Driving apparatus for snow removal equipment provided in snow removal vehicle and the driving method thereof

Abstract

The present invention relates to a snow removal device equipped in a snow removal vehicle and a method for operating the same through voice recognition, characterized in that the user can conveniently control various equipment mounted on the snow removal vehicle using voice.

Description

Technology Field

[0001] The present invention relates to a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, which enables a driver to control various devices equipped in the snow removal vehicle by voice, and a driving method thereof. Background Technology

[0003] Roads serve as national infrastructure designed to facilitate the movement of people and goods, playing a crucial role in the national economy and the improvement of the quality of life for citizens. Consequently, countries are not only constructing numerous new roads to ensure smooth traffic flow but are also making diverse efforts to efficiently maintain and manage their existing infrastructure.

[0004] The condition of these roads varies significantly depending on weather conditions. In particular, rainfall or heavy snowfall can cause roads to fail to facilitate the smooth movement of people and goods. Furthermore, these road conditions worsen during the winter months when snowstorms and cold waves persist.

[0005] Therefore, the importance of road management is further emphasized during the winter season when snowstorms and cold waves persist. Consequently, due to this importance, the acquisition and modernization of equipment used for snow removal operations are being pursued in various aspects.

[0006] Drawing 1 is a drawing showing the appearance of a typical vehicle used for snow removal operations, and Drawing 2 is a drawing showing the interior of the driver's seat of a snow removal vehicle.

[0007] Various equipment may be provided on a snow removal vehicle (20) to remove snow and other debris accumulated on the road. Representative examples include a snow removal shovel (10) attached to the front of the snow removal vehicle (20) and a spreader (60) attached to the rear of the snow removal vehicle (20) to spread de-icing agents such as calcium chloride on the road. In order to operate the snow removal shovel (10) and spreader (60) provided on the snow removal vehicle (20), the driver (30) operating the snow removal vehicle (20) must control various operating devices (50) provided on the vehicle. Therefore, a situation may arise where the driver (30) must operate the snow removal vehicle (20) while holding the steering wheel (40) with one hand, and at the same time press a button on the operating device (50) to perform various operations such as operating, stopping, and speed control of the spreader (60). As such, if the driver (30) is unable to concentrate on driving the vehicle and their attention is distracted, the risk of an accident increases, and the damage is bound to be more severe in the case of heavy vehicles such as snow removal vehicles (20). Therefore, it is time for an interface to be provided that allows the driver (30) driving the snow removal vehicle (20) to safely operate the snow removal vehicle (20) and safely operate the various snow removal equipment equipped on the snow removal vehicle (20). The problem to be solved

[0009] The present invention has been devised to solve the above-mentioned problems and aims to provide a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, and a driving method thereof, which allows a driver or others to operate various snow removal equipment through voice.

[0010] In addition, we aim to provide a driving device for a snow removal device equipped in a snow removal vehicle and a driving method thereof, which can robustly recognize voice despite various noises inside the snow removal vehicle through voice recognition. means of solving the problem

[0011] To achieve the above objective, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by comprising: a step of receiving a voice recognition start trigger; a step of initiating a voice recognition process upon receiving the voice recognition trigger; and a step of performing operation of a snow removal device according to the command when the result of the voice recognition process matches a preset command.

[0012] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including a step of receiving sound through a microphone prior to the step of receiving a voice recognition start trigger.

[0013] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including a step of receiving sound through a microphone after a step in which a voice recognition start trigger is received.

[0014] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the voice recognition initiation trigger is generated by the pressing of a switch.

[0015] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the switch is a mechanical switch.

[0016] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the voice recognition initiation trigger is a voice signal received through a microphone.

[0017] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including a step of removing noise from the received sound after a step of receiving sound through a microphone.

[0018] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the microphone is a beam forming microphone.

[0019] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the voice recognition process comprises: a step of setting a voice recognition section in a received sound; a step of extracting an input feature vector in the voice recognition section; and a step of performing text conversion of the voice by comparing the similarity of the input feature vector with a reference feature vector.

[0020] In addition, the present invention provides a method for driving a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including a step of performing pre-amphersis to emphasize high-frequency components prior to the step of setting a voice recognition section in the received sound.

[0021] Additionally, the step of setting a voice recognition section in a received sound is characterized by being performed through: a step in which the basic energy value of the entire received sound is calculated and set to a threshold energy level; a step in which the front end of the region where a sound exceeding the threshold energy level exists in the received sound is set as the starting point of the voice recognition section; and a step in which the rear end of the region where a sound exceeding the threshold energy level exists in the received sound is set as the end point of the voice recognition section. This provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition.

[0022] In addition, the step of extracting input feature vectors in the above-mentioned speech recognition section is characterized by being performed through LPC (Linear Predictive Coding), PLP (Perceptual Linear Prediction), delta cepstrum, delta-delta cepstrum, MFCC (Mel Frequency Cepstral Coefficient), neural network, DTW (Dynamic Time Warping), HMM (Hidden Markov Model), CHMM (Continuous HMM), or SCHMM (Semi-Continuous HMM), thereby providing a method for operating a snow removal device equipped in a snow removal vehicle through speech recognition.

[0023] Additionally, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including: a step of acquiring a lip image through a camera before or after a step in which a voice recognition initiation trigger is received; and a step of reinforcing the voice recognition process through the analysis of the lip image.

[0024] In addition, the method of operating a snow removal device equipped in a snow removal vehicle is characterized in that the step of reinforcing the voice recognition process through the analysis of the lip image is achieved by reinforcing the result of the food recognition process by referring to changes in the principal components in the lip image synchronized with the received sound.

