CN107284554A - A kind of two wheeler stabilizing control system and control method - Google Patents
A kind of two wheeler stabilizing control system and control method Download PDFInfo
- Publication number
- CN107284554A CN107284554A CN201710537721.XA CN201710537721A CN107284554A CN 107284554 A CN107284554 A CN 107284554A CN 201710537721 A CN201710537721 A CN 201710537721A CN 107284554 A CN107284554 A CN 107284554A
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- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000006641 stabilisation Effects 0.000 claims abstract description 28
- 210000000056 organ Anatomy 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 2
- 238000011105 stabilization Methods 0.000 claims 1
- 238000005303 weighing Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 206010016322 Feeling abnormal Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
- B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The present invention relates to two wheeler technical field, specially a kind of two wheeler stabilizing control system and control method, steady wheel including being arranged on the two-wheeled back wheels of vehicle left and right sides, the steady wheel is installed on wherein one end of an arm of stability, the other end of the arm of stability is connected on a rotating turret, the rotating turret is attached on a stability contorting motor that can be rotated it, the stability contorting motor is also electrically connected on a systems stabilisation controller, the systems stabilisation controller is electrically connected on power supply unit, stability is more preferable, Discussing Convenience is higher, using more comfortable.
Description
Technical field
The present invention relates to two wheeler technical field, specially a kind of two wheeler stabilizing control system and control method.
Background technology
Existing two wheeler, the vehicles of two wheels such as electric motor car with two wheels, two-wheeled fuel vehicle or haulagman
Tool etc., because its traffic efficiency is high, load ratio is big, and floor space is few, is the vehicles ridden instead of walk, transported of high-efficiency environment friendly.But,
Because the two wheeler of in the market all supports ground to balance in low speed, parking by pin, so, exist in the use of two wheeler
Three problems：To legs and feet, inconvenient people can not use；Because its stability is poor, people's study to some balanced capacities difference drives increasing
Difficulty is added；Because stability is poor, it is impossible to do totally enclosed canopy, when it is cold, rainy day bicyclist feels bad very much.So being badly in need of one
Kind stability contorting is more preferable, have more comfortable two wheeler.
The content of the invention
It is an object of the invention to provide a kind of stability is more preferable, Discussing Convenience is higher, use more comfortable two wheeler stable
Control system and control method.
The present invention above-mentioned technical purpose technical scheme is that：A kind of two wheeler stability contorting system
System, including the steady wheel of the two-wheeled back wheels of vehicle left and right sides is arranged on, the steady wheel is installed on wherein one end of an arm of stability,
The other end of the arm of stability is connected on a rotating turret, and the rotating turret is attached to a stability contorting that can be rotated it
On motor, the stability contorting motor is also electrically connected on a systems stabilisation controller, the systems stabilisation control
Device is electrically connected on power supply unit.
In above-mentioned technical proposal, the operation of stability contorting motor is controlled by systems stabilisation controller, can be caused
The arm of stability swings up and down, so that, steady wheel can also be swung up and down so that steady wheel is in different height, reaches not
Same secondary status, to cause the stability of two wheeler higher, operability is higher, meanwhile, car body design can be caused more
Optimization, comfortableness can significant increase.
As to the preferred of the present invention, the systems stabilisation controller is also electrically connected for detecting vehicle angle
Vehicle angular transducer and the velocity sensor for detecting speed.
Worm gear is connected with as being installed to the preferred of the present invention, between the rotating turret and the stability contorting motor
Worm reducer.
As to the preferred of the present invention, the systems stabilisation controller is also electrically connected with for detecting that the worm and gear subtracts
The turbine sensor of the turbine angle of fast device.
As to the preferred of the present invention, have in the arm of stability in the cavity for leading to the steady wheel, the cavity and set
There is the brake for acting on the steady wheel, the brake is connected in a brake.
As to the preferred of the present invention, the brake includes the braking reset bullet being connected with the brake
Brake bar that spring, the brake return spring are connected with back to brake one end, the brake bar are back to brake return spring one
Hold the confession that is provided with its in the braking drive organ retreated towards brake return spring direction.
As to the preferred of the present invention, the braking drive organ includes to intersect with the brake bar advance and retreat direction
Side move up and pass in and out the movable block of the cavity, one end be installed on the arm of stability on the inwall at the cavity and
The other end can be acted on to the mobile back-moving spring of the movable block and the confession movable block being arranged on the outside of the arm of stability
Against stop limited block, offer on the arm of stability on the through hole passed in and out for the movable block, the movable block by described
Have on brake bar side and intersect with the movable block turnover cavity direction and be located at the brake bar back to braking reset
The inclined plane that spring one end is retreated for brake bar.
