CN104503419B - A kind of for ward collecting method - Google Patents
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Abstract
The present invention relates to a kind of for ward collecting method, comprise: 1) a kind of robot system for ward data acquisition is provided, described robot system comprises positioning equipment, motor driving apparatus, data acquisition equipment, data processing equipment and master controller, and 2) use described robot to carry out data acquisition.
Description
Technical field
The present invention relates to hospital monitor field, particularly relate to a kind of for ward collecting method.
Background technology
For the hospital with inpatient department, be one of the most loaded down with trivial details work to the daily monitoring of the patient of inpatient department's admission.This job requirement doctor and nurse carry out inspection and the inquiry of patient before regularly going to the sick bed of each patient, and check the reading situation being arranged on patient's various monitors by the side of, during to occur that patient unusual condition or monitor reading exceed preset range, actively take rescue measure, help patient out of danger.
But, there is following drawback in this artificial data monitoring mode of the prior art: (1) consumes a large amount of human resources of hospital, the doctor of hospital and nurse's number are relative to relatively limited number of patients, if use a large amount of medical personnel in the department of being in hospital, will be less the personnel of such as outpatient service department of other departments, affect the normal medical order of hospital; (2) be use a large amount of medical personnel immediately, also do not accomplish free of discontinuities data acquisition in 24 hours and monitoring, such as, in some time periods, morning, most patients still can be in the predicament of unsupervised.
Therefore, needing one to be used for ward collecting method, 24 hours free of discontinuities can carry out data acquisition to patient and monitor reading, reporting to the police in time when occurring abnormal, while solving the understaffed problem of hospital, improve the efficiency of patient care.
Summary of the invention
In order to solve the problem, the invention provides a kind of for ward collecting method, monitor reading collecting device and patient checkout equipment are transplanted to and can move flexibly and can accomplish on the robot architecture that all the period of time guards, and while occurring that unusual condition carries out local warning, realize remote alarms by wireless communication technology.
According to an aspect of the present invention, provide a kind of for ward collecting method, the method comprises the following steps: 1) a kind of robot system for ward data acquisition is provided, described robot system comprises positioning equipment, motor driving apparatus, data acquisition equipment, data processing equipment and master controller, described data acquisition equipment gathers the Instruments Image of each Medical Instruments and personnel's image of each patient in ward, described data processing equipment is connected with described data acquisition equipment, the reading of corresponding instrument is determined based on described Instruments Image, the health of corresponding patient is determined according to described personnel's image, described master controller and described positioning equipment, described motor driving apparatus is connected respectively with described data processing equipment, according to the current location of the described robot that the multiple data collection point position prestored and described positioning equipment are determined, determine that described robot system goes to the data acquisition path of described multiple data collection point, motor drive signal is sent to described motor driving apparatus according to described data acquisition path, also for determining whether to send corresponding alerting signal according to the reading of described corresponding instrument and the health of described patient respectively, and 2) use described robot to carry out data acquisition.