[0025] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the above-mentioned change in the main component includes a change in one or more of the speed at which the mouth opens and closes, the protrusion of the lower lip, the protrusion of the upper lip, the shadow under the lower lip, and the identification of teeth.

[0026] In addition, the method of operating a snow removal device equipped in a snow removal vehicle through voice recognition is characterized in that the step of removing noise from the received sound is performed through a Wiener filter or a Kalman filter.

[0027] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the step of removing noise from the received sound is performed through an adaptive filter.

[0028] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the optimal coefficient of the adaptive filter is calculated through any one of LMS (Least Mean Square), LS (Least Square), and RLS (Recursive Least Square).

[0029] In addition, the step of removing noise from the received sound is performed through one of the following methods: frequency subtraction, cepstrum mean subtraction, pole-filtered cepstrum mean subtraction, and RASTA (Relative Spectral). The present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition.

[0030] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that one of the frame average frequency subtraction method, the stochastic frequency subtraction method, and the weighted frequency subtraction method is selected as the frequency subtraction method.

[0031] In addition, the present invention provides a method for operating a snow removal device equipped in a vehicle snow removal vehicle through voice recognition, characterized in that the step of removing noise from the received sound is performed in a band-pass filter.

[0032] In addition, the present invention provides a method for driving a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the center frequency of the band-pass filter increases as the speed of the snow removal vehicle increases.

[0033] In addition, the present invention provides a method for driving a snow removal device characterized in that the above command includes one or more command signals among starting the spreading of a de-icing agent, stopping the spreading of a de-icing agent, increasing the rotational speed of a spreader, decreasing the rotational speed of a spreader, raising the height of a spreader, and lowering the height of a spreader.

[0034] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by comprising: a microphone; a memory storing preset commands for the operation of a snow removal device; a voice recognition unit that recognizes voice from sound received through the microphone; and a snow removal device driving unit that operates the snow removal device according to the preset commands when the voice recognition result of the voice recognition unit and the preset commands stored in the memory are compared and matched.

[0035] In addition, a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition is provided, characterized by further including a speaker; and a display.

[0036] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the voice recognition trigger that operates the voice recognition unit is received through the microphone.

[0037] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the voice recognition trigger that operates the voice recognition unit is generated by the pressing of a switch.

[0038] In addition, the above-mentioned switch is a mechanical switch and provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition.

[0039] In addition, the invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including a transmitting and receiving unit for transmitting and receiving data.

[0040] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including: a camera for acquiring a lip image; a voice recognition reinforcement unit for reinforcing the voice recognition process of the voice recognition unit through the lip image acquired by the camera; and a noise removal unit for removing noise from the sound received from the microphone.

[0041] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the microphone is a beamforming mask.

[0042] Additionally, the invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including a control unit that controls data exchange or operation between the microphone, the memory, the voice recognition unit, the snow removal device driving unit, the speaker, the display, the transceiver, the noise removal unit, the camera, and the voice recognition enhancement unit.

[0043] In addition, the control unit provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that when the first stage of a three-stage mechanical switch is pressed, it is recognized as a voice instruction control signal, when the second stage is pressed, it is recognized as a remote instruction control signal, and when the third stage is pressed, it is recognized as a public communication network connection instruction signal.

[0044] Additionally, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the voice recognition unit comprises: a pre-emphasis module that emphasizes high-frequency components; a voice recognition section setting module that sets a voice recognition section in a received sound; an input feature vector extraction module that extracts an input feature vector within the voice recognition section set by the voice recognition section module; and a text conversion module that performs text conversion by comparing the similarity between a reference feature vector for a preset command stored in the memory and the input feature vector extracted between the input feature vector extraction module.

[0045] Additionally, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the voice recognition section setting module comprises: a threshold energy setting section that calculates the basic energy of the entire received sound and sets it to a threshold energy level; and a section that sets the front end of the area where a sound exceeding the threshold energy level exists as the starting point of the voice recognition section and sets the rear end of the area where a sound exceeding the threshold energy level exists as the end point of the voice recognition section.

[0046] In addition, the above input feature vector extraction module is characterized by extracting the input feature vector through LPC, PLP, delta cepstrum, delta-delta cepstrum, MFCC, neural network, DTW, HMM, CHMM, or SCHMM, thereby providing a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition.

[0047] In addition, the above-mentioned voice recognition reinforcement unit comprises a synchronization module that performs synchronization between a received sound and a lip image; and a lip change information providing module that provides information about changes in the principal components of the lip image to the voice recognition unit, thereby providing a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition.

[0048] In addition, the driving device of a snow removal device equipped in a snow removal vehicle through voice recognition is provided, characterized in that the principal component change of the lip image includes a change in one or more of the speed at which the mouth opens and closes, the protrusion of the lower lip, the protrusion of the upper lip, the shadow under the lower lip, and the identification of teeth.

[0049] In addition, the above noise removal unit is configured to include one or more of a Wiener filter, a Kalman filter, a bandpass filter, or an adaptive filter, thereby providing a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition.

[0050] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the optimal coefficient of the adaptive filter is calculated through any one of LMS, LS, and RLS.

[0051] In addition, the noise removal unit provides a driving device for a snow removal device equipped in a snow removal vehicle, characterized by removing noise through any one of the following methods: frequency subtraction method, cepstrum average subtraction method, pole-filtered cepstrum mean subtraction, and Rasta.

