Patent Application
20220293103
This application claims the benefit of Chinese Patent Application No. 202110621889.5 filed on Jun. 3, 2021, the whole disclosure of which is incorporated herein by reference.
The present disclosure relates to a field of computer technology, in particular to a field of voice recognition, and specifically to a method of processing a voice for a vehicle, an electronic device, and a medium.
In the related art, a vehicle has a voice recognition capability, and a voice receiver and a voice processor are usually arranged in the vehicle. The voice receiver is used for receiving voice data, and the voice processor is used for recognizing the received voice data. However, in the related art, the cost of configuring the voice receiver for the vehicle is relatively high.
The present disclosure provides a method of processing a voice for a vehicle, an electronic device, and a medium.
According to one aspect of the present disclosure, a method of processing a voice for a vehicle is provided, including: separating an initial voice data in response to receiving the initial voice data from a plurality of regions inside the vehicle, so as to obtain a plurality of voice sub-data and a description information for each voice sub-data of the plurality of voice sub-data, the plurality of voice sub-data correspond to the plurality of regions respectively, and the description information for each voice sub-data indicates the region corresponding to the each voice sub-data in the plurality of regions; and determining a voice working mode of the vehicle based on the plurality of voice sub-data.
According to another aspect of the present disclosure, an electronic device is provided, including: at least one processor; and a memory communicatively connected with the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, cause the at least one processor to implement the method of processing a voice for a vehicle.
According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, the computer instructions are configured to cause a computer to implement the method of processing a voice for a vehicle.
It should be understood that the content described in this section is not intended to identify critical or important features of embodiments of the disclosure, nor is it intended to limit the scope of the disclosure. Other features of the present disclosure will become readily understood by the following description.
The drawings are used for better understanding of the present solution, and do not constitute a limitation to the present disclosure, in which:
The following describes exemplary embodiments of the present disclosure with reference to the drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be regarded as merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Likewise, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.
The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The terms “comprising”, “including”, etc. used herein indicate the presence of the feature, step, operation and/or part, but do not exclude the presence or addition of one or more other features, steps, operations or parts.
All terms used herein (including technical and scientific terms) have the meanings generally understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein shall be interpreted to have meanings consistent with the context of this specification, and shall not be interpreted in an idealized or too rigid way.
In the case of using the expression similar to “at least one of A, B and C”, it should be explained according to the meaning of the expression generally understood by those skilled in the art (for example, “a system having at least one of A, B and C” should include but not be limited to a system having only A, a system having only B, a system having only C, a system having A and B, a system having A and C, a system having B and C, and/or a system having A, B, and C).
As shown in
For example, a plurality of voice receivers may be provided inside the vehicle 100 to receive a voice data. The voice receiver 121 is used, for example, to receive a voice data from the main driving region 111, and the voice receiver 122 is used, for example, to receive a voice data from the sub driving region 112. The vehicle 100 may perform different operations on the voice data from different regions.
For example, after the voice data from the main driving region 111 is received, operations such as opening windows, turning on the air conditioner, and navigating are performed based on the voice data. After the voice data from the sub driving region 112 is received, operations such as playing music and checking the weather forecast are performed based on the voice data.
However, there is a problem of high cost when the vehicle 100 is provided with the plurality of voice receivers.
In view of this, the embodiments of the present disclosure provide a method of processing a voice for a vehicle. The method of processing a voice for a vehicle includes following operations. An initial voice data is separated in response to receiving the initial voice data from a plurality of regions inside the vehicle, so as to obtain a plurality of voice sub-data and a description information for each voice sub-data of the plurality of voice sub-data. The plurality of voice sub-data correspond to the plurality of regions respectively, and the description information for each voice sub-data indicates the region corresponding to the each voice sub-data in the plurality of regions. Next, a voice working mode of the vehicle is determined based on the plurality of voice sub-data.
The following describes a method of processing a voice for a vehicle according to an exemplary embodiment of the present disclosure with reference to
As shown in
In operation S210, an initial voice data is separated in response to receiving the initial voice data from a plurality of regions inside the vehicle, so as to obtain a plurality of voice sub-data and a description information for each voice sub-data of the plurality of voice sub-data.
In operation S220, a voice working mode of the vehicle is determined based on the plurality of voice sub-data.
Exemplarily, the vehicle is, for example, provided with a voice receiver and a voice processor, and the voice receiver may include a microphone. The vehicle may receive the initial voice data from the plurality of regions through the voice receiver. After the initial voice data is received, the initial voice data is separated by using the voice processor, and the initial voice data is separated into a plurality of voice sub-data and a description information for each voice sub-data of the plurality of voice sub-data. The plurality of voice sub-data correspond to the plurality of regions respectively, and the description information for each voice sub-data indicates the region corresponding to the each voice sub-data in the plurality of regions.
