CN108820186A - Unmanned aerial vehicle (UAV) control device and unmanned plane based on flow field control - Google Patents
Unmanned aerial vehicle (UAV) control device and unmanned plane based on flow field control Download PDFInfo
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- CN108820186A CN108820186A CN201810842080.3A CN201810842080A CN108820186A CN 108820186 A CN108820186 A CN 108820186A CN 201810842080 A CN201810842080 A CN 201810842080A CN 108820186 A CN108820186 A CN 108820186A
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- aerial vehicle
- flow field
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- 230000009347 mechanical transmission Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 3
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- 230000000694 effects Effects 0.000 description 3
- 241000272517 Anseriformes Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 239000013078 crystal Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/10—Shape of wings
- B64C3/14—Aerofoil profile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/36—Structures adapted to reduce effects of aerodynamic or other external heating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/10—Constructional aspects of UAVs for stealth, e.g. reduction of cross-section detectable by radars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/10—Shape of wings
- B64C3/14—Aerofoil profile
- B64C2003/143—Aerofoil profile comprising interior channels
Abstract
The disclosure provides a kind of unmanned aerial vehicle (UAV) control device and unmanned plane based on flow field control, is somebody's turn to do the unmanned aerial vehicle (UAV) control device based on flow field control and includes：Gas source, at least one jet chamber and control valve；The engine of gas source and unmanned plane connection, for providing pressurization gas；Jet chamber setting is connect inside wing, and with gas source by drainage line, and the intersection of jet chamber and aerofoil surface is provided with jet orifice, for projecting gas；Control valve is connect with jet chamber, the flow of the gas for controlling jet orifice injection.The unmanned aerial vehicle (UAV) control device based on flow field control that the disclosure provides mainly is made of gas storage and transmission gas equipment, can be embedded in inside configuration, also be can be used as structure-bearing part, compared with the airvane of conventional mechanical transmission, a whole set of control device is simple for structure and light-weight.
Description
Technical field
This disclosure relates to aviation aircraft technical field more particularly to a kind of unmanned aerial vehicle (UAV) control device based on flow field control
And unmanned plane.
Background technique
UAV system is usually by flying control subsystem, structure subsystem, electrical subsystem, data-link subsystem, promoting and divide
The composition such as system, load subsystem and launch recycling subsystem, it is unmanned plane reality that wherein flight control system, which is UAV system,
The now basis of flight function and application task.UAV Flight Control System generally by flight control computer, Flight Management Computer,
The composition such as navigation system, attitude transducer system, steerable system, unmanned plane steerable system generally use airvane and control its posture
And motion profile.
Airvane is the wing front and rear edge for referring to independently rotate or translate relative to body, empennage (canard) front and rear edge or tail
The wing (canard) controls its deflection (or mobile) using mechanical driving device using electric steering engine or hydraulic actuator as power source,
Aerofoil flow field is influenced to reach, changes local flight force and moment, and then influence full machine stress and equalising torque, changes unmanned plane
Athletic posture and track.
However, in implementing the present disclosure, present inventor's discovery, airvane is transported repeatedly due to mechanical device
Dynamic, reliability and durability are poor, thus large-scale unmanned plane generally all can additionally increase a set of operating mechanism as backup, or
Reliability is improved by reducing maintenance intervals, in addition, the general volume and weight of mechanical driving device is all larger, to the inside of aircraft
Arrangement and flying quality all have an impact.
Disclosure
(1) technical problems to be solved
Based on above-mentioned technical problem, the disclosure provides a kind of unmanned aerial vehicle (UAV) control device and unmanned plane based on flow field control,
To alleviate the more poor reliability of existing air, and volume and weight is all larger, is easy inside arrangement and flying quality to aircraft
The technical issues of having an adverse effect.
(2) technical solution
According to one aspect of the disclosure, a kind of unmanned aerial vehicle (UAV) control device based on flow field control is provided, including：Gas source,
It is connect with the engine of unmanned plane, for providing pressurization gas；At least one jet chamber is arranged inside wing, and described
Gas source is connected by drainage line, and the intersection of the jet chamber and the aerofoil surface is provided with jet orifice, for projecting gas
Body；And control valve, it is connect with the jet chamber, for controlling the flow for the gas that the jet orifice projects.
In some embodiments of the present disclosure, the jet chamber include it is multiple, multiple jet chambers respectively with the gas
Source connection.
