CN109794967A - Method and apparatus for protecting the working region of robot during service stage - Google Patents
Method and apparatus for protecting the working region of robot during service stage Download PDFInfo
- Publication number
- CN109794967A CN109794967A CN201811383805.3A CN201811383805A CN109794967A CN 109794967 A CN109794967 A CN 109794967A CN 201811383805 A CN201811383805 A CN 201811383805A CN 109794967 A CN109794967 A CN 109794967A
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- China
- Prior art keywords
- robot
- flat unit
- protection scope
- region
- scanning device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40202—Human robot coexistence
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49138—Adapt working envelop, limit, allowed zone to speed of tool
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the methods for protecting the working region of robot during service stage and the equipment for executing this method.360 ° around robot of working region is divided into flat unit, the scanning device being locally fixedly mounted is calibrated with coordinate system.The completely scanning work region after scanning device alignment.The flat unit that flat unit is divided into the flat unit of at least two different weights and do not weighted according to its motion process by robot.This is carried out dynamically and continuously before and during service stage.The flat unit of weighting indicates protection scope.After the information about protection scope is sent to scanning device, working region can be monitored, wherein can recorde the undesirable event in protection scope.Information about it is sent to robot or reliably controls equipment.Where foundation has occurred undesirable event and triggers corresponding specific event at robot, wherein repartitioning flat unit immediately after robot reaction.
Description
Technical field
The method for the working region that the present invention relates to a kind of for protecting robot during service stage.Particularly, originally
Invention is related to a kind of method and for implementing equipment according to the method for the present invention.
Background technique
Robot is used in full-automatic and semi-automatic manufacture in the industry.In this case, also
Know application field, wherein the mankind and machine work together in the region of restriction.For example, as it is known that the work position of hybrid precast.
The task division of labor between the mankind and machine causes, and in narrow space, robot and the mankind pass through local region.In order to protect
The mankind and the smoothly completion for the course of work are protected, is mentioned in the technical field of the manufacture of no fence and man-machine collaboration in recent years
Different solution and technological contribution are gone out.
General collision in order to prevent, for example, propose in DE 10 2,006 048 163 for mobile machine and/or
The monitoring based on camera of mobile machine element.Here, passing through the image data that will be shot and in advance creation by camera
Database be compared to monitoring machine region.In addition, the mutual pass based on the image data and database currently acquired
It is the current location for determining machine and position estimating future, reaching in dwell time.It then, can be with according to the estimation
It is generated and is monitored based on estimated value.The size of safety zone has been determined according to the estimation.
It can be considered in this process disadvantageously, it is necessary to a comprehensive database is generated first, wherein it cannot be guaranteed that
Acquire all possible situation around machine use.Finally, it is inaccurate estimation that this method, which is based only on equally possible,.
Document DE 10 2,006 057 605 discloses a kind of method and apparatus for monitoring three-dimensional space, wherein using
Sensor unit.Sensor unit includes two cameras that can shoot two independent images of machine surrounding space.It will
Image is compared to each other to identify the image-region disjoint relative to each other in image.In this case, when disjoint
When image-region has covered pre-determined virtual protection region, alarm signal is generated.Being then based on the signal can be in necessity
When closing machine.Advantageously, three-dimensional can be by the protection zone that sensor unit virtually generates.It is unfavorable to be considered
It is to be not carried out the division segmented very much herein.
A kind of method for protecting robotic device is proposed in DE 10 2,007 006 708, wherein setting described
The standby current direction of motion triggers peace when occurring deviation in the region in definition compared with the direction of reference vector
The function of total correlation.
Document DE 10 2,010 017 857 show the 3D safety device for protecting and operating at least one machine with
And method.Here, acquiring 3 d image data from work position first.In addition, determining operator in the fortune in the work position
Dynamic model formula, and guarded command is issued to machine when recognizing operator and occurring dangerous.There is no clear stipulaties work hilllocks
The differentiation of each region of position is treated.
A kind of photoelectric sensor is proposed in DE 20 2,009 012 589.The sensor can be with acquisition plane or vertical
The protection zone of shape.Here, receiving light from protection zone, then it is emitted to using optical transmitting set by light is emitted
In protection zone where object.
