CN107194441A - A kind of continuous detection and the method for searching material mouth position - Google Patents
A kind of continuous detection and the method for searching material mouth position Download PDFInfo
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- CN107194441A CN107194441A CN201710323814.2A CN201710323814A CN107194441A CN 107194441 A CN107194441 A CN 107194441A CN 201710323814 A CN201710323814 A CN 201710323814A CN 107194441 A CN107194441 A CN 107194441A
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- material mouth
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a kind of continuous detection and the method for searching material mouth position, comprise the following steps：Step one, set in material mouth and multiple RF tags are installed on material mouth concentrator marker, material mouth concentrator marker；Step 2, from a Separated position collector, Separated position collector is arranged on truck；Step 3, allows relative error magnitudes by outer remote in host computer or by being set in locality connection station acquisition device；Step 4, the ID and RSSI value of multiple RF tags on material mouth concentrator marker are read using station acquisition device.The continuous detection of the present invention and the method for searching material mouth position, by Step 1: Step 2: the setting of step 3 and step 4, label effectively can be installed in material mouth, it just can be very good to detect label using the station acquisition device on truck simultaneously, determine the position of material mouth, the positioning blanking of truck just can be so realized using radio-frequency technique.
Description
Technical field
The present invention relates to a kind of method for searching, more particularly to a kind of continuous detection and the side for searching material mouth position
Method.
Background technology
The charging ＆ discharging factory building of the heavy industry industry loose unpacked material such as metallurgy, coking, mine and cement, dust is big, and interference is big, phase
To simple and crude bad environments.The displacement detecting of absolute position is realized, conventional several noncontact displacement detection techniques can not at present
It is competent.Such as based on reflection or to penetrating laser displacement inspecting, ultrasonic displacement detection and the proximity switch displacement detecting of principle to being situated between
Matter requires high.The operation of roughing truck deflects tolerance than larger, furthermore more than 100 meters of charging ＆ discharging track detecting length is even
Hundreds of meters, the detection of magnetic scale displacement detecting is not suitable for the displacement detecting that feeding unloads dump car.
Gray bus displacement detecting can realize the consecutive tracking of grade error, but Gray bus displacement detecting needs are in-orbit
Road is mated formation the Gray bus cable of same length, and input cost is high, and installation cost is high, to ensure accuracy of detection, Gray bus cable
Joint is not allow for, later maintenance cost is also high, 10 centimetres of roughing displacement detecting material mouth interval position allowable error, material mouth one
As the requirement of 2-3 centimetres of allowable error, precision has some wastes.
Current RFID radio-frequency shifts detection, each material mouth and interval individually binding ID number, are not associated, preceding current cost and
Maintenance cost is low, there is very high technical advantage.But radio frequency read the bad control of distance range, if label installation interval away from
From too small, cause once to read multiple labels, it is impossible to realize No. ID it is corresponding with absolute position, if label installation interval distance
It is too big, cause to be unable to continuous dislocation detection blind area occur, radio-frequency technique accuracy of identification is low can not to meet roughing discharging, lifting etc.
The production required precision of Centimeter Level.
The technology of label is read currently with single or multi reader/writer, the three of target labels are judged according to the algorithm of RSSI value
Dimension or certain one-dimensional data, this technology are also restricted by the big RSSI value drift of radio-frequency technique read range, reading and writing device antenna and label
Distance is bigger, and the interference of environment is bigger, and RSSI value deviation is also bigger, it is impossible to meet the identification of track displacement Centimeter Level " point ".
There is also the problem of timeliness synchronism, need to transmit to strange land processing, many read-write equipment data after data acquisition for this technology
Collection is asynchronous, is the technology that a kind of post-flight data judges region, it is impossible to for connecting PLC control track operations.
Limited by several inferior positions more than this, RFID radio-frequency techniques promoting the use of in track displacement detecting is restricted always.
