CN113825118A - Train control system based on human bone voiceprint - Google Patents
Train control system based on human bone voiceprint Download PDFInfo
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- 238000006243 chemical reaction Methods 0.000 claims description 6
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0027—Radio-based, e.g. using GSM-R
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification techniques
- G10L17/22—Interactive procedures; Man-machine interfaces
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/10—Earpieces; Attachments therefor ; Earphones; Monophonic headphones
- H04R1/1041—Mechanical or electronic switches, or control elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2460/00—Details of hearing devices, i.e. of ear- or headphones covered by H04R1/10 or H04R5/033 but not provided for in any of their subgroups, or of hearing aids covered by H04R25/00 but not provided for in any of its subgroups
- H04R2460/13—Hearing devices using bone conduction transducers
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Abstract
The invention discloses a train control system based on human bone voiceprints, which is characterized by comprising the following components: the bone conduction Bluetooth headset comprises a bone conduction Bluetooth headset body, a main control unit and an operation control center; the bone conduction Bluetooth headset is used for collecting bone voiceprint audio signals and transmitting the bone voiceprint audio signals to the Bluetooth receiver in a Bluetooth communication mode, wherein the bone voiceprint audio signals are sounds and voiceprints; the main control unit is used for processing the input bone vocal print audio signals and outputting the processed bone vocal print audio signals, recording the operation flow of a driver and uploading the operation flow to the operation control center in real time; the operation control center is used for recording personnel voice, importing audio files, setting audio instructions, recording driver operation procedures and remotely operating the train under specific conditions. Drivers and maintainers only need to learn appointed relevant instructions, and do not need to be familiar with and master the operation methods and positions of relevant buttons and handles, so that the train operation method is mastered more quickly, and the training cost is lower.
Description
Technical Field
The invention relates to the field of train control, in particular to a train control system based on human bone voiceprints.
Background
At present, the rail transit vehicle mainly adopts a manual driving mode, a driver selects the advancing direction of a train, and controls the acceleration or deceleration through a driver controller, and a series of operations such as lifting bow/boot, door opening and closing, high-break closing and the like are carried out through related buttons. The driver controller is arranged on a driver console of the driver cab and mainly comprises a controller key switch, a main control handle and a direction handle.
However, the current technology still has many disadvantages. The driver control console is used for executing operation instruction input, and has more devices, such as a driver controller, a pantograph lifting button, a pantograph lowering button, a high-break closing button, a high-break opening button, a vehicle door opening button and a vehicle door closing button, so that the occupied space is more, the driver control console is heavier, and the equipment purchase cost is higher; the number of devices and buttons is large, meanwhile, the number of wiring lines is large, the number of fault points is large, the reliability of the vehicle is low, and the maintenance cost is high; drivers or overhaul and maintenance personnel who are not familiar with the driver control table top module cannot intuitively and quickly find corresponding operating handles or buttons and the like, the operating efficiency is low, and even some potential safety hazards can be generated due to misoperation; when a train runs, a driver needs to frequently adjust a handle of a driver controller and press a caution button, so that fatigue is easy to generate, and the train is not favorable for safe running; as long as insert the driver's ware key, just can control the train, can't discern driver's operation authority, there is certain potential safety hazard.
Disclosure of Invention
The invention provides a train control system based on human bone voiceprints, which aims to overcome the problems.
The invention comprises the following steps: the bone conduction Bluetooth headset comprises a bone conduction Bluetooth headset body, a Bluetooth receiver, a main control unit and an operation control center;
the bone conduction Bluetooth headset is used for collecting bone vocal print audio signals and transmitting the bone vocal print audio signals to the Bluetooth receiver in a Bluetooth communication mode;
the Bluetooth receiver is used for receiving bone vocal print audio signals transmitted by the bone conduction Bluetooth headset and transmitting the bone vocal print audio signals to the main control unit;
the main control unit is used for processing the input bone voiceprint audio signals, outputting corresponding instruction signals, recording the operation flow of a driver and uploading the operation flow to the operation control center in real time;
the operation control center is used for recording personnel voice, importing an audio file and setting an audio instruction; the driver operation flow is recorded, and the train can be remotely operated under specific conditions.