As to the preferred of the present invention, the movable block is located at the inclined plane, is provided with guide rail, the brake bar position
The guide groove that the guide rail is engaged is arranged at position of its backrest to brake return spring one end.
It is also equipped with supplying the brake bar or system as to the preferred of the present invention, the arm of stability is located at the cavity
The guide ring that dynamic device is retreated.
A kind of control method based on above-mentioned two wheeler stabilizing control system, comprises the following steps：
Step S1, systems stabilisation controller sends control instruction to stability contorting motor；
Step S2, stability contorting motor drives stable arm swing to control the balance of two wheeler according to control instruction.
Beneficial effects of the present invention：By increasing assistant stability system, the stability of two wheeler is improved, so that two wheeler
Energy autobalance, so as to accomplish whenever two wheeler does not all need pin to balance, so as to accomplish：1. the inconvenient people's energy of legs and feet
Use；2. it is easy to the driving car of two wheeler；3. it can accomplish totally-enclosed；4. automatic parking, use is more comfortable, crowd is applicable
More, stability is higher, according to safe and reliable, and structure is also further optimized, and controllability is stronger.
Brief description of the drawings
Fig. 1 is the front view of the embodiment of the present invention；
Fig. 2 is the top view of the embodiment of the present invention；
Fig. 3 is structural representation of the arm of stability of the embodiment of the present invention in parked state；
Fig. 4 is structural representation of the arm of stability of the embodiment of the present invention in auxiliary balance transport condition；
Fig. 5 is the structural representation of the normally travel state of the embodiment of the present invention；
Fig. 6 is the structural representation of the auxiliary balance transport condition of the embodiment of the present invention；
Fig. 7 is the structural representation of the parked state of the embodiment of the present invention.
In figure：1st, two-wheeled back wheels of vehicle, 2, steady wheel, 3, the arm of stability, 4, rotating turret, 5, stability contorting motor, 6, steady
Determine system controller, 7, power supply unit, 45, worm type of reduction gearing, 20, cavity, 21, brake, 22, brake return spring,
23rd, brake bar, 24, movable block, 25, mobile back-moving spring, 26, stop limited block, 27, through hole, 240, inclined plane, 28, be oriented to
Ring.
Embodiment
Specific examples below is only explanation of the invention, and it is not limitation of the present invention, art technology
Personnel can make the modification without creative contribution to the present embodiment as needed after this specification is read, but as long as
All protected in scope of the presently claimed invention by Patent Law.
Embodiment, as shown in Fig. 1,2,3,4,5,6,7, a kind of two wheeler stabilizing control system, including it is arranged on two wheeler
The steady wheel 2 of the left and right sides of trailing wheel 1, the steady wheel 2 is installed on wherein one end of an arm of stability 3, the arm of stability 3 it is another
One end is connected on a rotating turret 4, and the rotating turret 4 is attached on a stability contorting motor 5 that can be rotated it,
The stability contorting motor 5 is also electrically connected on a systems stabilisation controller 6, and the systems stabilisation controller 6 is electrically connected
To power supply unit 7.Wherein, power supply unit 7 can be using the existing conventional equipment for providing electric energy such as battery, and steady wheel 2 can be with
Two are only set, the left and right sides of two-wheeled back wheels of vehicle 1 is separately positioned on, each steady wheel can configure an arm of stability 3, and this two
The arm of stability 3 also respectively in the left and right sides of two-wheeled back wheels of vehicle 1, is then connected, passed through by the individual arm of stability 3 by rotating turret 4
The control of systems stabilisation controller 6, hair control command is to stability contorting motor 5 so that stability contorting motor 5 starts
Operating, drives the operating of rotating turret 4 so that the arm of stability 3 can be swung up and down, so as to change the position of steady wheel 2, when normal row
State is sailed, can be without stability contorting, the control stability contorting of systems stabilisation controller 6 motor 5 is to be placed on steady wheel 2
Eminence, in vacant state, is travelled just as common two wheeler；And when speed, to become very low or car angle of inclination larger
When, it is considered as unstable state, may overturns, related parameter is obtained by the test of various sensors so that systems stabilisation
Controller 6 makes control instruction according to these parameters, it is desirable to which the bottom of the arm of stability 3, steady wheel 2 can then contact ground, that is, now
Steady wheel 2 and two-wheeled back wheels of vehicle 1 are all contact ground, and keep transport condition, and this state is properly termed as auxiliary balance traveling
State；So when parking is needed, as long as putting the arm of stability 3 lower, two-wheeled back wheels of vehicle 1 will be propped so that two
Wheel back wheels of vehicle 1 leaves ground, just can be in parked state.In the application, systems stabilisation controller 6 can use existing control
Device SCU.