The balk cargo charging ＆ discharging system of the heavy industry industries such as current metallurgy, coking, mine and cement is badly in need of realizing material mouth
Positive node position Centimeter Level accurately detects, other interval positions decimeter grade displacement detectings, and adverse circumstances are stable, installation is simple
What current cost was low after single, early stage continuously can detect and search the displacement detecting technology of interval position and positive node position.
The content of the invention
It is stable and can in view of the deficienciess of the prior art, it is an object of the invention to provide a kind of cost is low
The method for being used to continuously detecting and searching the interval position of material mouth and positive node position of material mouth positioning is realized well.
To achieve the above object, the invention provides following technical scheme：A kind of continuous detection and search material mouth position
Method, comprises the following steps：
Step one, set in material mouth and multiple RF tags, each radio frequency mark are installed on material mouth concentrator marker, material mouth concentrator marker
Label EPCID is made up of RF tag position classification and material mouth number, and left interval RF tag ID is represented with EPCID " 11NN ",
Positive node RF tag ID during " 10NN " is represented, " 12NN " and " 14NN " represents node or so auxiliary magnet RF tag ID respectively,
" 13NN " represents right interval RF tag ID, wherein, NN represents material mouth number；
Step 2, from a Separated position collector, Separated position collector is arranged on truck, and is passed through
Wireless connection gateway, gateway is connected by DP bridges with the PLC of operation control, realizes station acquisition device and material
Car PLC connections, the RFID antenna of Separated position collector is just to material mouth concentrator marker；
Step 3, allows relative error by outer remote in host computer or by being set in locality connection station acquisition device
Value and various running parameters；
Step 4, station acquisition device reads No. ID and RSSI value of multiple RF tags on material mouth concentrator marker, derives from respectively
Go out left interval ID, middle interval ID, right interval ID, respectively will be by left and right area in ID4 position ID of positive node and 6 exceptions ID, PLC
Between ID, middle interval ID and positive node ID respectively as slow down and stop signal control truck operation.
As a further improvement on the present invention：Also include writing EPCID steps again in the step one, step is included such as
Under：
Step one, the RF tag ID of 5 labels is write again successively, 5 tag IDs is corresponded to respectively and write as
" 11NN ", " 12NN ", " 10NN ", " 14NN " and " 13NN ".
As a further improvement on the present invention：Also have RFID days in Separated position collector in the step 2
Line, wherein, RFID antenna is in same horizontal line, the station acquisition device with logical with material mouth concentrator marker, interval concentrator marker
Module is interrogated, the communication module wireless telecommunications are connected with gateway, pass through gateway and outside host computer and PLC machine
Communication, realizes data exchange.
As a further improvement on the present invention：Reading RF tag step in the step 4 have left interval position,
Right interval position, middle interval position and the detection of positive node position and search step, the positive node position detection and search step
Including：
(1), when equipment interval position left approaching or at the material mouth from the left side, station acquisition device can read 1 to 5
No. ID of RF tag and RSSI value, the feature of at this moment RF tag RSSI value presentation right low left high, station acquisition device are reported
“11NN”ID；When equipment interval position right approaching or at the material mouth, left low right high feature is presented in RF tag RSSI value,
Station acquisition device reports " 13NN " ID, control system can using interval position ID as deceleration signal；
(2), when equipment is in interval position infinite approach positive node position in the material mouth, the RSSI of node RF tag
Value is maximum, when the absolute value of symmetrical middle interval RF tag RSSI value difference, which is more than setting, allows relative error magnitudes, on
" 12NN " ID is reported, when less than or equal to permission relative error value difference is set, " 10NN " ID is reported, control system will be multiple continuous
Middle interval position ID or positive node ID as stopping signal；
(3), when equipment stops at material mouth position, if just to material mouth or when being in the deviation range of permission, position is adopted
Storage can continuously read the data of 5 RF tags, and at this moment positive node radio frequency 10NN labels RSSI value is maximum, and left and right is interval
12NN, 14NN RF tag, the RSSI value difference of left and right interval 11NN, 13NN RF tag are less than or equal to the relative error set
Value, station acquisition device reports " 10NN " ID, regard positive node ID as the signal for examining check and correction；Wherein, 2 adjacent nearer material
Mouthful, by the comparison of RSSI value, the material mouth ID of selection relative close is reported；
(4) location marker of No. EPCID " 15NN ", is arranged between the larger material mouth of spacing, when reading this position
During concentrator marker, the location marker of this " 15NN " is reported into " 12NN " No. ID number, interval ID is represented, when not reading this position
During concentrator marker, 3000 are reported, represents that system is normal.
