CN111891391A - Satellite propulsion module and separation method thereof - Google Patents
Satellite propulsion module and separation method thereof Download PDFInfo
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- CN111891391A CN111891391A CN202010801847.5A CN202010801847A CN111891391A CN 111891391 A CN111891391 A CN 111891391A CN 202010801847 A CN202010801847 A CN 202010801847A CN 111891391 A CN111891391 A CN 111891391A
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- 238000000926 separation method Methods 0.000 title claims abstract description 125
- 239000000446 fuel Substances 0.000 claims description 17
- 238000005286 illumination Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 10
- 239000003380 propellant Substances 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 238000012360 testing method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/242—Orbits and trajectories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/40—Arrangements or adaptations of propulsion systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/645—Separators
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- Combustion & Propulsion (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a satellite propulsion module and a separation method thereof, wherein the satellite propulsion module comprises the following steps: the satellite propulsion main power system is configured to provide the whole satellite of the main satellite with orbit entering and orbit determining power and provide the satellite propulsion module with separation power; a module separation control system configured to control separation of the satellite propulsion module from the master satellite and to autonomously control the satellite propulsion module after separation; a housing configured to house the satellite propulsion main power system and the module separation control system.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a satellite propulsion module and a separation method thereof.
Background
With the continuous development of the aerospace technology and the aerospace industry, on one hand, the satellite design tends to be integrated, standardized and modularized, and on the other hand, the satellite is required to realize rapid design, rapid development, rapid launching and rapid application.
The satellite propulsion system is used as a power device and plays the tasks of sending the satellite into a working orbit, keeping the satellite at a required position during working and adjusting and changing the orbit and the attitude at any time according to the task requirements of the satellite. The satellite propulsion system is the same as attitude and orbit control systems, counting systems, measurement and control systems and the like of a satellite platform, and is generally installed in a satellite service cabin as service equipment of a satellite payload. In the satellite development process, the final assembly, integration and testing of the propulsion system are performed crosswise to the final assembly, integration and testing of the satellite. The propulsion system has a complex structure, the product installation, the pipeline welding and the inspection and test work are all carried out on the star, on one hand, the operation is difficult, and on the other hand, the development period is long.
Disclosure of Invention
The invention aims to provide a satellite propulsion module and a separation method thereof, and aims to solve the problem that the existing propulsion system is complex in structure.
The invention also aims to provide a satellite propulsion module and a separation method thereof, so as to solve the problem that the existing propulsion module cannot be separated.
The invention also aims to provide a satellite propulsion module and a separation method thereof, so as to solve the problem that the safety of orbital operation is influenced after the existing propulsion module is separated.
To solve the above technical problem, the present invention provides a satellite propulsion module, including:
the satellite propulsion main power system is configured to provide the whole satellite of the main satellite with orbit entering and orbit determining power and provide the satellite propulsion module with separation power;
a module separation control system configured to control separation of the satellite propulsion module from the master satellite and to autonomously control the satellite propulsion module after separation;
a housing configured to house the satellite propulsion main power system and the module separation control system.
Optionally, in the satellite propulsion module, the housing is a cuboid and is formed by splicing a plurality of solar cells.
Optionally, in the satellite propulsion module, the main satellite propulsion power system includes a propellant tank and a thruster;
the propellant storage box is accommodated in the shell, and the thruster is embedded into the bottom surface of the cuboid.
Optionally, in the satellite propulsion module, when the satellite propulsion module provides power for the whole main satellite of the main satellite, the module separation control system is connected to a satellite service platform of the main satellite, and the satellite service platform controls the thrust direction and the thrust magnitude of the thruster through the module separation control system to perform main satellite orbit control;
when the satellite propulsion module provides power for the whole main satellite, the main satellite supplies power for the module separation control system;
and after the satellite propulsion module is separated from the main satellite, the module separation control system is disconnected with the satellite service platform.
Optionally, in the satellite propulsion module, when the satellite propulsion module provides power for the whole satellite of the main satellite, the module separation control system monitors the fuel remaining amount in the propellant storage tank;
the module separation control system calculates fuel required by the satellite propulsion module to be out of orbit in real time according to the current orbit of the main satellite;
and the module separation control system calculates the separation time of the satellite propulsion module and the main satellite according to the fuel allowance and the required fuel.
