CN107374608A - Music player devices shutoff device based on one-chip microcomputer photoelectric sensor - Google Patents
Music player devices shutoff device based on one-chip microcomputer photoelectric sensor Download PDFInfo
- Publication number
- CN107374608A CN107374608A CN201710554987.5A CN201710554987A CN107374608A CN 107374608 A CN107374608 A CN 107374608A CN 201710554987 A CN201710554987 A CN 201710554987A CN 107374608 A CN107374608 A CN 107374608A
- Authority
- CN
- China
- Prior art keywords
- music player
- player devices
- chip microcomputer
- music
- photoelectric sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 229910052751 metal Inorganic materials 0.000 claims abstract description 15
- 239000002184 metal Substances 0.000 claims abstract description 15
- 210000001367 Arteries Anatomy 0.000 claims description 7
- 210000003491 Skin Anatomy 0.000 claims description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 210000003462 Veins Anatomy 0.000 claims description 4
- 210000000624 Ear Auricle Anatomy 0.000 claims description 3
- 210000003811 Fingers Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 15
- 210000000214 Mouth Anatomy 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 210000003128 Head Anatomy 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 210000004204 Blood Vessels Anatomy 0.000 description 1
- 210000001503 Joints Anatomy 0.000 description 1
- 229920001451 Polypropylene glycol Polymers 0.000 description 1
- 206010041349 Somnolence Diseases 0.000 description 1
- 230000000386 athletic Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011886 peripheral blood Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000036299 sexual function Effects 0.000 description 1
- 230000037321 sleepiness Effects 0.000 description 1
- 210000001519 tissues Anatomy 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4806—Sleep evaluation
- A61B5/4809—Sleep detection, i.e. determining whether a subject is asleep or not
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/10—Earpieces; Attachments therefor ; Earphones; Monophonic headphones
- H04R1/1041—Mechanical or electronic switches, or control elements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/10—Earpieces; Attachments therefor ; Earphones; Monophonic headphones
- H04R1/1091—Details not provided for in groups H04R1/1008 - H04R1/1083
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R3/00—Circuits for transducers, loudspeakers or microphones
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2201/00—Details of transducers, loudspeakers or microphones covered by H04R1/00 but not provided for in any of its subgroups
- H04R2201/10—Details of earpieces, attachments therefor, earphones or monophonic headphones covered by H04R1/10 but not provided for in any of its subgroups
Abstract
The invention provides a kind of music player devices shutoff device based on one-chip microcomputer photoelectric sensor, the music player devices for the user to be used by detecting the pulse signal of user are closed, had the feature that, including：Pulse transducer, including light emitting diode and photoelectric transformer, for detecting the pulse signal of user by photoplethymograph；Single-chip microcomputer, it is connected by wire with pulse transducer, for the heart rate value of user to be calculated according to pulse signal, and the instruction for closing music player devices is sent when the heart rate value is in setting range；Music truncation module includes relay, is connected with single-chip microcomputer, for closing music player devices according to instruction；Metal deconcentrator is used to music player devices, music truncation module and earphone being attached so that the music in music player devices can be transmitted to earphone and enable music truncation module to close music player devices；And power supply.
Description
Technical field
The invention belongs to the communications field, and in particular to a kind of music player devices based on one-chip microcomputer photoelectric sensor are closed
Device.
Background technology
People of today, either going by air, motor-car, or when sleep at night, all like listening song with earphone.
It will be fallen asleep when they listen, and fall asleep the problem of how music closes will be faced with.But it is possible to slept in people
The method that music is closed when feel is few, and one kind is that music player devices are closed in timing, but this method can not be accurate
The time of people's sleep is grasped, is closed too early and too late all bad；Also one kind is that music player devices are voluntarily closed before sleeping, but should
Method equally has uncertainty, and the sleepiness of people can be influenceed if voluntarily closing.
At present, someone develop it is a kind of it is SCM Based can closing hand phone music player automatically intelligent earphone,
The device is using STC12LE2052 single-chip microcomputers as main controller, using three axle Together, digital gyroscope L3G4200D as position-detection sensor, leads to
The motion state on test earphone user head is crossed, judges whether people enters sleep state by main controller, when people enters sleep shape
Then to mobile phone sending signal, music is stopped for state.But the device needs to be embedded in earphone, turn into indivisible with earphone
It is overall, and the device is merely able to be embedded in headphone, has no idea to be embedded in for small-sized In-Ear Headphones.