Beneficial effects of the present invention, pass through the setting of step one, it is possible to material mouth concentrator marker is set in material mouth, and right
These labels enter row write EPCID, while the location marker on relevant position between the larger material mouth of spacing, and to location marker
Carry out EPCID to write, basis is provided for the reading of station acquisition device and the calculating of algorithm below, by the setting of step 2,
Station acquisition device can be just fixed on truck, with truck synchronizing moving, so realize that station acquisition device is identified to material mouth
The reading of device, and the setting for passing through step 3, it is possible to achieve the setting of station acquisition device allowable error value and various running parameters,
Required precision and operating efficiency of the station acquisition device according to scene is detected and is searched material mouth position, and pass through step 4
Setting, it is possible to by left interval ID, middle interval ID, right interval ID and positive node ID realize to truck run control PLC hair
Data are sent, and then realize that truck can be good at searching out the position of material mouth and be stopped, are utilized this makes it possible to good
The algorithm of multiple labels realizes the accurate search to material mouth position, and compared to Gray bus of the prior art, its cost is significantly
Reduction, and compared to other embodiments such as light sensations, antijamming capability is stronger, can be good at applying to metallurgical, cement and stone
The balk cargo charging ＆ discharging system of the bad environments such as change.
Brief description of the drawings
Fig. 1 is searching the schematic diagram of each label position relation of material mouth for the method for the present invention；
The schematic diagram of each label RSSI value trend relation when Fig. 2 is searches material mouth position.
Embodiment
The present invention is described in further detail below in conjunction with the embodiment given by accompanying drawing.
Referring to figs. 1 to shown in 2, a kind of continuous detection of the present embodiment and the method for searching material mouth position, including following step
Suddenly：
Step one, set in material mouth and multiple RF tags, each radio frequency mark are installed on material mouth concentrator marker, material mouth concentrator marker
Label EPCID is made up of RF tag position classification and material mouth number, and left interval RF tag ID is represented with EPCID " 11NN ",
Positive node RF tag ID during " 10NN " is represented, " 12NN " and " 14NN " represents node or so auxiliary magnet RF tag ID respectively,
" 13NN " represents right interval RF tag ID, wherein, NN represents material mouth number；
Step 2, from a Separated position collector, Separated position collector is arranged on truck, and is passed through
Wireless connection gateway, gateway is connected by DP bridges with the PLC of operation control, realizes station acquisition device and material
Car PLC connections, the RFID antenna of Separated position collector is just to material mouth concentrator marker；
Step 3, allows relative error by outer remote in host computer or by being set in locality connection station acquisition device
Value and various running parameters；
Step 4, station acquisition device reads No. ID and RSSI value of multiple RF tags on material mouth concentrator marker, derives from respectively
Go out left interval ID, middle interval ID, right interval ID, respectively will be by left and right area in ID4 position ID of positive node and 5 exceptions ID, PLC
Between ID, middle interval ID and positive node ID respectively as slow down and stop signal control truck operation, using the present embodiment side
Method carry out material mouth identification during, label is set by step one first, has been provided with after label, at the same compared with
Interval label is installed between the material mouth of big distance, the demand of consecutive tracking is realized, interval tag ID is write as " 15NN ", is easy at algorithm
Reason, then station acquisition device is set, determines relative error by step 3 afterwards, by step 2 finally by step 4
Algorithm setting, it is possible to achieve the mode of No. ID of label is collected using station acquisition device, truck can be good to stop
Onto the position of material mouth, the station acquisition device wherein used in the present embodiment is the read write line with RFID read functions,
And left interval ID, middle interval ID, right interval ID and positive node ID are drawn by algorithm, it is possible to achieve Primary Location is then to accurate
The process of positioning, so realizes using RFID to provide the material mouth locating function of truck.
