CN107611974A - Energy router - Google Patents
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Abstract
Description
技术领域technical field
本发明实施例涉及通信技术领域和电力传输技术领域,更具体地,涉及一种能量路由器。Embodiments of the present invention relate to the field of communication technology and the field of power transmission technology, and more specifically, to an energy router.
背景技术Background technique
能源互联网可理解是综合运用先进的电力电子技术,信息技术和智能管理技术,将大量由分布式能量采集装置,分布式能量储存装置和各种类型负载构成的新型电力网络、石油网络、天然气网络等能源节点互联起来,以实现能量双向流动的能量对等交换与共享网络。Energy Internet can be understood as the comprehensive use of advanced power electronics technology, information technology and intelligent management technology to integrate a large number of new power networks, oil networks and natural gas networks composed of distributed energy collection devices, distributed energy storage devices and various types of loads. And other energy nodes are interconnected to realize the energy peer-to-peer exchange and sharing network of energy two-way flow.
能量路由器作为能源互联网的骨干设备,具有能源接入、传输、转换、路由等各种重要功能,以及对所辖微网的能源运营和管理功能,是能源互联网中最重要的信息和能源基础设施。其高效运行将为能源互联网能源和信息的对等、分享、开放、互联提供基本保证。As the backbone equipment of the Energy Internet, the energy router has various important functions such as energy access, transmission, conversion, and routing, as well as energy operation and management functions for the micro-grid under its jurisdiction. It is the most important information and energy infrastructure in the Energy Internet. . Its efficient operation will provide a basic guarantee for the equivalence, sharing, openness, and interconnection of energy and information in the Energy Internet.
为了提高能源供应的灵活性和开放性,能源互联网运行需要接入不同种类、不同规格的分布式可再生能源生产(或存储)设备,如风电、光伏、储能等。它们具有各自不同的能源生产特性,需要根据其具体运行特点采用合适的驱动程序。如风电将产生交流电,需要根据风速决定其发电功率;而光伏发电将产生直流电,需要根据光照条件决定其发电能力。目前为了适应多种不同种类、不同规格的分布式可再生能源设备接入能源互联网,需要针对不同的能源设备设置专用的接入端口,并且配置专用的驱动程序。In order to improve the flexibility and openness of energy supply, the operation of the Energy Internet needs to access different types and specifications of distributed renewable energy production (or storage) equipment, such as wind power, photovoltaics, and energy storage. They have their own different energy production characteristics and require suitable drivers according to their specific operating characteristics. For example, wind power will generate alternating current, and its power generation power needs to be determined according to the wind speed; photovoltaic power generation will generate direct current, and its power generation capacity needs to be determined according to lighting conditions. At present, in order to adapt to the access of various types and specifications of distributed renewable energy equipment to the Energy Internet, it is necessary to set up dedicated access ports for different energy equipment and configure dedicated drivers.
但是,现有的分布式能源设备种类众多,且同一种类的能源设备又具有多种规格,现有的能量路由器中往往需要配置多种接入端口,并为接入端口配备相应的驱动程序,增加了硬件接口设计的复杂程度,也限制了能源路由器的兼容性。However, there are many types of existing distributed energy equipment, and the same type of energy equipment has multiple specifications. It is often necessary to configure multiple access ports in existing energy routers, and provide corresponding drivers for the access ports. This increases the complexity of hardware interface design and limits the compatibility of energy routers.
发明内容Contents of the invention
本发明实施例提供了一种克服上述问题或者至少部分地解决上述问题的能量路由器。Embodiments of the present invention provide an energy router that overcomes the above problems or at least partially solves the above problems.
