CN104914864B - A kind of mobile device, mobile device control system and control method - Google Patents
A kind of mobile device, mobile device control system and control method Download PDFInfo
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- CN104914864B CN104914864B CN201510268099.8A CN201510268099A CN104914864B CN 104914864 B CN104914864 B CN 104914864B CN 201510268099 A CN201510268099 A CN 201510268099A CN 104914864 B CN104914864 B CN 104914864B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 238000013508 migration Methods 0.000 claims description 21
- 230000005012 migration Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000005259 measurement Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Abstract
A kind of mobile device, including chassis, holder and sensing element, the chassis is connect with the holder, the sensing element is used to measure the opposite offset information between the holder and chassis, when the cloud platform rotation, the chassis is moved according to the opposite offset information so as to which the relative displacement between the chassis and holder be made to meet preset condition.The present invention also provides a kind of control systems and method of above-mentioned mobile device.The present invention can enhance flexibility and the stability of holder.
Description
Technical field
The present invention relates to a kind of mobile devices, the especially control for the mobile device of carry load and the mobile device
System and method processed.
Background technology
In some robot devices, directly load is fixed on chassis, load movement is driven by bobbin movement.It is such
In robot device, load activity is limited, underaction, can only be rotated in the horizontal direction with chassis；And the vibration that chassis is subject to,
The stability of load can be directly affected.
Invention content
In view of the foregoing, it is necessary to propose a kind of mobile device, can carry load, and enhance the flexibility of load with
Stability.
A kind of mobile device control system and control method are proposed in addition, there is a need to, and can control above-mentioned mobile device.
A kind of mobile device, including chassis, holder and sensing element, the chassis is connect with the holder, the sensing
Element is used to measure the opposite offset information between the holder and chassis, and when the cloud platform rotation, the chassis is according to institute
Opposite offset information is stated to move so as to which the relative displacement between the chassis and holder be made to meet preset condition.
A kind of control system of above-mentioned mobile device, including：Acquisition module, for obtaining the holder of mobile dynamic device and bottom
Opposite offset information between disk；Control module, for according to the opposite offset information, controlling the bobbin movement, making institute
The relative displacement stated between chassis and holder meets preset condition.
A kind of control method of above-mentioned mobile device, including：The phase between the holder of device and chassis is moved in the movement of acquisition
To offset information；And according to the opposite offset information, the bobbin movement is controlled, is made opposite between the chassis and holder
Offset meets preset condition.
Compared to the prior art, holder can be realized with method using mobile device provided by the invention and its control system
Flexible motion, and reduce chassis and vibrate influence to load.
Description of the drawings
Fig. 1 is the system architecture schematic diagram of mobile device preferred embodiment of the present invention.
Fig. 2 is the structure diagram of holder in mobile device preferred embodiment of the present invention.
Fig. 3 is the system architecture instance graph of mobile device preferred embodiment of the present invention.
Fig. 4 is the signal control loop in mobile device preferred embodiment of the present invention.
Fig. 5 is the schematic diagram of the first preferred embodiment of control system of mobile device of the present invention.
Fig. 6 is the schematic diagram of the second preferred embodiment of control system of mobile device of the present invention.
Fig. 7 is the flow chart of the first preferred embodiment of control method of mobile device of the present invention.
Fig. 8 is the flow chart of the second preferred embodiment of control method of mobile device of the present invention.
Main element symbol description
Mobile device 100
Chassis 1
Wheel 10
Holder 2
Pitch axis 20
Course axis 21
Pitching shaft driver 22
Course shaft driver 23
Sensing element 3
Trigger mechanism 4
Inertia measuring sensor 5
Controller 6
Control system 200
Detection module 203
Acquisition module 201
Control module 202
Following specific embodiment will be further illustrated the present invention with reference to above-mentioned attached drawing.
Specific embodiment
As shown in fig.1, it is the system architecture schematic diagram of the preferred embodiment of mobile device of the present invention.
In the present embodiment, mobile device 100 includes chassis 1, holder 2 and sensing element 3.Wherein, the holder 2 includes
Pitch axis 20 and course axis 21.21 connecting base plate 1 of course axis of the holder 2 and the pitch axis 20 of holder 2 can carry one
A load, such as trigger mechanism 4.