Also include writing EPCID steps again as a kind of improved embodiment, in the step one, step includes
It is as follows：
Step one, 5 RF tag EPCID correspondences are write as " 11NN ", " 12NN ", " 10NN ", " 14NN " respectively successively
" 13NN ", is write interval concentrator marker EPCID as " 15NN ", it is above-mentioned write EPCID by way of, it is possible to achieve it is disposable just right
No. ID of 5 labels, which is synchronized, writes, so when the later stage, some material mouth tag was damaged, it is only necessary to by this material mouth
Tag enters line replacement, then disposably five labels is write again one by one using above-mentioned steps, so just to reality
The ID of label does not have strict restriction, can so substantially reduce the maintenance cost of client, while can be effectively by node mark
Label and interval label are effectively distinguished.
As a kind of improved embodiment, the Separated position collector in the step 2 is also associated with
RFID antenna, wherein, RFID antenna and material mouth concentrator marker, interval concentrator marker just pair and are maintained a certain distance, institute
Rheme, which is put, has communication module in collector, the communication module wireless telecommunications realization is connected with gateway, by connecting between net
Connect device to communicate with outside host computer and PLC machine, data exchange is realized, by the way of same horizontal line, in station acquisition device
RFID antenna and the distance between label it is the most suitable, it is ensured that truck advance during, station acquisition device can
Accurately and effectively read No. ID and RSSI value of label.
As a kind of improved embodiment, the reading RF tag step in the step 4 has left area
Between position, right interval position, middle interval position and the detection of positive node position and search step, positive node position detection and search
Seeking step includes：
(1), when equipment interval position left approaching or at the material mouth from the left side, station acquisition device can read 1 to 5
No. ID of RF tag and RSSI value, the feature of at this moment RF tag RSSI value presentation right low left high, station acquisition device are reported
“11NN”ID；When equipment interval position right approaching or at the material mouth, left low right high feature is presented in RF tag RSSI value,
Station acquisition device reports " 13NN " ID, and control system can realize that an equipment is pre- using interval position ID as the signal of deceleration
Positive node position is detected, early stage deceleration is carried out, it is to avoid equipment is parked in material can not stop after equipment to point at once caused by
The problem of on mouth correspondence position；(2), when equipment is in interval position infinite approach positive node position in the material mouth, node is penetrated
The RSSI value of frequency marking label is maximum, sets permission relative when the absolute value of symmetrical middle interval RF tag RSSI value difference is more than
" 12NN " ID during error amount, is reported, when less than or equal to permission relative error value difference is set, " 10NN " ID, control system is reported
Using multiple continuous middle interval position ID or positive node ID as the signal of stopping, so just pre- deceleration can will be had begun to
Equipment is further stopped, it is ensured that equipment can accurately stop to node location；
(3), when equipment stops at material mouth position, if just to material mouth or when being in the deviation range of permission, position is adopted
Storage can continuously read the data of 5 RF tags, and at this moment positive node radio frequency 10NN labels RSSI value is maximum, and left and right is interval
12NN, 14NN RF tag, the RSSI value difference of left and right interval 11NN, 13NN RF tag are less than or equal to the relative error set
Value, station acquisition device reports " 10NN " ID, regard positive node ID as the signal for examining check and correction；Wherein, 2 adjacent nearer material
Mouthful, by the comparison of RSSI value, the material mouth ID of selection relative close is reported, and so just the position that stop later equipment can be entered
Row one is checked, and is that equipment is moved to the material mouth of next position as an accurate basic reference so that equipment is moved to next
The material mouth of position is more accurate；
(4) location marker of No. EPCID " 15NN ", is arranged between the larger material mouth of spacing, when reading this position
During concentrator marker, the location marker of this " 15NN " is reported into " 12NN " No. ID number, interval ID is represented, when not reading this position
During concentrator marker, report 3000, represent that system is normal, above three state illustrate well during truck is run with mark
Residing institute is stateful between label, so by above-mentioned steps (1), (2), (3) setting, during being run to truck
Each state is effectively treated so that truck can preferably find the position of material mouth, and accurate discharge, Ke Yijin
One step realizes the effect of collection material mouth position, while by the setting of step (4), can be effectively in an even larger material of spacing
A location marker is arranged between mouthful, read during collection and be indicated as interval No. ID, if not reading just
3000 numerical value are reported, represent that system is normal, position can also be realized between the larger material mouth of spacing by so just realizing well
The effect of collection.