Meanwhile in the headphone based on this prior art, wearer is couching during sleep, the athletic meeting on head itself is
Limited by the both sides earmuff of headphone, so as to be sentenced by position-detection sensor to whether wearer enters to fall asleep
It is disconnected that there is also larger error.In addition, because the prior art will be embedded in headphone so that the volume increase of earphone,
So that the cost of manufacture of earphone significantly applied to close music this functionally, and then cause earphone tonequality
Reduced Deng the cost percentage arrived shared by other substantive sexual functions, therefore, the prior art can only apply to high-end wear-type ear
In the making of machine, this function can not be realized for low and middle-end headphone and In-Ear Headphones.
The content of the invention
The present invention is, and it is an object of the present invention to provide a kind of be based on one-chip microcomputer photoelectric sensor in order to solving the above problems and carry out
Music player devices shutoff device.
The invention provides a kind of music player devices shutoff device based on one-chip microcomputer photoelectric sensor, for passing through inspection
The music player devices that the user is used the pulse signal of survey user are closed, and are had the feature that, including：Arteries and veins
Fight sensor, be worn on neck main artery, skin, finger or the ear-lobe of user, including light emitting diode and light-to-current inversion
Device, for detecting the pulse signal of user by photoplethymograph；Single-chip microcomputer, it is connected, is used for pulse transducer by wire
The heart rate value of user is calculated according to pulse signal, and closing music is sent when the heart rate value is in setting range
The instruction of equipment；Music truncation module, including relay, are connected with single-chip microcomputer, for closing music player devices according to instruction；
Metal deconcentrator, for music player devices, music truncation module and earphone to be attached so that in music player devices
Music can be transmitted to earphone and enable music truncation module to close music player devices；And power supply.
In the music player devices shutoff device provided by the invention based on one-chip microcomputer photoelectric sensor, can also have
Such feature：Wherein, it is additionally provided with pulse transducer and the low pass filter of signal is harassed for isolating and for amplifying arteries and veins
Fight the amplifier of signal.
In the music player devices shutoff device provided by the invention based on one-chip microcomputer photoelectric sensor, can also have
Such feature：Wherein, light emitting diode is AM2520 green diodes, and its peak wavelength is 515nm.
In the music player devices shutoff device provided by the invention based on one-chip microcomputer photoelectric sensor, can also have
Such feature：Wherein, the model APDS-9008 of photoelectric transformer, it is 565nm that it, which experiences peak wavelength,.
In the music player devices shutoff device provided by the invention based on one-chip microcomputer photoelectric sensor, can also have
Such feature：Wherein, setting range is 55~65 beats/min.
In the music player devices shutoff device provided by the invention based on one-chip microcomputer photoelectric sensor, can also have
Such feature：Wherein, single-chip microcomputer is STC12C5A60S2 single-chip microcomputers.
In the music player devices shutoff device provided by the invention based on one-chip microcomputer photoelectric sensor, can also have
Such feature：Wherein, the plug of earphone is four-section type headset plug.
In the music player devices shutoff device provided by the invention based on one-chip microcomputer photoelectric sensor, can also have
Such feature：Wherein, power supply is lithium battery, and the charging circuit of the lithium battery is CN3052 chips.
The effect of invention and effect
According in the music player devices shutoff device involved in the present invention based on one-chip microcomputer photoelectric sensor, because adopting
With metal deconcentrator so that the device that the present invention mentions can separate independence with earphone, consequently facilitating user can use certainly
Oneself earphone, without being limited by function.Because pulse transducer is employed, and by single-chip microcomputer according to pulse signal meter
Calculation obtains the heart rate value of user, enabling more accurately judges whether user enters to sleep.It is so of the invention based on monolithic
The music player devices shutoff device of machine photoelectric sensor has the advantages of efficiency high, simple to operate, and easy to use.
