CN104038303B - Remote aiding method and system - Google Patents
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- CN104038303B CN104038303B CN201410252027.XA CN201410252027A CN104038303B CN 104038303 B CN104038303 B CN 104038303B CN 201410252027 A CN201410252027 A CN 201410252027A CN 104038303 B CN104038303 B CN 104038303B
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Abstract
The invention provides a remote aiding method and system applied to a network system among multiple terminals which is connected through a voice link and a data network. The remote aiding method comprises the steps of: synchronizing local time of a terminal at a fixed time by utilizing the voice link; transmitting a data packet among the terminals by utilizing the data network, wherein the data packet comprises data information and local sending time of a data sending terminal; judging communication synchronization when a data receiving terminal receives the data packet, wherein the method for judging the communication synchronization comprises the steps of: obtaining the local sending time from the data packet, comparing the local sending time with the current local time to obtain a time error, judging that the communication is synchronous when the time error is smaller than a preset delay value. The remote aiding method and system disclosed by the invention can ensure time synchronization of terminals in the system without an extra synchronizing clock, and can ensure synchronism and reliability of data transmission as synchronous detection on the transmitted data packet is carried out.
Description
Technical field
The present invention relates to a kind of network technology, more particularly to a kind of remote assistant method and system.
Background technology
In daily life, due to the restriction in space and region, when carrying out execute-in-place, operating personnel cannot reach operation
Scene carries out practical operation or guidance, for example long-range medical operating guidance, long-range equipment operation, remotely explosive, remotely drive
Sail, by remote assisting system, it is possible to achieve the commander to remote scene operation element and scheduling.
Be currently based on the remote command of remote picture, phone and video, tutorship system has compared popularization, by phone,
Fax, Email and network instant communication software etc. carry out remote guide, auxiliary, have efficient in time, with low cost etc.
Feature.By remote system, technical specialist need not arrive at operation scene and can carry out long-range guidance, commander, realize expert's level
Operation.But the problem due to data transfer, there is significant limitation, especially in remote command existing at present, tutorship system
It is on the stationary problem of communication.Show themselves in that one, promptness is poor, due to the reasons such as network delay, transmission delay, remote information
Exist after reaching commander end and postpone, after sending commander's instruction when commanding end to be directed to situation about receiving, execute-in-place end cannot judge
Commander sends time point.Two, state is unreliable, due to reasons such as network delivery, leads to be likely to occur contents lost, asynchronous etc.
Situation occurs, and two ends cannot be known to loss situation.
The problems referred to above of existing remote assistant system hinder the development of remote assistant system, and becoming this area urgently needs
Problem to be solved.
Content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of by the use of voice link as when
The synchronous remote assistant method and system of clock, for solving, prior art medium-long range accessory system data transfer is nonsynchronous to ask
Topic.
For achieving the above object and other related purposes, the present invention provides a kind of remote assistant method, is applied to multiple ends
It is characterised in that described remote assistant method includes in the network system being connected by voice link and data network between end:
Local zone time using terminal described in described voice link Timing Synchronization；Synchronous in local zone time using described data network
Transmission packet between described terminal, described packet adds to be had: the local of transmission data terminal sending described packet sends out
Send the time；Receiving data terminal receives described packet, obtains the described local transmission time, with described receiving data terminal
Current local time relatively obtains time error, when described time error is less than default length of delay, judges communication synchronization.
Preferably, the described data terminal that accepts presets process strategy, when described time error is not less than default length of delay
When, judge that communication is asynchronous, the described data terminal that accepts is processed according to described process strategy.
Preferably, the described strategy that processes includes: described receiving data terminal counts described nonsynchronous the recurring that communicate
Number of times；When described recur number of times and be less than the default maximum frequency of failure when, described receiving data terminal alert or/
With using the described voice link synchronously described local zone time sending data terminal and described receiving data terminal；When described continuous
When number of times is not less than the described maximum frequency of failure, described receiving data terminal standby or restart and other behaviour set in advance
Make.
Preferably, missed with the network bandwidth of described receiving data terminal and described time according to the described data terminal that sends
Difference, adjusts the described data terminal that sends fast in the transmission of described data network with the packet of described receiving data terminal transmission
Rate.
