CN103928026A - Automobile voice command acquiring and processing system and method - Google Patents
Automobile voice command acquiring and processing system and method Download PDFInfo
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- CN103928026A CN103928026A CN201410198669.6A CN201410198669A CN103928026A CN 103928026 A CN103928026 A CN 103928026A CN 201410198669 A CN201410198669 A CN 201410198669A CN 103928026 A CN103928026 A CN 103928026A
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Abstract
The invention discloses an automobile voice command acquiring and processing system and method. A first denoising unit of the system conducts analog-digital conversion on a left channel sound signal and a right channel sound signal to obtain a left channel digital signal and a right channel digital signal. A second denoising unit conducts analog-digital conversion on a main channel sound signal to obtain a main channel digital signal. A signal processing unit conducts denoising on the main channel digital signal according to the left channel digital signal and the right channel digital signal to obtain a denoised digital signal. The second denoising unit further conducts denoising on the main channel sound signal according to a superposed signal of the left channel sound signal and the right channel sound signal and the denoised digital signal to obtain a denoised voice command. According to the automobile voice command acquiring and processing system and method, engine noise, outside noise and air-conditioning system and passenger seat noise can be filtered out effectively, the recognition rate of control commands of a driver is increased, and traveling security of automobiles is guaranteed.
Description
Technical field
The present invention relates to signal processing technology field, relate in particular to a kind of automobile speech instruction acquisition disposal system and method.
Background technology
Along with scientific and technological development, the noise pollution in modern transportation instrument passenger cabin becomes the topic that people pay close attention to.How in the environment of this relative closure, to reduce the noise pollution of bringing due to engine running, air-flow and vehicle body friction, air-conditioning system and copilot sound etc. as far as possible, thereby the steering order that accurately identification of driver sends, becomes the focus of domestic and international research.
Traditional phonetic order acquisition processing system comprises for picking up main microphone and the signal processing module for voice signal is processed of driver's steering order (voice signal), and signal processing module is for by the noise signal filtering of voice signal.The defect of said system is: in extraneous and car interference sound compared with hour, signal processing module can be by the noise filtering adulterating in voice signal, system can also play a role; Once driver, open vehicle window and open air-conditioning etc., because the noise type adulterating in voice signal is more, system is filtering noise targetedly, thereby this system will be had a greatly reduced quality to the discrimination of driver's steering order, the recognition result of mistake easily causes maloperation, thereby not only do not offer convenience, can, with serving unnecessary trouble, even can affect the security of driving on the contrary.
Summary of the invention
In order to solve the problem of not considering noise pollution inside and outside car in the process of identification of driver phonetic order in prior art, the invention provides a kind of automobile speech instruction acquisition disposal system and method.
For achieving the above object, technical scheme of the present invention is:
An automobile speech instruction acquisition disposal system, comprising:
Main channel sound pickup device, for obtaining main channel voice signal;
Left channel sound pickup device, for obtaining left channel voice signal;
Right channel sound pickup device, for obtaining right channel voice signal;
The first noise reduction unit, for the right channel voice signal of the left channel voice signal of described left channel sound pickup device transmission and the transmission of described right channel sound pickup device is carried out respectively to analog to digital conversion, obtain left channel digital signal and right channel digital signal;
The second noise reduction unit, carries out analog to digital conversion for the main channel voice signal that described main channel sound pickup device is sent, and obtains main channel digital signal;
Signal processing unit, for left channel digital signal and the right channel digital signal sending according to described the first noise reduction unit, the main channel digital signal that described the second noise reduction unit is sent is carried out noise reduction process, obtains the digital signal after noise reduction;
Described the first noise reduction unit, also for described left channel voice signal and described right channel voice signal are superposeed, the voice signal after being superposeed;
Described the second noise reduction unit, also for the digital signal after the noise reduction of the voice signal after the stack sending according to described the first noise reduction unit and the transmission of described signal processing unit, described main channel voice signal is carried out to noise reduction process, obtain the phonetic order after noise reduction.
Preferably, described the first noise reduction unit and described the second noise reduction unit are the broadband voice seizure noise reduction integrated chip that model is R262.
Preferably, described main channel sound pickup device, described left channel sound pickup device and described right channel sound pickup device are all arranged on Auto Instrument desk;
Described main channel sound pickup device arranges over against driver, described left channel pick device is positioned at the left side of described main channel sound pickup device and near the position of motor car engine, and described right channel pick device is positioned at the right side of described main channel sound pickup device and over against copilot passenger's position.
