CN117464189A - Laser marking control method, device and storage medium - Google Patents

Laser marking control method, device and storage medium Download PDF

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Publication number
CN117464189A
CN117464189A CN202210862650.1A CN202210862650A CN117464189A CN 117464189 A CN117464189 A CN 117464189A CN 202210862650 A CN202210862650 A CN 202210862650A CN 117464189 A CN117464189 A CN 117464189A
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China
Prior art keywords
product
marking
unit
unit module
pcb
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Pending
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CN202210862650.1A
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Chinese (zh)
Inventor
谢唯
罗晓明
陈国栋
吕洪杰
杨朝辉
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Shenzhen Hans CNC Technology Co Ltd
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Shenzhen Hans CNC Technology Co Ltd
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Priority to CN202210862650.1A priority Critical patent/CN117464189A/en
Publication of CN117464189A publication Critical patent/CN117464189A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36Removing material
    • B23K26/362Laser etching
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70Auxiliary operations or equipment
    • B23K26/702Auxiliary equipment

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

The application relates to a laser marking control method, a laser marking control device and a storage medium, wherein the method comprises the following steps: acquiring a surface image of a PCB product, wherein a plurality of unit modules are integrated on the surface of the PCB product; obtaining a product model corresponding to the PCB product, and determining corresponding product template data according to the product model; positioning points of all unit modules in the surface image of the PCB product; determining an image area of each unit module in the surface image of the PCB product according to the product template data and the positioning points of each unit module; identifying the mark information in the image area of each unit module; determining marking coordinates and marking contents corresponding to each unit module according to the marking information in the image area of each unit module; and executing marking operation according to the marking coordinates and marking contents corresponding to each unit module. According to the technical scheme, the efficiency of laser marking operation can be improved.

Description

Laser marking control method, device and storage medium
Technical Field
The present invention relates to the field of laser processing technologies, and in particular, to a laser marking control method, a laser marking control device, and a storage medium.
Background
With the development of automation technology, laser processing equipment is also becoming more and more widely used. Currently, laser processing equipment is widely used for laser marking operations of PCB products.
In the prior art, in order to improve the production efficiency, a plurality of unit modules are generally integrated on a large-area substrate board, and in the production process, different marking operations may need to be performed on different unit modules, for example, some unit modules are unqualified in production, the unit modules need to be marked as "unqualified", qualified unit modules need to be marked with symbols of certain organization mechanisms, and the like, that is, different unit modules may correspond to different marking operation modes or marking contents.
In the research of the inventor, the marking control mode in the prior art is as follows: and inputting information such as marking coordinates, marking contents and the like of different unit modules into a control system of the laser marking machine manually, and controlling the laser marking machine to mark the PCB product by the control system. The control mode has the defects that the existing PCB products have large plate areas, and the integrated unit modules are too many, so that error and leakage are easy to generate due to manual input of matrix data, and the marking efficiency is low.
Disclosure of Invention
The embodiment of the invention provides a laser marking control method, a laser marking control device and a storage medium, which can improve the efficiency of laser marking operation.
In a first aspect, the present application provides a laser marking control method, including:
acquiring a surface image of a PCB product, wherein a plurality of unit modules are integrated on the surface of the PCB product;
obtaining a product model corresponding to the PCB product, and determining corresponding product template data according to the product model;
positioning points of all unit modules in the surface image of the PCB product;
determining an image area of each unit module in the surface image of the PCB product according to the product template data and the positioning points of each unit module;
identifying the mark information in the image area of each unit module;
determining marking coordinates and marking contents corresponding to each unit module according to the marking information in the image area of each unit module;
and executing marking operation according to the marking coordinates and marking contents corresponding to each unit module.
With reference to the first aspect, in a possible implementation manner, the acquiring a surface image of a PCB product includes:
and controlling the motion platform to drive the PCB product to move, and acquiring the surface image of the PCB product through the line scanning device.