According to the prior art, the size of protection zone generally has to be calculated as " worst case ".In addition to this it is also contemplated that
The possible maximum speed of such as robot and extremely possible danger position for the mankind.Solution party according to prior art
Case common is activated the disadvantage is that, there is only static or fixed protection and warning range by robot or SPS
Or it is inactive.Therefore protection scope is always kept as very big, or has to switch over lesser protection scope.For this purpose, usually
Multiple scanners, camera or sensor unit are needed, because the protection scope of for example each scanner is limited.Cause
This, although robot not in danger zone, may cause clock time loss in the case where region is invaded.It is not present
Fine division in the protection scope of dynamic weighting.
Summary of the invention
Therefore, the present technical problems to be solved of the present invention are to realize that one kind can consider protecting in a manner of effectively
The method and apparatus of dynamic process when robot.
It provides, provides a kind of for protecting the workspace of robot during service stage in preferred implementation of the invention
The method in domain comprising following steps.360 ° around robot of working region is divided into flat unit, which is
The component part of the coordinate system of robot.The scanning device being locally fixedly mounted is calibrated with the coordinate system of robot.Alignment is swept
Equipment is retouched, so as to completely scanning work region, wherein this method includes the steps that following other.By robot according to it
Motion process and its speed by flat unit be divided into the flat unit of at least two different weights and being divided into do not weight it is flat
Face unit, wherein the flat unit for dynamically and being continuously weighted, and weighting before and during service stage indicates
Protection scope.Information about protection scope is supplied to scanning device.Whether protected by scanning device monitoring working region
Undesirable event has occurred in shield range.By about in the information that the protection scope of undesirable event wherein has occurred from scanning
Equipment is sent to reliable control equipment or robot.It is distinguished by control equipment or robot at least two different weights
Flat unit which in undesirable event has occurred.According to differentiation by control equipment or robot in robot
Place triggers specific event, and repartitions each plane list by robot according to the specific event triggered at robot
Member.
The finer resolution ratio that 360 ° of safe spaces around robot can be effectively realized in this way, wherein together
Shi Shixian is flexible and dynamic protection scope.Thus the protection scope of independent static state is no longer needed, but from a large amount of plane
The protection scope of oneself is created and enduringly analyzed in unit.Scanner does not need to generate dynamic protection scope, but only reports
Accuse the infringement of flat unit.Particularly, by repartitioning in final step, the base for very dynamic system is obtained
Plinth.It is, once performing the new division of flat unit, just reanalysing information and may dynamically leading to machine
Other particular event at device people.
Of the invention other are obtained from remaining feature of the invention preferably to implement.
Therefore, it provides in an embodiment of the present invention, can be machine according to the event for distinguishing the certain trigger at robot
The stopping of device people perhaps can be the speed of robot and the matching of MRK speed or can be the speed for reducing robot.
Therefore, it can be reported according to being invaded away from flat unit how close at robot, to trigger corresponding specific event.
The flat unit that the speed of robot reduces is merely responsible for it may be thus possible, for example, to provide.On the contrary, other flat units are invaded in report
Stopping or the MRK speed that robot is triggered when criminal are associated.Suitable event is correspondingly triggered according to weighting, wherein eliminating
After interference, reanalysing immediately based on flat unit can be realized glitch-free robot operation.In this way, special
Not fine division, which ensure that, is not necessarily intended to undertake when every sub-region is invaded clock time loss, and however still
It so ensure that the protection appropriate to working region.
It is provided in of the invention another is preferably implemented, the flat unit of at least two different weights respectively indicates
One protection scope region and the second protection scope region, wherein the first protection scope region is close to robot, and the second protection
Range areas at least partly abuts outside first area.Therefore, it can be determined in robot or controller for synthesis
Which specific event is associated with which protection scope region.Therefore, the spy of flat unit may be implemented on this plane
It not quickly and dynamically analyzes, this is particularly advantageous the operation of quick robot.
Provided in of the invention another is preferably implemented, it is undesirable to event be work that personnel are moved to robot
In region.There are this undesirable events in the manufacture of unshielded fence, particularly in man-machine collaboration.This, which can be, estimates
Infringement caused by calculating, i.e. intentional to guard space, the unintentionally infringement being also possible in such as failure process.Deliberately making
For example it is contemplated that the mankind provide material in outer security area in the case where, therefore robot briefly reduces its speed
Degree.Once the mankind leave the flat unit, dynamically repartitioning based on flat unit, the previous working procedure of robot
Can seamlessly and without clock time loss ground it continue.
