CN110262212A - A kind of magnetic fluid clock and control method based on STM32 - Google Patents
A kind of magnetic fluid clock and control method based on STM32 Download PDFInfo
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- CN110262212A CN110262212A CN201910568316.3A CN201910568316A CN110262212A CN 110262212 A CN110262212 A CN 110262212A CN 201910568316 A CN201910568316 A CN 201910568316A CN 110262212 A CN110262212 A CN 110262212A
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- 239000011553 magnetic fluid Substances 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 27
- 229910052742 iron Inorganic materials 0.000 claims description 13
- ZVKAMDSUUSMZES-NZQWGLPYSA-N OS II Natural products CC(=O)N[C@H]1[C@H](OC[C@@H](O)[C@@H](O)[C@@H](O)CO)O[C@H](CO)[C@H](O[C@H]2O[C@H](CO)[C@@H](O)[C@H](O)[C@H]2O)[C@@H]1O[C@@H]3O[C@H](CO)[C@@H](O)[C@H](O)[C@H]3O ZVKAMDSUUSMZES-NZQWGLPYSA-N 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 239000003990 capacitor Substances 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002845 discoloration Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 229910001337 iron nitride Inorganic materials 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G04—HOROLOGY
- G04G—ELECTRONIC TIME-PIECES
- G04G9/00—Visual time or date indication means
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Abstract
The present invention relates to a kind of magnetic fluid clock and control method based on STM32, by host computer, slave computer one, slave computer two, clock module and electromagnet are constituted, wherein, host computer and slave computer one pass through WIFI module communication connection, slave computer one is connect with slave computer two by serial communication, slave computer one reads clock module to determine current time, when minute plus a period of time, slave computer one, the flowing that slave computer two controls solenoid driver circuit drive electromagnet job control magnetic fluid forms corresponding number, it further include for host computer, slave computer one, the power supply circuit of slave computer two and clock module power supply, beneficial effects of the present invention are the ornamental value for improving modern clock and the interactivity with people, it joined the winform host computer that TCP network communication is established with ESP8266 WIFI module , realize user setting time, Setting pattern, the function of customized magnetic fluid flow trace.
Description
Technical field
The invention belongs to fluid clock technology field more particularly to a kind of magnetic fluid clocks and controlling party based on STM32
Method.
Background technique
Currently, clock in the market is generally divided into, electronic curtain is shown or the clock of Purely mechanical designs, both
Design respectively has drawback, and purely mechanic clock has the shortcomings that it can not overcome.Stem-winder is the elastic masterpiece energy using clockwork spring, is passed through
Balance spring mechanical vibrating system carrys out timing, due to the presence of the factors such as temperature, air pressure, magnetism, vibration, material, so machine
The accuracy of timekeeping of tool clock and watch will be just subject to certain restrictions.And electronic clock is equipped with using quartz resonator as timing element
Large scale integrated circuit, wrist-watch are still indicated using pointer as the time, although display is precisely cheap, still, display effect
It is more single.
Magnetic fluid technique and research for application and development, from the forties so far, technology is increasingly mature, and application is also continuous
Extension, makes magnetic fluid have become important functional material.As succeeding in developing for high performance iron nitride magnetic fluid is raw with batch
It produces, this novel magnetic fluid exists in the shock arrester (-tor)s such as universe instrument, loudspeaker, buffer, automobile suspension arrangement, magnetic fluid
Application in biomagnetism is also that the mankind explore life secret, captures and endanger human diseases and provide new means.But due to
Be a kind of new material, be rarely used in civilian family field, make magnetic fluid application there are great limitations.
In order to improve the ornamental value of clock, at abroad, designer Zelf Koelma is designed with magnetic fluid technique for the first time
The magnetic fluid clock of a entitled Ferrolic, but price is up to the price of 8300 dollars (being roughly equal to 53144 yuan), with high costs
While, it include complicated mechanical structure, therefore do not spread, and at home, only a small number of colleges and universities utilize magnetic fluid skill
Art designs clock, and bulky and precision is lower, can be only placed on horizontal plane, cannot tilt.Greatly reduce ornamental value and
Practicability.
Summary of the invention
In order to solve the above-mentioned technical problem, the magnetic fluid clock that the purpose of the present invention is to provide a kind of based on STM32 and
Control method.
For this purpose, the technical scheme adopted by the invention is as follows: a kind of magnetic fluid clock based on STM32, by host computer, bottom
Machine one, slave computer two, clock module and electromagnet are constituted, wherein and host computer and slave computer one pass through WIFI module communication connection,
Slave computer one is connect with slave computer two by serial communication, and slave computer one reads clock module to determine current time, works as minute
Add for the moment, the flowing that slave computer one, slave computer two control solenoid driver circuit drive electromagnet job control magnetic fluid is formed
Corresponding number further includes the power supply circuit for the power supply of host computer, slave computer one, slave computer two and clock module.
