CN104626168B - Robot Force position based on intelligent algorithm Shared control method - Google Patents
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Abstract
本发明公开了一种基于智能算法的机器人力位柔顺控制方法，属于机电一体化领域，控制方法如下：控制系统基于位置的阻抗控制方式，通过测量机器人各关节伺服电机电流和各关节转动位置，综合解算出机械手末端与工件结合处的交互力值；采用预测算法预测机器人与环境的交互力值，并与上述解算得到的交互力值做比较，经过能量均衡校正算法处理的输出即为控制系统实际力感知，控制系统据此进行装配机器人轨迹末端位置设定，以此形成各关节伺服电机控制信号，以此控制伺服电机，实现力‑位柔顺控制。本发明可以在装配、加工、抛光等作业中，使工作过程要求机器人与作业对象接触，并使接触力在工作过程中保持在设定的区间，以取得良好的工作效果。
The invention discloses a robot force-position compliance control method based on an intelligent algorithm, which belongs to the field of mechatronics. The control method is as follows: the control system adopts a position-based impedance control method, by measuring the servo motor current of each joint of the robot and the rotation position of each joint, Comprehensively solve the interaction force value at the joint between the end of the manipulator and the workpiece; use the predictive algorithm to predict the interaction force value between the robot and the environment, and compare it with the interaction force value obtained from the above calculation. The output processed by the energy balance correction algorithm is the control Based on the actual force perception of the system, the control system sets the end position of the trajectory of the assembly robot to form control signals for the servo motors of each joint, thereby controlling the servo motors to achieve force-position compliance control. The invention can make the working process require the robot to contact the working object in the assembly, processing, polishing and other operations, and keep the contact force in the set interval during the working process, so as to obtain good working effect.
Description
技术领域technical field
本发明属于机电一体化领域，具体地说，涉及一种基于智能算法的机器人力位柔顺控制方法。The invention belongs to the field of mechatronics, and in particular relates to a robot force-position compliance control method based on an intelligent algorithm.
背景技术Background technique
随着科学技术的进步和制造业的不断发展，市场对打磨抛光加工的需求不断增长。打磨抛光机器人能够实现高效率、高质量的自动化打磨，为代替人工打磨提供了一种有效的解决方案。With the advancement of science and technology and the continuous development of the manufacturing industry, the market demand for grinding and polishing continues to grow. The grinding and polishing robot can realize high-efficiency and high-quality automatic grinding, which provides an effective solution for replacing manual grinding.
打磨机器人的核心为力控制技术，通过控制加工轨迹和打磨工具末端的力保证打磨质量，即对机器人的位置和力这两方面都要进行控制。目前国内外已经研发出较成熟的位置控制型机器人，对力控制机器人也开展了很多研究，但是大部分力控制机器人都是基于位置伺服实现的，其响应时间长，不能对力进行直接控制，影响了力控制的精度和效果。The core of the grinding robot is the force control technology, which ensures the grinding quality by controlling the processing trajectory and the force at the end of the grinding tool, that is, both the position and force of the robot must be controlled. At present, relatively mature position-controlled robots have been developed at home and abroad, and a lot of research has been carried out on force-controlled robots. However, most force-controlled robots are based on position servos, which have a long response time and cannot directly control force. It affects the precision and effect of force control.
大多数的力控制研究都采用腕力传感器来测量并反馈机器人末端与接触环境的接触力。然而，腕力传感器一般价格较高，刚度比机械手操作端低，容易损坏，而且无法应用在高温、高腐蚀、强干扰等实际工业应用情况中。关节转矩控制通过转矩反馈形成闭环代替末端力闭环控制，最终在机器人末端力开环的系统中完成高质量的力控制，可克服腕力传感器的种种弊端。Most force control studies use wrist force sensors to measure and feed back the contact force between the robot end and the contact environment. However, wrist force sensors are generally more expensive, less rigid than the operating end of the manipulator, and easily damaged, and cannot be used in practical industrial applications such as high temperature, high corrosion, and strong interference. The joint torque control forms a closed loop through torque feedback instead of the closed-loop control of the end force, and finally completes high-quality force control in the open-loop system of the end force of the robot, which can overcome various disadvantages of the wrist force sensor.
