CN111348187A - Unmanned aerial vehicle for surveying and mapping - Google Patents
Unmanned aerial vehicle for surveying and mapping Download PDFInfo
- Publication number
- CN111348187A CN111348187A CN202010229461.1A CN202010229461A CN111348187A CN 111348187 A CN111348187 A CN 111348187A CN 202010229461 A CN202010229461 A CN 202010229461A CN 111348187 A CN111348187 A CN 111348187A
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- piston cylinder
- protective cover
- aerial vehicle
- unmanned aerial
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- 238000013507 mapping Methods 0.000 title claims abstract description 21
- 230000001681 protective effect Effects 0.000 claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 239000012530 fluid Substances 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 239000000428 dust Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 230000003139 buffering effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention belongs to the technical field of surveying and mapping devices, and particularly relates to a surveying and mapping unmanned aerial vehicle which comprises an unmanned aerial vehicle body, wherein a mounting box, a protective cover, a camera and a mounting mechanism are arranged below the unmanned aerial vehicle body, and the camera is fixed on the mounting mechanism and extends into the protective cover; a plurality of piston rods are arranged above the protective cover, and a support frame is connected below the protective cover; a first piston cylinder and a second piston cylinder are arranged in the mounting box, a first piston is connected in the first piston cylinder in a sliding manner, and a second piston is connected in the second piston cylinder in a sliding manner; the first piston cylinder and the second piston cylinder are filled with transmission media positioned between the first piston and the second piston; the upper end of the piston rod is connected to the first piston; the second piston is connected with a connecting rod, and the connecting rod is provided with a wiping strip. Use this technical scheme can effectively solve the camera and expose outside, lead to the camera lens to cover dirt easily, and when unmanned aerial vehicle descended moreover, the impulsive force that unmanned aerial vehicle received was great, makes the problem that the camera head took place the loss easily.
Description
Technical Field
The invention belongs to the technical field of surveying and mapping devices, and particularly relates to a surveying and mapping unmanned aerial vehicle.
Background
Surveying and mapping refers to measurement and mapping, which is based on computer technology, photoelectric technology, network communication technology, space science and information science, takes a global navigation satellite positioning system, remote sensing and geographic information system as a technical core, obtains figure and position information reflecting the current situation of the ground by measuring the existing characteristic points and boundary lines of the ground through a measuring means, and is used for planning design and administrative management of engineering construction.
Because the topographic factors to and along with the progress of science and technology, now with the help of unmanned aerial vehicle survey and drawing of taking photo by plane, unmanned aerial vehicle survey and drawing of taking photo by plane is the powerful supplement of traditional aerial photogrammetry means, has characteristics such as flexible, high-efficient quick, meticulous accuracy, operating cost are low, application scope is wide, production cycle is short. The unmanned aerial vehicle carries a camera, aerial photography is carried out at high altitude, a shot image is transmitted to the computer through the wireless transmission device, and the computer generates a three-dimensional view of a shot object through a shot picture through software and hardware. Unmanned aerial vehicle mapping of taking photo by plane accomplishes work through the camera, and the camera exposes outside, not only leads to the camera lens to cover dirt easily like this, leads to shooing unclear, and when unmanned aerial vehicle descended, the impact force that unmanned aerial vehicle received was great, made the camera head easily and took place to damage.
Disclosure of Invention
The invention aims to provide a surveying and mapping unmanned aerial vehicle, which aims to solve the problems that a camera is exposed outside, so that a lens is easy to be dusted, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle is subjected to large impact force, so that the camera is easy to damage.
In order to achieve the purpose, the scheme of the invention is as follows: a surveying and mapping unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein a mounting box, a protective cover, a camera and a mounting mechanism fixedly mounted on the mounting box are arranged below the unmanned aerial vehicle body, and the camera is fixed on the mounting mechanism and extends into the protective cover; a plurality of piston rods are arranged above the protective cover, and a support frame is connected below the protective cover; a first piston cylinder and a second piston cylinder communicated with the upper part of the first piston cylinder are arranged in the mounting box, a first piston is connected in the first piston cylinder in a sliding manner, and a second piston is connected in the second piston cylinder in a sliding manner; the first piston cylinder and the second piston cylinder are filled with transmission media positioned between the first piston and the second piston; the upper end of the piston rod is connected to the first piston; the second piston is connected with a connecting rod, and the connecting rod is provided with a wiping strip for wiping the protective cover shell.
