CN111504197B - Scraper conveyor sprocket gear image centering device based on machine vision - Google Patents
Scraper conveyor sprocket gear image centering device based on machine vision Download PDFInfo
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- CN111504197B CN111504197B CN202010450614.5A CN202010450614A CN111504197B CN 111504197 B CN111504197 B CN 111504197B CN 202010450614 A CN202010450614 A CN 202010450614A CN 111504197 B CN111504197 B CN 111504197B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses a machine vision-based chain wheel gear image centering device of a scraper conveyor, which is characterized in that a mechanical rocker is used for centering, so that a camera can do circular motion around the center of a chain wheel, the horizontal line where the camera is located is arranged on the extension line of the rocker, and the center of the chain wheel and the center of a remote rod are arranged on the same horizontal line, so that the camera can be ensured to do incomplete circular motion along the center of the chain wheel, and the accurate centering of the device is realized; the mechanical rocker centering utilizes a crank-rocker mechanism to ensure the accurate centering of the device; based on the automatic centering function of machine vision, the influence that the camera deviates from a circular track due to deviation generated by vibration in the device is overcome, and therefore fine adjustment is achieved; the supporting structure of the camera adopts a simply supported beam, so that the influence of deflection caused by vibration and impact load which are possibly generated in the device is effectively relieved, and the stability of the device is greatly improved.
Description
Technical Field
The invention relates to the technical field of chain wheel detection, in particular to a machine vision-based chain wheel tooth image centering device of a scraper conveyor.
Background
A scraper conveyor is a continuous transport device for bulk material by means of a moving scraper chain. In coal mining, the chain wheel drives the scraper chain to run in the middle groove through the speed reducer, so that the purpose of conveying materials such as coal and the like is achieved.
The sprocket is one of the important parts of the scraper conveyor, and its characteristics have a direct influence on the service life of the scraper conveyor. The chain wheel used for analyzing the chain wheel abrasion is a common traction chain wheel, and has larger relative sliding at the meshing part, so that the working condition is severe, and serious abrasion can be generated. Adhesive wear loads, contact fatigue wear, abrasive wear are the main causes of wear to scraper conveyor sprockets.
In the measurement of the abrasion loss of the scraper conveyer, the image extracted from the sprocket teeth of the scraper conveyer is processed, so that the real abrasion loss is obtained. In the measurement process of the device, the camera often has the problems of inaccurate image extraction and the like due to the problems of incapability of centering, deviation in motion and the like, but the prior art for extracting the images of the sprocket teeth is not developed at home and abroad. Therefore, there is a need for an improved scraper conveyor sprocket gear image extraction device and centering method.
Disclosure of Invention
The invention aims to solve the specific technical problem of accurate centering of a measuring device on the center of a sprocket gear of a scraper conveyor. The utility model provides a scraper conveyor sprocket gear image centering device based on machine vision, provides the scraper conveyor sprocket gear image extraction based on machine vision.
The technical scheme adopted by the invention for solving the technical problems is as follows: a machine vision-based sprocket gear image centering device for a scraper conveyor is constructed, comprising: the centering module, the camera moving module and the chain wheel supporting module;
the centering module comprises a first fixed seat and a second fixed seat which are symmetrically arranged, the first fixed seat and the second fixed seat comprise a motor fixed seat and a base, and the base is fixed on one side of the motor fixed seat; the motor fixing seat is fixedly connected with a rotating motor; a crank rocker mechanism is arranged between the first fixing seat and the second fixing seat, a crank is connected with one end of a first deep groove ball bearing penetrating through the base, the other end of the first deep groove ball bearing is connected with a coupler, and the coupler is connected to an output shaft of the rotating motor through a speed reducer; a second deep groove ball bearing and a third deep groove ball bearing are symmetrically arranged at the upper parts of the bases of the first fixing base and the second fixing base, and bearing plates are respectively arranged at the two sides of the bases to axially limit the second deep groove ball bearing and the third deep groove ball bearing;
the camera moving module is fixedly arranged between the two rocking rods and comprises a longitudinal moving unit and a transverse moving unit, and the longitudinal moving unit and the transverse moving unit are both fixedly connected with the camera, so that the camera can transversely and longitudinally move in a plane formed by the two rocking rods of the crank-rocker mechanism arranged on the first fixing seat and the second fixing seat; the transverse movement is to move between the two rocking bars, and the longitudinal movement is to move towards the extending direction of the two rocking bars;
the chain wheel supporting module is arranged between the first fixing seat and the second fixing seat and comprises a chain wheel supporting base, a chain wheel supporting and adjusting unit and a rocker sleeve; the rocker sleeve is horizontally arranged, penetrates through the two rockers and respectively extends into the second deep groove ball bearing and the third deep groove ball bearing arranged on the first fixing seat and the second fixing seat for fixing; the rocker sleeve penetrates through the center of the chain wheel;
the control module is arranged at the far end and controls the rotating motor of the centering module, the transverse motor and the longitudinal motor of the camera moving module to adjust the shooting angle of the camera relative to the chain wheel, so that automatic centering and image extraction are performed.
