CN107890659A - A kind of speech control system and Voice command intelligence roller-skates applied to roller-skates - Google Patents
A kind of speech control system and Voice command intelligence roller-skates applied to roller-skates Download PDFInfo
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- CN107890659A CN107890659A CN201711182399.XA CN201711182399A CN107890659A CN 107890659 A CN107890659 A CN 107890659A CN 201711182399 A CN201711182399 A CN 201711182399A CN 107890659 A CN107890659 A CN 107890659A
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- module
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- signal
- control module
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
- A63C17/06—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/0006—Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
Abstract
The present invention discloses a kind of speech control system applied to roller-skates, and it includes：Voice input module, sound identification module, MCU control module and drive control module.Pass through the speech control system of the present invention, user can be controlled using control instruction voice to the motor of Voice command intelligence roller-skates, Voice command intelligence roller-skates are manipulated so as to realize, control process manipulates more safe and convenient without using hand and eyes during traveling.
Description
Technical field
The present invention relates to roller-skates technical field, in particular it relates to a kind of speech control system applied to roller-skates and
Voice command intelligence roller-skates.
Background technology
Present people are often using such as：The walking-replacing tools such as bicycle, electric car, automobile are gone on a journey, but daily walking-replacing tool is
Through demand of the people to the convenience of walking-replacing tool can not be met, therefore occur electric roller-skates on the market, it can not only expire
Demand that sufficient people ride instead of walk and more portable.And electric roller-skates on the market are generally by being arranged on electric roller-skates sheet
Control panel on body is manipulated, or the Chinese invention patent such as Application No. 201611256347.8, and it utilizes distant
Control equipment is controlled.But two kinds of control modes of the above, it is still desirable to user coordinates eyes to go to be manipulated using hand,
It is still not convenient enough using process, and during manipulation, the eyes of user can not observe traveling road conditions, exist very big
Traffic safety hidden danger.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of speech control system and Voice command applied to roller-skates
Intelligent roller-skates.
According to the first aspect of the invention, the present invention provides a kind of speech control system applied to roller-skates, and it includes：
Voice input module, audio signal is converted into for receiving control instruction voice, and by the control instruction voice；
Sound identification module, it is connected with voice input module signal；Sound identification module is used to obtain phonetic entry mould
The audio signal of block, and identify the instruction keyword in the audio signal；If identifying instruction keyword, corresponding language is produced
Sound identification signal；If unidentified go out to instruct keyword, attonity；
MCU control module, it is connected with sound identification module signal；MCU control module obtains sound identification module and produced
Speech recognition signal, and the speech recognition signal is matched with all instruction keywords of its internal storage, if
With success, control signal corresponding to MCU control module generation；If matching is unsuccessful, MCU control module attonity；
Drive control module, its motor signal respectively with MCU control module and roller-skates are connected；Drive control module
Control signal caused by MCU control module is obtained, and corresponding action control is carried out to the motor of roller-skates according to the control signal
System.
According to an embodiment of the present invention, the speech control system applied to roller-skates also includes：Audio filter circuit,
It is arranged between voice input module and sound identification module；Audio filter circuit is used to filter to be inputted by voice input module
And less than the audio signal of predeterminated frequency, and the audio signal after filtering is inputted to sound identification module.
According to an embodiment of the present invention, sound identification module also includes the audio signal to the output of audio filter circuit
Software denoising is carried out, then the audio signal after denoising is identified again the action of instruction keyword.
According to an embodiment of the present invention, the speech control system applied to roller-skates also includes：FLASH stores mould
Block, it is connected with MCU control module signal；FLASH memory modules are used for the finger of offline storage MCU control module internal storage
Make keyword.
According to an embodiment of the present invention, the speech control system applied to roller-skates also includes：Wireless communication module,
It is connected with MCU control module signal, and it is used to transmit or receives the control signal of MCU control module.
According to the second aspect of the invention, the present invention provides a kind of Voice command intelligence roller-skates, and it includes：Shoes body,
Assembly pulley, motor, gear train and battery pack；Assembly pulley, motor and gear train are arranged at the bottom of shoes body, its middle gear
Group is connected with assembly pulley and motor respectively, battery pack be built in shoes body and and motor connection, it also includes the present invention the
Speech control system described in one side；Speech control system is connected with motor signal.
According to an embodiment of the present invention, obstacle avoidance module；Obstacle avoidance module is built in the front end of shoes body and controlled with MCU
Module by signal connects, and it is used to detect the front of Voice command intelligence roller-skates and whether there is obstacle, if obstacle be present, MCU controls
Molding block is slowed down by drive control module controlled motor, if obstacle is not present, MCU control module passes through drive control module control
Action before motor holding processed.
