CN113148080A - Underwater detection robot - Google Patents
Underwater detection robot Download PDFInfo
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- CN113148080A CN113148080A CN202110564899.XA CN202110564899A CN113148080A CN 113148080 A CN113148080 A CN 113148080A CN 202110564899 A CN202110564899 A CN 202110564899A CN 113148080 A CN113148080 A CN 113148080A
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- cabin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater exploration robot which comprises a main cabin module, a dorsal fin, a signal transmitting and receiving device, a motor and an acrylic glass cover, wherein a searchlight is installed on the rear side surface of the main cabin module, the dorsal fin is arranged on the left side of the searchlight, one end of the dorsal fin is connected with the main cabin module, the signal transmitting and receiving device is arranged on the left side of the dorsal fin, one end of the signal transmitting and receiving device is connected with the main cabin module, the motor is fixed in a tail cabin, second three propelling devices are installed on the front side and the rear side of the main cabin module, each second three propelling device consists of a second propeller, a second paddle cover, a second fixing support and a rotating connecting rod, and the second propeller is connected with the motor through a rotating shaft. Compared with the traditional frame type underwater robot, the underwater robot of the underwater detection robot has the advantages that due to the adoption of the streamline-shaped appearance, the received water resistance is small, the propelling efficiency is high, and the cruising speed can be higher.
Description
Technical Field
The invention relates to the technical field of underwater equipment, in particular to an underwater detection robot.
Background
With the continuous development of society, the science and technology of China also continuously develops, the development and utilization of various resources cannot be avoided in the development process, and people are attentively oriented to the deep ocean today when land resources are gradually exhausted, and except for manycomb, deep-sea oil gas, marine aquatic resources, hydrothermal deposits and the currently most popular natural gas hydrate in the seabed world, so that mechanical equipment is required to go deep underwater for engineering investigation, aquatic organism tracking, data acquisition and underwater operation.
Various underwater equipment such as underwater robots all need to consider the installation problem of parts such as various instruments and electronic circuits and the problem of the whole portability of the robot when designing, most of the existing underwater robots are designed integrally, and the existing underwater robots are insufficient in portability and transportability.
The traditional underwater robot has a fixed structure, functions and application range are often determined at the beginning of design, certain limitations exist, the limitations of single structural form, limited application range, difficult installation and maintenance, limited application range and the like exist, and with the continuous promotion of ocean development process, the underwater robot with high adaptability in different environments and different tasks has higher requirements.
Therefore, the underwater detection robot can well solve the problems.
Disclosure of Invention
The invention aims to provide an underwater detection robot, and aims to solve the problems that the existing underwater robot in the market has single functional load, cannot realize multi-task operation and is inconvenient to transport and carry.
In order to achieve the purpose, the invention provides the following technical scheme: an underwater exploration robot comprises a main cabin module, a dorsal fin, a signal transmitting and receiving device, a motor and an acrylic glass cover, wherein a searchlight is installed on the rear side surface of the main cabin module, the dorsal fin is arranged on the left side of the searchlight, one end of the dorsal fin is connected with the main cabin module, the signal transmitting and receiving device is arranged on the left side of the dorsal fin, one end of the signal transmitting and receiving device is connected with the main cabin module, the motor is fixed in a tail cabin, second three propelling devices are installed on the front side and the rear side of the main cabin module respectively, each second three propelling device comprises a second propeller, a second paddle cover, a second fixing support and a rotating connecting rod, the second propeller is connected with the motor through a rotating shaft, the second three propelling devices are connected with the main cabin module through the rotating connecting rod, the second paddle cover is fixed outside the main cabin module through the second fixing support, inferior gram force glass cover is installed on the right side of main cabin module, and the internally mounted of inferior gram force glass cover has photography platform, photography platform includes GPS positioner and camera, and is connected with GPS positioner through the draw-in groove on the photography platform to the camera is located the head cabin of main cabin module inside, rotatory connecting rod is located head cabin bilateral symmetry and distributes.
Preferably, the main cabin module comprises a head cabin, a connection cabin and a tail cabin, the connection cabin is installed on the left side of the head cabin through a buckle body, the tail cabin is fixed on the left side of the connection cabin through the buckle body, the left end of the tail cabin is connected with the first propulsion device, the main cabin module is designed in a streamlined body shape, a main control board is installed inside the connection cabin, a motor and a battery cabin are installed inside the tail cabin, and one side of the motor is connected with the battery cabin.