Further, the host computer is WINFORM host computer.
Further, the slave computer one and slave computer two are STM32F103RCT6 single-chip microcontroller, are with ARM Cortex-
M3 is 32 8-digit microcontrollers of kernel.
Further, the WIFI module is ESP8266 WIFI module.
Further, the clock module is DS1302 clock module.
Further, the electromagnet is two-way self-sustaining push-pull electromagnet, and it is plug-type to be equipped with 28 two-way self-sustainings altogether
Electromagnet drives the fixinig plate for being loaded with ndfeb magnet flexible, controls the flowing of magnetic fluid, formed by the flowing of magnetic fluid
Corresponding number.
Further, the solenoid driver circuit is L293D DC micro-motor driver, is equipped with 14 L293D electricity altogether
Bridge chip.
Further, the power supply circuit is AMS1117 power supply circuit.
Further, including four clock digital display units, two of them are used to show hour part, other two use
In display minute part, four digital display units share the same bottom plate, each digital display unit include seven it is two-way from
Telescoping electromagnetic iron is kept, two-way self-sustaining telescoping electromagnetic iron is mounted on positioning plate, and each two-way self-sustaining telescoping electromagnetic iron turns
A retractable screw rod is equipped on axis, each screw rod is separately installed with the ndfeb magnet fixed plate an of bar shaped, fixed
Board ends respectively set a location hole, and two location holes are individually fixed in two guide posts on positioning plate, and seven fixed plates press 8
Font arranges, and the location hole among ndfeb magnet fixed plate connects the screw rod of two-way self-sustaining telescoping electromagnetic iron.
A kind of control method of magnetic fluid clock based on STM32 of the present invention, programmed hardware, UC/OS-II system
After system, message queue, semaphore initialization, operation task is created, is run into automatic mode, when slave computer one receives serial ports
When data frame, time mode or setting trajectory model, software timer is arranged to enter other modes, when entering in judgement symbol position
Start timing, returns to automatic mode if time-out, when judging to enter the customized display pattern of user or automatic mode, then create,
Corresponding task is hung up, into associative mode
Compared with prior art, the invention has the following advantages:
The ornamental value of modern clock and the interactivity with people are improved, joined and establish TCP network with ESP8266 WIFI module
The winform host computer of communication realizes user setting time, Setting pattern, the function of customized magnetic fluid flow trace.
Detailed description of the invention
Fig. 1 is the system framework figure of embodiment one；
Fig. 2 is the fixed plate mechanism map of embodiment one；
The acquisition DS1302 flow chart of the position Fig. 3 embodiment one；
The customized display time flow chart of the position Fig. 4 embodiment one；
The creation of the position Fig. 5 embodiment one begins a task with flow chart；
Fig. 6 is the control flow chart of the present embodiment one.
Wherein, marked in the figure:
1, host computer, 2, slave computer one, 3, slave computer two, 4, WIFI module, 5, clock module, 6, solenoid driver circuit, 7,
Power supply circuit, 8, two-way self-sustaining push-pull electromagnet, 9, fixed plate, 10, location hole, 11, be located by connecting hole.
Specific embodiment
In order to be better understood by technical solution of the present invention, combined with specific embodiments below, Figure of description is to the present invention
It is described further.
Embodiment one:
As shown in figs 1 to 6, a kind of magnetic fluid clock based on STM32 described in the present embodiment, characterized in that by host computer,
Slave computer one, slave computer two, clock module and electromagnet are constituted, wherein host computer and slave computer one are communicated by WIFI module
Connection, slave computer one connect with slave computer two by serial communication, the reading clock module of slave computer one to determine current time, when
Minute plus a period of time, slave computer one, slave computer two control the flowing of solenoid driver circuit drive electromagnet job control magnetic fluid
Corresponding number is formed, further includes the power supply circuit for the power supply of host computer, slave computer one, slave computer two and clock module, power supply
Show and connected using conducting wire, part conducting wire is not shown in the figure.
Further, the host computer is WINFORM host computer, the formation track for the control number that user can define.
Further, the slave computer one and slave computer two are STM32F103RCT6 single-chip microcontroller, are with ARM Cortex-
M3 is 32 8-digit microcontrollers of kernel.