In some embodiments of the present disclosure, the jet chamber includes：First jet chamber, the second jet chamber, third jet stream
Chamber and the 4th jet chamber, the corresponding jet orifice of four jet chambers are successively set along the chordwise direction of the wing
It sets.
In some embodiments of the present disclosure, the wing is double wedge, and relative thickness 10%, maximum gauge is located at
30% chordwise location, camber 0.
In some embodiments of the present disclosure, the position of four jet orifices is respectively：First jet orifice, with described
The connection of one jet chamber, tangential relative position 6%, opening direction is towards above wing；Second jet orifice, with second jet chamber
Connection, tangential relative position 32%, opening direction is towards above wing；Third jet orifice is connect, string with the third jet chamber
To relative position 32%, opening direction is towards below wing；4th jet orifice is connect with the 4th jet chamber, tangential opposite
Position 100%, opening direction is towards wing rear.
In some embodiments of the present disclosure, being somebody's turn to do the unmanned aerial vehicle (UAV) control device based on flow field control further includes：Air entry, with
Second jet chamber connection, tangential relative position 8%, opening direction is towards below wing；And check valve, it is arranged described
Between air entry and second jet chamber.
In some embodiments of the present disclosure, the opening shape of the air entry and the jet orifice is rectangle gap-like, and
The rectangular aperture along the wing exhibition to distribution.
In some embodiments of the present disclosure, the gas source includes：Pressurization air source is connect with the engine of unmanned plane；With
And air accumulator, it is connect with the pressurization air source and the drainage line.
In some embodiments of the present disclosure, the control valve is electromagnetism on-off valve.
According to another aspect of the disclosure, a kind of unmanned plane is also provided, including：Fuselage；Wing connects with the fuselage
It connects, and using connection wing layout；And the unmanned aerial vehicle (UAV) control device based on flow field control that two groups of disclosure provide, it is separately positioned on
On front wing in the wing of the fuselage two sides；Wherein, the front wing sweepback in the wing, rear wing sweepforward, and it is described before
The wing is shorter than the rear wing setting, and engine is located at front and back wing junction.
(3) beneficial effect
It can be seen from the above technical proposal that unmanned aerial vehicle (UAV) control device based on flow field control that the disclosure provides and nobody
Machine has the advantages that one of them or in which a part：
(1) the unmanned aerial vehicle (UAV) control device based on flow field control that the disclosure provides is mainly by gas storage and transmission gas equipment group
At, it can be embedded in inside configuration, also can be used as structure-bearing part, compared with the airvane of conventional mechanical transmission, a whole set of control device
It is simple for structure and light-weight；
(2) multiple jet chambers are connect with gas source respectively, so that multiple jet chambers be enable independently to run, are passed through by gas source
Check valve is that each jet chamber supplies respectively, to realize the redundancy of jet stream terminal, improves the reliability of system；
(3) aerofoil profile for the unmanned aerial vehicle (UAV) control device based on flow field control that the disclosure provides uses double wedge, and wing connects
Hither plane sliced crystal, is conducive to radar invisible；
(4) air entry is connected by check valve with the second jet chamber, and high pressure gas is flowed by air entry when the big angle of attack penetrates
Chamber is flowed, and is flowed out from the second jet orifice, achievees the effect that upper surface air-flow is delayed to separate, so as to improve aerodynamic characteristics at high angle-of-attack；
(5) the unmanned aerial vehicle (UAV) control device based on flow field control that the disclosure provides is without mechanical transmission structure, and combines double gas
Source and more jet chambers realize system redundancy, high reliablity.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the unmanned plane that the embodiment of the present disclosure provides.
Fig. 2 is the tangential cross-sectional view of wing for the unmanned aerial vehicle (UAV) control device based on flow field control that the embodiment of the present disclosure provides.
Fig. 3 is the flow field schematic diagram for the unmanned aerial vehicle (UAV) control device based on flow field control that the embodiment of the present disclosure provides.
【Embodiment of the present disclosure main element symbol description in attached drawing】
100- jet chamber；
The first jet chamber of 110-；
The first jet orifice of 111-；
The second jet chamber of 120-；
The second jet orifice of 121-；
122- air entry；
123- check valve；
130- third jet chamber；
131- third jet orifice；
The 4th jet chamber of 140-；
The 4th jet orifice of 141-；
200- drainage line；
300- control valve；
400- pressurization air source；
500- air accumulator；
600- front wing；
700- rear wing.
