CN109358636B - Unmanned aerial vehicle navigation system for positioning pipeline robot and navigation method thereof - Google Patents
Unmanned aerial vehicle navigation system for positioning pipeline robot and navigation method thereof Download PDFInfo
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Abstract
本发明公开一种用于管道机器人定位的无人机导航系统及其导航方法，属于无人机自动导航领域。它由无人机系统、管道机器人装置、地面控制平台组成。针对管道的不同铺设情况，工作中，地面控制平台确定无人机工作模式，同时发送跟踪指令，无人机接到指令后根据设定的导航模式进行导航飞行。导航飞行中的速度开始有工作人员根据需要设定，当监测到管道机器人时，无人机导航系统根据机器人的状态，自动调整无人机的导航飞行速度，同时把管道机器人坐标信息发送到地面控制平台。本发明实现用于管道机器人定位的无人机的导航飞行，为管道机器人进行实时快速定位和跟踪提供了保证，适应性强，自动化水平较高。
The invention discloses a UAV navigation system and a navigation method for pipeline robot positioning, belonging to the field of UAV automatic navigation. It consists of an unmanned aerial system, a pipeline robot device, and a ground control platform. According to the different laying conditions of the pipeline, during the work, the ground control platform determines the working mode of the UAV, and sends tracking instructions at the same time. After receiving the instruction, the UAV will navigate and fly according to the set navigation mode. The speed in the navigation flight begins to be set by the staff according to the needs. When the pipeline robot is monitored, the UAV navigation system automatically adjusts the navigation flight speed of the UAV according to the state of the robot, and at the same time sends the coordinate information of the pipeline robot to the ground. Control the platform. The invention realizes the navigation and flight of the unmanned aerial vehicle used for the positioning of the pipeline robot, provides a guarantee for the pipeline robot to perform real-time rapid positioning and tracking, and has strong adaptability and high automation level.
Description
The invention relates to a divisional invention of an unmanned aerial vehicle navigation system and a divisional invention, wherein the divisional invention is a patent number 201820320949.3, the application date is 2016, 9, month and 14, and the name of the divisional invention is 'an unmanned aerial vehicle navigation system and a method for positioning a pipeline robot'.
Technical Field
The invention relates to an unmanned aerial vehicle navigation system and method for positioning a pipeline robot.
Background
In order to ensure the transportation safety of the petroleum pipeline, the petroleum pipeline needs to be regularly detected and maintained. The pipeline blockage cleaning robot is main equipment for cleaning a pipeline, and the pipeline blockage cleaning robot walks in the pipeline under the pushing of high-strength air pressure, water pressure or oil pressure to play roles in cleaning and detecting the petroleum pipeline. When the pipeline blockage removing robot is used for cleaning in a pipeline, the pipeline blockage removing robot frequently flies or is blocked, and people on the ground need to quickly find the position of the pipeline blockage removing robot so as to carry out the work of digging, maintaining, blockage removing and the like. The main method at present is that a low-frequency electromagnetic transmitting coil is placed in a pipeline robot, a continuous emitter electrode emits low-frequency electromagnetic signals, a worker outside the pipeline walks along the pipeline by holding the pipeline or adopting a vehicle-mounted solenoid antenna to search and receive the electromagnetic signals emitted inside the pipeline robot, and the position of the pipeline blockage cleaning robot is determined when the electromagnetic signals in the pipeline are collected. However, the walking speed of the handheld or vehicle-mounted solenoid antenna is low, the efficiency is greatly reduced under the condition that a long-distance pipeline needs to quickly find the blockage clearing robot, and the walking is difficult when different terrain obstacles are met. The method for tracking and positioning the pipeline blockage cleaning robot by adopting the unmanned aerial vehicle to carry the electromagnetic solenoid antenna and the signal processing system is an effective method for realizing rapid positioning monitoring, and the primary core task of the method for monitoring and positioning by adopting the unmanned aerial vehicle-mounted antenna is that the unmanned aerial vehicle flies along the pipeline laying direction. Therefore, the flight path navigation of the unmanned aerial vehicle for positioning the pipeline blockage cleaning robot is a precondition and guarantee for realizing the tracking and positioning of the pipeline blockage cleaning robot, and is a main problem to be solved firstly.
