CN108172236A - A kind of pickup noise-reduction method and intelligent electronic device - Google Patents
A kind of pickup noise-reduction method and intelligent electronic device Download PDFInfo
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- CN108172236A CN108172236A CN201810029264.8A CN201810029264A CN108172236A CN 108172236 A CN108172236 A CN 108172236A CN 201810029264 A CN201810029264 A CN 201810029264A CN 108172236 A CN108172236 A CN 108172236A
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- angle
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- microphone arrays
- preset value
- reduction method
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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
- G10L21/00—Processing of the speech or voice signal to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Processing of the speech or voice signal to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
- G10L21/0216—Noise filtering characterised by the method used for estimating noise
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Processing of the speech or voice signal to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
- G10L21/0216—Noise filtering characterised by the method used for estimating noise
- G10L2021/02161—Number of inputs available containing the signal or the noise to be suppressed
- G10L2021/02166—Microphone arrays; Beamforming
Abstract
The invention discloses a kind of pickup noise-reduction method and intelligent electronic device, which includes：The pickup angle of two microphone arrays is set smaller than+/ 90 °；Sound source position is determined according to the voice signal that Mike detects, calculates Sounnd source direction and the angle in 0 ° of direction of pickup angle；If Sounnd source direction and the angle in 0 ° of direction of pickup angle are more than the first preset value, first preset value is not more than pickup angle, the angle that two microphone arrays rotate up to 0 ° of direction of Sounnd source direction and pickup angle is then controlled to reach the second preset value, the second preset value is not more than the first preset value；If Sounnd source direction and the angle in 0 ° of direction of pickup angle are not more than the first preset value, two microphone arrays are static；Pass through the above method so that two microphone arrays are with smaller pickup angle, while to obtain preferable noise reduction, sound source can be tracked, so as to expand the pickup range of two microphone arrays, improve the applicability of product.
Description
Technical field
The present invention relates to technical field of acoustics, more particularly to a kind of pickup noise-reduction method and intelligent electronic device.
Background technology
Smart electronics product is provided with certain pickup function to improve user experience, realization human-computer intellectualization, such as
Intelligent sound box mainly carries out noise reduction and speech recognition by microphone array.With the surge of such product, appearance design and property
The Main way of user's selection can be become.But due to appearance design limitation, the two Mikes battle array scheme for leading to smart electronics product
As the inevitable choice of numerous products.
Existing two microphone arrays product, pickup angle is set as +/- 90 ° by some, with 180 ° before and after formation of pickup,
So as to obtain larger pickup angle, such case mainly realizes noise reduction using blind source separating, can not be added using Wave beam forming
The mode of blind source separating obtains better signal-to-noise ratio, and phonetic recognization rate is relatively low；And to then be needed come noise reduction using Wave beam forming
Pickup angle is set smaller, for example pickup angle is set as +/- 45 °, although noise reduction in this way in pickup angular range
Effect promoting, but the sound except pickup angular range can be identified as noise, can not be identified, cause products application by
Limit, extreme influence user experience.
Invention content
In view of this, the present invention provides a kind of pickup noise-reduction method, while noise reduction is promoted, to expand pickup model
It encloses, improves the applicability of product, in addition, also based on described method provide a kind of intelligence electricity based on above-mentioned pickup noise-reduction method
Sub- equipment.
One aspect of the present invention provides a kind of pickup noise-reduction method, including step：
The pickup angle of two microphone arrays is set smaller than +/- 90 °；
Sound source position is determined according to the voice signal that Mike detects, and calculates the pickup of Sounnd source direction and two microphone arrays
The angle in 0 ° of direction of angle；
If the angle in 0 ° of direction of the pickup angle of Sounnd source direction and two microphone arrays is more than the first preset value, first is default
Value then controls two microphone arrays to rotate up to picking up for Sounnd source direction and two microphone arrays no more than the pickup angle of two microphone arrays
The angle in 0 ° of direction of sound angle reaches the second preset value, and the second preset value is not more than the first preset value；If Sounnd source direction and two
The angle in 0 ° of direction of the pickup angle of microphone array is not more than the first preset value, then two microphone array remains stationaries.