Brief description of the drawings
Fig. 1 is the frame of the music player devices shutoff device based on one-chip microcomputer photoelectric sensor in embodiments of the invention
Figure；
Fig. 2 is the work of the music player devices shutoff device based on one-chip microcomputer photoelectric sensor in embodiments of the invention
Circuit diagram；
Fig. 3 is the block diagram of pulse transducer in embodiments of the invention；
Fig. 4 is the working circuit diagram of pulse transducer in embodiments of the invention；
Fig. 5 is the part working circuit diagram of single-chip microcomputer in embodiments of the invention；
Fig. 6 is the working circuit diagram of music truncation module in embodiments of the invention；
Fig. 7 is the connection circuit diagram of metal deconcentrator in embodiments of the invention；
Fig. 8 is the circuit diagram of power supply in embodiments of the invention.
Embodiment
In order that the technological means that the present invention realizes is easy to understand with effect, with reference to embodiments and accompanying drawing is to this
Invention is specifically addressed.
<Embodiment>
Fig. 1 is the frame of the music player devices shutoff device based on one-chip microcomputer photoelectric sensor in embodiments of the invention
Figure, Fig. 2 is the operating circuit of the music player devices shutoff device based on one-chip microcomputer photoelectric sensor in embodiments of the invention
Figure.
As depicted in figs. 1 and 2, the music player devices shutoff device 100 based on one-chip microcomputer photoelectric sensor is used to pass through
The pulse signal of detection user is closed to the music player 1 that the user is used, and (user is generally inclined by earphone 2
Listen the music played in music player 1), including：Pulse transducer 10, single-chip microcomputer 20, music truncation module 30, metal point
Line device 40 and power supply (not shown).In the present embodiment, music player 1 is mobile phone 1, and the plug of earphone 2 is 3.5mm
Four-section type headset plug
Fig. 3 is the block diagram of pulse transducer in embodiments of the invention.
As indicated at 3, pulse transducer 10 is worn on the skin of user figure, for detecting user's by photoplethymograph
Pulse signal, including light emitting diode 11, photoelectric transformer 12 and be arranged on pulse transducer 10 be used for isolate harassing and wrecking signal
Low pass filter 13 and amplifier 14 for amplifying pulse signal.
In the present embodiment, light emitting diode 11 is AM2520 green diodes, and its peak wavelength is 515nm, and photoelectricity becomes
The model APDS-9008 of parallel operation 12, it is 565nm that it, which experiences peak wavelength, and amplifier is made up of MCP6001.
Fig. 4 is the working circuit diagram of pulse transducer in embodiments of the invention.
The circuit diagram of pulse transducer 10 is as shown in figure 4, its parameter is as follows：Circuit board diameter：16mm, circuit plate thickness：
1.2mm, the peak wavelength of light emitting diode 11：515nm, supply voltage：3.3~5v, detection signal type：Light reflected signal
(PPG), output signal type：Pulse signal, signal amplification factor：330 times, output signal size：0~VCC, size of current：
~4ma (under 5v).
As shown in figure 1, single-chip microcomputer 20 is connected by wire with pulse transducer 10, for being calculated according to pulse signal
The heart rate value of user, and send when the heart rate value is in setting range the instruction of closing hand phone 1.In the present embodiment, if
It is 55~65 beats/min to determine scope, the model STC12C5A60S2 of single-chip microcomputer 20.
Fig. 5 is the part working circuit diagram of single-chip microcomputer in embodiments of the invention.
As shown in figure 5, the P1.0 mouths and P1.1 mouths of single-chip microcomputer 20 are connected with L3G4200D SDA mouths and SCL mouths respectively, lead to
Cross the communication that software analogue I2C bus carries out two chip chambers；XTAL1 mouths and the external crystal oscillating circuit of XTAL2 mouths；RST mouths are external multiple
Position circuit；P1.2 mouths do instruction delivery outlet.
Music truncation module 30 includes relay 31, is connected with single-chip microcomputer 20, for according to instruction closing hand phone 1.
Fig. 6 is the working circuit diagram of music truncation module in embodiments of the invention.