由于机器人本身模型不精确以及受到的各种干扰，往往无法获得满意的控制品质。为此，国内外学者提出了多种非线性控制系统，在这些控制方法中，计算力矩控制是最简单有效的。在机器人位置控制过程中，采用基于神经网络补偿未知干扰的计算力矩控制，神经网络参数学习不需要系统先验知识。当机器人末端与环境接触后，利用转矩换算得到实际接触力。Due to the imprecise model of the robot itself and various disturbances, it is often impossible to obtain satisfactory control quality. For this reason, scholars at home and abroad have proposed a variety of nonlinear control systems. Among these control methods, the calculation torque control is the most simple and effective. In the process of robot position control, the calculation torque control based on neural network compensation for unknown disturbance is adopted, and the learning of neural network parameters does not require prior knowledge of the system. When the end of the robot is in contact with the environment, the actual contact force is obtained through torque conversion.
有鉴于上述的缺陷，本设计人，积极加以研究创新，以期创设一种加入了人类的经验、提高了所测力信号的抗干扰性和准确性、具有响应速度快，安全可靠特点的基于智能算法的机器人力位柔顺控制方法。In view of the above-mentioned defects, the designer actively researches and innovates, in order to create an intelligence-based sensor that incorporates human experience, improves the anti-interference and accuracy of the measured force signal, and has the characteristics of fast response, safety and reliability. Algorithmic robot force-position compliance control method.
发明内容Contents of the invention
本发明要解决的技术问题是克服上述缺陷，提供一种加入了人类的经验、提高了所测力信号的抗干扰性和准确性、具有响应速度快，安全可靠特点的基于智能算法的机器人力位柔顺控制方法。The technical problem to be solved by the present invention is to overcome the above-mentioned defects, and provide a robot force robot based on intelligent algorithm that incorporates human experience, improves the anti-interference and accuracy of the measured force signal, and has the characteristics of fast response, safety and reliability. Bit compliance control method.
为解决上述问题，本发明所采用的技术方案是：In order to solve the above problems, the technical solution adopted in the present invention is:
基于智能算法的机器人力位柔顺控制方法，其特征在于：控制方法如下：The force-position compliant control method of a robot based on an intelligent algorithm is characterized in that the control method is as follows:
控制系统基于位置的阻抗控制方式，通过测量机器人各关节伺服电机电流和各关节转动位置，综合解算出机械手末端与工件结合处的交互力值；采用预测算法预测机器人与环境的交互力值，并与上述解算得到的交互力值做比较，经过能量均衡校正算法处理的输出即为控制系统实际力感知，控制系统据此进行装配机器人轨迹末端位置设定，以此形成各关节伺服电机控制信号，以此控制伺服电机，实现力-位柔顺控制。The control system is based on the positional impedance control method. By measuring the servo motor current of each joint of the robot and the rotation position of each joint, the interaction force value at the joint between the end of the manipulator and the workpiece is comprehensively calculated; the prediction algorithm is used to predict the interaction force value between the robot and the environment, and Compared with the interactive force value obtained by the above calculation, the output processed by the energy balance correction algorithm is the actual force perception of the control system, and the control system sets the end position of the trajectory of the assembly robot based on this to form the servo motor control signal of each joint , so as to control the servo motor to realize force-position compliance control.
作为一种优化的技术方案，控制方法的具体步骤如下：As an optimized technical solution, the specific steps of the control method are as follows:
1)、运动控制器规划新的位置点，并将其转换为模拟速度信号；1) The motion controller plans a new position point and converts it into an analog speed signal;
2)、速度环接收模拟速度信号，控制电流环进行伺服电机电流控制；2), the speed loop receives the analog speed signal, and controls the current loop to control the current of the servo motor;
3)、通过编码器获取实际位置信号，测量伺服电机电流获得转矩信号；3) Obtain the actual position signal through the encoder, and measure the servo motor current to obtain the torque signal;
4)、通过力位转换与实际位置信号比较后传入运动控制器，计算出力和位置的偏差，调整产生新的位置点。4) After the force-position conversion is compared with the actual position signal, it is transmitted to the motion controller to calculate the deviation between the output force and the position, and adjust to generate a new position point.