It is appreciated that the holder 2 can also carry other loads, such as video camera, ultrasonic measurement equipment.
The pitch axis 20 of holder 2 can pass through locking member (not shown) fixed transmission mechanism 4 and holder 2
Course axis 21 can be connect by a base plate fixing holder (not shown) with chassis 1.It should be appreciated by those skilled in the art that holder
2 pitch axis 20 and course axis 21 can also be connect with trigger mechanism 4 and chassis 1 by other means.
Simultaneously referring to Fig.2, the pitch axis 20 of the holder 2 includes actuator 22 and course axis 21 includes actuator 23.
The actuator 22 and 23 respectively includes stator and rotor.The stator of actuator 22 is connect with trigger mechanism 4 and actuator 22
Rotor connect with the holder 2.The stator of the actuator 23 is connect with the chassis 1, the rotor of the actuator 23 with
The holder 2 connects.The actuator 22 and 23 can respectively drive the trigger mechanism that holder 2 is carried through its stator with rotor
4 carry out pitching movement and yawing rotation.In the present embodiment, the pitch angle of the pitching movement can be 0~180 degree, with
And the yaw angle of yawing rotation can be 0~360 degree.In the present embodiment, the actuator 42 is brushless motor.It is appreciated that
, the actuator 42 is alternatively brush motor or motor etc., and is not limited to the present embodiment.
The sensing element 3 may be mounted in the course shaft driver 23 of holder 2, to measure holder 2 and chassis 1 it
Between practical opposite offset information, such as opposite deviation angle and/or opposite migration velocity.In present embodiment, the sensing
Part 3 is angle measurement sensor, and including but not limited to absolute encoder, incremental encoder, magnetic coder etc..
Extraly or additionally, mobile device 100 of the present invention further includes an inertia measuring sensor 5.This is used
Property measuring sensor 5 can be connect with trigger mechanism 4, for measuring the practical pitch angle of trigger mechanism 4 and yaw angle.
The inertia measuring sensor 5 includes, but are not limited to accelerometer, gyroscope, magnetometer etc..
Mobile device 100 of the present invention further includes a controller 6.The controller 6 is the control of mobile device 100
Center can be central processing unit (Central Processing Unit, abbreviation CPU).The controller 6 can be installed
In any position of mobile device 100.
The controller 6 can according to the practical opposite offset information between the holder 2 and chassis 1 that sensing element 3 measures,
Control chassis 1 operates, so that the relative displacement between holder 2 and chassis 1 meets preset condition, such as controls holder 2 and chassis 1
Between opposite deviation angle reach preset deviation angle or control opposite migration velocity therebetween reaches preset value.
Refering to as shown in figure 3, mobile device 100 under static state, the positive front position and chassis of trigger mechanism 4 therein
1 positive front position is consistent.Therefore, the opposite deviation angle between holder 2 and chassis 1 is 0.Therefore, in the present embodiment, institute
It is that opposite deviation angle between chassis 1 and holder 2 and opposite migration velocity is made to be 0 to state preset condition.Therefore when the chassis 1 exists
During operating, controller 6 controls the driving element on chassis 1, if wheel 10 operates, the chassis 1 is made to follow the holder 2 and is moved.
When opposite deviation angle is bigger, to reduce differential seat angle therebetween as early as possible, the movement velocity on chassis 1 is faster；Conversely, relatively partially
Shifting angle is smaller, and the movement velocity on chassis 1 is then slower.
Further, the pitch angle of trigger mechanism 4 that the controller 6 can also be measured according to inertia measuring sensor 5
Degree and yaw angle, the pitching shaft driver 22 and course shaft driver 23 for controlling holder 2 rotate, to adjust trigger mechanism
4 elevation angle degree and yaw angle, reaches preset pitch angle and yaw angle.