Specific embodiment
The unmanned aerial vehicle (UAV) control device based on flow field control and unmanned plane that the embodiment of the present disclosure provides eliminate traditional wing
On mechanical structure, be pressurized using engine bleed, by high pressure gas according to control strategy from wing different location project, change
Wing flow field, and then manipulate aircraft has the characteristics that simple for structure, high reliablity, light-weight and conducive to radar invisible.
For the purposes, technical schemes and advantages of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
According to one aspect of the disclosure, as shown in Figure 1, providing a kind of unmanned aerial vehicle (UAV) control device based on flow field control,
Including：Gas source is connect, for providing pressurization gas with the engine of unmanned plane；At least one jet chamber 100 is arranged in wing
Inside is connect with gas source by drainage line 200, and the intersection of jet chamber 100 and aerofoil surface is provided with jet orifice, is used for
Project gas；And control valve 300, it is connect with jet chamber 100, the flow of the gas for controlling jet orifice injection, the disclosure
The unmanned aerial vehicle (UAV) control device based on flow field control that embodiment provides mainly is made of gas storage and transmission gas equipment, can be embedded in structure
Inside also can be used as structure-bearing part, and compared with the airvane of conventional mechanical transmission, a whole set of control device is simple for structure and weight
Gently.
In some embodiments of the present disclosure, as shown in Fig. 2, jet chamber 100 includes multiple, multiple difference of jet chambers 100
It is connect with gas source, through check valve is each jet chamber 100 by gas source so that multiple jet chambers 100 be enable independently to run
It supplies respectively, to realize the redundancy of jet stream terminal, improves the reliability of system.
In some embodiments of the present disclosure, as shown in Fig. 2, jet chamber 100 includes：First jet chamber 110, the second jet stream
Chamber 120, third jet chamber 130 and the 4th jet chamber 140, four corresponding jet orifices of jet chamber 100 are along the tangential of wing
Direction is set gradually.
In some embodiments of the present disclosure, as shown in Fig. 2, wing is double wedge, relative thickness 10%, maximum gauge
Positioned at 30% chordwise location, camber 0, using double wedge, wing is conducive to radar invisible close to XY-cut crystal.
In some embodiments of the present disclosure, as shown in Fig. 2, the position of four jet orifices is respectively：First jet orifice
111, it is connect with the first jet chamber 110, tangential relative position 6%, opening direction is towards above wing；Second jet orifice 121, with
The connection of second jet chamber 120, tangential relative position 32%, opening direction is towards above wing；Third jet orifice 131, with third
Jet chamber 130 connects, tangential relative position 32%, and opening direction is towards below wing；4th jet orifice 141, with the 4th jet stream
Chamber 140 connects, tangential relative position 100%, and opening direction is towards wing rear.
In some embodiments of the present disclosure, being somebody's turn to do the unmanned aerial vehicle (UAV) control device based on flow field control further includes：Air entry
122, it is connect with the second jet chamber 120, tangential relative position 8%, opening direction is towards below wing；And check valve 123, if
It sets between air entry 122 and the second jet chamber 120, air entry 122 is connected by check valve 123 with the second jet chamber 120, greatly
High pressure gas flows into jet chamber 120 by air entry 122 when the angle of attack, and flows out from the second jet orifice 121, reaches and delays upper surface
The effect of air-flow separation, so as to improve aerodynamic characteristics at high angle-of-attack.
In some embodiments of the present disclosure, the opening shape of air entry 122 and jet orifice is rectangle gap-like, and the rectangle
The exhibition being open along wing is to distribution.
In some embodiments of the present disclosure, gas source includes：Pressurization air source 400 is connect with the engine of unmanned plane；And
Air accumulator 500 is connect with pressurization air source 400 and drainage line 200.
In some embodiments of the present disclosure, control valve 300 is electromagnetism on-off valve.
According to another aspect of the disclosure, a kind of unmanned plane is also provided, including：Fuselage, wing and two groups of disclosure
The unmanned aerial vehicle (UAV) control device based on flow field control that embodiment provides；Wing is connect with fuselage, and using connection wing layout, two groups of bases
On front wing 600 in the wing that the unmanned aerial vehicle (UAV) control device of flow field control is separately positioned on fuselage two sides；Wherein, wing 600
In front wing sweepback, 700 sweepforward of rear wing, and front wing 600 is shorter than rear wing 700 and is arranged, engine is located at front and back wing junction, this public affairs
The unmanned aerial vehicle (UAV) control device based on flow field control of embodiment offer is opened without mechanical transmission structure, and combines the dual gas supply of unmanned plane
System redundancy, high reliablity are realized with more jet chambers.