The rocker sleeve penetrates through rocker arms of the two rockers and is perpendicular to the rockers respectively; through holes are correspondingly formed in the connecting positions of the rocker sleeve and the two rockers respectively, and split pins are put in the through holes so as to fix the relative positions between the rocker sleeve and the two rockers.
The transverse motor and the longitudinal motor are fixed through a motor frame, and the camera is fixed through a camera frame.
The longitudinal moving unit comprises a longitudinal motor, a screw rod and a screw rod sleeve; the longitudinal motor is connected with the lead screw, and the lead screw is connected with the lead screw sleeve in a thread fit manner; the screw rod sleeve is fixedly connected with the camera frame, and the screw rod is driven to rotate by the longitudinal motor, so that the camera can longitudinally move; the two rocker arms are provided with sliding grooves, the two ends of the camera frame are provided with sliding rods, and the sliding rods of the camera frame move along the sliding grooves to enable the camera frame to move longitudinally.
The transverse moving unit comprises a transverse motor, a first synchronous toothed wheel, a second synchronous toothed wheel, a third synchronous toothed wheel and a synchronous toothed belt; the first synchronous gear and the third synchronous gear are respectively fixed at the end parts of the two rocking rods, the second synchronous gear is fixed on the motor frame, a synchronous toothed belt is arranged between the first synchronous gear and the third synchronous gear, a belt of the synchronous toothed belt is provided with a ratchet which is meshed with gear teeth on the second synchronous gear, the motor frame is connected with the camera frame, and when the transverse motor rotates, the transverse motor moves in the opposite direction due to the meshing action of the second synchronous gear, so that the transverse movement of the camera is realized.
Different from the prior art, the scraper conveyor chain wheel gear image centering device based on machine vision provided by the invention has the advantages that the camera is enabled to do circular motion along the center of the chain wheel through the mechanical remote rod centering device, the horizontal line where the camera is located is arranged on the extension line of the first rocker, and the center of the chain wheel and the center of the remote rod are arranged on the same horizontal line, so that the camera can be ensured to do incomplete circular motion along the center of the chain wheel, and the accurate centering of the device is realized; the mechanical rocker centering utilizes a crank-rocker mechanism to ensure the accurate centering of the device; based on the automatic centering function of machine vision, the influence that the camera deviates from a circular track due to deviation generated by vibration in the device is overcome, and therefore fine adjustment is achieved; the supporting structure of the camera adopts a simply supported beam, so that the influence of the degree of winding caused by vibration and impact load which are possibly generated in the device is effectively relieved, and the stability of the device is greatly improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic structural diagram of a centering module of a sprocket gear image centering device of a scraper conveyor based on machine vision.
Fig. 2 is a schematic structural diagram of a camera moving module of a sprocket gear image centering device of a scraper conveyor based on machine vision.
Fig. 3 is a schematic structural diagram of a sprocket support module of a sprocket image centering device of a scraper conveyor based on machine vision.