[0052] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that one of the frame average frequency subtraction method, the stochastic frequency subtraction method, and the weighted frequency subtraction method is selected as the frequency subtraction method.

[0053] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the center frequency of the bandpass filter increases as the speed of the snow removal vehicle increases.

[0054] In addition, the present invention provides a driving device for a snow removal device characterized in that the above command includes one or more command signals among starting the spreading of a de-icing agent, stopping the spreading of a de-icing agent, increasing the rotational speed of a spreader, decreasing the rotational speed of a spreader, raising the height of a spreader, and lowering the height of a spreader.

[0055] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by comprising: a step of receiving a voice recognition start trigger; a step of initiating a voice recognition process upon receiving the voice recognition trigger; a step of performing operation of a snow removal device according to a command when the result of the voice recognition process matches a preset command; and a step of outputting the operation status of the snow removal device through a speaker or a display.

[0056] In addition, the present invention provides a method for operating a snow removal device through voice recognition, characterized in that the voice recognition initiation trigger is generated by the pressing of a switch.

[0057] In addition, a method for operating a snow removal device through voice recognition is provided, characterized in that the switch is a mechanical switch.

[0058] In addition, the present invention provides a method for operating a snow removal device through voice recognition, characterized in that the switch is a three-stage switch.

[0059] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the first stage of the above-mentioned three-stage switch is a voice instruction control signal, the second stage is a remote instruction control signal, and the third stage is a public communication network connection instruction signal are applied to the snow removal device.

[0060] Additionally, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including: a step of acquiring a lip image through a camera before or after a step in which a voice recognition initiation trigger is received; and a step of reinforcing the voice recognition process through the analysis of the lip image.

[0061] In addition, the present invention provides a method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the camera is an infrared camera.

[0062] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, comprising: a microphone; a speaker; a display; a memory storing preset commands for the operation of a snow removal device; a voice recognition unit that recognizes voice from sound received through the microphone; and a snow removal device driving unit that operates a snow removal device according to a preset command when a match is found between the voice recognition result of the voice recognition unit and the preset command stored in the memory, wherein the operating status of the snow removal device operated by the snow removal device driving unit is output through the speaker and / or the display.

[0063] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the display is a touch screen.

[0064] In addition, the present invention provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that the voice recognition trigger that operates the voice recognition unit is generated by the pressing of a switch.

[0065] In addition, the above-mentioned switch is a mechanical switch and provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition.

[0066] In addition, the above mechanical switch is characterized as being a 3-position switch, and provides a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition.

[0067] In addition, the above-mentioned camera is an infrared camera, and the driving device of a snow removal device equipped in a snow removal vehicle through voice recognition is provided. Effects of the invention

[0068] According to the driving device of a snow removal device equipped in a snow removal vehicle through voice recognition and the driving method thereof according to the present invention, the following effects are achieved.

[0069] First, it has the effect of allowing various snow removal equipment equipped on snowplows to be easily controlled via the driver's voice. Through this, it is possible to significantly reduce the risk of accidents caused by the driver's distraction.

[0070] Second, it has the effect of accurately recognizing voice instructions despite various noises such as vehicle engine sounds and road noise.

[0071] Third, in the case of an embodiment in which the voice recognition process is initiated using a switch, voice recognition that is more robust against noise, such as static, can be ensured, and the inconvenience caused by the failure to recognize the voice recognition trigger can be further reduced. That is, by ensuring that the voice recognition trigger part is recognized according to the operation of the switch and that only the command part necessary for operating the snow removal equipment is processed through voice recognition, more robust voice recognition can be provided. In addition, since the voice recognition process is entered immediately upon pressing the switch, faster responsiveness can be achieved in operating the device.

[0072] Fourth, through an embodiment in which a mode can be changed using a 3-stage switch, etc., there is an effect of expanding the usability of the driving device of the snow removal device equipped in the snow removal vehicle through voice recognition.

[0073] Fifth, by equipping beamforming microphones and infrared cameras, voice commands can be clearly received even amidst the significant noise generated by snowplows. Additionally, utilizing received lip images can further enhance the accuracy of voice recognition. Brief explanation of the drawing

[0075] Drawing 1 is a drawing showing the appearance of a typical vehicle used for snow removal operations. Drawing 2 is a drawing showing the interior of the driver's seat of a snowplow. Figure 3 is a diagram briefly showing the interior of a driver's seat equipped with a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention. Figure 4 is a diagram briefly showing the interior of a driver's seat equipped with a modified embodiment of a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention. Figure 5 is an enlarged view of a mechanical switch used in a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention. Figure 6 is a drawing showing a spreader installed on the rear of a snow removal vehicle equipped with a driving device for a snow removal device installed in a snow removal vehicle through voice recognition according to the present invention. Figure 7 is a drawing showing the height of a spreader being adjusted according to a voice command recognized by a driving device of a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention. Figure 8 is a flowchart showing a method of operating a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention. Figure 9 is a flowchart showing the steps in which a voice recognition process is performed in the present invention. Figure 10 is a flowchart showing the process of setting a voice recognition section in the present invention. Figure 11 is a graph showing the process of setting the voice recognition section in the present invention. Figure 12 is a block diagram schematically showing the internal configuration of a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention. Figure 13 is a block diagram briefly showing the internal configuration of the voice recognition unit constituting the present invention. Figure 14 is a block diagram showing the internal configuration of a voice recognition section setting module of a voice recognition unit constituting the present invention. Figure 15 is a block diagram briefly showing the internal configuration of the voice recognition reinforcement unit constituting the present invention. Specific details for implementing the invention

[0076] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. Since the present invention is capable of various modifications and may take various forms, specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed forms, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0077] Furthermore, in the description of the present invention, terms such as "first," "second," etc. are used solely for the purpose of distinguishing one component from another and are not used to limit any meaning. Also, singular expressions include plural expressions unless the context clearly indicates otherwise, and terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0078] Figure 3 is a diagram briefly showing the interior of a driver's seat equipped with a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention.