According to an embodiment of the present invention, Voice command intelligence roller-skates also include：It is respectively arranged on the inside of shoes body
Front end and two laser-correlation modules of rear end；Each laser-correlation module includes：It is connected respectively with MCU control module signal
Laser emitting module and laser pick-off module, wherein, laser emitting module launches a testing light source, and laser pick-off module receives anti-
Testing light source after penetrating.
The beneficial effect that the present invention is different from prior art is：Speech control system, user are provided with by the present invention
The motor of Voice command intelligence roller-skates is controlled using control instruction voice, it is intelligently sliding to Voice command so as to realize
Footwear manipulation is taken turns, control process manipulates more safe and convenient without using hand and eyes during traveling.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, forms the part of the application, this Shen
Schematic description and description please is used to explain the application, does not form the improper restriction to the application.In the accompanying drawings：
Fig. 1 is the control schematic diagram for the speech control system that the present invention is applied to roller-skates；
Fig. 2 is the circuit diagram of audio filter circuit of the present invention；
Fig. 3 is the schematic diagram of invention software filtering；
Fig. 4 is the control schematic diagram of Voice command intelligence roller-skates of the present invention；
Fig. 5 is the sectional view of Voice command intelligence roller-skates of the present invention；
Fig. 6 is the side view of Voice command intelligence roller-skates of the present invention；
Fig. 7 is the operating diagram of laser emitting module of the present invention.
Description of reference numerals：101st, voice input module；102nd, sound identification module；103rd, MCU control module；104th, drive
Dynamic control module；105th, audio filter circuit；106th, FLASH memory modules；107th, wireless communication module；100th, Voice command system
System；200th, shoes body；201st, diffusing reflection plate；300th, assembly pulley；400th, motor；500th, gear train；600th, battery pack；700th, avoidance
Module；800th, laser-correlation module；801st, laser emitting module；802nd, laser pick-off module.
Embodiment
Multiple embodiments of the present invention, as clearly stated, the details in many practices will be disclosed with schema below
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in some embodiments of the present invention, the details in these practices is non-essential.In addition, for the sake of simplifying schema,
Some known usual structures will illustrate it in a manner of simply illustrative in the drawings with component.
The present invention is to be related to a kind of phase of the speech control system applied to roller-skates and Voice command intelligence roller-skates
Close design.The Voice command intelligence roller-skates of the present invention can be controlled by speech control system using control instruction voice,
Of the invention and its caused benefit is further described in point two specific embodiments below.
Embodiment one：
It refer to shown in Fig. 1, it is applied to the control schematic diagram of the speech control system 100 of roller-skates for the present invention.This
Embodiment provides a kind of speech control system 100 applied to roller-skates, and it includes：Voice input module 101, speech recognition mould
Block 102, MCU control module 103 and drive control module 104.Wherein, voice input module 101 is used to receive user's hair
The control instruction voice gone out, and the control instruction voice is converted into audio signal, during concrete application, voice input module 101
Can be microphone, and it may be designed to ear suspension type structure, the clearer acquisition user of voice input module 101 is sent
Control instruction voice；Sound identification module 102 is connected with the signal of voice input module 101, and it is used to obtain phonetic entry mould
The audio signal of block 101, and the instruction keyword in the audio signal is identified, if identifying instruction keyword, produce corresponding
Speech recognition signal, if unidentified go out to instruct keyword, attonity, wherein sound identification module 102 can use LD3320 languages
Sound identification chip；MCU control module 103 is connected with the signal of sound identification module 102, and MCU control module 103 obtains speech recognition
Speech recognition signal caused by module 102, MCU control module 103 is by all of the speech recognition signal and its internal storage
Instruction keyword is matched, if the match is successful, MCU control module 103 produces corresponding control signal, if matching is unsuccessful,
The attonity of MCU control module 103, such as sound identification module 102 have identified in " advance " this phonetic order keyword, and
The internal storage of MCU control module 103 is provided with " advance " instruction keyword, and MCU control module 103 is by sound identification module
" advance " this phonetic order keyword is obtained at 102, and is matched with the instruction keyword of its internal storage, is matched
Success, it can be set after MCU control module 103 matches " advances " successfully by program, send the control signal of " advance ".Specifically
Ground, as " advance ", " retrogressing ", " acceleration ", " deceleration " instruction keyword can by way of MCU software programmings with character string
Form is stored in the memory of MCU control module 103, can be come into force when lower subsystem enables.MCU control module 103
Model AT89C52 single-chip microcomputer can be used, AT89C52 single-chip microcomputers have low-power consumption, high performance advantage, and it has
Power mode, further reduce the power consumption of system.Drive control module 104 respectively with MCU control module 103 and the electricity of roller-skates
The signal of machine 400 connects, and drive control module 104 obtains control signal caused by MCU control module 103, and is believed according to the control
Number the motors 400 of roller-skates is accordingly controlled, for example, MCU control module 103 send be respectively " advance ", " retrogressing ",
" acceleration " and the control signal of " deceleration ", then drive control module 104 rotated forward respectively corresponding to controlled motor 400, instead
Turn, improve rotating speed and reduce rotating speed.