Preferably, the buckle body comprises buckle head, slab bridge and fixed screw, and the slab bridge is installed to the one end of buckle head, and the top of slab bridge is fixed with the fixed screw.
Preferably, the first propulsion device comprises a first propeller, a first blade cover and a first fixed support, the first propeller is mounted inside the first blade cover, the right end of the first blade cover is connected with the first fixed support, the first propeller is connected with the motor through a rotating shaft, and the first blade cover is fixed outside the main cabin module through the first fixed support.
Preferably, the battery compartment comprises a battery pack and a conductive column, and the conductive column is mounted inside the battery pack.
Preferably, the main control board is internally provided with a wireless communication chip, an image processing chip, a storage and a main chip.
Preferably, the second propeller is fixed in a cylindrical shape with an upper opening and a lower opening.
Preferably, the acrylic glass cover is in a transparent spherical structure, and the diameter of the acrylic glass cover is smaller than the height of the head cabin.
Compared with the prior art, the invention has the beneficial effects that: the underwater detection robot;
(1) compared with the traditional frame type underwater robot, the underwater robot adopts the streamline appearance design, so that the underwater robot is small in water resistance and high in propelling efficiency, the cruising speed is higher, the efficiency is improved, and the time is shortened;
(2) the underwater robot provided by the invention carries a power supply system, can realize relatively long navigation and has a relatively long endurance function; the detachable split design is adopted, the installation is simple, the carrying is convenient, the rapid replacement of the function modularization can be realized, and the device is suitable for multiple scenes;
(3) the underwater robot provided by the invention is provided with a wireless communication system, a signal transmitting and receiving device is arranged on the underwater robot and can transmit signals to a main chip of a control module, and the main chip transmits wireless signals to a driving device of each module, so that the control and man-machine interaction of the whole robot are realized, and the stability is strong.
Drawings
FIG. 1 is a schematic view of an underwater detection robot according to the present invention;
FIG. 2 is a schematic sectional view of an underwater detection robot according to the present invention;
FIG. 3 is a schematic view of a main deck connection buckle structure of the present invention;
FIG. 4 is a schematic view of a first propulsion device according to the present invention;
FIG. 5 is a schematic view of the structure of the motor and the battery compartment of the present invention;
FIG. 6 is a schematic diagram of a main control panel structure according to the present invention;
FIG. 7 is a schematic view of a second propulsion device according to the present invention;
FIG. 8 is a schematic view of a photography platform according to the present invention.
In the figure: 1. a main deck module; 1-1, a head cabin; 1-2, connecting a cabin; 1-3, a tail cabin; 2. a searchlight; 3. a dorsal fin; 4. a signal transmitting and receiving device; 5. a buckle body; 5-1, a buckle head; 5-2, a plate bridge; 5-3, fixing screws; 6. a first propulsion device; 6-1, a first propeller; 6-2, a first blade cover; 6-3, a first fixed bracket; 7. a motor; 8. a battery compartment; 8-1, a battery pack; 8-2, conducting posts; 9. a main control board; 9-1, a wireless communication chip; 9-2, an image processing chip; 9-3, a storage; 9-4, a main chip; 10. a second third propulsion device; 10-1, a second propeller; 10-2, a second blade cover; 10-3, a second fixed bracket; 10-4, a rotating connecting rod; 11. a photography platform; 11-1, a GPS positioning device; 11-2, a camera; 12. acrylic glass cover.