本发明实施例提供了一种能量路由器,所述能量路由器包括:驱动程序适配模块、端口模块以及CAN总线,所述驱动程序适配模块和所述端口模块分别与所述CAN总线连接;其中,An embodiment of the present invention provides an energy router. The energy router includes: a driver adaptation module, a port module, and a CAN bus, and the driver adaptation module and the port module are respectively connected to the CAN bus; wherein ,
所述端口模块包括多个第一端口,所述多个第一端口中的每个第一端口都用于在与能源设备连接时,建立所述能源设备与所述能量路由器之间的通信链路以及能源连接链路;The port module includes a plurality of first ports, and each first port in the plurality of first ports is used to establish a communication link between the energy device and the energy router when connected to the energy device road and energy connection links;
所述驱动程序适配模块用于根据与所述每个第一端口连接的所述能源设备的种类、型号以及电气参数为所述每个第一端口适配对应的驱动程序。The driver adaptation module is configured to adapt a corresponding driver for each first port according to the type, model and electrical parameters of the energy device connected to each first port.
其中,所述驱动程序适配模块包括驱动程序库和主程序控制平台,所述驱动程序库和所述主程序控制平台分别与所述CAN总线连接;其中,Wherein, the driver adaptation module includes a driver library and a main program control platform, and the driver library and the main program control platform are respectively connected to the CAN bus; wherein,
所述驱动程序库用于存储多种预设驱动程序;The driver library is used to store various preset drivers;
所述主程序控制平台用于通过所述每个第一端口获取与所述每个第一端口连接的所述能源设备的种类、型号以及电气参数,并根据所述能源设备的种类、型号以及电气参数在所述驱动程序库中为所述每个第一端口适配对应的驱动程序。The main program control platform is used to obtain the type, model and electrical parameters of the energy equipment connected to each first port through each first port, and according to the type, model and electrical parameters of the energy equipment The electrical parameter is adapted to a corresponding driver for each of the first ports in the driver library.
其中,所述主程序控制平台还与远程控制中心连接,用于将所述能量路由器的运行状态在所述远程控制中心进行实时显示。Wherein, the main program control platform is also connected to the remote control center, and is used for displaying the operation state of the energy router in the remote control center in real time.
其中,所述主程序控制平台通过HMI接口与所述远程控制中心连接。Wherein, the main program control platform is connected with the remote control center through the HMI interface.
其中,所述主程序控制平台还用于从所述远程控制中心获取所述驱动程序库中未存储的驱动程序。Wherein, the main program control platform is also used to acquire drivers not stored in the driver library from the remote control center.
其中,所述端口模块还包括第二端口,所述第二端口用于在与配电网连接时,建立所述配电网与所述能量路由器之间的能源连接链路。Wherein, the port module further includes a second port, and the second port is used for establishing an energy connection link between the distribution network and the energy router when connected to the distribution network.
其中,所述能量路由器还包括交直流转换模块,所述交直流转换模块分别与所述多个第一端口和所述第二端口连接,所述交直流转换模块用于对经所述能量路由器传输的电能进行交直流转换。Wherein, the energy router further includes an AC-DC conversion module, the AC-DC conversion module is respectively connected to the plurality of first ports and the second port, and the AC-DC conversion module is used to connect The transmitted electric energy is converted into AC and DC.
其中,所述交直流转换模块包括:多个第一交直流转换模块、母线和第二交直流转换模块;其中,所述多个第一交直流转换模块与所述多个第一端口一一对应设置,所述多个第一交直流转换模块中的每个第一交直流转换模块都分别与对应的第一端口和所述母线连接,所述第二交直流转换模块分别与所述母线和所述第二端口连接。Wherein, the AC-DC conversion module includes: a plurality of first AC-DC conversion modules, a bus bar and a second AC-DC conversion module; wherein, the plurality of first AC-DC conversion modules and the plurality of first ports are one by one Correspondingly set, each of the first AC-DC conversion modules among the plurality of first AC-DC conversion modules is respectively connected to the corresponding first port and the bus bar, and the second AC-DC conversion module is respectively connected to the bus bar Connect to the second port.
其中,所述多个第一交直流转换模块和所述第二交直流转换模块分别与所述CAN总线连接。Wherein, the plurality of first AC-DC conversion modules and the second AC-DC conversion module are respectively connected to the CAN bus.
其中,所述能量路由器还包括超级电容模块,所述超级电容模块与任意一个第一端口相连。Wherein, the energy router further includes a supercapacitor module, and the supercapacitor module is connected to any one of the first ports.
