CN105891757B - An open-loop Hall sensor measurement accuracy verification device and verification method thereof - Google Patents
An open-loop Hall sensor measurement accuracy verification device and verification method thereof Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及一种校验装置和校验方法，具体讲涉及一种开环霍尔传感器测量准确度校验装置及其校验方法。The invention relates to a calibration device and a calibration method, in particular to an open-loop Hall sensor measurement accuracy calibration device and a calibration method.
背景技术Background technique
在直流系统的大电流测试中，普遍使用直流分流器和霍尔传感器来测量电流。直流分流器精度相对较高，一般为0.5-0.2级；直流分流器串联于一次回路中，功耗较大(例如1000A，75mV，功耗75W)，测量与二次不隔离。采用霍尔技术测量直流系统大电流是近些年最常用的方法，其中闭环技术的霍尔传感器可以达到0.5级的技术水平。但闭环技术的霍尔传感器体积相对较大，有线圈，需外部激励电源，没有开口，只能随所测电流回路一次安装调试。In high-current testing of DC systems, DC shunts and Hall sensors are commonly used to measure current. The accuracy of the DC shunt is relatively high, generally 0.5-0.2; the DC shunt is connected in series in the primary loop, and the power consumption is large (for example, 1000A, 75mV, power consumption 75W), and the measurement is not isolated from the secondary. Using Hall technology to measure large current in DC system is the most commonly used method in recent years, and the Hall sensor of closed-loop technology can reach the technical level of 0.5. However, the Hall sensor of closed-loop technology is relatively large in size, has a coil, requires an external excitation power supply, and has no opening, and can only be installed and debugged with the current loop to be measured.
开环霍尔传感器由一个带开口磁隙的铁芯和夹在开口处的霍尔元件及整个密封体组成，因测量电流范围不同，其物理尺寸相差很大，但基本物理结构、原理是一样的。相对于闭环技术的霍尔传感器，开环技术的霍尔传感器体积小，不需大功率电源激励，尤其是可以做成铁芯开口的结构(如直流钳形表)非常方便现场测量。但一个严重不足是测量准确度较低，一般测量误差为3％-5％。市场上最好的测量准确度也只能在1.5％左右。The open-loop Hall sensor consists of an iron core with an open magnetic gap, a Hall element clamped at the opening and the entire sealing body. Due to the different measurement current ranges, the physical dimensions are very different, but the basic physical structure and principle are the same. of. Compared with the Hall sensor of closed-loop technology, the Hall sensor of open-loop technology is small in size and does not require high-power power supply excitation. In particular, it can be made into a structure with an iron core opening (such as a DC clamp meter), which is very convenient for on-site measurement. But a serious deficiency is the low measurement accuracy, and the general measurement error is 3%-5%. The best measurement accuracy on the market is only around 1.5%.
现状是：以往一般情况下不需要高精度地测量直流电流，但随着微网、储能等新能源逆变设备的大量投入，需要高精度测量直流电流。例如，在大功率储能、逆变的电力设备中，对转换效率的测量，就需要高精度测量直流电流，计算直流总功率。作为第三方对设备的检测、评估，必须外接直流电流传感器测量电流。闭环技术霍尔传感器固然好，但现场条件下安装过于复杂。因此，如果能够把带铁芯开口的开环霍尔传感器测量准确度，通过某种方法提高到一个可接受的水平将具有非常大的实用意义。The status quo is: in the past, it was generally not necessary to measure DC current with high precision, but with the large investment of new energy inverter equipment such as microgrids and energy storage, it is necessary to measure DC current with high precision. For example, in high-power energy storage and inverter power equipment, the measurement of conversion efficiency requires high-precision measurement of DC current and calculation of total DC power. As a third party to test and evaluate the equipment, an external DC current sensor must be connected to measure the current. The closed-loop technology Hall sensor is good, but it is too complicated to install under field conditions. Therefore, if the measurement accuracy of the open-loop Hall sensor with the core opening can be improved to an acceptable level by some method, it will have great practical significance.