[0079] The driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition according to the present invention is not limited thereto, but may be provided in the form of a tablet as shown in the drawing. Also, various snow removal devices or equipment such as a spreader (60) and a snow removal shovel (10) equipped in the snow removal vehicle (20) may be connected to the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition in the form of a tablet using a connector, etc. Accordingly, when the driver (30) driving the snow removal vehicle (20) gives commands such as "start spreading de-icing agent," "stop spreading de-icing agent," or "increase spreader rotation speed" by voice, the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition receives and recognizes these voice instructions using a microphone (100) provided inside or outside, and can operate various snow removal equipment equipped in the snow removal vehicle (20). In addition, the operating status of such snow removal equipment can be provided to the driver (30) through a display (900, display) or a speaker (500, speaker) provided in the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition. Therefore, in the snow removal vehicle (20) equipped with the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition according to the present invention, the driver (30) is not distracted during the operation of the snow removal equipment, so the effect of significantly reducing the risk of accidents caused by distraction of attention can be achieved.

[0080] Figure 4 is a diagram briefly showing the interior of a driver's seat equipped with a modified embodiment of a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention.

[0081] The driving device (1000) of the snow removal device equipped in the snow removal vehicle according to the present invention, which initiates the voice recognition process, may use any pre-set word or sentence from the sound received from the microphone (100) as a voice recognition trigger, but as a modified embodiment, the signal recognized by the pressing of the switch (800) may also be used as a voice recognition trigger. Furthermore, such a switch (800) may be attached to the steering wheel (40) of the snow removal vehicle (20) so that the driver (30) can easily control it.

[0082] The advantages of the modified embodiment are compared with the embodiment of Figure 3 above as follows.

[0083] In the embodiment of Figure 3, after the driver (30) pronounces a voice recognition trigger (e.g., "hey, autopilot"), the driving device (1000) of the snow removal device equipped in the snow removal vehicle recognizes this and initiates the voice recognition process. Afterward, the driver must pronounce commands such as "spreading de-icing agent" or "increasing spreader rotation speed" to recognize them and the snow removal device equipped in the snow removal vehicle (20) will operate. In contrast, in the modified embodiment of Figure 4, when the switch (800) is pressed, the driving device (1000) of the snow removal device equipped in the snow removal vehicle according to the present invention immediately enters the voice recognition preparation stage. Therefore, the driver (30) can immediately pronounce and execute various commands to operate the snow removal equipment mounted on the vehicle. Thus, faster responsiveness can be achieved in terms of driving the snow removal equipment mounted on the snow removal vehicle (20). Furthermore, when the snow removal vehicle (20) is in operation, various noises such as engine noise, road noise, and the operation of various devices are generated. By ensuring that the voice recognition trigger part is recognized according to the operation of the switch (800) and that only the direct command part is processed through voice recognition, there is an effect of ensuring more robust voice recognition. In addition, when the switch (800) is attached to the steering wheel (40), the driver (30) can easily control the snow removal device or equipment through voice recognition without distracting the driver (30).

[0084] For reference, this switch (800) may be implemented as a mechanical switch, but if the display (900) is implemented as a touch screen, it may be implemented as a graphic button displayed on the touch screen. Also, the connection between the switch (800) and the driving device (1000) of the snow removal device equipped in the snow removal vehicle via voice recognition may be made through a physical wire, but may also be made through a wireless connection such as Bluetooth.

[0085] Figure 5 is an enlarged view of a mechanical switch used in a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention.

[0086] The switch (800) described above can be adopted regardless of its type as long as it can generate a voice recognition trigger to initiate the voice recognition process, but as an example, a mechanical switch can be adopted and used. More specifically, a three-stage mechanical switch capable of applying three signals can be used, and (A) of Figure 5 shows a view of the three-stage mechanical switch from above, and (B) shows a view from the side.

[0087] By using such a 3-stage switch, the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition according to the present invention can be controlled to operate in three individual modes. For example, if the state where the 'X' side is pressed is the 1st stage, the state where the 'Y' side is pressed is the 2nd stage, and the state where the 'Z' side is pressed is the 3rd stage, then in the 1st stage, a voice instruction control signal can be applied to the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition, in the 2nd stage, a remote instruction control signal can be applied, and in the 3rd stage, a public communication network connection instruction signal can be applied. That is, if the driver (30) has something to instruct by voice while the snow removal vehicle (20) is in operation, the switch (800) can be set to the 1st stage and voice commands such as "spreading de-icing agent" or "stop spreading de-icing agent" can be instructed to the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition. In addition, when the switch (800) is in the second position, the mode is changed so that various snow removal equipment equipped on the snow removal vehicle (20) can be controlled remotely from the outside, and in this state, the snow removal equipment mounted on each vehicle can be remotely controlled from a central control terminal or server. Also, when the switch (800) is in the third position, the state can be changed to connect to a public communication network that shares information by voice among drivers (30) operating the snow removal vehicle (20). Through this, the expandability of use of the driving device (1000) of the snow removal device equipped on the snow removal vehicle through voice recognition according to the present invention can be expanded.

