CN115303950A - A driving automatic feeding system with AI recognition - Google Patents
A driving automatic feeding system with AI recognition Download PDFInfo
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- CN115303950A CN115303950A CN202210842031.6A CN202210842031A CN115303950A CN 115303950 A CN115303950 A CN 115303950A CN 202210842031 A CN202210842031 A CN 202210842031A CN 115303950 A CN115303950 A CN 115303950A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
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Abstract
本发明属于机电自动化装置技术领域,尤其是一种带AI识别的行车自动上料系统,针对现有的天车安全性能低的问题,现提出如下方案,其包括天车、防摇摆控制系统、PLC系统、低压配系统、上位机系统和零点机构;本发明通过增加防摇摆控制系统;定期强制归零,校准初始零点;采用AI识别技术,增加安全性;增加多个编码器,对天车空间坐标进行定位,并编程实现天车全自动运行,降低工人劳动强度;实现料坑及天车的三维实时显示,直观清晰等诸多手段,大幅度提高天车的自动化运行水平,对企业有明显的经济价值。
The invention belongs to the technical field of electromechanical automation devices, in particular to a driving automatic feeding system with AI recognition. Aiming at the problem of low safety performance of the existing crane, the following scheme is proposed, which includes a crane, an anti-sway control system, PLC system, low-voltage distribution system, host computer system and zero point mechanism; the present invention adds an anti-sway control system; periodically forcibly returns to zero to calibrate the initial zero point; adopts AI recognition technology to increase safety; Positioning with spatial coordinates, and programming to realize the automatic operation of the crane, reducing the labor intensity of workers; realizing the three-dimensional real-time display of the material pit and the crane, intuitive and clear, and many other means, greatly improving the automatic operation level of the crane, which has obvious effects on enterprises. economic value.
Description
技术领域technical field
本发明涉及机电自动化装置技术领域,尤其涉及一种带AI识别的行车自动上料系统。The invention relates to the technical field of electromechanical automation devices, in particular to an automatic driving feeding system with AI recognition.
背景技术Background technique
天车在垃圾焚烧领域应用广泛,作为一个能提高工作效率的通用设备,一直以来得到广泛的应用。但天车按照特种设备管理,操作也需要合格的操作工,由于工人操作水平不一致,存在安全隐患,且极易发生安全事故。如果能提高天车的自动控制水平,逐步替代工人,不仅能提高操作效率,降低企业成本,还能更加安全可靠。Cranes are widely used in the field of waste incineration. As a general-purpose equipment that can improve work efficiency, it has been widely used for a long time. However, the crane is managed according to special equipment, and the operation also requires qualified operators. Due to the inconsistent operation level of the workers, there are potential safety hazards and safety accidents are extremely prone to occur. If the automatic control level of the crane can be improved and the workers can be gradually replaced, it will not only improve the operating efficiency, reduce the cost of the enterprise, but also make it safer and more reliable.
发明内容Contents of the invention
本发明提出的一种带AI识别的行车自动上料系统,解决了上述背景技术中所提出的问题。A driving automatic feeding system with AI recognition proposed by the present invention solves the problems raised in the above-mentioned background technology.
为了实现上述目的,本发明采用了如下技术方案:In order to achieve the above object, the present invention adopts the following technical solutions:
一种带AI识别的行车自动上料系统,包括天车、防摇摆控制系统、PLC系统、低压配系统、上位机系统和零点机构,其中:A driving automatic loading system with AI recognition, including crane, anti-sway control system, PLC system, low-voltage distribution system, host computer system and zero-point mechanism, in which:
所述防摇摆控制系统包括传感器、编码器、限位开关和雷达;The anti-swing control system includes sensors, encoders, limit switches and radars;
所述低压配系统包括空气开关、接触器和变频器;The low-voltage distribution system includes an air switch, a contactor and a frequency converter;
所述PLC系统包括电源、CPU、IO模块、继电器和安全栅;The PLC system includes a power supply, a CPU, an IO module, a relay and a safety barrier;
所述上位机系统包括工控机和软件;The upper computer system includes an industrial computer and software;
优选的,所述零点机构包括横梁和天车,横梁上安装有用于天车移动的轨道,横梁上开设有工艺槽,工艺槽内安装有光电开关。Preferably, the zero point mechanism includes a crossbeam and a crane, on which a track for the movement of the crane is installed, on the crossbeam a process tank is opened, and a photoelectric switch is installed in the process tank.