作为一种优化的技术方案，步骤1)中运动控制器规划新的位置点的步骤如下：As an optimized technical solution, the steps for the motion controller to plan a new position point in step 1) are as follows:
(1)、根据给定的任务要求计算出机器人末端运动的新目标点；(1) Calculate the new target point of the robot end movement according to the given task requirements;
(2)、从数据缓冲区读取解算出来的接触力/力矩值；(2), read the calculated contact force/moment value from the data buffer;
(3)、根据力/力矩解算值与期望接触值的偏差信息计算并调整目标点的位置；(3) Calculate and adjust the position of the target point according to the deviation information between the calculated force/torque value and the expected contact value;
(4)、进行机器人轨迹规划，送入就绪队列；(4) Carry out robot trajectory planning and send it to the ready queue;
(5)、执行轨迹规划；(5) Execute trajectory planning;
(6)、在执行步骤(5)的同时采集当前的接触力/力矩信息；(6), collecting current contact force/moment information while performing step (5);
(7)、回到步骤(l)，重复进行。(7), get back to step (1), repeat.
作为一种优化的技术方案，步骤4)中力位转换的具体实现方式如下：As an optimized technical solution, the specific implementation of force-position conversion in step 4) is as follows:
(1)、接收伺服电机的关节转矩信号；(1) Receive the joint torque signal of the servo motor;
(2)、根据由电流得到的关节转矩信号，通过雅克比矩阵解算出环境交互力，并采用RBF神经网络算法预测机器人与环境交互力以防止抖动；(2) According to the joint torque signal obtained by the current, the environmental interaction force is calculated through the Jacobian matrix solution, and the RBF neural network algorithm is used to predict the interaction force between the robot and the environment to prevent shaking;
(3)、将步骤(2)得到的交互力作为能量均衡装置的输入，能量均衡装置经过能量均衡校正算法处理的输出得到控制系统实际力感知；(3), the interaction force obtained in step (2) is used as the input of the energy balance device, and the output of the energy balance device processed by the energy balance correction algorithm obtains the actual force perception of the control system;
(4)、将实际力感知输入运动控制器进行轨迹位置设定；(4) Input the actual force perception into the motion controller to set the trajectory position;
(5)、回到步骤(l)，重复进行。(5), get back to step (1), repeat.
作为一种优化的技术方案，As an optimized technical solution,
在步骤1)开始作业前，需对各关节转矩进行标定，得到空载状态下的转矩，作为计算带载状态下转矩的基础。Before starting the work in step 1), it is necessary to calibrate the torque of each joint to obtain the torque in the no-load state, which is used as the basis for calculating the torque in the load state.
由于采用了上述技术方案，与现有技术相比，本发明基于人类经验信息和加速度信息综合的力-位控制打磨机器人进行了研究。首先测量人工打磨对应工件所需要的力，然后对测量的力信号集进行了滤波、重力补偿和传感器坐标系标定，提高了所测力信号的抗干扰性和准确性，最后对上述算法进入专家系统进行归纳分析，得出对应工件合适的打磨力值，由控制器通过数字信号对打磨力进行设定。这种方法加入了人类的经验，具有响应速度快，安全可靠的特点。Due to the adoption of the above technical solution, compared with the prior art, the present invention studies a force-position control grinding robot based on the synthesis of human experience information and acceleration information. Firstly measure the force required by manual grinding corresponding to the workpiece, then filter the measured force signal set, compensate gravity and calibrate the sensor coordinate system to improve the anti-interference and accuracy of the measured force signal, and finally enter the expert on the above algorithm The system conducts inductive analysis to obtain the appropriate grinding force value for the corresponding workpiece, and the controller sets the grinding force through digital signals. This method incorporates human experience and has the characteristics of fast response, safety and reliability.
本发明在实际应用中通过雅克比矩阵和选择矩阵可以将操作空间任意方向的力和位置分配到各个关节上，也可以将各个关节的力做正解计算得到机器人末端受力。运用力-位混合控制技术可以在装配、加工、抛光等作业中，使工作过程要求机器人与作业对象接触，并使接触力在工作过程中保持在设定的区间，以取得良好的工作效果。In practical application, the present invention can distribute the force and position in any direction of the operation space to each joint through the Jacobian matrix and the selection matrix, and can also calculate the force of each joint to obtain the end force of the robot. The use of force-position hybrid control technology can make the work process require the robot to contact the work object in assembly, processing, polishing and other operations, and keep the contact force within the set range during the work process to achieve good work results.