Fig. 4 is a schematic diagram of a motor arrangement of a sprocket gear image centering device of a scraper conveyor based on machine vision provided by the invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1-3, the invention provides a sprocket gear image centering device of a scraper conveyor based on machine vision, comprising: the centering module, the camera moving module and the chain wheel supporting module;
the centering module is composed of a base 1, a rotating motor fixing piece 2, a rotating motor fixing piece base 3, a rotating motor 4, a speed reducer 5, a coupler 6, a bearing sleeve 7, a first deep groove ball bearing 8, a first crank 9 of a crank-rocker mechanism, a first connecting rod 10, a first rocker 11, a camera frame 12, a second deep groove ball bearing 13, a first bearing plate 14, a second bearing plate 15 and a third deep groove ball bearing 16. In the specific implementation process, the base 1 is a rectangular plate with a hole and used for fixing a bearing; the rotating motor fixing piece 2 and the rotating motor fixing piece base 3 are both of shell-drawing cuboid structures, and the rotating motor fixing piece 2 is fixed on the rotating motor fixing piece base 3; the first deep groove ball bearing 8 is arranged on the base 1, so that the rotating motor 4 controls a crank rocker mechanism arranged on the opposite side of the base 1; a first crank 9, a first connecting rod 10 and a first rocker 11 of the crank rocker mechanism are connected in sequence; the camera frame 12 is a rectangular parallelepiped frame structure having a boss, and the first bearing plate 14 and the second bearing plate 15 are rectangular plates each having a boss.
The rotating motor 4, the rotating motor fixing piece 2 and the rotating motor fixing piece base 3 are in threaded connection through holes matched with the rotating motor fixing piece 2 and the rotating motor fixing piece base 3; the base 1 and the outer ring of the first deep groove ball bearing 8 are fixed together in an interference fit manner; the first bearing plate 14 and the second deep groove ball bearing 13 are fixed on one side of the base 1 through threaded connection, and the second bearing plate 15 and the second deep groove ball bearing 13 are fixed on the other side of the base 1 through threaded connection, so that the bearings are prevented from moving radially; the rotating motor 4 is fixedly connected with the speed reducer 5 through threads; the speed reducer 5 is in key connection with the bearing sleeve 7 through a coupler 6; the outer side of the bearing sleeve 7 is in interference fit with the inner ring of the first deep groove ball bearing 8 to achieve the fixing effect; the first crank 9, the first connecting rod 10 and the first rocker 11 are connected through a cylindrical pin, the central distance between the first deep groove ball bearing 8 and the second deep groove ball bearing 13 is used as a fourth rod, and the condition of a crank-rocker four-bar mechanism is met; the long axis of the camera frame 12 is fitted with the straight notch of the first rocking bar 11.
The camera moving module comprises a transverse moving unit and a longitudinal moving unit. The longitudinal moving unit is composed of a longitudinal motor 17, a lead screw 18, a lead screw sleeve 19, a camera frame 12 and a motor frame 20. The camera is fixed in the camera frame 12, and the circuit connection is complete, so that the functional equipment can be directly used. The motor frame 20 comprises two cube structures fixedly connected for placing the transverse motor 21 and the longitudinal motor 17, respectively. The motor frame 20 is connected with the longitudinal motor 17 through threads; the longitudinal motor 17 and the lead screw 18 are fixed; the screw rod 18 is in threaded connection with the screw rod sleeve 19; the lead screw housing 19 and the camera frame 12 are connected by bolts and threaded holes, as shown in fig. 4. The transverse moving unit consists of a camera frame 12, a transverse motor 21, a first synchronous gear 22, a second synchronous gear 23, a third synchronous gear 24 and a synchronous cog belt 25. The camera frame 12 and the transverse motor 21 are in threaded connection through bolts; the first synchronous gear 22 is keyed with the end of the first rocker 11; the third synchronous toothed wheel 24 is in key connection with a second rocker 26 of a crank connecting rod structure arranged in the second fixed seat; the transverse motor 21 is in key connection with a second synchronous toothed wheel 23; the first synchronizing toothed wheel 22, the second synchronizing toothed wheel 23, and the third synchronizing toothed wheel 24 are belt-connected to a synchronizing toothed belt 25. By the action of force between the second synchronous cog wheel 23 and the synchronous cog belt 25, the second synchronous cog wheel 23 moves relative to the synchronous cog belt 25, thereby driving the transverse motor 21 connected with the second synchronous cog wheel 23 to transversely move.