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides a technical solution: an underwater detection robot comprises a main cabin module 1, a head cabin 1-1, a connecting cabin 1-2, a tail cabin 1-3, a searchlight 2, a dorsal fin 3, a signal transmitting and receiving device 4, a buckle body 5, a buckle head 5-1, a plate bridge 5-2, a fixing screw 5-3, a first propulsion device 6, a first propeller 6-1, a first blade cover 6-2, a first fixing support 6-3, a motor 7, a battery cabin 8, a battery pack 8-1, a conductive column 8-2, a main control plate 9, a wireless communication chip 9-1, an image processing chip 9-2, a storage 9-3, a main chip 9-4, a second three-propulsion device 10, a second propeller 10-1, a second blade cover 10-2, a second fixing support 10-3 and a rotary connecting rod 10-4, The rear side surface of a main cabin module 1 is provided with a searchlight 2, the left side of the searchlight 2 is provided with a dorsal fin 3, one end of the dorsal fin 3 is connected with the main cabin module 1, the left side of the dorsal fin 3 is provided with a signal transmitting and receiving device 4, one end of the signal transmitting and receiving device 4 is connected with the main cabin module 1, a motor 7 is fixed in the tail cabin 1-3, the front side and the rear side of the main cabin module 1 are both provided with a second three propulsion device 10, the second three propulsion device 10 consists of a second propeller 10-1, a second paddle cover 10-2, a second fixed support 10-3 and a rotating connecting rod 10-4, the second propeller 10-1 is connected with the motor 7 through a rotating shaft, the second three propulsion device 10 is connected with the main cabin module 1 through the rotating connecting rod 10-4, the second paddle cover 10-2 is fixed outside the main cabin module 1 through a second fixing support 10-3, an acrylic glass cover 12 is installed on the right side of the main cabin module 1, a photographing platform 11 is installed inside the acrylic glass cover 12, the photographing platform 11 comprises a GPS positioning device 11-1 and a camera 11-2, the photographing platform 11 is connected with the GPS positioning device 11-1 through a clamping groove, the camera 11-2 is located inside the head cabin 1-1 of the main cabin module 1, and the rotary connecting rods 10-4 are symmetrically distributed on two sides of the head cabin 1-1;
the main cabin module 1 consists of a head cabin 1-1, a connecting cabin 1-2 and a tail cabin 1-3, the connecting cabin 1-2 is installed on the left side of the head cabin 1-1 through a buckle body 5, the tail cabin 1-3 is fixed on the left side of the connecting cabin 1-2 through the buckle body 5, the left end of the tail cabin 1-3 is connected with a first propelling device 6, the main cabin module 1 is in a streamlined body shape design, a main control board 9 is installed inside the connecting cabin 1-2, a motor 7 and a battery cabin 8 are installed inside the tail cabin 1-3, and one side of the motor 7 is connected with the battery cabin 8, so that the disassembly and splicing of the head cabin 1-1, the connecting cabin 1-2 and the tail cabin 1-3 are facilitated through the buckle body 5, and the transportation and carrying work of the whole device is facilitated;
the buckle body 5 consists of a buckle head 5-1, a slab bridge 5-2 and a fixing screw 5-3, the slab bridge 5-2 is arranged at one end of the buckle head 5-1, the fixing screw 5-3 is fixed above the slab bridge 5-2, and a plurality of cabin bodies are conveniently arranged through the buckle body 5;
the first propulsion device 6 consists of a first propeller 6-1, a first blade cover 6-2 and a first fixed support 6-3, the first propeller 6-1 is installed inside the first blade cover 6-2, the right end of the first blade cover 6-2 is connected with the first fixed support 6-3, the first propeller 6-1 is connected with a motor 7 through a rotating shaft, and the first blade cover 6-2 is fixed outside the main cabin module 1 through the first fixed support 6-3 and further used for protecting the propeller and pushing the whole machine to move forwards and backwards;
the battery compartment 8 consists of a battery pack 8-1 and a conductive column 8-2, and the conductive column 8-2 is arranged in the battery pack 8-1, so that the battery compartment 8 can supply power to the whole device conveniently;
the main control board 9 is internally provided with a wireless communication chip 9-1, an image processing chip 9-2, a storage 9-3 and a main chip 9-4, so that the main control board 9 can conveniently transmit and receive signals;
the second propeller 10-1 is fixed in a cylindrical shape with an upper opening and a lower opening, and the second propeller 10-1 is fixed in a cylindrical shape with an upper opening and a lower opening, so that the second propeller 10-1 can work well;
the acrylic glass cover 12 is in a transparent spherical structure, and the diameter of the acrylic glass cover 12 is smaller than the height of the head cabin 1-1, so that the acrylic glass cover 12 protects the photographing platform 11.