Further, the vehicle angle that the systems stabilisation controller 6 is also electrically connected for detecting vehicle angle is passed
Sensor and the velocity sensor for detecting speed, are tilted when what vehicle angular transducer was used for test is two wheeler traveling
Angle when upright traveling, namely the angle between the existing angle of existing vehicle and vertical plane, this angle are bigger, explanation
Inclination is more severe, more unstable；
Installed between the rotating turret 4 and the stability contorting motor 5 and be connected with worm type of reduction gearing 45, it is further excellent
Change structure, it is ensured that the validity of transmission；
The systems stabilisation controller 6 is also electrically connected with the turbine of the turbine angle for detecting the worm type of reduction gearing 45
Sensor, is that systems stabilisation controller 6 provides more reference parameters, preferably to carry out stability contorting.
In addition, rotating turret 4, stability contorting motor 5, worm type of reduction gearing 45, various sensors etc. are all can be with
On vehicle frame.
In addition, to further being designed at the arm of stability 3：
Have to be provided with the cavity 20 for leading to the steady wheel 2, the cavity 20 in the arm of stability 3 and act on the steady wheel
2 brake 21, the brake 21 is connected in a brake, is caused in the design, can be passed through when parking
Brake 21 is braked to steady wheel 2, it is easier to stop the traveling of two wheeler, but needs to optimize total,
Because in auxiliary balance transport condition, steady wheel 2 is to be in on-position；
The brake includes brake return spring 22, the brake return spring 22 being connected with the brake 21
The confession that brake bar 23, the brake bar 23 being connected with back to the one end of brake 21 are provided with back to the one end of brake return spring 22
It is in the braking drive organ retreated towards the direction of brake return spring 22；
The braking drive organ is described including that can move up and pass in and out in the side intersected with the advance and retreat direction of brake bar 23
The movable block 24 of cavity 20, one end are installed on the arm of stability 3 on the inwall at the cavity 20 and the other end can be acted on
To the movable block 24 mobile back-moving spring 25 and be arranged on the confession movable block 24 in the outside of the arm of stability 3 against
Stop and institute is leaned on the through hole 27 for offering and being passed in and out for the movable block 24 on limited block 26, the arm of stability 3, the movable block 24
State on the side of brake bar 23 to have and pass in and out the direction of cavity 20 with the movable block 24 and intersect and carried on the back positioned at the brake bar 23
The inclined plane 240 retreated to the one end of brake return spring 22 for brake bar 23.Stop that limited block 26 can be arranged on vehicle frame.
This whole arm of stability 3 and the design for stopping limited block 26, the essential of exercise are：When two wheeler appearance is unstable
State, it is necessary to carry out auxiliary balance traveling such as when running at a low speed, then the arm of stability 3 is understood after the bottom, steady wheel 2 and two wheeler
Wheel 1 is all to be operated, and now, brake 21 will not brake steady wheel 2 when design, that is, stopping limited block 26
Movable block 24 will not be propped up toward pushing away in cavity 20, and when needing to carry out parking, the arm of stability 3 may proceed to the bottom, now, it is mobile
Block 24 can encounter stop limited block 26 so that the compression of movable block 24 enters in cavity 20, due to having the presence of inclined plane 240, meeting
So that brake bar 23 is moved down and compression brake back-moving spring 22, brake 21 is then acted on, last brake 21 is to steady wheel 2
Braked, not only propped two-wheeled back wheels of vehicle 1, and also function to the effect of brake, be the equal of the parking effect of automobile, hindered
Only two wheeler travel, certainly, normally travel state, when the arm of stability 3 does not have the bottom, inclined plane 240 apart from brake 21
Far-end be against brake bar 23, so, the bottom, when carrying out parking, the mobile inclined plane that can just allow of movable block 24
240 proximal end abuts against brake bar 23 and just has the effect for make it that brake bar 23 advances, and brake 21 could be allowed to play effect.
For further being designed at the arm of stability：The movable block 24 is located at the inclined plane 240, is provided with and leads
Rail, the brake bar 23 is located at its backrest to leading of being arranged at that the guide rail is engaged at the position of the one end of brake return spring 22
Groove；
The arm of stability 3 is located at the guide ring for being also equipped with retreating at the cavity 20 for the brake bar 23 or brake 21
28；
In addition, the arm of stability 3 can start to pass in and out the chute of cavity 20 for movable block 24, then should set corresponding on movable block 24
Sliding bar, on the one hand ensures mobile direction, on the one hand also to can guarantee that, movable block 24 can have certain branch on the arm of stability 3
Support, further optimizes structure.