The resource that it possesses include: 48KB SRAM, 256KB FLASH, 2 basic timers, 4 general purpose timers,
2 advanced timers, 2 DMA controllers (totally 12 channels), 3 SPI, 2 IIC, 5 serial ports, 1
USB, 1 CAN, 3 12 ADC, 1 12 DAC, 1 SDIO interface and 51 general I/O ports
Further, the WIFI module is ESP8266 WIFI module.
ESP8266 is that a serial ports of happy prosperous chip companies exploitation turns wireless module chip, the included firmware in inside, Yong Huwu
Clock signal need to be write.
Further, the clock module is DS1302 clock module.
DS1302 be DALLAS company, the U.S. release a kind of high-performance, low-power consumption, a trickle charge with RAM when
Clock chip.DS1302 real-time timepiece chip is widely used in the products such as phone, fax, portable instrument.
Further, the electromagnet is two-way self-sustaining push-pull electromagnet, and it is plug-type to be equipped with 28 two-way self-sustainings altogether
Electromagnet drives the fixinig plate for being loaded with ndfeb magnet flexible, controls the flowing of magnetic fluid, formed by the flowing of magnetic fluid
Corresponding number.
Two-way self-sustaining push-pull electromagnet is a kind of DC electromagnet, working principle and frame, circular pipe type electromagnet
All similar, unique different being that inside it is placed with permanent magnet, so as to cause pull rod the least significant end of stroke can also
Certain retentivity is stopped there and kept, carries out controlling its rotation direction by converting different backward voltages.Work as line
After circle energization is motivated, because of the effect of electromagnetic field, slide bar can be mobile to iron core, will finally be parked in the position of terminal.And work as
After power supply is cut off, its slide bar still can be maintained against the magnetic force of permanent magnetic field, so that the old place is maintained,
If allowing slide bar to return, then must just apply backward voltage or electric current.Therefore, this kind of freeze mode electromagnet can be made drawing
The two kinds of action forms for entering and releasing.Its hold mode is also classified into two-way self-sustaining and two kinds of unidirectional self-sustaining.Two-way self-insurance
The electromagnet held use two coil configuration, slide bar can be kept (self-locking) initially with two different locations of termination, and
Two positions all have same output torque.
Using two-way self-sustaining push-pull electromagnet, cooperation is loaded with the fixed plate of ndfeb magnet, electromagnetism when forward direction is powered
Iron stretches out, and drives ndfeb magnet is dynamic to attract magnetic fluid, power down keeps the posture stretched out, keeps the position of magnetic fluid.Work as direction
Electromagnet is shunk when energization, and magnetic fluid lands under gravity.Conduction time needed for two-way self-sustaining push-pull electromagnet
It is extremely short, it can in high volume control, and low in energy consumption, cooperation ndfeb magnet can control the flowing of magnetic fluid well.
Further, the solenoid driver circuit is L293D DC micro-motor driver, is equipped with 14 L293D electricity altogether
Bridge chip.
Monolithic L293D electric bridge integrated chip has two-way electric bridge, and small volume, and single channel can provide 1.2A electric current, double
When road works at the same time, single channel can provide 600mA electric current, meet the requirement of cost and function.
Further, the power supply circuit is AMS1117 power supply circuit.
AMS1117 is the adjustable voltage regulator circuit in three end of low pressure (LDO), and load current is 800mA when 1.2V.It and country
The industrial standard device AMS317 of semiconductor has identical pin to arrange.AMS1117 has the version of adjustable voltage, outer by 2
Portion's resistance can realize 1.2~13.8V output voltage range.In addition there are also the output of 5 kinds of fixed voltages (1.8V, 2.5V, 2.85V,
3.3V and 5V).AMS1117 provides Thermal protection and current limit.Circuit includes the reference voltage of 1 Zener adjusting to ensure to export
The precision of voltage.Output end needs an at least capacitor of 10uF to improve transient response and stability.
The design using AMS1117-5V external 12V5A power supply adaptor 12V voltage step-down to 5V, for L293D and
AMS1117-3V3 provides power supply.5V is depressurized to 3V3 and provides working power for single-chip microcontroller by AMS1117-3V3.According to load current
Size and power factor command, AMS1117-5V input terminal simultaneously connect 47uf electrolytic capacitor and 0.1uf patch capacitor, output end is simultaneously
220uf electrolytic capacitor and 0.1uf patch capacitor are connect, the filtering to low and high level is met, guarantees the reliability of power supply.
