CN108532670A - Excavator speech control system - Google Patents
Excavator speech control system Download PDFInfo
- Publication number
- CN108532670A CN108532670A CN201810364338.3A CN201810364338A CN108532670A CN 108532670 A CN108532670 A CN 108532670A CN 201810364338 A CN201810364338 A CN 201810364338A CN 108532670 A CN108532670 A CN 108532670A
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- excavator
- equipment
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- noise
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- 238000012545 processing Methods 0.000 claims abstract description 55
- 230000009467 reduction Effects 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000004458 analytical method Methods 0.000 claims abstract description 10
- 230000005236 sound signal Effects 0.000 claims abstract description 8
- 239000000470 constituent Substances 0.000 claims abstract description 4
- 238000011084 recovery Methods 0.000 claims description 9
- 238000013475 authorization Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims 1
- 238000005286 illumination Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003707 image sharpening Methods 0.000 description 2
- 241001025261 Neoraja caerulea Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/20—Speech recognition techniques specially adapted for robustness in adverse environments, e.g. in noise, of stress induced speech
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Processing of the speech or voice signal to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
Abstract
The present invention relates to a kind of excavator speech control systems, including：Sound detection equipment, for being measured in real time to the indoor sound of control, to obtain audio signal nearby, and constituent analysis is carried out to the audio signal nearby, to obtain amplitude ranking three kinds of main noise types of first three, and export various main noise types and corresponding noise amplitude；Noise reduction processing equipment, for receiving the various main noise types and corresponding noise amplitude, and corresponding noise reduction audio frequency component is sent out based on each main noise type, the amplitude of corresponding noise reduction audio frequency component is determined based on each corresponding noise amplitude of main noise type.Through the invention, before carrying out voice command control excavator operation, the concrete condition based on noise is oriented classification noise reduction processing.
Description
Technical field
The present invention relates to engineering machinery field more particularly to a kind of excavator speech control systems.
Background technology
Equipment is the chief component of hydraulic crawler excavator, and SY series excavators configuration at present is backhoe work clothes
It sets, it is mainly used for excavating shutdown face soil below, but can also excavate maximum cutting level soil below, in addition to can be with
It digs pit, ditch, loading and outer can also carry out simple smooth location work.Digging operation is adapted to I~IV grade of soil of excavation, V grade with
On with hydraulic hammer or need explosion means.
Backhoe Equipment is by swing arm, dipper, scraper bowl, rocking bar, connecting rod and includes boom cylinder, bucket arm cylinder, scraper bowl oil
The major parts such as the equipment fluid pressure line including cylinder form.
Invention content
In order to solve excavator scene noise excessive the technical issues of can not accurately realizing speech recognition operation, the present invention carries
A kind of excavator speech control system has been supplied, the huge noise at excavator scene can be overcome, has been dug carrying out voice command control
Before the operation of pick machine, the concrete condition based on noise is oriented classification noise reduction processing, and at and noise reduction legal in operating personnel
In the case that reason starts, side enters speech recognition mode, to ensure that the accuracy of speech recognition.