With reference to the first aspect, in a possible implementation manner, before the obtaining a product model corresponding to the PCB product and determining corresponding product template data according to the product model, the method further includes: and establishing product template data corresponding to the product model in advance according to the product model of the PCB product, wherein the product template data carries the number of unit modules, the shapes of all the unit modules and the positioning point coordinates of the PCB product of the product model.
With reference to the first aspect, in a possible implementation manner, the obtaining a product model corresponding to the PCB product includes:
and identifying the code or the two-dimensional code of the PCB product, and obtaining the product model corresponding to the PCB product.
With reference to the first aspect, in a possible implementation manner, the positioning a positioning point of each unit module in a surface image of the PCB product includes:
and identifying the coordinates of positioning points of each unit module in the surface image of the PCB product by a template positioning method according to the product template data.
With reference to the first aspect, in a possible implementation manner, before the identifying the marking information in the image area of the respective unit modules, the method further includes:
and carrying out image segmentation according to the image areas of each unit module in the surface image of the PCB product, so that the segmented area comprises the image area of one unit module.
With reference to the first aspect, in a possible implementation manner, the identifying the marking information in the image area of each unit module includes:
the marker information in the image area of each unit module is identified using a machine identification algorithm for deep learning.
With reference to the first aspect, in a possible implementation manner, the marking information is marking information formed by attaching an oily material to the unit module.
In a second aspect, the present application provides a laser marking control device, the device comprising:
the image acquisition unit is used for acquiring a surface image of a PCB product, and a plurality of unit modules are integrated on the surface of the PCB product;
the template determining unit is used for obtaining the product model corresponding to the PCB product and determining corresponding product template data according to the product model;
the positioning unit is used for positioning points of all unit modules in the surface image of the PCB product;
the unit dividing unit is used for determining the image area of each unit module in the surface image of the PCB product according to the product template data and the positioning points of each unit module;
an identification unit configured to identify the marker information in the image area of each unit module;
the analysis processing unit is used for determining marking coordinates and marking contents corresponding to each unit module according to the marking information in the image area of each unit module;
and the marking control unit is used for executing marking operation according to the marking coordinates and marking contents corresponding to each unit module.
In a third aspect, the present application provides a computer readable storage medium, where a computer program is stored, where the computer program controls, when running, a device where the computer readable storage medium is located to execute the laser marking control method according to the first aspect.
According to the laser marking control method and device, the product template data are pre-created according to the product model, so that after the surface image of the PCB product to be marked is obtained and the product model of the PCB product is obtained, the product template data can be determined according to the product model, the positioning point coordinates of each unit module in the surface image are positioned, then the image area of each unit module is determined according to the product template data, marking information in each unit module is further identified, corresponding marking coordinates and marking content are determined according to the identified marking information, and marking operation is performed according to the marking coordinates and marking content of each unit module.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic flow chart of a laser marking control method provided in an embodiment of the present application;
FIG. 2 is a schematic view of an application environment provided in an embodiment of the present application;
FIG. 3 is a functional block diagram of a laser marking control device in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a computer device in an embodiment of the present application.
Detailed Description
For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used to describe the terminals in the embodiments of the present invention, these terminals should not be limited to these terms. These terms are only used to distinguish terminals from one another. For example, a first terminal may also be referred to as a second terminal, and similarly, a second terminal may also be referred to as a first terminal, without departing from the scope of embodiments of the present invention.
Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
Referring to fig. 1, a flow chart of a method for partitioning a drawing file according to an embodiment of the present application is shown.
Specifically, the method for partitioning the graphics file in the embodiment of the application includes:
s11, acquiring a surface image of a PCB product, wherein a plurality of unit modules are integrated on the surface of the PCB product;
s12, obtaining a product model corresponding to the PCB product, and determining corresponding product template data according to the product model;
s13, positioning points of all unit modules in the surface image of the PCB product;
s14, determining the image area of each unit module in the surface image of the PCB product according to the product template data and the positioning points of each unit module;
s15, identifying the mark information in the image area of each unit module;
s16, determining marking coordinates and marking contents corresponding to each unit module according to the marking information in the image area of each unit module;
s17, performing marking operation according to marking coordinates and marking contents corresponding to each unit module.