发明内容SUMMARY OF THE INVENTION
为了解决现有技术中所存在的上述不足，本发明提供一种霍尔传感器测量准备度校验装置和校验方法，通过对开环霍尔传感器进行校准标定，使之能够大幅度提高测量准确度，并具备良好的稳定性。In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a Hall sensor measurement readiness calibration device and calibration method. By calibrating the open-loop Hall sensor, the measurement accuracy can be greatly improved. degree and have good stability.
本发明提供的技术方案是：一种开环霍尔传感器测量准确度校验装置，其改进之处在于：所述装置包括：The technical solution provided by the present invention is: an open-loop Hall sensor measurement accuracy verification device, the improvement of which is: the device comprises:
电源，其输出端通过功率开关与均匀绕制在开环霍尔传感器上的电流导线相连，用于提供测试电流给所述开环霍尔传感器；a power supply, the output end of which is connected to a current wire evenly wound on the open-loop Hall sensor through a power switch, and is used to provide a test current to the open-loop Hall sensor;
回路电流检测装置，串联在所述电源的输出回路上，用于检测所述电源输出的回路电流；a loop current detection device, connected in series with the output loop of the power supply, for detecting the loop current output by the power supply;
配套检测装置，分别与所述开环霍尔传感器的输出端和所述功率开关的控制端相连，用于采集所述开环霍尔传感器的输出数据，并根据所述输出数据以及所述回路电流检测装置检测的回路电流控制所述功率开关的开断。The matching detection device is respectively connected with the output end of the open-loop Hall sensor and the control end of the power switch, and is used for collecting the output data of the open-loop Hall sensor, and according to the output data and the loop The loop current detected by the current detection device controls the opening and closing of the power switch.
优选的，所述电源为其输出电流中无高频脉动含量的功率蓄电池。Preferably, the power source is a power storage battery with no high-frequency pulsation content in its output current.
优选的，所述功率开关包括并联的MOS管，所述MOS管并联后其漏极与所述电流导线的一端相连，其源极与所述电源的一输出端相连，其栅极与所述配套检测装置相连。Preferably, the power switch includes MOS transistors connected in parallel. After the MOS transistors are connected in parallel, the drain is connected to one end of the current wire, the source is connected to an output end of the power supply, and the gate is connected to the current wire. The matching detection device is connected.
优选的，所述回路电流检测装置包括分流器和数字mV表，所述分流器串联在所述电源的输出回路上，并与所述数字mV表相连，用于将输出回路上的大电流转换为小电流后供所述数字mV表测量。Preferably, the loop current detection device includes a shunt and a digital mV meter, the shunt is connected in series with the output loop of the power supply, and is connected with the digital mV meter, for converting the large current on the output loop After the small current is used for the digital mV meter measurement.
优选的，所述配套检测装置包括功率分析仪和检测工装，所述功率分析仪的输入端与所述开环霍尔传感器的输出端相连，其输出端与所述检测工装的输入端相连，用于采集所述开环霍尔传感器的输出数据，并将采集到的数据传输给所述检测工装，所述检测工装读取所述功率分析仪采集的开环霍尔传感器的输出数据、以及所述回路电流检测装置检测的回路电流，并根据所述开环霍尔传感器的输出数据以及所述回路电流控制所述功率开关的开断。Preferably, the matching detection device includes a power analyzer and a detection tool, the input end of the power analyzer is connected with the output end of the open-loop Hall sensor, and the output end is connected with the input end of the detection tool, For collecting the output data of the open-loop Hall sensor, and transmitting the collected data to the detection tool, the detection tool reads the output data of the open-loop Hall sensor collected by the power analyzer, and The loop current detected by the loop current detection device controls the on-off of the power switch according to the output data of the open-loop Hall sensor and the loop current.
进一步，所述检测工装还根据所述开环霍尔传感器的输出数据以及所述回路电流计算所述开环霍尔传感器在不同测量区间段的线性函数，所述不同测量区间段的线性函数的线性系数由所述检测工装计算完成后传输至所述功率分析仪，由所述功率分析仪进行存储。Further, the detection tool also calculates the linear functions of the open-loop Hall sensor in different measurement intervals according to the output data of the open-loop Hall sensor and the loop current, and the linear functions of the different measurement intervals are calculated. The linear coefficient is transmitted to the power analyzer after the calculation of the detection tool is completed, and is stored by the power analyzer.