It is real one in order to improve resolution of the speech control system 100 of the present invention to the control instruction voice of user
Apply in example, speech control system 100 of the invention possesses double filter designs.First, refer to shown in Fig. 2, it is sound of the present invention
The circuit diagram of frequency filter circuit 105, audio filtering is provided between voice input module 101 and sound identification module 102
Circuit 105.Audio filter circuit 105, which is used to filter, to be inputted by voice input module 101 and is believed less than the audio of predeterminated frequency
Number, and the audio signal after filtering is inputted to sound identification module 102, specifically, it is based on human body pronouncing frequency
100HZ, by the way of amplifier high-pass filtering, audio filter circuit 105 may filter that less than by voice the audio filter circuit 105
Input module 101 inputs and less than the audio signal of 100HZ frequencies.Second, being the mode of software filtering, Fig. 3 institutes are refer to
Showing, it is the schematic diagram of invention software filtering, and after the startup of the system of speech control system 100, it has an initialization procedure,
In this process, the noise waveform frequency in environment is noted down by sound identification module 102, according to the noise waveform of record frequency
Rate, the noise waveform median frequency of current environment is intercepted, instruction control voice based on user input length is shorter, during utilization
Between intercept frequency range, by difference realize noise filter, as shown in Figure 3, first band A be user instruction control voice it is defeated
Enter, second band B is environmental noise, and the time length based on user's input instruction control voice sets the time of interception frequency range
Length, such as " advance ", " retrogressing ", " acceleration " and " deceleration " instruction control voice, user use above-mentioned instruction control language
Tone period was less than 1 second during sound, in the present embodiment, a length of 2~3 seconds when interception wave band can be set, in enough tone periods
On the basis of reserve sufficient effective time, i.e., in 2~3 seconds and frequency is in people's voice in frequency range (being higher than 100HZ) of talking
Effectively input, first band A front end is that efficient voice inputs in Fig. 3, and other parts will be regarded as noise and remove.
Please continue to refer to shown in Fig. 1, speech control system 100 of the invention is additionally provided with a FLASH memory modules 106,
The a large amount of instruction keywords that can be used by FLASH memory modules 106 required for offline storage MCU control module 103 and other
Relevant parameter, after 100 power-off restarting of speech control system, MCU control module 103 can be by reading FLASH memory modules 106
And the relevant parameter of the instruction keyword stored in FLASH memory modules 106 and product is write itself, realize to the present invention's
The power down protection of speech control system 100.
Please continue to refer to shown in Fig. 1, speech control system 100 of the invention also includes a wireless communication module 107.Wirelessly
Communication module 107 is connected with the signal of MCU control module 103, and it is used to transmit or receives the control signal of MCU control module 103.
Specifically, wireless communication module 107 can use bluetooth module or WIFI module.By wireless communication module 107, two can be made
The synchronization of the control signal of MCU control module 103 of speech control system 100 so that one of MCU control module 103 is to two
The control action of individual speech control system 100 is synchronous, and the speech control system 100 of the present invention is respectively applied to the pulley of a pair of
After footwear, its design on left footwear and right footwear can be adjusted, such as：Speech control system 100 on right footwear only includes：MCU
Control module 103, drive control module 104, FLASH memory modules 106 and wireless communication module 107.By the above-mentioned means,
Production cost and resource can be greatlyd save.
Embodiment two：
It refer to shown in Fig. 4 and 5, it is respectively the control schematic diagram and section view of Voice command intelligence roller-skates of the present invention
Figure.The present embodiment provides a kind of Voice command intelligence roller-skates, and it includes：Shoes body 200, assembly pulley 300, motor 400, gear
Group 500 and battery pack 600.Wherein, assembly pulley 300, motor 400 and gear train 500 are arranged at the bottom of shoes body 200,
And gear train 500 is connected with assembly pulley 300 and motor 400 respectively, battery pack 600 be built in shoes body 200 and with electricity
Machine 400 connects.Voice command intelligence roller-skates also include：Speech control system 100 described in embodiment one, Voice command system
System is connected with motor signal.No longer speech control system 100 is repeated herein.