优选的,所述限位开关与编码器电性连接,传感器与编码器电性连接,传感器与雷达电性连接。Preferably, the limit switch is electrically connected to the encoder, the sensor is electrically connected to the encoder, and the sensor is electrically connected to the radar.
优选的,所述变频器与接触器电性连接,接触器与空气开关电性连接,空气开关与安全栅电性连接。Preferably, the frequency converter is electrically connected to the contactor, the contactor is electrically connected to the air switch, and the air switch is electrically connected to the safety barrier.
优选的,所述电源与CPU电性连接,CPU与IO模块电性连接,IO模块与继电器电性连接,继电器与安全栅电性连接。Preferably, the power supply is electrically connected to the CPU, the CPU is electrically connected to the IO module, the IO module is electrically connected to the relay, and the relay is electrically connected to the safety barrier.
优选的,所述工控机与软件电性连接,软件与变频器电性连接,变频器与限位开关电性连接。Preferably, the industrial computer is electrically connected to the software, the software is electrically connected to the frequency converter, and the frequency converter is electrically connected to the limit switch.
优选的,所述天车中的就地操作台和中控操作台上均安装有AI识别摄像头。Preferably, AI recognition cameras are installed on the local operation console and the central control operation console in the crane.
优选的,包括以下步骤:Preferably, the following steps are included:
S101:在天车底部加装料位安装有检测探头;S101: A detection probe is installed at the bottom of the crane for the material level;
S102:在待命状态时,通过检测探头对前一个抓取分区内料位标高进行实时监测,剔除坏值后,综合计算分区内的平均料位标高;S102: In the standby state, monitor the material level elevation in the previous grabbing zone in real time through the detection probe, and comprehensively calculate the average material level elevation in the zone after eliminating bad values;
S103:通过雷达精准探测分区内料位标高,实现物料堆积情况的三维建模,作为行车自动上料的数据支撑,并通过三维图形显现在屏幕上,作为工作人员对实际情况的监控。S103: Through the radar to accurately detect the material level elevation in the zone, realize the three-dimensional modeling of the material accumulation situation, as the data support for the automatic loading of the vehicle, and display it on the screen through the three-dimensional graphics, as the staff monitor the actual situation.
优选的,包括以下步骤:Preferably, the following steps are included:
S201:在储料坑设置几个分区,操作人员制定分区;S201: Set up several partitions in the storage pit, and the operator makes partitions;
S202:给出上料指令后,天车自动执行指令,自动移动到指定分区处,放下抓斗;S202: After the loading instruction is given, the crane automatically executes the instruction, automatically moves to the designated partition, and puts down the grab bucket;
S302:抓料后提升,自动移动到落料斗处,放下抓斗,打开抓斗落料,一个动作完成后,自动回到原始位置,进入新一轮待命状态S302: Lift up after grabbing, automatically move to the discharge hopper, put down the grab, open the grab to drop, after an action is completed, it will automatically return to the original position and enter a new round of standby state
有益效果:Beneficial effect:
1、本发明增加防摇摆控制系统,防摇摆控制系统能自动消除吊物在运行过程中产生的摇摆,可以更快地完成吊物的转运,特别是带有定位功能的自动化天车,能使天车的操作变得更高效更安全。1. The present invention adds an anti-sway control system, which can automatically eliminate the sway of the hanging objects during operation, and can complete the transfer of the hanging objects faster, especially the automatic crane with positioning function, which can make Crane operation becomes more efficient and safer.
2、本发明中天车设置自动归零点,定期运行到设计零点,与编码器产生的绝对位置比对,确认是否有偏移,如果偏移量超过设计范围,自动增加或减少偏移量,重新归零,解决目前大车定位距离跑偏的问题。2. In the present invention, the crown crane is set to automatically return to zero, and it runs regularly to the design zero point, and compares it with the absolute position generated by the encoder to confirm whether there is an offset. If the offset exceeds the design range, it will automatically increase or decrease the offset. Return to zero to solve the current problem of the deviation of the positioning distance of the cart.