Preferably, described signal processing unit is single-chip microcomputer.
An automobile speech instruction acquisition disposal route, comprising:
Obtain main channel voice signal, left channel voice signal and right channel voice signal;
Described main channel voice signal, left channel voice signal and right channel voice signal are carried out respectively to analog to digital conversion, obtain main channel digital signal, left channel digital signal and right channel digital signal;
According to described left channel digital signal and right channel digital signal, described main channel digital signal is carried out to noise reduction process, obtain the digital signal after noise reduction;
Described left channel voice signal and described right channel voice signal are superposeed, the voice signal after being superposeed;
According to the digital signal after the voice signal after described stack and described noise reduction, described main channel voice signal is carried out to noise reduction process, obtain the phonetic order after noise reduction.
Preferably, according to described left channel digital signal and right channel digital signal, by power spectrum subtraction, described main channel digital signal is carried out to noise reduction process, obtain the digital signal after noise reduction.
Beneficial effect of the present invention is, embodiment of the present invention automobile speech instruction acquisition disposal system and method, effectively filtering engine noise, pass-by noise, air-conditioning system and copilot noise, improved the discrimination of driver's steering order, guaranteed the traffic safety of vehicle.
Accompanying drawing explanation
Fig. 1 shows the structural representation of embodiment of the present invention automobile speech instruction acquisition disposal system;
Fig. 2 shows the circuit diagram of embodiment of the present invention automobile speech instruction acquisition disposal system;
Fig. 3 shows the process flow diagram of embodiment of the present invention automobile speech instruction acquisition disposal route.
Description of reference numerals
MC1 left channel sound pickup device
MC2 right channel sound pickup device
MC3 main channel sound pickup device
U1 the first noise reduction unit
U2 the second noise reduction unit
U3 signal processing unit
U4 reset unit
U5 the first storage unit
U6 the second storage unit
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Below by the embodiment being described with reference to the drawings, be exemplary, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
The present invention is directed to phonetic order acquisition processing system of the prior art is not considering inside and outside car in noise pollution situation, discrimination to driver's steering order is low, even can affect the problem of the security of driving, a kind of automobile speech instruction acquisition disposal system and method are provided, fully take into account engine noise, pass-by noise, air-conditioning system and copilot noise, improve the discrimination of driver's steering order, guaranteed the traffic safety of vehicle.
Fig. 1 shows the structural representation of embodiment of the present invention automobile speech instruction acquisition disposal system, described automobile speech instruction acquisition disposal system, comprise main channel sound pickup device MC3, left channel sound pickup device MC1, right channel sound pickup device MC2, the first noise reduction unit U1, the second noise reduction unit U2 and signal processing unit U3, wherein, left channel sound pickup device MC1 and right channel sound pickup device MC2 are all electrically connected to the first noise reduction unit U1, main channel sound pickup device MC3 is electrically connected to the second noise reduction unit U2, described the first noise reduction unit U1 and the second noise reduction unit U2 are all electrically connected to signal processing unit U3, the first noise reduction unit U1 and the second noise reduction unit U2 are electrically connected to each other.
Particularly, first: main channel sound pickup device MC3, for obtaining main channel voice signal; Left channel sound pickup device MC1, for obtaining left channel voice signal; Right channel sound pickup device MC2, for obtaining right channel voice signal.
Here, these three sound pickup devices are all arranged on Auto Instrument desk, wherein, for example, for picking up the main channel sound pickup device MC3 (main channel microphone) of main channel voice signal, be arranged on the position over against driver, for example, for picking up the left channel sound pickup device MC1 (left channel microphone) of left channel voice signal, be positioned at the left side of described main channel sound pickup device MC3 and the position of close motor car engine, described right channel pick device (for example right channel microphone) is positioned at the right side of described main channel sound pickup device MC3 and over against copilot passenger's position.By the above-mentioned position to each sound pickup device, arrange, can realize: in the voice signal that main channel sound pickup device MC3 picks up, the shared proportion of driver's steering order is relatively large, and sound pickup device MC3 in main channel is mainly used in picking up driver's steering order; In addition, in the voice signal that left channel sound pickup device MC1 picks up, the shared proportion of engine noise and pass-by noise is relatively large, and left channel sound pickup device MC1 is mainly used in picking up engine noise and pass-by noise; Have again, in the voice signal that right channel sound pickup device MC2 picks up, the shared proportion of Noise in Air Conditioning System and copilot passenger noise is relatively large, and right channel sound pickup device MC2 is mainly used in picking up Noise in Air Conditioning System and copilot passenger noise.
