master device 100 first performs step S508 of FIG. 5. Through this, only signals 710 and 720 having an intensity greater than a preset signal intensity threshold 760 can be extracted.

Here, the radar signals 630, 640, and 650 reflected from the second slave device 202, the master device 100, and the third slave device 203 and received by the fourth slave device 204 are the subject 410. ), the size may be smaller than the second signal 620 reflected by the subject 410. That is, the radar signals 630, 640, and 650 may be signals 730, 740, and 750 whose signal strengths are weaker than the preset signal threshold 760 in FIG. 7, and the corresponding signals may be It may be filtered in step S506.

Meanwhile, the first signal 610 is a signal received directly from the reference device 201 to the fourth slave device 204 without reflection, and its strength is the highest among radar reflection signals received within a preset angle of arrival range. This can be a strong signal. And the second signal 620 is a signal received by reflecting the reference signal by the subject 410, and may be the signal with the strongest intensity among the reflected and received radar signals. This is because, when the subject 410 is located within the sound listening zone 400, it is located closest to the currently selected sound output device (the fourth slave device 204) than to other sound output devices.

However, since the second signal 620 is a signal reflected by the subject 410, its intensity may be weaker than that of the first signal 610. Therefore, when radar signals are received as shown in FIG. 7, the master device 100 can distinguish the signal 710 with the greatest intensity as the first signal 610. And the time 711 at which the signal 710 with the highest intensity is received can be detected as the reception time of the first signal 610. Additionally, the master device 100 may distinguish the signal 720 with the second highest intensity as the second signal 620. And the time 721 at which the signal 720 with the second highest intensity was received can be detected as the reception time of the second signal 620.

In this way, when the first signal reception time 711 and the second signal reception time 721 are detected according to the detection result of step S508 of FIG. 5, the master device 100 detects the first signal reception time 711 and the second signal reception time 711. 2 Based on the signal reception time 721, the reflected wave arrival time for the radar signal transmitted from the reference device to reach the currently selected audio output device, that is, the fourth slave device 204, can be calculated (S510).

As an example, the master device 100 determines that the radar signal transmitted from the reference device directly reaches the fourth slave device 204 based on the time from the time the reference device emits the radar signal to the first signal reception time 711. The time required to do this (first signal reception time) can be calculated. And based on the time from the time the reference device emits the radar signal to the second signal reception time 721, the radar signal transmitted from the reference device is reflected to the subject 410 and is transmitted to the fourth slave device 204. The time required to reach (second signal reception time) can be calculated. In this case, the second signal reception time is the time when the radar signal reaches the fourth slave device 204 via the subject 410, and may be longer than the first signal reception time.

Meanwhile, the master device 100 may subtract the first signal reception time from the second signal reception time. In this case, the time taken for the radar signal to pass through the subject 410 rather than the time it takes to directly reach the fourth slave device 204, that is, the reflected wave arrival time, can be calculated.

Then, the master device 100 further subtracts the time taken for the reference signal to reach the subject 410, that is, the subject arrival time calculated in step S502, from the reflected wave arrival time calculated in step S510, The time it takes for a radar signal to reach the fourth slave device 204 from the subject 410 can be calculated. And based on the calculated time and light speed (C), the distance between the subject 410 and the currently selected audio output device (fourth slave device 204) can be calculated (S512).

Meanwhile, in step S514, when the distance between the currently selected audio output device and the subject 410 is calculated, the master device 100 can check whether there is an audio output device for which the distance to the subject 410 has not been calculated. (S514). And, as a result of the check in step S514, if there is an audio output device for which the distance to the subject 410 has not been calculated, the master device 100 can select the audio output device according to the following order (S512). Here, the sound output device according to the preset order may be the master device 100 itself.

On the other hand, if, as a result of the check in step S514, the distance to the subject 410 is calculated for all audio output devices, the master device 100 can end the operation process of FIG. 5. Then, the process proceeds to step S312 of FIG. 3 and the direction in which the subject 410 is located can be detected based on each audio output device. In this case, the master device 100 determines the direction in which the subject 410 is located relative to each sound output device based on the angle of arrival of the radar signal reflected by the subject and received by each sound output device, that is, the second signal. It can be determined. Then, the master device 100 can detect the distance and direction to the subject 410 based on each sound output device, and based on the detected distance and direction, the subject 410 within the sound listening zone 400. ) can be detected.