Further, the main control unit includes: the system comprises a power supply module, a processor module, a gateway module and a digital quantity output module;
the power supply module is used for converting the power supply voltage of the vehicle-mounted storage battery and supplying power to each module;
the processor module is used for carrying out analog-to-digital conversion on the bone voiceprint audio signal, carrying out voice recognition on the control command, comparing the control command with the existing bone voiceprint library in the database, and configuring the operation authority of personnel;
the gateway module is used for converting the communication in the main control unit into a communication protocol of the train, and realizing the conversion of the communication protocol and the transmission of data; the gateway module comprises a wireless module and can perform data interaction on related data with an operation control center, ground relay equipment and other vehicles through an antenna according to a set message format;
the digital quantity output module exchanges data with the processor module through a communication medium integrated with the back module and is used for sending the instruction output by the processor module to other equipment of the vehicle in the form of digital quantity.
Further, the operation strategy of the operation control center comprises: when the running speed of the train is higher than a set speed value, the range of the set speed value is 10km/h to 15 km/h; if the operator does not perform any operation within a set time period or the system identifies snore according to the existing bone voiceprint library, the system can perform related voice prompt through a built-in loudspeaker, and if the trigger time after the prompt is triggered and the operator does not perform any operation, the system can output an emergency braking instruction, and the train is braked and stopped emergently; the set speed value, the set time period and the set triggering time are respectively set in programs of related chips in the module in a system parameter mode.
Further, the existing bone voiceprint library includes: the existing bone voiceprint library is recorded through an operation control center, and the operation control center can remotely update audio files and permission files in vehicle-mounted train operation systems of all operation vehicles; and after the audio file and the authority permission file are updated, the local storage time of the train operation system is effective after the update set time is exceeded.
Further, still include: the main control unit of the other end is arranged in the same way as the main control unit of the other end, the main control unit is connected with the main control unit of the other end through a local area network, and when the main control unit fails, equipment of the main control unit of the other end can replace a module which fails in the main control unit through the local area network.
Further, the bone voiceprint audio files in the bone voiceprint library are matched with the permission, and the corresponding bone voiceprints correspond to the corresponding permissions.
Further, still include: an antenna; the antenna is used for completing the receiving and sending of data, and the sending of the data refers to the fact that the data transmitted by the main control unit are sent to an operation control center and other vehicles running on the same line through the trackside antenna; the data receiving means that data sent by the operation control center and other vehicles running on the same line are transmitted to the main control unit through the trackside antenna.
Furthermore, all instruction data are uploaded to a ground server in the operation control center in real time to be stored.
Drivers and maintenance personnel only need to learn appointed relevant instructions, and do not need to be familiar with and master the operation methods and positions of relevant buttons and handles, so that the train operation method is mastered more quickly, and the training cost is lower; the control system has the advantages that related control functions can be realized without operating a button, the speed regulation of a grade handle of a driver controller is not required, a caution button is not required to be frequently operated, the physical strength and the energy of a driver are saved, the driver is not easy to feel tired, and the control system is safer from the perspective of normal driving and operation of a train; the vehicle does not need to be provided with a related control button and a driver controller, so that the equipment purchasing and maintenance cost of the whole life cycle of the vehicle is reduced; because related equipment and buttons are cancelled, the corresponding wiring amount is greatly reduced, the vehicle assembly time is saved, potential fault points are reduced, and meanwhile, the system adopts a system topology with dual redundancy of a local terminal and other terminals, so that the vehicle reliability is greatly improved; the operation authorities of drivers and maintainers are divided, so that the risk of human factors on safe operation and maintenance of trains is reduced; under the emergency condition, the operation control center can directly take over the control authority of the train, and the remote train control function can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a system diagram of the present invention;
FIG. 2 is a schematic diagram of the present invention;
fig. 3 is a structural diagram of a main control unit according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1 and 2, the present invention includes: the bone conduction Bluetooth headset comprises a bone conduction Bluetooth Headset (BH), a Bluetooth receiver (AP), a Main Control Unit (MCU) and an operation control center;
the bone conduction Bluetooth Headset (BH) is used for collecting bone voiceprint audio signals, and transmitting the bone voiceprint audio signals, namely sounds and bone voiceprints, to the Bluetooth receiver (AP) in a Bluetooth communication mode;
the Bluetooth receiver (AP) is used for receiving a bone vocal print audio signal transmitted by a bone conduction Bluetooth Headset (BH) and transmitting the bone vocal print audio signal to a Main Control Unit (MCU);
the Main Control Unit (MCU) is used for processing the input bone voiceprint audio signals, outputting corresponding instruction bone voiceprint audio signals, recording the operation flow of a driver and uploading the operation flow to the operation control center in real time;
the operation control center is used for recording personnel voice, importing an audio file and setting an audio instruction; the driver operation flow is recorded, and the train can be remotely operated under specific conditions.