The working principle and the beneficial effects of the scheme are as follows:
unmanned aerial vehicle flight when finishing, unmanned aerial vehicle descends gradually, the support frame falls on the plane at first, then unmanned aerial vehicle organism and mounting box descend gradually again, first piston cylinder in the mounting box slides down along first piston, make in the transmission medium in the first piston cylinder get into in the second piston cylinder by the extrusion gradually, the transmission medium has slowed down the falling speed of the camera on unmanned aerial vehicle organism and the mounting box, final buffering slows down to stopping, very big buffering the impact force that unmanned aerial vehicle organism and camera received, effectively avoid the camera to take place to damage because of assaulting. And in the process that the transmission medium in the first piston cylinder enters the second piston cylinder, the second piston moves downwards, and the second piston drives the wiping strip to wipe downwards along the outer wall of the protective cover through the connecting rod so as to wipe off dust adhered to the outer wall of the protective cover in the flying process. When unmanned aerial vehicle flies, unmanned aerial vehicle rises gradually, under the action of gravity of protective cover and support frame, first piston slides down along first piston cylinder, and the transmission medium in the second piston cylinder shifts gradually to first piston cylinder in, and the second piston drives through the connecting rod and cleans the strip upwards along the outer wall of safety cover and cleans, wipes the dust on the safety cover outer wall once more, prevents that unmanned aerial vehicle from leading to the camera to shoot unclear because the safety cover covers dirt at the flight in-process. The strip is cleaned to the flight in-process and connecting rod are located the safety cover top, can effectively avoid cleaning the strip and block the shooting of camera.
Set up the safety cover, the safety cover can prevent effectively that the camera from being hit the damage by foreign object (like the bird of flight), and the safety cover can also prevent effectively that the camera from covering dirt simultaneously. When taking off and descending, the cleaning strip can be used for cleaning the protective cover, dust on the outer wall of the protective cover is effectively cleaned, and the situation that the camera is not clearly shot due to dust covering of the protective cover is effectively avoided.
Furthermore, an elastic piece is connected between the first piston and the upper wall of the first piston cylinder. Add the elastic component, the impact that receives when the elastic component can further cushion unmanned aerial vehicle and descend.
Further, the mounting mechanism comprises a mounting column and a mounting seat, the upper end of the mounting column is connected to the bottom of the mounting box, and the lower part of the mounting column extends into the protective cover and is fixedly connected with the mounting seat; the camera is installed on the mount pad. The camera can be better installed through the installation seat.
Furthermore, the upper wall of the protective cover is provided with a through hole for the installation mechanism to pass through. Set up the opening, when the safety cover slides from top to bottom, can avoid installation mechanism and safety cover upper wall to bump.
Further, the camera is 180 degrees panorama cameras, and the camera is equipped with 2, and 2 cameras are installed respectively in the left and right sides of mount pad.
Furthermore, the mounting column comprises a fixing rod and a sliding rod, a concave cavity is formed in the fixing rod, the sliding rod is connected in the concave cavity in a sliding mode, and the fixing rod is fixed on the mounting box; fluid is filled between the bottom of the at least one first piston cylinder and the first piston, and a connecting pipe is connected between the bottom of the fluid-filled first piston cylinder and the fixed rod.
When unmanned aerial vehicle flies, first piston can be along first piston barrel lapse, and the safety cover stretches out downwards, and meanwhile, the fluid in the first piston barrel passes through in the cavity that the connecting pipe got into the dead lever, makes the slide bar stretch out downwards. When unmanned aerial vehicle descends, first piston cylinder slides down along first piston, is equivalent to the safety cover upwards withdrawal, and meanwhile, the fluid in the cavity flows back to first piston cylinder through the connecting pipe, and the slide bar upwards withdraws. According to the record, the sliding rod (namely the camera on the mounting seat and the mounting seat) always moves synchronously with the protective cover, the protective cover stretches downwards, the sliding rod stretches along with the sliding rod, the protective cover retracts upwards, the sliding rod retracts along with the sliding rod, and the camera on the mounting seat are ensured to be located in the protective cover all the time, so that the protective cover can always protect the camera, and the camera is prevented from being collided and covered with dust.