Meanwhile, as described above, the master device 100 detects the position of the subject 410 within the sound listening zone 400 and outputs each sound, including its own, so that a sweet spot is formed based on the position of the detected subject. You can control the sound output of the device. In this case, the master device 100 determines the location of the subject within the sound listening zone 400 while changing the reference device at preset time intervals or repeating detection of the location of the subject according to the radar signal transmitted from a specific reference device. can be detected in real time. In addition, the master device 100 can control sounds output from all sound output devices, including itself, so that the position, shape, or size of the sweet spot within the sound listening zone changes depending on the location of the detected subject. In this case, the master device 100 can change the position, shape, or size where the sweet spot is formed by changing the volume of the sound signal output from each sound output device (including itself), that is, at least one of the strength, sound field, and phase. there is.

FIGS. 8A and 8B are illustrations showing an example in which the position, size, and shape of the sweet spot change depending on the position of the detected subject in the sound system according to an embodiment of the present invention.

First, referring to FIG. 8A, FIG. 8A shows an example where the subject 410, that is, a user located within the sound listening zone, is located on the right side of the sound listening zone. In this case, as described in FIGS. 3 and 5, the master device 100 controls the radar signal to be emitted from itself or one of the slave devices, and uses the radar signal (second signal) reflected by the subject 410 or Based on a radar signal (first signal) received directly without reflection, the distance and direction to the subject 410 can be detected based on the device itself or one of the slave devices.

Additionally, by repeating this process, the distance and direction to the subject 410 can be detected based on each sound output device. And when the position of the subject 410 is calculated based on the distances and directions to the subject 410 calculated based on each of the audio output devices, a sweet spot is created centered on the calculated position of the subject 410. It is possible to control the sound output of each sound output device including the self so that 800 is formed.

As shown in FIG. 8A, when the location of the subject 410 is on the right side of the sound listening zone, the third slave device 203 adjacent to the subject 410 adjusts the volume to be relatively low compared to other sound output devices. It can be controlled and the sound field can be controlled to be shortened. On the other hand, the first slave device 201 and the second slave device 202 that are far away from the subject 410 can be controlled to have a relatively high volume and a long sound field compared to other sound output devices. Additionally, the phase of the sound signal of each sound output device may be controlled to aim at the location of the detected subject 410.

Meanwhile, the user can move the location. In this case, as shown in FIG. 8B, when the user moves to the left of the sound listening zone, the master device 100 detects the location of the subject using a reference device changed according to a preset time interval and transmits it again from a specific reference device. In the process of detecting the position of the subject according to the changed radar signal, the location of the changed subject 410 can be detected.

Then, the master device 100 can control the sound signal output from each sound output device (including itself) so that the position, size, and shape of the sweet spot 800 are changed according to the changed position of the subject 410. In this case, depending on the location of the moving subject 410, the first slave device 201 and the second slave device 202 that are close to the subject 410 can be controlled to lower the volume and the sound field can be controlled to shorten. . On the other hand, the third slave device 203 and the fourth slave device 204 that are distant from the subject 410 can be controlled to increase the volume and to lengthen the sound field. Additionally, the phase of the sound signal of each sound output device may be controlled to aim at the changed location of the subject 410.

Meanwhile, in the above description, only the configuration in which each sound output device detects the position of the subject within the sound listening zone has been described. However, it goes without saying that the environment around each sound output device can be further detected using the radar signal. For example, the sound system of the present invention may detect the shape of the wall around each sound output device based on radar signals emitted from each sound output device.

Figure 9 is an example diagram illustrating an example in which the shape of a surrounding wall is detected by a radar signal transmitted from a sound output device in a sound system according to an embodiment of the present invention. And Figure 10 is a flowchart showing an operation process in which the shape of a surrounding wall is detected by a radar signal transmitted from a sound output device in a sound system according to an embodiment of the present invention.

First, referring to FIG. 9, FIG. 9 shows that when the reference device is the first slave device 201, the radar signal emitted from the first slave device 201 is connected to the wall around the first slave device 201. This shows an example of reflection in a shape. In this case, the radar signal emitted from the first slave device 201 is reflected by the wall around the first slave device 201 and is received again by the first slave device 201, or the first slave device 201 It can be received by the second slave device 202 or the fourth slave device 204 adjacent to . Alternatively, the radar signal emitted from the first slave device 201 may be directly received by the adjacent second slave device 202 or fourth slave device 204.

Meanwhile, based on radar signals received by the reference device or adjacent audio output devices, the sound system according to an embodiment of the present invention can detect the shape of the wall formed around each audio output device.