同时下面结合附图和具体实施方式对本发明作进一步说明。At the same time, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
附图说明Description of drawings
图1为本发明一种实施例中控制系统层次划分图；Fig. 1 is a control system hierarchical division diagram in an embodiment of the present invention;
图2为本发明一种实施例中打磨水龙头操作的控制系统软件流程图。Fig. 2 is a flow chart of the control system software for the operation of the polished faucet in an embodiment of the present invention.
具体实施方式detailed description
实施例：Example:
如图1所示，基于智能算法的机器人力位柔顺控制方法，控制方法如下：As shown in Figure 1, the robot force-position compliance control method based on intelligent algorithm, the control method is as follows:
控制系统基于位置的阻抗控制方式，通过测量伺服电机电流和关节转动位置，采用RBF神经网络算法预测机器人与环境交互力值输入能量均衡状态，经过能量均衡校正算法处理的输出即为控制系统实际力感知，控制系统据此进行装配轨迹位置设定，形成伺服电机控制信号，以此控制伺服电机，实现力位柔顺控制。The position-based impedance control method of the control system measures the current of the servo motor and the rotational position of the joint, and uses the RBF neural network algorithm to predict the interaction force value between the robot and the environment. The energy balance state is input, and the output processed by the energy balance correction algorithm is the actual force of the control system. Sensing, the control system sets the position of the assembly track based on this, and forms a servo motor control signal, so as to control the servo motor and realize the soft control of force and position.
控制系统包括运动控制器、驱动器和电机以及相关软件、算法，The control system includes motion controllers, drivers and motors, as well as related software and algorithms,
开始作业前，需对各关节转矩进行标定，得到空载状态下的转矩，作为计算带载状态下转矩的基础。Before starting work, it is necessary to calibrate the torque of each joint to obtain the torque under no-load state, which is used as the basis for calculating the torque under load.
其之后的具体步骤如下：The specific steps after that are as follows:
1)、运动控制器规划新的位置点，并将其转换为模拟速度信号。1) The motion controller plans a new position point and converts it into an analog speed signal.
运动控制器规划新的位置点的步骤如下：The steps for the motion controller to plan a new location point are as follows:
(1)、根据给定的任务要求计算出机器人末端运动的新目标点。(1) Calculate the new target point of the robot end movement according to the given task requirements.
(2)、从数据缓冲区读取解算出来的接触力/力矩值。(2). Read the calculated contact force/moment value from the data buffer.
(3)、根据力/力矩解算值与期望接触值的偏差信息计算并调整目标点的位置。(3) Calculate and adjust the position of the target point according to the deviation information between the calculated force/torque value and the expected contact value.
(4)、进行机器人轨迹规划，送入就绪队列。(4) Carry out trajectory planning of the robot and send it to the ready queue.
(5)、执行轨迹规划。(5) Execute trajectory planning.
(6)、在执行步骤(5)的同时采集当前的接触力/力矩信息。(6) Collect current contact force/moment information while performing step (5).
(7)、回到步骤(l)，重复进行。(7), get back to step (1), repeat.
2)、速度环接收模拟速度信号，控制电流环进行伺服电机电流控制。2) The speed loop receives the analog speed signal and controls the current loop to control the current of the servo motor.
3)、通过编码器获取实际位置信号，测量伺服电机电流获得转矩信号。3) Obtain the actual position signal through the encoder, and measure the servo motor current to obtain the torque signal.
4)、通过力位转换与实际位置信号比较后传入运动控制器，计算出力和位置的偏差，调整产生新的位置点。4) After the force-position conversion is compared with the actual position signal, it is transmitted to the motion controller to calculate the deviation between the output force and the position, and adjust to generate a new position point.
其中力位转换的具体实现方式如下：The specific implementation of force-position conversion is as follows:
(1)、接收伺服电机的关节转矩信号；(1) Receive the joint torque signal of the servo motor;
(2)、根据由电流得到的关节转矩信号，通过雅克比矩阵解算出环境交互力，并采用RBF神经网络算法预测机器人与环境交互力以防止抖动；(2) According to the joint torque signal obtained by the current, the environmental interaction force is calculated through the Jacobian matrix solution, and the RBF neural network algorithm is used to predict the interaction force between the robot and the environment to prevent shaking;
(3)、将步骤(2)得到的交互力作为能量均衡装置的输入，能量均衡装置经过能量均衡校正算法处理的输出得到控制系统实际力感知；(3), the interaction force obtained in step (2) is used as the input of the energy balance device, and the output of the energy balance device processed by the energy balance correction algorithm obtains the actual force perception of the control system;
(4)、将实际力感知输入运动控制器进行装配轨迹位置设定；(4) Input the actual force perception into the motion controller to set the assembly track position;
(5)、回到步骤(l)，重复进行。(5), get back to step (1), repeat.