After the plurality of voice sub-data are obtained through the separation processing, the vehicle may determine the voice working mode of the vehicle based on the plurality of voice sub-data respectively. The voice working mode, for example, indicates how to process a related voice data subsequently received by the vehicle and whether to perform a related operation based on the voice.
According to the embodiments of the present disclosure, the vehicle may receive the initial voice data from the plurality of regions through one voice receiver, and the initial voice data is separated to obtain the plurality of voice sub-data corresponding to the plurality of regions respectively. It is not required for the vehicle to configure a voice receiver for each of the plurality of regions, which may reduce the cost of the vehicle by reducing the number of voice receivers. In addition, compared to receiving a voice data from a plurality of regions through a plurality of voice receivers respectively, the voice data is received through one voice receiver in the embodiments of the present disclosure, thereby reducing the data amount of the received voice data. In this way, the calculation amount for the vehicle to process the voice is reduced, and the voice processing performance of the vehicle is improved.
As shown in
In operation S310, an initial voice data from a plurality of regions inside the vehicle is received.
In operation S320, the initial voice data is separated, so as to obtain a plurality of voice sub-data and a description information for each voice sub-data of the plurality of voice sub-data.
For example, the initial voice data is separated by using a blind source separation algorithm, and the initial voice data is separated into a plurality of voice sub-data corresponding to the plurality of regions respectively. The plurality of regions include, for example, a main driving region and a sub driving region. The plurality of voice sub-data include a first voice sub-data and a second voice sub-data. A description information for the first voice sub-data indicates that the first voice sub-data is from the main driving region, and a description information for the second voice sub-data indicates that the second voice sub-data is from the sub driving region.
In operation S330, a voice recognition is performed on the plurality of voice sub-data respectively, so as to obtain a plurality of voice recognition results, and the plurality of voice recognition results correspond to the plurality of voice sub-data respectively.
Exemplarily, a voice working mode of the vehicle is determined based on the plurality of voice recognition results. For example, it may be determined whether the voice recognition result corresponding to the first voice sub-data contains a first wake-up content or not and it may be determined Whether the voice recognition result corresponding to the second voice sub-data contains a second wake-up content or not.
In an example, after the plurality of voice recognition results corresponding to the plurality of voice sub-data are obtained, it may be both determined whether the voice recognition result corresponding to the first voice sub-data contains a first wake-up content or not and whether the voice recognition result corresponding to the second voice sub-data contains a second wake-up content for not.
In another example, after the plurality of voice recognition results corresponding to the plurality of voice sub-data are obtained, it is possible to first determine whether the voice recognition result corresponding to the first voice sub-data contains a first wake-up content or not and then determine whether the voice recognition result corresponding to the second voice sub-data contains a second wake-up content or not. The specific process is such as operation S340 to operation S390.
In operation S340, it is determined whether the voice recognition result corresponding to the first voice sub-data contains the first wake-up content or not. If the voice recognition result corresponding to the first voice sub-data contains the first wake-up content, then operation S350 is performed, otherwise, operation S370 is performed. The first wake-up content includes, for example, a specific wake-up word.
In operation S350, it is determined that the voice working mode of the vehicle is a first voice working mode, in response to the voice recognition result corresponding to the first voice sub-data containing the first wake-up content.
In operation S360, the vehicle is controlled to operate based on the first voice working mode.
Controlling the vehicle to operate based on the first voice working mode includes following operations. A third voice sub-data from the main driving region is extracted from a received first target voice data, a voice recognition is performed on the third voice sub-data to obtain a first operation instruction, and an operation is performed based on the first operation instruction.
For example, after the first wake-up content is recognized, the voice receiver of the vehicle may continue to receive the first target voice data. The first target voice data is from, for example, the main driving region and the sub driving region. It should be noted that even if a user only speaks in the main driving region, the sound of the main driving region may be transmitted to the sub driving region due to the divergence and reflection of the sound. Alternatively, there are other noises in the sub driving region, so that the first target voice data usually includes sounds from the main driving region and the sub driving region.
The third voice sub-data from the main driving region may be extracted from the received first target voice data by the vehicle. For example, the first target voice data is separated into a plurality of voice sub-data by using the blind source separation algorithm, and the plurality of voice sub-data includes the voice sub-data corresponding to the main driving region and the voice sub-data corresponding to the sub driving region. Then the third voice sub-data from the main driving region is extracted from the plurality of voice sub-data.
