CN114559826B - Traveling type vehicle wireless charging system - Google Patents
Traveling type vehicle wireless charging system Download PDFInfo
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- CN114559826B CN114559826B CN202210263123.9A CN202210263123A CN114559826B CN 114559826 B CN114559826 B CN 114559826B CN 202210263123 A CN202210263123 A CN 202210263123A CN 114559826 B CN114559826 B CN 114559826B
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- vehicle wireless
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- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000003993 interaction Effects 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 18
- 230000000295 complement effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000005431 greenhouse gas Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010792 warming Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00016—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using a wired telecommunication network or a data transmission bus
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to the technical field of new energy, in particular to a traveling vehicle wireless charging system, which comprises a primary side system; the primary side system comprises a plurality of groups of power supply components, wherein each power supply component comprises a total monitoring board, a plurality of sub-control nodes, an inversion source and a detection system, wherein the inversion source and the detection system correspond to the sub-control nodes; the master monitoring board and the sub-control nodes of the plurality of blocks form a data network, and the sub-control nodes are controlled and the data collected by the detection system are acquired; the sub-control node controls the inversion source to supply power; the invention provides a practical high-precision charging control method for traveling wireless charging, which can start the charging function of a corresponding charging road section according to the running direction and state of a vehicle, and control the vehicle to charge a battery or supply power to a vehicle power system by using a wireless charging receiving device according to the SOC of the vehicle battery and the power consumption requirement of a motor.
Description
Technical Field
The invention relates to the technical field of new energy, in particular to a wireless charging system for a traveling vehicle.
Background
The limited petroleum resources on the earth at present protect the natural environment on which human beings depend to live, reduce the emission of greenhouse gases and inhibit global climate warming, which has become a common problem facing various countries. New energy electric vehicles represented by electric vehicles have the characteristics of zero (low) pollutant emission, low noise, high energy efficiency, low maintenance and operation cost and the like, and the new energy electric vehicles have come to be in explosive growth, and along with the application of computer control technology to the electric vehicles, the intelligent trend of the vehicles has been greatly developed. However, the problem of difficult charging of electric vehicles is increasingly prominent due to factors such as charging efficiency, storage capacity of rechargeable batteries, charging stations and the like.
At present, the electric automobile is charged mainly in a conduction type, and a charging gun is required to be manually plugged and unplugged and a charger is required to be operated to charge the electric automobile. At present, a battery pack of an electric automobile mainly depends on a charging pile and is charged in a wired manner, however, the convenience and the universality of the wired charging manner are limited to a certain extent. Therefore, the existing electric automobile can be charged by wireless charging.
The dynamic wireless charging technology is also called a travelling wireless charging technology, namely, a charging coil and a transmitting circuit are embedded below the road surface of a running automobile, and the automobile which travels on the road surface and comprises a receiving coil and a receiving circuit is charged in an electric energy wireless transmission mode.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: a traveling vehicle wireless charging system is provided.
In order to solve the technical problems, the invention adopts the following technical scheme:
a wireless charging system of a traveling vehicle comprises a primary side system;
the primary side system comprises a plurality of groups of power supply components, wherein each power supply component comprises a total monitoring board, a plurality of sub-control nodes, an inversion source and a detection system, wherein the inversion source and the detection system correspond to the sub-control nodes;
the master monitoring board and the sub-control nodes of the plurality of blocks form a data network, and the sub-control nodes are controlled and the data collected by the detection system are acquired;
and the sub-control node controls the inversion source to supply power.
Preferably, the traveling vehicle wireless charging system comprises a cloud platform;
the primary side system comprises a first communication module, and the primary side system performs data interaction with the cloud platform through the first communication module.
Preferably, the traveling vehicle wireless charging system comprises a remote data monitoring center;
the primary side system comprises a second communication module, and the primary side system performs data interaction with a remote data monitoring center through the second communication module.
Preferably, the first communication module is a CSM module, and the second communication module is a data transmission station.
Preferably, the detection system comprises a temperature monitoring module, and the temperature monitoring module carries out multi-point monitoring on the temperature of the primary side system.
Preferably, the detection system includes a radar monitoring module that detects the position and form direction of a vehicle that is powered by the primary side system.
Preferably, the power supply assembly further comprises a transmitting end guide rail, and the transmitting end guide rail is electrically connected with the inversion source.
Preferably, the master monitoring board comprises a primary side control circuit for generating a driving signal of the inverter circuit, a main controller and a man-machine interaction interface; the driving signal is sent to a sub-control node, the sub-control node controls the work of the inversion source according to the driving signal, and the control circuit collects the voltage and the current output by the inversion source and inputs the voltage and the current into the main controller after adjustment;
and the main controller analyzes the input information and transmits the information to the human-computer interaction interface.
Preferably, the main controller comprises a DSP module and an ARM module;
the DSP module analyzes the input information to be used as a judgment basis of an inversion waveform and a protection basis of overvoltage and overcurrent of an IGBT switch tube in the main control circuit;
and the ARM module transmits the input information to the human-computer interaction interface.
Preferably, the drive signals are complementary PWM signals.
