CN114923427A - Method, device and equipment for measuring outer diameter of overhead conductor and readable storage medium - Google Patents
Method, device and equipment for measuring outer diameter of overhead conductor and readable storage medium Download PDFInfo
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- G—PHYSICS
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Abstract
The application discloses an overhead conductor outer diameter measuring method, device and equipment and a readable storage medium, wherein the method comprises the following steps: the method comprises the steps of acquiring two images containing reference pixel points corresponding to the same reference point on the overhead conductor by using a binocular camera, further determining a target distance between the binocular camera and the overhead conductor according to the two reference pixel points, determining a target area where the overhead conductor is located in the image and the edge of the overhead conductor in the target area for any one of the acquired images, further determining a pixel distance between the edges, and then determining the outer diameter of the overhead conductor based on the target distance and the pixel distance. Obviously, the method realizes non-contact measurement of the outer diameter of the overhead conductor based on the image shot by the binocular camera, avoids pole climbing measurement, is safe and saves cost, can quickly determine the outer diameter of the overhead conductor according to the shot image without inquiring required outer diameter information from numerous and complicated marketing and distribution information, and greatly improves the efficiency of measuring the outer diameter.
Description
Technical Field
The present disclosure relates to the field of data processing technologies, and in particular, to a method, an apparatus, a device, and a readable storage medium for measuring an outer diameter of an overhead wire.
Background
The transformer area refers to a power supply range or area of a transformer, and due to the fact that low-voltage distribution network towers of part of the transformer area are numerous, the trend is complex, branches are dense, the types of equipment are complex and the like, a detailed electrical parameter and geographic information management system is not established for the transformer area and a tail end power supply network in the power supply range of the transformer area. Accurate power distribution network line parameters are the basis for application such as fault analysis, load flow calculation, line loss calculation, physical topology modeling and the like, and have very important significance for safe, stable and reliable operation of a power system.
The outer diameter of the conductor is a critical distribution network line parameter, while the conductors in low voltage distribution networks are mostly overhead conductors. The prior art method for measuring the outer diameter has the following problems: firstly, the outer diameter of the wire is measured by manually climbing a rod and using a vernier caliper, but the method is dangerous and needs a large amount of manpower and material resources, and the live-line detection cannot be realized by climbing the rod to measure the outer diameter of the overhead wire; secondly, operation and distribution information is inquired, but the overall condition of the low-voltage distribution network is complex in structure, more branch lines, complex in load property, incomplete in historical data, poor in basic data, backward in informatization, low in inquiry efficiency and incapable of accurately inquiring the outer diameter of the overhead conductor to be measured.
Therefore, the research on a non-contact and high-efficiency method for measuring the outer diameter of the overhead conductor has great significance for realizing the measurement of the electrical parameters of the overhead conductor.
Disclosure of Invention
In view of the above, the present application provides an overhead conductor outer diameter measuring method, apparatus, device and readable storage medium, which are used for measuring the outer diameter of an overhead conductor in a non-contact manner and efficiently.
In order to achieve the above object, the proposed solution is as follows:
an overhead conductor outer diameter measuring method comprises the following steps:
acquiring two images shot by a binocular camera on an overhead conductor, and determining a reference pixel point corresponding to the same reference point on the overhead conductor on each image;
determining the target distance between the binocular camera and the overhead conductor according to the positions of two reference pixel points in the two images;
determining a target area where the overhead conductor is located in any one image;
determining two edges of the overhead conductor and a pixel distance between the two edges from the target area;
and determining the outer diameter of the overhead conductor according to the target distance and the pixel distance.
Preferably, the determining the target distance from the binocular camera to the overhead conductor according to the positions of two reference pixel points in the two images includes:
acquiring a first distance between two cameras of a binocular camera, and determining a second distance between two reference pixels in two images;
and determining the target distance from the binocular camera to the overhead conductor according to the first distance and the second distance.
Preferably, the determining a target area where the overhead conductor is located in any one of the images includes:
converting any image into a gray image, and determining the gray gradient size and direction of the gray image;
and determining a target area where the overhead conductor is located in the gray image according to the size and the direction of the gray gradient.
Preferably, the determining two edges of the overhead conductor from the target area comprises:
and determining two straight lines formed by pixels with the same gray gradient in the target area as two edges of the overhead conductor.
Preferably, determining the pixel distance between two edges of the overhead conductor comprises:
and symmetrically selecting two pixel points on two edges of the overhead conductor, and calculating the pixel distance between the two symmetrical pixel points.
Preferably, one of two pixel points symmetrically selected on two edges of the overhead conductor coincides with the reference pixel point.