Next, the vehicle performs the voice recognition on the third voice sub-data, so as to obtain the first operation instruction, and the first operation instruction is associated with the main driving region, and the operation is performed based on the first operation instruction. The first operation instruction obtained by performing the voice recognition on the third voice sub-data includes, for example, important instructions such as “open the window”, “turn on the air conditioner”, and “navigate”.
In operation S370, it is determined whether the voice recognition result corresponding to the second voice sub-data contains the second wake-up content or not. If the voice recognition result corresponding to the second voice sub-data contains the second wake-up content, operation S380 is performed, otherwise, the operations terminate. The second wake-up content includes, for example, a specific wake-up word.
In operation S380, it is determined that the voice working mode of the vehicle is a second voice working mode, in response to the voice recognition result corresponding to the second voice sub-data containing the second wake-up content.
In operation S390, the vehicle is controlled to operate based on the second voice working mode.
Controlling the vehicle to operate based on the second voice working mode includes following operations. A fourth voice sub-data from the sub driving region is extracted from a received second target voice data, a voice recognition is performed on the fourth voice sub-data to obtain a second operation instruction, and an operation is performed based on the second operation instruction.
For example, after the second wake-up content is recognized, the voice receiver of the vehicle may continue to receive the second target voice data. The second target voice data is from, for example, the main driving region and the sub driving region. It should be noted that even if a user only speaks in the sub driving region, the sound of the sub driving region may be transmitted to the main driving region due to the divergence and reflection of the sound. Alternatively, there are other noises in the main driving region, so that the second target voice data usually includes sounds from the main driving region and the sub driving region.
The fourth voice sub-data from the sub driving region may be extracted from the received second target voice data by the vehicle. For example, the second target voice data is separated into a plurality of voice sub-data by using the blind source separation algorithm, and the plurality of voice sub-data includes the voice sub-data corresponding to the main driving region and the voice sub-data corresponding to the sub driving region. Then the fourth voice sub-data from the sub driving region is extracted from the plurality of voice sub-data.
Next, the vehicle performs the voice recognition on the fourth voice sub-data to obtain the second operation instruction, the second operation instruction is associated with the sub driving region, and the operation is performed based on the second operation instruction. The second operation instruction obtained by performing the voice recognition on the fourth voice sub-data includes, for example, unimportant instructions such as “play music” and “check weather forecast”.
In the embodiments of the present disclosure, usually only the first voice working mode or the second voice working mode is in an awake state at the same time. When the initial voice data includes both the first wake-up content and the second wake-up content, the first voice working mode corresponding to the main driving region is preferentially woken up. When the initial voice data does not include the first wake-up content but includes the second wake-up content, the second voice working mode is woken up.
According to the embodiments of the present disclosure, the vehicle may receive the initial voice data for the plurality of regions through one voice receiver, and the initial voice data is separated to obtain the plurality of voice sub-data corresponding to the plurality of regions respectively, then the plurality of voice sub-data are recognized respectively to obtain the voice recognition results, and the voice working mode is determined based on the voice recognition results. The first voice work mode for the main driving region is different from the second voice work mode for the sub driving region, so that the vehicle implements a plurality of modes for voice recognition.
As shown in
The voice receiver 410 includes, for example, a microphone, and the microphone is used to, for example, receive a voice data from a main driving region and a sub driving region.
After the voice receiver 410 receives an initial voice data A, the initial voice data A is sent to the blind source separating module 421 for separation processing, so as to obtain a plurality of voice sub-data and a description information for each voice sub-data of the plurality of voice sub-data. The plurality of voice sub-data include, for example, a first voice sub-data a1 and a second voice sub-data a2, the description information for the first voice sub-data a1, for example, indicates that the first voice sub-data a1 is from the main driving region, and the description information for the second voice sub-data a2, for example, indicates that the second voice sub-data a2 is from the sub driving region.
In an example, the blind source separating module 421 uses a blind source separation algorithm to separate voice, and a separation result includes the voice sub-data and the description information for describing a source of the voice sub-data. The description information may include an angle information, and the angle information includes, for example, a first angle interval and a second angle interval. The first angle interval is, for example, [0° 90°), and the second angle interval is, for example, [90° 180°]. An angle in the description information for the first voice sub-data a1 from the main driving region is, for example, within [0° 90°), and an angle in the description information for the second voice sub-data a2 from the sub driving region is, for example, within [90° 180°]. When the blind source separation algorithm is used to separate the voice data, for example, the source of each voice sub-data may be determined by calculating direction of arrival (DOA) of the voice.