More specifically, in the described robot system for ward data acquisition, also comprise: static memory, for the image template prestoring various Medical Instruments, the pointer threshold value of various Medical Instruments and the various medical characteristics threshold values of patient, also for prestoring instrument upper limit gray threshold, instrument lower limit gray threshold, personnel's upper limit gray threshold and personnel's lower limit gray threshold, described various medical characteristics threshold value comprises colour of skin threshold value and attitude degree threshold value lack of standardization, described instrument upper limit gray threshold and described instrument lower limit gray threshold are used for the instrument in image and background separation, described personnel's upper limit gray threshold and described personnel's lower limit gray threshold are used for the personnel in image and background separation, power supply equipment, for providing the electric power supply of each consumer except power supply equipment for described robot system, Wireless Telecom Equipment, is connected for setting up bidirectional communication link with nurse's monitor supervision platform of far-end, to receive the steering order that described nurse's monitor supervision platform sends, control motor, be direct current generator, be connected with described motor driving apparatus, based on the service data of described motor drive signal adjustment self, described positioning equipment is preset in ground tour line by detecting in ward, determines the current location of described robot system, described data acquisition equipment is CCD The Cloud Terrace high-definition camera, and camera lens corner is 0-240 degree, and the image resolution ratio of collection is 1920 × 1080, described data processing equipment comprises image processing unit in advance, instrument readings analytic unit and patient status analytic unit, described image processing unit in advance, described instrument readings analytic unit and described patient status analytic unit adopt independently fpga chip to realize respectively, described image in advance processing unit is connected with described data acquisition equipment, edge is performed successively to described Instruments Image or described personnel's image and strengthens process, wavelet filtering process and gray processing process, to generate instrument gray level image or personnel's gray level image, described instrument readings analytic unit and described static memory and described image in advance processing unit are connected respectively, the pixel identification of gray-scale value in described instrument gray level image between described instrument upper limit gray threshold and described instrument lower limit gray threshold is formed instrument sub pattern, described instrument subimage and the image template of described various Medical Instruments are mated one by one obtain image template corresponding to described instrument subimage and corresponding kind, based on the comparative result of the image template of described instrument subimage and described correspondence, obtain the reading corresponding to described instrument subimage pointer position, described patient status analytic unit and described static memory and described image in advance processing unit are connected respectively, by the pixel identification of gray-scale value in described personnel's gray level image between described personnel's upper limit gray threshold and described personnel's lower limit gray threshold and member's sub pattern, identify the various medical characteristics of the personnel in described personnel's sub pattern, described master controller and described static memory, described instrument readings analytic unit is connected respectively with described patient status analytic unit, the pointer threshold value of kind corresponding with described instrument subimage for the reading corresponding to described instrument subimage pointer position is compared, when exceeding the pointer threshold value of kind corresponding to described instrument subimage, the kind that output instrument subimage is corresponding output instrument reading alerting signal, the various medical characteristics threshold values of the various medical characteristics of the personnel in described personnel's sub pattern and described patient are contrasted one by one by kind, when there is a kind of medical characteristics of patient, when the medical characteristics of the personnel in described personnel's sub pattern of its correspondence exceeds the medical characteristics threshold value of its correspondence, export the medical characteristics kind of patient and export health abnormal alarm signal, wherein, described Wireless Telecom Equipment is also connected with described master controller, the kind corresponding for the instrument subimage exported by described master controller and instrument readings alerting signal are wirelessly sent to described nurse's monitor supervision platform, send to described nurse's monitor supervision platform for the medical characteristics kind of patient that exported by described master controller and health abnormal alarm signal wireless.
More specifically, in the described robot system for ward data acquisition, described robot system also comprises: display device, be connected with described master controller, for the display kind corresponding with the instrument subimage that described master controller exports and instrument readings alerting signal distinguish corresponding prompt text information, also for showing the prompt text information corresponding with the medical characteristics kind of the patient that described master controller exports and health abnormal alarm signal difference in real time in real time.
More specifically, in the described robot system for ward data acquisition, described robot system also comprises: voice playing equipment, be connected with described master controller, for the broadcasting kind corresponding with the instrument subimage that described master controller exports and instrument readings alerting signal distinguish corresponding voice prompted file, also for playing the voice prompted file corresponding with the medical characteristics kind of the patient that described master controller exports and health abnormal alarm signal difference in real time in real time.
More specifically, in the described robot system for ward data acquisition, described data acquisition equipment and described data processing equipment are integrated on one piece of circuit board.
More specifically, in the described robot system for ward data acquisition, described display device is liquid crystal display.
More specifically, in the described robot system for ward data acquisition, described voice playing equipment is two-way speaker.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the robot system for ward data acquisition illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of the data processing equipment of the robot system for ward data acquisition illustrated according to an embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings the embodiment of the robot system for ward data acquisition of the present invention is described in detail.
Need heavier by the general state of an illness of the patient nursed to ward, their health needs to be monitored in real time, and such as colour of skin situation of change and body posture situation, meanwhile, need to install the physiological index of some monitors to patient and gather.
Hospital is in order to complete patient inspection and monitor digital independent two tasks, normally take the method that nurse makes an inspection tour for a long time, the doctor in charge regularly checks, but the doctor in charge can be arranged the task of paying a home visit, nurse can not accomplish free of discontinuities monitoring in 24 hours, therefore, does not still realize the patient care of all the period of time, patient still can be absorbed in some period the difficult situation that nobody correlates, this problem, instant hospital drops into many manpowers again, also cannot obtain actual solution.