Further, including four clock digital display units, two of them are used to show hour part, other two use
In display minute part, four digital display units share the same bottom plate, each digital display unit include seven it is two-way from
Telescoping electromagnetic iron is kept, two-way self-sustaining telescoping electromagnetic iron is mounted on positioning plate, and each two-way self-sustaining telescoping electromagnetic iron turns
A retractable screw rod is equipped on axis, each screw rod is separately installed with the ndfeb magnet fixed plate 9 an of bar shaped, fixed
9 both ends of plate respectively set a location hole 10, and two location holes 10 are individually fixed in two guide posts on positioning plate, seven fixations
Plate 9 is arranged by 8 fonts, and the hole 11 that is located by connecting among ndfeb magnet fixed plate connects two-way self-sustaining telescoping electromagnetic iron
Screw rod.
A kind of control method of the magnetic fluid clock based on STM32, programmed hardware, UC/OS-II system described in the present embodiment
After system, message queue, semaphore initialization, operation task is created, is run into automatic mode, when slave computer one receives serial ports
When data frame, time mode or setting trajectory model, software timer is arranged to enter other modes, when entering in judgement symbol position
Start timing, returns to automatic mode if time-out, when judging to enter the customized display pattern of user or automatic mode, then create,
Corresponding task is hung up, into associative mode.
(1) automatic mode.System boot connects computer WIFI hot spot automatically, if connection time-out, enters automatic mode.?
Under automatic mode, single-chip microcontroller is read the DS1302 time by simulation iic bus, and passes through I/O port level height control L293D electricity
Bridge integrated circuit drives 28 two-way self-sustaining push-pull electromagnets flexible, drives the fixinig plate movement for being loaded with ndfeb magnet,
To control the flowing of magnetic fluid, the shape of number is formed.Number to be shown is needed to be determined by the DS1302 time read, this
In with 4 numbers respectively indicate ten, hour hands, hour hands position, ten, minute hand, minute hand position.
(2) time mode is set.If successfully linking up computer WIFI hot spot, automatic mode is still entered under no operation,
If clicking " the setting time " of host computer, system enters setting time mode, and at the beginning, whole electromagnet are all shunk the mode,
Magnetic fluid is because gravity is fallen, and when user inputs a certain position in 4 bit digitals and presses " transmission " button, host computer passes through
ESP8266WIFI module sends to single-chip microcontroller and instructs, and the DS1302 time is arranged.Such as inputting ten, hour hands is 1, presses " transmission " and presses
After button, single-chip microcontroller receives order, and control magnetic fluid forms number 1 from original state, if changing ten, hour hands, whole electromagnet are received
Contracting, magnetic fluid re-form other other numbers after falling.After not operating for a period of time into Setting pattern, automatic mold is automatically returned to
Formula.
(3) audio track mode is set.Under conditions of being successfully connected WIFI, user selects the number to be arranged in combobox
After word, corresponding key on interface is clicked in order, presses rear key discoloration, and white is corresponding to shrink, and purple is corresponding to be stretched out, and completes
" uploading track " button is clicked afterwards, and single-chip microcontroller 1 receives data and is written in internal FLASH.After write-in, wait single-chip microcontroller 1,2 same
Track is walked, single-chip microcontroller enters customized trajectory model after the completion, and user's definition of order shape is pressed in the track for first reading FLASH record again
At correspondence number show the time.
(4) switch mode.Under conditions of being successfully connected WIFI, user passes through in host computer to be clicked, " automatic mode ",
" self-defined pattern " selects different display patterns.
Specifically,
(1) the DS1302 time is obtained
Because the case where μ C/OS-II system will appear when multiple tasks are run simultaneously while access a time variable, and
Serial ports, which receives in interruption, may change the time variable, so needing to enter and interrupt when acquisition DS1302 time task starts
Critical zone until acquisition time terminates, is just exited to guarantee not to be written over and interrupts critical zone.
(2) time is shown
When showing time task, if it is slave computer 1, then shows hour hands, if it is slave computer 2, then show minute hand, shown
Cheng Hou, delay, until next time, the time updates.
(3) the customized display time
In the customized display time, it is contemplated that resource contention needs first to judge whether the display task under automatic mode is opened
Begin, if carried out, needs to hang up, be then turned on customized display time task.
(4) creation is begun a task with
In principal function operation, task-set control function is established, the initialization and control of task are facilitated.
Wherein, setting time function, which forms, is divided into two parts:
(1) host computer sending time: host computer presses format fill in the time in Text Box, and such as 12:00 clicks " setting time "
After button, host computer (TCP Server) sends data frame using Socket.
(2) slave computer receives and the time is arranged: after slave computer one receives data, judging frame head, frame head correspondence then starts
It places the data into corresponding array, it is just that corresponding time data write-in DS1302 is corresponding after finishing receiving until receiving postamble
In register, and pass through serial ports and 2 synchronization time of slave computer.