Preferably, the first preset value is less than the pickup angle of two microphone arrays.
Preferably, the difference of the pickup angle of the first preset value and two microphone arrays is 5 °.
Preferably, after the voice signal that Mike detects, digital signal processing module picks up voice signal by two Mikes
Time difference determine sound source position, and calculate the angle in 0 ° of direction of the pickup angle of Sounnd source direction and two microphone arrays, then
Digital signal processing module exports the angle information of Sounnd source direction and 0 ° of direction of the pickup angle of two microphone arrays to control
Module.
Preferably, if operational order has not been obtained in control module in preset duration, control module switches to low-power consumption mould
Formula.
Preferably, under low-power consumption mode, control module only receives digital signal after the wake-up instruction for receiving user
The angle information in 0 ° of direction of the Sounnd source direction of processing module output and the pickup angle of two microphone arrays.
Preferably, it wakes up instruction and includes at least one of phonetic order, telecommand, keyboard instruction and ultra-red order.
Preferably, two wheats after the angle that two microphone arrays turn over every time is all higher than the pickup angle of two microphone arrays and rotates
The pickup angle of gram array is Chong Die with the pickup angle part of two microphone arrays before rotation.
Preferably, the pickup angle of two microphone arrays for +/- 40 °~it is 50 ° +/-.
Another aspect of the present invention provides a kind of intelligent electronic device, including：
Pedestal；
It is set to the tumbler of pedestal, the output terminal connection of tumbler and control module, the input terminal of control module
Connect digital signal processing module；
Two microphone arrays being connect with tumbler, the pickup angle of two microphone arrays are less than +/- 90 ° and and digital signal
Processing module connects.
Pickup noise-reduction method provided by the invention, including step：The pickup angle of two microphone arrays is set smaller than +/-
90°；Sound source position is determined according to the voice signal that Mike detects, and calculates the pickup angle of Sounnd source direction and two microphone arrays
0 ° of direction angle, above-mentioned Sounnd source direction refers to the line direction at sound source position and two Mike's line midpoints, two microphone arrays
0 ° of direction of pickup angle refer to the perpendicular bisector directions of two Mike's lines；If the pickup angle of Sounnd source direction and two microphone arrays
The angle in 0 ° of direction is more than the first preset value, and the first preset value is not more than the pickup angle of two microphone arrays, then controls two Mikes
The angle that array rotates up to 0 ° of direction of the pickup angle of Sounnd source direction and two microphone arrays reaches the second preset value, and second is pre-
If value is no more than the first preset value；If the angle in 0 ° of direction of the pickup angle of Sounnd source direction and two microphone arrays is not more than first
Preset value, then two microphone array remains stationary；In use, pass through the above method so that two microphone arrays are picked up with smaller
Sound angle while to obtain preferable noise reduction, can be tracked sound source, so as to expand the pickup model of two microphone arrays
It encloses, improves the applicability of product.
The present invention also provides a kind of intelligent electronic device, at pedestal, tumbler, control module, digital signal
Module and two microphone arrays are managed, wherein, pedestal mainly plays support component thereon；Tumbler is set to pedestal, turns
Dynamic device and the output terminal of control module connect, the input terminal connection digital signal processing module of control module；Two microphone arrays
It is connect with tumbler, the pickup angle of two microphone arrays is less than +/- 90 ° and is connect with digital signal processing module.Due to upper
The pickup noise-reduction method stated has above-mentioned technique effect, and the intelligent electronic device based on the pickup noise-reduction method should also have corresponding
Technique effect.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of pickup noise-reduction method provided in an embodiment of the present invention；
Fig. 2 is two microphone array initial position schematic diagram of pickup noise-reduction method provided in an embodiment of the present invention；
Fig. 3 adjusts position view for two microphone array of pickup noise-reduction method provided in an embodiment of the present invention；
Fig. 4 is the structure diagram of speaker provided in an embodiment of the present invention；
Fig. 5 is the structure diagram of the pedestal of speaker provided in an embodiment of the present invention.