In order to depart from this predicament, some hospitals make an effort from equipment, such as build the hardware platform that more patient nurse is mutual, for when patient feels uncomfortable, timely nurse call comes to nurse, although this mode plays certain positive role, but, for severe case, owing to taking care of oneself, still the action mutual with nurse cannot be performed.
For above-mentioned deficiency; the present invention has built a kind of robot system for ward data acquisition; high-precision image acquisition and recognition technology is adopted to complete patient inspection and these two tasks of monitor digital independent; adopt wireless communication technology to ensure that robot system and nurse guard the two-way communication of platform; tour line technology is adopted to guarantee that robot system accurately moves to each image data point place in ward; thus in the mode of robot device's automatic monitoring; alleviate the task amount of medical personnel, improve care quality and the efficiency of patient.
Fig. 1 is the block diagram of the robot system for ward data acquisition illustrated according to an embodiment of the present invention, described robot system comprises: positioning equipment 1, motor driving apparatus 2, data acquisition equipment 4, data processing equipment 5 and master controller 3, described master controller 3 is connected respectively with described positioning equipment 1, described motor driving apparatus 2, described data acquisition equipment 4 and described data processing equipment 5, and described data acquisition equipment 4 is connected with described data processing equipment 5.
Wherein, described data acquisition equipment 4 is for personnel's image of the Instruments Image He each patient that gather each Medical Instruments in ward, the reading of corresponding instrument determined by described data processing equipment 5 based on described Instruments Image, the health of corresponding patient is determined according to described personnel's image, the current location of the described robot that described master controller 3 is determined according to the multiple data collection point position prestored and described positioning equipment, determine that described robot system goes to the data acquisition path of described multiple data collection point, motor drive signal is sent to described motor driving apparatus 2 according to described data acquisition path, also for determining whether to send corresponding alerting signal according to the reading of described corresponding instrument and the health of described patient respectively.
Then, continue to be further detailed the concrete structure of the robot system for ward data acquisition of the present invention.
Described robot system also comprises: static memory, for the image template prestoring various Medical Instruments, the pointer threshold value of various Medical Instruments and the various medical characteristics threshold values of patient, also for prestoring instrument upper limit gray threshold, instrument lower limit gray threshold, personnel's upper limit gray threshold and personnel's lower limit gray threshold, described various medical characteristics threshold value comprises colour of skin threshold value and attitude degree threshold value lack of standardization, described instrument upper limit gray threshold and described instrument lower limit gray threshold are used for the instrument in image and background separation, described personnel's upper limit gray threshold and described personnel's lower limit gray threshold are used for the personnel in image and background separation.
Described robot system also comprises: power supply equipment, for providing the electric power supply of each consumer except power supply equipment for described robot system.
Described robot system also comprises: Wireless Telecom Equipment, is connected for setting up bidirectional communication link with nurse's monitor supervision platform of far-end, to receive the steering order that described nurse's monitor supervision platform sends.
Described robot system also comprises: control motor, be direct current generator, be connected with described motor driving apparatus 2, based on the service data of described motor drive signal adjustment self.
Described positioning equipment 1 is preset in ground tour line by detecting in ward, determines the current location of described robot system.
Described data acquisition equipment 4 is CCD The Cloud Terrace high-definition camera, and camera lens corner is 0-240 degree, and the image resolution ratio of collection is 1920 × 1080.
As shown in Figure 2, described data processing equipment 5 comprises image processing unit 51, instrument readings analytic unit 52 and patient status analytic unit 53 in advance, and described image in advance processing unit 51, described instrument readings analytic unit 52 and described patient status analytic unit 53 adopts independently fpga chip to realize respectively.