The chain wheel supporting module consists of a chain wheel supporting base 27, a chain wheel supporting and adjusting unit 28, a rocker sleeve 29, a first rocker 11, a second rocker 26, a second deep groove ball bearing 13 and a third deep groove ball bearing 16. The sprocket support base 27 is a rectangular parallelepiped structure having a straight groove opening, the sprocket support adjusting unit 28 is a rectangular parallelepiped elongated cylindrical boss structure having a straight groove opening, and the rocker sleeve 29 is a long axis structure having a symmetrical sleeve. The outer cylindrical surface of the rocker sleeve 29 is in threaded connection with the inner cylindrical surface of the sprocket support adjustment 28 through a bolt; the straight groove opening of the chain wheel supporting adjustment 28 and the straight groove opening of the chain wheel supporting base 27 are in threaded connection through bolts; the through holes on the sleeves of the rocker sleeve 29 are connected with the through holes on the first rocker 11 and the second rocker 26 by cotter pins; the outer surfaces of bosses on two sides of the rocker sleeve 29 are in interference fit with the inner surfaces of the second deep groove ball bearing 13 and the third deep groove ball bearing 16 respectively.
The principle of the automatic centering is that a camera is used for capturing a real-time image, a gear outline in the image is extracted through an image processing algorithm based on OpenCV, the camera is controlled to move transversely and longitudinally according to the deviation of the gear outline deviating from the visual field center, the deviation is gradually reduced, and finally the center of the gear tooth is located at the visual field center of the camera, so that the automatic centering is realized.
The device work flow is as follows: when the device starts to rotate, the first rocker 11 and the second rocker 26 are vertically placed through the rotating motor 2, so that the initialization action is achieved; the camera is transversely moved under the transmission action of the synchronous toothed belt by controlling the rotation of the transverse motor 21 to achieve transverse adjustment; the camera is accurately centered around the center of the sprocket by rotating the rotating motor 2; the longitudinal motor 17 rotates to drive the screw sleeve to move, so that the camera longitudinally moves along the straight slot.
The control module is divided into the following three parts according to the hardware basis of program operation: the system comprises an upper computer image processing and computing unit, a communication unit and a lower computer PID control unit based on OpenCV.
1. An upper computer image processing and operation unit based on OpenCV:
machine vision is an important ring for automatic centering closed-loop control, and related image processing is realized by adopting an OpenCV algorithm library facing Python. OpenCV is an open-source computer vision library, provides rich image processing interface functions, and can realize corresponding functions through reasonable matching of the functions. The concrete application is as follows: filtering the image to eliminate noise; performing threshold processing to obtain a binary image; morphological operations, which divide the image using morphological open and close operations; extracting all profiles and comparing with a standard tooth profile to find out a target tooth profile in the image; and calculating the geometric parameters of the target tooth profile, and subtracting the central coordinate of the target tooth profile from the central coordinate of the visual field to obtain the position deviation.
2. A communication unit:
the upper computer and the lower computer adopt serial port communication. The serial port is a very general equipment communication protocol on the computer, and can realize data communication between the computer and other equipment. The upper computer control software can directly call a communication port of the upper computer control software by using a Python-based Pyrerial library and send an instruction to the lower computer; the lower computer, namely a singlechip of the device, is also provided with serial port communication hardware facilities, and controls the data to be transmitted and received through programs running in the lower computer. The instruction information is transmitted from the upper computer to the lower computer in a one-way mode, and the data information is transmitted in a two-way mode and mainly comprises position deviation and image data.
3. The lower computer PID control unit:
and the deviation information received by the lower computer is used as a feedback signal, proportional, integral and differential regulation is added, and a stepping motor control signal is output to form PID closed-loop control. Therefore, the camera can quickly, accurately and stably reach the target position under the driving of the stepping motor.