In figure：
1 is pedestal；2 be tumbler；3 be housing.
Specific embodiment
First of the present invention is designed to provide a kind of pickup noise-reduction method, and the structure design of the pickup noise-reduction method can
While noise reduction is promoted, to expand pickup range, the applicability of product is improved, second object of the present invention is to carry
For a kind of speaker based on above-mentioned pickup noise-reduction method.
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
- Fig. 3 is please referred to Fig.1, Fig. 1 is the flow chart of pickup noise-reduction method provided in an embodiment of the present invention, and Fig. 2 is the present invention
The two microphone array initial position schematic diagram of pickup noise-reduction method that embodiment provides, Fig. 3 are pickup provided in an embodiment of the present invention
Two microphone array of noise-reduction method adjusts position view.
A kind of pickup noise-reduction method provided in an embodiment of the present invention, including step：
S01：The pickup angle [alpha] of two microphone arrays is set smaller than +/- 90 °；
The pickup angle [alpha] of two microphone arrays can be set smaller than to 90 ° of any angle, be preferably +/- 40 ° in the present invention
~50 ° +/-, 0 ° of direction using the perpendicular bisector direction of two Mike's lines as pickup angle utilizes Wave beam forming noise reduction with this,
Signal i.e. except angle is taken as noise suppressed and falls, and improves noise reduction；
S02：Sound source position is determined according to the voice signal that Mike detects, and calculates Sounnd source direction and two microphone arrays
The angle in 0 ° of direction of pickup angle [alpha]；
Sound source position determines to determine by the time difference of two Mikes pickup voice signal, naturally it is also possible to pass through it
His parameter determines that Sounnd source direction refers to the line direction at sound source position and two Mike's line midpoints；
S03：If the angle in 0 ° of direction of the pickup angle [alpha] of Sounnd source direction and two microphone arrays is more than the first preset value, the
One preset value is not more than the pickup angle [alpha] of two microphone arrays, then two microphone arrays is controlled to rotate up to Sounnd source direction and two Mikes
The angle in 0 ° of direction of the pickup angle [alpha] of array reaches the second preset value, and the second preset value is not more than the first preset value；
The angle in 0 ° of direction of the pickup angle [alpha] of Sounnd source direction and two microphone arrays is more than the first preset value, then shows sound
Source position is located at outside the pick-up angles of two microphone arrays or close to the edge of the pick-up angles of two microphone arrays, therefore, needs
0 ° of direction of the pickup angle [alpha] of two microphone arrays is adjusted to ensure that sound source position is in the range of pickup；Second preset value can
With identical with the first preset value, the first preset value might be less that, the purpose of the second preset value of setting is to use up sound source position
Amount is close to 0 ° of direction of the pickup angle [alpha] of two microphone arrays to avoid the frequent rotation of two microphone arrays；
S04：If the angle in 0 ° of direction of the pickup angle [alpha] of Sounnd source direction and two microphone arrays is not more than the first preset value,
Then two microphone array remains stationary.
The angle in 0 ° of direction of the pickup angle [alpha] of Sounnd source direction and two microphone arrays is not more than the first preset value, then shows
Sound source position is now in the pick-up angles of two microphone arrays, without adjusting the direction of two microphone arrays.
Compared with prior art, pickup noise-reduction method provided by the invention, in use, so that two microphone arrays with
Smaller pickup angle while can obtaining preferable noise reduction, can be tracked sound source, so as to expand two microphone arrays
Pickup range, improve the applicability of product.