It is provided in of the invention another is preferably implemented, flat unit constructs for example in the form of grid, and has
There is the minimum dimension of 100 × 100mm, preferably 200 × 200mm, more preferably 300 × 300mm.It thereby guarantees that especially fine
It divides.Therefore, it can be determined according to the motion process of robot in very subtle mode, for example whether really it is necessary to stop
Whether robot or the reduction for analyzing speed may be enough.
Alternatively, flat unit also can have any other shape, such as rectangle, diamond shape, trapezoidal, parallelogram etc.
Shape.Combination with different sizes and/or flat unit of different shapes is also possible.
According to the present invention another implements regulation, increases one according to the motion process of robot, position and direction of travel
The minimum dimension of a protection scope and the minimum dimension for increasing flat unit when necessary.In this way it is possible to according to machine
The work of people is personalized using realizing.For any motion process being contemplated that, continuous earthquake during the work time can be determined
The individually suitable safety zone of state adjustment.
In addition, being provided in another implementation of the invention, increase according to the motion process of robot, position and direction of travel
The minimum dimension of big multiple protection scopes.It is achieved in, the individual tune to guard space may be implemented during dynamic weighting
It is whole.
Provided in of the invention another is preferably implemented, according to the specific event triggered at robot and according to
According to the flat unit of undesirable event is wherein occurring to the distance of robot, the weight of each flat unit is executed by robot
It is new to divide.The individual adjustment to guard space can also be better achieved as a result,.
In addition, providing in of the invention another is preferably implemented, scanning device includes at least one scanning element,
In at least one scanning element be directly placed in robot, and if necessary, particularly when by part of appliance or other
When at least one scanning element in the shadow occlusion robot that interference effect is formed, by least one other scanning member
Part is placed on outside robot.It can guarantee completely to scan entire required working region in this way.Therefore, according to answering
The final quantity of scanning element can be determined with situation.Therefore, the scanning element being placed in robot can be recognized
To be enough to provide desired effect.Furthermore, it is possible to which two scanning elements are arranged in robot.If it is considered to this be it is inadequate,
Such as when at least one scanning element in robot passes through the shade that is formed by part of appliance or other interference effects
When blocking, at least one other scanning element can be placed on outside robot.In other words, scanning device can only include
The scanning element being arranged in robot.In addition, in another implementation, scanning device can also include the scanning in robot
Element and at least one other scanning element outside robot.According in order to guarantee safe production management, it is necessary to such as
What acquires the existing application region of robot in detail, can specify that the final quantity of scanning element.Setting is swept there
At least one other scanning element of equipment, position outside robot or place or place are retouched not by particularly
Limitation.Therefore, which can be with height identical with robot directly on the outer edge of entire protection scope or even
In the inside of the perimeter of the protection scope.Further, it is also possible to expect at least one other scanning member in this region
Part positions on the ceiling or in the structure above working region, such as crossbeam or other buildings.Most of all,
Scanning device completely scans entire required work by means of a scanning element or if necessary by multiple scanning elements
Make region, so as to correspondingly realize method described in the present invention.
In particular, the personnel into protection zone have covered one in scanning element.It is important in this case
It is that there are enough scanners for example in robot base for corresponding applicable cases.Here, scanning element is final
Quantity depends on corresponding applicable cases or environment to be protected.It is also needed to sweep on the direction of robot according to applicable cases
The scanning element retouched.Particularly, if by equipment or Room column etc., since scanning element is for example mounted in robot base
Shade is formed, then these scanning elements are necessary.In other words, the quantity of scanning element is true by local condition and applicable cases
It is fixed.On condition that: the entire coverage area of safety zone is not influenced by the shade formed by part of appliance.
It is provided in another implementation of the invention, a kind of be used for according to the method for the present invention during service stage is provided
The equipment for protecting the working region of robot comprising robot, scanning device and control unit.Therefore, which can root
It is individually adjusted according to desired embodiment and the equipment is set to guarantee the effective and dynamic of robot for the method
The protection of state.
Unless being otherwise noted on rare occasion, otherwise different embodiments mentioned in this application of the invention can
Advantageously it is combined with each other.