Furthermore, a strip-shaped clamping groove is formed in the inner wall of the fixed rod, and a protrusion which is connected to the inside of the strip-shaped clamping groove in a sliding mode is arranged on the sliding rod. Set up the bar draw-in groove, the bar draw-in groove is to direction, spacing effect to the slide bar, and can effectively avoid the slide bar to break away from the dead lever.
Further, the fluid is hydraulic oil.
Further, the bottom of support frame is equipped with the rubber pad. The arrangement of the rubber pad can reduce the abrasion of the support frame when the support frame is in contact with the ground, and the support frame is well protected.
Furthermore, 4 piston rods are arranged, and the 4 piston rods are uniformly distributed on the four sides of the protective cover. Set up 4 piston rods and can be reliable and stable installation safety cover more, avoid taking place to rock at flight in-process unmanned aerial vehicle.
Drawings
Fig. 1 is a front view of a surveying and mapping drone according to a first embodiment of the present invention;
fig. 2 is a sectional view of the mounting box and the protective cover when the unmanned aerial vehicle is horizontally placed on a plane according to the first embodiment of the invention;
fig. 3 is a sectional view of the mounting box and the protective cover when the unmanned aerial vehicle is in a flight state according to the first embodiment of the invention;
fig. 4 is a sectional view of the mounting box and the protective cover when the unmanned aerial vehicle is in a flying state in the second embodiment of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: unmanned aerial vehicle organism 10, mounting box 20, safety cover 30, support frame 31, opening 32, first piston cylinder 40, first piston 41, piston rod 42, elastic component 43, second piston cylinder 50, second piston 51, connecting rod 52, wipe strip 53, erection column 60, mount pad 61, camera 62, dead lever 70, cavity 71, bar draw-in groove 72, connecting pipe 73, slide bar 80.
Example one
This embodiment is substantially as shown in FIGS. 1-3: the utility model provides a survey and drawing unmanned aerial vehicle, includes unmanned aerial vehicle organism 10, and the below of unmanned aerial vehicle organism 10 is equipped with mounting box 20, camera 62, installation mechanism and transparent safety cover 30. The mounting mechanism comprises a mounting column 60 and a mounting seat 61, the upper end of the mounting column 60 is welded at the bottom of the mounting box 20, the lower end of the mounting column 60 extends into the protective cover 30 and is fixedly connected with the mounting seat 61, and the camera 62 is mounted on the mounting seat 61 and is positioned in the protective cover 30. In this embodiment, the cameras 62 are 180-degree panoramic cameras 62, and 2 cameras 62 are provided, and the 2 cameras 62 are respectively installed on the left side and the right side of the installation seat 61.
A plurality of piston rods 42 are fixedly connected above the protection cover 30, in this embodiment, the protection cover 30 is rectangular, 4 piston rods 42 are provided, and 4 piston rods 42 are uniformly distributed on four sides of the protection cover 30. The supporting frame 31 is fixedly connected to the lower portion of the protection cover 30, a rubber pad is pasted to the bottom of the supporting frame 31, abrasion of the supporting frame 31 when the supporting frame 31 is in contact with the ground can be reduced due to the arrangement of the rubber pad, and the supporting frame 31 is well protected. The upper wall of the protective cover 30 is provided with a through hole 32 through which the mounting mechanism passes, and the through hole 32 is provided, so that when the protective cover 30 slides up and down, the mounting mechanism can be prevented from colliding with the upper wall of the protective cover 30.
