CN109683132A - A kind of acoustics and picture signal hybrid terminal and its processing method - Google Patents
A kind of acoustics and picture signal hybrid terminal and its processing method Download PDFInfo
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- CN109683132A CN109683132A CN201811332305.7A CN201811332305A CN109683132A CN 109683132 A CN109683132 A CN 109683132A CN 201811332305 A CN201811332305 A CN 201811332305A CN 109683132 A CN109683132 A CN 109683132A
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- 238000003384 imaging method Methods 0.000 claims abstract description 12
- 230000005236 sound signal Effects 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 23
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 7
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- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 7
- 238000005070 sampling Methods 0.000 abstract description 5
- 238000009432 framing Methods 0.000 description 9
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0644—External master-clock
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
- H04L7/0008—Synchronisation information channels, e.g. clock distribution lines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
- H04L7/02—Speed or phase control by the received code signals, the signals containing no special synchronisation information
- H04L7/033—Speed or phase control by the received code signals, the signals containing no special synchronisation information using the transitions of the received signal to control the phase of the synchronising-signal-generating means, e.g. using a phase-locked loop
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Abstract
The invention discloses acoustics and picture signal hybrid terminal, including acoustic sensor array, digital sound signal processing module, imaging sensor, positioned at the center of acoustic sensor array, and main control unit, acoustic sensor array is equipped with 8 branches, and 8 acoustic sensor units are equipped on each road, and 8 acoustic sensor units include 4 main channel sensors and 4 accessory channel sensors, the accessory channel sensor electrical connection of each main channel sensor corresponding thereto, acoustic sensor unit are uniformly distributed on curved surface or plane；Main control unit issues clock source signals, the clock signal from same clock source is transmitted by acoustic sensor unit of the multi-layer classification on acoustic sensor array, the clock signal synchronization of acoustic sensor unit is effectively ensured, the synchronous error for reducing clock signal, improves the reliability of the data sampling of acoustic sensor.
Description
Technical field
The invention belongs to sound source analysis technical fields, more particularly, to a kind of acoustics and picture signal hybrid terminal and its place
Reason method.
Background technique
In recent years, the network technology is more and more flourishing, and the network technology is applied mutual in business negotiation, public place monitoring, network
The multiple fields such as moving platform.Currently, in the same space, passing through acoustic sensor in sound and image synthesis acquisition technique
Voice signal in array acquisition space, when sound source apart from acoustic sensor array farther out when, to sound source acquisition voice signal
Clarity is low, directly affects acquisition and analysis of the later period to effective sound, cannot be with when sound source surrounding environment change is larger
The variation of environment and be adjusted, lead to not accurately obtain clear errorless effective voice signal.In addition, existing acoustics passes
Sensor array is sent the signal to respectively in different sensors by different clock sources, and the synchronism of signal acquisition is caused
Difference, to influence the precision of acoustic sensor array acquisition.
Summary of the invention
The object of the present invention is to provide a kind of structures, and simple, acoustic sensor signal synchronism is high, efficiently fixed to sound source
The acoustics and picture signal hybrid terminal of position.
Technical scheme is as follows:
A kind of acoustics and picture signal hybrid terminal, comprising:
Acoustic sensor array, the voice signal for inductive pick-up sound source；
Digital sound signal processing module is handled for receiving the voice signal and is converted to digital signal；
Imaging sensor, positioned at the center of the acoustic sensor array, for shooting the optical imagery of the sound source；
Main control unit, for receiving the digital signal and optical imagery, and according to the digital signal and optical imagery
Processing obtains acoustic data frame and image data frame；
The acoustic sensor array is equipped with 8 branches, and 8 acoustic sensor lists are equipped on each branch road
Member, and 8 acoustic sensor units include 4 main channel sensors and 4 accessory channel sensors, each main channel
The accessory channel sensor electrical connection of sensor corresponding thereto, the acoustic sensor unit uniformly divide on curved surface or plane
Cloth；
Wherein, include: in the main control unit
Crystal oscillator, for issuing bit clock signal and byte clock signal；
Bit clock phaselocked loop, for the bit clock signal to be sent in bit clock allocation unit；
Byte phaselocked loop, for the byte clock signal to be sent in byte clock allocation unit；
Bit clock allocation unit, for receiving the bit clock signal and distributing the position of output corresponding with converter
Clock signal；
Byte clock allocation unit, for receiving the bit clock signal and distributing output corresponding with converter
Byte clock signal；
Converter, for receiving the bit clock signal of the output and byte clock signal and converting two output signals
Output is into the main channel sensor.