本发明实施例提供的一种能量路由器,通过设置统一的能源设备接入端口,并在能源设备接入后,通过驱动程序适配模块根据能源设备的种类、型号以及电气参数为对应的接入端口适配合适的驱动程序,从而降低了接入端口设计的复杂性,提高了接入端口的通用性。An energy router provided by an embodiment of the present invention sets a unified energy device access port, and after the energy device is connected, the driver adaptation module provides the corresponding access port according to the type, model and electrical parameters of the energy device. The port is adapted to a suitable driver, thereby reducing the complexity of the access port design and improving the universality of the access port.
附图说明Description of drawings
图1为本发明实施例提供的一种能源路由器的结构框图;FIG. 1 is a structural block diagram of an energy router provided by an embodiment of the present invention;
图2为本发明实施例提供的一种能源路由器的结构示意图;FIG. 2 is a schematic structural diagram of an energy router provided by an embodiment of the present invention;
图3为本发明实施例中驱动程序适配模块的整体软件架构示意图。FIG. 3 is a schematic diagram of the overall software architecture of the driver adaptation module in the embodiment of the present invention.
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
在传统的能量路由器中,一般设置有与特定种类的特定规格的能源设备对应的接入端口,换言之,要将特定种类的特定规格的能量生产通过能量路由器接入到能源互联网中,必须预先设置特定的接入端口,且该接入端口要预先配置特定的驱动程序以实现对能源设备的控制,最终实现将能源设备接入能源互联网中。为了解决在使用传统能连路由器时,接口设计复杂,通用性差的问题,本发明实施例采用的技术方案则是:所有用于接入能源设备的端口都采用同样的硬件设置,在能源设备介入后,通过获取每个接入端口连接的能源设备的种类、型号以及电气参数来为对应的接入端口适配合适的驱动程序,进而实现能源设备接入到能源互联网中。In traditional energy routers, access ports corresponding to specific types of energy equipment with specific specifications are generally set. A specific access port, and the access port must be pre-configured with a specific driver to realize the control of the energy device, and finally realize the connection of the energy device to the energy Internet. In order to solve the problem of complex interface design and poor versatility when using traditional connectable routers, the technical solution adopted in the embodiment of the present invention is: all ports used to access energy devices adopt the same Finally, by obtaining the type, model and electrical parameters of the energy equipment connected to each access port, an appropriate driver is adapted for the corresponding access port, and then the energy equipment is connected to the energy Internet.
图1为本发明实施例提供的一种能源路由器的结构框图,如图1所示,所述能量路由器包括:驱动程序适配模块1、端口模块2以及CAN总线3,所述驱动程序适配模块1和所述端口模块2分别与所述CAN总线3连接。其中:Fig. 1 is a structural block diagram of an energy router provided by an embodiment of the present invention. As shown in Fig. 1, the energy router includes: a driver adaptation module 1, a port module 2 and a CAN bus 3, and the driver adaptation module The module 1 and the port module 2 are respectively connected to the CAN bus 3 . in:
所述端口模块2包括多个第一端口,所述多个第一端口中的每个第一端口都用于在与能源设备连接时,建立所述能源设备与所述能量路由器之间的通信链路以及能源连接链路。所述驱动程序适配模块1用于根据与所述每个第一端口连接的所述能源设备的种类、型号以及电气参数为所述每个第一端口适配对应的驱动程序。The port module 2 includes a plurality of first ports, and each first port in the plurality of first ports is used to establish communication between the energy device and the energy router when connected to the energy device Links and Energy Connection Links. The driver adaptation module 1 is configured to adapt a corresponding driver for each first port according to the type, model and electrical parameters of the energy device connected to each first port.