According to an aspect of the present invention, a kind of excavator speech control system is provided, the system comprises：
Sound detection equipment is arranged in the control room of excavator, real-time for being carried out to the indoor sound of control
Detection, with obtain nearby audio signal, and to it is described nearby audio signal carry out constituent analysis, with obtain amplitude ranking first three
Three kinds of main noise types, and export various main noise types and corresponding noise amplitude；
Noise reduction processing equipment is connect with the sound detection equipment, is arranged in the side of the sound detection equipment, is used for
It receives the various main noise types and corresponding noise amplitude, and is sent out pair based on each main noise type
The noise reduction audio frequency component answered determines corresponding noise reduction audio frequency component based on each corresponding noise amplitude of main noise type
Amplitude；
Point array camera, is arranged in the control room of excavator, is located in front of driver's seat, for carrying out scene to driver's seat
Imaging operation to obtain real-time driver's seat image, and exports the real-time driver's seat image；
Wherein, the noise reduction processing equipment starts in the corresponding three kinds of noise reduction audio frequency components of three kinds of main noise types
Noise reduction enabling signal when sending, is sent out simultaneously, otherwise, sends out the not actuated signal of noise reduction；
Self-adaptive processing equipment is connect with described array camera, for receiving the real-time driver's seat image, to described
Real-time driver's seat image executes sharpening degree, to obtain corresponding sharpening degree grade, based on sharpening degree hierarchical selection to described real-time
Driver's seat image execution point to obtain self-adaptive processing image, and exports the self-adaptive processing figure as the strategy of restoration disposal
Picture, it is described based on sharpening degree hierarchical selection to the real-time driver's seat image execution point as the strategy of restoration disposal, with obtained from
Adapting to processing image includes：When the sharpening degree grade, which is less than, is equal to predetermined level threshold value, to the real-time driver's seat image
Red color channel value, green color channel value and the blue color channels value of pixel be performed simultaneously a little as recovery operation,
To obtain self-adaptive processing image, in the self-adaptive processing equipment, based on sharpening degree hierarchical selection to the real-time driving
Seat image execution point as the strategy of restoration disposal, further include to obtain self-adaptive processing image：When the sharpening degree grade is more than
When predetermined level threshold value, to the red color channel value execution point of the pixel of the real-time driver's seat image as recovery operation,
Simultaneously to the green color channel value and blue color channels value of the real-time driver's seat image not execution point as recovery operation,
To obtain self-adaptive processing image；
Complexity measure equipment is connect with the self-adaptive processing equipment, for receiving the self-adaptive processing image, is used
It is measured in the complexity to the self-adaptive processing image, to obtain corresponding complexity factors, and exports the complexity
Spend the factor；In the complexity measure equipment, to the complexity of the self-adaptive processing image measure including：Using Z
Font carries out Pianli to obtain each traversal pixel of Z-shaped process to the self-adaptive processing image, determines described each
The mean square deviation for traversing pixel, using the mean square deviation as corresponding complexity factors.
It can be seen that the present invention has following a few place's inventive points：
(1) it in order to overcome the huge noise at excavator scene, before carrying out voice command control excavator operation, is based on
The concrete condition of noise is oriented classification noise reduction processing, and in the case of and noise reduction legal in operating personnel processing startup, side
Into speech recognition mode, to ensure that the accuracy of speech recognition；
(2) it is based on image sharpening degree hierarchical selection and is based on red color channel value, green color channel value and Blue
The different points of the color space of channel value as restoration disposal strategy, to avoid there is the operand of unwanted big number；
(3) custom model is used to obtain the complexity of image, after determining progress target identification based on complexity
Continuous frame number, to reach certain balance between the precision and operand of target identification.
Description of the drawings
Embodiment of the present invention is described below with reference to attached drawing, wherein：
The structure of excavators of the Fig. 1 to be applied according to the excavator speech control system shown in embodiment of the present invention is shown
It is intended to.
Specific implementation mode
The embodiment of the excavator speech control system of the present invention is described in detail below with reference to accompanying drawings.
At excavator scene, due to ambient noise complexity, voice control mode is difficult to carry out, in order to overcome above-mentioned deficiency,
The present invention has built a kind of excavator speech control system so that the voice control mode in excavator construction site becomes can
Energy.
The structure of excavators of the Fig. 1 to be applied according to the excavator speech control system shown in embodiment of the present invention is shown
It is intended to.
The excavator speech control system shown according to an embodiment of the present invention includes：
Sound detection equipment is arranged in the control room of excavator, real-time for being carried out to the indoor sound of control
Detection, with obtain nearby audio signal, and to it is described nearby audio signal carry out constituent analysis, with obtain amplitude ranking first three
Three kinds of main noise types, and export various main noise types and corresponding noise amplitude；
Noise reduction processing equipment is connect with the sound detection equipment, is arranged in the side of the sound detection equipment, is used for
It receives the various main noise types and corresponding noise amplitude, and is sent out pair based on each main noise type
The noise reduction audio frequency component answered determines corresponding noise reduction audio frequency component based on each corresponding noise amplitude of main noise type
Amplitude.
Then, continue that the concrete structure of the excavator speech control system of the present invention is further detailed.
Can also include in the system voice control system：
Point array camera, is arranged in the control room of excavator, is located in front of driver's seat, for carrying out scene to driver's seat
Imaging operation to obtain real-time driver's seat image, and exports the real-time driver's seat image；
Wherein, the noise reduction processing equipment starts in the corresponding three kinds of noise reduction audio frequency components of three kinds of main noise types
Noise reduction enabling signal when sending, is sent out simultaneously, otherwise, sends out the not actuated signal of noise reduction.