3、本发明中就地操作台和中控操作台带AI识别摄像头,不仅能够识别出操作人员是否具备操作天车的资格且给予操作权限,不具备操作权限不能操作,同时自动切换操作权限,以就地操作权限为最高级;此外夜间还能识别操作工人是否清醒,是否存在安全隐患,并适时给以提醒。3. In the present invention, the on-site operation console and the central control console are equipped with AI recognition cameras, which can not only identify whether the operator has the qualification to operate the crane, but also give the operation authority, and can not operate without the operation authority, and automatically switch the operation authority at the same time. The local operation authority is the highest level; in addition, at night, it can also identify whether the operating workers are awake and whether there are potential safety hazards, and give timely reminders.
4、本发明中天车增加全自动上料功能,在储料坑设置几个分区,操作人员制定分区,给出上料指令后,天车自动执行指令,自动移动到指定分区处,放下抓斗,抓料后提升,自动移动到落料斗处,放下抓斗,打开抓斗落料,一个动作完成后,自动回到原始位置,进入新一轮待命状态。4. The crane in the present invention adds a fully automatic feeding function. Several partitions are set in the storage pit, and the operator specifies the partitions. After giving the loading instruction, the crane automatically executes the instruction, automatically moves to the designated partition, and puts down the grab Bucket, lift after grabbing material, automatically move to the discharge hopper, put down the grab bucket, open the grab bucket to drop material, after an action is completed, it will automatically return to the original position and enter a new round of standby state.
5、本发明中天车底部加装料位检测探头,在待命状态时,对前一个抓取分区内料位标高进行实时监测,剔除坏值后,综合计算分区内的平均料位标高,同时在三维建模系统中实时显示,直观清晰。5. In the present invention, a material level detection probe is installed at the bottom of the crane, and in the standby state, real-time monitoring is carried out on the material level elevation in the previous grabbing partition. After eliminating bad values, the average material level elevation in the partition is comprehensively calculated, and at the same time Real-time display in the 3D modeling system, intuitive and clear.
附图说明Description of drawings
图1为本发明提出的一种带AI识别的行车自动上料系统的结构示意图。Fig. 1 is a structural schematic diagram of a driving automatic feeding system with AI recognition proposed by the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.
参照图1,一种带AI识别的行车自动上料系统,包括天车、防摇摆控制系统、PLC系统、低压配系统、上位机系统和零点机构,其中:Referring to Figure 1, a driving automatic loading system with AI recognition includes a crane, an anti-swing control system, a PLC system, a low-voltage distribution system, a host computer system and a zero point mechanism, in which:
所述防摇摆控制系统包括传感器、编码器、限位开关和雷达;The anti-swing control system includes sensors, encoders, limit switches and radars;
所述低压配系统包括空气开关、接触器和变频器;The low-voltage distribution system includes an air switch, a contactor and a frequency converter;
所述PLC系统包括电源、CPU、IO模块、继电器和安全栅;The PLC system includes a power supply, a CPU, an IO module, a relay and a safety barrier;
所述上位机系统包括工控机和软件;通过控制系统自带的加速、减速调节功能控制抓斗在起步和停止阶段的大幅度摆动,变频自带加减速调节功能,可以通过设定从静止到最高速的加速时间以及加速曲线来控制启动阶段行车抓斗的摆动幅度,通过设定从运行状态到静止的减速时间和减速曲线来控制行车转斗停止阶段抓斗的摆动幅度;天车在轨道上移动至光电开关时,光电开关导通,自动确认,置零,同时与编码器产生的绝对位置比对,确认是否有偏移,如果偏移量超过设计范围,自动增加或减少偏移量,重新归零,解决目前大车定位距离跑偏的问题;通过雷达精准探测分区内料位标高,实现物料堆积情况的三维建模,作为行车自动上料的数据支撑,并通过三维图形显现在屏幕上,作为工作人员对实际情况的监控,剔除坏值,由于标高测量过程中,比如料坑中插了一根树干,标高明显比周边数值高,差距大,就可以默认为坏值。The upper computer system includes an industrial computer and software; through the acceleration and deceleration adjustment functions of the control system, the large swing of the grab in the start and stop stages is controlled, and the frequency conversion has an acceleration and deceleration adjustment function, which can be set from static to The highest speed acceleration time and acceleration curve are used to control the swing range of the crane grab during the start-up phase, and the swing range of the grab bucket is controlled by setting the deceleration time and deceleration curve from the running state to a standstill; the crane is on the track When moving up to the photoelectric switch, the photoelectric switch is turned on, automatically confirmed, zeroed, and compared with the absolute position generated by the encoder to confirm whether there is an offset, if the offset exceeds the design range, automatically increase or decrease the offset , reset to zero, to solve the current problem of the deviation of the positioning distance of the cart; through the radar to accurately detect the material level elevation in the partition, realize the three-dimensional modeling of the material accumulation situation, as the data support for the automatic loading of the driving, and display it in the three-dimensional graph On the screen, as the staff monitors the actual situation, bad values are eliminated. Because during the elevation measurement process, for example, a tree trunk is inserted in the material pit, the elevation is obviously higher than the surrounding values, and the gap is large, so it can be defaulted to bad values.