Preferably, described remote assistant method also includes, before valid data information is transmitted, on described data network
The communication synchronization of data network described in transmitting test data infomation detection.
Preferably, included using the local zone time of terminal described in described voice link Timing Synchronization: with terminal described in
Local zone time is the standard time, is sent to other described terminals one by one using the described voice link described standard time, arbitrary
The described standard time receiving is set to the described terminal local time by other described terminals.
Preferably, described voice link is real-time voice link.
Preferably, described data network is any one in wireless network, cable network or wire and wireless hybrid network.
Preferably, described receiving data terminal, according to the local transmission time of the different pieces of information bag receiving, determines described
The processing sequence of different pieces of information bag
A kind of remote assistant system, described remote assistant system includes multiple terminals, voice link and data network, described
Voice link and data network are connected with described remote assistant system terminal respectively；Described voice link is used for synchronous described terminal
Local zone time；Described data network is used for the data transfer between described terminal；The described terminal that data transfer connects is respectively
Referred to as send terminal and receiving terminal；The packet that described transmission terminal is sent to described data network includes data message and adds
The described local transmission time sending terminal；Described receiving terminal receives described packet from described data network, detects institute
State packet whether communication synchronization, if communication synchronization, process described packet；Otherwise, entered according to default process strategy
Row is processed.
Preferably, described remote assistant system is execute-in-place system, and described terminal includes two terminals, and one is scene
Operating side, another is commander end；Described execute-in-place end is used for collection site information, described field data is sent to described
Commander end；Described commander end is used for receiving described field data, and determines operational order according to described field data, by described behaviour
It is sent to described execute-in-place end as instruction；Described execute-in-place end is additionally operable to receive described operational order, and according to described behaviour
Processed accordingly as instruction.
Preferably, described voice link is real-time voice link.
As described above, a kind of remote assistant method and system of the present invention, have the advantages that and utilize voice link
The real-time Communication for Power ability Timing Synchronization network terminal local zone time, the time synchronized of each terminal of the system that ensure that, and being not required to
Want extra synchronised clock；Detection is synchronized it is ensured that the synchronism of data transfer, reliability to the packet of transmission simultaneously.
Brief description
Fig. 1 is shown as the schematic flow sheet of an embodiment of the remote assistant method of the present invention.
Fig. 2 is shown as the schematic flow sheet of an embodiment of the remote assistant method of the present invention.
Fig. 3 is shown as the module diagram of an embodiment of the remote assistant system of the present invention.
Fig. 4 is shown as the structural representation of an embodiment of the remote assistant system of the present invention.
Fig. 5 is shown as the structural representation of an embodiment of the remote assistant system of the present invention.
Fig. 6 is shown as the handling process schematic diagram of an embodiment of the remote assistant system of the present invention.
Component label instructions
11 terminals
12 voice links
13 data networks
S1～s4 step
Specific embodiment
Below by way of specific instantiation, embodiments of the present invention are described, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also be by addition different concrete realities
The mode of applying is carried out or applies, and the every details in this specification can also be based on different viewpoints and application, without departing from
Carry out various modifications and changes under the spirit of the present invention.
It should be noted that the diagram provided in the present embodiment only illustrates the basic conception of the present invention in a schematic way,
Then only show the assembly relevant with the present invention in schema rather than paint according to component count during actual enforcement, shape and size
System, during its actual enforcement, the kenel of each assembly, quantity and ratio can be a kind of random change, and its assembly layout kenel also may be used
Can be increasingly complex.
The present invention provides a kind of remote assistant method, is applied between multiple terminals pass through voice link and data network connects
In the network system connecing.Wherein, voice link is the circuit that can carry out real-time Communication for Power/call, can pass through voice chain between terminal
Road communicates, and in the present system, voice link is connected with each terminal, can achieve the real-time Communication for Power between each terminal.At one
In embodiment, described voice link be real-time voice link, described real-time voice link by: carry out between the terminal being connected
During communication, communication delay is negligible or does not almost have the voice link of communication delay.In one embodiment, described
Voice link is PSTN, i.e. pstn (public switched telephone network), is a kind of using
In the circuit-switched network of global voice communication, it is network maximum in the world at present.Data network is connected with each terminal, both
Can be connected it is also possible to pass through wirelessly to be connected by wired, or wire and wireless is used in mixed way.I.e. in the particular embodiment, institute
Stating data network can be wireless network, and described data network can also be cable network, and described data network can also be had
Line is wireless hybrid network.Data network is used for transmitting data information between the individual terminals.