To this end, each audio output device can detect each other's positions through signal exchange (S1000). In this case, each of the audio output devices can detect the distance and direction from each other using communication using wireless signals transmitted from a short-range communication unit such as UWB. In step S1000, similar to step S300 of FIG. 3, each audio output device connects wireless communication with other audio output devices according to a preset order, the time at which the wireless signal is transmitted and the angle at which the wireless signal is received, That is, it may include repeating the processes of detecting the position of another audio output device connected to the communication based on the angle of arrival. And through this process, the master device 100 can detect the positions of all slave devices and form a sound listening zone based on the positions of each detected slave device and itself, that is, the position of the master device 100 ( S1002).

In this case, the master device 100 can set an angle of arrival range for itself and each slave device according to the shape of the currently formed sound listening zone. In this case, the master device 100 may set the angle range excluding the angle range corresponding to the sound listening zone as the angle of arrival range for wall detection in each sound output device.

That is, in the case of the first slave device 201, the angle of arrival corresponding to the sound listening zone is based on the angle between the direction in which the adjacent second slave device 202 is placed and the direction in which the fourth slave device 204 is placed. The range (first angle of arrival range) can be set. Then, the master device 100 can set the remaining angle range excluding the first angle of arrival range corresponding to the sound listening zone as the angle of arrival range (second angle of arrival range) for detecting the wall.

For example, as shown in FIG. 9, if a sound listening zone 910 is formed and the first slave device 201 is oriented toward the center of the sound listening zone 910, the first slave device ( 201), a first angle of arrival range from 45 degrees to the left to 45 degrees to the right, that is, from 45 degrees to 135 degrees, may be formed in the first slave device 201. Then, the master device 100 can set the remaining angle range excluding the first angle of arrival range as the second angle of arrival range.

Accordingly, when a radar signal is received, each sound output device may classify the received radar signal differently depending on whether the received radar signal is received within the first angle of arrival range or the second angle of arrival range. In this case, radar signals received within the first angle of arrival range can be classified as radar signals for detecting objects in the sound listening zone, and radar signals received within the second angle of arrival range can be classified as radar signals for detecting the shape of the surrounding wall. They can be classified as radar signals.

Meanwhile, when the sound listening zone is formed in step S1002, each sound output device can synchronize the time with each other (S1004). In this case, the time of each slave device may be synchronized based on the master device 100. Then, the master device 100 can control at least one of the plurality of sound output devices (including itself) constituting the sound system to emit a radar signal (S1006).

Meanwhile, the device that emits a radar signal in step S1006 may be called a reference device. And when the radar signal is emitted from the reference device in step S1006, the emitted radar signal may be reflected on the wall around the reference device, as shown in FIG. 9. And the reflected radar signal can be received by the reference device or other adjacent audio output devices. Additionally, as shown in FIG. 9, the emitted radar signal may be directly received by other adjacent audio output devices without reflection.

And data on radar signals received from the reference device and each audio output device may be received by the master device 100. In this case, the data about the radar signals may include information about the reception time, angle of arrival, and reception strength at which the radar signal was received.

Then, the master device 100 can detect the distance between the reference device and a wall around the reference device, based on radar signals received by the reference device. In this case, the distances corresponding to each feedback signal are calculated based on the time between the time the radar signal is emitted from the reference device and the time the radar signal (return signal) reflected on the wall is received by the reference device, that is, return times. can do. In this case, the calculated distances may be the distances from the reference device to the wall around the reference device, and the shape of the wall around the reference device can be detected based on the distances (S1008).

Meanwhile, if the shape of a wall around the reference device that emits a radar signal is detected in step S1008, the master device can detect an audio output device that has received a radar signal of a certain intensity or more from the reference device (S1010). In this case, the closer the sound output device is to the reference device, the stronger the strength of the received radar signal may be. Therefore, in step S1010, at least one audio output device adjacent to the reference device may be detected. Therefore, as shown in FIG. 9, if the first slave device 201 is the reference device, the second slave device 202 or the fourth slave device 204 adjacent to the first slave device 201 is used in S1010. It can be detected at this stage.

When at least one audio output device is detected in step S1010, the master device 100 selects the radar signal (first signal) received directly from the reference device among the radar signals received by the detected at least one audio output device. The reception time can be detected.

In this case, the radar signal (first signal) received directly from the reference device without reflection has a shorter moving distance (straight line distance) than the radar signal (second signal) received by reflecting off the wall, so the first signal is longer than the second signal. The signal may reach another audio output device first. Accordingly, the master device 100 can detect the radar signal received first as the first signal from each of the detected audio output devices, and can detect the time at which the first signal was received.