Optionally, in the satellite propulsion module, after the satellite propulsion module is separated from the main satellite, the module separation control system autonomously controls the thrust direction and the thrust magnitude of the thruster to adjust the attitude of the satellite propulsion module and push the satellite propulsion module to the safe orbit.
Optionally, in the satellite propulsion module, different solar cells respectively collect inter-satellite illumination difference information of the solar cells, and send the inter-satellite illumination difference information to the module separation control system;
and the module separation control system calculates the current attitude of the satellite propulsion module according to the plurality of inter-satellite illumination difference information so as to perform attitude control adjustment.
Optionally, in the satellite propulsion module, the satellite propulsion module further includes:
a navigation module configured to determine an orbit in which the satellite propulsion module is currently located and transmit the orbit to the module separation control system;
and the module separation control system performs orbit control according to the orbit of the satellite propulsion module so as to push the satellite propulsion module to the safe orbit.
Optionally, in the satellite propulsion module, the satellite propulsion module further includes:
a lithium battery pack configured to provide power to the module separation control system;
when the satellite propulsion module provides power for the whole satellite of the main satellite, the main satellite charges the lithium battery pack;
after the satellite propulsion module is separated from the main satellite, the solar cell is used for charging the lithium battery pack.
The invention also provides a separation method of the satellite propulsion module, which comprises the following steps:
after the satellite propulsion module is separated from the main satellite, a main satellite propulsion power system which originally provides the whole satellite of the main satellite with orbit entering and orbit determining power provides separation power for the satellite propulsion module;
the module separation control system controls the separation of the satellite propulsion module and the main satellite;
and the satellite propulsion module enters a safe orbit after being separated from the main satellite.
Optionally, in the method for separating a satellite propulsion module, the method further includes:
the module separation control system judges whether the fuel allowance of the propeller storage tank is sufficient, if yes, a main satellite propulsion instruction is received, and the step continues to return to the previous step, and if not, the separation mode is entered;
under the separation mode, the module separation control system autonomously controls the satellite propulsion module to deviate from the orbit of the current main satellite;
and the module separation control system judges whether the satellite propulsion module is in an illumination area, if so, positions and orbits and decelerates until the satellite propulsion module enters a safe orbit, and if not, the previous step is returned.
The invention also provides a satellite system comprising a plurality of satellite propulsion modules as described above.
According to the satellite propulsion module and the separation method thereof, the whole satellite of the main satellite is provided with the power for orbit entering and orbit determination before the main satellite propulsion system is separated, the separation power is provided for the satellite propulsion module during separation, the module separation control system controls the satellite propulsion module to be separated from the main satellite, and the satellite propulsion module is autonomously controlled after separation, so that the modularization of the propulsion system is realized, the number, the installation mode and the operation mode of the satellite propulsion module can be selected in cooperation with different satellite models and satellite tasks. The satellite propulsion module is simple in structure, free of pipeline welding and simple in detection test and operation. In addition, even if the modularized satellite propulsion cabin exists in the prior art, the modularized satellite propulsion cabin cannot automatically separate from the satellite after fuel is exhausted, does not have an automatic off-orbit design, does not have the functions of separation and off-orbit, and only can passively receive the control of the main satellite. The satellite propulsion module provided by the invention can realize autonomous separation, autonomous attitude and orbit determination and enter a safe orbit to destroy, and space garbage cannot be formed.
Drawings
FIG. 1 is a schematic view of a satellite propulsion module according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a module separation control system according to an embodiment of the present invention;
FIG. 3 is a schematic view of a satellite propulsion module and a main satellite according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for separating satellite propulsion modules according to an embodiment of the invention;
shown in the figure: 1-a propellant storage tank; 2-a thruster; 3-a solar cell sheet; 4-module separation control system; 5-a navigation module; 6-lithium battery pack; 7-the dominant star; 8-satellite propulsion module.
Detailed Description
The satellite propulsion module and the method for separating the same according to the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.
The core idea of the invention is to provide a satellite propulsion module and a separation method thereof, so as to solve the problem that the existing propulsion system is complex in structure.