Detailed description of the invention
The present invention is illustrated in embodiment below according to relevant attached drawing.In attached drawing:
Fig. 1 shows the equipment for protecting the working region of robot；
Fig. 2 shows the equipment of the working region for protecting robot during infringement；
Fig. 3 shows the equipment for protecting the working region of robot during infringement.
Specific embodiment
Fig. 1 shows the equipment 10 for protecting the working region of robot 12, which is adapted for carrying out according to this
The method of invention.Here, surrounding 360 ° of determining working regions of robot 12.Therefore, the motion process of robot 12 can be sent out
It is raw that wherein robot 12 for example screws in all angular ranges around its rotary shaft in the entire working region, such as
The cantilever of robot 12 moves back and forth in this region.It is also likely to be the combination of two kinds of processes.Finally, it is contemplated that in operation rank
All motion processes that may occur at robot 12 during section.In Fig. 1, robot 12 is fixed on central point herein.So
And it is also contemplated that following working space: the central point is placed on centainly by robot 12 itself in the working space
Frame in.Other than robot 12, it is further seen that scanning device 14.Here, scanning device 14 includes different scanning
Element, wherein two in these scanning elements are directly placed in robot 12, and one is placed on outside.Here, robot
12 for example positioned at the center of coordinate system 16, and coordinate system 16 is divided into each flat unit 18, such as is arranged to square,
To which the appearance of chequer be presented.Here, chequer size depends on the size of flat unit 18,18 energy of flat unit
Enough minimum dimensions with such as 200 × 200mm.It is further envisioned that the minimum dimension of 200 × 200mm indicates plane list simultaneously
The full-size of member 18.Here, coordinate system 16 represents the system of robot 12 and the system of scanning device 14.This especially exists
It is such case after the corresponding system of calibration machine people 12 and scanning device 14.The calibration is also construed as in coordinate
It is the position for comparing scanning device 14 and robot 12 in 16.Scanning device 14 is for example also possible to sensor.Scanning device 14
It is suitable for the entire working region of scanning machine people 12.Here, electronics sampling can carry out in various ways, it might not be only
It is provided with technical specification.The covering working region such as utilizing protection ray from different places of scanning device 14, and
Thereby ensure that the reliable output of the initial data with the X/Y coordinate in flat unit.In addition, Fig. 1 is shown close to machine
The protection scope region 22 and protection scope region 20 of device people 12, the protection scope region 20 protection scope region around the outside
22.Two protection scope regions 20,22 are made of multiple flat units 18.It can see outside protection scope region 20,22
Personnel 24, are located in the flat unit 26 of label.Although scanning device 14 collects the personnel 24.But due to flat at this
Lack the reaction that weighting not will lead to robot 12 in face unit 18.
Fig. 2 shows the equipment 10 of the working region for protecting robot 12 during infringement.It can see personnel 24,
It enters the first protection scope region 20, and therefore triggers the specific event at robot 12 indirectly.The plane list of label
Member 26 is recorded as invading flat unit 18 by scanning device 14.The information is sent to robot 12 or unshowned control is set
It is standby, wherein executing further divide there.In the illustrated example shown in fig. 2, this has invaded to reduce with speed and weight
Flat unit 18.Therefore, speed reduction has been specific event associated with infringement.
Fig. 3 shows the equipment 10 for protecting the working region of robot 12 during infringement.The personnel of can also be seen that
24, enter the second protection scope region 22.In other respects, Fig. 3 is identical as Fig. 2.The flat unit 26 of label is present very
Close to robot 12.The infringement is sent robot 12 or unshowned control equipment by scanning device 14, wherein again at that
In execute further divide.In the example depicted in fig. 3, this is to have invaded the plane with stopping or MRK mode weights
Unit 18.