And, based on the difference between the time when the radar signal is emitted from the reference device and the time when the first signal is received, the time taken for the radar signal to reach each detected sound output device can be detected. And based on the detected time, the separation distances between the at least one detected audio output device and the reference device can be calculated (S1012).

In step S1012, when the separation distances between at least one audio output device and the reference device are calculated, the master device 100 selects the received radar signals after they are reflected on the wall for each detected audio output device. The received signal (second signal) can be detected.

In this case, the second signal may have a magnitude greater than a certain intensity among radar signals received by each audio output device and may be a signal received after the first signal. Then, based on the difference between the time when the radar signal was emitted from the reference device and the time when the second signal was received, the master device 100 causes the radar signal transmitted from the reference device to be reflected on the wall and received by each audio output device. The time it takes to reach it can be calculated.

Then, the master device 100 may generate, for each audio output device, an elliptical graph corresponding to the distance corresponding to the time required for the second signal to arrive, based on the calculated separation distance from the reference device. Here, the elliptical graph may be a graph representing traces of points where the sum of the distances from two vertices spaced apart from each other on a plane is constant. In this case, the two vertices may be one of the audio output devices detected in step S1010 and the reference device, and the separation distance between the two vertices is the distance between the one audio output device and the reference device. It could be the distance.

FIG. 11 is an exemplary diagram illustrating an example of an elliptical graph for detecting the shape of a wall between a fourth slave device 204, which is another adjacent audio device, when the reference device is the first slave device 201.

Referring to FIG. 11, the master device 100 can detect the first slave device 201, which is a reference device, and the fourth slave device 204 adjacent to the first slave device 201 in step S1010. there is. And in step S1012, the separation distance 1110 between the first slave device 201 and the fourth slave device 204 is calculated based on the reception time of the first signal received by the fourth slave device 204. can do. And based on the first slave device 201 and the fourth slave device 204 spaced apart by the calculated separation distance 1110, it is calculated according to the reception time of the second signal received by the fourth slave device 204. An elliptical graph 1100 according to the distance can be generated (S1014).

In this case, in the elliptical graph 1100, P1 (1101), P2 (1102), P3 (1103), and P5 (1105) may all be points with the same sum of distances. In this case, the master device 100 creates a portion of the elliptical graph 1100 based on the second angle of arrival range set in the first slave device 201, that is, the second angle of arrival range excluding the angle of arrival range corresponding to the sound listening zone. You can filter. Therefore, a portion of the elliptic graph 1100 including P1 (1101), P2 (1102), and P3 (1103) corresponding to radar signals received in the second angle of arrival range can be extracted for detection of the wall shape. there is. That is, the portion of the elliptical graph including P5 (1105) corresponding to the area within the sound listening zone may be excluded. And the shape of the wall between the first slave device 201 and the fourth slave device 204 can be detected according to a partial shape of the elliptical graph 1100 corresponding to the second angle of arrival range (S1016).

Meanwhile, detection of the wall shape using an elliptical graph (S1014) can be performed for each of the audio output devices detected in step S1010. Then, the master device 100 can check whether the shape of the walls around all sound output devices has been detected (S1018). And, as a result of the check in step S1018, if the shape of the wall around all sound output devices is detected, the operation process of FIG. 10 for detecting the shape of the wall around each sound output device can be ended.

On the other hand, if, as a result of the check in step S1018, the shape of the wall around all sound output devices is not detected, the reference device is changed to the sound output device according to the following preset order, and the radar signal is controlled to be emitted from the changed reference device. You can do it (S1020). And a process ranging from step S1008 of detecting the shape of a wall around the changed reference device based on the emitted radar signal to step S1016 of detecting the shape of a wall between the reference device and other sound output devices adjacent to the changed reference device. can be performed again.

Meanwhile, of course, the operation process of FIG. 10 for detecting the shape of the wall around each sound output device may be performed simultaneously with the operation process of FIG. 3 for detecting the user's location within the sound listening zone. In this case, the reference device that emits a radar signal for detecting the position of the subject 410 in FIG. 3 may be the same reference device as the reference device that emits a radar signal for detecting the wall shape in FIG. 10. In addition, of course, the radar signal emitted to detect the position of the subject 410 in FIG. 3 can also be used as a radar signal emitted to detect the shape of a wall around the reference device in FIG. 10.

In this case, the master device 100 determines whether the received radar signal is for detecting the position of the subject 410 (received within the first angle of arrival range) or a wall based on the angle of arrival of the radar signals received from each audio output device. It is possible to distinguish whether it is for shape detection (reception outside the first angle of arrival range, that is, the second angle of arrival range).