本实施例可以采用高性能工控机设计一个机器人装配的力-位置控制器，以实现有效的力预测及能量均衡，在系统稳定的情况下获得力感知的真实性及轨迹控制的准确性。通过变压器和电源进行装配等实验，验证系统的正确性。In this embodiment, a high-performance industrial computer can be used to design a force-position controller assembled by a robot to achieve effective force prediction and energy balance, and to obtain the authenticity of force perception and the accuracy of trajectory control when the system is stable. Verify the correctness of the system through experiments such as assembly of transformers and power supplies.
机器人系统中，在机器人末端安装夹具(吸附头)及工件，并通过机器人各关节转矩的解算综合出工件与装配对象接触力，由各个关节编码器测量角位移并由机器人运动正解方程计算出工件位姿。针对阻抗控制系统中的实际检测接触力很难直接获得，采用采集各伺服电机转矩值经过换算得到末端执行器与外部环境的接触力的方法，来替代直接采用力传感器反馈末端执行器接触力信号；对期望接触力信号，设计一种实验方法得到装配力和在其作用下的被装配量，预估出期望的接触力范围，再根据神经网络预测接触力，控制器从而对参考轨迹在线进行局部的微量调整，以满足装配要求。In the robot system, the fixture (adsorption head) and the workpiece are installed at the end of the robot, and the contact force between the workpiece and the assembly object is synthesized through the calculation of the torque of each joint of the robot, and the angular displacement is measured by each joint encoder and calculated by the forward solution equation of the robot motion Get the workpiece pose. In view of the fact that the actual detection contact force in the impedance control system is difficult to obtain directly, the contact force between the end effector and the external environment is obtained by collecting the torque values of each servo motor and converted to obtain the contact force between the end effector and the external environment, instead of directly using the force sensor to feed back the contact force of the end effector signal; for the expected contact force signal, design an experimental method to obtain the assembly force and the assembled quantity under its action, estimate the expected contact force range, and then predict the contact force according to the neural network, so that the controller can online the reference trajectory Local minor adjustments are made to meet assembly requirements.
在机器人位置控制过程中，采用基于神经网络补偿未知干扰的计算力矩控制，神经网络参数学习不需要系统先验知识。当机器人末端与环境接触后，利用转矩换算得到实际接触力。In the process of robot position control, the calculation torque control based on neural network compensation for unknown disturbance is adopted, and the learning of neural network parameters does not require prior knowledge of the system. When the end of the robot is in contact with the environment, the actual contact force is obtained through torque conversion.
当机器人处于自由运动模式未接触时，采用的是位置-位置控制模式；当机器人处于受限模式，即机器人末端与工件接触时，采用的是设定恒定力区域范围内的位-力控制模式。When the robot is in the free motion mode without contact, the position-position control mode is adopted; when the robot is in the restricted mode, that is, the end of the robot is in contact with the workpiece, the position-force control mode within the range of the set constant force area is adopted .
本实施例还用一个具体实施方式来说明上述问题：This embodiment also illustrates the above-mentioned problem with a specific implementation manner:
机器人打磨系统，以水龙头为打磨对象。The robot grinding system takes the faucet as the grinding object.
机器人打磨系统中包括：The robotic grinding system includes:
(1)砂带打磨机(1) Belt grinder
利用打磨砂带的高速旋转能对工件表面进行磨削加工，使之光滑明亮，增加产品的亮度和光洁度。The high-speed rotation of the grinding belt can grind the surface of the workpiece to make it smooth and bright, and increase the brightness and smoothness of the product.
一个机器人单元配置2组打磨机，能根据工艺要求、工件形状选择不同粗细和宽度的砂带，并设置合适的打磨参数。One robot unit is equipped with two sets of grinding machines, which can select abrasive belts of different thicknesses and widths according to process requirements and workpiece shapes, and set appropriate grinding parameters.