Preferably, as shown in fig. 3, the Main Control Unit (MCU) includes: the system comprises a power supply module, a processor module, a gateway module and a digital quantity output module;
the power supply output interface of the power supply module is respectively connected with the power supply input interfaces of the processor module, the gateway module and the digital quantity output module; the power supply module is used for converting the power supply voltage of the vehicle-mounted storage battery and supplying power to the processor module, the gateway module, the digital output module, chips on each module card and other electronic elements;
the processor module is used for carrying out analog-to-digital conversion on the bone voiceprint audio signal, carrying out voice recognition on the control command, comparing the control command with the existing bone voiceprint library in the database, and configuring the operation authority of personnel;
the gateway module is used for converting the communication in the Main Control Unit (MCU) into the communication protocol of the train, and realizing the conversion of the communication protocol and the transmission of data; the gateway module comprises a wireless module and can carry out data interaction on related data with an operation control center, ground relay equipment and other vehicles through an Antenna (ANT) according to a set message format;
the digital quantity output module adopts a relay as a switch element, a plurality of paths of output units are integrated inside the digital quantity output module, data exchange is carried out between the digital quantity output module and the processor module through a communication medium integrated by the back module, and the digital quantity output module is used for sending instructions output by the processor module to other equipment of the vehicle in a digital quantity mode.
Preferably, when the train running speed is higher than a set speed value, the set speed value ranges from 10km/h to 15 km/h; if the operator does not perform any operation within a set time period or the system identifies snore according to the existing bone voiceprint library, the system can perform related voice prompt through a built-in loudspeaker, and if the trigger time after the prompt is triggered and the operator does not perform any operation, the system can output an emergency braking instruction, and the train is braked and stopped emergently; the set speed value, the set time period and the set triggering time are respectively set in programs of related chips in the module in a system parameter mode.
Preferably, the existing bone voiceprint library comprises: the existing bone voiceprint library is recorded through an operation control center, and the operation control center can remotely update the audio files and the permission files in the vehicle-mounted train operation system of all the operation vehicles; and after the audio file and the authority permission file are updated, the local storage time of the train operation system is effective after the update set time is exceeded.
Preferably, the method further comprises the following steps: the device comprises a Main Control Unit (MCU) at the other end, wherein the Main Control Unit (MCU) at the other end and the Main Control Unit (MCU) are arranged in the same way, the Main Control Unit (MCU) and the Main Control Unit (MCU) at the other end are connected through a local area network, and when the Main Control Unit (MCU) breaks down, the device of the Main Control Unit (MCU) at the other end can replace a module which breaks down in the Main Control Unit (MCU) through the local area network.
Specifically, the local end main control unit MCU is connected with the other end main control unit MCU through the Ethernet, and when the fault of the related board card of the local end MCU cannot perform data interaction with a vehicle monitoring control system (MVB), a train control loop (DO output signal) and an Antenna (ANT), the related functions can be realized by the equipment of the other end.