As shown in fig.4, be mobile device 100 of the present invention preferred embodiment in signal control loop.First, user
Preset data are inputted to controller 6 by preset means, such as the preset pitch angle and yaw angle of trigger mechanism 4
Preset opposite deviation angle and/or opposite migration velocity between degree and holder 2 and chassis 1.The preset means can
To include connecing by the input unit input of controller 6 or by a communication of the remote controler to the controller 6
Mouth sends signal.After above-mentioned data are received, the pitching shaft driver 22 and course axis that control holder 2 drive controller 6
Moving part 23 moves, and pitching movement and yawing rotation are carried out with the trigger mechanism 4 that holder 2 is driven to be carried.Trigger mechanism 4 into
When row pitching movement and yawing rotation, the practical pitch angle of 5 real-time measurement trigger mechanism 4 of inertia measuring sensor and partially
Boat angle, and the practical pitch angle and yaw angle of the trigger mechanism 4 are fed back into controller 6, controller 6 is according to described
The practical pitch angle and yaw angle of trigger mechanism 4 continue that the pitching shaft driver 22 of holder 2 and course axis is controlled to drive
Moving part 23 rotates, to adjust the pitch angle of trigger mechanism 4 and yaw angle, reach preset pitch angle and partially
Boat angle.Meanwhile controller 6 is mounted on when controlling the pitching shaft driver 22 of holder 2 and course shaft driver 23 moves
Sensing element 3 in course shaft driver 23 by the opposite deviation angle data back between holder 2 and chassis 1 to controller 6,
Controller 6 controls chassis 1 to operate in real time according to this with respect to deviation angle, so that the relative displacement between holder 2 and chassis 1 is expired
Sufficient preset value.Opposite deviation angle is such as made to be less than predetermined value and/or opposite relatively speed less than preset value.
Fig. 5 please be read, show the control system schematic diagram of the preferred embodiment of mobile device of the present invention.The control system
200 include：
Acquisition module 201, for obtaining the opposite offset information between the holder 2 of the mobile device 100 and chassis 1；
Control module 202, for according to the opposite offset information, the chassis 1 being controlled to move, make the chassis 1 with
Relative displacement between holder 2 meets preset condition.
Wherein, the acquisition module 201 can be used for obtaining the opposite offset letter between the holder 2 and chassis 1 in real time
Breath, including opposite deviation angle and/or opposite migration velocity.In present embodiment, the control module 202 is described for controlling
Chassis 1 follows the holder 2 to move, so that the opposite deviation angle and the opposite migration velocity level off to 0, can also use
Predetermined value is kept in controlling the opposite deviation angle and the opposite migration velocity.
In addition, the control module 202 can be used for the pitch axis 20 of control holder 2 and/or course axis 21 rotates, with
The load is driven to carry out pitching movement and/or yawing rotation, and according to the practical pitch angle of the load obtained in real time
And yaw angle, the load is controlled to reach preset pitch angle and/or yaw angle.
Also referring to Fig. 6, the control system 200 can also include detection module 203, for detecting the mobile dress
It puts and whether occurs to deviate relatively between 100 holder 2 and chassis 1, if shifting, the acquisition module 201 obtains relatively
Offset information.
The detection module 203 detects the opposite offset information of the holder 2 and chassis 1 by real-time or timing.
As shown in fig.7, it is the preferred embodiment flow chart of the control method of mobile device of the present invention.According to different need
It asks, in control method shown in Fig. 7, the execution sequence of step can change, and certain steps can be omitted, and be not limited to Fig. 7 institutes
The step of showing and sequence.
Step S301：Obtain the opposite offset information between the holder 2 of mobile device 100 and chassis 1；
Step S302：According to the opposite offset information, the chassis 1 is controlled to move, make the chassis 1 and holder 2 it
Between relative displacement meet preset condition.
Specifically, the opposite offset information between the holder 2 and chassis 1 is obtained in real time or periodically, including opposite
Deviation angle and/or opposite migration velocity.
In addition, before the opposite offset information between the holder 2 of mobile device 100 and chassis 1 is obtained, the controlling party
Method can also include, and detect whether the holder 2 occurs to deviate relatively with chassis 1, if opposite offset occurs, perform and obtain institute
State opposite offset information step.