Disclosure of Invention
The invention mainly discloses a navigation method capable of enabling an unmanned aerial vehicle to fly along the laying direction of a petroleum pipeline, aiming at the problem of navigation of the flight path of the unmanned aerial vehicle in a rapid positioning monitoring method of the unmanned aerial vehicle of a pipeline blockage cleaning robot.
The specific scheme of the invention is as follows: an unmanned aerial vehicle navigation system for positioning a pipeline robot comprises an unmanned aerial vehicle system, a pipeline robot system and a ground control platform; the unmanned aerial vehicle system comprises a signal detection unit, a signal processing unit, a data storage module, a GPS system, an intelligent vision module, a data transmission module and a flight control module, wherein the signal processing unit is respectively connected with the signal detection unit, the data storage module, the GPS system, the intelligent vision module, the data transmission module and the flight control module; the intelligent vision module comprises an image sensor and an image processing circuit thereof, the signal detection unit detects electromagnetic waves emitted from the pipeline robot by adopting a solenoid magnetoelectric sensor so as to search and position the robot, the signal processing unit reads, stores and processes acquired data such as a magnetic field intensity signal, GPS data and the like of the pipeline robot, and the data storage module adopts an SD card with the model of MC32DTF and is used for storing underground pipeline GPS data and detection signal data which are required to be used; the ground control platform comprises an initial flight instruction generation module, a data transmission module and a data analysis module, and is used for determining the working mode of the unmanned aerial vehicle, initializing the flight state, analyzing the detection result of the unmanned aerial vehicle and generating a fault report; the pipeline robot system comprises a pipeline robot which operates in a pipeline and transmits low-frequency electromagnetic signals outside the pipeline, an electromagnetic induction antenna on the unmanned aerial vehicle is used for receiving and detecting, the detection signals are generated by a signal generator which takes an AT89C2051 processor as a core, and the low-frequency electromagnetic signals are finally transmitted outwards through a solenoid antenna through a voltage amplifying circuit.
2. An unmanned aerial vehicle navigation method for pipeline robot positioning, comprising the steps of: A. the unmanned aerial vehicle initializes, self-checks the working state of the unmanned aerial vehicle, then selects a working mode, and after receiving a tracking instruction from the ground control platform and a signal of the working mode, the unmanned aerial vehicle navigates and addresses the pipeline trend according to the set working mode, determines a flight path and tracks the pipeline robot;
B. the pipeline robot runs in the pipeline, constantly to the extratubal emission low frequency electromagnetic signal, supplies the electromagnetic induction antenna on the unmanned aerial vehicle to receive and detect to the pipeline robot is fixed a position and is tracked. The detection signal is a low-frequency signal generated by a signal generator taking an AT89C2051 processor as a core, passes through a voltage amplifying circuit, and finally emits a low-frequency electromagnetic signal outwards through a solenoid antenna;
C. the unmanned aerial vehicle system determines that the position of the pipeline is backward through autonomous navigation addressing, flies along the route of the petroleum pipeline, monitors and searches a pipeline blockage cleaning robot by a magnetoelectric sensor system carried on the unmanned aerial vehicle, and detects the working state of the pipeline cleaning robot to judge whether the pipeline needs maintenance or not;
the unmanned aerial vehicle flight path autonomous navigation mode has two working modes, wherein the mode is that the navigation is performed aiming at the trend of a petroleum pipeline exposed on the ground, and when the petroleum pipeline is laid above the ground, the path navigation is performed mainly by using data acquired by an unmanned aerial vehicle intelligent visual sensing device and a height sensor as a basis; the second mode mainly aims at navigation of underground pipelines, pipeline geographical position coordinates recorded by pipeline construction are input into an unmanned aerial vehicle storage system, and navigation of the unmanned aerial vehicle is realized by utilizing GPS navigation addressing;
when the petroleum pipeline is laid on the ground, the unmanned aerial vehicle is navigated according to the mode I, the image sensor acquires image information of the pipeline, the image information is continuously fed back to the processing unit of the system through acquired continuous images of the pipeline, then the single chip microcomputer system controls the unmanned aerial vehicle flight control module, and the unmanned aerial vehicle is navigated and flown according to a pipeline path; when the petroleum pipeline is buried below the earth surface, the unmanned aerial vehicle navigation system works in a mode two state at the moment, firstly, the pipeline geographical position coordinate data recorded by the construction of the monitored petroleum pipeline is input into the unmanned aerial vehicle data storage unit, GPS navigation addressing is utilized, the flying navigation of the unmanned aerial vehicle along the pipeline trend is realized according to the stored three-dimensional coordinate information of the pipeline robot, the control system compares the existing data of the pipeline trend with the real-time GPS data, and the navigation flight of the unmanned aerial vehicle is controlled.