Preferably, the method further comprises the following steps:
and transmitting the outer diameter of the overhead conductor to a user terminal.
An overhead wire outer diameter measuring device, comprising:
the device comprises an image acquisition unit, a binocular camera and a control unit, wherein the image acquisition unit is used for acquiring two images shot by the binocular camera on the overhead conductor and determining reference pixel points corresponding to the same reference point on the overhead conductor on each image;
the target distance determining unit is used for determining the target distance between the binocular camera and the overhead conductor according to the positions of two reference pixel points in the two images;
the target area determining unit is used for determining a target area where the overhead conductor is located in any image;
an edge determining unit, configured to determine two edges of the overhead conductor and a pixel distance between the two edges from the target area;
and the outer diameter determining unit is used for determining the outer diameter of the overhead conductor according to the target distance and the pixel distance.
An overhead conductor outer diameter measuring device comprises a memory and a processor;
the memory is used for storing programs;
the processor is used for executing the program and realizing the steps of the overhead conductor outer diameter measuring method.
A readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the above-described method of measuring the outer diameter of an overhead conductor.
According to the scheme, the method for measuring the outer diameter of the overhead conductor comprises the steps that a binocular camera is used for obtaining two images containing reference pixel points corresponding to the same reference point on the overhead conductor, the target distance between the binocular camera and the overhead conductor can be determined according to the two reference pixel points, the target area where the overhead conductor is located in any obtained image of the overhead conductor can be determined, the edge of the overhead conductor in the target area can be determined, the pixel distance between the edges can be determined, and then the outer diameter of the overhead conductor can be determined based on the target distance and the pixel distance.
Obviously, the method realizes non-contact measurement of the outer diameter of the overhead conductor based on the image of the overhead conductor shot by the binocular camera, avoids spending a large amount of manpower and material resources to climb the pole for measurement, is safe and cost-saving, can quickly determine the outer diameter of the overhead conductor according to the image shot by the binocular camera, does not need to inquire required outer diameter information from various and complicated marketing and distribution information, and greatly improves the efficiency of measuring the outer diameter.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for measuring an outer diameter of an overhead conductor according to an embodiment of the present disclosure;
2a-b are diagrams illustrating a scenario of measuring an outer diameter of an overhead conductor according to an embodiment of the present disclosure;
FIG. 3 is an illustration of another exemplary scenario for measuring the outer diameter of an overhead conductor as disclosed in an embodiment of the present application;
fig. 4 is a schematic structural diagram of an overhead conductor outer diameter measuring device disclosed in an embodiment of the present application;
fig. 5 is a block diagram of a hardware structure of an overhead conductor outer diameter measurement device disclosed in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for measuring an outer diameter of an overhead conductor provided in an embodiment of the present application, where the method includes:
step S100: two images shot by a binocular camera on an overhead conductor are obtained, and a reference pixel point corresponding to the same reference point on the overhead conductor is determined on each image.
Specifically, when two mesh cameras were shot to air wire, can shoot the air wire of optional position department, in addition, for the air wire of conveniently shooing different position departments, can use unmanned aerial vehicle to carry on two mesh cameras to arbitrary appointed shooting position department, shoot air wire.
It should be noted that the binocular camera may take a picture of the overhead conductor and record a video, and two images under the same timestamp in the video may be taken as the two images acquired in this step.
The reference point described above may be any reference point chosen by a worker on the overhead conductor, and may be located at any position on the overhead conductor. After the images of the two overhead conductors are obtained, the pixel points corresponding to the reference points on the overhead conductors can be determined in each image.
Step S110: and determining the target distance between the binocular camera and the overhead conductor according to the positions of two reference pixel points in the two images.
Specifically, the target distance from the binocular camera to the overhead conductor is determined according to the position of a pixel point corresponding to a reference point on the overhead conductor in each image, wherein when the binocular camera is used for shooting, a connecting line between the position where the binocular camera is located and the reference point can be perpendicular to the overhead conductor, and the target distance can be the perpendicular distance between the binocular camera and the overhead conductor at the moment.
It should be noted that the execution sequence of the step process may be executed in any step from step S100 to step S140, and fig. 1 merely illustrates an optional execution sequence of the steps in the embodiment of the present application.
Step S120: and determining a target area where the overhead conductor is located in any image.
Specifically, it is considered that the captured image may contain more interferents besides the overhead conductor, for example: the image background is relatively complicated at this moment, so, in order to get rid of the influence of interference thing to measuring the external diameter, can confirm and extract the target area that overhead conductor was located in the image of arbitrary shooting.
Step S130: two edges of the overhead conductor and a pixel distance between the two edges are determined from the target area.