The invention also provides a satellite propulsion module and a separation method thereof, so as to solve the problem that the existing propulsion module can not be separated.
The invention also provides a satellite propulsion module and a separation method thereof, which are used for solving the problem that the existing propulsion module is separated to influence the safety of orbital operation.
In order to realize the idea, the invention provides a satellite propulsion module and a separation method thereof, wherein the satellite propulsion module comprises: the satellite propulsion main power system is configured to provide the whole satellite of the main satellite with orbit entering and orbit determining power and provide the satellite propulsion module with separation power; a module separation control system configured to control separation of the satellite propulsion module from the master satellite and to autonomously control the satellite propulsion module after separation; a housing configured to house the satellite propulsion main power system and the module separation control system.
The present embodiment provides a satellite propulsion module, as shown in fig. 1 and 3, including: a satellite propulsion main power system configured to provide the whole satellite of the main satellite 7 with the power for entering and determining orbit, and to provide the satellite propulsion module 8 itself with the power for separation; a module separation control system 4 configured to control separation of the satellite propulsion module 8 from the primary satellite 7 and autonomous control of the satellite propulsion module 8 after separation; a housing configured to house the satellite propulsion main power system and the module separation control system 4.
In an embodiment of the present invention, in the satellite propulsion module, the housing is a rectangular parallelepiped and is formed by splicing a plurality of solar battery pieces 3. The main satellite propulsion power system comprises a propellant storage tank 1 and a thruster 2; the propellant storage tank 1 is accommodated in the shell, and the thruster 2 is embedded in the bottom surface of the cuboid. In the satellite propulsion module, when the satellite propulsion module 8 provides power for the whole main satellite of the main satellite 7, the module separation control system 4 is connected with a satellite service platform of the main satellite 7, and the satellite service platform controls the thrust direction and the thrust magnitude of the thruster 2 through the module separation control system 4 to execute main satellite orbit control; when the satellite propulsion module 8 provides power for the whole main satellite 7, the main satellite 7 supplies power for the module separation control system 4; after the satellite propulsion module 8 is separated from the main satellite 7, the module separation control system 4 is disconnected from the house service platform. The number of thrusters 2 is 4.
In one embodiment of the invention, as shown in fig. 2, in the satellite propulsion module, the module separation control system 4 monitors the fuel remaining in the propellant tank 1 while the satellite propulsion module is powering the whole star of the main star; the module separation control system 4 calculates fuel required by the satellite propulsion module to be out of orbit in real time according to the current orbit of the main satellite; the module separation control system 4 calculates the separation time of the satellite propulsion module 8 from the main satellite 7 according to the fuel surplus and the required fuel.
In an embodiment of the present invention, in the satellite propulsion module, after the satellite propulsion module 8 is separated from the main satellite 7, the module separation control system 4 autonomously controls the thrust direction and the thrust magnitude of the thruster 2 to adjust the attitude of the satellite propulsion module 8 and propel the satellite propulsion module 8 to a safe orbit.
In an embodiment of the present invention, in the satellite propulsion module, different solar cells 3 respectively collect their own inter-satellite illumination difference information, and send the inter-satellite illumination difference information to the module separation control system 4; and the module separation control system 4 calculates the current attitude of the satellite propulsion module 8 according to the plurality of inter-satellite illumination difference information to perform attitude control adjustment.
In an embodiment of the present invention, in the satellite propulsion module, the satellite propulsion module further includes: a navigation module 5 configured to determine the current orbit of the satellite propulsion module and send the determined orbit to the module separation control system 4; the module separation control system 4 performs orbit control according to the orbit in which the satellite propulsion module is currently located, so as to propel the satellite propulsion module 8 to the safe orbit.
In an embodiment of the present invention, in the satellite propulsion module, the satellite propulsion module further includes: a lithium battery pack 6 configured to provide power to the module separation control system 4; when the satellite propulsion module 8 provides power for the whole satellite of the main satellite 7, the main satellite 7 charges the lithium battery pack 6; after the satellite propulsion module 8 is separated from the main satellite 7, the solar cell 3 charges the lithium battery pack 6.