The working principle is as follows: when the underwater detection robot is used, firstly, the whole underwater detection robot is moved into a working area, a plurality of functional modules are installed through the buckle body 5 after arriving at the working area, then the underwater detection robot can be used, the motor 7 can be supplied with power through the battery cabin 8, the power supply among all the module cabins adopts 36V, the electric charge output by the battery cabin 8 is transmitted to each module cabin through a lead, meanwhile, a conductive copper column and a lead are arranged in each module cabin and are used for being connected with a stainless steel electric column in the same cabin, a power supply loop is realized, as shown in figure 5, the on-off of the power supply of the whole machine is realized by a high-density lithium battery pack 8-1 in the battery cabin 8 under the control of a main control board 9, the electric energy flows to all the module cabins through a stainless steel conductive column 8-2 to provide the electric energy for the whole machine, the rapid replacement of the battery cabin 8-1 can be realized through the modularized design, the cruising ability of the underwater robot is greatly improved, the quick battery replacement and the capacity expansion of the battery cabin can be realized by the design of the independent battery cabin 8-1, the cruising time of the underwater robot is greatly improved, and the back fin 3 and four tail fins which are symmetrically distributed at the tail part play the roles of flow guiding and balancing when the propelling device provides power;
the arrangement of the first propulsion device 6 and the second propulsion device 10 can realize 180-degree rotation, and provides the functions of steering, suspension and power propulsion when necessary, then the communication module comprises a signal transmitting and receiving device 4 and a searchlight 2, the searchlight 2 of the communication module is fixed at the top of a head cabin 1-1 of the main cabin module 1, the signal transmitting and receiving device 4 is used for recording data of a transmitting underwater robot GPS positioning module, a depth sensor and a temperature sensor and images shot by a real-time transmission camera, and receiving a working instruction sent by an operator and transmitting the working instruction to the control module;
the main control board 9 generates driving control signals of each module cabin according to received remote control signals, controls the movement of the whole machine, simultaneously transmits signals returned by each module cabin to a receiving station, a wireless communication chip 9-1, an image processing chip 9-2, a storage 9-3, a main chip 9-4 is centralized on the main control board 9, wherein a signal transmitting and receiving device 4 transmits the signals to the main chip 9-4 through a lead after receiving the signals and then transmits the signals to the wireless communication chip 9-1, the image processing chip 9-2 processes image information after external information is shot by a camera 11-2 and then transmits the image information to the main chip 9-4 through a guide plate, the storage 9-3 buffers and converts various information therein, after an operator sends a wireless instruction, the signals are obtained by the signal transmitting and receiving device 4, a wireless communication and motor 7 driving circuit is arranged in each module cabin and is used for receiving driving control signals sent by the signal transmitting and receiving device 4 so as to control each module cabin to work and realize the functions of navigation attitude, navigation speed, steering and the like of the underwater robot,
the control module is positioned in a connecting cabin 1-2 of the main cabin module 1 and used for generating a driving control signal of each module cabin according to a remote control signal received by the signal receiving device to control the movement of the whole machine, the photographing platform 11 comprises a GPS positioning device 11-1 and a camera 11-2, the GPS positioning device 11-1 is arranged on the photographing platform 11 through a clamping groove, the signal is transmitted with a main control board 9 of the control module through a wire and is processed by a main chip 9-4, the camera 11 is positioned in the head cabin 1-1 of the main cabin 1 and used for acquiring a visual angle in front of the underwater robot and accessing a video signal to the main control board 9 of the control module through a stainless steel conductive column 8-2; the video signal is transmitted to a screen of a ground station in a wireless mode, a control signal on the ground station is received and input into a main control board 9 of a control module through a signal transmitting and receiving device 4, an image processing chip 9-2 is used for analyzing and processing, a spherical acrylic glass cover 12 is arranged at the front end of a main cabin and used for protecting a camera 11-2, the camera 11-2 shoots related detected images through a transparent glass cover, two symmetrically distributed searchlights 2 are arranged at the top of the main cabin 1-1, the visual field of the camera 11-2 during shooting is enlarged, and the illumination effect is provided.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides an underwater detection robot, includes main cabin module (1), dorsal fin (3), signal transmission receiving arrangement (4), motor (7) and ya keli glass cover (12), its characterized in that: the rear side surface of the main cabin module (1) is provided with a searchlight (2), the left side of the searchlight (2) is provided with a dorsal fin (3), one end of the dorsal fin (3) is connected with the main cabin module (1), the left side of the dorsal fin (3) is provided with a signal transmitting and receiving device (4), one end of the signal transmitting and receiving device (4) is connected with the main cabin module (1), the motor (7) is fixed in the tail cabin (1-3), the front side and the rear side of the main cabin module (1) are both provided with a second three propulsion device (10), the second three propulsion device (10) is composed of a second propeller (10-1), a second paddle cover (10-2), a second fixed support (10-3) and a rotating connecting rod (10-4), and the second propeller (10-1) is connected with the motor (7) through a rotating shaft, the second third propelling device (10) is connected with the main cabin module (1) through a rotating connecting rod (10-4), the second paddle cover (10-2) is fixed outside the main cabin module (1) through a second fixing support (10-3), the acrylic glass cover (12) is installed on the right side of the main cabin module (1), and a photographic platform (11) is arranged in the acrylic glass cover (12), the photographic platform (11) comprises a GPS positioning device (11-1) and a camera (11-2), the shooting platform (11) is connected with a GPS positioning device (11-1) through a card slot, and the camera (11-2) is positioned inside the head cabin (1-1) of the main cabin module (1), and the rotating connecting rods (10-4) are positioned on two sides of the head cabin (1-1) and symmetrically distributed.