零点机构包括横梁和天车,横梁上安装有用于天车移动的轨道,横梁上开设有工艺槽,工艺槽内安装有光电开关;天车通过横梁上的轨道移动,当天车移动至光电开关处时,光电开关导通,从而自动确认,置零,同时定期运行到设计零点,与编码器产生的绝对位置比对,确认是否有偏移,如果偏移量超过设计范围,自动增加或减少偏移量,重新归零,解决目前大车定位距离跑偏的问题。The zero-point mechanism includes a beam and a crane. The beam is equipped with a track for the crane to move. There is a process tank on the beam, and a photoelectric switch is installed in the process tank. The crane moves through the track on the beam, and the crane moves to the photoelectric switch. When the time is off, the photoelectric switch is turned on, so as to automatically confirm, set to zero, and at the same time regularly run to the design zero point, compare it with the absolute position generated by the encoder, and confirm whether there is any offset. If the offset exceeds the design range, automatically increase or decrease the offset. The amount of displacement is reset to zero, which solves the problem of the deviation of the positioning distance of the cart at present.
限位开关与编码器电性连接,传感器与编码器电性连接,传感器与雷达电性连接;通过限位开关控制编码器和传感器是否工作,雷达检测到相应物体之后将信号传递至传感器,传感器再将信号传送至编码器进行处理,从而判断是否与设定值一致。The limit switch is electrically connected to the encoder, the sensor is electrically connected to the encoder, and the sensor is electrically connected to the radar; the encoder and the sensor are controlled by the limit switch, and the radar transmits the signal to the sensor after detecting the corresponding object. Then the signal is sent to the encoder for processing, so as to judge whether it is consistent with the set value.
变频器与接触器电性连接,接触器与空气开关电性连接,空气开关与安全栅电性连接;通过空气开关控制接触器和变频器。The frequency converter is electrically connected to the contactor, the contactor is electrically connected to the air switch, and the air switch is electrically connected to the safety barrier; the contactor and the frequency converter are controlled by the air switch.
电源与CPU电性连接,CPU与IO模块电性连接,IO模块与继电器电性连接,继电器与安全栅电性连接;电源为CPU、IO模块和继电器提供工作动力。The power supply is electrically connected to the CPU, the CPU is electrically connected to the IO module, the IO module is electrically connected to the relay, and the relay is electrically connected to the safety barrier; the power supply provides working power for the CPU, the IO module and the relay.
工控机与软件电性连接,软件与变频器电性连接,变频器与限位开关电性连接;软件对工控机进行操控。The industrial computer is electrically connected to the software, the software is electrically connected to the frequency converter, and the frequency converter is electrically connected to the limit switch; the software controls the industrial computer.
天车中的就地操作台和中控操作台上均安装有AI识别摄像头;不仅能够识别出操作人员是否具备操作天车的资格且给予操作权限,不具备操作权限不能操作,同时自动切换操作权限,以就地操作权限为最高级;此外夜间还能识别操作工人是否清醒,是否存在安全隐患,并适时给以提醒。Both the local operation console and the central control console in the crane are equipped with AI recognition cameras; not only can it identify whether the operator has the qualification to operate the crane, but also give the operation authority, and the operator cannot operate without the operation authority, and at the same time, the operation is automatically switched Authority, with local operation authority as the highest level; in addition, at night, it can also identify whether the operator is awake or not, and whether there is a potential safety hazard, and give a timely reminder.