Shown in Figure 1, in one embodiment, described remote assistant method includes: using the timing of described voice link
The local zone time of synchronous described terminal；Using described data network between described terminal transmission packet, described packet bag
The local transmission time including data message and sending data terminal；Receiving data terminal receives described packet, obtains described
The local transmission time, compare with current local time and obtain time error, when described time error is less than pre-set delay value, sentence
Disconnected communication synchronization.
Step s1, using the local zone time of terminal described in described voice link Timing Synchronization.Specifically, in present networks system
In, using the real-time communication function of voice link, every a predetermined time interval, just synchronous once all terminals is local
Information.In one embodiment, the method for described synchronous terminal local zone time includes: sets terminal a of present networks system
Local zone time as present networks system standard time, using described voice link real-time communication function one by one with present networks
Other-end communication in system.To any one other-end b, set local zone time as the terminal of network system standard time
The a described standard time (local zone time of terminal a when terminal a is communicated with described terminal b) is sent to described by voice link
Other-end b, the network system the receiving standard time is set as the local zone time of terminal b by described terminal b.Due to voice chain
The real-time of the communication on road, after other-end time described in network system is configured, all in present networks system
The local zone time of terminal is achieved that synchronization.Certainly it is contemplated that behavior of setting local zone time etc. also can produce certain delay,
Therefore, the described standard time, when receiving the standard time and being set to local zone time, can be added certain deviation by terminal b
Value.
Step s2, using described data network between the synchronous described terminal of local zone time transmission packet, described
Packet adds to be had: sends the local transmission time of the transmission data terminal of described packet.Specifically, when over data networks
The terminal (sending data terminal) sending data, when sending data message, needs the data message that will send to add and sends
Local zone time (locally sending the time) when data terminal sends carries out being encoded into packet jointly, and described packet is passed through
Data network is sent to the terminal (i.e. receiving data terminal) of receiving data.
Step s3, receiving data terminal receives described packet, obtains the described local transmission time, with currently local when
Between compare and obtain time error, when described time error is less than pre-set delay value, judge communication synchronization.Specifically, work as reception
When data terminal receives the described packet that described data is activation terminal sends, described packet is decoded, is sent out
Send data terminal valid data information to be sent and send the local zone time that data terminal sends, locally send the time.
The described local transmission time is compared with the local zone time (i.e. current local time) of now receiving data terminal obtains one
Time error.Described time error is locally to send the absolute value of time and described current local time.Network system presets one
Individual length of delay, when described time error is less than described length of delay, judges that the current data terminal that sends is passed through with receiving data terminal
The packet transmission communication synchronization of data network.At the valid data in packet received by receiving data terminal-pair
Reason.In one embodiment, the local transmission time that described decoding data bag obtains can be also used for the difference judging to receive
The transmission order of packet, and according to the transmission order of different pieces of information bag, packet is processed accordingly.
Shown in Figure 2, in one embodiment, described remote assistant method can also include: described accepts data eventually
End is default to process strategy, when described time error is not less than default length of delay, judges that communication is asynchronous, described accepts data
Terminal is processed according to described process strategy.
Step s4, when described time error is not less than default length of delay, judges that communication is asynchronous, described accepts data
Terminal is processed according to default process strategy.Specifically, the described data terminal that accepts presets process strategy, if when described
Between error be not less than described length of delay, judge current to send data terminal and the packet by data network for the receiving data terminal
Transmission communication is asynchronous, now needs to be processed according to default process strategy.In the particular embodiment, described length of delay
100 milliseconds can be preset as or be preset as 300 milliseconds.The described strategy that processes includes: described receiving data terminal statistics is described
Communication is nonsynchronous to recur number of times.Wherein, the nonsynchronous number of times that recurs of described communication refers to the data receiving
Bag order is detected, is consecutively detected the nonsynchronous number of times of data packet communication.Network system has preset the maximum frequency of failure, uses
Continuously transmit the scope whether number of times is tolerated in network system in judging that communication is nonsynchronous.In the particular embodiment, described
The maximum frequency of failure could be arranged to 3 times.If when described recur number of times be less than default maximum the frequency of failure when, not
With embodiment in, one of following several processing modes can be adopted to be processed: described receiving data terminal or only send out
Go out warning message, do not interrupt the process to valid data information；Synchronously described transmission data is whole to re-use described voice link
End and the local zone time of described receiving data terminal；Not only alert but also utilize described voice link synchronously described transmission number
Local zone time according to terminal and described receiving data terminal.Described processing mode can also include abandoning the data of this packet
Information, using the described voice link synchronously described local zone time sending data terminal and described receiving data terminal, and requires
Send data terminal and retransmit described packet.When described read-around ratio is not less than the described maximum frequency of failure, described reception number
According to terminal standby or restart.