D. In the navigation flight of the unmanned aerial vehicle, after a pipeline robot signal is detected, the state of the pipeline robot is determined by analyzing a magnetic signal acquired by a magnetoelectric sensor; when the pipeline robot is in a static state, namely is blocked, the unmanned aerial vehicle signal processing system firstly reduces the speed of the unmanned aerial vehicle, then extracts the three-dimensional coordinate information of the GPS system at the moment, stores the coordinate information and simultaneously transmits the coordinate information to the ground control center; when the pipeline robot is in the walking state, according to the speed of the pipeline robot that calculates in real time, unmanned aerial vehicle adjusts the flight state, and with the pipeline robot with the same speed go forward to reach real-time positioning monitoring, tracked purpose.
The invention has the advantages that:
after unmanned aerial vehicle flight initialization, lay the navigation mode of confirming unmanned aerial vehicle flight at two kinds of situations above ground and below ground according to the petroleum pipeline, two kinds of navigation modes can both make unmanned aerial vehicle fly along the petroleum pipeline direction of laying under navigation's control, realize the quick accurate location to robot in the pipeline. Under the navigation of the mode I, the unmanned aerial vehicle controls the space flight path of the unmanned aerial vehicle according to the data collected by the image sensor and the height sensor. Under the condition of the second mode, the GPS system carries out automatic navigation flight according to the three-dimensional geographic coordinate data of the pipeline trend. When the unmanned aerial vehicle monitors the pipeline robot, the flying speed is automatically adjusted according to the state of the pipeline robot, and meanwhile, the state information of the pipeline robot is transmitted to the ground control center. The invention realizes the navigation of the unmanned aerial vehicle for positioning the pipeline robot, provides guarantee for real-time and rapid positioning and tracking of the pipeline robot, gets rid of the dependence on people, greatly reduces the interference of human factors, and has strong adaptability and higher automation level.
Drawings
FIG. 1 is a block diagram of the components of a navigation detection system according to the present invention;
FIG. 2 is a flow chart of unmanned aerial vehicle navigation routing inspection work according to the present invention;
fig. 3 is a flow chart of speed adjustment in the process of tracking a robot by an unmanned aerial vehicle according to the invention.
Detailed Description
The following describes in detail an unmanned aerial vehicle navigation system for positioning a pipeline robot according to the present invention with reference to the accompanying drawings. The present embodiment is carried out on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the following examples.
As shown in figure 1, the system mainly comprises a pipeline robot system, an unmanned aerial vehicle system and a ground control platform. The invention aims to invent an unmanned aerial vehicle autonomous navigation method for monitoring and positioning a pipeline robot.
In engineering application, the pipeline robot runs in a pipeline, and a low-frequency electromagnetic signal of 23HZ is continuously transmitted to the outside of the pipeline for receiving and detecting an electromagnetic induction antenna on the unmanned aerial vehicle, so that the pipeline robot can be positioned and tracked. The detection signal is a low-frequency signal generated by a signal generator taking an AT89C2051 processor as a core, passes through a voltage amplifying circuit, and finally emits a low-frequency electromagnetic signal of 23Hz outwards through a solenoid antenna.
In the positioning and tracking process of the pipeline robot, the navigation of the unmanned aerial vehicle flying along the petroleum pipeline is respectively carried out by adopting two different modes according to the two conditions of the petroleum pipeline being exposed on the ground or being buried underground.
The mode is the navigation for the trend of the oil pipeline on the bare land. When the petroleum pipeline is laid on the ground, images of continuous adjacent frames are firstly acquired by a vision sensor ArduinoS 32, then calculation is carried out through a processor, and the trend of the detected pipeline is determined, so that the unmanned aerial vehicle can automatically navigate in a horizontal plane flight path. Meanwhile, height information of the unmanned aerial vehicle to a pipeline is collected according to the ultrasonic ranging module HC-SR04, the collected height is compared with a set value according to different terrains, navigation of the height of the unmanned aerial vehicle in flight is automatically adjusted, and navigation of a flight path of the unmanned aerial vehicle in a three-dimensional space is achieved.