Next, the first voice sub-data a1 is sent to the main wake-up engine 422 for recognition, so as to obtain a voice recognition result for the first voice sub-data a1. When the voice recognition result includes a first wake-up content, it is determined that the voice working mode of the vehicle is a first voice working mode.
The second voice sub-data a2 is sent to the sub wake-up engine 423, so as to obtain a voice recognition result for the second voice sub-data a2. When the voice recognition result includes a second wake-up content, it is determined that the voice working mode of the vehicle is a second voice working mode.
Take the voice working mode of the vehicle as the first voice working mode as an example. In the first voice working mode, the voice receiver 410 of the vehicle may continue to receive a first target voice data B. The first target voice data B includes, for example, a voice of a user from the main driving region. The blind source separating module 421 may separate the first target voice data B and extract a third voice sub-data b from the main driving region.
Then, the blind source separating module 421 sends the extracted third voice sub-data b to the voice recognizing engine 424 for voice recognition, so as to obtain a voice recognition result b1. The voice recognition result b1 includes, for example, the text “open the window”, “turn on the air conditioner”, “navigate” and so on. The voice recognizing engine 424 sends the voice recognition result b1 to the semantic understanding module 425 for semantic understanding, so as to determine a first operation instruction b2 corresponding to the text. For example, the first operation instruction b2 corresponding to the text “open the window” is a window opening instruction.
Next, the first operation instruction b2 is sent to the actuator 430, and the actuator 430 performs related operations based on the first operation instruction b2. For example, the actuator 430 opens a window based on the window opening instruction.
It should be understood that, in the embodiments of the present disclosure, the vehicle may receive the initial voice data from the plurality of regions through one voice receiver, and the initial voice data is separated to obtain the plurality of voice sub-data corresponding to the plurality of regions respectively, which reducing the cost of the vehicle. In addition, the voice data is received through one voice receiver, thereby reducing the data amount of the received voice data. In this way, the calculation amount for the vehicle to process the voice is reduced, and the voice processing performance of the vehicle is improved.
As shown in
The processing module 510 is used to separate an initial voice data in response to receiving the initial voice data from a plurality of regions inside the vehicle, so as to obtain a plurality of voice sub-data and a description information for each voice sub-data of the plurality of voice sub-data, the plurality of voice sub-data correspond to the plurality of regions respectively, and the description information for each voice sub-data indicates the region corresponding to the each voice sub-data in the plurality of regions. According to the embodiments of the present disclosure, the processing module 510 may, for example, perform the operation S210 described above with reference to
The determining module 520 is used to determine a voice working mode of the vehicle based on the plurality of voice sub-data. According to the embodiments of the present disclosure, the determining module 520 may, for example, perform the operation S220 described above with reference to
According to the embodiments of the present disclosure, the determining module 520 includes, for example, a first recognizing sub-module and a determining sub-module. The first recognizing sub-module is used to perform a voice recognition on the plurality of voice sub-data respectively, so as to obtain a plurality of voice recognition results, the plurality of voice recognition results correspond to the plurality of voice sub-data respectively. The determining sub-module is used to determine the voice working mode of the vehicle based on the plurality of voice recognition results.
According to the embodiments of the present disclosure, the plurality of regions includes a main driving region and a sub driving region; the plurality of voice sub-data includes a first voice sub-data and a second voice sub-data, a description information for the first voice sub-data indicates that the first voice sub-data is from the main driving region, and a description information for the second voice sub-data indicates that the second voice sub-data is from the sub driving region. The determining sub-module includes at least one of a first determining unit and a second determining unit. The first determining unit is used to determine that the voice working mode of the vehicle is a first voice working mode, in response to the voice recognition result corresponding to the first voice sub-data containing a first wake-up content. The second determining unit is used to determine that the voice working mode of the vehicle is a second voice working mode, in response to the voice recognition result corresponding to the second voice sub-data containing a second wake-up content.
According to the embodiments of the present disclosure, the apparatus 500 may further include a first controlling module used to control the vehicle to operate based on the first voice working mode. The first controlling module includes a first extracting sub-module, a second recognizing sub-module and a first operating sub-module. The first extracting sub-module is used to extract, from a received first target voice data, a third voice sub-data from the main driving region. The second recognizing sub-module is used to perform a voice recognition on the third voice sub-data, so as to obtain a first operation instruction, the first operation instruction is associated with the main driving region. The first operating sub-module is used to operate based on the first operation instruction.