As shown in fig. 6, music truncation module 30 is triadius type, one end is the plug of earphone 2, and two ends are slotting with earphone 2
The earpiece holes for the mobile phone 1 that head matches, carry out listening music to realize user using the earphone of user itself, and three ends are two lines,
One is connected with control terminal inside, and one end is connected with common.The control terminal lead and public come is brought out from separated time interface two
Output end of the ground terminal lead respectively with relay 31 is connected.
As shown in figure 1, metal deconcentrator 40 includes tri- metal joints of A, B, C, for by mobile phone 1, music truncation module
30 and earphone 2 be attached so that the music in mobile phone 1 can be transmitted to earphone 2 and enable the closing hand phone of music truncation module 30.
Fig. 7 is the connection circuit diagram of metal deconcentrator in embodiments of the invention.
As shown in fig. 7, metal joint A is connected with the earpiece holes of mobile phone 1；The plug portion of metal joint B connections earphone 2,
Realize that the earphone of user is connected with the music player devices shutoff device 100 based on one-chip microcomputer photoelectric sensor of the present invention, it is real
The function that existing music can play in earphone 2；Metal joint C is connected with music truncation module 30.
Fig. 8 is the circuit diagram of power supply in embodiments of the invention.
Power supply, the power supply in the present embodiment is lithium battery, and the charging circuit of the lithium battery is CN3052 chips, can use USB
Data wire charges (circuit diagram is as shown in Figure 8) to it.
The course of work of music player devices shutoff device 100 based on one-chip microcomputer photoelectric sensor is as follows：
User is connected with mobile phone 1 and earphone 2 respectively by the metal joint A and B in metal deconcentrator 40 first, and by arteries and veins
Fight the skin contact of sensor 10 and user, turn on the power.
As shown in figure 3, the light beam of green diode 11 passes through human peripheral blood vessel, photoelectric transformer 12 passes through photoelectricity volume
Method causes light transmittance difference to carry out pulses measure constantly to tissue in vascular pulsation, and low pass filter 13 filters out noise
Pulse signal is amplified and exported by miscellaneous signal, amplifier 14.
Pulse signal is sent to single-chip microcomputer (STC12LE2052) 20 by pulse transducer 10.
Single-chip microcomputer (STC12LE2052) 20 calculate heart rate value be in 55~65 times it is per minute when, judge user fall asleep, now
The instruction of closing hand phone 1 is sent to music truncation module 30 by wire.
Music truncation module 30 makes the effect of similar earphone line control, so as to which music be closed.The effect of embodiment and effect
Fruit
In the music player devices shutoff device based on one-chip microcomputer photoelectric sensor according to involved by the present embodiment, because
Employ metal deconcentrator so that the device that the present invention mentions can separate independence with earphone, consequently facilitating user can use
The earphone of oneself, without being limited by function.Because pulse transducer is employed, and by single-chip microcomputer according to pulse signal
The heart rate value of user is calculated, enabling more accurately judge whether user enters to sleep.
Peak wavelength is employed in pulse transducer and is 515nm green diode, and it is 565nm's to experience peak wavelength
Photoelectric transformer, both peak wavelengths are close so that the sensitivity of pulse transducer is increased, and can more accurately measure user's
Pulse signal.
In addition, because pulse signal frequency band typically between 0.05~200Hz, the equal very little of signal amplitude, the present invention exist
Low pass filter and the amplifier being made up of amplifier MCP6001 are set behind pulse transducer, signal is exaggerated 330 times, together
Shi Caiyong divider resistances set 1/2 that DC offset voltage is supply voltage so that the music based on one-chip microcomputer photoelectric sensor
Playback equipment shutoff device is not easily susceptible to various signal interferences, while the signal after amplification is gathered well by single-chip microcomputer
Arrive.
Therefore, the music player devices shutoff device of the invention based on one-chip microcomputer photoelectric sensor has efficiency high, behaviour
Make the advantages of simple and easy to use.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
In the present embodiment, pulse transducer is worn on skin, and music player is using mobile phone, but in this hair
In bright, pulse transducer can also be worn on neck main artery, skin, finger or the ear-lobe of user, and music player is also
Can be mobile phone, MP3, MP4 or computer.