The second: the first noise reduction unit U1, for the right channel voice signal of the left channel voice signal of described left channel sound pickup device MC1 transmission and described right channel sound pickup device MC2 transmission is carried out respectively to analog to digital conversion (simulating signal is converted to digital signal), obtain left channel digital signal and right channel digital signal.Described the first noise reduction unit U1, also for described left channel voice signal and described right channel voice signal are superposeed, the voice signal after being superposeed, and the voice signal after this stack is sent to the second noise reduction unit U2, for subsequent treatment.
The second noise reduction unit U2, carries out analog to digital conversion for the main channel voice signal that described main channel sound pickup device MC3 is sent, and obtains main channel digital signal.
Here, the model that the first noise reduction unit U1 and the second noise reduction unit U2 are all preferably the research and development of U.S. ONNN company is the broadband voice seizure noise reduction integrated chip of R262, and this integrated chip not only possesses speech capturing processing capacity but also possesses decrease of noise functions.Described left channel sound pickup device MC1 sends to the first noise reduction unit U1 by the left channel voice signal getting, and the first noise reduction unit U1 carries out analog to digital conversion to this left channel voice signal, obtains corresponding left channel digital signal; Similarly, described right channel sound pickup device MC2 sends to the first noise reduction unit U1 by the right channel voice signal getting, and the first noise reduction unit U1 carries out analog to digital conversion to this right channel voice signal, obtains corresponding right channel digital signal.Described main channel sound pickup device MC3 sends to the second noise reduction unit U2 by the main channel voice signal getting, and the second noise reduction unit U2 carries out analog to digital conversion to this main channel voice signal, obtains corresponding main channel digital signal.
The 3rd, the first noise reduction unit U1 sends to signal processing unit U3 by left channel digital signal and right channel digital signal, the second noise reduction unit U2 also sends to signal processing unit U3 by main channel digital signal simultaneously, described signal processing unit U3 can be chosen as a kind of in central processing unit, flush bonding processor, programmable logic controller (PLC) and single-chip microcomputer, in a preferred embodiment of the present invention, signal processing unit U3 is preferably single-chip microcomputer, the single-chip microcomputer that the model that is specially the research and development of Microchip. semiconductor company is PIC18F2682.
Signal processing unit U3 utilizes left channel digital signal and right channel digital signal to carry out noise reduction process to main channel digital signal, obtain the digital signal after noise reduction, the noise reduction algorithm of specifically using is the normal power spectrum subtractions that adopt of those skilled in the art, mainly the comprising the following steps of the method:
(1) read in three railway digital signals, be labeled as V0, V1, V, respectively corresponding left channel digital signal, right channel digital signal and main channel digital signal successively, nearest from driver of main channel digital signal wherein, voice signal is the most obvious;
(2) to three railway digital signal V0, V1, V divides frame to process simultaneously, and frame length is 256 points, and it is 128 points that frame moves, not enough benefit 0;
(3) Dui San road signal V0, V1, V carries out Hamming filtering;
(4) to signal V, adopt short-time average energy algorithm to carry out sound end identification;
(5) Dui San road voice signal carries out Fast Fourier Transform (FFT) FFT simultaneously;
(6) ask for the voice of signal V and the power spectrum of noise;
(7) ask for the frequency domain power ratio of signal and the noise of signal V, recycling look-up table obtains the noise reduction coefficient α of signal V0 and the noise reduction coefficient β of signal V1;
(8) utilize power spectrum subtraction: E (V)-α E (V0)-β E (V1), calculate the power of the signal V after noise reduction;
(9) phase place of the power of the signal V after noise reduction and the signal V before noise reduction is carried out to Fast Fourier Transform Inverse (FFTI) IFFT, the data value after conversion retains real part;
(10) remove Hamming window;
(11) a minute frame signal is converted to voice signal, modulated output signal, thus obtain the digital signal after noise reduction.
The 4th, signal processing unit U3 returns to the second noise reduction unit U2 by the digital signal after the noise reduction getting, digital signal after the noise reduction that voice signal after the stack that the second noise reduction unit U2 sends according to described the first noise reduction unit U1 and described signal processing unit U3 send, described main channel voice signal is carried out to noise reduction process, obtain the phonetic order after noise reduction.