In addition, the control method further includes the pitch axis 20 of control holder 2 and/or course axis 21 rotates, with described in driving
Load carries out pitching movement and/or yawing rotation, and the practical pitch angle according to the load obtained in real time and yaw
The step of angle, the control load reaches preset pitch angle and/or yaw angle.
Referring to Fig. 8, it show another embodiment of the control method of the present invention.According to different demands, controlled shown in Fig. 8
In method processed, the execution of step sequence can change, and certain steps can be omitted, and be not limited to step shown in Fig. 8 and suitable
Sequence.
Step S401：Receive the trigger mechanism 4 of preset mobile device 100 pitch angle and/or yaw angle and
Opposite offset information between the holder 2 of mobile device 100 and chassis 1.It is described to include opposite offset relative to offset information
Angle and/or opposite migration velocity.In the present embodiment, the controller 6 can receive user by an input unit and input
Above-mentioned data.Optionally, the controller 6 can also be sent to upper by communication interface one remote controler of reception
State data.
Step S402：The pitching shaft driver 22 and/or course shaft driver 23 for controlling holder 2 move.
Step S403：Receive the trigger mechanism 4 of 5 real-time measurement of inertia measuring sensor being connect with trigger mechanism 4
Practical pitch angle and/or yaw angle.
Step S404：Judge the practical pitch angle and/or yaw angle whether with above-mentioned preset pitch angle and/
Or yaw angle is consistent.
When practical pitch angle and/or yaw angle are with above-mentioned preset pitch angle and/or inconsistent yaw angle,
Above-mentioned step S402 is returned, according to the practical pitch angle and/or yaw angle of the trigger mechanism 4, continues to control holder 2
Pitching shaft driver 22 and course shaft driver 23 rotate, to adjust the elevation angle degree of trigger mechanism 4 and yaw angle, directly
Reach preset pitch angle and yaw angle to it.
When practical pitch angle and/or yaw angle are with above-mentioned preset pitch angle and/or consistent yaw angle, hold
The following step S54 of row.
Step S405：Receive the holder 2 of 3 real-time measurement of sensing element in the course shaft driver 23 of holder 2
Practical opposite offset information between chassis 1.
Step S406：Judge above-mentioned reality relative to offset information whether with preset relative to deviation angle or opposite offset speed
Degree is consistent.Under static state, the positive front position of trigger mechanism 4 therein and the positive front position on chassis 1 are one to mobile device 100
It causes.Therefore, the opposite deviation angle between holder 2 and chassis 1 or opposite migration velocity are 0.Therefore, in the present embodiment, institute
It is 0 degree to state between holder 2 and chassis 1 preset deviation angle, and 0 is leveled off to respect to migration velocity.
When it is practical relative to deviation angle and/or opposite migration velocity with preset relative to deviation angle and/or with respect to offset
When speed is consistent, flow terminates.
When it is practical relative to deviation angle and/or opposite migration velocity with preset relative to deviation angle and/or with respect to offset
When speed is inconsistent, following step S407 is performed.
Step S407：The chassis 1 of control mobile device 100 rotates.Chassis 1 can be controlled by its four wheels 10 with one
A preset speed is rotated.It is described when reality is with respect to deviation angle and/or bigger opposite migration velocity in the present embodiment
Preset speed is bigger, and practical opposite deviation angle and/or opposite migration velocity are got over hour, and the preset speed is smaller.This
In embodiment, a reality can be preset with respect to the correspondence between deviation angle and chassis velocity of rotation.The chassis 1 can
To be rotated according to the correspondence.
When chassis 1 rotates, step S405 and S406 are performed simultaneously, until the reality between holder 2 and chassis 1 is relatively inclined
It is consistent with preset opposite deviation angle and/or opposite migration velocity to move angle and/or opposite migration velocity, and terminates flow.
In other embodiments of the invention, above-mentioned steps S405, S406 and S407 can also be with step S402, steps
S403 and step S404 are performed simultaneously, and are not limited to above-mentioned priority and are performed.In other embodiments of the invention, above-mentioned flow
Step S405, S406 and S407 can also be only included or only include step S402, step S403 and step S404, and it is unlimited
In above-mentioned step.