Meanwhile, in the sound system according to an embodiment of the present invention, the master device 100 can set different sound channels for itself and each slave device. In this case, the master device 100 can set different sound channels based on its own location and the location of each slave device.

FIGS. 12A and 12B are flowcharts and examples showing a process and example of setting channels in slave devices based on the location of the master device in a sound system according to an embodiment of the present invention.

First, referring to FIG. 12A, the master device 100 can detect the separation distance from each slave device and the direction in which each slave device is located through wireless communication with the slave devices. And the location of each slave device can be detected based on the detected separation distances and directions (S1200). Here, step S1200 may be the same or similar to step S300 of FIG. 3 or step S1000 of FIG. 10.

When the location of each slave device is detected in step S1200, the master device 100 can determine the locations of each slave device based on the center of the sound listening zone. In this case, the master device 100 can detect whether each slave device is to the left or right of the center of the sound listening zone, or in front or behind the sound listening zone (S1202). In this case, the front of the sound listening zone may be in a direction where the center of the sound listening zone is oriented toward the master device 100.

Therefore, when the first slave device 201 to the fourth slave device 204 are arranged around the master device 100 as shown in the left drawing of FIG. 12B, the master device 100 includes the first slave device 201 and It may be determined that the fourth slave device 204 is located behind the center of the sound listening zone, and the master device 100, the second slave device 202, and the third slave device 203 are located in the sound listening zone. It can be determined to be located in front of the center. In addition, it may be determined that the first slave device 201 and the second slave device 202 are located to the left of the center of the sound listening zone, and the third slave device 203 and the fourth slave device 204 are the sound listening zone. It can be determined to be located to the right of the center of the listening zone.

Then, the master device 100 can set different sound channels based on the positions of each slave device determined based on the sound listening zone center (S1204). In this case, the master device 100 can set the sound channel of each sound output device according to the position determined in step S1202, as shown in the right drawing of FIG. 12B.

In this case, as shown on the right side of FIG. 12B, the master device 100 can set a forward channel for itself. In addition, the Forward-Left channel can be set to the second slave device 202 located on the front left of the center of the sound listening zone, and the Forward-Right channel can be set to the third slave device 203 located on the front right of the center of the sound listening zone. Additionally, a Rear-Left channel and a Rear-Left channel can be set for the first slave device 201 located at the rear left side of the sound listening zone center and the fourth slave device 204 located at the rear right side of the sound listening zone center, respectively.

Here, the master device 100 can further check whether another audio output device is connected. As an example, when a new sound output device is connected as a result of IOT communication, the master device 100 forms a sound listening zone that further includes the new sound output device and at the same time creates a new sound output device based on the location of the new sound output device. Additional audio channels can also be assigned.

That is, if the fifth slave device is further placed between the first slave device 201 and the fourth slave device 204, the master device 100 performs the process of FIG. 12A again and adds the newly added slave device 204. 5 You can further set the audio channel corresponding to the slave device. In this case, since the fifth slave device is located behind the center of the sound listening zone, the master device 100 can further set a rear channel to the fifth slave device.

Meanwhile, when more new sound output devices are added, the master device 100 can re-create a sound listening zone including the new sound output devices. In this case, the master device 100 may re-detect the user's location within the new sound listening zone based on at least one of FIGS. 3 and 10, or may further detect the shape of the wall around the newly added sound output device.

Meanwhile, when a sound listening zone is formed, the sound system according to an embodiment of the present invention may further control other nearby devices so as not to disturb the user's music enjoyment, depending on whether the sound listening zone is activated. there is.

Figure 13 is an example diagram showing an example in which the operation of other nearby devices is controlled based on the sound listening zone in the sound system according to an embodiment of the present invention.

As an example, the master device 100 may determine whether the sound listening zone is activated based on whether a sound signal is output from the master device 100 or from at least one sound output device forming the sound listening zone. . In this case, the activated sound listening zone is a state in which a sound signal is output from at least one of a plurality of sound output devices forming the sound listening zone, and a state in which the user can listen to the sound signal within the sound listening zone. It can mean.

When the sound listening zone is activated in this way, the master device 100 can detect at least one peripheral device that may cause noise among other nearby devices. For example, the noise-generating device is a device that can generate noise above a certain level when operated, such as an air conditioner or robot vacuum cleaner, and may be a device that is specified in advance or preset by the user.