A kind of control method based on above-mentioned two wheeler stabilizing control system, comprises the following steps：
Step S1, systems stabilisation controller 6 sends control instruction to stability contorting motor 5；
Step S2, stability contorting motor 5 drives the arm of stability 3 to swing to control the balance of two wheeler according to control instruction.
Step S1 realization will also need the acquisition of various parameters, such as vehicle angle, speed etc., and these parameters are issued surely
Determine system controller 6 to allow it to be judged and send instruction, can also manual operation systems stabilisation controller 6 send control and refer to
Order, to be controlled to stability contorting motor 5, then by swinging the arm of stability 3 to adjust the position of steady wheel 2 to complete
Various balance plays, are described below several situations：
1. when speed is less than speed threshold value V, then it is considered as unstable state, systems stabilisation controller 6 sends control instruction, it is desirable to low
Speed traveling auxiliary balance transport condition, then stability contorting motor 5 be driven, the bottom of the arm of stability 3, steady wheel 2 is contacted
Ground, auxiliary is travelled, and reaches auxiliary balance transport condition；
2. when speed is more than or equal to speed threshold value V and vehicle angle is more than angle of inclination threshold alpha, then it is considered as unstable state, surely
Determine system controller 6 and send control instruction, it is desirable to tilt the auxiliary balance transport condition of traveling, then stability contorting motor 5
It is driven, the bottom of the arm of stability 3, the contact of steady wheel 2 ground, auxiliary is travelled, and reaches auxiliary balance transport condition；
3. when speed is more than or equal to speed threshold value V and vehicle angle is less than angle of inclination threshold alpha, then it is considered as stable state, two-wheeled
Car is in normally travel state.
Speed threshold value V and angle of inclination threshold alpha can in advance be set according to car shape, size, power of vehicle etc..
, can be with driver directly to 6 one control instruction signals of systems stabilisation controller, surely in addition, when needing parking
Determine system controller 6 and send instruction stability contorting motor 5, the bottom of the arm of stability 3 until causing two-wheeled back wheels of vehicle 1 to leave ground
Face, is obstructed, and can brake steady wheel 2, it is impossible to rotate, so as to reach parking when the arm of stability 3 encounters stop limited block 26
Effect.
And when car needs traveling, can be stable with driver directly to 6 one control instruction signals of systems stabilisation controller
System controller 6 sends instruction stability contorting motor 5 so that put on the arm of stability 3 in parked state, trailing wheel is contiguously
Face, two wheeler reaches transport condition, and the brake 21 of steady wheel 2 loses braking action, steady wheel 2 is freely rotated, become
Low-speed running state, when speed is uprised, puts the arm of stability 3 so that steady wheel 2 departs from ground, is returned to normally travel shape in continuation
State.
Claims (10)
1. a kind of two wheeler stabilizing control system, it is characterised in that：Including being arranged on two-wheeled back wheels of vehicle（1）The stabilization of the left and right sides
Wheel（2）, the steady wheel（2）It is installed on an arm of stability（3）Wherein one end on, the arm of stability（3）The other end be connected to
One rotating turret（4）On, the rotating turret（4）It is attached to a stability contorting motor that can be rotated it（5）On, it is described
Stability contorting motor（5）It is also electrically connected to a systems stabilisation controller（6）On, the systems stabilisation controller（6）It is electrically connected
It is connected to power supply unit（7）On.
2. a kind of two wheeler stabilizing control system according to claim 1, it is characterised in that：The systems stabilisation controller
（6）Also it is electrically connected the vehicle angular transducer for detecting vehicle angle and the velocity sensor for detecting speed.
3. a kind of two wheeler stabilizing control system according to claim 2, it is characterised in that：The rotating turret（4）And institute
State stability contorting motor（5）Between install be connected with worm type of reduction gearing（45）.
4. a kind of two wheeler stabilizing control system according to claim 3, it is characterised in that：The systems stabilisation controller
（6）Also it is electrically connected with for detecting the worm type of reduction gearing（45）Turbine angle turbine sensor.
5. a kind of two wheeler stabilizing control system according to claim 1, it is characterised in that：The arm of stability（3）Interior tool
Have and lead to the steady wheel（2）Cavity（20）, the cavity（20）In provided with acting on the steady wheel（2）Brake
（21）, the brake（21）It is connected in a brake.