In the above-mentioned technical solutions, the acoustics and picture signal hybrid terminal further include for supplying the main control unit
The power supply unit of electricity.
In the above-mentioned technical solutions, said supply unit includes:
Voltage transformation module, for converting alternating current to direct current and supplying electricity to the main control unit；
Standby power supply module, for supplying electricity to the main control unit under power blackout situation；
Control switch, for controlling the opening and closing of the main control unit.
In the above-mentioned technical solutions, one converter of each corresponding electrical connection of the main channel sensor, and it is described
The quantity of converter is 32.
It in the above-mentioned technical solutions, include 8 bit clock distributors, institute's bit clock point in institute's bit clock allocation unit
Orchestration uses one point of four clock distributor.
It in the above-mentioned technical solutions, include 8 byte clock distributors, the byte in the byte clock allocation unit
Clock distributor uses one point of four clock distributor.
In the above-mentioned technical solutions, the main control unit uses fpga chip.
In the above-mentioned technical solutions, described image sensor uses face formation visible light image sensor.
In the above-mentioned technical solutions, the acoustic sensor unit on curved surface or plane helically gradually divide by open form circle battle array
Cloth.
The processing method based on acoustics Yu picture signal hybrid terminal that it is a further object to provide a kind of, including
Following steps:
(1) start acoustics and picture signal hybrid terminal, the crystal oscillator in main control unit passes through bit clock respectively and locks
Xiang Huan and the conversion of byte clock phaselocked loop issue bit clock signal and byte clock signal, and by bit clock signal and byte clock
Signal is sent in bit clock allocation unit and byte clock allocation unit；
(2) when bit clock allocation unit and byte clock allocation unit pass through 8 bit clock distributors and 8 bytes respectively
Bit clock signal and byte clock signal are distributed 32 bit clock output signals and 32 byte clock outputs by clock distributor
Signal, and 32 bit clock output signals and 32 byte clock output signals are sent to and its corresponding 32 one by one
In converter；
(3) 32 converters are after receiving 32 bit clock output signals and 32 byte clock output signals, by it
32 output signals are converted to, and 32 output signals are sent to its one by one corresponding 32 main channel sensors, are led to
It crosses each main channel sensor to transmit signals in corresponding accessory channel sensor, to complete acoustic sensor unit
The synchronization of bit clock signal and byte clock signal；
(4) acoustic sensor array after clock signal excitation is started to work, and the voice signal of sound source is acquired, by the sound
Sound signal is sent in digital sound signal processing module, and digital sound signal processing module is filtered to be converted with digital signal, right
The voice signal carries out processing and is converted to digital signal,；
(5) by treated, digital signal is sent to main control unit to the digital acoustics signal processing module, main control unit
Using time division multiplexing and space division multiplexing technology, 20 data in acoustic sensor unit in collected voice signal are intercepted,
The position 0-15 in 20 data is intercepted when sound source is most weak, and the position 1-16 in 20 data is intercepted when sound source is slightly strong, and so on,
According to the actual conditions of sound source, acoustic sensor unit can all be intercepted to obtain 16 valid data per output signal all the way；
(6) optical imagery locating for the camera shooting sound source in imaging sensor, is sent to master for the optical imagery
Control unit；
(7) main control unit receives the digital signal and optical imagery, and according to the digital signal with optical picture
As being processed into acoustic data frame and image data frame.