本发明的另一目的在于提供一种用开环霍尔传感器测量准确度校验装置实现的校验方法，所述方法包括：Another object of the present invention is to provide a calibration method implemented by an open-loop Hall sensor measurement accuracy calibration device, the method comprising:
1)测量当回路电流检测装置检测的回路电流为零时，所述开环霍尔传感器的输出数据；1) measure the output data of the open-loop Hall sensor when the loop current detected by the loop current detection device is zero;
2)调整回路电阻，并根据所述回路电阻估算回路电流，以确保所述回路电流不超过开环霍尔传感器的最大允许电流，并保证所述回路电流不超过电源的短时极限电流；2) Adjust the loop resistance, and estimate the loop current according to the loop resistance, to ensure that the loop current does not exceed the maximum allowable current of the open-loop Hall sensor, and ensure that the loop current does not exceed the short-term limit current of the power supply;
3)控制MOS管短时导通，并读取所述MOS管导通时开环霍尔传感器的输出数据以及所述回路电流检测装置测量的标准回路电流，确定散点后关闭MOS管；3) control the MOS tube to be turned on for a short time, and read the output data of the open-loop Hall sensor when the MOS tube is turned on and the standard loop current measured by the loop current detection device, and close the MOS tube after determining the scatter;
4)改变流经所述开环霍尔传感器的电流极性或改变回路电阻，重复步骤3)；4) Change the polarity of the current flowing through the open-loop Hall sensor or change the loop resistance, repeat step 3);
5)根据确定的所有散点得到不同区间段的线性方程；5) Obtain the linear equations of different interval segments according to all the determined scatter points;
6)根据不同区间段的线性方程，通过线性插值计算标定与开环霍尔传感器输出数据相对应的实际电流值。6) Calculate and calibrate the actual current value corresponding to the output data of the open-loop Hall sensor through linear interpolation according to the linear equations of different intervals.
进一步，所述步骤3)中的回路电流检测装置测量的标准回路电流由人工输入至检测工装。Further, the standard loop current measured by the loop current detection device in the step 3) is manually input to the detection tool.
优选的，所述步骤3)中的散点为由标准回路电流值和对应开环霍尔传感器采样值所形成的参数坐标点。Preferably, the scattered points in the step 3) are parameter coordinate points formed by the standard loop current value and the corresponding open-loop Hall sensor sampling value.
优选的，所述步骤4)中通过改变缠绕在开环霍尔传感器上的绕线匝数或串联不同阻值的功率电阻来改变回路电阻。Preferably, in the step 4), the loop resistance is changed by changing the number of turns of the winding wound on the open-loop Hall sensor or connecting power resistors with different resistance values in series.
与最接近的现有技术相比，本发明具有如下显著进步：Compared with the closest prior art, the present invention has the following significant advancements:
1，消除了带微调电位器的霍尔传感器因震动等人为因素造成的传感器输出数据失真的缺陷。1. Eliminate the defect of sensor output data distortion caused by human factors such as vibration of the Hall sensor with trimmer potentiometer.
2，在开环霍尔传感器上均匀缠绕电流导线，可采用电子开关控制下的小电流模拟储能设备的近千安的大电流，实现可控的真实电流场景下的校验与测量。2. The current wire is evenly wound on the open-loop Hall sensor, and the small current under the control of the electronic switch can be used to simulate the large current of nearly a thousand amperes of the energy storage device, so as to realize the verification and measurement under the controllable real current scene.
3，直接由“源”到“目标”值，消除了开环霍尔传感器因制造工艺造成的分散性误差；消除了配套检测设备内部参考基准的分散误差。3. From the "source" to the "target" value directly, the dispersion error of the open-loop Hall sensor caused by the manufacturing process is eliminated; the dispersion error of the internal reference benchmark of the matching detection equipment is eliminated.
4，可用廉价的开环霍尔传感器达到相对贵重的闭环霍尔能够达到的测量效果。4. An inexpensive open-loop Hall sensor can be used to achieve the measurement effect that a relatively expensive closed-loop Hall can achieve.