The described strategy that processes also includes: according to the described network bandwidth sending data terminal and described receiving data terminal with
Described time error, the packet adjusting described transmission data terminal with described receiving data terminal transmission is in described data network
Transfer rate.The transfer rate of data network may also be referred to as bit rate or transfer rate, refers to transmitted per unit time or place
The quantity of the bit of reason.The described transfer rate adjusting data network can strengthen the unobstructed of data transfer it is ensured that communicating pair
Communication synchronization.
In order to ensure the synchronization of data network before valid data transmission, before valid data information is transmitted, described number
According to can be with the communication synchronization of data network described in transmitting test data infomation detection on network.Specifically, using described voice
After the local zone time of terminal described in link Timing Synchronization, prepare over data networks before secured transmission of payload data information, described data
Transmission over networks test data information detects the communication synchronization of described data network.Described in described transmitting test data infomation detection
The communication synchronization of data network can send test data information by two ends one side that communicates, and described test data information includes this
Ground sends the time；The opposing party receives described test data information and detects whether communication is synchronous.The side of described detection communication synchronization
The communication synchronization detection method of method packet is identical.The communication synchronization of data network described in described transmitting test data infomation detection
Test data information can also be sent mutually by the two ends that communicate, and receive to whether the test data information sending carries out communicating
Synchronous detection.
The present invention also provides a kind of remote assistant system, described remote assistant system can with above-mentioned remote assistant method with
Ensure synchronization for data communication.As shown in figure 3, in one embodiment, described remote assistant system includes multiple terminals 11, voice
Link 12 and data network 13, described voice link 12 and data network 13 respectively with described remote assistant system terminal 11 phase
Even；Described voice link 12 is used for the local zone time of synchronous described terminal 11；Described data network 13 be used for described terminal 11 it
Between data transfer；The described terminal 11 that data transfer connects is referred to as transmission terminal and receiving terminal；Described transmission terminal
The packet being sent to described data network 13 includes the local transmission time that data message adds described transmission terminal；Described connect
Receive terminal and receive described packet from described data network 13, detect described packet whether communication synchronization, if communication with
Step, then process described packet；Otherwise, processed according to default process strategy.Described voice link includes real-time voice
Link.In one embodiment, described voice link is PSTN.
A kind of embodiment of described remote assistant system is execute-in-place system, as shown in figure 4, described execute-in-place system
System mainly includes two terminals, and one is execute-in-place end, and another is commander end；Described execute-in-place end is used for collection site
Information, described field data is sent to described commander end；Described commander end is used for receiving described field data, and according to described
Field data determines operational order, and described operational order is sent to described execute-in-place end；Described execute-in-place end is additionally operable to
Receive described operational order, and processed accordingly according to described operational order.
Shown in Figure 5, in one embodiment, in described execute-in-place system, by execute-in-place end video, sound
Frequently, word, instruction, ambient parameter etc. information sends the time plus execute-in-place end and jointly synchronizes coding, sends
To commander end, obtain time error by commanding end that information is decoded and comparing with the current local time at commander end, when
When described time error is less than pre-set delay value, judge communication synchronization.If described time error is not less than pre-set delay value,
Judge that communication is asynchronous.If clock synchronization failure, shown clock is synchronously communication synchronization, then according to voice link and number
According to network condition, execute-in-place end possess retry, prediction scheme starts under standby and other particular cases intelligent operation ability, refer to
Wave end and operational order is sent according to execute-in-place client information, commander end is by operational order (video, audio frequency, word, instruction, environment
Parameter etc.) information adds that clock synchronization information (i.e. locally send time) synchronizes coding jointly, sends to execute-in-place end,
Information is decoded and clock synchronic command and current local time are compared by execute-in-place end, if clock is synchronous
Failure, then reported to the police and carry out retrying according to predetermined strategy, emergency preplan that system standby, startup are specified etc., if when
Clock is synchronous consistent, then operated according to instruction.In various embodiments, the data network in described execute-in-place system can
Be wireless network, cable network or cable network and wireless network mixture in any one.In one embodiment,
, it is also possible to a software client, described commander end may for a described execute-in-place end possibly special hardware terminal
It is a special hardware terminal it is also possible to a software client.