Can also include in the system voice control system：
Self-adaptive processing equipment is connect with described array camera, for receiving the real-time driver's seat image, to described
Real-time driver's seat image executes sharpening degree, to obtain corresponding sharpening degree grade, based on sharpening degree hierarchical selection to described real-time
Driver's seat image execution point to obtain self-adaptive processing image, and exports the self-adaptive processing figure as the strategy of restoration disposal
Picture, it is described based on sharpening degree hierarchical selection to the real-time driver's seat image execution point as the strategy of restoration disposal, with obtained from
Adapting to processing image includes：When the sharpening degree grade, which is less than, is equal to predetermined level threshold value, to the real-time driver's seat image
Red color channel value, green color channel value and the blue color channels value of pixel be performed simultaneously a little as recovery operation,
To obtain self-adaptive processing image, in the self-adaptive processing equipment, based on sharpening degree hierarchical selection to the real-time driving
Seat image execution point as the strategy of restoration disposal, further include to obtain self-adaptive processing image：When the sharpening degree grade is more than
When predetermined level threshold value, to the red color channel value execution point of the pixel of the real-time driver's seat image as recovery operation,
Simultaneously to the green color channel value and blue color channels value of the real-time driver's seat image not execution point as recovery operation,
To obtain self-adaptive processing image；
Complexity measure equipment is connect with the self-adaptive processing equipment, for receiving the self-adaptive processing image, is used
It is measured in the complexity to the self-adaptive processing image, to obtain corresponding complexity factors, and exports the complexity
Spend the factor；In the complexity measure equipment, to the complexity of the self-adaptive processing image measure including：Using Z
Font carries out Pianli to obtain each traversal pixel of Z-shaped process to the self-adaptive processing image, determines described each
The mean square deviation for traversing pixel, using the mean square deviation as corresponding complexity factors；
Frame number selects equipment, is connect with the complexity measure equipment, for receiving the complexity factors, and is based on institute
The follow-up frame number that complexity factors selection carries out target identification needs is stated, based on determining follow-up frame number to the self-adaptive processing figure
The subsequent image frames of picture are captured, to obtain each picture frame corresponding with the follow-up frame number；
Target identification equipment is connect with frame number selection equipment, for receiving each picture frame, and based on described
Human body target is identified in each picture frame, with the bodily form feature for the human body target for obtaining and exporting and recognize；
Signature analysis equipment is connect with the target identification equipment, for by the bodily form feature of the human body target recognized
It is matched one by one with the every authorized user base station bodily form feature to prestore, to determine the corresponding personnel of human body target recognized
Whether it is authorized user, correspondingly to send out authorization user signal or unauthorized user signal；
Signal control device is connect respectively with the noise reduction processing equipment and the signature analysis equipment, for receiving
When to the noise reduction enabling signal and receiving the authorization user signal, the operation console for controlling the control room enters voice knowledge
Other pattern；
Wherein, the operation console of the control room analyzes the phonetic control command received under the speech recognition mode,
Result based on analysis realizes every real-time operation to excavator；
Wherein, it in the frame number selects equipment, is selected after carrying out target identification needs based on the complexity factors
Continuous frame number includes：The complexity factors are bigger, and the follow-up frame number of the carry out target identification needs of selection is more.
In the system voice control system：
The operation console of the control room is under the manual operation pattern, based on the driving indoor occupant to the control
The items manual operations of the operation console of room, realizes every real-time operation to excavator.
In the system voice control system：
In the signal control device, believe when receiving the noise reduction enabling signal and receiving the unauthorized user
Number when, the operation console for controlling the control room enters manual operation pattern.
In the system voice control system：
In the signal control device, when receiving the not actuated signal of the noise reduction and receive the unauthorized user
When signal, the operation console for controlling the control room enters manual operation pattern.
In the system voice control system：
In the signal control device, believe when receiving the not actuated signal of the noise reduction and receiving the authorized user
Number when, the operation console for controlling the control room enters manual operation pattern.