When the petroleum pipeline is buried under the ground surface, the unmanned aerial vehicle navigation system works in a mode two state at the moment. Firstly, a worker inputs the coordinate data of the geographic position of the pipeline recorded by the construction of the monitored petroleum pipeline into an unmanned aerial vehicle data storage unit, GPS navigation addressing is utilized, the flight navigation of the unmanned aerial vehicle along the direction of the pipeline is realized according to the stored three-dimensional coordinate information of the pipeline robot, and a control system compares the existing data of the direction of the pipeline with the real-time GPS data to control the navigation flight of the unmanned aerial vehicle.
The last core processing unit of unmanned aerial vehicle mainly adopts the processing apparatus who uses STM32F107 treater as the core, adopts serial communication, realizes reading, storage and processing to signals such as the pipeline image that detects and height, data such as GPS data, control flight situation. The unmanned aerial vehicle firstly determines the direction of the pipeline according to different working modes and plans a flight route. Secondly, after the pipeline robot is tracked by the unmanned aerial vehicle, the state of the pipeline robot is calculated through signals collected by the magnetoelectric sensor, the unmanned aerial vehicle is controlled to fly at the same speed as the pipeline robot, the tracking function is realized, and the data after pretreatment is transmitted to the ground control platform through the data transmission system.
And the data storage module adopts an SD card with the model of MC32DTF and is used for storing underground pipeline GPS data and detection signals required by the second mode. Meanwhile, when the pipeline robot is monitored by a sensor on the unmanned aerial vehicle, the microprocessor records the positioning coordinate of the pipeline robot and transmits the positioning coordinate to the ground control platform in a wireless communication mode.
The ground control platform mainly comprises an initial flight instruction generation module, a data transmission module and a data analysis module. When the unmanned aerial vehicle works, the navigation mode of the unmanned aerial vehicle is determined by the staff according to the actual laying condition of the pipeline, and the unmanned aerial vehicle is initialized in a wireless communication mode, so that the unmanned aerial vehicle can navigate and fly according to the set mode. The ground control platform writes flight control software by using Qt4 to initialize the unmanned aerial vehicle, and sets the flying height, flying speed and flying attitude of the unmanned aerial vehicle. After the initialization, the unmanned aerial vehicle obtains a tracking instruction and starts flying along the direction of the pipeline. When the unmanned aerial vehicle monitors the position of the pipeline robot, the unmanned aerial vehicle feeds back the positioning information of the pipeline robot to the ground control platform.
As shown in fig. 2, in order to facilitate description of the working state of the drone, the actual working principle of the drone is illustrated by means of a flowchart. The unmanned aerial vehicle initializes, firstly, the unmanned aerial vehicle carries out self-checking of the working state, and then, the working mode is selected. After receiving a tracking instruction from the ground control platform and a signal of a working mode, the unmanned aerial vehicle performs navigation addressing on the pipeline trend according to the set working mode, determines a flight route and tracks the pipeline robot. If the mode-navigation mode is selected, the vision sensor and altitude sensor module is started to use the image and the altitude detection to navigate the flight. And when the mode is not the first mode, automatically entering a mode two mode, firstly storing the geographic coordinate data of the required pipeline, and flying the unmanned aerial vehicle in a GPS navigation mode. In the navigation flight of the unmanned aerial vehicle, after a pipeline robot signal is detected, the state of the pipeline robot is determined by analyzing a magnetic signal acquired by the magnetoelectric sensor. When the pipeline robot is in a static state, namely is blocked, the unmanned aerial vehicle signal processing system firstly reduces the speed of the unmanned aerial vehicle, then extracts the three-dimensional coordinate information of the GPS system at the moment, stores the coordinate information and simultaneously transmits the coordinate information to the ground control center. When the pipeline robot is in the walking state, according to the speed of the pipeline robot that calculates in real time, unmanned aerial vehicle adjusts the flight state, and with the pipeline robot with the same speed go forward to reach real-time positioning monitoring, tracked purpose.