6. a kind of two wheeler stabilizing control system according to claim 5, it is characterised in that：The brake bag
Include and the brake（21）Connected brake return spring（22）, the brake return spring（22）Back to brake（21）One
Hold the brake bar being connected with（23）, the brake bar（23）Back to brake return spring（22）The confession that one end is provided with its towards system
Dynamic back-moving spring（22）The braking drive organ that direction is retreated.
7. a kind of two wheeler stabilizing control system according to claim 6, it is characterised in that：The braking drive organ bag
Include can with the brake bar（23）The side that advance and retreat direction intersects moves up and passes in and out the cavity（20）Movable block（24）、
One end is installed on the arm of stability（3）Positioned at the cavity（20）On the inwall at place and the other end can be acted on to the movable block
（24）Mobile back-moving spring（25）And it is arranged on the arm of stability（3）The confession movable block in outside（24）Against stop
Limited block（26）, the arm of stability（3）On offer for the movable block（24）The through hole of turnover（27）, the movable block（24）
It is upper to lean on the brake bar（23）Have and the movable block on side（24）Pass in and out the cavity（20）Direction is intersecting and positioned at institute
State brake bar（23）Back to brake return spring（22）One end is for brake bar（23）The inclined plane of advance and retreat（240）.
8. a kind of two wheeler stabilizing control system according to claim 7, it is characterised in that：The movable block（24）It is located at
The inclined plane（240）Place, is provided with guide rail, the brake bar（23）Positioned at its backrest to brake return spring（22）One end
The guide groove that the guide rail is engaged is arranged at position.
9. a kind of two wheeler stabilizing control system according to claim 6, it is characterised in that：The arm of stability（3）It is located at
The cavity（20）Place is also equipped with supplying the brake bar（23）Or brake（21）The guide ring of advance and retreat（28）.
10. a kind of control method based on any described two wheeler stabilizing control systems of claim 1-9, it is characterised in that：
Comprise the following steps：
Step S1, systems stabilisation controller（6）To stability contorting motor（5）Send control instruction；
Step S2, stability contorting motor（5）The arm of stability is driven according to control instruction（3）Swing to control the flat of two wheeler
Weighing apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710537721.XA CN107284554B (en) | 2017-07-04 | 2017-07-04 | Two-wheel vehicle stability control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710537721.XA CN107284554B (en) | 2017-07-04 | 2017-07-04 | Two-wheel vehicle stability control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107284554A true CN107284554A (en) | 2017-10-24 |
| CN107284554B CN107284554B (en) | 2024-02-02 |
Family
ID=60099542
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710537721.XA Active CN107284554B (en) | 2017-07-04 | 2017-07-04 | Two-wheel vehicle stability control system and control method |
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| Country | Link |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205365820U (en) * | 2016-01-08 | 2016-07-06 | 黄勇利 | Prevent falling device and have this two wheeler of preventing falling device |
| CN105774948A (en) * | 2016-03-15 | 2016-07-20 | 付佩民 | Two-wheeled vehicle supporting wheel stand system capable of rising and falling automatically and control method |
| CN205801302U (en) * | 2016-06-08 | 2016-12-14 | 高国喜 | A kind of closed two-wheel four-wheel is changed trains mutually |
| CN106741319A (en) * | 2016-12-30 | 2017-05-31 | 戴震班 | A kind of electric motor car with intelligent heel brace |
| CN207000652U (en) * | 2017-07-04 | 2018-02-13 | 浙江长兴德纳克斯动力科技有限公司 | A kind of two wheeler stabilizing control system |
-
2017
- 2017-07-04 CN CN201710537721.XA patent/CN107284554B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205365820U (en) * | 2016-01-08 | 2016-07-06 | 黄勇利 | Prevent falling device and have this two wheeler of preventing falling device |
| CN105774948A (en) * | 2016-03-15 | 2016-07-20 | 付佩民 | Two-wheeled vehicle supporting wheel stand system capable of rising and falling automatically and control method |
| CN205801302U (en) * | 2016-06-08 | 2016-12-14 | 高国喜 | A kind of closed two-wheel four-wheel is changed trains mutually |
| CN106741319A (en) * | 2016-12-30 | 2017-05-31 | 戴震班 | A kind of electric motor car with intelligent heel brace |
| CN207000652U (en) * | 2017-07-04 | 2018-02-13 | 浙江长兴德纳克斯动力科技有限公司 | A kind of two wheeler stabilizing control system |
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| Publication number | Publication date |
|---|---|
| CN107284554B (en) | 2024-02-02 |
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