Here, voice signal after stack can be regarded set (engine noise and the pass-by noise of noise as, and Noise in Air Conditioning System and copilot passenger noise), digital signal after noise reduction can be regarded the echo signal after signal processing unit U3 processes as, utilize voice signal after described stack and the digital signal after noise reduction, the main channel voice signal that steering order is accounted for to larger specific gravity carries out the method for noise reduction process, for the conventional algorithm adopting of those skilled in the art, this algorithm has now been integrated in the inside of the second noise reduction unit U2, thereby the second noise reduction unit U2 can pass through the algorithm of the storage of its inside, voice signal after utilization stack and the digital signal after noise reduction, described main channel voice signal is carried out to noise reduction process, the noise signal of left channel and right channel is decayed and filtering, obtain the phonetic order after noise reduction.I.e. output is driver's sound instruction signal comparatively clearly, reaches the object that promotes sound instruction discrimination.
To sum up, embodiment of the present invention automobile speech instruction acquisition disposal system, effectively filtering engine noise, pass-by noise, air-conditioning system and copilot noise, improved the discrimination of driver's steering order, guaranteed the traffic safety of vehicle.
Further, as shown in Figure 2, it is the circuit diagram of embodiment of the present invention automobile speech instruction acquisition disposal system, left channel sound pickup device MC1 delivers to left channel voice signal the G1 port of the first noise reduction unit U1 by capacitor C 9 couplings, carry out analog to digital conversion, obtain left channel digital signal; Similarly, right channel sound pickup device MC2 delivers to right channel voice signal the e1 port of the first noise reduction unit U1 by capacitor C 10 couplings, carries out analog to digital conversion, obtains right channel digital signal; The first noise reduction unit U1 also does overlap-add procedure to left channel voice signal and right channel voice signal, the voice signal after being superposeed, and the voice signal after stack is sent to the G1 port of the second noise reduction unit U2 by D6 port, in order to subsequent treatment.
Main channel sound pickup device MC3 delivers to main channel voice signal the e1 port of the second noise reduction unit U2 by capacitor C 14 couplings, carries out analog to digital conversion, obtains main channel digital signal.
The first noise reduction unit U1, respectively by left channel digital signal and its C7 port of right channel digital signal process, delivers to 11 ports of signal processing unit U3; The second noise reduction unit U2, also by its C7 port of main channel digital signal process, delivers to 12 ports of signal processing unit U3 simultaneously.Signal processing unit U3 utilizes left channel digital signal and right channel digital signal, in conjunction with power spectrum subtraction, main channel digital signal is carried out to noise reduction process, obtain the digital signal after noise reduction, and by its 5 port, be sent to the C3 port of the second noise reduction unit U2, simultaneously by its 4 port to the second noise reduction unit U2 tranmitting data register signal.
The second noise reduction unit U2 utilize voice signal after the stack that its G1 port receives with and the noise reduction that receives of C3 signal after digital signal, noise reduction algorithm in conjunction with this second noise reduction unit U2 storage inside, the main channel voice signal that its e1 port is received carries out noise reduction process, the noise signal of left channel or right channel is decayed and filtering, finally obtain the phonetic order after noise reduction, obtain driver's sound instruction signal comparatively clearly, reach the object that promotes sound instruction discrimination.
In addition, referring again to Fig. 2, the model of the first storage unit U5 and the second storage unit U6 is CAT25640, be respectively the first noise reduction unit U1 and the second noise reduction unit U2 provides storage information, data I/O port one of the first storage unit U5, 2, 5, 6 respectively with the I/O port C9 of the first noise reduction unit U1, B8, A9, A7 is connected, data I/O port one of the second storage unit U6, 2, 5, 6 respectively with the I/O port C9 of the second noise reduction unit U2, B8, A9, A7 is connected, capacitor C 1 is to C6, C16 to C20 is respectively the anti-interference capacitor of the first noise reduction unit U1 and the second noise reduction unit U2, being mainly used in filtering spike pulse disturbs, the D6I/O port of the second noise reduction unit U2 and capacitor C 13 form analogue audio frequency output circuit, the electrification reset integrated circuit that the model of reset unit U4Wei ONNN company research and development is MAX809, the 2nd pin of this reset unit U4 connects the 1st pin of signal processing unit U3, form electrify restoration circuit, capacitor C X1 is the crystal oscillator electric capacity of signal processing unit U3, C25, C26 and capacitor C X1 form the clock circuit of signal processing unit U3, capacitor C 8, C27 and C28 form signal processing unit U3, the Power supply filter capacitor of the first noise reduction unit U1 and the second noise reduction unit U2, the single-chip microcomputer that the model of signal processing unit U3Wei Microchip. semiconductor company research and development is PIC18F2682, this signal processing unit U3 mainly carries out programming Control by its 4 pin and 5 pin to the second noise reduction unit U2, especially, as expansion, signal processing unit U3 also can carry out programming Control to the first noise reduction unit U1 by its 2 pin and 3 pin.