Unmanned aerial vehicle flight when finishing, unmanned aerial vehicle descends gradually, support frame 31 falls on the plane at first, then unmanned aerial vehicle organism 10 and mounting box 20 descend gradually again, first piston cylinder 40 in the mounting box 20 slides down along first piston 41, make in the transmission medium in the first piston cylinder 40 get into second piston cylinder 50 gradually by the extrusion (as shown in fig. 2), transmission medium has slowed down the falling velocity of camera 62 on unmanned aerial vehicle organism 10 and the mounting box 20, the final buffering slows down to stopping, very big buffering the impact force that unmanned aerial vehicle organism 10 and camera 62 received, effectively avoid camera 62 to take place to damage because of the impact. During the process that the transmission medium in the first piston cylinder 40 enters the second piston cylinder 50, the second piston 51 moves downwards, the second piston 51 drives the wiping strip 53 to wipe downwards along the outer wall of the protection cover 30 through the connecting rod 52, and dust adhered to the outer wall of the protection cover 30 during the flight process is wiped off. When the unmanned aerial vehicle flies, the unmanned aerial vehicle gradually rises, under the action of gravity of the protective cover 30 and the support frame 31, the first piston 41 slides downwards along the first piston cylinder 40, the transmission medium in the second piston cylinder 50 gradually transfers into the first piston cylinder 40 (as shown in fig. 3), the second piston 51 drives the wiping strip 53 to wipe upwards along the outer wall of the protective cover 30 through the connecting rod 52, dust on the outer wall of the protective cover 30 is wiped again, and the unmanned aerial vehicle is prevented from being shot clearly due to the fact that the protective cover 30 covers dust in the flying process and the camera 62 is caused.
Example two
The present embodiment is different from the first embodiment in that: as shown in fig. 4, the protective cover 30 of the present embodiment is not provided with the through hole 32, and the specific structure of the mounting post 60 of the present embodiment is different from the first embodiment. The mounting column 60 of the embodiment comprises a fixing rod 70 and a sliding rod 80, a cavity 71 is formed in the fixing rod 70, the sliding rod 80 is connected in the cavity 71 in a sliding and sealing mode, a strip-shaped clamping groove 72 communicated with the cavity 71 is formed in the inner wall of the fixing rod 70, and a protrusion clamped and connected in the strip-shaped clamping groove 72 in a sliding mode is fixed on the sliding rod 80. The upper end of the fixing rod 70 is fixed on the mounting box 20, and the lower part of the fixing rod 70 passes through the upper wall of the protective cover 30 and can be positioned in the protective cover 30; the mount 61 is fixed to the lower end of the slide rod 80. At least the bottom of the first piston cylinder 40 and the first piston 41 are filled with fluid, the fluid is hydraulic oil, and in the embodiment, only one of the first piston cylinders 40 is filled with fluid between the bottom of the first piston 41 and the first piston. A connection pipe 73 is connected between the fixing rod 70 and the bottom of the first piston cylinder 40 filled with the fluid, one end of the connection pipe 73 is connected to the through hole of the first piston cylinder 40, and the other end is connected to the upper wall of the fixing rod 70, and the fluid in the first piston cylinder 40 enters the cavity 71 of the fixing rod 70 through the connection pipe 73, so that the sliding rod 80 is extended downward. The weight of the unmanned aerial vehicle body 10 and the mounting box 20 is much greater than that of the mounting mechanism and the camera 62, and therefore, after falling, the sliding rod 80 can be retracted into the fixing rod 70.
When the unmanned aerial vehicle flies, the first piston 41 slides downwards along the first piston cylinder 40, and the protective cover 30 extends downwards, and meanwhile, the fluid in the first piston cylinder 40 enters the cavity 71 of the fixed rod 70 through the connecting pipe 73, so that the sliding rod 80 extends downwards. When the drone lands, the first piston cylinder 40 slides downwards along the first piston 41, which corresponds to the upward retraction of the protective cover 30, and at the same time, the fluid in the cavity 71 flows back into the first piston cylinder 40 through the connecting pipe 73, and the sliding rod 80 retracts upwards. As can be seen from the above description, the sliding rod 80 (i.e. the mounting seat 61 and the camera 62 on the mounting seat 61) always moves synchronously with the protective cover 30, the protective cover 30 extends downward, the sliding rod 80 extends accordingly, the protective cover 30 retracts upward, and the sliding rod 80 contracts accordingly, so that the mounting seat 61 and the camera 62 on the mounting seat 61 are always located in the protective cover 30, the protective cover 30 can always protect the camera 62, and the camera 62 is prevented from being collided and covered with dust.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the present invention.