5，开环霍尔传感器采用开口铁芯，方便安装；电压量输出，可大幅减轻供电电源容量需求。5. The open-loop Hall sensor adopts an open iron core, which is convenient for installation; the voltage output can greatly reduce the capacity requirement of the power supply.
附图说明Description of drawings
图1为本发明提供的开环霍尔传感器校验装置的结构示意图。FIG. 1 is a schematic structural diagram of an open-loop Hall sensor calibration device provided by the present invention.
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方式作进一步的详细说明。The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.
为了彻底了解本发明实施例，将在下列的描述中提出详细的结构。显然，本发明实施例的施行并不限定于本领域的技术人员所熟习的特殊细节。本发明的较佳实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。For a thorough understanding of the embodiments of the present invention, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the special details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments in addition to these detailed descriptions.
本发明提供一种开环霍尔传感器测量准确度校验装置，其结构如图1所示：所述装置包括：The present invention provides an open-loop Hall sensor measurement accuracy verification device, the structure of which is shown in Figure 1: the device includes:
电源，其输出端通过功率开关与均匀绕制在开环霍尔传感器上的电流导线相连，用于提供测试电流给所述开环霍尔传感器；a power supply, the output end of which is connected to a current wire evenly wound on the open-loop Hall sensor through a power switch, and is used to provide a test current to the open-loop Hall sensor;
回路电流检测装置，串联在所述电源的输出回路上，用于检测所述电源输出的回路电流；a loop current detection device, connected in series with the output loop of the power supply, for detecting the loop current output by the power supply;
配套检测装置，分别与所述开环霍尔传感器的输出端和所述功率开关的控制端相连，用于采集所述开环霍尔传感器的输出数据，并根据所述输出数据以及所述回路电流检测装置检测的回路电流控制所述功率开关的开断。The matching detection device is respectively connected with the output end of the open-loop Hall sensor and the control end of the power switch, and is used for collecting the output data of the open-loop Hall sensor, and according to the output data and the loop The loop current detected by the current detection device controls the opening and closing of the power switch.
所述电源为其输出电流中无高频脉动含量的功率蓄电池。The power source is a power storage battery with no high-frequency pulsation content in its output current.
所述电流导线为低阻导线，当采用低阻导线在被校准开环霍尔传感器上均匀缠绕10圈时，被校准霍尔传感器的实际电流为电源输出回路电流的10倍。The current wire is a low-resistance wire. When the low-resistance wire is evenly wound on the calibrated open-loop Hall sensor for 10 turns, the actual current of the calibrated Hall sensor is 10 times the current of the output loop of the power supply.
所述功率开关包括并联的MOS管，为使回路电流达到一个期望的范围，要求回路总电阻小于0.2欧姆；图1中使用三个大功率MOS管(Q1、Q2、Q3)并联，也是为了降低导通电阻。所述MOS管并联后其漏极与所述电流导线的一端相连，其源极与所述电源的一输出端相连，其栅极与所述配套检测装置相连。The power switch includes MOS transistors connected in parallel. In order to make the loop current reach a desired range, the total loop resistance is required to be less than 0.2 ohms; in Figure 1, three high-power MOS transistors (Q1, Q2, Q3) are used in parallel to reduce the On resistance. After the MOS transistors are connected in parallel, the drain is connected to one end of the current wire, the source is connected to an output end of the power supply, and the gate is connected to the matching detection device.
所述回路电流检测装置包括分流器和数字mV表，所述分流器串联在所述电源的输出回路上，并与所述数字mV表相连，用于将输出回路上的大电流转换为小电流后供所述数字mV表测量。所述分流器为高精度直流分流器，所述数字mV表为高精度数字mV表。例如：采用500/75mV，0.1级分流器；配置0.05级精度的数字mV表。The loop current detection device includes a shunt and a digital mV meter, the shunt is connected in series on the output loop of the power supply, and is connected with the digital mV meter, for converting the large current on the output loop into a small current Afterwards, the digital mV meter is used for measurement. The shunt is a high-precision DC shunt, and the digital mV meter is a high-precision digital mV meter. For example: adopt 500/75mV, 0.1 class shunt; configure 0.05 class precision digital mV meter.