其中,端口模块2中的多个第一端口是用于接入能源设备的接入端口,第一端口的数量可以根据需求来设置。每个第一端口都可以通过CAN总线3与驱动程序适配模块1进行通信,当能源设备通过第一端口接入能量路由器后,所述能量生产设备可以通过与所述能量路由器之间的通信链路经CAN总线3与驱动程序适配模块进行通信,同时所述能量生产设备也可通过与所述能量路由器之间能源连接链路与能源互联网交换能量。所述能源设备包括能源生产设备或能源消费设备,其种类可以是风力发电设备、光伏发电设备或者储能设备等,所述能源设备的电气参数包括有功、无功、电压、电流、等效阻抗、等效导纳和功率因子等中的一个或多个。Wherein, the plurality of first ports in the port module 2 are access ports for connecting to energy devices, and the number of first ports can be set according to requirements. Each first port can communicate with the driver adaptation module 1 through the CAN bus 3, when the energy device is connected to the energy router through the first port, the energy production device can communicate with the energy router The link communicates with the driver adaptation module via the CAN bus 3, and at the same time, the energy production equipment can also exchange energy with the energy Internet through the energy connection link with the energy router. The energy equipment includes energy production equipment or energy consumption equipment, which can be wind power generation equipment, photovoltaic power generation equipment or energy storage equipment, etc. The electrical parameters of the energy equipment include active power, reactive power, voltage, current, equivalent impedance , equivalent admittance and power factor etc. one or more.
具体地,当一个能源设备通过端口模块2的一个第一端口接入能量路由器后,驱动程序适配模块1经与该能源设备之间的通信获取该能源设备的种类、型号以及电气参数,并根据该能源设备的种类、型号以及电气参数为该能源设备对应的第一端口是适配对应的驱动程序,并将该驱动程序经CAN总线3下载到该能源设备对应的第一端口。最后,驱动程序适配模块1基于该驱动程序,实现对该能源设备的管理和运营。Specifically, when an energy device is connected to the energy router through a first port of the port module 2, the driver adaptation module 1 obtains the type, model and electrical parameters of the energy device through communication with the energy device, and According to the type, model and electrical parameters of the energy device, the first port corresponding to the energy device is adapted with a corresponding driver, and the driver is downloaded to the first port corresponding to the energy device via the CAN bus 3 . Finally, the driver adaptation module 1 realizes the management and operation of the energy device based on the driver.
如优化控制交流电机的转速和起停,在保证供电曲线连续和平稳的同时,实现与用电需求的匹配;根据最大光伏发电功率准则,确定光伏发电设备的电压和电流,并改变阳光的照射角度;根据风力发电机的类型,如直驱风力发电或双馈风力发电设备,选择合适的发电控制程序;通过对各类型能源生产设备的联合调度和控制,在保证供需平衡的基础上,最小化电力能源生产成本,提高能源生产效率。For example, optimize the control of the speed and start-stop of the AC motor, while ensuring the continuous and stable power supply curve, and realize the matching with the electricity demand; according to the maximum photovoltaic power generation power criterion, determine the voltage and current of the photovoltaic power generation equipment, and change the sunlight exposure According to the type of wind power generator, such as direct-drive wind power generation or double-fed wind power generation equipment, select the appropriate power generation control program; through the joint scheduling and control of various types of energy production equipment, on the basis of ensuring the balance of supply and demand, Minimize the cost of power energy production and improve energy production efficiency.
本发明实施例提供的一种能量路由器,通过设置统一的能源设备接入端口,并在能源设备接入后,通过驱动程序适配模块根据能源设备的种类、型号以及电气参数为对应的接入端口适配合适的驱动程序,从而降低了接入端口设计的复杂性,提高了接入端口的通用性。An energy router provided by an embodiment of the present invention sets a unified energy device access port, and after the energy device is connected, the driver adaptation module provides the corresponding access port according to the type, model and electrical parameters of the energy device. The port is adapted to a suitable driver, thereby reducing the complexity of the access port design and improving the universality of the access port.