Wherein, planned course function is divided into two parts:
(1) host computer transmitting portion: user clicks track key after the number of track will be arranged in upper computer selecting in order,
Purple, which represents, to be stretched out, and white, which represents, shrinks, if clicking mistake, can be reset, be made by oneself by click " removing track " key
Order can be sent to slave computer one by after the completion of adopted track, clicking " sending track " key.
(2) slave computer receiving portion: slave computer one receives data and judges data frame head, not according to the different selections of frame head
Track is written in the same digital address FLASH, FLASH is read after the completion of write-in, and press the content-control electromagnet that FLASH is read
It is flexible, so that how user understands the track designed.After the completion of flexible, wait for a period of time, the synchronous FLASH of slave computer one, two,
And enters customized trajectory model and show the time.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Energy.
Claims (10)
1. a kind of magnetic fluid clock based on STM32, characterized in that by host computer, slave computer one, slave computer two, clock module
It is constituted with electromagnet, wherein by WIFI module communication connection, slave computer one passes through with slave computer two for host computer and slave computer one
Serial communication connection, the reading clock module of slave computer one is to determine current time, when minute plus a period of time, slave computer one, slave computer
The flowing of two control solenoid driver circuit drive electromagnet job control magnetic fluids forms corresponding number, and it is upper for further including
The power supply circuit that machine, slave computer one, slave computer two and clock module are powered.
2. the magnetic fluid clock according to claim 1 based on STM32, characterized in that the host computer is on WINFORM
Position machine.
3. the magnetic fluid clock according to claim 1 based on STM32, characterized in that the slave computer one and slave computer
Two be STM32F103RCT6 single-chip microcontroller, is 32 8-digit microcontrollers using ARM Cortex-M3 as kernel.
4. the magnetic fluid clock according to claim 1 based on STM32, characterized in that the WIFI module is ESP8266
WIFI module.
5. the magnetic fluid clock according to claim 1 based on STM32, characterized in that the clock module is DS1302
Clock module.
6. the magnetic fluid clock according to claim 1 based on STM32, characterized in that the electromagnet is two-way self-insurance
Push-pull electromagnet is held, is equipped with 28 two-way self-sustaining push-pull electromagnets altogether, drives the fixinig plate for being loaded with ndfeb magnet
It is flexible, the flowing of magnetic fluid is controlled, corresponding number is formed by the flowing of magnetic fluid.
7. the magnetic fluid clock according to claim 1 based on STM32, characterized in that the solenoid driver circuit is
L293D DC micro-motor driver is equipped with 14 L293D electric bridge chips altogether.
8. the magnetic fluid clock according to claim 1 based on STM32, characterized in that the power supply circuit is AMS1117
Power supply circuit.
9. the magnetic fluid clock according to claim 1 based on STM32, characterized in that shown including four clock numbers
Unit, two of them are for showing hour part, and, for showing minute part, four digital display units share same for other two
One bottom plate, each digital display unit include seven two-way self-sustaining telescoping electromagnetic iron, two-way self-sustaining telescoping electromagnetic iron peace
On positioning plate, a retractable screw rod, each screw rod point are equipped in each two-way self-sustaining telescoping electromagnetic iron shaft
The ndfeb magnet fixed plate of one bar shaped is not installed, fixed board ends respectively set a location hole, and two location holes are solid respectively
Due in two guide posts on positioning plate, seven fixed plates are arranged by 8 fonts, the positioning among ndfeb magnet fixed plate
Hole connects the screw rod of two-way self-sustaining telescoping electromagnetic iron.
10. a kind of control method of the magnetic fluid clock based on STM32, characterized in that programmed hardware, disappears at UC/OS-II system
After ceasing queue, semaphore initialization, operation task is created, is run into automatic mode, when slave computer one receives serial data
When frame, judgement symbol position is to enter other modes, and when entering setting time mode or trajectory model being arranged, software timer starts
Timing returns to automatic mode if time-out, when judging to enter the customized display pattern of user or automatic mode, then creates, hangs up
Corresponding task, into associative mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910568316.3A CN110262212B (en) | 2019-06-27 | 2019-06-27 | STM 32-based magnetic fluid clock and control method |
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|---|---|---|---|
| CN201910568316.3A CN110262212B (en) | 2019-06-27 | 2019-06-27 | STM 32-based magnetic fluid clock and control method |
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| CN110262212B CN110262212B (en) | 2024-02-09 |
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- 2019-06-27 CN CN201910568316.3A patent/CN110262212B/en active Active
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