In the specific operation process, the following steps can be performed:
step 1: starting up and initializing
The upper computer operation software is opened and the device is started, the upper computer sends a Connect command through the serial port, the lower computer returns the command as a response after receiving the command, the upper computer and the lower computer establish communication connection, the device starts initialization, and the single chip microcomputer controller sends out a control signal to control the operation of the transverse motor and the longitudinal motor. The transverse motor rotates, the camera axially moves along the chain wheel through the transmission of the synchronous belt, and the picture of the camera transversely moves; the longitudinal motor rotates, the crank rocker mechanism drives the camera to move along the circumferential direction of the chain wheel, and the picture of the camera moves longitudinally. When the camera reaches a zero position, the micro switch is triggered, each motor stops working, and the current motor parameter is recorded as the relative zero position of the current operation. And the upper computer receives the image data transmitted back by the lower computer in real time and displays the image data on the picture of the operation software. And after the device is initialized, sending a signal to the upper computer to prepare for the next operation.
Step 2: manual coarse adjustment
And clicking a control button on the operation software of the upper computer, and sending a related instruction to the lower computer. When the Left shift is clicked, a Left signal is sent, and after the lower computer controller receives an instruction, the transverse stepping motor is controlled to rotate to enable the camera to move Left along the sprocket shaft; similarly, when the user clicks 'move right', the camera moves right. When the Up is clicked, an Up signal is sent, and after the controller receives an instruction, the controller controls the longitudinal stepping motor to rotate so that the camera moves upwards along the circumferential direction of the chain wheel; similarly, when the user clicks 'move down', the camera moves down. Through the upper computer software of manual operation, control camera horizontal, longitudinal movement, observe the camera simultaneously and shoot the picture, make the sprocket appear in the camera field of vision to the gear teeth that the selection is about to carry out the wearing and tearing measurement, make it be close to the field of vision center. And (4) after coarse adjustment is completed, preparing for the next operation.
Step 3: automatic centering
Automatic centering can be started when the target gear teeth completely appear in the visual field. Clicking 'automatic centering' on the upper computer operating software, sending a 'centering' instruction to the lower computer, and starting automatic centering after the lower computer receives the instruction. The upper computer begins to analyze the image content, extracts the contour of the contour, calculates the distance of the center of the contour from the center of the visual field, namely the position deviation, and sends the distance to the lower computer in real time. And the lower computer outputs control signals to each stepping motor through PID analysis according to the position deviation, and then controls the camera to move towards the center of the gear teeth, so that the position deviation is gradually eliminated. And when the position deviation is smaller than the threshold value, the automatic centering is completed.
Step 4: image acquisition
After automatic centering, the gear teeth are completely positioned in the center of the visual field, and image acquisition can be started. Clicking image acquisition on the operation software of the upper computer, sending a Collection instruction to the lower computer, and starting image acquisition after the lower computer receives the Collection instruction. First, zero-setting of the camera depth position is performed. The controller controls the stepping motor to rotate, the screw rod synchronously rotates to enable the sliding block to move along the sliding rail, the camera is further controlled to move forwards along the radial direction of the chain wheel and gradually approaches the surface of the gear teeth, when the focal plane of the camera just reaches the surface, the movement is stopped, the current position is used as the initial position of image acquisition, and a first gear tooth picture is shot to be used as a measurement sample. And continuously controlling the camera to move forward by a step distance, collecting a second sample, and so on. When the focal plane of the camera completely sweeps the whole gear teeth, all samples are collected, the image collection link is finished, and the camera is controlled to return to the initial position.
Step 5: finish running and shut down
The above completes the acquisition of the first set of image samples. Repeating the steps 2, 3 and 4, selecting the next gear tooth to acquire the image, and when all the gear teeth are acquired, finishing the task of the device, namely shutting down the device and closing the operating software. The collected image samples are completely stored in an upper computer and are used for subsequent operations such as wear analysis, wear measurement and the like.