In view of the precision problem of output angle, the first preset value should be less than the pickup angle [alpha] of two microphone arrays, exist
Formation difference, which is used as, between first preset value and the pickup angle [alpha] of two microphone arrays takes error in.
Specifically, in embodiments of the present invention, the difference of the pickup angle [alpha] of the first preset value and two microphone arrays is 5 °.
By taking the pick-up angles of two microphone arrays are +/- 45 ° as an example, the first preset value could be provided as +/- 40 °, i.e., at sound source position
When between +/- 40 °, illustrate sound source position in the pick-up angles of two microphone arrays, two microphone arrays work as sound without rotation
The angle in 0 ° of direction of the pickup angle [alpha] of source direction and two microphone arrays then can control two Mikes battle array between -90 °~-40 °
Row rotate clockwise certain angle, the sound source are made to enter in the pickup angle [alpha] of two microphone arrays, as shown in Figures 2 and 3；Work as sound
The angle in 0 ° of direction of the pickup angle [alpha] of source direction and two microphone arrays then turns over certain angle counterclockwise between 40 °~90 °
Degree, the knot of tumbler 2 that the angle turned over can be rotated according to the pick-up angles and two microphone arrays of driving of two microphone arrays
Structure is configured.
Further, after the voice signal detected in Mike, digital signal processing module picks up sound by two Mikes
The time difference of signal determines sound source position, and calculates the angle in 0 ° of direction of the pickup angle [alpha] of Sounnd source direction and two microphone arrays,
Then digital signal processing module by the angle information of Sounnd source direction and 0 ° of direction of the pickup angle [alpha] of two microphone arrays export to
Control module, control module control tumbler 2 drive the rotation of two microphone arrays.
Above-mentioned technical proposal is advanced optimized, in embodiments of the present invention, steering gear system is selected to drive two microphone arrays
Rotation, steering gear system are divided into simulation steering engine and digital rudder controller, and according to digital rudder controller, control module can be believed according to above-mentioned angle
Breath calculates the angle information for needing to turn over, and angle information is directly transmitted steering engine rotation, and simulating steering engine needs control module
Default pulsewidth PWM is converted to according to above-mentioned angle information to export to control signal wire, and two microphone arrays is then controlled to rotate；It can profit
The characteristics of with simulation steering engine, the rotating manner of two microphone arrays is set, the angle that such as two microphone arrays can be made to turn over every time is big
The pickup angle [alpha] of two microphone arrays and the pickup of two microphone arrays before rotation after the pickup angle [alpha] of two microphone arrays and rotation
Angle [alpha] partly overlaps.Specifically, such as pick-up angles of two microphone arrays are +/- 45 °, and default pulsewidth can only set two kinds of width,
Make two microphone arrays counterclockwise or rotate clockwise 60 °.
To save energy consumption, non-wake-up or instruction voice is avoided to lead to the rotation of product, in embodiments of the present invention, if control
Operational order has not been obtained in molding block in preset duration, then control module switches to low-power consumption mode, under low-power consumption mode, two
Microphone array still keeps pickup function, and instruction, but the other systems of control module control product are waken up to guarantee pickup
Into dormant state, to reduce consumption, and at this time control module do not receive the Sounnd source direction of digital signal processing module output with
The angle information in 0 ° of direction of the pickup angle [alpha] of two microphone arrays, two microphone arrays also would not pickup to it is non-wake-up or
It is rotated during instruction voice.