Claims (8)
1. a kind of music player devices shutoff device based on one-chip microcomputer photoelectric sensor, believe for the pulse by detecting user
Number music player devices that the user is used are closed, it is characterised in that including：
Pulse transducer, it is worn on neck main artery, skin, finger or the ear-lobe of the user, including light emitting diode
And photoelectric transformer, for detecting the pulse signal of the user by photoplethymograph；
Single-chip microcomputer, it is connected by wire with the pulse transducer, for the user to be calculated according to the pulse signal
Heart rate value, and the instruction for closing the music player devices is sent when the heart rate value is in setting range；
Music truncation module, including relay, it is connected with the single-chip microcomputer, for closing the music according to the instruction
Equipment；
Metal deconcentrator, for the music player devices, the music truncation module and earphone to be attached so that described
Music in music player devices can be transmitted to the earphone and enable the music truncation module to close the music and set
It is standby；And
Power supply.
2. the music player devices shutoff device according to claim 1 based on one-chip microcomputer photoelectric sensor, its feature exist
In：
Wherein, it is additionally provided with the pulse transducer and the low pass filter of signal is harassed for isolating and for amplifying the arteries and veins
Fight the amplifier of signal.
3. the music player devices shutoff device according to claim 1 based on one-chip microcomputer photoelectric sensor, its feature exist
In：
Wherein, the light emitting diode is AM2520 green diodes, and its peak wavelength is 515nm.
4. the music player devices shutoff device according to claim 1 based on one-chip microcomputer photoelectric sensor, its feature exist
In：
Wherein, the model APDS-9008 of the photoelectric transformer, it is 565nm that it, which experiences peak wavelength,.
5. the music player devices shutoff device according to claim 1 based on one-chip microcomputer photoelectric sensor, its feature exist
In：
Wherein, the setting range is 55~65 beats/min.
6. the music player devices shutoff device according to claim 1 based on one-chip microcomputer photoelectric sensor, its feature exist
In：
Wherein, the single-chip microcomputer is STC12C5A60S2 single-chip microcomputers.
7. the music player devices shutoff device according to claim 1 based on one-chip microcomputer photoelectric sensor, its feature exist
In：
Wherein, the plug of the earphone is four-section type headset plug.
8. the music player devices shutoff device according to claim 1 based on one-chip microcomputer photoelectric sensor, its feature exist
In：
Wherein, the power supply is lithium battery, and the charging circuit of the lithium battery is CN3052 chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554987.5A CN107374608A (en) | 2017-07-10 | 2017-07-10 | Music player devices shutoff device based on one-chip microcomputer photoelectric sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554987.5A CN107374608A (en) | 2017-07-10 | 2017-07-10 | Music player devices shutoff device based on one-chip microcomputer photoelectric sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107374608A true CN107374608A (en) | 2017-11-24 |
Family
ID=60335409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710554987.5A Pending CN107374608A (en) | 2017-07-10 | 2017-07-10 | Music player devices shutoff device based on one-chip microcomputer photoelectric sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107374608A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757467A (en) * | 2019-12-15 | 2020-02-07 | 华南理工大学广州学院 | Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer |
| CN112107771A (en) * | 2019-12-11 | 2020-12-22 | 天津中健智恒科技有限公司 | Sleep-aiding control method, system and device based on photoelectric detection |
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| CN104917902A (en) * | 2015-06-30 | 2015-09-16 | 苏州寅初信息科技有限公司 | Method and system for controlling music playing status of terminal |
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| CN204861545U (en) * | 2015-06-26 | 2015-12-16 | 上海卓易科技股份有限公司 | Intelligence music broadcast bracelet |
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| CN105812924A (en) * | 2016-03-22 | 2016-07-27 | 上海斐讯数据通信技术有限公司 | Method and system for controlling audio-video device |
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| CN104936098A (en) * | 2015-06-05 | 2015-09-23 | 惠州Tcl移动通信有限公司 | Sound effect setting device, sound effect setting method, playing system and playing method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112107771A (en) * | 2019-12-11 | 2020-12-22 | 天津中健智恒科技有限公司 | Sleep-aiding control method, system and device based on photoelectric detection |
| CN110757467A (en) * | 2019-12-15 | 2020-02-07 | 华南理工大学广州学院 | Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer |
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Application publication date: 20171124 |