所述配套检测装置包括功率分析仪和检测工装，所述功率分析仪的输入端与所述开环霍尔传感器的输出端相连，其输出端与所述检测工装的输入端相连，用于采集所述开环霍尔传感器的输出数据，并将采集到的数据传输给所述检测工装，所述检测工装读取所述功率分析仪采集的开环霍尔传感器的输出数据、以及所述回路电流检测装置检测的回路电流，并根据所述开环霍尔传感器的输出数据以及所述回路电流控制所述功率开关的开断。The matching detection device includes a power analyzer and a detection tool. The input end of the power analyzer is connected to the output end of the open-loop Hall sensor, and the output end is connected to the input end of the detection tool for collecting data. The output data of the open-loop Hall sensor, and the collected data is transmitted to the detection tool, which reads the output data of the open-loop Hall sensor collected by the power analyzer, and the loop The loop current detected by the current detection device controls the on-off of the power switch according to the output data of the open-loop Hall sensor and the loop current.
所述检测工装还根据所述开环霍尔传感器的输出数据以及所述回路电流计算所述开环霍尔传感器在不同测量区间段的线性函数，所述不同测量区间段的线性函数的线性系数由所述检测工装计算完成后传输至所述功率分析仪，由所述功率分析仪进行存储。The detection tool also calculates the linear function of the open-loop Hall sensor in different measurement intervals according to the output data of the open-loop Hall sensor and the loop current, and the linear coefficient of the linear function of the different measurement intervals. After the calculation is completed by the detection tool, it is transmitted to the power analyzer and stored by the power analyzer.
通过高精度数字mV表测量的多组标准回路电流值和开环霍尔传感器的采集电流值确定散点，再根据散点确定不同测量区间段的线性函数，标定开环霍尔传感器的在典型电流下的采样值。根据散点计算典型电流下的开环霍尔传感器对应采样值在校验过程中所起的作用是：形成程序能够识别的标准系数。我们实测多组电流采样散点，例如，其中有两点为36A和103A，所谓计算“典型电流”是对应标准回路电流为100A时开环霍尔传感器的采样值是多少，是为了便于配套检测装置简化内部计算的一种计算途径。配套检测装置内部只存储与标准回路电流为100A、200A、300A---500A所对应的计算采样值即可。应用中，形成不同区间的线性方程，根据采样值确定电流区间，执行不同的线性方程计算出与开环霍尔传感器输出数据相对应的真实电流。The scatter points are determined by multiple sets of standard loop current values measured by a high-precision digital mV meter and the collected current values of the open-loop Hall sensor, and then the linear functions of different measurement intervals are determined according to the scatter points, and the typical performance of the open-loop Hall sensor is calibrated. Sampled value at current. The function of the open-loop Hall sensor corresponding to the sampling value under the typical current calculated according to the scatter in the verification process is to form a standard coefficient that the program can identify. We actually measured multiple sets of current sampling scatter points. For example, two of them are 36A and 103A. The so-called "typical current" is the sampling value of the open-loop Hall sensor when the standard loop current is 100A, in order to facilitate the matching detection. A computational approach by which the device simplifies internal computations. The matching detection device only stores the calculated sampling values corresponding to the standard loop currents of 100A, 200A, 300A---500A. In the application, linear equations of different intervals are formed, the current interval is determined according to the sampling value, and different linear equations are executed to calculate the real current corresponding to the output data of the open-loop Hall sensor.
本发明还提供一种用上述开环霍尔传感器测量准确度校验装置实现的校验方法，所述方法包括：The present invention also provides a verification method realized by the above-mentioned open-loop Hall sensor measurement accuracy verification device, the method comprising:
1)测量当回路电流检测装置检测的回路电流为零时，所述开环霍尔传感器的输出数据；1) measure the output data of the open-loop Hall sensor when the loop current detected by the loop current detection device is zero;
2)调整回路电阻，并根据所述回路电阻估算回路电流，以确保所述回路电流不超过开环霍尔传感器的最大允许电流，并保证所述回路电流不超过电源的短时极限电流；2) Adjust the loop resistance, and estimate the loop current according to the loop resistance, to ensure that the loop current does not exceed the maximum allowable current of the open-loop Hall sensor, and ensure that the loop current does not exceed the short-term limit current of the power supply;
功率MOS管的导通电阻可查询相关数据手册，导线电阻用双臂电桥或微欧计测量，由导线电阻与MOS管的导通电阻构成回路电阻。由回路电阻和电池估算回路电流值。The on-resistance of the power MOS tube can be found in the relevant data manual. The wire resistance is measured with a double-arm bridge or a micro-ohmmeter. The loop resistance is formed by the wire resistance and the on-resistance of the MOS tube. The loop current value is estimated from the loop resistance and the battery.