In addition, the system voice control system can also include LED illumination device, required photograph is provided for excavation site
It is bright.The efficient white light that the LED illumination device uses low-voltage DC supply, synthesized with yellow by GaN base power-type blue-ray LED,
With particular advantages such as efficient, safety, energy-saving and environmental protection, long lifespan, fast response time, colour rendering index height, can be widely applied to each
Illumination under kind scene.Outer cover can be used and be made, and high temperature resistant is low temperature resistant up to -45 degree up to 135 degree.Wherein, the LED illumination device
Using secondary optical design, the illumination of LED is mapped to the required region illuminated, further improves light efficiency, to reach section
It can purpose.
Excavator speech control system using the present invention can not implement voice control for excavator scene in the prior art
The technical issues of processed, before carrying out voice command control excavator operation, the concrete condition based on noise is oriented classification
Noise reduction is handled, and in the case of and noise reduction legal in operating personnel processing startup, side enters speech recognition mode, to ensure that
The accuracy of speech recognition, it is often more important that, in operating personnel's legitimacy identification process, selected based on image sharpening degree grade
The different point pictures for selecting the color space based on red color channel value, green color channel value and blue color channels value restore
The strategy of processing to avoid there is the operand of unwanted big number, and obtains the complicated journey of image using custom model
Degree, to determine the follow-up frame number for carrying out target identification based on complexity.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any person skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications all are made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of variation.Therefore, every content without departing from technical solution of the present invention is right according to the technical essence of the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the range of technical solution of the present invention protection
It is interior.
Claims (7)
1. a kind of excavator speech control system, the system comprises：
Sound detection equipment is arranged in the control room of excavator, for being measured in real time to the indoor sound of control,
To obtain audio signal nearby, and constituent analysis is carried out to the audio signal nearby, to obtain amplitude ranking first three three kinds
Main noise type, and export various main noise types and corresponding noise amplitude；
Noise reduction processing equipment is connect with the sound detection equipment, is arranged in the side of the sound detection equipment, for receiving
The various main noise types and corresponding noise amplitude, and sent out based on each main noise type corresponding
Noise reduction audio frequency component determines the width of corresponding noise reduction audio frequency component based on each corresponding noise amplitude of main noise type
Value.
2. excavator speech control system as described in claim 1, which is characterized in that further include：
Point array camera, is arranged in the control room of excavator, is located in front of driver's seat, for carrying out field imaging to driver's seat
Operation, to obtain real-time driver's seat image, and exports the real-time driver's seat image；
Wherein, the noise reduction processing equipment starts simultaneously in the corresponding three kinds of noise reduction audio frequency components of three kinds of main noise types
Noise reduction enabling signal when sending, is sent out, otherwise, sends out the not actuated signal of noise reduction.
3. excavator speech control system as claimed in claim 2, which is characterized in that further include：
Self-adaptive processing equipment is connect with described array camera, for receiving the real-time driver's seat image, to described real-time
Driver's seat image executes sharpening degree, to obtain corresponding sharpening degree grade, based on sharpening degree hierarchical selection to the real-time driving
Seat image execution point to obtain self-adaptive processing image, and exports the self-adaptive processing image, institute as the strategy of restoration disposal
The strategy to the real-time driver's seat image execution point as restoration disposal based on sharpening degree hierarchical selection is stated, to obtain adaptive place
Managing image includes：When the sharpening degree grade, which is less than, is equal to predetermined level threshold value, to the pixel of the real-time driver's seat image
Red color channel value, green color channel value and the blue color channels value of point are performed simultaneously a little as recovery operation, to obtain
Self-adaptive processing image, in the self-adaptive processing equipment, based on sharpening degree hierarchical selection to the real-time driver's seat image
Execution point further includes to obtain self-adaptive processing image as the strategy of restoration disposal：When the sharpening degree grade is more than default etc.