Correspondingly, the embodiment of the present invention also provides a kind of automobile speech instruction acquisition disposal route, as shown in Figure 3, is the process flow diagram of the method, and described automobile speech instruction acquisition disposal route comprises the following steps:
Step 301: obtain main channel voice signal, left channel voice signal and right channel voice signal.
Step 302: described main channel voice signal, left channel voice signal and right channel voice signal are carried out respectively to analog to digital conversion, obtain main channel digital signal, left channel digital signal and right channel digital signal.
Step 303: according to described left channel digital signal and right channel digital signal, described main channel digital signal is carried out to noise reduction process, obtain the digital signal after noise reduction.
Step 304: described left channel voice signal and described right channel voice signal are superposeed, the voice signal after being superposeed.
Step 305: according to the digital signal after the voice signal after described stack and described noise reduction, described main channel voice signal is carried out to noise reduction process, obtain the phonetic order after noise reduction.
Embodiment of the present invention automobile speech instruction acquisition disposal route, effectively filtering engine noise, pass-by noise, air-conditioning system and copilot noise, improved the discrimination of driver's steering order, guaranteed the traffic safety of vehicle.
The embodiment of each step of said method can, with reference to the description in the system of the embodiment of the present invention above, not repeat them here.
It should be noted that, system embodiment described above is only schematic, the wherein said unit as separating component explanation can or can not be also physically to separate, the parts that show as unit can be or can not be also physical locations, can be positioned at a place, or also can be distributed in a plurality of network element.Can select according to the actual needs some or all of module wherein to realize the object of the present embodiment scheme.Those of ordinary skills, in the situation that not paying creative work, are appreciated that and implement.
Embodiment shown in above foundation is graphic describes structure of the present invention, feature and action effect in detail; the foregoing is only preferred embodiment of the present invention; but the present invention does not limit practical range with shown in drawing; every change of doing according to conception of the present invention; or be revised as the equivalent embodiment of equivalent variations; when not exceeding yet instructions and illustrating contain spiritual, all should be in protection scope of the present invention.
Claims (6)
1. an automobile speech instruction acquisition disposal system, is characterized in that, comprising:
Main channel sound pickup device, for obtaining main channel voice signal;
Left channel sound pickup device, for obtaining left channel voice signal;
Right channel sound pickup device, for obtaining right channel voice signal;
The first noise reduction unit, for the right channel voice signal of the left channel voice signal of described left channel sound pickup device transmission and the transmission of described right channel sound pickup device is carried out respectively to analog to digital conversion, obtain left channel digital signal and right channel digital signal;
The second noise reduction unit, carries out analog to digital conversion for the main channel voice signal that described main channel sound pickup device is sent, and obtains main channel digital signal;
Signal processing unit, for left channel digital signal and the right channel digital signal sending according to described the first noise reduction unit, the main channel digital signal that described the second noise reduction unit is sent is carried out noise reduction process, obtains the digital signal after noise reduction;
Described the first noise reduction unit, also for described left channel voice signal and described right channel voice signal are superposeed, the voice signal after being superposeed;
Described the second noise reduction unit, also for the digital signal after the noise reduction of the voice signal after the stack sending according to described the first noise reduction unit and the transmission of described signal processing unit, described main channel voice signal is carried out to noise reduction process, obtain the phonetic order after noise reduction.
2. automobile speech instruction acquisition disposal system according to claim 1, is characterized in that, described the first noise reduction unit and described the second noise reduction unit are the broadband voice seizure noise reduction integrated chip that model is R262.