The invention has the beneficial effects that: the invention provides a practical high-precision charging control method for traveling wireless charging, which can start the charging function of a corresponding charging road section according to the running direction and state of a vehicle, and control the vehicle to charge a battery or supply power to a vehicle power system by using a wireless charging receiving device according to the SOC of the vehicle battery and the power consumption requirement of a motor.
Drawings
FIG. 1 is a system block diagram of a primary side system of a wireless charging system for a traveling vehicle in accordance with an embodiment of the present invention;
fig. 2 is a diagram of a power distribution system of a wireless charging system for a traveling vehicle according to an embodiment of the present invention.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Examples
Referring to fig. 1 and 2, a traveling vehicle wireless charging system (WPT) includes a primary side system;
the primary side system comprises a plurality of groups of power supply components, wherein each power supply component comprises a main monitoring board (MASTER), a plurality of sub-control nodes (SLAVEs), an inversion source corresponding to the sub-monitoring nodes and a detection system;
the master monitoring board and the sub-control nodes of the plurality of blocks form a data network, and the sub-control nodes are controlled and the data collected by the detection system are acquired;
and the sub-control node controls the inversion source to supply power.
The traveling vehicle wireless charging system comprises a cloud platform;
the primary side system comprises a first communication module, and the primary side system performs data interaction with the cloud platform through the first communication module.
The traveling vehicle wireless charging system comprises a remote data monitoring center;
the primary side system comprises a second communication module, and the primary side system performs data interaction with a remote data monitoring center through the second communication module.
The first communication module is a CSM module, and the second communication module is a data transmission station.
The detection system comprises a temperature monitoring module, and the temperature monitoring module carries out multipoint monitoring on the temperature of the primary side system.
The detection system comprises a radar monitoring module, and the radar monitoring module detects the position and the form direction of a vehicle powered by the primary side system.
The power supply assembly further comprises a transmitting end guide rail, and the transmitting end guide rail is electrically connected with the inversion source.
The master monitoring board comprises a primary side control circuit for generating a driving signal of the inverter circuit, a main controller and a man-machine interaction interface; the driving signal is sent to a sub-control node, the sub-control node controls the work of the inversion source according to the driving signal, and the control circuit collects the voltage and the current output by the inversion source and inputs the voltage and the current into the main controller after adjustment;
and the main controller analyzes the input information and transmits the information to the human-computer interaction interface.
The main controller comprises a DSP module and an ARM module;
the DSP module analyzes the input information to be used as a judgment basis of an inversion waveform and a protection basis of overvoltage and overcurrent of an IGBT switch tube in the main control circuit;
and the ARM module transmits the input information to the human-computer interaction interface.
The drive signals are complementary PWM signals.
Wherein,
the MASTER board is used as a data interaction center node of the WPT system ground part and has the following functions:
a. local networking is carried out by connecting with other SLAVE nodes through a CAN bus, so that information summarization and total control are realized,
b. Data interaction is carried out between the CSM module and the cloud platform,
C. Data interaction is carried out between the data transmission radio station and a remote data monitoring center,
d. Measuring alternating current and direct current, and adopting a capacitive direct current power supply scheme;
the SLAVE board is used as a data interaction relay node of the WPT system ground part, and has the following functions:
a. the local networking is carried out with the rest SLAVE node and MASTER node through a CAN bus to realize information summarization and overall control,
b. The corresponding inversion source is controlled independently to form a control of an independent power system for the charging wire with unit length,
c. A temperature measuring system and a radar receiving system are arranged on the digital bus, and an independent power supply is provided for the system,
d. The vehicle-mounted radar is matched with the radar receiving system to realize vehicle position detection and vehicle identification;
3. the temperature monitoring module is used for carrying out multipoint temperature monitoring on the key position of the transmitting end and matching with the rest part to enable the transmitting end to work in a certain temperature range; interfacing with the SLAVE board via the RS485 bus, DC24 power is provided by SLAVE.
4. The radar monitoring module comprises a ground radar system composed of a plurality of radars, and is matched with a vehicle-mounted radar to realize detection of the position and the form direction of the vehicle; interfacing with the SLAVE board via the RS485 bus, DC24 power is provided by SLAVE.
5. The data transmission radio station performs data transmission with the remote monitoring center; and the DC24V power supply is independently connected with the MASTER board through an RS232 interface.