Described image in advance processing unit 51 is connected with described data acquisition equipment 4, edge is performed successively to described Instruments Image or described personnel's image and strengthens process, wavelet filtering process and gray processing process, to generate instrument gray level image or personnel's gray level image, described instrument readings analytic unit 52 and described static memory and described image in advance processing unit 51 are connected respectively, the pixel identification of gray-scale value in described instrument gray level image between described instrument upper limit gray threshold and described instrument lower limit gray threshold is formed instrument sub pattern, described instrument subimage and the image template of described various Medical Instruments are mated one by one obtain image template corresponding to described instrument subimage and corresponding kind, based on the comparative result of the image template of described instrument subimage and described correspondence, obtain the reading corresponding to described instrument subimage pointer position.
Described patient status analytic unit 53 and described static memory and described image in advance processing unit 51 are connected respectively, by the pixel identification of gray-scale value in described personnel's gray level image between described personnel's upper limit gray threshold and described personnel's lower limit gray threshold and member's sub pattern, identify the various medical characteristics of the personnel in described personnel's sub pattern.
Described master controller 3 and described static memory, described instrument readings analytic unit 52 is connected respectively with described patient status analytic unit 53, the pointer threshold value of kind corresponding with described instrument subimage for the reading corresponding to described instrument subimage pointer position is compared, when exceeding the pointer threshold value of kind corresponding to described instrument subimage, the kind that output instrument subimage is corresponding output instrument reading alerting signal, the various medical characteristics threshold values of the various medical characteristics of the personnel in described personnel's sub pattern and described patient are contrasted one by one by kind, when there is a kind of medical characteristics of patient, when the medical characteristics of the personnel in described personnel's sub pattern of its correspondence exceeds the medical characteristics threshold value of its correspondence, export the medical characteristics kind of patient and export health abnormal alarm signal.
Wherein, described Wireless Telecom Equipment is also connected with described master controller 3, the kind corresponding for the instrument subimage exported by described master controller 3 and instrument readings alerting signal are wirelessly sent to described nurse's monitor supervision platform, send to described nurse's monitor supervision platform for the medical characteristics kind of patient that exported by described master controller 3 and health abnormal alarm signal wireless.
Wherein, described robot system can also comprise: display device, with described main control, 3 connect, for the display kind corresponding with the instrument subimage that described master controller 3 exports and instrument readings alerting signal distinguish corresponding prompt text information, also for showing the prompt text information corresponding with the medical characteristics kind of the patient that described master controller 3 exports and health abnormal alarm signal difference in real time in real time; Described robot system can also comprise: voice playing equipment, be connected with described master controller 3, for the broadcasting kind corresponding with the instrument subimage that described master controller 3 exports and instrument readings alerting signal distinguish corresponding voice prompted file, also for playing the voice prompted file corresponding with the medical characteristics kind of the patient that described master controller 3 exports and health abnormal alarm signal difference in real time in real time; Described data acquisition equipment 4 and described data processing equipment 5 can be selected to be integrated on one piece of circuit board, and described display device is chosen as liquid crystal display, and described voice playing equipment is chosen as two-way speaker.
In addition, ward is hospital for patient that disease condition is comparatively serious provides the place of nursing and treatment, generally be arranged near hospital outpatient department, it is indoor to strengthen monitoring and nursing that wherein more serious seriously ill patient also can be arranged into Intensive Care Therapy, ensures the therapeutic quality to patient and effect.
Intensive care unit, also known as intensive care unit, is called for short ICU.Monitoring and the treatment of critical illness are clinical specialities of rising in recent years, aim is for life-threatening acute severe patient provides technology and high-quality medical services, namely to the patient of severe crisis carry out physiological function monitoring, life support, prevent and treat complication, promote and accelerate the rehabilitation course of patient, this is a kind of higher level medical services after continuous recovery, is the inexorable trend of social modernization and development of medical sciences.In recent years; along with the continuous progress of high and new technology; multiple detection and support equipment are widely used in clinical, the universal and specification in ICU ward, and people are also perfect gradually to the understanding of life physiological function; therefore; improve the support to exhaustion organ and protective capability, the salvage success rate of critical grave illness is significantly improved, the patient of many severe crisis is in proper intensive care and under giving meticulous treatment; spend the moment the most difficult in life, and move towards rehabilitation gradually.Meanwhile, also drive and facilitate progress and the development of other clinical specialities.