In summary, the present invention is by Step 1: Step 2: the setting of step 3 and step 4, it is possible to achieve utilize
RFID tag and station acquisition device realize that truck searches out the position of material mouth and accurate by way of algorithm cooperating
Blanking, compared to prior art by the way of Gray bus, cost is substantially reduced, and compared to using infrared, ultrasonic wave
And the mode of light sensation, its antijamming capability is stronger, can more be applied to that steel mill is this to be mainly engaged in rough machined enterprise.
Described above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of continuous detection and the method for searching material mouth position, it is characterised in that：Comprise the following steps：
Step one, set in material mouth and multiple RF tags, each RF tag are installed on material mouth concentrator marker, material mouth concentrator marker
EPCID is made up of RF tag position classification and material mouth number, and left interval RF tag ID, " 10NN " are represented with EPCID " 11NN "
Positive node RF tag ID in expression, " 12NN " and " 14NN " represents positive node or so auxiliary magnet RF tag ID respectively,
" 13NN " represents right interval RF tag ID, wherein, NN represents material mouth number；
Step 2, from a Separated position collector, Separated position collector is arranged on truck, and by wireless
Gateway is connected, gateway is connected by DP bridges with the PLC of operation control, realizes station acquisition device and truck
PLC connections, the RFID antenna of Separated position collector is just to material mouth concentrator marker；
Step 3, by outer remote host computer or by locality connection station acquisition device set allow relative error magnitudes and
Various running parameters；
Step 4, station acquisition device reads No. ID and RSSI value of multiple RF tags on material mouth concentrator marker, and a left side is derived respectively
Respectively will be interval by left and right in interval ID, middle interval ID, right interval ID, ID4 position ID of positive node and 6 exceptions ID, PLC
ID, middle interval ID and positive node ID are respectively as deceleration and stop signal control truck operation.
2. continuous detection according to claim 1 and the method for searching material mouth position, it is characterised in that：In the step one
Also include writing EPCID steps again, step includes as follows：
Step one, the RF tag ID of 5 labels is write again successively, 5 tag IDs is corresponded to respectively and write as
" 11NN ", " 12NN ", " 10NN ", " 14NN " and " 13NN ".
3. continuous detection according to claim 1 or 2 and the method for searching material mouth position, it is characterised in that：The step
Also there is RFID antenna in Separated position collector in two, wherein, at RFID antenna and material mouth concentrator marker, interval concentrator marker
In same horizontal line, there is communication module in the station acquisition device, the communication module wireless telecommunications are connected with gateway,
Communicated by gateway with outside host computer and PLC machine, realize data exchange.