基于上述实施例,如图2所示,所述驱动程序适配模块包括驱动程序库和主程序控制平台,所述驱动程序库和所述主程序控制平台分别与所述CAN总线连接。其中:Based on the above embodiment, as shown in FIG. 2 , the driver adaptation module includes a driver library and a main program control platform, and the driver library and the main program control platform are respectively connected to the CAN bus. in:
所述驱动程序库用于存储多种预设驱动程序。所述主程序控制平台用于通过所述每个第一端口获取与所述每个第一端口连接的能源设备的种类、型号以及电气参数,并根据所述能源设备的种类、型号以及电气参数在所述驱动程序库中为所述每个第一端口适配对应的驱动程序。The driver library is used to store various preset drivers. The main program control platform is used to obtain the type, model and electrical parameters of the energy equipment connected to each first port through each first port, and according to the type, model and electrical parameters of the energy equipment A corresponding driver is adapted for each first port in the driver library.
其中,图3为驱动程序适配模块的整体软件架构,如图3所示,图中所述设备参数即为能源设备的种类、型号以及电气参数等。所述驱动程序库中存储的预设驱动程序包含了常用的各类能源设备的各种规格对应的驱动程序。所述主程序控制模块通过与能源设备的信息存储模块进行通信互获取能源设备的种类、型号以及电气参数。Among them, Fig. 3 is the overall software architecture of the driver adaptation module, as shown in Fig. 3, the device parameters mentioned in the figure are the type, model and electrical parameters of the energy device. The preset drivers stored in the driver library include drivers corresponding to various specifications of commonly used energy devices. The main program control module communicates with the information storage module of the energy equipment to obtain the type, model and electrical parameters of the energy equipment.
具体地,主程序控制平台在获取到能源设备的种类、型号以及电气参数以后,根据这些参数在驱动程序库中适配合适的驱动程序,然后再将适配到的驱动程序通过CAN总线下载至能源设备对应的第一端口,最后,主程序控制平台基于该驱动程序,实现对该能源设备的管理和运营。设置驱动程序库,并在驱动程序库中存储预设驱动程序,可以在第一端口接入能源设备后为该第一端口快速适配合适的驱动程序,可以保证能源设备在能量路由器上的即插即用。Specifically, after the main program control platform obtains the type, model and electrical parameters of the energy equipment, it adapts the appropriate driver program in the driver program library according to these parameters, and then downloads the adapted driver program to the The first port corresponding to the energy device, and finally, the main program control platform realizes the management and operation of the energy device based on the driver program. Set up the driver program library and store the preset driver program in the driver program library. After the first port is connected to the energy device, a suitable driver program can be quickly adapted for the first port, which can ensure the instant connection of the energy device on the energy router. Plug and play.
基于上述实施例,如图2所示,所述主程序控制平台还与远程控制中心连接,用于将所述能量路由器的运行状态在所述远程控制中心进行实时显示。Based on the above-mentioned embodiment, as shown in FIG. 2 , the main program control platform is also connected to a remote control center for displaying the running status of the energy router in the remote control center in real time.
进一步地,所述主程序控制平台通过HMI接口与所述远程控制中心连接。Further, the main program control platform is connected with the remote control center through an HMI interface.
具体地,所述主程序控制平台通过一个HMI(Human Machine Interface,人机界面)接口与所述远程控制中心连接,操作者在远程控制中心可以通过显示器等设备实时观察能量路由器的运行状况,进而确保对能源互联网的运行状态进行监控。Specifically, the main program control platform is connected to the remote control center through an HMI (Human Machine Interface, human-machine interface), and the operator in the remote control center can observe the operating status of the energy router in real time through devices such as a display, and then Ensure that the operational status of the Energy Internet is monitored.
基于上述实施例,所述主程序控制平台还用于从所述远程控制中心获取所述驱动程序库中未存储的驱动程序。Based on the above-mentioned embodiment, the main program control platform is further configured to acquire drivers not stored in the driver library from the remote control center.
具体地,当在所述驱动程序存储库中未适配到合适的驱动程序时,所述主程序控制平台会在远程控制中心获取相应的驱动程序。这样可以进一步本发明实施例提供的能量路由器的通用性。Specifically, when no suitable driver is adapted in the driver storage library, the main program control platform will obtain the corresponding driver from the remote control center. In this way, the versatility of the energy router provided by the embodiment of the present invention can be further improved.