Fig. 3 is a control flow chart of the navigation flight speed of the unmanned aerial vehicle. And tracking the adjustment process of the flight state of the pipeline robot. Firstly, initializing the unmanned aerial vehicle, setting the flying speed according to the initial flying instruction of ground staff, navigating and flying according to a mode I or a mode II, and detecting along the direction of a pipeline. In the flight process, the unmanned aerial vehicle acquisition unit continuously carries out electromagnetic signal detection. When detecting pipeline robot, unmanned aerial vehicle carries out the rapid survey to pipeline robot's speed, constantly adjusts self speed simultaneously, makes it fly with pipeline robot same speed. Meanwhile, the unmanned aerial vehicle data analysis system judges the working state of the pipeline robot by detecting the change of the running speed of the pipeline robot, judges whether the pipeline robot is in a blocking state or a walking state, and further judges whether the pipeline breaks down. The key for realizing the rapid positioning of the pipeline fault is to detect the speed of the pipeline robot and the speed of the unmanned aerial vehicle to be rapidly self-adjusted.
Claims (2)
1. An unmanned aerial vehicle navigation system for positioning a pipeline robot is characterized by comprising an unmanned aerial vehicle system, a pipeline robot system and a ground control platform; the unmanned aerial vehicle system comprises a signal detection unit, a signal processing unit, a data storage module, a GPS system, an intelligent vision module, a data transmission module and a flight control module; the intelligent vision module comprises an image sensor and an image processing circuit thereof, the signal detection unit adopts a solenoid magnetoelectric sensor to detect electromagnetic waves emitted from the pipeline robot so as to search and position the robot, the signal processing unit reads, stores and processes the acquired magnetic field intensity signal and GPS data of the pipeline robot, and the data storage module adopts an SD card with the model of MC32DTF and is used for storing the needed underground pipeline GPS data and detection signal data; the ground control platform comprises an initial flight instruction generation module, a data transmission module and a data analysis module; the ground control platform is used for determining the working mode of the unmanned aerial vehicle, initializing the flight state, analyzing the detection result of the unmanned aerial vehicle and generating a fault report; the pipeline robot system comprises a pipeline robot running in a pipeline, a low-frequency electromagnetic signal is transmitted to the outside of the pipeline and is received and detected by an electromagnetic induction antenna on the unmanned aerial vehicle, and the detection signal is a low-frequency signal generated by a signal generator taking an AT89C2051 processor as a core, passes through a voltage amplifying circuit and finally transmits the low-frequency electromagnetic signal to the outside through a solenoid antenna; the working mode of the unmanned aerial vehicle comprises a first mode aiming at the petroleum pipeline exposed on the ground according to the navigation trend determined by the visual sensor and the ultrasonic ranging module and a second mode aiming at the petroleum pipeline buried under the ground according to the navigation trend determined by the stored three-dimensional coordinate information of the pipeline robot; the core processing unit on the unmanned aerial vehicle adopts a processing device taking an STM32F107 processor as a core, serial port communication is adopted, the reading, storage and processing of signals such as detected pipeline images and height and the like are realized, the reading, storage and processing of data such as GPS data and the like are realized, the flight condition is controlled, the unmanned aerial vehicle firstly determines the pipeline trend according to different working modes, the flight route is planned, secondly, after the unmanned aerial vehicle tracks a pipeline robot, the signal acquired by a magnetoelectric sensor is used for calculating the state of the pipeline robot, the unmanned aerial vehicle is controlled to fly at the same speed as the pipeline robot, the tracking function is realized, and the preprocessed data are transmitted to a ground control platform through a data transmission system; the mode is to the navigation of going towards of petroleum pipeline on the bare land, when petroleum pipeline laid above ground, at first by the image that continuous adjacent frame was obtained to vision sensor arduinoTM 32, then calculates through the treater, confirms the trend of pipeline that detects to the automatic navigation in horizontal plane flight path to unmanned aerial vehicle. Meanwhile, height information of the unmanned aerial vehicle from the pipeline is collected according to an ultrasonic ranging module HC-SR04, the collected height is compared with a set value according to different terrains, navigation of the height of the unmanned aerial vehicle in flight is automatically adjusted, and navigation of a flight path of the unmanned aerial vehicle in a three-dimensional space is achieved; firstly, working personnel input pipeline geographical position coordinate data recorded by the construction of the monitored petroleum pipeline into an unmanned aerial vehicle data storage unit, the unmanned aerial vehicle realizes the flight navigation of the unmanned aerial vehicle along the pipeline trend by utilizing GPS navigation addressing and according to the stored three-dimensional coordinate information of the pipeline robot, and a control system compares the existing data of the pipeline trend with the real-time GPS data to control the navigation flight of the unmanned aerial vehicle.