It refer to shown in Fig. 4 and Fig. 6, wherein Fig. 6 is the side view of Voice command intelligence roller-skates of the present invention.The present invention's
Voice command intelligence roller-skates also include an obstacle avoidance module 700.Obstacle avoidance module 700 is built in the front end of shoes body 200 and and MCU
The signal of control module 103 connects, and the front that obstacle avoidance module 700 is used to detect Voice command intelligence roller-skates whether there is obstacle,
Specifically, obstacle avoidance module 700 can use one kind in millimetre-wave radar, laser radar or ultrasonic radar, wherein because of ultrasonic wave
Radar has an advantage that distant propagation distance, penetrability are strong, distance-finding method is simple and cost is low, keeping away in the present embodiment
Barrier module 700 preferably uses ultrasonic radar, and it utilizes the principle of ultrasonic ranging, and detection front whether there is barrier, if
Obstacle being present, MCU control module 103 is slowed down by the controlled motor 400 of drive control module 104, until motor 400 stops, if
In the absence of obstacle, MCU control module 103 passes through the action before the holding of the controlled motor 400 of drive control module 104.Specifically,
The control program that can pass through sets the avoidance brake coverage of motor 400, such as 1.5M, when obstacle avoidance module 700 detects language
When barrier be present at the front 1.5M of sound control intelligence roller-skates, MCU control module 103 starts controlled motor 400 and slowed down, directly
Stop to motor 400.
Please continue to refer to shown in Fig. 6, Voice command intelligence roller-skates of the invention are additionally provided with two laser-correlation modules
800, two groups of laser-correlation modules 800 are respectively arranged at the inside front ends of shoes body 200 and rear end.Wherein, each laser-correlation mould
Group 800 includes：The laser emitting module 801 and laser pick-off module 802 being connected respectively with the signal of MCU control module 103.Laser
Transmitter module 801 launches a testing light source, and laser pick-off module 802 receives the testing light source after reflection.
In order to more clearly illustrate the operation principle of above-mentioned laser-correlation module 800, a pair of voice control introduced below
Intelligent roller-skates are made, wherein a hereinafter referred to as left footwear, another are referred to as right footwear.Please continue to refer to shown in Fig. 7, it is this hair
The operating diagram of bright laser emitting module 800, in the process of moving, the test of the transmitting of laser emitting module 801 one on left footwear
The laser pick-off module 802 that light source is returned on left footwear to the inner side of right footwear, the testing light source in the inner reflection of right footwear, and on right footwear
Laser emitting module 801 then launch a testing light source to the inner side of left footwear, the testing light source goes back to the right side in the inner reflection of left footwear
Laser pick-off module 802 on footwear.In the case of left footwear and right footwear do not line up, when such as left footwear are ahead of right footwear, the MCU on left footwear
Control module 103 is slowly slowed down by the controlled motor 400 of drive control module 104, until left footwear align with right footwear, then left footwear
Protected simultaneously by the controlled motor 400 of drive control module 104 using wireless communication module 107 with the MCU control module 103 of right footwear
Identical speed is held, left footwear and right footwear is alignd；If right footwear are ahead of right footwear phase with its operation principle during left footwear and left footwear in advance
Together.In the case where left footwear and right footwear align, then the attonity of MCU control module 103 of left footwear and right footwear.It is certain, left footwear and
Alignment adjustment process between right footwear can set an allowed band according to demand, if left footwear and right footwear fore-and-aft clearance difference are allowing
In the range of, then above-mentioned alignment adjusts process.Specifically, in order to increase the launching effect of testing light source, can be in left footwear and the footwear of right footwear
The inner side of body 200 increase diffusing reflection plate 201.The position of the left footwear of adjust automatically and right footwear through the above way, keep traveling process
In it is steady.
In summary, speech control system 100 is provided with by the present invention, user can utilize control instruction voice to language
The motor 400 of sound control intelligence roller-skates is controlled, so as to realize to Voice command intelligence roller-skates manipulate, control process without
Hand and eyes need to be used, more safe and convenient are manipulated during traveling, while Voice command intelligence roller-skates are also provided with
The laser-correlation module 800 of position, makes voice between two shoes of obstacle avoidance module 700 and regulation for placing collision obstacle
Control intelligent roller-skates traveling more safe and steady.