According to the embodiments of the present disclosure, the apparatus 500 may further include a second controlling module used to control the vehicle to operate based on the second voice working mode. The second controlling module includes a second extracting sub-module, a third recognizing sub-module and a second operating sub-module. The second extracting sub-module is used to extract, from a received second target voice data, a fourth voice sub-data from the sub driving region. The third recognizing sub-module is used to perform a voice recognition on the fourth voice sub-data, so as to obtain a second operation instruction, the second operation instruction is associated with the sub driving region. The second operating sub-module is used to operate based on the second operation instruction.
According to the embodiments of the present disclosure, the vehicle includes a main wake-up engine and a sub wake-up engine; and the first recognizing sub-module includes a first recognizing unit and a second recognizing unit. The first recognizing unit is used to recognize the first voice sub-data by using the main wake-up engine, so as to obtain the voice recognition result for the first voice sub-data. The second recognizing unit is used to recognize the second voice sub-data by using the sub wake-up engine, so as to obtain the voice recognition result for the second voice sub-data.
According to the embodiments of the present disclosure, the processing module 510 is further used to separate the initial voice data by using a blind source separation algorithm.
In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision, disclosure, and application of the user's personal information involved are all in compliance with relevant laws and regulations, take essential confidentiality measures, and do not violate public order and good customs.
In the technical solution of the present disclosure, authorization or consent is obtained from the user before the user's personal information is obtained or collected.
According to the embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
As shown in
The I/O interface 605 is connected to a plurality of components of the device 600, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a magnetic disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices through the computer network such as the Internet and/or various telecommunication networks.
The computing unit 601 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computing unit 601 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing DSP and any appropriate processor, controller, microcontroller, etc. The computing unit 601 executes the various methods and processes described above, such as the method of processing a voice for a vehicle. For example, in some embodiments, the method of processing a voice for a vehicle may be implemented as computer software programs, which are tangibly contained in the machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed on the device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the method of processing a voice for a vehicle described above may be executed. Alternatively, in other embodiments, the computing unit 601 may be configured to execute the method of processing a voice for a vehicle in any other suitable manner (for example, by means of firmware).
Various implementations of the systems and technologies described in the present disclosure may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-chip SOC, complex programmable logic device (CPLD), computer hardware, firmware, software and/or their combination. The various implementations may include: being implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, the programmable processor may be a dedicated or general programmable processor. The programmable processor may receive data and instructions from a storage system, at least one input device and at least one output device, and the programmable processor transmit data and instructions to the storage system, the at least one input device and the at least one output device.
The program code used to implement the method of the present disclosure may be written in any combination of one or more programming languages. The program codes may be provided to the processors or controllers of general-purpose computers, special-purpose computers or other programmable data processing devices, so that the program code enables the functions/operations specific in the flowcharts and/or block diagrams to be implemented when the program code executed by a processor or controller. The program code may be executed entirely on the machine, partly executed on the machine, partly executed on the machine and partly executed on the remote machine as an independent software package, or entirely executed on the remote machine or server.
In the context of the present disclosure, the machine-readable medium may be a tangible medium, which may contain or store a program for use by the instruction execution system, apparatus, or device or in combination with the instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the above-mentioned content. More specific examples of the machine-readable storage media would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device or any suitable combination of the above-mentioned content.
In order to provide interaction with users, the systems and techniques described here may be implemented on a computer, the computer includes: a display device (for example, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (for example, a mouse or trackball). The user may provide input to the computer through the keyboard and the pointing device. Other types of devices may also be used to provide interaction with users. For example, the feedback provided to the user may be any form of sensory feedback (for example, visual feedback, auditory feedback or tactile feedback); and any form (including sound input, voice input, or tactile input) may be used to receive input from the user.
The systems and technologies described herein may be implemented in a computing system including back-end components (for example, as a data server), or a computing system including middleware components (for example, an application server), or a computing system including front-end components (for example, a user computer with a graphical user interface or a web browser through which the user may interact with the implementation of the system and technology described herein), or in a computing system including any combination of such back-end components, middleware components or front-end components. The components of the system may be connected to each other through any form or medium of digital data communication (for example, a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN) and the Internet.
The computer system may include a client and a server. The client and the server are generally far away from each other and usually interact through the communication network. The relationship between the client and the server is generated by computer programs that run on the respective computers and have a client-server relationship with each other.
It should be understood that the various forms of processes shown above may be used to reorder, add or delete steps. For example, the steps described in the present disclosure may be executed in parallel, sequentially or in a different order, as long as the desired result of the technical solution disclosed in the present disclosure may be achieved, which is not limited herein.
The above-mentioned implementations do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions may be made according to design requirements and other factors. Any modification, equivalent replacement and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202110621889.5 | Jun 2021 | CN | national |