[0088] Figure 6 is a drawing showing a spreader installed on the rear of a snow removal vehicle equipped with a driving device for a snow removal device equipped with voice recognition according to the present invention, and Figure 7 is a drawing showing the height of the spreader being adjusted according to a voice command recognized by the driving device for a snow removal device equipped with voice recognition according to the present invention.

[0089] As previously explained, various snow removal devices or equipment may be installed on the snow removal vehicle (20). For instance, a spreader (60) may be provided on the rear of the snow removal vehicle (20) to widely spread a de-icing agent, such as calcium chloride, on the road. Furthermore, in the snow removal vehicle (20) equipped with a driving device (1000) for the snow removal device according to the present invention, the operation of the spreader (60) can be controlled via voice commands. For example, if a voice command such as "spread de-icing agent" is given, the rotation of the spreader (60) begins, and if a command such as "increase spreader rotation speed" is given, the rotation speed of the spreader (60) increases. Additionally, if voice commands such as "raise spreader height" or "lower spreader height" are given, the height of the spreader (60) is controlled as shown in Figure 7, thereby adjusting the spreading radius.

[0090] Thus, according to the present invention, various snow removal equipment equipped in a snow removal vehicle (20) can be easily controlled by the voice of the driver (30).

[0091] Figure 8 is a flowchart showing a method of operating a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention.

[0092] The method for driving a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention may first be performed by receiving a sound including voice through a microphone (100) (S8-1), and removing noise from the received sound through a noise removal unit (110). Next, the method for driving a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention may check whether a voice recognition trigger is received (S8-3). Here, the voice recognition trigger may be a voice signal received through the microphone (100), or it may be generated by the switch (800) being pressed. And, if the voice recognition trigger is a voice signal received through the microphone (100), it may be a preset voice signal such as "Hey, auto", "auto", etc.

[0093] When such a voice recognition trigger is recognized, a voice recognition process is initiated from the sound received through the voice recognition unit (300) (S8-4), and the recognized result is compared to whether it matches with a preset command stored in memory (200) (S8-5). If it matches, the process of operating the snow removal device equipped in the snow removal vehicle (20) through the snow removal device driving unit (400) can proceed (S8-6). Next, the operation status of the snow removal device can be received and output to a speaker (500), a display (900), etc., to inform the driver (30), etc.

[0094] As previously discussed, the snow removal vehicle (20) used to clear snow is surrounded by a lot of noise, such as engine vibrations and noise generated from the road surface. Furthermore, due to the nature of the snow removal vehicle (20), which is manufactured using a large truck, it does not have the same level of quietness as a regular passenger car. Therefore, voice recognition in the snow removal vehicle (20) is performed in a more challenging process compared to voice recognition inside a regular passenger car. To compensate for this, the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition according to the present invention and the driving method thereof input a voice recognition trigger using a switch (800) as previously discussed. Furthermore, the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition according to the present invention and the driving method thereof can acquire a lip image through a camera (610) (S8-8), and use the acquired lip image to reinforce the voice recognition process of the voice recognition unit (300). More specifically, the lip image and the lip image received from the microphone (100) can be synchronized, and the lip image can be analyzed to accurately recognize the received voice. For example, if the voice recognition unit (300) alone is unclear whether the received voice is 'ga' or 'geo', it can accurately recognize it as 'ga' by referring to the lip image. Through this, more accurate voice recognition is possible, and characteristics that are more robust against noise can be achieved.

[0095] Figure 9 is a flowchart showing the steps in which a voice recognition process is performed in the present invention.

[0096] The voice recognition process (S8-4) of Figure 8 can be carried out through the following detailed steps. First, a pre-emphasis process in which high-frequency parts are emphasized so that the voice parts, rather than noise, are clearly recognized in the received sound can be performed through a pre-emphasis module (310) (S9-1). After the pre-emphasis process is performed, a process of setting the voice recognition section where voice recognition will be performed can be carried out through a voice recognition section setting module (320) (S9-2). The process of setting the voice recognition section where command processing will be performed after receiving a voice recognition trigger will be examined in more detail through the following drawings.

[0097] After the speech recognition section is set in this way, an input feature vector that identifies the features of the speech in that section is extracted through an input feature vector extraction module (330) (S9-3), and a text conversion module (340) compares the similarity of the extracted input feature vector with a reference feature vector stored in advance to finally convert the speech into text (S9-4).

[0098] The method of driving a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention performs voice recognition through this process, thereby enabling clearer voice recognition even in the driving environment of a snow removal vehicle (20) where a lot of noise is present. For reference, various noises occur when a vehicle is driven, and this affects the articulatory organs, causing the driver's (30) pronunciation, volume, and voice to differ from normal pronunciation, which is referred to as the Lombard effect in technical terms. Furthermore, the voice recognition unit (300) constituting the present invention can appropriately adjust the setting values ​​and sensitivity of each module in consideration of this Lombard effect.

[0099] Figure 10 is a flowchart showing the process of setting a voice recognition section in the present invention.

[0100] In a voice recognition device, converting and recognizing all signals received by the microphone consumes a lot of resources such as memory and cannot clearly distinguish desired instructions. Therefore, voice is recognized for a certain range after recognizing a trigger signal that initiates voice recognition. Here, this trigger or trigger signal may be a preset voice signal received by the microphone (100), or a signal input using a switch (800), etc.

[0101] The method for driving a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention can complete the setting of the voice recognition section of Figure 9 (S9-2), which requires clear voice recognition, through the following process.

