Amazon.com, Inc.
Autonomously motile device with adaptive beamforming

Abstract:

A device capable of motion includes a beamformer for determining audio data corresponding to one or more directions. The beamformer includes a target beamformer that boosts audio from a target direction and a null beamformer that suppresses audio from that direction. When the device outputs sound while moving, the target and null beamformers capture and compensate for Doppler effects in output audio that reflects from nearby surfaces back to the device.