3. automobile speech instruction acquisition disposal system according to claim 1 and 2, is characterized in that, described main channel sound pickup device, described left channel sound pickup device and described right channel sound pickup device are all arranged on Auto Instrument desk;
Described main channel sound pickup device arranges over against driver, described left channel pick device is positioned at the left side of described main channel sound pickup device and near the position of motor car engine, and described right channel pick device is positioned at the right side of described main channel sound pickup device and over against copilot passenger's position.
4. automobile speech instruction acquisition disposal system according to claim 1 and 2, is characterized in that, described signal processing unit is single-chip microcomputer.
5. an automobile speech instruction acquisition disposal route, is characterized in that, comprising:
Obtain main channel voice signal, left channel voice signal and right channel voice signal;
Described main channel voice signal, left channel voice signal and right channel voice signal are carried out respectively to analog to digital conversion, obtain main channel digital signal, left channel digital signal and right channel digital signal;
According to described left channel digital signal and right channel digital signal, described main channel digital signal is carried out to noise reduction process, obtain the digital signal after noise reduction;
Described left channel voice signal and described right channel voice signal are superposeed, the voice signal after being superposeed;
According to the digital signal after the voice signal after described stack and described noise reduction, described main channel voice signal is carried out to noise reduction process, obtain the phonetic order after noise reduction.
6. automobile speech instruction acquisition disposal route according to claim 5, it is characterized in that, according to described left channel digital signal and right channel digital signal, by power spectrum subtraction, described main channel digital signal is carried out to noise reduction process, obtain the digital signal after noise reduction.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105741836A (en) * | 2014-12-26 | 2016-07-06 | 松下电器（美国）知识产权公司 | Speech recognition device and method |
| CN106796790A (en) * | 2016-11-16 | 2017-05-31 | 深圳达闼科技控股有限公司 | Method for distinguishing and correlation machine people's device are known in robot voice instruction |
| CN107481730A (en) * | 2016-10-14 | 2017-12-15 | 宝沃汽车（中国）有限公司 | The noise-reduction method and system of automobile pickup system |
| CN110211579A (en) * | 2019-04-28 | 2019-09-06 | 北京蓦然认知科技有限公司 | A kind of voice instruction recognition method, apparatus and system |
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| US20060184361A1 (en) * | 2003-04-08 | 2006-08-17 | Markus Lieb | Method and apparatus for reducing an interference noise signal fraction in a microphone signal |
| JP4333369B2 (en) * | 2004-01-07 | 2009-09-16 | 株式会社デンソー | Noise removing device, voice recognition device, and car navigation device |
| CN1841500B (en) * | 2005-03-30 | 2010-04-14 | 松下电器产业株式会社 | Method and apparatus for resisting noise based on adaptive nonlinear spectral subtraction |
| TW201330645A (en) * | 2012-01-05 | 2013-07-16 | Richtek Technology Corp | Low noise recording device and method thereof |
| CN102637438B (en) * | 2012-03-23 | 2013-07-17 | 同济大学 | Voice filtering method |
| CN102819009B (en) * | 2012-08-10 | 2014-10-01 | 香港生产力促进局 | Driver sound localization system and method for automobile |
| CN102938254B (en) * | 2012-10-24 | 2014-12-10 | 中国科学技术大学 | Voice signal enhancement system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105741836A (en) * | 2014-12-26 | 2016-07-06 | 松下电器（美国）知识产权公司 | Speech recognition device and method |
| CN105741836B (en) * | 2014-12-26 | 2020-09-01 | 松下电器（美国）知识产权公司 | Voice recognition device and voice recognition method |
| CN107481730A (en) * | 2016-10-14 | 2017-12-15 | 宝沃汽车（中国）有限公司 | The noise-reduction method and system of automobile pickup system |
| CN107481730B (en) * | 2016-10-14 | 2020-09-18 | 宝沃汽车（中国）有限公司 | Noise reduction method and system for automobile pickup system |
| CN106796790A (en) * | 2016-11-16 | 2017-05-31 | 深圳达闼科技控股有限公司 | Method for distinguishing and correlation machine people's device are known in robot voice instruction |
| CN106796790B (en) * | 2016-11-16 | 2020-11-10 | 深圳达闼科技控股有限公司 | Robot voice instruction recognition method and related robot device |
| CN110211579A (en) * | 2019-04-28 | 2019-09-06 | 北京蓦然认知科技有限公司 | A kind of voice instruction recognition method, apparatus and system |
| CN110211579B (en) * | 2019-04-28 | 2021-12-24 | 北京蓦然认知科技有限公司 | Voice instruction recognition method, device and system |
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