3)控制MOS管短时导通，并读取所述MOS管导通时开环霍尔传感器的输出数据以及所述回路电流检测装置测量的标准回路电流，确定散点后关闭MOS管；MOS管的导通时间一般以3～5秒为好；3) Control the MOS tube to be turned on for a short time, and read the output data of the open-loop Hall sensor when the MOS tube is turned on and the standard loop current measured by the loop current detection device, and close the MOS tube after determining the scatter; The conduction time of the tube is generally 3 to 5 seconds;
4)改变流经所述开环霍尔传感器的电流极性或改变回路电阻，重复步骤3)，直到确定的散点达到试验需要的数量和大小；4) Change the polarity of the current flowing through the open-loop Hall sensor or change the loop resistance, repeat step 3), until the determined scattered points reach the number and size required for the test;
5)根据确定的所有散点得到不同区间段的线性方程；5) Obtain the linear equations of different interval segments according to all the determined scatter points;
6)根据不同区间段的线性方程，通过线性插值计算标定与开环霍尔传感器输出数据相对应的实际电流值。6) Calculate and calibrate the actual current value corresponding to the output data of the open-loop Hall sensor through linear interpolation according to the linear equations of different intervals.
所述步骤3)中的回路电流检测装置测量的标准回路电流由人工输入至检测工装。也可改进后通过通讯的方式输入，输入的目的是让检测工装获取当前实时电流测量“标准值”(电流参考的真值)。The standard loop current measured by the loop current detection device in the step 3) is manually input to the detection tool. It can also be input by means of communication after improvement. The purpose of input is to allow the detection tool to obtain the current real-time current measurement "standard value" (the true value of the current reference).
所述步骤3)中的“散点”指的是在上述电流测量过程中，某一电流对应的数字mV表测量的标准回路电流值和开环霍尔传感器采样值，形成一个参数坐标点。这样的多个“散点”可构成不同区间段的线性方程。可以进行线性插值计算确定开环霍尔传感器输出数据所对应的实际电流值，对开环霍尔传感器的输出数据与实际电流值进行一一标定，通过这种方式，可提高开环霍尔传感器的测量精度。The "scattering point" in the step 3) refers to the standard loop current value measured by the digital mV meter corresponding to a certain current and the sampling value of the open-loop Hall sensor during the above current measurement process, forming a parameter coordinate point. Such multiple "scatter points" can form linear equations of different interval segments. Linear interpolation calculation can be performed to determine the actual current value corresponding to the output data of the open-loop Hall sensor, and the output data of the open-loop Hall sensor and the actual current value can be calibrated one by one. In this way, the open-loop Hall sensor can be improved. measurement accuracy.
所述步骤4)中通过改变缠绕在开环霍尔传感器上的绕线匝数或串联不同阻值的功率电阻来改变回路电阻。In the step 4), the loop resistance is changed by changing the number of winding turns wound on the open-loop Hall sensor or connecting power resistors with different resistance values in series.
实测表明，可将3％误差(分散性误差)开环霍尔传感器，通过上述方法和装置可标定出达到0.5％的测量准确度(5-25环境温度下)。The actual measurement shows that the open-loop Hall sensor with 3% error (dispersion error) can be calibrated to a measurement accuracy of 0.5% (under 5-25 ambient temperature) through the above method and device.
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员依然可以对本发明的具体实施方式进行修改或者等同替换，这些未脱离本发明精神和范围的任何修改或者等同替换，均在申请待批的权利要求保护范围之内。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still implement the present invention. Modifications or equivalent substitutions are made in any manner, and any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are all within the protection scope of the pending claims.
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