The advantages and positive effects of the present invention are:
1. main control unit issues clock source signals, by acoustic sensor list of the multi-layer classification on acoustic sensor array
Clock signal of the member transmitting from same clock source, is effectively ensured the clock signal synchronization of acoustic sensor unit, reduces clock
The synchronous error of signal improves the reliability of the data sampling of acoustic sensor.
2. main control unit carries out using time division multiplexing and space division multiplexing technology when acoustic data framing, to main channel sensor
It is handled with the signal of accessory channel sensor output, interception valid data carry out framing, improve the globality of data, guarantee
The uniformity of data transmission.
3. standby power supply module can continue to when power-off or other fortuitous events occur as acoustics and picture signal
Hybrid terminal continues to power, and acoustics is supported to work on picture signal hybrid terminal.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of acoustics and picture signal hybrid terminal of the invention；
Fig. 2 is the clock synchronous network network schematic diagram of acoustic sensor array in the present invention；
Fig. 3 is the structural schematic diagram of power supply unit in the present invention.
Specific embodiment
Below in conjunction with specific embodiment, invention is further described in detail.It should be appreciated that described herein specific
The examples are only for explaining the invention, is not intended to limit the present invention, and is never limited in protection scope of the present invention.
Embodiment 1
As shown, acoustics of the invention and picture signal hybrid terminal, comprising:
Acoustic sensor array, the voice signal for inductive pick-up sound source；
Digital sound signal processing module is handled for receiving voice signal and is converted to digital signal；
Imaging sensor, positioned at the center of acoustic sensor array, for shooting the optical imagery of sound source；
Main control unit is obtained for receiving digital signal and optical imagery, and according to digital signal and optical image security
Acoustic data frame and image data frame；
Acoustic sensor array be equipped with 8 branches, and on each road be equipped with 8 acoustic sensor units, and this 8
A acoustic sensor unit includes 4 main channel sensors and 4 accessory channel sensors, each main channel sensor and its phase
Corresponding accessory channel sensor electrical connection, the helically gradually open form circle battle array distribution on curved surface or plane of acoustic sensor unit；
Wherein, include: in main control unit (fpga chip)
Crystal oscillator, for issuing bit clock signal and byte clock signal；
Bit clock phaselocked loop, for bit clock signal to be sent in bit clock allocation unit；
Byte phaselocked loop, for byte clock signal to be sent in byte clock allocation unit；
Bit clock allocation unit, for receiving bit clock signal and distributing the bit clock of output corresponding with converter
Signal；
Byte clock allocation unit, for receiving bit clock signal and distributing the byte of output corresponding with converter
Clock signal；
Converter, for receiving the bit clock signal exported and byte clock signal and exporting two output signals conversions
Into main channel sensor.
It further says, each main channel sensor one converter of corresponding electrical connection, and the quantity of converter is 32,
It include 8 bit clock distributors in bit clock allocation unit, bit clock distributor uses one point of four clock distributor, byte clock
It include 8 byte clock distributors in allocation unit, byte clock distributor uses one point of four clock distributor.
It further says, acoustics and the power supply unit that picture signal hybrid terminal further includes for powering to main control unit.
It further says, as shown in Fig. 2, when main control unit sends the position based on same clock source to acoustic sensor array
Clock signal and byte clock signal, and pass through 8 bit clocks distribution in bit clock allocation unit and byte clock unit respectively
When device (one point of four clock distributor) and 8 byte clock distributors (one point of four clock distributor) are by bit clock signal and byte
Clock signal is distributed into the bit clock signal of 32 outputs and the byte clock signals of 32 output, above-mentioned total 64 output when
Clock signal is corresponding to enter 32 converters, and converter uses two point one of converter, and 2 tunnel input signals are synthesized 1 road signal, and 64
A input signal is converted into 32 tunnel output signals after entering converter and is sent to main channel corresponding with each converter and passes
In sensor, after 32 main channel sensors on acoustic sensor array receive 32 tunnel output signals, by 32 tunnel clock outputs
Signal distributes to the 32 accessory channel sensors corresponded to, thus completes the letter of 64 sensors on acoustic sensor array
Number synchronization, the signal for having reached all acoustic sensors on acoustic sensor array by the signal that the same clock source issues are same
Step, after the completion of clock signal excitation, triggering acoustic sensor array perception sound source and the voice signal for acquiring sound source.