Above-mentioned technical proposal is advanced optimized, in embodiments of the present invention, when product is in low-power consumption mode, control module
The Sounnd source direction of digital signal processing module output and picking up for two microphone arrays are only received after the wake-up instruction for receiving user
The angle information in 0 ° of direction of sound angle [alpha], above-mentioned wake-up instruction is phonetic order, after control module receives specific wake-up word
It can be either that telecommand sends wake-up instruction using remote controler or mobile phone to product to terminate low-power consumption mode, so as to tie
The low-power consumption mode of beam product, can also be keyboard instruction, and instruction is waken up using the keyboard on product or touch screen input, will
Product wakes up, and can also be ultra-red order, i.e., infrared sensor is set on product, and user rests on infrared sensor detection model
After enclosing a period of time, control module terminates low-power consumption mode or product can be by any one in above-mentioned wake-up instruction
And terminate low-power consumption mode, certainly, above-mentioned wake-up instruction is only preferred embodiment provided in an embodiment of the present invention, and reality is simultaneously
This is not limited only to, when control module is when low-power consumption mode receives above-metioned instruction, end low-power consumption mode starts to receive number
The angle information of signal processing module output.
Based on the pickup noise-reduction method provided in above-described embodiment, the present invention also provides a kind of intelligent electronic device, roots
According to the embodiment of the present invention, the intelligent electronic device can be intelligent sound box etc., please refer to Fig. 4 and Fig. 5, and Fig. 4 is implemented for the present invention
The structure diagram for the speaker that example provides, structure diagrams of the Fig. 5 for the pedestal of speaker provided in an embodiment of the present invention, the speaker
Including pedestal 1, tumbler 2, control module, digital signal processing module and two microphone arrays, wherein, pedestal 1 mainly rises
Support the effect of component thereon；Tumbler 2 is set to pedestal 1, and tumbler 2 is connect with the output terminal of control module, control
The input terminal connection digital signal processing module of module；Two microphone arrays are connect with tumbler 2, the pickup angle of two microphone arrays
Degree α is less than +/- 90 ° and is connect with digital signal processing module, control module, digital signal processing module and two microphone arrays
It may be contained in housing 3.The pickup noise-reduction method in above-described embodiment is employed due to the speaker, so the advantageous effect of speaker
Please refer to above-described embodiment.
The so-called intelligent electronic device of the present invention includes but not limited to above-mentioned speaker, can also be and is dropped using above-mentioned pickup
Other electronic equipments of method for de-noising, such as video camera, projecting apparatus, robot can be adjusted according to the voice directions of user and be imaged
Or projecting direction.
Pickup noise-reduction method provided by the invention, including step：The pickup angle of two microphone arrays is set smaller than +/-
90°；Sound source position is determined according to the voice signal that Mike detects, and calculates the pickup angle of Sounnd source direction and two microphone arrays
0 ° of direction angle, above-mentioned Sounnd source direction refers to the line direction at sound source position and two Mike's line midpoints, two microphone arrays
0 ° of direction of pickup angle refer to the perpendicular bisector directions of two Mike's lines；If the pickup angle of Sounnd source direction and two microphone arrays
The angle in 0 ° of direction is more than the first preset value, and the first preset value is not more than the pickup angle of two microphone arrays, then controls two Mikes
The angle that array rotates up to 0 ° of direction of the pickup angle of Sounnd source direction and two microphone arrays reaches the second preset value, and second is pre-
If value is no more than the first preset value；If the angle in 0 ° of direction of the pickup angle of Sounnd source direction and two microphone arrays is not more than first
Preset value, then two microphone array remains stationary；In use, pass through the above method so that two microphone arrays are picked up with smaller
Sound angle while to obtain preferable noise reduction, can be tracked sound source, so as to expand the pickup model of two microphone arrays
It encloses, improves the applicability of product.
The present invention also provides a kind of intelligent electronic device, at pedestal, tumbler, control module, digital signal
Module and two microphone arrays are managed, wherein, pedestal mainly plays support component thereon；Tumbler is set to pedestal, turns
Dynamic device and the output terminal of control module connect, the input terminal connection digital signal processing module of control module；Two microphone arrays
It is connect with tumbler, the pickup angle of two microphone arrays is less than +/- 90 ° and is connect with digital signal processing module.Due to upper
The pickup noise-reduction method stated has above-mentioned technique effect, and the intelligent electronic device based on the pickup noise-reduction method should also have corresponding
Technique effect.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide range caused.