In this case, as shown in FIG. 13, when the sound listening zone is activated, the master device 100 may transmit a limit signal to limit operation to the surrounding noise-generating devices 1300 and 1310. Accordingly, the air conditioner 1300 that receives the limit signal may change its operating state to a silent mode or may stop operating.

Meanwhile, the master device 100 may transmit the limit signal to the robot cleaner 1310 that has received it. Then, the robot cleaner 1310 may stop driving or change its operation mode to a silent mode.

Meanwhile, the limit signal may include information about the size and location of the sound listening zone. In this case, the robot cleaner 1310, which has received a restriction signal containing information on the sound listening zone, may be restricted from entering the sound listening zone area. That is, the master device 100 may transmit a restriction signal restricting entry into the sound listening zone to the robot cleaner 1310, and accordingly, entry of the robot cleaner 1310 into the sound listening zone may be restricted.

Meanwhile, in the above description, only the configuration in which activation of the sound listening zone is determined depending on whether or not an audio signal is output is described. However, of course, otherwise, activation may be determined depending on whether the subject, that is, the user, is detected. That is, the master device 100 according to an embodiment of the present invention may detect the user's location within the sound listening zone and, if the user is not detected, determine that the sound listening zone is not activated.

In this case, even if sound is output from at least one sound output device, the air conditioner 1300 may be driven in a normal operation mode, or the robot vacuum cleaner 1310 may enter the sound listening zone and perform cleaning. Here, if the user is detected again in the sound listening zone, the sound listening zone may be activated again, and accordingly, the operations of the air conditioner 1300 and the robot vacuum cleaner 1310 may be restricted again.

Meanwhile, in the above description, the device emitting a radar signal is described as one of the sound output devices forming the sound listening zone, but of course, a separate emitting device emitting a radar signal may be included. Then, based on the radar signal emitted from the radiation device, the location of each of the plurality of sound output devices forming the sound system according to an embodiment of the present invention can be detected.

In this case, the radiating device may be located outside the sound listening zone. In addition, the radar signal emitted from the radiating device may be reflected by the subject and received by each audio output device. Additionally, the emitted radar signal can be received by each audio output device. And data that each sound output device receives directly from the radiating device or receives radar signals reflected from the subject can be collected in the master device 100.

Then, the master device 100 can detect the times at which the first signal directly received from the radiating device to each audio output device is received from the collected data. Additionally, the times at which the second signal reflected by the subject and received by each audio output device can be detected. And the time from the radiation time when the radar signal was emitted to the second signal reception time and the time from the emission time to the first signal reception time were subtracted, so that the reflected wave arrival time taken by the radar signal passing through the subject was longer. can be calculated for each audio output device.

Additionally, the master device 100 can detect the location of the subject within the sound listening zone based on the reflected wave arrival times calculated for each sound output device. In this case, the master device 100 may use a triangulation method based on distances corresponding to each of the reflected wave arrival times or a positioning method (TDOA, Time Difference Of Arrival) using the difference in the reflected wave arrival times.

Meanwhile, in the above description, only the configuration for detecting a subject within the sound listening zone is mentioned, but of course, the master device 100 can also detect the subject only if it satisfies preset conditions.

As an example, the subject may have a size greater than a certain size. In this case, since the area where the radar signal is reflected increases depending on the size of the subject, the size of the reflected radar signal may be greater than a preset threshold. Therefore, small pets such as dogs may not be detected as subjects.

Additionally, the master device 100 may further detect whether the subject is a person or not using at least one sensor. As an example, the master device 100 detects the temperature of the subject using an infrared sensor, and if the detected temperature is lower than a preset temperature, it may not detect the subject as a subject. That is, the master device 100 may further include at least one sensor for detecting a 'person' as a subject, and may detect the 'subject' within the sound listening zone based on the detection result of the sensor.

The above-described present invention can be implemented as computer-readable code on a program-recorded medium. Computer-readable media includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. It also includes those implemented in the form of carrier waves (e.g., transmission via the Internet). Additionally, the computer may include a master control unit 160 of the master device 100. Accordingly, the above detailed description should not be construed as restrictive in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (20)