S101:在天车底部加装料位安装有检测探头;S101: A detection probe is installed at the bottom of the crane for the material level;
S102:在待命状态时,通过检测探头对前一个抓取分区内料位标高进行实时监测,剔除坏值后,综合计算分区内的平均料位标高;S102: In the standby state, monitor the material level elevation in the previous grabbing zone in real time through the detection probe, and comprehensively calculate the average material level elevation in the zone after eliminating bad values;
S103:通过雷达精准探测分区内料位标高,实现物料堆积情况的三维建模,作为行车自动上料的数据支撑,并通过三维图形显现在屏幕上,作为工作人员对实际情况的监控;S103: Through the radar to accurately detect the material level in the zone, realize the three-dimensional modeling of the material accumulation situation, as the data support for the automatic loading of the vehicle, and display it on the screen through the three-dimensional graphics, as the monitoring of the actual situation by the staff;
S201:在储料坑设置几个分区,操作人员制定分区;S201: Set up several partitions in the storage pit, and the operator makes partitions;
S202:给出上料指令后,天车自动执行指令,自动移动到指定分区处,放下抓斗;S202: After the loading instruction is given, the crane automatically executes the instruction, automatically moves to the designated partition, and puts down the grab bucket;
S302:抓料后提升,自动移动到落料斗处,放下抓斗,打开抓斗落料,一个动作完成后,自动回到原始位置,进入新一轮待命状态;S302: Lift up after grabbing, automatically move to the discharge hopper, put down the grab, open the grab to drop, after one action is completed, automatically return to the original position, and enter a new round of standby state;
工作原理:通过控制系统自带的加速、减速调节功能控制抓斗在起步和停止阶段的大幅度摆动,变频自带加减速调节功能,可以通过设定从静止到最高速的加速时间以及加速曲线来控制启动阶段行车抓斗的摆动幅度,通过设定从运行状态到静止的减速时间和减速曲线来控制行车转斗停止阶段抓斗的摆动幅度;天车在轨道上移动至光电开关时,光电开关导通,自动确认,置零,同时与编码器产生的绝对位置比对,确认是否有偏移,如果偏移量超过设计范围,自动增加或减少偏移量,重新归零,解决目前大车定位距离跑偏的问题;通过雷达精准探测分区内料位标高,实现物料堆积情况的三维建模,作为行车自动上料的数据支撑,并通过三维图形显现在屏幕上,作为工作人员对实际情况的监控,剔除坏值,由于标高测量过程中,比如料坑中插了一根树干,标高明显比周边数值高,差距大,就可以默认为坏值。Working principle: The large swing of the grab in the start and stop stages is controlled by the acceleration and deceleration adjustment functions of the control system. The frequency conversion has its own acceleration and deceleration adjustment functions, and the acceleration time and acceleration curve from static to highest speed can be set. To control the swing range of the driving bucket at the start-up stage, the swing range of the grab bucket at the stop stage of the driving bucket is controlled by setting the deceleration time and deceleration curve from the running state to the stationary state; when the crane moves to the photoelectric switch on the track, the photoelectric The switch is turned on, automatically confirmed, zeroed, and compared with the absolute position generated by the encoder to confirm whether there is an offset. If the offset exceeds the design range, the offset will be automatically increased or decreased, and reset to zero to solve the current large The vehicle positioning distance deviation problem; through the radar to accurately detect the material level elevation in the zone, realize the three-dimensional modeling of the material accumulation situation, as the data support for the automatic loading of the vehicle, and display it on the screen through the three-dimensional graphics, as a staff member for the actual Monitor the situation and eliminate bad values. Because during the elevation measurement process, for example, a tree trunk is inserted in the material pit, the elevation is obviously higher than the surrounding values, and the gap is large, so it can be defaulted as a bad value.
在本发明的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的设备或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.
以上所述,仅为本发明较佳的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,根据本发明的技术方案及其发明构思加以等同替换或改变,都应涵盖在本发明的保护范围之内。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.
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