The present embodiment further provides a method for separating a satellite propulsion module, including: after the satellite propulsion module 8 is separated from the main satellite 7, a main satellite propulsion power system which originally provides the whole satellite of the main satellite 7 with the orbit entering and orbit determining power provides separation power for the satellite propulsion module; the module separation control system 4 controls the separation of the satellite propulsion module 8 from the main satellite 7; and the shells for accommodating the main satellite propulsion power system and the module separation control system 4 are separated from the main satellite 7 and then enter a safe orbit.
As shown in fig. 4, the method for separating a satellite propulsion module further includes: the module separation control system 4 judges whether the fuel allowance of the propeller storage tank 1 is sufficient, if yes, a main satellite propulsion instruction is received, and the step continues to return to the previous step, and if not, the separation mode is entered; in the separation mode, the module separation control system 4 autonomously controls the satellite propulsion module to deviate from the orbit of the current main satellite; and the module separation control system 4 judges whether the satellite propulsion module is in an illumination area, if so, positions and orbits and decelerates until the satellite propulsion module enters a safe orbit, otherwise, the previous step is returned.
The posture and orbit determination comprises: the different solar cells 3 respectively collect the inter-satellite illumination difference information of the solar cells and send the inter-satellite illumination difference information to the module separation control system 4; and the module separation control system 4 calculates the current attitude of the satellite propulsion module according to the plurality of inter-satellite illumination difference information to perform attitude control adjustment. The navigation module 5 determines the current orbit of the satellite propulsion module and sends the orbit to the module separation control system 4; and the module separation control system 4 performs orbit control according to the orbit of the satellite propulsion module so as to push the satellite propulsion module to the safe orbit. The safe orbit is an atmosphere below 300km, the satellite propulsion module automatically burns after entering the atmosphere, space garbage cannot be formed, and space safety is not affected.
The invention also provides a satellite system, as shown in fig. 3, a plurality of satellite propulsion modules 8 as described above are mounted on the main satellite 7.
According to the satellite propulsion module and the separation method thereof, the whole satellite of the main satellite is provided with the power for orbit entering and orbit determination before the main satellite propulsion system is separated, the separation power is provided for the satellite propulsion module during separation, the module separation control system controls the satellite propulsion module to be separated from the main satellite, and the satellite propulsion module is autonomously controlled after separation, so that the modularization of the propulsion system is realized, the number, the installation mode and the operation mode of the satellite propulsion module can be selected in cooperation with different satellite models and satellite tasks. The satellite propulsion module is simple in structure, free of pipeline welding and simple in detection test and operation. In addition, even if the modularized satellite propulsion cabin exists in the prior art, the modularized satellite propulsion cabin cannot automatically separate from the satellite after fuel is exhausted, does not have an automatic off-orbit design, does not have the functions of separation and off-orbit, and only can passively receive the control of the main satellite. The satellite propulsion module provided by the invention can realize autonomous separation, autonomous attitude and orbit determination and enter a safe orbit to destroy, and space garbage cannot be formed.
In summary, the above embodiments have described the satellite propulsion module and the separation method thereof in detail, and it is understood that the present invention includes, but is not limited to, the configurations listed in the above embodiments, and any modifications based on the configurations provided by the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (12)
1. A satellite propulsion module, comprising:
the satellite propulsion main power system is configured to provide the whole satellite of the main satellite with orbit entering and orbit determining power and provide the satellite propulsion module with separation power;
a module separation control system configured to control separation of the satellite propulsion module from the master satellite and to autonomously control the satellite propulsion module after separation;
a housing configured to house the satellite propulsion main power system and the module separation control system.
2. The satellite propulsion module of claim 1, wherein the housing is a cuboid and is formed by splicing a plurality of solar cells.
3. The satellite propulsion module of claim 2, wherein the main satellite propulsion power system includes a propellant tank and a thruster;
the propellant storage box is accommodated in the shell, and the thruster is embedded into the bottom surface of the cuboid.
4. The satellite propulsion module of claim 3, wherein when the satellite propulsion module powers the entire main satellite, the module separation control system is connected to a satellite service platform of the main satellite, and the satellite service platform controls the thrust direction and the thrust magnitude of the thruster through the module separation control system to perform main satellite orbit control;
when the satellite propulsion module provides power for the whole main satellite, the main satellite supplies power for the module separation control system;
and after the satellite propulsion module is separated from the main satellite, the module separation control system is disconnected with the satellite service platform.