It should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to
The present invention is described in detail in upper preferred embodiment, it will be understood by those of ordinary skill in the art that, it can be to the present invention
Technical solution modify or equivalent replacement, without departing from the spirit and scope of technical solution of the present invention.
Claims (22)
1. a kind of mobile device, it is characterised in that：The mobile device includes chassis, holder and sensing element, the chassis and institute
It states holder to be rotatablely connected by course axis, the sensing element is used to measure the opposite offset letter between the holder and chassis
Breath, when the cloud platform rotation, the chassis is moved according to the opposite offset information so as to make between the chassis and holder
Relative displacement meet preset condition, be provided with load on the holder, the load is turned by pitch axis and the holder
Dynamic connection, the mobile device further include controller, for the pitching shaft driver of holder and course shaft driver to be controlled to turn
It is dynamic, to adjust the elevation angle degree of the load and yaw angle, in the pitching shaft driver of control holder and the driving of course axis
When part moves, the opposite deviation angle information between holder and chassis is fed back to the controller by the sensing element, described
Controller controls chassis to operate in real time according to this with respect to deviation angle, so that the opposite offset between the holder and the chassis
Amount meets preset value, wherein, opposite deviation angle and/or opposite migration velocity between the holder of sensing element measurement and chassis
When bigger, the running speed on the chassis is bigger；Practical opposite deviation angle and/or opposite migration velocity are got over hour, the bottom
The running speed of disk is smaller.
2. mobile device as described in claim 1, it is characterised in that：The mobile device further include be set to the holder with
Actuator between the chassis, described actuator one end connect the holder, and the other end connects the chassis.
3. mobile device as claimed in claim 2, it is characterised in that：The actuator includes stator and rotor, the stator
It is connect with the chassis, the rotor is connect with the holder.
4. mobile device as claimed in claim 3, it is characterised in that：The sensing element is installed in the actuator.
5. mobile device as claimed in claim 4, it is characterised in that：The sensing element is angle measurement sensor, including
Absolute encoder, incremental encoder or magnetic coder.
6. mobile device as described in claim 1, which is characterized in that actuator one end connecting base plate of the course axis, separately
One end connects actuator one end connection holder of holder and the pitch axis, and the other end connects carried load.
7. mobile device as claimed in claim 6, it is characterised in that：The pitching shaft driver and course shaft driver point
Not Bao Kuo rotor and stator, the rotor of the pitching shaft driver with it is described load connect, the stator of the pitching shaft driver
Connect with the holder, the rotor of the course shaft driver is connect with the holder, the stator of course shaft driver with it is described
Chassis connects.
8. mobile device as described in claim 1, it is characterised in that：The mobile device further includes inertia measuring sensor,
For measuring the pitch angle of the load and yaw angle.
9. mobile device as claimed in claim 8, it is characterised in that：The controller is used to be measured according to the inertia and sense
The practical pitch angle and yaw angle for the load that tolerance is surveyed, control the pitching shaft driver of holder and course shaft driver
Rotation, to adjust the elevation angle degree of the load and yaw angle.
10. mobile device as claimed in claim 9, it is characterised in that：The load is trigger mechanism.
11. a kind of control system of the mobile device as shown in claim 1, it is characterised in that：The control system includes：
Acquisition module, for obtaining the opposite offset information between the holder of the mobile device and chassis；And
Control module, for according to the opposite offset information, controlling the bobbin movement, making between the chassis and holder
Relative displacement meets preset condition.
12. control system as claimed in claim 11, it is characterised in that：Detection module is further included, for detecting the movement
Whether occur to deviate relatively between the holder of device and chassis, if shifting, the acquisition module obtains opposite offset letter
Breath.
13. a kind of control system as shown in claim 11 or 12, it is characterised in that：The holder includes pitch axis and boat
To axis, one end connecting base plate of the course axis, the other end connects one end connection holder of holder and the pitch axis, separately
The load of one end connection carrying.
14. a kind of control system as shown in claim 13, it is characterised in that：The control module, is additionally operable to：
The pitch axis and/or course shaft rotation for controlling holder move, the load to be driven to carry out pitching movement and/or yawing rotation,
And according to the practical pitch angle and yaw angle of the load obtained in real time, the load is controlled to reach preset pitching
Angle and/or yaw angle.