Specifically, a plurality of overhead conductors may exist in the image, and for the overhead conductor to be measured, two edges of the overhead conductor may be determined from the target area, and a pixel distance of the two edges in the image may be determined.
Step S140: and determining the outer diameter of the overhead conductor according to the target distance and the pixel distance.
Specifically, the outer diameter of the overhead conductor may be determined based on the target distance of the binocular camera to the overhead conductor, and the pixel distance of the two edges of the overhead conductor in the image.
Further, after the outer diameter of the overhead conductor is determined, it may be sent to a user terminal for feedback of the measured outer diameter of the overhead conductor to the staff.
According to the scheme, the overhead conductor measuring method can obtain the target distance between the overhead conductor and the image shot by the binocular camera and the pixel distance of the two edges of the overhead conductor in the image based on the image shot by the binocular camera, and further can realize non-contact outer diameter measurement of the overhead conductor according to the target distance and the pixel distance, and is safe and efficient.
In some embodiments of the present application, the process of determining the target distance from the binocular camera to the overhead conductor according to the positions of the two reference pixel points in the two images in step S110 is introduced, and the process will be further described below.
Specifically, the process may include the steps of:
s1, acquiring a first distance between two cameras of the binocular camera, and determining a second distance between two reference pixels in the two images.
Specifically, the first distance between two cameras of the binocular camera may be determined by parameters of the binocular camera itself, and the determined first distance may be acquired.
And aiming at the two reference pixels, a second distance between the two reference pixels in the two images can be determined in the same spatial reference system.
In an optional case, the left camera of the binocular camera may be selected as an origin of the spatial coordinate system, then spatial coordinates of the reference pixel points in each image relative to the origin may be determined, and then the spatial coordinates of the two reference pixel points may be used to determine the second distance.
S2, determining the target distance between the binocular camera and the overhead conductor according to the first distance and the second distance.
Specifically, the target distance from the binocular camera to the overhead conductor may be determined according to a geometric relationship of the first distance and the second distance.
To describe the process of determining the target distance in more detail, the process will be described in the following with specific examples, with reference to fig. 2a-b for details.
As shown in fig. 2a, O and O2 are positions of the left and right cameras of the binocular camera, respectively, the point P is a reference point on the overhead conductor, and Pl and Pr are reference pixel points corresponding to the point P on the images captured by the left and right cameras, respectively. Then, a spatial coordinate system can be established with O as the origin of the coordinate system, where the coordinates of Pl and Pr are (x) l ，y l ) And (x) r ，y r ). Simplifying the fig. 2a, a triangular relationship as shown in fig. 2b can be obtained, and then the distance between the binocular camera and the overhead conductor can be calculated by using the similar triangular principle, so that the geometric relationship as shown in formula (1) can be obtained:
wherein | x l -x r | is the second distance between two reference pixels, f l Is the focal length of the left camera, and in addition, the focal length of the right camera is f r The focal lengths of the left and right cameras can be considered equal, i.e. f is considered l ＝f r The distance of MN in fig. 2b is the focal length of the left and right cameras. OO2 is the first distance between the left and right cameras, denoted T; PN is the target distance between the binocular camera and the overhead conductor, denoted by h.
In formula (1), T is a known first distance | x l -x r | is the known second distance, f l For known left or right cameraSo that the unknown target distance h can be found.
In some embodiments of the present application, the above-mentioned step S120 is introduced, and the process of determining the target area where the overhead conductor is located in any of the images
Specifically, the process may include the steps of:
and S1, converting any image into a gray image, and determining the gray gradient size and direction of the gray image.
Specifically, any one of the two captured images may be converted into a grayscale image, and the change in the magnitude and direction of the grayscale gradient of the grayscale image may be determined.
And S2, determining a target area where the overhead conductor is located in the gray image according to the gray gradient size and direction.
Specifically, the target area where the overhead conductor is located in the gray image can be determined by using the area where the gray scales are equal or the amplitude is not changed much in a certain direction according to the gradient size of the gray scales and the change direction of the gradient size.
Next, the process of determining two edges of the overhead conductor from the target area in step S130 is further described on the basis of converting any image into a grayscale image.
Specifically, the process of determining the two edges may include the following steps:
and determining two straight lines formed by pixels with the same gray gradient in the target area as two edges of the overhead conductor.
Two straight lines which are composed of pixels with the same gray gradient and are separated from each other within a set distance in the target area can be determined as two edges of the overhead conductor.
Considering that there may be multiple overhead conductors in the target area, when determining two edges, two straight lines within a set distance may be determined as two edges, while two straight lines that are beyond the set distance may be considered as edges of different overhead conductors.