Preferably, the method further comprises the following steps: an Antenna (ANT); the Antenna (ANT) is used for completing data receiving and sending, and the data sending refers to sending the data transmitted by the Main Control Unit (MCU) to an operation control center and other vehicles running on the same line through the trackside Antenna (ANT); the data receiving means that data sent by an operation control center and other vehicles running on the same line are transmitted to a Main Control Unit (MCU) through an on-track Antenna (ANT).
Preferably, all the instruction data are uploaded to a ground server in the operation control center in real time to be stored, and the stored instruction data are used as the basis for analyzing accidents or train faults.
Preferably, when the driver can not control the train, the operation control center can remotely take over the train control system to control the train.
Example 2
The system of the present invention may collect and output instructions including, but not limited to: a pantograph/boot; descending bows/boots; the left passenger room door is opened and the right passenger room door is opened; closing a passenger room door; forward/backward direction; traction/braking (the system can define a certain decibel as 100% traction/braking level, and can adjust the traction/braking force in equal proportion to the sound weaker than the decibel); a car washing mode (the speed limit is 3km/h operation); shunting mode (speed limit is 10km/h operation); speed limit (where "") may be any speed less than the maximum operating speed of the vehicle.
Some commands can be defined according to the job or the level of the operator, for example, the maintenance personnel can only use the "car washing mode" or the "shunting mode" in the aspect of train operation control, and for example, the drivers of different job levels can set different speed limit values.
When the train runs at a speed value higher than a certain speed value (for example, 10km/h), if the operator does not perform any operation within a certain time period (for example, 60s) or the system recognizes 'snore', the system can perform voice prompt through a built-in loudspeaker, and if the operator does not perform any operation within a certain time period (for example, 5s) after the prompt is triggered, the system can output an emergency braking instruction, and the train is braked and stopped emergently.
When the driver has an accident and can not control the train, the operation control center can remotely take over the train control system to control the train.
The audio files and the permission files of all the operators are recorded in the operation control center, the audio files and the permission files in the vehicle-mounted train operation system of all the operation vehicles can be remotely updated, and related files or related software is not required to be recorded in each train. The audio file and the permission file need to exist for more than a certain time (for example 72h) locally in the vehicle-mounted train operation system after being updated, so that the system is prevented from being invaded by terrorist organizations and hackers, and the train is prevented from being operated by illegally authorized personnel.
All instruction data are uploaded to a ground server located in an operation control center in real time to be stored, and can be used as a basis for accident or train fault analysis in the follow-up process.
Has the advantages that:
1. drivers and maintenance personnel only need to learn appointed relevant instructions, and do not need to be familiar with and master the operation methods and positions of relevant buttons and handles, so that the train operation method is mastered more quickly, and the training cost is lower; the control system has the advantages that related control functions can be realized without operating a button, the speed regulation of a grade handle of a driver controller is not required, a caution button is not required to be frequently operated, the physical strength and the energy of a driver are saved, the driver is not easy to feel tired, and the control system is safer from the perspective of normal driving and operation of a train; the vehicle does not need to be provided with a related control button and a driver controller, so that the equipment purchasing and maintenance cost of the whole life cycle of the vehicle is reduced; because related equipment and buttons are cancelled, the corresponding wiring amount is greatly reduced, the vehicle assembly time is saved, potential fault points are reduced, and meanwhile, the system adopts a system topology with dual redundancy of a local terminal and other terminals, so that the vehicle reliability is greatly improved; the operation authorities of drivers and maintainers are divided, so that the risk of human factors on safe operation and maintenance of trains is reduced; under the emergency condition, the operation control center can directly take over the control authority of the train, and the remote train control function can be realized.
2. The main control unit can compare operation records of different drivers operating the same train, such as the giving frequency of rapid acceleration and rapid deceleration instructions in the whole running process, comprehensively evaluate the driving ability and habits of the operators and provide improvement measures for operation managers.