2. An underwater exploration robot as claimed in claim 1, wherein: the main cabin module (1) is composed of a head cabin (1-1), a connecting cabin (1-2) and a tail cabin (1-3), the connecting cabin (1-2) is installed on the left side of the head cabin (1-1) through a buckle body (5), the tail cabin (1-3) is fixed on the left side of the connecting cabin (1-2) through the buckle body (5), the left end of the tail cabin (1-3) is connected with a first propelling device (6), the main cabin module (1) is designed in a streamlined body shape, a main control board (9) is installed inside the connecting cabin (1-2), a motor (7) and a battery cabin (8) are installed inside the tail cabin (1-3), and one side of the motor (7) is connected with the battery cabin (8).
3. An underwater exploration robot as claimed in claim 2, wherein: the buckle body (5) is composed of a buckle head (5-1), a plate bridge (5-2) and a fixing screw (5-3), the plate bridge (5-2) is installed at one end of the buckle head (5-1), and the fixing screw (5-3) is fixed above the plate bridge (5-2).
4. An underwater exploration robot as claimed in claim 2, wherein: the first propulsion device (6) is composed of a first propeller (6-1), a first blade cover (6-2) and a first fixing support (6-3), the first propeller (6-1) is installed inside the first blade cover (6-2), the right end of the first blade cover (6-2) is connected with the first fixing support (6-3), the first propeller (6-1) is connected with the motor (7) through a rotating shaft, and the first blade cover (6-2) is fixed outside the main cabin module (1) through the first fixing support (6-3).
5. An underwater exploration robot as claimed in claim 2, wherein: the battery compartment (8) is composed of a battery pack (8-1) and a conductive column (8-2), and the conductive column (8-2) is installed inside the battery pack (8-1).
6. An underwater exploration robot as claimed in claim 2, wherein: the main control board (9) is internally provided with a wireless communication chip (9-1), an image processing chip (9-2), a storage (9-3) and a main chip (9-4).
7. An underwater exploration robot as claimed in claim 1, wherein: the second propeller (10-1) is fixed in a cylindrical shape with an upper opening and a lower opening.
8. An underwater exploration robot as claimed in claim 1, wherein: the acrylic glass cover (12) is arranged in a transparent spherical structure, and the diameter of the acrylic glass cover (12) is smaller than the height of the head cabin (1-1).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021102617379 | 2021-03-10 | ||
| CN202110261737.9A CN112722219A (en) | 2021-03-10 | 2021-03-10 | Underwater detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113148080A true CN113148080A (en) | 2021-07-23 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110261737.9A Pending CN112722219A (en) | 2021-03-10 | 2021-03-10 | Underwater detection robot |
| CN202110564899.XA Withdrawn CN113148080A (en) | 2021-03-10 | 2021-05-24 | Underwater detection robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110261737.9A Pending CN112722219A (en) | 2021-03-10 | 2021-03-10 | Underwater detection robot |
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| CN (2) | CN112722219A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232807A (en) * | 2021-06-02 | 2021-08-10 | 西湖大学 | Multi-propulsion-mode bionic robot fish |
| CN114102616A (en) * | 2021-10-19 | 2022-03-01 | 温州理工学院 | Underwater inspection robot based on remote intelligent control |
-
2021
- 2021-03-10 CN CN202110261737.9A patent/CN112722219A/en active Pending
- 2021-05-24 CN CN202110564899.XA patent/CN113148080A/en not_active Withdrawn
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| CN112722219A (en) | 2021-04-30 |
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Application publication date: 20210723 |
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