6. The inversion source is the energy source of the ground emission end guide rail, and is controlled to be in butt joint with the corresponding SLAVE board through a digital interface. The primary side control circuit is the core of the control part and is used for generating driving signals of the inverter circuit, namely two paths of complementary PWM signals, collecting high-frequency voltage and current output by inversion, conditioning the high-frequency voltage and current and inputting the high-frequency voltage and current to the main controller. The DSP+ARM of the main controller analyzes the input signals as the judgment basis of inversion waveforms and the protection basis of overvoltage and overcurrent of the IGBT switch tube, wherein the DSP (28335) (digital signal processing) is mainly responsible for data operation and algorithm closed-loop control, and the ARM is mainly responsible for liquid crystal display, man-machine interaction interface and the like. Closed loop control is realized. The primary side control circuit also comprises an indicator lamp and a relay control and switching value detection circuit.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (8)
1. A traveling vehicle wireless charging system, comprising a primary side system;
the primary side system comprises a plurality of groups of power supply components, wherein each power supply component comprises a total monitoring board, a plurality of sub-control nodes, an inversion source and a detection system, wherein the inversion source and the detection system correspond to the sub-control nodes;
the master monitoring board and the sub-control nodes of the plurality of blocks form a data network, and the sub-control nodes are controlled and the data collected by the detection system are acquired;
the sub-control node controls the inversion source to supply power;
the master monitoring board comprises a primary side control circuit for generating a driving signal of the inverter circuit, a main controller and a man-machine interaction interface; the driving signal is sent to a sub-control node, the sub-control node controls the work of the inversion source according to the driving signal, and the control circuit collects the voltage and the current output by the inversion source and inputs the voltage and the current into the main controller after adjustment;
the main controller analyzes the input information and transmits the information to the human-computer interaction interface;
the main controller comprises a DSP module and an ARM module;
the DSP module analyzes the input information to be used as a judgment basis of an inversion waveform and a protection basis of overvoltage and overcurrent of an IGBT switch tube in the main control circuit;
and the ARM module transmits the input information to the human-computer interaction interface.
2. The traveling vehicle wireless charging system of claim 1, wherein the traveling vehicle wireless charging system comprises a cloud platform;
the primary side system comprises a first communication module, and the primary side system performs data interaction with the cloud platform through the first communication module.
3. The traveling vehicle wireless charging system of claim 2, wherein the traveling vehicle wireless charging system comprises a remote data monitoring center;
the primary side system comprises a second communication module, and the primary side system performs data interaction with a remote data monitoring center through the second communication module.
4. A marching vehicle wireless charging system according to claim 3, wherein the first communication module is a CSM module and the second communication module is a data transfer station.
5. The traveling vehicle wireless charging system of claim 1, wherein the detection system comprises a temperature monitoring module that performs multi-point monitoring of a temperature of a primary side system.
6. The traveling vehicle wireless charging system of claim 1, wherein the detection system comprises a radar monitoring module that detects a position and a formal direction of a vehicle that is powered by the primary side system.
7. The traveling vehicle wireless charging system of claim 1, wherein the power assembly further comprises a transmitting end rail electrically connected to the inverter source.
8. The traveling vehicle wireless charging system of claim 1, wherein the drive signals are complementary PWM signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210263123.9A CN114559826B (en) | 2022-03-17 | 2022-03-17 | Traveling type vehicle wireless charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210263123.9A CN114559826B (en) | 2022-03-17 | 2022-03-17 | Traveling type vehicle wireless charging system |
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| Publication Number | Publication Date |
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| CN114559826A CN114559826A (en) | 2022-05-31 |
| CN114559826B true CN114559826B (en) | 2023-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210263123.9A Active CN114559826B (en) | 2022-03-17 | 2022-03-17 | Traveling type vehicle wireless charging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115296367B (en) * | 2022-08-10 | 2024-07-09 | 重庆唐古拉科技有限公司 | Control system and method for cross charging of wireless charging equipment |
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|---|---|---|---|---|
| KR20160145334A (en) * | 2015-06-10 | 2016-12-20 | 삼성전자주식회사 | Wireless power transceiver |
| CN106597084A (en) * | 2016-12-12 | 2017-04-26 | 广州汽车集团股份有限公司 | Testing system for electric vehicle's wireless power charging system |
| CN112277669A (en) * | 2020-11-06 | 2021-01-29 | 湖北工业大学 | Segmented coil type electric automobile dynamic wireless charging system and method |
| CN112829609A (en) * | 2020-12-31 | 2021-05-25 | 北京新能源汽车技术创新中心有限公司 | Wireless charging system of vehicle, vehicle and road |
| CN113511085A (en) * | 2021-04-20 | 2021-10-19 | 湖北工业大学 | Segmented coil type wireless charging system for electric automobile and control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9371067B2 (en) * | 2011-03-31 | 2016-06-21 | Elite Power Solutions Llc | Integrated battery control system |
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2022
- 2022-03-17 CN CN202210263123.9A patent/CN114559826B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160145334A (en) * | 2015-06-10 | 2016-12-20 | 삼성전자주식회사 | Wireless power transceiver |
| CN106597084A (en) * | 2016-12-12 | 2017-04-26 | 广州汽车集团股份有限公司 | Testing system for electric vehicle's wireless power charging system |
| CN112277669A (en) * | 2020-11-06 | 2021-01-29 | 湖北工业大学 | Segmented coil type electric automobile dynamic wireless charging system and method |
| CN112829609A (en) * | 2020-12-31 | 2021-05-25 | 北京新能源汽车技术创新中心有限公司 | Wireless charging system of vehicle, vehicle and road |
| CN113511085A (en) * | 2021-04-20 | 2021-10-19 | 湖北工业大学 | Segmented coil type wireless charging system for electric automobile and control method |
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| CN114559826A (en) | 2022-05-31 |
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