It further says, the sample frequency of acoustic data is 48kHz, and main channel sensor passes through with accessory channel sensor
The same line is transmitted in main control unit with 20 for one group, and main channel sensor and the transmission of accessory channel sensor are past
Data are ad eundems；The collected data of acoustic sensor are being motivated respectively with main channel sensor and accessory channel sensor
The high level and low level stage output data of clock, and the output signal is synchronous with excitation clock, and right by 32
The digital sound signal processing module that should be arranged converts digital signal for output signal and is sent in main control unit.Main control unit
Middle to intercept the position 0-15 in 20 acoustic datas when sound source is most weak with space division multiplexing technology using time division multiplexing, sound source is slightly strong
When 20 data of interception in the position 1-16, and so on, according to the actual conditions of sound source, often output signal can be all intercepted all the way
16 valid data are obtained, i.e. 2Byte, 64 tunnel output signals, which just intercept, obtains the data of 128Byte；These data can be with complement code
Form save into buffer domain the conversion for carrying out clock domain, and to carry out data as unit of sampling obtained valid data 8 times
Framing, obtaining 1024Byte data is one group of carry out acoustic data framing, adds frame head before the acoustic data framing later, from
And obtain a complete acoustic data frame.
Main control unit is after the optical imagery for receiving processed digital signal and imaging sensor acquisition, acoustic sensor
The 64 road signals that array is sent, which can intercept, obtains 128Byte data, these data can be saved in the form of complement code to buffer domain
The middle conversion for carrying out clock domain, and carry out data framing as unit of the valid data that 8 samplings obtain, i.e., with 1024Byte number
According to for one group of carry out framing, main control unit carries out acoustic data framing using time and space two dimension framing mode；Image sensing
The optical image data that device is sent to is sent to main control unit as unit of 1024Byte, without being combined processing, can obtain
Obtain image data frame.
When using acoustics and picture signal hybrid terminal, specifically includes the following steps:
(1) start acoustics and picture signal hybrid terminal, the crystal oscillator in main control unit is simultaneously emitted by bit clock letter
Number and byte clock signal, bit clock phaselocked loop and byte clock phaselocked loop bit clock signal and byte clock signal are sent out respectively
It send into bit clock allocation unit and byte clock allocation unit；
(2) bit clock allocation unit and byte clock allocation unit pass through bit clock distributor respectively and byte clock distributes
Bit clock signal and byte clock signal are distributed the bit clock signal of 32 outputs and the byte clock letter of 32 output by device
Number, and the byte clock signal of bit clock signal and 32 outputs that 32 export is sent to 32 conversions corresponding thereto
In device；
(3) 32 converters are converted into 32 output signals after receiving total 64 output signals, and will
32 output signals are sent in 32 main channel sensors corresponding thereto, are passed signal by each main channel sensor
It send into corresponding accessory channel sensor, to complete the bit clock signal and byte clock signal of acoustic sensor unit
It is synchronous；
(4) acoustic sensor array after clock signal excitation is started to work, and acquires the voice signal of sound source, sound is believed
It number is sent in digital sound signal processing module, processing is carried out to the voice signal and is converted to digital signal, intercepts acoustics sensor
20 acoustic datas in device unit in collected voice signal；
(5) by treated, digital signal is sent to main control unit to digital acoustics signal processing module, and main control unit uses
Time division multiplexing intercepts the position 0-15 in 20 acoustic datas, intercepts when sound source is slightly strong with space division multiplexing technology when sound source is most weak
The position 1-16 in 20 data can all be intercepted to obtain 16 significant figures according to the actual conditions of sound source per output signal all the way
According to；
(6) optical imagery locating for the camera shooting sound source in imaging sensor, is sent to master control list for optical imagery
Member；
(7) main control unit receives digital signal and optical imagery, and according to digital signal and optical image security at acoustics
Data frame and image data frame.