4. continuous detection according to claim 2 and the method for searching material mouth position, it is characterised in that：In the step 4
Reading RF tag step have left interval position, right interval position, middle interval position and positive node position detection and search
Step, the positive node position detection and search step include：
(1), when equipment interval position left approaching or at the material mouth from the left side, station acquisition device can read 1 to 5 radio frequency
No. ID of label and RSSI value, the feature of at this moment RF tag RSSI value presentation right low left high, station acquisition device are reported " 11NN "
ID；When equipment interval position right approaching or at the material mouth, left low right high feature is presented in RF tag RSSI value, and position is adopted
Storage reports " 13NN " ID, control system can using interval position ID as deceleration signal；
(2), when equipment is in interval position infinite approach positive node position in the material mouth, the RSSI value of positive node RF tag
Maximum, when the absolute value of symmetrical middle interval RF tag RSSI value difference, which is more than, sets permission relative error magnitudes, is reported
" 12NN " ID, when less than or equal to set allow relative error value difference when, report " 10NN " ID, control system will it is multiple continuously in
Interval position ID or positive node ID as stopping signal；
(3), when equipment stops at material mouth position, if just to material mouth or when being in the deviation range of permission, station acquisition device
The data of 5 RF tags can be continuously read, at this moment positive node radio frequency 10NN labels RSSI value is maximum, left and right interval 12NN,
14NN RF tags, the RSSI value difference of left and right interval 11NN, 13NN RF tag are less than or equal to the relative error magnitudes set, position
Put collector and report " 10NN " ID, regard positive node ID as the signal for examining check and correction；Wherein, 2 adjacent nearer material mouths, pass through
The comparison of RSSI value, the material mouth ID of selection relative close is reported；
(4) location marker of No. EPCID " 15NN ", is arranged between the larger material mouth of spacing, when reading this station location marker
During device, the location marker of this " 15NN " is reported into " 12NN " No. ID number, interval ID is represented, when not reading this station location marker
During device, 3000 are reported, represents that system is normal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710323814.2A CN107194441B (en) | 2017-05-09 | 2017-05-09 | Method for continuously detecting and searching position of material port |
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| CN201710323814.2A CN107194441B (en) | 2017-05-09 | 2017-05-09 | Method for continuously detecting and searching position of material port |
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| CN107194441A true CN107194441A (en) | 2017-09-22 |
| CN107194441B CN107194441B (en) | 2022-05-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109665246A (en) * | 2018-12-13 | 2019-04-23 | 江阴弘远新能源科技有限公司 | A kind of automatic feeding system for wind electricity change paddle production line |
| CN111679310A (en) * | 2020-06-24 | 2020-09-18 | 重庆赛迪奇智人工智能科技有限公司 | Locomotive high-precision fusion positioning scheme applied to iron and steel enterprises |
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| CN101500401A (en) * | 2008-02-02 | 2009-08-05 | 英华达股份有限公司 | Surface adhesion equipment having automatic feeding function |
| CN106092017A (en) * | 2016-07-29 | 2016-11-09 | 浙江中产科技有限公司 | One is used for detecting and search position, track displacement interval and node location method |
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| CN1906564A (en) * | 2004-01-23 | 2007-01-31 | 美国联合包裹服务公司 | Item tracking and processing systems and methods |
| JP2006282218A (en) * | 2005-03-31 | 2006-10-19 | Sato Corp | Label sticking method and label sticking apparatus |
| CN101500401A (en) * | 2008-02-02 | 2009-08-05 | 英华达股份有限公司 | Surface adhesion equipment having automatic feeding function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109665246A (en) * | 2018-12-13 | 2019-04-23 | 江阴弘远新能源科技有限公司 | A kind of automatic feeding system for wind electricity change paddle production line |
| CN111679310A (en) * | 2020-06-24 | 2020-09-18 | 重庆赛迪奇智人工智能科技有限公司 | Locomotive high-precision fusion positioning scheme applied to iron and steel enterprises |
| CN111679310B (en) * | 2020-06-24 | 2023-09-22 | 重庆赛迪奇智人工智能科技有限公司 | Locomotive high-precision fusion positioning method applied to iron and steel enterprises |
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| Publication number | Publication date |
|---|---|
| CN107194441B (en) | 2022-05-20 |
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