Claims (10)
1. a kind of pickup noise-reduction method, which is characterized in that including step：
The pickup angle of two microphone arrays is set smaller than +/- 90 °；
Sound source position is determined according to the voice signal that Mike detects, and calculates the pickup of Sounnd source direction and two microphone array
The angle in 0 ° of direction of angle；
If the angle in 0 ° of direction of the pickup angle of Sounnd source direction and two microphone array is more than the first preset value, described first
Preset value is not more than the pickup angle of two microphone array, then two microphone arrays is controlled to rotate up to Sounnd source direction and described two
The angle in 0 ° of direction of the pickup angle of microphone array reaches the second preset value, and second preset value is pre- no more than described first
If value；If the angle in 0 ° of direction of the pickup angle of Sounnd source direction and two microphone array is no more than the first preset value, two
Microphone array remains stationary.
2. pickup noise-reduction method according to claim 1, which is characterized in that first preset value is less than two Mike
The pickup angle of array.
3. pickup noise-reduction method according to claim 1, which is characterized in that first preset value and two Mike battle array
The difference of the pickup angle of row is 5 °.
4. the pickup noise-reduction method according to claim 1 any one, which is characterized in that the voice signal that Mike detects
Afterwards, digital signal processing module determines sound source position, and calculate Sounnd source direction by the time difference of two Mikes pickup voice signal
With the angle in 0 ° of direction of the pickup angle of two microphone array, then digital signal processing module by Sounnd source direction with it is described
The angle information in 0 ° of direction of the pickup angle of two microphone arrays is exported to control module.
5. pickup noise-reduction method according to claim 4, which is characterized in that if the control module in preset duration not
Operational order is obtained, then the control module switches to low-power consumption mode.
6. pickup noise-reduction method according to claim 5, which is characterized in that under low-power consumption mode, the control module
Only the Sounnd source direction of digital signal processing module output and two microphone array are received after the wake-up instruction for receiving user
Pickup angle 0 ° of direction angle information.
7. pickup noise-reduction method according to claim 6, which is characterized in that described to wake up instruction and include phonetic order, distant
At least one of control instruction, keyboard instruction and ultra-red order.
8. according to the pickup noise-reduction method described in claim 1-7 any one, which is characterized in that two microphone arrays turn over every time
Angle be all higher than two microphone arrays pickup angle and rotate after two microphone arrays pickup angle with rotation before two Mikes battle array
The pickup angle part overlapping of row.
9. according to the pickup noise-reduction method described in claim 1-7 any one, which is characterized in that two microphone array picks up
Sound angle for +/- 40 °~it is 50 ° +/-.
10. a kind of intelligent electronic device, which is characterized in that including：
Pedestal；
It is set to the tumbler of the pedestal, the output terminal connection of the tumbler and control module, the control module
Input terminal connection digital signal processing module；
Two microphone arrays being connect with the tumbler, the pickup angle of two microphone array be less than +/- 90 ° and with it is described
Digital signal processing module connects.
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| CN109493859A (en) * | 2018-10-18 | 2019-03-19 | 珠海格力电器股份有限公司 | A kind of speech ciphering equipment sound pick up equipment and voice air conditioner |
| CN109545217A (en) * | 2018-12-29 | 2019-03-29 | 深圳Tcl新技术有限公司 | Voice signal method of reseptance, device, intelligent terminal and readable storage medium storing program for executing |
| CN112104686A (en) * | 2020-04-27 | 2020-12-18 | 苏州触达信息技术有限公司 | Intelligent equipment and file transmission method between intelligent equipment |
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| CN109545217B (en) * | 2018-12-29 | 2022-01-04 | 深圳Tcl新技术有限公司 | Voice signal receiving method and device, intelligent terminal and readable storage medium |
| CN112104686A (en) * | 2020-04-27 | 2020-12-18 | 苏州触达信息技术有限公司 | Intelligent equipment and file transmission method between intelligent equipment |
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