15. control system as claimed in claim 14, which is characterized in that the acquisition module is additionally operable to：It receives described default
Pitch angle and/or yaw angle and preset opposite offset information.
16. control system as claimed in claim 15, it is characterised in that：The opposite offset information includes opposite deviation angle
And/or opposite migration velocity.
17. a kind of control method of the mobile device as shown in claim 1, which is characterized in that the control method includes：
Obtain the opposite offset information between the holder of mobile device and chassis；And
According to the opposite offset information, the bobbin movement is controlled, expires the relative displacement between the chassis and holder
Sufficient preset condition.
18. control method as claimed in claim 17, which is characterized in that obtaining between the holder of mobile device and chassis
Before offset information, further include：
It detects whether the holder occurs to deviate relatively with chassis, if opposite offset occurs, obtains the opposite offset information.
19. the control method as described in claim 17 or 18, which is characterized in that the holder includes pitch axis and course
One end connection holder of axis, one end connecting base plate of course axis, other end connection holder and the pitch axis, the other end connect
Connect the load of carrying.
20. control method as claimed in claim 19, which is characterized in that the control method further includes：
The pitch axis and/or course shaft rotation for controlling holder move, the load to be driven to carry out pitching movement and/or yawing rotation,
And according to the practical pitch angle and yaw angle of the load obtained in real time, the load is controlled to reach preset pitching
The function module of angle and/or yaw angle.
21. control method as claimed in claim 20, which is characterized in that the control method further includes：It receives described preset
Pitch angle and/or yaw angle and preset opposite offset information.
22. control method as claimed in claim 21, it is characterised in that：The opposite offset information includes opposite deviation angle
And/or opposite migration velocity.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510268099.8A CN104914864B (en) | 2015-05-22 | 2015-05-22 | A kind of mobile device, mobile device control system and control method |
| CN201810371420.9A CN108443680B (en) | 2015-05-22 | 2015-05-22 | Mobile device, mobile device control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510268099.8A CN104914864B (en) | 2015-05-22 | 2015-05-22 | A kind of mobile device, mobile device control system and control method |
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| CN201810371420.9A Division CN108443680B (en) | 2015-05-22 | 2015-05-22 | Mobile device, mobile device control system and control method |
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| CN104914864B true CN104914864B (en) | 2018-06-08 |
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| CN201510268099.8A Expired - Fee Related CN104914864B (en) | 2015-05-22 | 2015-05-22 | A kind of mobile device, mobile device control system and control method |
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| CN107077144B (en) * | 2016-09-09 | 2021-05-25 | 深圳市大疆创新科技有限公司 | Method, system and control device for displaying state of movable device |
| WO2018072133A1 (en) * | 2016-10-19 | 2018-04-26 | 深圳市大疆创新科技有限公司 | Method for controlling mobile device, control system and mobile device |
| CN106499926A (en) * | 2016-11-22 | 2017-03-15 | 天津大学 | A kind of camera head system |
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| CN108733083B (en) * | 2018-03-21 | 2022-03-25 | 北京猎户星空科技有限公司 | Robot rotation control method and device, robot and storage medium |
| CN108737718B (en) * | 2018-03-21 | 2020-10-16 | 北京猎户星空科技有限公司 | Shooting method and device and intelligent equipment |
| WO2020087349A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle and gimbal control method therefor |
| CN109519666A (en) * | 2018-12-17 | 2019-03-26 | 西安羚控电子科技有限公司 | A kind of holder support device |
| WO2021003613A1 (en) * | 2019-07-05 | 2021-01-14 | 深圳市大疆创新科技有限公司 | Movable platform and control method therefor, apparatus, chassis, gimbal, and control device |
| CN112119363A (en) * | 2019-07-24 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Cradle head step-by-step leveling method, cradle head system, cradle head device and interaction device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108443680B (en) | 2020-06-05 |
| CN108443680A (en) | 2018-08-24 |
| CN104914864A (en) | 2015-09-16 |
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