According to the laser marking control method and device, the product template data are pre-created according to the product model, so that after the surface image of the PCB product to be marked is obtained and the product model of the PCB product is obtained, the product template data can be determined according to the product model, the positioning point coordinates of each unit module in the surface image are positioned, then the image area of each unit module is determined according to the product template data, marking information in each unit module is further identified, corresponding marking coordinates and marking content are determined according to the identified marking information, and marking operation is performed according to the marking coordinates and marking content of each unit module.
The above steps S11-S17 are further described in a more detailed embodiment of the present application in conjunction with the application environment schematic diagram of the present application in fig. 2, and the detailed process and advantages thereof are described below.
In the laser processing system according to fig. 2, a control device 201, a motion platform 202, a line scanning device 203, and a laser marking device 204 are included. The control device 201 controls the system uniformly, specifically, the control device 201 can control the motion platform 202 to drive the PCB product to move. The control device 201 can control the line scanning device 203 to scan the line of the moving PCB product, and splice the images scanned line by line, so as to obtain the surface image of the PCB product. The control device 201 may also process the surface image, identify the unit modules on the PCB product and the possible manual marking information of each unit module, determine the marking coordinates and marking contents of each unit module according to the identified marking information, and control the laser marking device 204 to perform the marking operation.
S11, acquiring a surface image of a PCB product, wherein a plurality of unit modules are integrated on the surface of the PCB product.
Specifically, in one embodiment of the present application, the control device 201 controls the motion platform 202 to drive the PCB product to move, while the line scanning device 203 is kept fixed, the control device 201 controls the line scanning device 203 to collect images of the PCB product line by line, and then the collected images are spliced to obtain a surface image of the PCB product.
In other embodiments of the present application, the PCB product may also be kept stationary while the line sweeping device is moved by the motion platform to capture the surface image of the PCB product.
S12, obtaining a product model corresponding to the PCB product, and determining corresponding product template data according to the product model.
Specifically, in the embodiment of the present application, a digital code, a line code or a two-dimensional code may be printed on the surface of a PCB product in advance, and used to identify a product model of the PCB product, so that after a surface image of the PCB product is acquired, the product model corresponding to the PCB product is obtained by identifying the code or the two-dimensional code of the PCB product.
In the embodiment of the application, product template data corresponding to the product model is established in advance according to the product model of the PCB product. The product template data carries the number of unit modules of the PCB product of the product model, the shape of each unit module and the coordinates of locating points. In general, in some product models, the unit modules are arranged on the surface of the PCB product according to a certain rule, and the size of each unit module may be the same or different. Each unit module is provided with positioning points (Mark points) in advance, and the positioning points can be made of materials with good luminous performance, so that the identification and the positioning are convenient.
S13, positioning the positioning points of all unit modules in the surface image of the PCB product.
Specifically, in the embodiment of the application, the coordinates of the positioning points of each unit module in the surface image of the PCB product are identified by a template positioning method according to the product template data.
S14, determining the image area of each unit module in the surface image of the PCB product according to the product template data and the positioning points of each unit module.
Specifically, the shape of each unit module in the product template data is known, after the coordinates of the locating given point of each unit module are determined, the boundary range of each unit module in the surface image can be determined according to the shape of each unit module, and the image in the boundary range forms the image area of each unit module.
In an embodiment of the present application, image segmentation may be further performed, according to the image areas of each unit module in the surface image of the PCB product, image segmentation is performed, so that the segmented area includes an image area of one unit module, so that the subsequent image recognition processing processes less image data, and the processing is performed on the image data with normalized size, which may improve recognition efficiency.
S15, identifying the mark information in the image area of each unit module.
Specifically, in one embodiment of the present application, a machine recognition algorithm employing deep learning is employed to identify the marker information in the image area of each unit module.