With reference to shown in Fig. 6, in one embodiment, the process of described execute-in-place system comprises the following steps:
Described execute-in-place end (terminal, similarly hereinafter) is passed through voice link and is set up in succession with commander end, makes clock keep synchronous,
Described clock synchronization or time synchronized implement referring to using terminal described in described voice link Timing Synchronization local when
Between.And be attached with commander end by data network, before valid data information is transmitted, on described radio data network
The communication synchronization of data network described in transmitting test data infomation detection, that is, transmission test data information in execute-in-place end is to described
Commander end.After described commander's termination receives this connection request, receive described test data information, obtain in test data information
The local transmission time, compare and obtain time error with the current local time at commander end, when described time error be less than default
During length of delay, judge communication synchronization.If described time error is not less than pre-set delay value, judge that communication is asynchronous.When logical
When believing asynchronous, now can be reported to the police and be carried out re-synchronization, according to commander's end and execute-in-place end network bandwidth and
Voice link difference, Intelligent adjustment data transfer code check is it is ensured that intercommunication is synchronous and unimpeded.(communicate when clock is asynchronous
Asynchronous) when can also carry out early warning and carry out retrying according to predetermined strategy, emergency preplan that system standby, startup are specified
Deng, and the operation such as carry out retrying after network is normal.Described execute-in-place end is to obtain field data (including but not limited to regard
Frequently, audio frequency, word, instruction, ambient parameter etc.) clock synchronization is realized by voice link simultaneously, and the entity being encoded is eventually
End or software client.Described commander end is that possess with execute-in-place end to set up voice and be connected data to connect and possess intelligence
Connect the entity terminal controlling or client software.
Shown execute-in-place end obtain after field data (including video, audio frequency, word, instruction, ambient parameter etc.) through
Synchronous coding (will described field data send time encoding plus execute-in-place end become packet) send after processing to
Commander end.
Described commander end is decoded after obtaining execute-in-place client information, and whether detection communication is synchronous, if synchronous, to regarding
Frequently, audio frequency, word, instruction, ambient parameter etc. are reappeared.Described commander end obtains expert's operation information (video, audio frequency, literary composition
(described expert's operation information will add that commander end sends time volume through synchronous coding after word, instruction, ambient parameter etc.
Code become packet) process after send to execute-in-place end.If clock is asynchronous, report to the police and re-synchronization.
Execute-in-place end is decoded after obtaining commander's client information, and whether detection communication synchronous, if synchronous, to video,
Audio frequency, word, instruction, ambient parameter etc. are reappeared, and operator carries out practical operation according to instruction.If clock is asynchronous,
Then report to the police and re-synchronization.
In sum, a kind of remote assistant of present invention method and system, have the advantages that using voice link
The local zone time of the real-time Communication for Power ability Timing Synchronization network terminal, the time synchronized of each terminal of the system that ensure that, and do not need
Extra synchronised clock；Detection is synchronized it is ensured that the synchronism of data transfer, reliability to the packet of transmission simultaneously.Institute
So that the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
Above-described embodiment only principle of the illustrative present invention and its effect, not for the restriction present invention.Any ripe
The personage knowing this technology all can carry out modifications and changes without prejudice under the spirit and the scope of the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as
All equivalent modifications becoming or change, must be covered by the claim of the present invention.