[0102] First, a process can be performed to measure the energy level of the total energy of the sound received through the microphone (100) and set it as the threshold energy level (ME, Margin Energy) (S10-1). Here, the sound segment used to set the threshold energy level does not necessarily have to be the segment after the voice recognition trigger is recognized, but may be an energy level calculated using the sound received prior to that. After the threshold energy level is set in this way, a segment having an energy value greater than or exceeding the threshold energy level is searched for in the sound received after the voice recognition trigger. In other words, a segment having an excess energy value is searched by checking the part where the threshold energy level graph and the sound graph cross at zero. Then, the front end of the area where the sound exceeding the threshold energy level exists is set as the starting point of the voice recognition segment (S10-2), and the rear end is set as the end point of the voice recognition segment (S10-3), thereby determining the voice recognition segment where the voice recognition process will be performed.

[0103] The method for driving a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention has the effect of further improving the accuracy of voice recognition because the part where voice recognition should be performed can be clearly recognized through this method.

[0104] Figure 11 is a graph showing the process of setting the voice recognition section in the present invention.

[0105] The process of setting the voice recognition section discussed earlier can be viewed in a graph as follows.

[0106] The driving device (1000) of the snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention and the driving method thereof set a voice recognition section in which a voice recognition process is performed after a voice recognition trigger is received. To this end, first, the basic energy of the entire sound received is calculated and set as a threshold energy level (ME). Here, the section of the entire sound for obtaining this threshold energy level does not necessarily have to be the section from after the voice recognition trigger is received, and it may be calculated using the sound received from the microphone (100) prior to that. Next, when the voice recognition trigger is recognized, an area exceeding the threshold energy level in the sound thereafter is searched, and a point slightly before the searched section is set as the start point (SP) of the voice recognition section, and a point slightly after that section is set as the end point (EP) of the voice recognition section. The reason for setting the start point and the end point outside the area having energy exceeding the threshold energy level is to ensure that there is no loss of intermediate parts in the voice command, thereby enabling safe recognition of the voice command.

[0107] Figure 12 is a block diagram schematically showing the internal configuration of a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention.

[0108] The driving device (1000) of a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention may be configured to include a microphone (100) for receiving sound, a memory (200) for storing preset commands required for the operation of a snow removal device equipped in a snow removal vehicle (20), a voice recognition unit (300) for recognizing voice from sound received from the microphone (100), and a snow removal device driving unit (400) for operating a snow removal device or equipment according to the corresponding command when the voice recognition result of the voice recognition unit (300) matches the preset command stored in the memory (200). Furthermore, the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition according to the present invention may further be equipped with a speaker (500), a display (900), etc., for guiding the driver (30), etc., on the operating status of the snow removal device or equipment, and may further be equipped with a transceiver (600) and a switch (800) that provides a voice recognition trigger to exchange data with an external terminal or server, etc. Additionally, it may be configured to include a noise removal unit (110) that removes noise from sound received from a microphone (100), a camera (610), a voice recognition reinforcement unit (620) that provides information to reinforce the voice recognition process of the voice recognition unit (300) using a lip image captured by the camera (610), and a control unit (700) that controls data exchange and / or operation between each component constituting the present invention.

[0109] The noise removal unit (110) constituting the voice recognition unit (300) of the present invention is configured to perform the role of removing noise, such as engine noise and road surface noise, in addition to the voice to be recognized in the received sound, and can select and adopt various noise removal methods. Specifically, noise can be removed from the received sound through a Wiener filter or a Kalman filter, and in another method, noise can be removed through an adaptive filter having an optimal coefficient calculated through any one of LMS (Least Mean Square), LS (Least Square), and RLS (Recursive Least Square). In addition, noise can be removed through any one of the frequency subtraction method, cepstrum mean subtraction method, pole-filtered cepstrum mean subtraction, and RASTA (Relative Spectral). In addition, any one of the frame average frequency subtraction method, stochastic frequency subtraction method, or weighted frequency subtraction method can be selected as the frequency subtraction method.

[0110] The driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition according to the present invention has the effect of allowing the driver (30) to simply control various snow removal devices or equipment equipped in the snow removal vehicle (20) by voice through this configuration. For reference, the microphone (100) constituting the present invention may be a beamforming microphone composed of a plurality of microphones to receive the voice of the driver (30) inside the snow removal vehicle (20) clearly and more distinctly. By adopting a beamforming microphone, the present invention can adjust the microphone so that it is directed toward the driver (30) giving the voice command, and can receive voice instruction commands more clearly even amidst a lot of noise. Also, the camera (610) may be an infrared camera selected and used to capture lip images more clearly even in dark spaces.

[0111] Figure 13 is a block diagram briefly showing the internal configuration of the voice recognition unit constituting the present invention.

[0112] A voice recognition unit (300) that performs a core role in a driving device (1000) of a snow removal device equipped in a snow removal vehicle through voice recognition according to the present invention may be configured to include a pre-emphasis module (310), a voice recognition section setting module (320), an input feature vector extraction module (330), and a text conversion module (340). More specifically, the pre-emphasis module (310) performs the role of emphasizing high-frequency components to further emphasize the voice uttered by the driver (30), etc., compared to noise; the voice recognition section setting module (320) is a part that performs the role of determining a voice recognition section to be recognized as a command after a voice recognition trigger is recognized; the input feature vector extraction module (330) is a configuration that performs the role of extracting feature parameters effective for recognition from a voice signal; and the text conversion module (340) is a part that performs the role of converting the received voice into text by comparing the similarity between the input feature vector received from the input feature vector extraction module (330) and the reference feature vector for a preset command. For example, if the similarity between the reference feature vector and the input feature vector for a preset command is 80% or more, the speech in the speech recognition section can be determined to be a preset command.