Below by taking pitch channel controls as an example, the unmanned aerial vehicle (UAV) control based on flow field control of verifying embodiment of the present disclosure offer
The validity of device and unmanned plane increases 600 the second jet orifice of upper surface of front wing, 121 flow, while reducing third jet orifice 131
Flow, as shown in figure 3,600 upper surface flow velocity of front wing increase, lower surface flow velocity reduce, 600 lift of front wing increase, front wing 600
Wake flow angle of downwash increases, and rear wing 700 is influenced by downwash flow, and effective angle of attack reduces, and 700 lift of rear wing reduces, the front and back wing
Lift variation generates nose-up pitching moment, the controlled new line of aircraft；On the contrary, reducing 600 the second jet orifice of upper surface of front wing, 121 flow, together
131 flow of Shi Zengjia third jet orifice, 600 upper surface flow velocity of front wing reduce, and lower surface flow velocity increases, and 600 lift of front wing reduces,
600 wake flow angle of downwash of front wing reduces, and rear wing 700 is influenced by downwash flow, and effective angle of attack increases, and 700 lift of rear wing increases,
Front and back wing lift variation generates nose-down pitching moment, and aircraft is controlled to bow.Yaw and the control of roll channel and pitch channel control are former
It manages identical.
According to above description, nobody based on flow field control that those skilled in the art should provide the embodiment of the present disclosure
Machine control device and unmanned plane have clear understanding.
In conclusion unmanned aerial vehicle (UAV) control device based on flow field control and unmanned plane that the embodiment of the present disclosure provides eliminate
Mechanical structure on traditional wing, is pressurized using engine bleed, by high pressure gas according to control strategy from wing different location
It projects, changes wing flow field, and then manipulate aircraft, there is simple for structure, high reliablity, light-weight and be conducive to the spies such as radar invisible
Point.
It should also be noted that, the direction term mentioned in embodiment, for example, "upper", "lower", "front", "rear", " left side ",
" right side " etc. is only the direction with reference to attached drawing, not is used to limit the protection scope of the disclosure.Through attached drawing, identical element by
Same or similar appended drawing reference indicates.When may cause understanding of this disclosure and cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each component do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference symbol between parentheses should not be configured to the limit to claim
System.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each open aspect,
Above in the description of the exemplary embodiment of the disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention：It is i.e. required to protect
The disclosure of shield requires features more more than feature expressly recited in each claim.More precisely, such as front
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as the separate embodiments of the disclosure.
Particular embodiments described above has carried out further in detail the purpose of the disclosure, technical scheme and beneficial effects
Describe in detail it is bright, it is all it should be understood that be not limited to the disclosure the foregoing is merely the specific embodiment of the disclosure
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of unmanned aerial vehicle (UAV) control device based on flow field control, including：
Gas source is connect, for providing pressurization gas with the engine of unmanned plane；
At least one jet chamber is arranged inside wing, is connect with the gas source by drainage line, the jet chamber and institute
The intersection for stating aerofoil surface is provided with jet orifice, for projecting gas；And
Control valve is connect with the jet chamber, for controlling the flow for the gas that the jet orifice projects.
2. the unmanned aerial vehicle (UAV) control device according to claim 1 based on flow field control, the jet chamber include it is multiple, it is multiple
The jet chamber is connect with the gas source respectively.
3. the unmanned aerial vehicle (UAV) control device according to claim 2 based on flow field control, the jet chamber include：First jet stream
Chamber, the second jet chamber, third jet chamber and the 4th jet chamber, the corresponding jet orifice of four jet chambers is described in
The chordwise direction of wing is set gradually.
4. the unmanned aerial vehicle (UAV) control device according to claim 3 based on flow field control, the wing is double wedge, relatively
Thickness 10%, maximum gauge are located at 30% chordwise location, camber 0.
5. the unmanned aerial vehicle (UAV) control device according to claim 4 based on flow field control, the position point of four jet orifices
It is not：
First jet orifice is connect with first jet chamber, tangential relative position 6%, and opening direction is towards above wing；
Second jet orifice is connect with second jet chamber, tangential relative position 32%, and opening direction is towards above wing；
Third jet orifice is connect with the third jet chamber, tangential relative position 32%, and opening direction is towards below wing；
4th jet orifice is connect with the 4th jet chamber, tangential relative position 100%, and opening direction is towards wing rear.