3. The 'biological recognition' mode such as bone voiceprint is adopted to unlock and operate the vehicle, the unlocking safety is higher, and the physical mode that a key and the like can be easily copied or violently cracked is not needed to unlock
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A train control system based on human bone voiceprints, comprising: the bone conduction Bluetooth headset comprises a bone conduction Bluetooth headset body, a Bluetooth receiver, a main control unit and an operation control center;
the bone conduction Bluetooth headset is used for collecting bone vocal print audio signals and transmitting the bone vocal print audio signals to the Bluetooth receiver in a Bluetooth communication mode;
the Bluetooth receiver is used for receiving bone vocal print audio signals transmitted by the bone conduction Bluetooth headset and transmitting the bone vocal print audio signals to the main control unit;
the main control unit is used for processing the input bone vocal print audio signals, outputting the processed bone vocal print audio signals, recording the operation flow of a driver and uploading the operation flow to the operation control center in real time;
the operation control center is used for recording personnel voice, importing an audio file and setting an audio instruction; recording the operation flow of a driver; when the driver can not control the train, the train is remotely operated.
2. The human bone voiceprint based train handling system of claim 1 wherein said master control unit comprises: the system comprises a power supply module, a processor module, a gateway module and a digital quantity output module;
the power supply module is used for converting the power supply voltage of the vehicle-mounted storage battery and supplying power to each module;
the processor module is used for carrying out analog-to-digital conversion on the bone voiceprint audio signal, carrying out voice recognition on the control instruction, comparing the control instruction with an existing bone voiceprint library in a database, and configuring the operation authority of personnel;
the gateway module is used for converting the communication in the main control unit into a communication protocol of the train, and realizing the conversion of the communication protocol and the transmission of data; the gateway module comprises a wireless module and can perform data interaction on related data with an operation control center, ground relay equipment and other vehicles through an antenna according to a set message format;
the digital quantity output module exchanges data with the processor module through a communication medium integrated with the back module and is used for sending the instruction output by the processor module to other equipment of the vehicle in the form of digital quantity.
3. The train operation system based on human body vocal print according to claim 1, wherein the operation strategy of the operation control center comprises: when the running speed of the train is higher than a set speed value, the range of the set speed value is 10km/h to 15 km/h; if the operator does not perform any operation within a set time period or the system identifies snore according to the existing bone voiceprint library, the system can perform related voice prompt through a built-in loudspeaker, and if the operator does not perform any operation within the set trigger time after the prompt is triggered, the system outputs an emergency braking instruction, and the train is braked and stopped emergently; the set speed value, the set time period and the set triggering time are respectively set in programs of related chips in the module in a system parameter mode.
4. The human bone voiceprint based train operation system as claimed in claim 2, wherein said existing bone voiceprint library comprises: the existing bone voiceprint library is recorded through an operation control center, and the operation control center remotely updates the bone voiceprint audio files and the permission files in the vehicle-mounted train operation system of all the operation vehicles; and after the bone voiceprint audio file and the permission file are updated, the file takes effect after the local storage time of the train operation system exceeds the set updating time.
5. The human bone voiceprint based train operation system as claimed in claim 1, further comprising: the main control unit of the other end is arranged in the same way as the main control unit of the other end, the main control unit is connected with the main control unit of the other end through a local area network, and when the main control unit fails, equipment of the main control unit of the other end can replace a module which fails in the main control unit through the local area network.
6. The train control system based on human bone voiceprints according to claim 4, wherein the bone voiceprint audio files in the bone voiceprint library are matched with permission permissions, and the corresponding bone voiceprints correspond to the corresponding permissions.
7. The human bone voiceprint based train operation system as claimed in claim 1, further comprising: an antenna; the antenna is used for completing the receiving and sending of data, and the sending of the data refers to the fact that the data transmitted by the main control unit are sent to an operation control center and other vehicles running on the same line through the trackside antenna; the data receiving means that data sent by the operation control center and other vehicles running on the same line are transmitted to the main control unit through the trackside antenna.
8. The train control system based on human body vocal prints according to claim 1, wherein all command data are uploaded to a ground server located in an operation control center in real time for storage.
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113825118B (en) | 2024-02-27 |
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