In addition, image recognition, refers to and utilizes computing machine to process image, analyze and understand, to identify the target of various different mode and the technology to picture.During general industry uses, adopt industrial camera pictures taken, and then utilize software to do further identifying processing according to picture ash jump.
Image recognition may be based on the principal character of image.Each image has its feature, and as alphabetical A has a point, P has a circle and there is individual acute angle etc. at the center of Y.The research dynamic to eye during image recognition shows, sight line always concentrates in the principal character of image, and namely concentrate on the place of the maximum or contour direction flip-flop of image outline curvature, the quantity of information in these places is maximum.And the scanning route of eyes also always forwards to another feature from a feature successively.As can be seen here, in image recognition processes, perceptual mechanism must get rid of the redundant information of input, extracts crucial information out.In mankind's image identification system, often could to be realized by the Information procession of different levels the identification of complicated image.For the figure be familiar with, owing to having grasped its principal character, he will be used as a unit and identify, and no longer note his details.This overall unit be made up of the unit material isolated is called chunk, and each chunk is simultaneously perceived.In the identification of written material, people not only can form a chunk unit such as the stroke of a Chinese character or radicals, and can the word often together occurred or phrase in groups block unit identified.
Adopt the robot system for ward data acquisition of the present invention, cover period narrow range for existing ward NM, need the technical matters of a large amount of artificial work, introduce targetedly image acquisition and image recognition technology to the patient in ward with the related data of instrument gathers and accurate profile identification, and provide alarm mechanism when data exception, substitute traditional manual monitoring pattern with machine monitors pattern, improve the intelligent level of ward nursing.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (1)
1., for a ward collecting method, the method comprises the following steps:
1) a kind of robot system for ward data acquisition is provided, described robot system comprises positioning equipment, motor driving apparatus, data acquisition equipment, data processing equipment and master controller, described data acquisition equipment gathers the Instruments Image of each Medical Instruments and personnel's image of each patient in ward, described data processing equipment is connected with described data acquisition equipment, the reading of corresponding instrument is determined based on described Instruments Image, the health of corresponding patient is determined according to described personnel's image, described master controller and described positioning equipment, described motor driving apparatus is connected respectively with described data processing equipment, according to the current location of the described robot that the multiple data collection point position prestored and described positioning equipment are determined, determine that described robot system goes to the data acquisition path of described multiple data collection point, motor drive signal is sent to described motor driving apparatus according to described data acquisition path, also for determining whether to send corresponding alerting signal according to the reading of described corresponding instrument and the health of described patient respectively, and
2) use described robot to carry out data acquisition;
Described robot system also comprises:
Static memory, for the image template prestoring various Medical Instruments, the pointer threshold value of various Medical Instruments and the various medical characteristics threshold values of patient, also for prestoring instrument upper limit gray threshold, instrument lower limit gray threshold, personnel's upper limit gray threshold and personnel's lower limit gray threshold, described various medical characteristics threshold value comprises colour of skin threshold value and attitude degree threshold value lack of standardization, described instrument upper limit gray threshold and described instrument lower limit gray threshold are used for the instrument in image and background separation, described personnel's upper limit gray threshold and described personnel's lower limit gray threshold are used for the personnel in image and background separation,
Power supply equipment, for providing the electric power supply of each consumer except power supply equipment for described robot system;
Wireless Telecom Equipment, is connected for setting up bidirectional communication link with nurse's monitor supervision platform of far-end, to receive the steering order that described nurse's monitor supervision platform sends;
Control motor, be direct current generator, be connected with described motor driving apparatus, based on the service data of described motor drive signal adjustment self;
Described positioning equipment is preset in ground tour line by detecting in ward, determines the current location of described robot system;