In other embodiments of the invention, a shell part is added between the first fixed seat and the second fixed seat, so that the safety and the service life of the device are greatly improved; a reinforcing bar is installed between the first rocking bar and the second rocking bar, thereby reducing the number of motors used. The cost of the device can be controlled to a certain extent.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A scraper conveyor sprocket gear image centering device based on machine vision is characterized by comprising: the centering module, the camera moving module and the chain wheel supporting module;
the centering module comprises a first fixed seat and a second fixed seat which are symmetrically arranged, the first fixed seat and the second fixed seat comprise a motor fixed seat and a base, and the base is fixed on one side of the motor fixed seat; the motor fixing seat is fixedly connected with a rotating motor; a crank rocker mechanism is arranged between the first fixing seat and the second fixing seat, a crank is connected with one end of a first deep groove ball bearing penetrating through the base, the other end of the first deep groove ball bearing is connected with a coupler, and the coupler is connected to an output shaft of the rotating motor through a speed reducer; a second deep groove ball bearing and a third deep groove ball bearing are symmetrically arranged at the upper parts of the bases of the first fixing base and the second fixing base, and bearing plates are respectively arranged at the two sides of the bases to axially limit the second deep groove ball bearing and the third deep groove ball bearing;
the camera moving module is fixedly arranged between the two rocking rods and comprises a longitudinal moving unit and a transverse moving unit, and the longitudinal moving unit and the transverse moving unit are both fixedly connected with the camera, so that the camera can transversely and longitudinally move in a plane formed by the two rocking rods of the crank-rocker mechanism arranged on the first fixing seat and the second fixing seat; the transverse movement is to move between the two rocking bars, and the longitudinal movement is to move towards the extending direction of the two rocking bars;
the chain wheel supporting module is arranged between the first fixing seat and the second fixing seat and comprises a chain wheel supporting base, a chain wheel supporting and adjusting unit and a rocker sleeve; the rocker sleeve is horizontally arranged, penetrates through the two rockers and respectively extends into the second deep groove ball bearing and the third deep groove ball bearing arranged on the first fixing seat and the second fixing seat for fixing; the rocker sleeve penetrates through the center of the chain wheel;
the control module is arranged at the far end and controls the rotating motor of the centering module, the transverse motor and the longitudinal motor of the camera moving module to adjust the shooting angle of the camera relative to the chain wheel, so that automatic centering and image extraction are performed.
2. The machine-vision-based sprocket gear image centering device of a scraper conveyor according to claim 1, wherein the rocker sleeve passes through the rocker arms of the two rockers and is perpendicular to the rockers respectively; through holes are correspondingly formed in the connecting positions of the rocker sleeve and the two rockers respectively, and split pins are put in the through holes so as to fix the relative positions between the rocker sleeve and the two rockers.
3. The machine-vision based sprocket image centering device of a scraper conveyor of claim 1, wherein the transverse motor and the longitudinal motor are fixed by a motor frame, and the camera is fixed by a camera frame.
4. The machine-vision-based sprocket image centering device of a scraper conveyor of claim 3, wherein the longitudinal moving unit comprises a longitudinal motor, a screw rod sleeve; the longitudinal motor is connected with the lead screw, and the lead screw is connected with the lead screw sleeve in a thread fit manner; the screw rod sleeve is fixedly connected with the camera frame, and the screw rod is driven to rotate by the longitudinal motor, so that the camera can longitudinally move; the two rocker arms are provided with sliding grooves, the two ends of the camera frame are provided with sliding rods, and the sliding rods of the camera frame move along the sliding grooves to enable the camera frame to move longitudinally.
5. The machine-vision based scraper conveyor chain gear image centering device of claim 3, wherein the transverse moving unit comprises a transverse motor, a first synchronized toothed wheel, a second synchronized toothed wheel, a third synchronized toothed wheel and a synchronized toothed belt; the first synchronous gear and the third synchronous gear are respectively fixed at the end parts of the two rocking rods, the second synchronous gear is fixed on the motor frame, a synchronous toothed belt is arranged between the first synchronous gear and the third synchronous gear, a belt of the synchronous toothed belt is provided with a ratchet which is meshed with gear teeth on the second synchronous gear, the motor frame is connected with the camera frame, and when the transverse motor rotates, the transverse motor moves in the opposite direction due to the meshing action of the second synchronous gear, so that the transverse movement of the camera is realized.
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|---|---|
| CN111504197A (en) | 2020-08-07 |
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