(2)电机，负责每组打磨机前后位置移动，其电机的数量与位置关系与砂带打磨机相配合。(2) The motor is responsible for the front and rear position movement of each group of grinding machines, and the number and position of the motors are matched with the abrasive belt grinding machine.
(3)变频器，主要作用是砂带接触轮转速的变频调节。(3) Frequency converter, the main function is to adjust the frequency conversion of the belt contact wheel speed.
(4)接触轮，是执行机构，用于打磨满足锌合金把手表面表面精度要求。(4) The contact wheel is an actuator used for grinding to meet the surface accuracy requirements of the zinc alloy handle.
(5)粉尘收集器，为预留粉尘收集装置。(5) The dust collector is a reserved dust collection device.
(6)张紧机构，采用气缸张紧砂带方式，张紧机构可以手动调节位置。(6) The tensioning mechanism adopts the way of cylinder tensioning the abrasive belt, and the tensioning mechanism can manually adjust the position.
(7)力反馈调节机构，由关节转矩计算得到，通过雅克比矩阵解算得到末端受力。(7) The force feedback adjustment mechanism is obtained by calculating the joint torque, and the terminal force is obtained by solving the Jacobian matrix.
本实施方式中的机器人打磨系统基于模糊控制算法的力-位混合控制系统，通过在砂带机导轨平台气缸中加装压力传感器，用来测量在传感器坐标系下X方向所受力和力矩大小，并通过设计出了滤波器对测量到的数据进行滤波，并考虑打磨工具的质量，设置了重力补偿环节，变换机器人的位置可以得到多组压力值，利用最小二乘法对所得的数据进行优化，得出最优值，从而完成对力传感器的坐标系标定。The robot grinding system in this embodiment is based on the force-position hybrid control system of the fuzzy control algorithm. By installing a pressure sensor in the cylinder of the belt machine guide rail platform, it is used to measure the force and moment in the X direction in the sensor coordinate system. , and filter the measured data by designing a filter, and consider the quality of the grinding tool, set up the gravity compensation link, change the position of the robot to get multiple sets of pressure values, and use the least square method to optimize the obtained data , to obtain the optimal value, so as to complete the calibration of the coordinate system of the force sensor.
机器人打磨系统采用了模糊控制算法，对控制系统进行控制，运用MATLAB进行了仿真，效果运行良好。输出信号传递给力控制器，对机器人进行调节以保持打磨工具和加工件之间的力相对恒定，从而保证打磨的效果。The robot grinding system adopts the fuzzy control algorithm to control the control system, and the simulation is carried out by using MATLAB, and the effect is good. The output signal is transmitted to the force controller, and the robot is adjusted to keep the force between the grinding tool and the workpiece relatively constant, so as to ensure the grinding effect.
如图2所示，机器人打磨系统的系统工作流程如下：As shown in Figure 2, the system workflow of the robot grinding system is as follows:
控制系统的软件功能是协调机器人与抛光打磨砂带机的打磨工作，主要目的是保持打磨力的恒定。The software function of the control system is to coordinate the grinding work of the robot and the polishing and grinding belt machine, and the main purpose is to keep the grinding force constant.
打磨具体过程为机器人取工件后进行校正，通知主控制器启动打磨机，打磨机配合机器人打磨工件，不断进行力反馈调节以保证力恒定，该最佳打磨力是由人类经验信息和加速度信息交叉形成的。The specific process of grinding is that after the robot picks up the workpiece, it calibrates, and informs the main controller to start the grinding machine. The grinding machine cooperates with the robot to grind the workpiece, and continuously performs force feedback adjustment to ensure a constant force. The optimal grinding force is obtained by crossing human experience information and acceleration information. Forming.
该工序打磨完成之后，机器人通知主控制器关闭该工序打磨机并进行工件校正后开始下一工序打磨工作，重复以上过程直至所有工序打磨完成。After the grinding of this process is completed, the robot notifies the main controller to close the grinding machine of this process and perform workpiece calibration before starting the next process of grinding, repeating the above process until all processes are polished.
本发明不局限于上述的优选实施方式，任何人应该得知在本发明的启示下做出的结构变化，凡是与本发明具有相同或者相近似的技术方案，均属于本发明的保护范围。The present invention is not limited to the preferred embodiment described above, and anyone should know that any structural changes made under the inspiration of the present invention, and any technical solutions that are the same as or similar to the present invention, all belong to the protection scope of the present invention.
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