基于上述实施例,如图2所示,所述端口模块还包括第二端口,所述第二端口用于在与配电网连接时,建立所述配电网与所述能量路由器之间的能源连接链路。Based on the above embodiment, as shown in FIG. 2, the port module further includes a second port, and the second port is used to establish a connection between the distribution network and the energy router when connected to the distribution network. Energy connection link.
基于上述实施例,如图2所示,所述能量路由器还包括交直流转换模块,所述交直流转换模块分别与所述多个第一端口和所述第二端口连接,所述交直流转换模块用于对经所述能量路由器传输的电能进行交直流转换。Based on the above embodiment, as shown in FIG. 2, the energy router further includes an AC-DC conversion module, the AC-DC conversion module is respectively connected to the plurality of first ports and the second port, and the AC-DC conversion module The module is used for performing AC-DC conversion on the electric energy transmitted through the energy router.
进一步地,所述交直流转换模块对电能进行交直流转换后,能量路由器将经转换后的电能传输至配电网或能源消费设备。转换前的电能可能来自配电网,也可能来自能源生产设备,电能传输方向根据实际需求决定。Further, after the AC-DC conversion module performs AC-DC conversion on the electric energy, the energy router transmits the converted electric energy to the distribution network or energy consumption equipment. The electric energy before conversion may come from the distribution network or energy production equipment, and the direction of electric energy transmission is determined according to the actual demand.
基于上述实施例,如图2所示,所述交直流转换模块包括:多个第一交直流转换模块、母线和第二交直流转换模块;其中,所述多个第一交直流转换模块与所述多个第一端口一一对应设置,所述多个第一交直流转换模块中的每个第一交直流转换模块都分别与对应的第一端口和所述母线连接,所述第二交直流转换模块分别与所述母线和所述第二端口连接。Based on the above embodiment, as shown in FIG. 2, the AC-DC conversion module includes: a plurality of first AC-DC conversion modules, a bus bar and a second AC-DC conversion module; wherein, the plurality of first AC-DC conversion modules and The plurality of first ports are set in one-to-one correspondence, and each first AC-DC conversion module in the plurality of first AC-DC conversion modules is respectively connected to the corresponding first port and the bus bar, and the second The AC-DC conversion module is respectively connected to the bus bar and the second port.
其中,所述母线可以为交流母线或直流母线,在具体实现时,可以根据与能源互联网的设置情况来选取母线的种类。Wherein, the busbar may be an AC busbar or a DC busbar, and in actual implementation, the type of busbar may be selected according to the configuration with the Energy Internet.
进一步地,所述多个第一交直流转换模块和所述第二交直流转换模块分别与所述CAN总线连接。Further, the plurality of first AC-DC conversion modules and the second AC-DC conversion module are respectively connected to the CAN bus.
具体地,所述主程序控制平台在为所述第一端口适配到合适的驱动程序后,基于所述驱动程序对与第一端口连接的能源设备的电能进行处理,具体的处理过程就包括通过CAN总线控制交直流转换模块对能源设备的电能进行交直流转换。Specifically, after the main program control platform is adapted to a suitable driver program for the first port, based on the driver program, the power of the energy device connected to the first port is processed, and the specific processing process includes The AC-DC conversion module is controlled by the CAN bus to perform AC-DC conversion on the electric energy of the energy equipment.
基于上述实施例,所述能量路由器还包括超级电容模块,所述超级电容模块与任意一个第一端口相连。Based on the above embodiment, the energy router further includes a supercapacitor module, and the supercapacitor module is connected to any one of the first ports.
超级电容具有充放电速度快,充放电能量密度大等特点,能够迅速的吸收或释放能量路由器内的多余或不足能量,避免和抑制电压、电流波动,对保持能量路由器乃至局部网络的平稳性具有重大作用。与传统储能设备相比,运用于能量路由器的超级电容具有更高的经济性。Supercapacitor has the characteristics of fast charging and discharging speed and high charging and discharging energy density. It can quickly absorb or release excess or insufficient energy in the energy router, avoid and suppress voltage and current fluctuations, and play a role in maintaining the stability of the energy router and even the local network. major role. Compared with traditional energy storage devices, supercapacitors used in energy routers are more economical.
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.
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