Reference signs list
10 equipment
12 robots
14 scanning devices
16 coordinate systems
18 flat units
20 first protection scope regions
22 second protection scope regions
24 personnel
The flat unit of 26 labels
Claims (10)
1. the method for working region of the one kind for protecting robot (12) during service stage comprising following steps:
360 ° around robot (12) of working region is divided into flat unit (18), which is robot
(12) component part of coordinate system (16)；
With the coordinate system (16) for the scanning device that coordinate system (16) calibration of robot (12) is locally fixedly mounted；
Scanning device (14) are aligned so as to completely scanning work region；
It is characterized in that, the method includes following other steps:
Flat unit (18) at least two differences are divided into according to its motion process and its speed by robot (12) to add
The flat unit (18) of power and be divided into the flat unit (18) not weighted, wherein before and during service stage dynamic and
The flat unit (18) for being continuously weighted, and weighting indicates protection scope；
Information about protection scope is supplied to scanning device (14)；
Whether undesirable event has occurred in protection scope by scanning device (14) monitoring working region；
It will be sent to reliably about in the information that the protection scope of undesirable event wherein has occurred from scanning device (14)
Control equipment or robot (12)；
By control equipment or robot (12) distinguish at least two different weights flat unit (18) which in
Undesirable event has occurred；
Specific event is triggered at robot (12) according to the differentiation by control equipment or robot (12), and
Each flat unit (18) are repartitioned by robot (12) according to the specific event triggered at robot (12).
2. the method according to claim 1, wherein according to the event for distinguishing the certain trigger at robot (12)
It can be the stopping of robot (12), perhaps can be the speed of robot (12) and the matching of MRK speed or can be drop
The speed of low robot (12).
3. method according to any one of the preceding claims, which is characterized in that at least two different weights are put down
Face unit (18) respectively indicates the first protection scope region (20) and the second protection scope region (22), wherein the first protection scope
Region (20) is close to robot (12), and the second protection zone (22) at least partly abut first area (20) outside.
4. method according to any one of the preceding claims, which is characterized in that the undesirable event is personnel
(24) it is moved in the working region of robot (12).
5. method according to any one of the preceding claims, which is characterized in that the flat unit (18) have 100 ×
The minimum dimension of 100mm, preferably 200 × 200mm, more preferably 300 × 300mm.
6. method according to any one of the preceding claims, which is characterized in that the motion process of foundation robot (12),
Position and direction of travel increase the minimum dimension of a protection scope.
7. method according to any one of the preceding claims, which is characterized in that the motion process of foundation robot (12),
Position and direction of travel increase the minimum dimension of multiple protection scopes (20,22).
8. method according to any one of the preceding claims, which is characterized in that according to what is triggered at robot (12)
Specific event and according to the distance in the flat unit (18) that undesirable event wherein occurs to robot (12), by machine
Device people (12) repartitions each flat unit (18).
9. method according to any one of the preceding claims, which is characterized in that the scanning device (14) includes at least
One scanning element, wherein at least one scanning element are directly placed on robot (12), and if necessary, particularly are worked as
It, will at least when at least one scanning element in the shadow occlusion that formed by part of appliance or other interference effects robot
It is external that one other scanning element is placed on robot (12).
10. a kind of for protecting the workspace of robot (12) during service stage to method described in 9 according to claim 1
The equipment (10) in domain comprising robot (12), scanning device (14) and control unit.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017220638 | 2017-11-17 | ||
| DE102017220638.1 | 2017-11-17 | ||
| DE102018203335.8 | 2018-03-06 | ||
| DE102018203335 | 2018-03-06 | ||
| DE102018214439.7 | 2018-08-27 | ||
| DE102018214439.7A DE102018214439A1 (en) | 2017-11-17 | 2018-08-27 | Method and device for securing a working area of a robot during a use phase |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109794967A true CN109794967A (en) | 2019-05-24 |
| CN109794967B CN109794967B (en) | 2022-05-27 |
Family
ID=66336627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811383805.3A Active CN109794967B (en) | 2017-11-17 | 2018-11-15 | Method and device for protecting the working area of a robot during a use phase |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109794967B (en) |
| DE (1) | DE102018214439A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112817302A (en) * | 2019-11-18 | 2021-05-18 | 中冶赛迪工程技术股份有限公司 | Safety control method, system, equipment and readable medium for industrial robot |
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|---|---|---|---|---|
| EP3869240A1 (en) | 2020-02-18 | 2021-08-25 | Leuze electronic GmbH + Co. KG | Sensor assembly and method for operating a sensor assembly |
| DE102022110645B3 (en) | 2022-05-02 | 2023-05-17 | Sick Ag | Method for improving a pre-planned motion sequence for controlling a robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112817302A (en) * | 2019-11-18 | 2021-05-18 | 中冶赛迪工程技术股份有限公司 | Safety control method, system, equipment and readable medium for industrial robot |
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| Publication number | Publication date |
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| DE102018214439A1 (en) | 2019-05-23 |
| CN109794967B (en) | 2022-05-27 |
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