Claims (10)
1. The utility model provides a survey and drawing unmanned aerial vehicle, includes the unmanned aerial vehicle organism, its characterized in that: a mounting box, a protective cover, a camera and a mounting mechanism fixedly mounted on the mounting box are arranged below the unmanned aerial vehicle body, and the camera is fixed on the mounting mechanism and extends into the protective cover; a plurality of piston rods are arranged above the protective cover, and a support frame is connected below the protective cover; a first piston cylinder and a second piston cylinder communicated with the upper part of the first piston cylinder are arranged in the mounting box, a first piston is connected in the first piston cylinder in a sliding manner, and a second piston is connected in the second piston cylinder in a sliding manner; the first piston cylinder and the second piston cylinder are filled with transmission media positioned between the first piston and the second piston; the upper end of the piston rod is connected to the first piston; the second piston is connected with a connecting rod, and the connecting rod is provided with a wiping strip for wiping the protective cover shell.
2. A mapping drone according to claim 1, characterised in that: an elastic piece is connected between the first piston and the upper wall of the first piston cylinder.
3. A mapping drone according to claim 2, characterised in that: the mounting mechanism comprises a mounting column and a mounting seat, the upper end of the mounting column is connected to the bottom of the mounting box, and the lower part of the mounting column extends into the protective cover and is fixedly connected with the mounting seat; the camera is installed on the mount pad.
4. A mapping drone according to claim 3, characterised in that: the upper wall of the protective cover is provided with a through hole for the installation mechanism to pass through.
5. A mapping drone according to claim 4, characterised in that: the camera is 180 degrees panorama cameras, and the camera is equipped with 2, and 2 cameras are installed respectively in the left and right sides of mount pad.
6. A mapping drone according to claim 3, characterised in that: the mounting column comprises a fixing rod and a sliding rod, a concave cavity is formed in the fixing rod, the sliding rod is connected in the concave cavity in a sliding mode, and the fixing rod is fixed on the mounting box; fluid is filled between the bottom of the at least one first piston cylinder and the first piston, and a connecting pipe is connected between the bottom of the fluid-filled first piston cylinder and the fixed rod.
7. A mapping drone according to claim 6, characterised in that: the inner wall of the fixed rod is provided with a strip-shaped clamping groove, and the sliding rod is provided with a bulge which is connected in the strip-shaped clamping groove in a sliding manner.
8. A mapping drone according to any one of claims 1 to 7, characterised in that: the fluid is hydraulic oil.
9. A mapping drone according to any one of claims 1 to 7, characterised in that: the bottom of the support frame is provided with a rubber pad.
10. A mapping drone according to any one of claims 1 to 7, characterised in that: the piston rod is equipped with 4, and 4 piston rods evenly distributed are in the four sides of protection cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010229461.1A CN111348187B (en) | 2020-03-27 | 2020-03-27 | Unmanned aerial vehicle for surveying and mapping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010229461.1A CN111348187B (en) | 2020-03-27 | 2020-03-27 | Unmanned aerial vehicle for surveying and mapping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111348187A true CN111348187A (en) | 2020-06-30 |
| CN111348187B CN111348187B (en) | 2021-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010229461.1A Expired - Fee Related CN111348187B (en) | 2020-03-27 | 2020-03-27 | Unmanned aerial vehicle for surveying and mapping |
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| Country | Link |
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| CN (1) | CN111348187B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660366A (en) * | 2020-12-24 | 2021-04-16 | 重庆工程职业技术学院 | Unmanned aerial vehicle survey and drawing flight stable control device |
| CN114104316A (en) * | 2021-12-27 | 2022-03-01 | 国网江西省电力有限公司赣州供电分公司 | Surveying and mapping device and method based on BIM unmanned aerial vehicle |
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| CN207301805U (en) * | 2017-10-10 | 2018-05-01 | 范斌 | A kind of big visual angle unmanned plane for taking photo by plane |
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| Publication number | Publication date |
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| CN111348187B (en) | 2021-06-15 |
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