After determining the two edges of the overhead conductor, the pixel distance between the two edges of the overhead conductor can be determined.
Specifically, the process of determining the pixel distance may include the following steps:
and symmetrically selecting two pixel points on two edges of the overhead conductor, and calculating the pixel distance between the two symmetrical pixel points.
In order to accurately measure the outer diameter of the overhead conductor, two pixel points can be symmetrically selected on two edges of the overhead conductor in an image, the distance between the two pixel points is the pixel distance of the overhead conductor in the image, and then the pixel distance can be calculated. In addition, in order to measure the outer diameter conveniently and calculate accurately, one of two pixel points symmetrically selected on two edges of the overhead conductor can coincide with a reference pixel point.
Next, the process of determining the outer diameter of the overhead conductor will be further described with specific examples in conjunction with all embodiments of the present application, and refer to fig. 3 for details.
Specifically, two pixel points may be symmetrically selected on two edges of the overhead conductor in any image, where an image taken by a left camera is taken as an example, in fig. 3, O represents a position where the left camera is located, Ql and Pl are two pixel points symmetrically selected in the image taken by the left camera, respectively, a pixel distance represented by QlPl is represented by lx, Q, P is reference points actually corresponding to Ql and Pl on the edge of the overhead conductor, respectively, and an outer diameter of the overhead conductor represented by QP is represented by d. Then, the distance from the perpendicular to O to QP, i.e. the target distance h determined in the previous embodiment, and the distance from the perpendicular to QlPl, i.e. the focal length f of the left camera determined in the previous embodiment l Also, similar to the triangle principle, the formula shown in formula (2) can be obtained:
since only d is unknown in equation (2) and the remaining variables are known, the outer diameter d of the overhead conductor can be determined based on equation (2).
According to the scheme, any image is obtained, the pixel distance of two symmetrical pixel points on the edge of the overhead conductor in the image is determined, and then the target distance and the geometric relation determined by the embodiment can be combined, so that the actual outer diameter of the overhead conductor can be determined quickly and efficiently under the condition of no pole climbing measurement.
The following describes the overhead conductor outer diameter measurement device provided in the embodiment of the present application, and the overhead conductor outer diameter measurement device described below and the overhead conductor outer diameter measurement method described above may be referred to correspondingly.
First, an overhead wire outer diameter measuring apparatus will be described with reference to fig. 4, and as shown in fig. 4, the overhead wire outer diameter measuring apparatus may include:
the image acquisition unit 100 is configured to acquire two images of an overhead conductor captured by a binocular camera, and determine a reference pixel point corresponding to the same reference point on the overhead conductor on each of the images;
a target distance determining unit 110, configured to determine a target distance from the binocular camera to the overhead conductor according to positions of two reference pixel points in the two images;
a target area determination unit 120, configured to determine a target area where the overhead conductor is located in any of the images;
an edge determining unit 130, configured to determine two edges of the overhead conductor and a pixel distance between the two edges from the target area;
an outer diameter determination unit 140, configured to determine an outer diameter of the overhead conductor according to the target distance and the pixel distance.
Optionally, the target distance determining unit may include:
the first target distance determining subunit is used for acquiring a first distance between two cameras of the binocular camera and determining a second distance between two reference pixel points in the two images;
and the second target distance determining subunit is used for determining the target distance from the binocular camera to the overhead conductor according to the first distance and the second distance.
Optionally, the target area determining unit may include:
the gray level image determining unit is used for converting any image into a gray level image and determining the gray level gradient size and direction of the gray level image;
and the gray target area determining unit is used for determining a target area where the overhead conductor is located in the gray image according to the gray gradient size and direction.
Optionally, the grayscale image determining unit may include:
and the gray edge determining unit is used for determining two straight lines formed by the pixels with the same gray gradient in the target area as two edges of the overhead conductor.
Optionally, the edge determining unit may include:
and the pixel distance determining unit is used for symmetrically selecting two pixel points on two edges of the overhead conductor and calculating the pixel distance between the two symmetrical pixel points.
Optionally, one of two pixel points symmetrically selected on two edges of the overhead conductor coincides with the reference pixel point.
Optionally, the method further includes:
and the outer diameter sending unit is used for sending the outer diameter of the overhead conductor to a user terminal.