Main control unit is that the same clock source issues clock signal, motivates all acoustics sensors on acoustic sensor array
Device carries out clock signal synchronization, does not need multiple clock sources and issues signal to motivate the different acoustics on acoustic sensor array to pass
Sensor reduces the nonsynchronous phenomenon of signal, it is contemplated that the spatial characteristics of sonic transmissions channel, in order to guarantee subsequent wave beam shape
At the convergence that scheduling algorithm is handled, excitation clock synchronous error is 100 times lower than sample frequency, under 48kHz sample frequency, swashs
Clock synchronous error is encouraged lower than 200ns, ensure that the high synchronism and high reliability of sound source data sampling.
Embodiment 2
On the basis of embodiment 1, imaging sensor is placed on the center of acoustic sensor array, it is seen that light image sensing
The pixel of device reaches 500W, realizes that auto-focusing, auto-exposure control and automatic white balance, imaging sensor can receive master control
The excitation clock that unit issues, main control unit can be imaging sensor configuration work mode, under the action of motivating clock, image
Sensor starts Image Acquisition, and sample frequency is set as 30 frames/second, and refreshed image, which is shown, under the frequency can eliminate flashing
Effect.
To match with acoustic data, the image data frame length and acoustic data frame phase of imaging sensor acquisition are adjusted
Together, as every row length is 1024Byte, and the data uniformity for transmitting it externally is high.
Embodiment 3
As shown in figure 3, power supply unit includes voltage transformation module, for converting alternating current to direct current and supplying electricity to lead
Control unit；
Standby power supply module, for supplying electricity to main control unit under power blackout situation；
Control switch, for controlling the opening and closing of main control unit.
It wherein, include rechargeable lithium battary in standby power supply module.
In the case where acoustics and picture signal hybrid terminal encounter power-off or fortuitous event, by standby power supply module to master control list
Member power supply, will not be interrupted or stop the normal use of acoustics Yu picture signal hybrid terminal.
One embodiment of the present invention has been described in detail above, but the content is only preferable implementation of the invention
Example, should not be considered as limiting the scope of the invention.It is all according to equivalent variations made by the present patent application range and improve
Deng should still be within the scope of the patent of the present invention.
Claims (10)
1. a kind of acoustics and picture signal hybrid terminal characterized by comprising
Acoustic sensor array, the voice signal for inductive pick-up sound source；
Digital sound signal processing module is handled for receiving the voice signal and is converted to digital signal；
Imaging sensor, positioned at the center of the acoustic sensor array, for shooting the optical imagery of the sound source；
Main control unit, for receiving the digital signal and optical imagery, and according to the digital signal and optical image security
Obtain acoustic data frame and image data frame；
The acoustic sensor array is equipped with 8 branches, and 8 acoustic sensor units are equipped on each branch road,
And 8 acoustic sensor units include 4 main channel sensors and 4 accessory channel sensors, each main channel passes
The accessory channel sensor electrical connection of sensor corresponding thereto, the acoustic sensor unit uniformly divide on curved surface or plane
Cloth；
Wherein, include: in the main control unit
Crystal oscillator, for issuing bit clock signal and byte clock signal；
Bit clock phaselocked loop, for the bit clock signal to be sent in bit clock allocation unit；
Byte phaselocked loop, for the byte clock signal to be sent in byte clock allocation unit；
Bit clock allocation unit, for receiving the bit clock signal and distributing the bit clock of output corresponding with converter
Signal；
Byte clock allocation unit, for receiving the bit clock signal and distributing the byte of output corresponding with converter
Clock signal；
Converter, for receiving the bit clock signal and byte clock signal and by the conversion output of two output signals of the output
To in the main channel sensor.