The upper only embodiments of the present invention, are not intended to limit the invention.For those skilled in the art
For, the present invention can have various modifications and variations.All any modifications made in spirit and principles of the present invention, it is equal
Replace, improve etc., it all should be included within scope of the presently claimed invention.
Claims (8)
- A kind of 1. speech control system (100) applied to roller-skates, it is characterised in that including：Voice input module (101), audio signal is converted into for receiving control instruction voice, and by the control instruction voice；Sound identification module (102), it is connected with the voice input module (101) signal；The sound identification module (102) For obtaining the audio signal of the voice input module (101), and identify the instruction keyword in the audio signal；If know Do not go out to instruct keyword, produce corresponding speech recognition signal；If unidentified go out to instruct keyword, attonity；MCU control module (103), it is connected with the sound identification module (102) signal；The MCU control module (103) is obtained Take speech recognition signal caused by the sound identification module (102), and by the speech recognition signal and its internal storage All instruction keywords are matched, if the match is successful, control signal corresponding to MCU control module (103) generation；If With unsuccessful, MCU control module (103) attonity；Drive control module (104), it connects with motor (400) signal of the MCU control module (103) and roller-skates respectively Connect；The drive control module (104) obtains control signal caused by the MCU control module (103), and is believed according to the control Number corresponding action control is carried out to the motors (400) of roller-skates.
- 2. the speech control system (100) according to claim 1 applied to roller-skates, it is characterised in that it also includes： Audio filter circuit (105), it is arranged between the voice input module (101) and the sound identification module (102)；Institute State audio filter circuit (105) be used for filter by the voice input module (101) input and be less than predeterminated frequency audio Signal, and the audio signal after filtering is inputted to the sound identification module (102).
- 3. the speech control system (100) according to claim 2 applied to roller-skates, it is characterised in that the voice Identification module (102) also includes carrying out software denoising to the audio signal of the audio filter circuit (105) output, then right again The action of instruction keyword is identified in audio signal after denoising.
- 4. the speech control system (100) according to claim 1 applied to roller-skates, it is characterised in that it also includes： FLASH memory modules (106), it is connected with the MCU control module (103) signal；The FLASH memory modules (106) are used In the instruction keyword of MCU control module described in offline storage (103) internal storage.
- 5. the speech control system (100) according to claim 1 applied to roller-skates, it is characterised in that it also includes： Wireless communication module (107), it is connected with the MCU control module (103) signal, and it is used to transmit or receives the MCU controls The control signal of molding block (103).
- 6. a kind of Voice command intelligence roller-skates, including：Shoes body (200), assembly pulley (300), motor (400), gear train (500) and battery pack (600), the assembly pulley (300), motor (400) and gear train (500) are arranged at the shoes body (200) bottom, wherein the gear train (500) is connected with the assembly pulley (300) and motor (400) respectively, it is described Battery pack (600) is built in the shoes body (200) and is connected with the motor (400), it is characterised in that it also includes：Power Profit requires 1 to 5 any described speech control system (100)；The speech control system (100) connects with motor (400) signal Connect.
- 7. Voice command intelligence roller-skates according to claim 6, it is characterised in that it also includes：Obstacle avoidance module (700)；The obstacle avoidance module (700) is built in the front end of the shoes body (200) and believed with the MCU control module (103) Number connection, it is used to detect the front of Voice command intelligence roller-skates and whether there is obstacle, if obstacle be present, the MCU is controlled Module (103) controls the motor (400) to slow down by the drive control module (104), if obstacle, the MCU is not present Control module (103) controls the action before motor (400) holding by the drive control module (104).
- 8. Voice command intelligence roller-skates according to claim 6, it is characterised in that it also includes：It is respectively arranged at institute State two laser-correlation modules (800) of shoes body (200) inside front ends and rear end；Each laser-correlation module (800) Including：The laser emitting module (801) and laser pick-off module being connected respectively with the MCU control module (103) signal (802), wherein, the laser emitting module (801) launches a testing light source, and the laser pick-off module (802) receives reflection Testing light source afterwards.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711182399.XA CN107890659A (en) | 2017-11-23 | 2017-11-23 | A kind of speech control system and Voice command intelligence roller-skates applied to roller-skates |
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| CN201711182399.XA CN107890659A (en) | 2017-11-23 | 2017-11-23 | A kind of speech control system and Voice command intelligence roller-skates applied to roller-skates |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111583898A (en) * | 2020-05-26 | 2020-08-25 | 舒伟伟 | Space environment multi-directional selective noise reduction system and method |
| CN111583898B (en) * | 2020-05-26 | 2021-06-29 | 苏州双福智能科技有限公司 | Space environment multi-directional selective noise reduction system and method |
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