6. the unmanned aerial vehicle (UAV) control device according to claim 5 based on flow field control, further includes：
Air entry is connect with second jet chamber, tangential relative position 8%, and opening direction is towards below wing；And
Check valve is arranged between the air entry and second jet chamber.
7. the unmanned aerial vehicle (UAV) control device according to claim 6 based on flow field control, the air entry and the jet orifice
Opening shape be rectangle gap-like, and the rectangular aperture along the wing exhibition to distribution.
8. the unmanned aerial vehicle (UAV) control device according to claim 1 based on flow field control, the gas source include：
Pressurization air source is connect with the engine of unmanned plane；And
Air accumulator is connect with the pressurization air source and the drainage line.
9. the unmanned aerial vehicle (UAV) control device according to any one of claim 1 to 8 based on flow field control, the control valve are
Electromagnetism on-off valve.
10. a kind of unmanned plane, including：
Fuselage；
Wing is connect with the fuselage, and using connection wing layout；And
Two groups of such as unmanned aerial vehicle (UAV) control devices according to any one of claims 1 to 9 based on flow field control, are respectively set
On the front wing in the wing of the fuselage two sides；
Wherein, the front wing sweepback in the wing, rear wing sweepforward, and the front wing are shorter than the rear wing setting, and engine is located at
Front and back wing junction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842080.3A CN108820186B (en) | 2018-07-27 | 2018-07-27 | Unmanned aerial vehicle controlling means and unmanned aerial vehicle based on flow field control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842080.3A CN108820186B (en) | 2018-07-27 | 2018-07-27 | Unmanned aerial vehicle controlling means and unmanned aerial vehicle based on flow field control |
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| Publication Number | Publication Date |
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| CN108820186A true CN108820186A (en) | 2018-11-16 |
| CN108820186B CN108820186B (en) | 2023-11-07 |
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Citations (7)
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|---|---|---|---|---|
| US3275266A (en) * | 1959-10-20 | 1966-09-27 | Hovercraft Dev Ltd | Foils for movement in a fluid |
| US5255881A (en) * | 1992-03-25 | 1993-10-26 | Vigyan, Inc. | Lift augmentation for highly swept wing aircraft |
| DE4409486A1 (en) * | 1994-03-19 | 1994-08-18 | Karl Raehmer | Wing |
| US20060022092A1 (en) * | 2004-08-02 | 2006-02-02 | Miller Daniel N | System and method to control flowfield vortices with micro-jet arrays |
| CN101258071A (en) * | 2005-07-13 | 2008-09-03 | 城市大学 | An element for generating a fluid dynamic force |
| CN106167096A (en) * | 2016-07-17 | 2016-11-30 | 龙川 | Modified model level of approximation rotates propeller wing flap lift-rising and connects wing aircraft |
| CN208715466U (en) * | 2018-07-27 | 2019-04-09 | 中国科学院工程热物理研究所 | Unmanned aerial vehicle (UAV) control device and unmanned plane based on flow field control |
-
2018
- 2018-07-27 CN CN201810842080.3A patent/CN108820186B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3275266A (en) * | 1959-10-20 | 1966-09-27 | Hovercraft Dev Ltd | Foils for movement in a fluid |
| US5255881A (en) * | 1992-03-25 | 1993-10-26 | Vigyan, Inc. | Lift augmentation for highly swept wing aircraft |
| DE4409486A1 (en) * | 1994-03-19 | 1994-08-18 | Karl Raehmer | Wing |
| US20060022092A1 (en) * | 2004-08-02 | 2006-02-02 | Miller Daniel N | System and method to control flowfield vortices with micro-jet arrays |
| CN101258071A (en) * | 2005-07-13 | 2008-09-03 | 城市大学 | An element for generating a fluid dynamic force |
| CN106167096A (en) * | 2016-07-17 | 2016-11-30 | 龙川 | Modified model level of approximation rotates propeller wing flap lift-rising and connects wing aircraft |
| CN208715466U (en) * | 2018-07-27 | 2019-04-09 | 中国科学院工程热物理研究所 | Unmanned aerial vehicle (UAV) control device and unmanned plane based on flow field control |
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| Publication number | Publication date |
|---|---|
| CN108820186B (en) | 2023-11-07 |
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