In a sound system formed by a plurality of sound output devices,
A first device among the plurality of audio output devices emits a radar signal, and one of the plurality of audio output devices collects data related to the radar signal received by the plurality of audio output devices,
Any of the above audio output devices,
Based on radar signals received by the plurality of sound output devices directly from the first device or reflected by the subject and radar signals received back to the first device, the subject for each of the plurality of sound output devices Calculate the separation distance and directions,
A sound system characterized in that it detects the position of the subject based on the calculated separation distance and directions, and controls the sound signal output of each of the plurality of sound output devices based on the detected position of the subject. According to paragraph 1,
Any of the above audio output devices,
Detecting the location of each of the other audio output devices through wireless communication with other audio output devices, and forming a sound listening zone based on the positions of each detected audio output device,
The subject is,
A sound system, characterized in that located within the formed sound listening zone. The method of claim 2, wherein data related to the received radar signal is:
A sound system comprising information on the time at which radar signals were received by a specific sound output device, the intensity of the received radar signals, and the angles of arrival at which the radar signals were received. The method of claim 3, wherein any one of the audio output devices,
A preset first angle of arrival range is set for each of the plurality of sound output devices according to the shape of the sound listening zone, and an angle of arrival within the first angle of arrival range among the radar signals received by each of the plurality of sound output devices A sound system characterized in that it extracts only radar signals having . The method of claim 4, wherein any one of the audio output devices,
Further extracting only radar signals having an intensity greater than a preset threshold among the radar signals received by each of the plurality of audio output devices,
A sound system that detects a radar signal received directly from the first device and a radar signal reflected by the subject and received by a sound output device among the further extracted radar signals, according to the intensity of the radar signals. . The method of claim 1, wherein any one of the audio output devices,
Calculate the subject arrival time, which is the time until the radar signal reaches the subject, based on the radiation time of the radar signal and the return time at which the radar signal is received by the first device,
For each of the plurality of audio output devices,
Detecting the reception time of the first signal, which is a radar signal directly received from the first device, and the reception time of the second signal, which is the radar signal received after being reflected by the subject, and detecting the first signal based on the radiation time Calculate the reception time of and the reception time of the second signal,
Based on the first signal reception time and the second signal reception time, the reflected wave arrival time, which is the time taken longer as the radar signal passes through the subject, is calculated,
Characterized in detecting the position of the subject based on the distance corresponding to the time difference between the subject arrival time and the reflected wave arrival time and the angle of arrival at which the second signal is received by each audio output device. sound system. The method of claim 1, wherein the plurality of audio output devices:
A sound system in which time synchronization is achieved and information on the radiation time of the radar signal is shared. The method of claim 1, wherein any one of the audio output devices,
A sound system, characterized in that controlling at least one of the volume, sound field, and phase of the sound signal output from each of the plurality of sound output devices based on the detected position of the subject. The method of claim 4, wherein any one of the audio output devices,
For each of the plurality of sound output devices, a second angle of arrival range corresponding to an outside of the sound listening zone is set, and an angle of arrival within the second angle of arrival range is set among the radar signals received from each of the plurality of sound output devices. A sound system characterized in that it detects the shape of a wall formed around each of the plurality of sound output devices based on radar signals. The method of claim 9, wherein any one of the audio output devices,
Detecting the shape of a wall around the first device based on the radiation time of the radar signal and the return time of the radar signal having an angle of arrival within the second angle of arrival range received by the first device,
Detecting an audio output device among the plurality of audio output devices that has received a radar signal having an angle of arrival within the second angle of arrival range and an intensity greater than a preset intensity,
The detected sound output device calculates the reception time of the first signal based on the reception time of the first signal, which is a radar signal directly received from the first device, and the emission time,
Calculate the reception time of the second signal based on the reception time and the radiation time of the second signal, which is a radar signal received after being reflected from a surrounding wall, among radar signals having an angle of arrival within the second angle of arrival range,
An elliptic graph is calculated based on the distance corresponding to the calculated reception time of the first signal and the distance corresponding to the reception time of the second signal, and based on the calculated elliptic graph, the detected audio output device and the first A sound system characterized by detecting the shape of the wall between devices. According to paragraph 1,
The plurality of audio output devices,
It is formed by at least one master device and at least one slave device,
Any of the above audio output devices,
A sound system characterized by the master device. The method of claim 11, wherein the master device:
A sound system characterized in that, when the preset time elapses, the first device is changed to another sound output device and the position of the subject is detected again. According to clause 12,
The master device is,
Through wireless communication with slave devices, the location of each slave device is detected based on the location of the master device, and a sound listening zone is formed based on the detected positions of the master device and slave devices.
The preset time interval is,