Described data acquisition equipment is CCD The Cloud Terrace high-definition camera, and camera lens corner is 0-240 degree, and the image resolution ratio of collection is 1920 × 1080;
Described data processing equipment comprises image processing unit in advance, instrument readings analytic unit and patient status analytic unit, described image processing unit in advance, described instrument readings analytic unit and described patient status analytic unit adopt independently fpga chip to realize respectively, described image in advance processing unit is connected with described data acquisition equipment, edge is performed successively to described Instruments Image or described personnel's image and strengthens process, wavelet filtering process and gray processing process, to generate instrument gray level image or personnel's gray level image, described instrument readings analytic unit and described static memory and described image in advance processing unit are connected respectively, the pixel identification of gray-scale value in described instrument gray level image between described instrument upper limit gray threshold and described instrument lower limit gray threshold is formed instrument subimage, described instrument subimage and the image template of described various Medical Instruments are mated one by one obtain image template corresponding to described instrument subimage and corresponding kind, based on the comparative result of the image template of described instrument subimage and described correspondence, obtain the reading corresponding to described instrument subimage pointer position, described patient status analytic unit and described static memory and described image in advance processing unit are connected respectively, by the pixel identification of gray-scale value in described personnel's gray level image between described personnel's upper limit gray threshold and described personnel's lower limit gray threshold and member's sub pattern, identify the various medical characteristics of the personnel in described personnel's sub pattern,
Described master controller and described static memory, described instrument readings analytic unit is connected respectively with described patient status analytic unit, the pointer threshold value of kind corresponding with described instrument subimage for the reading corresponding to described instrument subimage pointer position is compared, when exceeding the pointer threshold value of kind corresponding to described instrument subimage, the kind that output instrument subimage is corresponding output instrument reading alerting signal, the various medical characteristics threshold values of the various medical characteristics of the personnel in described personnel's sub pattern and described patient are contrasted one by one by kind, when there is a kind of medical characteristics of patient, when the medical characteristics of the personnel in described personnel's sub pattern of its correspondence exceeds the medical characteristics threshold value of its correspondence, export the medical characteristics kind of patient and export health abnormal alarm signal,
Wherein, described Wireless Telecom Equipment is also connected with described master controller, the kind corresponding for the instrument subimage exported by described master controller and instrument readings alerting signal are wirelessly sent to described nurse's monitor supervision platform, send to described nurse's monitor supervision platform for the medical characteristics kind of patient that exported by described master controller and health abnormal alarm signal wireless.
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| CN201510036027.0A CN104503419B (en) | 2015-01-24 | 2015-01-24 | A kind of for ward collecting method |
| CN201510631186.5A CN105182882B (en) | 2015-01-24 | 2015-01-24 | A kind of robot system for ward data acquisition |
| CN201510629577.3A CN105204416B (en) | 2015-01-24 | 2015-01-24 | A kind of for ward collecting method |
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| CN201510629577.3A Division CN105204416B (en) | 2015-01-24 | 2015-01-24 | A kind of for ward collecting method |
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| CN105575040A (en) * | 2015-12-11 | 2016-05-11 | 哈尔滨墨医生物技术有限公司 | Medical ward bed alarm device |
| CN106250764A (en) * | 2016-08-04 | 2016-12-21 | 四川网格新通科技有限公司 | A kind of terminal control system |
| CN106691389A (en) * | 2017-01-10 | 2017-05-24 | 胡佳 | Medical information monitoring method and system |
| CN108937887A (en) * | 2018-05-28 | 2018-12-07 | 苏州格目软件技术有限公司 | A kind of multifunction nursing machine people's management system based on Internet of Things |
| CN109521770B (en) * | 2018-11-19 | 2021-08-03 | 佛山市第一人民医院（中山大学附属佛山医院） | Intelligent processing system and method for bedding and clothing of patient |
| CN110427882A (en) * | 2019-08-01 | 2019-11-08 | 北京派克盛宏电子科技有限公司 | For the intelligent analysis method of tour, device, equipment and its storage medium |
| CN110660461B (en) * | 2019-09-23 | 2023-03-24 | 广州市番禺区中心医院(广州市番禺区人民医院、广州市番禺区心血管疾病研究所) | Cross-platform medical data information uploading system based on artificial intelligence |
| CN112297020A (en) * | 2020-10-13 | 2021-02-02 | 南京公诚责强软件科技有限公司 | Nursing robot for monitoring critical patients |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105182882A (en) | 2015-12-23 |
| CN104503419A (en) | 2015-04-08 |
| CN105204416A (en) | 2015-12-30 |
| CN105204416B (en) | 2016-08-24 |
| CN105182882B (en) | 2016-11-30 |
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