5. The satellite propulsion module of claim 4, wherein the module separation control system monitors the fuel remaining in the propellant tank while the satellite propulsion module is powering the entire star of the primary star;
the module separation control system calculates fuel required by the satellite propulsion module to be out of orbit in real time according to the current orbit of the main satellite;
and the module separation control system calculates the separation time of the satellite propulsion module and the main satellite according to the fuel allowance and the required fuel.
6. The satellite propulsion module of claim 3, wherein the module separation control system autonomously controls a thrust direction and a thrust magnitude of the thruster to adjust an attitude of the satellite propulsion module and propel the satellite propulsion module to a safe orbit after the satellite propulsion module is separated from the main satellite.
7. The satellite propulsion module of claim 6, wherein different ones of the solar cells each collect their own inter-satellite illumination differential information and send the inter-satellite illumination differential information to the module separation control system;
and the module separation control system calculates the current attitude of the satellite propulsion module according to the plurality of inter-satellite illumination difference information so as to adjust the attitude.
8. The satellite propulsion module of claim 6, further comprising:
a navigation module configured to determine an orbit in which the satellite propulsion module is currently located and transmit the orbit to the module separation control system;
and the module separation control system performs orbit control according to the orbit of the satellite propulsion module so as to push the satellite propulsion module to the safe orbit.
9. The satellite propulsion module of claim 2, further comprising:
a lithium battery pack configured to provide power to the module separation control system;
when the satellite propulsion module provides power for the whole satellite of the main satellite, the main satellite charges the lithium battery pack;
after the satellite propulsion module is separated from the main satellite, the solar cell is used for charging the lithium battery pack.
10. A method of separating satellite propulsion modules, comprising:
after the satellite propulsion module is separated from the main satellite, a main satellite propulsion power system which originally provides the whole satellite of the main satellite with orbit entering and orbit determining power provides separation power for the satellite propulsion module;
the module separation control system controls the separation of the satellite propulsion module and the main satellite;
and the satellite propulsion module enters a safe orbit after being separated from the main satellite.
11. The method of separating satellite propulsion modules as claimed in claim 10, further comprising:
the module separation control system judges whether the fuel allowance of the propeller storage tank is sufficient, if yes, a main satellite propulsion instruction is received, and the step continues to return to the previous step, and if not, the separation mode is entered;
under the separation mode, the module separation control system autonomously controls the satellite propulsion module to deviate from the orbit of the current main satellite;
and the module separation control system judges whether the satellite propulsion module is in an illumination area, if so, positions and orbits and decelerates until the satellite propulsion module enters a safe orbit, and if not, the previous step is returned.
12. A satellite system comprising a plurality of satellite propulsion modules as claimed in any one of claims 1 to 9.
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| CN202010801847.5A CN111891391B (en) | 2020-08-11 | 2020-08-11 | Satellite propulsion module and separation method thereof |
| CN202110294710.XA CN112937917B (en) | 2020-08-11 | 2020-08-11 | Separation method of satellite propulsion module and satellite system |
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| CN113353288A (en) * | 2021-06-03 | 2021-09-07 | 中国科学院软件研究所 | Structure for software defined satellite |
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| CN114229040A (en) * | 2021-12-17 | 2022-03-25 | 中国长城工业集团有限公司 | Separable independent propulsion cabin system |
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| CN103129751A (en) * | 2013-01-18 | 2013-06-05 | 上海卫星工程研究所 | Design method and system of spacecraft based on split-type configuration |
| CN110104214A (en) * | 2019-04-25 | 2019-08-09 | 北京控制工程研究所 | A kind of in-orbit separable satellite booster service system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113353288A (en) * | 2021-06-03 | 2021-09-07 | 中国科学院软件研究所 | Structure for software defined satellite |
| CN113353288B (en) * | 2021-06-03 | 2024-04-19 | 中国科学院软件研究所 | Structure for software-defined satellite |
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| Publication number | Publication date |
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| CN111891391B (en) | 2021-04-09 |
| CN112937917B (en) | 2023-03-24 |
| CN112937917A (en) | 2021-06-11 |
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