Claims (10)
1. a kind of remote assistant method, is applied to pass through the network system that voice link and data network connect between multiple terminals
In it is characterised in that described remote assistant method includes:
Local zone time using terminal described in described voice link Timing Synchronization；
Transmission packet, the described packet addition between the synchronous described terminal of local zone time using described data network
Have: send the local transmission time of the transmission data terminal of described packet；
Receiving data terminal receives needs to judge communication synchronization during described packet, the method for described judgement communication synchronization is:
Obtain the described local transmission time from described packet, compare with the current local time of described receiving data terminal when obtaining
Between error, when described time error be less than pre-set delay value when, judge communication synchronization.
2. remote assistant method according to claim 1 it is characterised in that: when described time error be not less than pre-set delay
During value, judge that communication is asynchronous, and processed according to default process strategy.
3. remote assistant method according to claim 2 it is characterised in that: described process strategy include: described reception number
Recur number of times according to the described communication of terminal statistics is nonsynchronous；When the described number of times that recurs is less than the default maximum frequency of failure
When, described receiving data terminal alert or/and using described voice link synchronously described transmission data terminal and institute
State the local zone time of receiving data terminal；When described recur number of times be not less than described maximum the frequency of failure when, described reception
Data terminal is standby or restarts or other operation set in advance.
4. remote assistant method according to claim 1 it is characterised in that: according to described transmission data terminal connect with described
Receive the network bandwidth of data terminal and described time error, adjust described transmission data terminal and described receiving data terminal transmission
Packet described data network transfer rate.
5. remote assistant method according to claim 1 it is characterised in that: described remote assistant method also includes, to having
Before effect data message is transmitted, on described data network, transmission test data information detects that the communication of described data network is same
Step.
6. remote assistant method according to claim 1 it is characterised in that: using described in described voice link Timing Synchronization
The local zone time of terminal includes: with the local zone time of terminal described in as standard time, using described voice link by described mark
It is sent to other described terminals one by one, arbitrary other described terminals described standard time receiving is set to described between punctual
The terminal local time.
7. remote assistant method according to claim 1 it is characterised in that: described data network is wireless network, wired
Any one in network or wire and wireless hybrid network.
8. a kind of remote assistant system it is characterised in that: described remote assistant system includes multiple terminals, voice link and data
Network, wherein, described voice link and data network are connected with described terminal respectively；Described voice link is used for synchronous described end
The local zone time at end；Described data network is used for the data transfer between the synchronous described terminal of local zone time；Data passes
The described terminal of defeated connection is referred to as transmission terminal and receiving terminal；Described transmission terminal is sent to the number of described data network
Add the described local transmission time sending terminal according to including data message；Described receiving terminal receives from described data network
To described packet, detect described packet whether communication synchronization, if communication synchronization, process described packet；Otherwise, root
Processed according to default process strategy.
9. remote assistant system according to claim 8 it is characterised in that: described remote assistant system be execute-in-place system
System, described terminal includes two terminals, and one is execute-in-place end, and another is commander end；Described execute-in-place end is used for adopting
Collection field data, described field data is sent to described commander end；Described commander end is used for receiving described field data, and root
Determine operational order according to described field data, described operational order is sent to described execute-in-place end；Described execute-in-place end
It is additionally operable to receive described operational order, and processed accordingly according to described operational order.
10. remote assistant system according to claim 8 it is characterised in that: described voice link be real-time voice link.
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| CN201410252027.XA CN104038303B (en) | 2014-06-09 | 2014-06-09 | Remote aiding method and system |
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| US10623291B2 (en) * | 2016-06-20 | 2020-04-14 | Hyundai Motor Company | Operation method of communication node for detecting link errors in network |
| CN106302244A (en) * | 2016-08-11 | 2017-01-04 | 自连电子科技（上海）有限公司 | A kind of Apparatus for () and method therefor eliminating network transmission jitter |
| CN108235426B (en) * | 2016-12-15 | 2021-01-15 | 中国移动通信有限公司研究院 | Method, device and system for detecting time delay and local time difference between terminals |
| CN112419681B (en) * | 2020-11-19 | 2022-04-01 | 杭州云深科技有限公司 | Target early warning method, electronic device, and medium |
| CN113422708B (en) * | 2021-06-18 | 2022-10-25 | 中山大学 | Data transfer method for remote heart color ultrasound examination |
| CN113824521B (en) * | 2021-08-30 | 2024-02-13 | 南京轨道交通产业发展有限公司 | Subway vehicle broadcast audio synchronization method |
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