2. An unmanned aerial vehicle navigation method for positioning a pipeline robot, comprising the steps of:
A. the method comprises the steps that an unmanned aerial vehicle is initialized, the unmanned aerial vehicle carries out self-checking on the working state and then selects a working mode, after receiving a tracking instruction and a working mode signal from a ground control platform, the unmanned aerial vehicle carries out navigation addressing on the pipeline trend according to the set working mode, determines a flight route and tracks a pipeline robot, and the ground control platform comprises an initial flight instruction generation module, a data transmission module and a data analysis module;
B. the pipeline robot runs in the pipeline, continuously transmits low-frequency electromagnetic signals to the outside of the pipeline, and an electromagnetic induction antenna on the unmanned aerial vehicle receives and detects the low-frequency electromagnetic signals so as to position and track the pipeline robot, wherein the detection signals are low-frequency signals generated by a signal generator taking an AT89C2051 processor as a core, and finally transmit the low-frequency electromagnetic signals to the outside through a solenoid antenna through a voltage amplifying circuit;
C. the unmanned aerial vehicle system determines that the position of the pipeline is backward through autonomous navigation addressing, flies along the route of the petroleum pipeline, monitors and searches a pipeline blockage cleaning robot by a magnetoelectric sensor system carried on the unmanned aerial vehicle, and detects the working state of the pipeline cleaning robot to judge whether the pipeline needs maintenance or not; the unmanned aerial vehicle flight path autonomous navigation mode has two working modes, wherein the mode is that aiming at navigation of the trend of a petroleum pipeline exposed on the ground, when the petroleum pipeline is laid above the ground, the path navigation is carried out by taking data collected by an unmanned aerial vehicle intelligent visual sensing device and a height sensor as a basis; in the second mode, aiming at navigation of the underground pipeline, the pipeline geographical position coordinates recorded in pipeline construction are input into an unmanned aerial vehicle storage system, and navigation of the unmanned aerial vehicle is realized by using GPS navigation addressing; when the petroleum pipeline is laid on the ground, the unmanned aerial vehicle is navigated according to the mode I, the image sensor acquires image information of the pipeline, the image information is continuously fed back to the processing unit of the system through acquired continuous images of the pipeline, then the single chip microcomputer system controls the unmanned aerial vehicle flight control module, and the unmanned aerial vehicle is navigated and flown according to a pipeline path; when a petroleum pipeline is buried below the earth surface, the unmanned aerial vehicle navigation system works in a mode two state, firstly, pipeline geographical position coordinate data recorded by the construction of the monitored petroleum pipeline is input into an unmanned aerial vehicle data storage unit, GPS navigation addressing is utilized, the flying navigation of the unmanned aerial vehicle along the pipeline direction is realized according to stored three-dimensional coordinate information of a pipeline robot, and the control system compares the existing data of the pipeline direction with real-time GPS data to control the navigation flying of the unmanned aerial vehicle;
D. in the navigation flight of the unmanned aerial vehicle, after a pipeline robot signal is detected, the state of the pipeline robot is determined by analyzing a magnetic signal acquired by a magnetoelectric sensor; when the pipeline robot is in a static state, namely is blocked, the unmanned aerial vehicle signal processing system firstly reduces the speed of the unmanned aerial vehicle, then extracts the three-dimensional coordinate information of the GPS system at the moment, stores the coordinate information and simultaneously transmits the coordinate information to the ground control center; when the pipeline robot is in the walking state, according to the speed of the pipeline robot that calculates in real time, unmanned aerial vehicle adjusts the flight state, and with the pipeline robot with the same speed go forward to reach real-time positioning monitoring, tracked purpose.
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| CN107272704B (en) * | 2017-08-01 | 2018-02-23 | 中南大学 | A kind of outer means of delivery of the intelligent vehicle for merging unmanned machine travel and robot chamber |
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| CN109358636A (en) | 2019-02-19 |
| CN106444803B (en) | 2019-01-18 |
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