[0113] For reference, the input feature vector extraction module (330) is a part that performs the role of modeling the human vocal organs and extracting features that represent semantic information, as the voice waveforms are not identical when the same person pronounces the same word. Various methods such as LPC (Linear Predictive Coding), PLP (Perceptual Linear Prediction), delta cepstrum, delta-delta cepstrum, MFCC (Mel Frequency Cepstral Coefficient), neural network, DTW (Dynamic Time Warping), HMM (Hidden Markov Model), CHMM (Continuous HMM), and SCHMM (Semi-Continuous HMM) can be used.

[0114] Figure 14 is a block diagram showing the internal configuration of a voice recognition section setting module of a voice recognition unit constituting the present invention.

[0115] As previously discussed, setting the range to be recognized as a command is very important for accurate voice recognition. To this end, the voice recognition range setting module (320) constituting the voice recognition unit (300) may include a threshold energy setting section (321) and a range setting section (322). The threshold energy setting section (321) performs the role of calculating the basic energy of the entire received sound and setting it to a threshold energy level. The range setting section (322) performs the role of setting the front end of the area where a sound exceeding this level exists as the starting point of the voice recognition range and the bottom end as the end point of the voice recognition range, based on the threshold energy level received from the threshold energy setting section (321). Through this configuration, the voice recognition range setting module (320) can more clearly recognize the part of the sound received by the microphone (100) that needs to be processed and recognized as a command.

[0116] Figure 15 is a block diagram briefly showing the internal configuration of the voice recognition reinforcement unit constituting the present invention.

[0117] As previously discussed, since there is significant noise inside the snow removal vehicle (20) designed as a large truck, a considerably robust voice recognition must be provided. To this end, the present invention can reinforce the voice recognition process using a lip image obtained through a camera (610), which can be achieved through a voice recognition reinforcement unit (620). The voice recognition reinforcement unit (620) may be configured to include a synchronization module (621) and a lip change information provision module (622). Specifically, the synchronization module (621) performs the role of matching the synchronization between the received image and sound, and the lip change information provision module (622) performs the role of providing information to the voice recognition unit (300) by referring to changes in principal components such as the speed at which the mouth opens and closes, the protrusion of the lower lip, the protrusion of the gums, the shadow under the lower lip, and the presence of teeth in the lip image.

[0118] Through this, the driving device (1000) of the snow removal device equipped in the snow removal vehicle through voice recognition according to the present invention and the driving method thereof can correct the result of the voice recognition process of the voice recognition unit (300) using lip images even if the result is somewhat different from what was actually pronounced.

[0119] Finally, it should be noted that each component expressed by terms such as part, module, or section constituting the present invention may be a physical component, but may also be a software-based component consisting of functions, classes, etc.

[0120] As described above, although the present invention has been explained with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the invention without departing from the spirit and scope of the invention as set forth in the following claims. Explanation of the symbols

[0122] 10: Snow shovel 20 : Snow removal vehicle 30 : Driver 40 : Steering wheel 50: Control device 60 : Spreader 100 : Microphone 110 : Noise removal unit 200 : Memory 300 : Voice recognition unit 310: Pre-emphasis Module 320 : Voice recognition range setting module 321: Critical Energy Setting Section 322 : Section setting section 330: Input Feature Vector Extraction Module 340 : Text conversion module 400: Snow removal device drive unit 500 : Speaker 600 : Transmitter / Receiver 610 : Camera 620 : Voice recognition enhancement unit 621: Synchronization Module 622: Lip Change Information Provision Module 700 : Control unit 800 : Switch 900 : Display 1000: Driving device of the snow removal system equipped on the snow removal vehicle via voice recognition