A sound system characterized in that the sound listening zone varies based on the size and shape of the sound listening zone. According to clause 13,
The master device is,
Limiting the operation of other devices around the sound listening zone depending on whether the sound listening zone is activated,
Activation of the sound listening zone is,
A sound system characterized in that it is determined depending on whether a subject is detected in the sound listening zone. According to clause 14,
The other devices mentioned above are:
It is a robot vacuum cleaner,
The master device is,
A sound system characterized in that it transmits information about the size and shape of the sound listening zone to the robot cleaner, thereby restricting the robot cleaner from entering the sound listening zone. In a method of controlling a sound system formed by a plurality of sound output devices,
A first step in which the plurality of audio output devices perform wireless communication with each other to detect each other's positions and form a sound listening zone based on the detected positions;
A second step in which a first device among the plurality of audio output devices emits a radar signal according to a preset order;
Any one of the plurality of audio output devices listens to the radar signal based on the emission time at which the radar signal is emitted from the first device and the return time at which the radar signal is received by the first device. A third step of calculating the subject arrival time, which is the time required to reach the subject located in the zone;
The one audio output device may, for at least one of the plurality of audio output devices, receive a reception time of a first signal, which is a radar signal directly received from the first device, and a radar signal reflected and received by the subject. a fourth step of detecting the reception time of the second signal;
The one audio output device transmits the radar signal to the subject based on the reception time of the detected first signal and the reception time of the second signal for at least one of the plurality of audio output devices. A fifth step of calculating the reflected wave arrival time, which is the time taken more as time goes by;
The one sound output device, with respect to at least one of the plurality of sound output devices, detects the subject based on the distance corresponding to the time difference between the subject arrival time and the reflected wave arrival time and the direction in which the second signal was received. A sixth step of detecting the location of; and,
A seventh step in which the one audio output device controls at least one of the volume, sound field, and phase of the audio signal output from each of the plurality of audio output devices according to the detected position of the subject. A sound system control method characterized by: The method of claim 16, wherein the fourth step is,
Fourth, wherein the one sound output device sets, for at least one of the plurality of sound output devices, a first angle of arrival range preset to each of the plurality of sound output devices according to the shape of the sound listening zone. Level 1;
A 4-2 step in which the one audio output device extracts only radar signals having an angle of arrival within the first angle of arrival range among the radar signals received by at least one of the plurality of audio output devices;
A 4-3 step in which the one audio output device further extracts only radar signals having an intensity greater than a preset threshold among the radar signals received by at least one of the plurality of audio output devices; and,
Step 4-4 in which the one audio output device detects the first signal and the second signal among the radar signals received by at least one of the plurality of audio output devices based on the strength of the radar signals. A sound system further comprising: According to clause 16,
An eighth step in which one of the audio output devices changes the first device to another audio output device according to the preset order when a preset time has elapsed; and,
The one of the audio output devices performs the second to seventh steps again to re-detect the location of the subject according to the radar signal emitted from the changed first device, and re-detects the location of the subject according to the detected location of the subject. It further includes a ninth step of controlling the sound signal output from each of the plurality of sound output devices,
The preset time is,
A sound system control method, characterized in that determined according to at least one of the size and shape of the sound listening zone. The method of claim 16, wherein the sixth step is,
Step 6-1, wherein the one audio output device sets a second angle of arrival range corresponding to an outside of the sound listening zone to each of the plurality of audio output devices; and,
The one audio output device surrounds each of the plurality of audio output devices, based on radar signals having an angle of arrival within the second angle of arrival range among the radar signals received by each of the plurality of audio output devices. A method of controlling a sound system further comprising a 6-2 step of detecting the shape of a wall formed in . The method of claim 19, wherein step 6-2,
The one audio output device determines the shape of a wall around the first device based on the radiation time of the radar signal and the return time at which the radar signal having an angle of arrival within the second angle of arrival range is received by the first device. a step of detecting;
Step b, wherein the one audio output device detects an audio output device among the plurality of audio output devices that has received a radar signal having an angle of arrival within the second angle of arrival range and an intensity greater than a preset intensity;
The one audio output device calculates the reception time of the first signal based on the reception time of the first signal, where the detected audio output device is a radar signal directly received from the first device, and the emission time. step c;
The one of the audio output devices, based on the reception time and the emission time of a third signal, which is a radar signal received by being reflected from a surrounding wall, among radar signals having an angle of arrival within the second angle of arrival range, 3 Step d to calculate the reception time of the signal;
Step e, wherein the one of the audio output devices calculates an elliptical graph based on the distance corresponding to the calculated reception time of the first signal and the distance corresponding to the calculated reception time of the third signal; and,
A method for controlling a sound system, further comprising a step f in which the one sound output device detects a wall shape between the detected sound output device and the first device based on the elliptic graph.