The device for measuring the outer diameter of the overhead conductor provided by the embodiment of the application can be applied to equipment for measuring the outer diameter of the overhead conductor. Fig. 5 is a block diagram showing a hardware configuration of an overhead wire outer diameter measuring apparatus, and referring to fig. 5, the hardware configuration of the overhead wire outer diameter measuring apparatus may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete mutual communication through the communication bus 4;
the processor 1 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits or the like configured to implement embodiments of the present invention;
the memory 3 may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory stores a program and the processor can call the program stored in the memory, the program for:
acquiring two images of an overhead conductor shot by a binocular camera, and determining a reference pixel point corresponding to the same reference point on the overhead conductor on each image;
determining the target distance between the binocular camera and the overhead conductor according to the positions of two reference pixel points in the two images;
determining a target area where the overhead conductor is located in any one of the images;
determining two edges of the overhead conductor and a pixel distance between the two edges from the target area;
and determining the outer diameter of the overhead conductor according to the target distance and the pixel distance.
Alternatively, the detailed function and the extended function of the program may refer to the above description.
Embodiments of the present application further provide a storage medium, where a program suitable for execution by a processor may be stored, where the program is configured to:
acquiring two images of an overhead conductor shot by a binocular camera, and determining a reference pixel point corresponding to the same reference point on the overhead conductor on each image;
determining the target distance between the binocular camera and the overhead conductor according to the positions of two reference pixel points in the two images;
determining a target area where the overhead conductor is located in any one image;
determining two edges of the overhead conductor and a pixel distance between the two edges from the target area;
and determining the outer diameter of the overhead conductor according to the target distance and the pixel distance.
Alternatively, the detailed function and the extended function of the program may be as described above.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the present specification, the embodiments 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.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An overhead conductor outer diameter measuring method is characterized by comprising the following steps:
acquiring two images of an overhead conductor shot by a binocular camera, and determining a reference pixel point corresponding to the same reference point on the overhead conductor on each image;
determining the target distance between the binocular camera and the overhead conductor according to the positions of two reference pixel points in the two images;
determining a target area where the overhead conductor is located in any one of the images;
determining two edges of the overhead conductor and a pixel distance between the two edges from the target area;
and determining the outer diameter of the overhead conductor according to the target distance and the pixel distance.
2. The method of claim 1, wherein determining the target distance from the binocular camera to the overhead conductor based on the locations of two reference pixels in the two images comprises:
acquiring a first distance between two cameras of a binocular camera, and determining a second distance between two reference pixels in two images;
and determining the target distance from the binocular camera to the overhead conductor according to the first distance and the second distance.
3. The method of claim 1, wherein said determining a target area in which the overhead conductor is located in any of the images comprises:
converting any image into a gray image, and determining the gray gradient size and direction of the gray image;
and determining a target area where the overhead conductor is located in the gray image according to the size and the direction of the gray gradient.
4. The method of claim 3, wherein the determining two edges of the overhead conductor from the target area comprises:
and determining two straight lines formed by pixels with the same gray gradient in the target area as two edges of the overhead conductor.
5. The method of claim 1, wherein determining a pixel distance between two edges of the overhead conductor comprises:
and symmetrically selecting two pixel points on two edges of the overhead conductor, and calculating the pixel distance between the two symmetrical pixel points.
6. The method of claim 5 wherein one of two symmetrically selected pixels on both edges of the overhead conductor is coincident with the reference pixel.
7. The method of any one of claims 1-6, further comprising:
and transmitting the outer diameter of the overhead conductor to a user terminal.
8. An overhead wire outer diameter measuring device, characterized by includes:
the device comprises an image acquisition unit, a binocular camera and a control unit, wherein the image acquisition unit is used for acquiring two images shot by the binocular camera on the overhead conductor and determining reference pixel points corresponding to the same reference point on the overhead conductor on each image;
the target distance determining unit is used for determining the target distance between the binocular camera and the overhead conductor according to the positions of two reference pixel points in the two images;
the target area determining unit is used for determining a target area where the overhead conductor is located in any image;
an edge determining unit, configured to determine two edges of the overhead conductor and a pixel distance between the two edges from the target area;
and the outer diameter determining unit is used for determining the outer diameter of the overhead conductor according to the target distance and the pixel distance.
9. The overhead conductor outer diameter measuring equipment is characterized by comprising a memory and a processor;
the memory is used for storing programs;
the processor, which executes the program, implements the steps of the overhead conductor outer diameter measuring method according to any one of claims 1 to 7.
10. A readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, performs the steps of the overhead conductor outer diameter measurement method of any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210618431.9A CN114923427A (en) | 2022-06-01 | 2022-06-01 | Method, device and equipment for measuring outer diameter of overhead conductor and readable storage medium |
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| CN202210618431.9A CN114923427A (en) | 2022-06-01 | 2022-06-01 | Method, device and equipment for measuring outer diameter of overhead conductor and readable storage medium |
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| CN114923427A true CN114923427A (en) | 2022-08-19 |
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