2. acoustics according to claim 1 and picture signal hybrid terminal, it is characterised in that: the acoustics and picture signal
Hybrid terminal further includes the power supply unit for powering to the main control unit.
3. acoustics according to claim 2 and picture signal hybrid terminal, it is characterised in that: said supply unit includes:
Voltage transformation module, for converting alternating current to direct current and supplying electricity to the main control unit；
Standby power supply module, for supplying electricity to the main control unit under power blackout situation；
Control switch, for controlling the opening and closing of the main control unit.
4. acoustics according to claim 3 and picture signal hybrid terminal, it is characterised in that: each main channel sensing
Device one converter of corresponding electrical connection, and the quantity of the converter is 32.
5. acoustics according to claim 4 and picture signal hybrid terminal, it is characterised in that: institute's bit clock allocation unit
In include 8 bit clock distributors, institute's bit clock distributor use one point of four clock distributor.
6. acoustics according to claim 4 and picture signal hybrid terminal, it is characterised in that: the byte clock distribution is single
It include 8 byte clock distributors in member, the byte clock distributor uses one point of four clock distributor.
7. acoustics described in any one of -6 and picture signal hybrid terminal according to claim 1, it is characterised in that: the master
It controls unit and uses fpga chip.
8. acoustics according to claim 7 and picture signal hybrid terminal, it is characterised in that: described image sensor uses
Face formation visible light image sensor.
9. acoustics according to claim 8 and picture signal hybrid terminal, it is characterised in that: the acoustic sensor unit
The helically gradually open form circle battle array distribution on curved surface or plane.
10. a kind of processing method based on acoustics as claimed in claim 9 Yu picture signal hybrid terminal, which is characterized in that packet
Include following steps:
(1) start acoustics and picture signal hybrid terminal, the crystal oscillator in main control unit passes through bit clock phaselocked loop respectively
And the conversion of byte clock phaselocked loop issues bit clock signal and byte clock signal, and by bit clock signal and byte clock signal
It is sent in bit clock allocation unit and byte clock allocation unit；
(2) bit clock allocation unit and byte clock allocation unit pass through 8 bit clock distributors and 8 byte clocks point respectively
Bit clock signal and byte clock signal are distributed 32 bit clock output signals and 32 byte clock output signals by orchestration,
And 32 bit clock output signals and 32 byte clock output signals are sent to and its corresponding 32 conversion one by one
In device；
(3) 32 converters are converted after receiving 32 bit clock output signals and 32 byte clock output signals
For 32 output signals, and by 32 output signals be sent to in its one by one corresponding 32 main channel sensors, by every
A main channel sensor transmits signals in corresponding accessory channel sensor, thus when completing the position of acoustic sensor unit
The synchronization of clock signal and byte clock signal；
(4) acoustic sensor array after clock signal excitation is started to work, and acquires the voice signal of sound source, the sound is believed
It number is sent in digital sound signal processing module, processing is carried out to the voice signal and is converted to digital signal；
(5) by treated, digital signal is sent to main control unit to the digital acoustics signal processing module；
(6) optical imagery locating for the camera shooting sound source in imaging sensor, is sent to master control list for the optical imagery
Member；
(7) main control unit receives the digital signal and optical imagery, and according to the digital signal and at optical imagery
Manage into acoustic data frame and image data frame.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110661988A (en) * | 2019-08-14 | 2020-01-07 | 天津师范大学 | Sound and image mixed array processing system |
| CN112466323A (en) * | 2020-11-24 | 2021-03-09 | 中核检修有限公司 | Optical image and acoustic image fusion method and system |
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