When grade threshold value, to the red color channel value execution point of the pixel of the real-time driver's seat image as recovery operation, and meanwhile it is right
Execution point is not as recovery operation for the green color channel value and blue color channels value of the real-time driver's seat image, to obtain
Self-adaptive processing image；
Complexity measure equipment is connect with the self-adaptive processing equipment, for receiving the self-adaptive processing image, for pair
The complexity of the self-adaptive processing image measures, to obtain corresponding complexity factors, and export the complexity because
Son；In the complexity measure equipment, to the complexity of the self-adaptive processing image measure including：Using Z-shaped
Pianli is carried out to obtain each traversal pixel of Z-shaped process to the self-adaptive processing image, determines each traversal
The mean square deviation of pixel, using the mean square deviation as corresponding complexity factors；
Frame number selects equipment, is connect with the complexity measure equipment, for receiving the complexity factors, and based on described multiple
Miscellaneous degree selecting predictors carry out the follow-up frame number of target identification needs, based on the follow-up frame number of determination to the self-adaptive processing image
Subsequent image frames are captured, to obtain each picture frame corresponding with the follow-up frame number；
Target identification equipment is connect with frame number selection equipment, for receiving each picture frame, and based on described each
Human body target is identified in picture frame, with the bodily form feature for the human body target for obtaining and exporting and recognize；
Signature analysis equipment is connect with the target identification equipment, for by the bodily form feature of the human body target recognized and in advance
The every authorized user base station bodily form feature deposited is matched one by one, whether to determine the corresponding personnel of human body target recognized
For authorized user, correspondingly to send out authorization user signal or unauthorized user signal；
Signal control device is connect respectively with the noise reduction processing equipment and the signature analysis equipment, for receiving
When stating noise reduction enabling signal and receiving the authorization user signal, the operation console for controlling the control room enters speech recognition mould
Formula；
Wherein, the operation console of the control room is analyzed the phonetic control command received, is based under the speech recognition mode
The result of analysis realizes every real-time operation to excavator；
Wherein, in the frame number selects equipment, the subsequent frame for carrying out target identification needs is selected based on the complexity factors
Number includes：The complexity factors are bigger, and the follow-up frame number of the carry out target identification needs of selection is more.
4. excavator speech control system as claimed in claim 3, it is characterised in that：
The operation console of the control room is under the manual operation pattern, based on the driving indoor occupant to the control room
The items manual operations of operation console, realizes every real-time operation to excavator.
5. excavator speech control system as claimed in claim 4, it is characterised in that：
In the signal control device, when receiving the noise reduction enabling signal and receive the unauthorized user signal
When, the operation console for controlling the control room enters manual operation pattern.
6. excavator speech control system as claimed in claim 5, it is characterised in that：
In the signal control device, when receiving the not actuated signal of the noise reduction and receive the unauthorized user signal
When, the operation console for controlling the control room enters manual operation pattern.
7. excavator speech control system as claimed in claim 6, it is characterised in that：
In the signal control device, when receiving the not actuated signal of the noise reduction and receive the authorization user signal
When, the operation console for controlling the control room enters manual operation pattern.
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| CN201810364338.3A CN108532670B (en) | 2018-04-23 | 2018-04-23 | Excavator speech control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810364338.3A CN108532670B (en) | 2018-04-23 | 2018-04-23 | Excavator speech control system |
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| CN108532670A true CN108532670A (en) | 2018-09-14 |
| CN108532670B CN108532670B (en) | 2019-09-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111353332A (en) * | 2018-12-21 | 2020-06-30 | 中国电信股份有限公司 | Fingerprint image processing method and device and computer readable storage medium |
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| CN105590624A (en) * | 2014-11-10 | 2016-05-18 | 现代自动车株式会社 | Voice recognition system and method in vehicle |
| CN106409280A (en) * | 2015-07-29 | 2017-02-15 | 哈曼国际工业有限公司 | Active noise cancellation apparatus and method for improving voice recognition performance |
| CN106782591A (en) * | 2016-12-26 | 2017-05-31 | 惠州Tcl移动通信有限公司 | A kind of devices and methods therefor that phonetic recognization rate is improved under background noise |
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| CN105590624A (en) * | 2014-11-10 | 2016-05-18 | 现代自动车株式会社 | Voice recognition system and method in vehicle |
| CN106409280A (en) * | 2015-07-29 | 2017-02-15 | 哈曼国际工业有限公司 | Active noise cancellation apparatus and method for improving voice recognition performance |
| CN206312566U (en) * | 2016-12-15 | 2017-07-07 | 北京塞宾科技有限公司 | A kind of vehicle intelligent audio devices |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111353332A (en) * | 2018-12-21 | 2020-06-30 | 中国电信股份有限公司 | Fingerprint image processing method and device and computer readable storage medium |
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