Claims

Claim 1 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, comprising: a step of receiving a voice recognition start trigger; a step of initiating a voice recognition process upon receiving the voice recognition start trigger; and a step of performing operation of a snow removal device according to the command when the result of the voice recognition process matches a preset command; wherein the voice recognition start trigger is generated by pressing a switch, the switch is a mechanical switch, the switch is a three-position switch, and wherein the first position of the three-position switch is a voice instruction control signal, the second position is a remote instruction control signal, and the third position is a public communication network connection instruction signal are applied to the snow removal device. Claim 2 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 1, a step of receiving sound through a microphone before or after the step of receiving a voice recognition start trigger is further included. Claim 3 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in paragraph 2, the microphone is a beamforming microphone. Claim 4 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, wherein, in the first aspect, if the result of the voice recognition process matches a preset command, after the step of performing the operation of the snow removal device according to the command, the operation status of the snow removal device is output through a speaker or a display; wherein the voice recognition process comprises the step of setting a voice recognition section in a received sound; the step of extracting an input feature vector in the voice recognition section; and the step of performing text conversion of the voice by comparing the similarity of the input feature vector with a reference feature vector. Claim 5 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 4, the setting of the voice recognition section comprises: a step of calculating the basic energy value of the entire received sound and setting it to a threshold energy level; a step of setting the front end of the area where a sound exceeding the threshold energy level exists in the received sound as the starting point of the voice recognition section; and a step of setting the rear end of the area where a sound exceeding the threshold energy level exists in the received sound as the end point of the voice recognition section. Claim 6 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 1, the step of acquiring a lip image through a camera before or after the step of receiving a voice recognition start trigger; and the step of reinforcing the voice recognition process through the analysis of the lip image. Claim 7 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 6, the camera is an infrared camera. Claim 8 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in the second paragraph, after the step of receiving sound through a microphone, noise is removed from the received sound. Claim 9 A method for operating a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 8, the step of removing noise from the received sound is performed through a band-pass filter. Claim 10 A method for driving a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 9, the center frequency of the band-pass filter increases as the speed of the snow removal vehicle increases. Claim 11 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, comprising: a microphone; a memory storing preset commands for the operation of a snow removal device; a voice recognition unit that recognizes voice from sound received through the microphone; a snow removal device driving unit that operates the snow removal device according to the preset commands when the voice recognition result of the voice recognition unit is compared with the preset commands stored in the memory and a match is found; and a control unit that controls data exchange or operation between the microphone, the memory, the voice recognition unit, and the snow removal device driving unit; wherein a voice recognition trigger that operates the voice recognition unit is generated by pressing a switch, and the switch is a three-position mechanical switch, and the control unit recognizes the first position of the three-position mechanical switch as a voice instruction control signal, recognizes the second position as a remote instruction control signal, and recognizes the third position as a public communication network connection instruction signal. Claim 12 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 11, it further includes a speaker and a display, and the microphone is a beamforming microphone. Claim 13 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized by further including a transmitting and receiving unit for transmitting and receiving data in Clause 12. Claim 14 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 13, it further comprises: a camera for acquiring a lip image; a voice recognition reinforcement unit for reinforcing the voice recognition process of the voice recognition unit through the lip image acquired by the camera; and a noise removal unit for removing noise from sound received from a microphone. Claim 15 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 14, the control unit controls the exchange of data or operation between the microphone, the memory, the voice recognition unit, the snow removal device driving unit, the speaker, the display, the transceiver, the noise removal unit, the camera, and the voice recognition reinforcement unit. Claim 16 In claim 11, the above-mentioned voice recognition unit comprises: a voice recognition section setting module that sets a voice recognition section in a received sound; an input feature vector extraction module that extracts an input feature vector within the voice recognition section set by the voice recognition section setting module; and a text conversion module that performs text conversion by comparing the similarity between a reference feature vector for a preset command stored in the memory and the input feature vector extracted between the input feature vector extraction module. Claim 17 In claim 16, the above voice recognition unit is further configured to include a pre-emphasis module that emphasizes high-frequency components; a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition. Claim 18 In claim 16, the above-mentioned voice recognition section setting module is characterized by comprising: a threshold energy setting section that calculates the basic energy of the entire received sound and sets it to a threshold energy level; and a section setting section that sets the front end of the area where a sound exceeding the threshold energy level exists as the starting point of the voice recognition section and sets the rear end of the area where a sound exceeding the threshold energy level exists as the end point of the voice recognition section. Claim 19 In claim 16, the driving device of a snow removal device equipped in a snow removal vehicle through voice recognition is characterized in that the input feature vector extraction module extracts the input feature vector through an LPC, PLP, delta cepstrum, delta-delta cepstrum, MFCC, neural network, DTW, HMM, CHMM, or SCHMM. Claim 20 In claim 14, the above-mentioned voice recognition reinforcement unit comprises: a synchronization module that performs synchronization between the received sound and the lip image; and a lip change information providing module that provides information on changes in the principal components of the lip image to the voice recognition unit; characterized in that it is a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition. Claim 21 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 20, the change in the principal component of the lip image includes a change in one or more of the speed at which the mouth opens and closes, the protrusion of the lower lip, the protrusion of the upper lip, the shadow under the lower lip, and the identification of teeth. Claim 22 In claim 14, the above noise removal unit is characterized by being configured to include one or more of a Wiener filter, a Kalman filter, a band-pass filter, or an adaptive filter, and is a driving device for a snow removal device equipped with a snow removal vehicle through voice recognition. Claim 23 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 22, the optimal coefficient of the adaptive filter is calculated through any one of LMS, LS, and RLS. Claim 24 In claim 14, the above noise removal unit is characterized by removing noise through any one of the frequency subtraction method, cepstrum average subtraction method, pole-filtered cepstrum mean subtraction, and Rasta, in a driving device for a snow removal device equipped in a snow removal vehicle through voice recognition. Claim 25 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in claim 24, one of the frame average frequency subtraction method, stochastic frequency subtraction method, and weighted frequency subtraction method is selected as the frequency subtraction method. Claim 26 In claim 22, the driving device of a snow removal device equipped in a snow removal vehicle through voice recognition is characterized in that the center frequency of the band-pass filter increases as the speed of the snow removal vehicle increases. Claim 27 A driving device for a snow removal device equipped in a snow removal vehicle through voice recognition, characterized in that, in the above command, the command includes one or more command signals among starting de-icing agent spraying, stopping de-icing agent spraying, increasing spreader rotation speed, decreasing spreader rotation speed, raising spreader height, and lowering spreader height. Claim 28 delete Claim 29 delete Claim 30 delete Claim 31 delete Claim 32 delete Claim 33 delete Claim 34 delete Claim 35 delete Claim 36 delete Claim 37 delete Claim 38 delete Claim 39 delete Claim 40 delete Claim 41 delete Claim 42 delete Claim 43 delete Claim 44 delete Claim 45 delete Claim 46 delete Claim 47 delete Claim 48 delete Claim 49 delete Claim 50 delete Claim 51 delete Claim 52 delete Claim 53 delete Claim 54 delete Claim 55 delete

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