The marking information can be manual marking information, and particularly the marking information is formed by manually marking the unit module on the surface of the PCB product according to actual conditions by using tools such as an oil pen and the like, so that the oil material is attached to the unit module. The adoption oily material is easy to clean, and can not cause damage to PCB products, and the possible mislabel of manual operation is convenient for be revised. The form and meaning of the manual mark may be predefined, for example, the marking may represent that the unit module is acceptable, and the marking may represent that the unit module is unacceptable. The artificial mark may also have more marks, such as triangles, circles, etc. Of course, there may be no marks in some of the unit modules. In other embodiments of the present application, the marking information may be non-manual marking information, and in particular, in the production process of the PCB product, the automatic production platform may automatically mark the PCB product according to the product status of the unit module on the surface of the product, where the automatically marked marking information is marking information formed by attaching an oily material to the unit module.
S16, determining marking coordinates and marking contents corresponding to each unit module according to the marking information in the image area of each unit module.
Specifically, according to the identified mark information, marking coordinates and marking contents corresponding to each unit module are determined according to the meaning of a predetermined mark. The marking coordinates can determine the image coordinates of the marking coordinates in the surface image based on the relative positions of the marking points, and then the coordinates are transformed into the surface coordinates on the PCB product. The marking content directly corresponds to the meaning of the mark, for example, the unit module is qualified, and the organization symbol of some enterprises or organizations can be directly marked, and the like.
S17, performing marking operation according to marking coordinates and marking contents corresponding to each unit module.
Specifically, after determining the marking coordinates and marking contents of each unit module, the control device 201 controls the motion platform 202 to drive the PCB product 200 to move below the laser marking device 204 and to keep fixed, and controls the laser marking device 204 to perform the marking operation, so as to complete the marking operation of each unit module, where different unit modules may or may not be marked, and the marking contents of the marked unit modules are different.
Fig. 3 is a functional block diagram of a laser marking control device according to an embodiment of the present application.
The laser marking control device 300 includes:
an image acquisition unit 301, configured to acquire a surface image of a PCB product, where a plurality of unit modules are integrated on a surface of the PCB product;
the template determining unit 302 is configured to obtain a product model corresponding to the PCB product, and determine corresponding product template data according to the product model;
a positioning unit 303, configured to position positioning points of each unit module in the surface image of the PCB product;
a unit dividing unit 304, configured to determine an image area of each unit module in the surface image of the PCB product according to the product template data and the positioning points of each unit module;
an identification unit 305 for identifying the marker information in the image area of each unit module;
an analysis processing unit 306, configured to determine, according to the marking information in the image area of each unit module, marking coordinates and marking contents corresponding to each unit module;
a marking control unit 307 for performing a marking operation according to the marking coordinates and marking contents corresponding to the respective unit modules.
According to the laser marking control device provided by the embodiment of the application, the product template data are pre-created in advance according to the product model, so that after the surface image of the PCB product to be marked is obtained and the product model of the PCB product is obtained, the product template data can be determined according to the product model, the positioning point coordinates of each unit module in the surface image are positioned, then the image area of each unit module is determined according to the product template data, the marking information in each unit module is further identified, the corresponding marking coordinates and marking content are determined according to the identified marking information, and the marking operation is performed according to the marking coordinates and marking content of each unit module.
The embodiment of the application also provides a computer readable storage medium, wherein the storage medium comprises a stored program, and the device where the storage medium is controlled to execute the laser marking control method when the program runs.
The embodiment of the application also provides a computer device 500, as shown in fig. 4. The computer device 500 of this embodiment includes: the processor 501, the memory 502, and the computer program 503 stored in the memory and capable of running on the processor 501, when the processor 501 executes the computer program 503, the laser marking control method in the embodiment is implemented, and in order to avoid repetition, details are not described herein. Alternatively, the computer program when executed by the processor 501 implements the functions of the models/units in the laser marking control device in the embodiment, and is not described herein in detail for avoiding repetition.
The computer device 500 may be a desktop computer, a notebook computer, a palm top computer, a cloud server, a laser processing device, or the like. Computer devices may include, but are not limited to, a processor 301, a memory 302. It will be appreciated by those skilled in the art that fig. 4 is merely an example of a computer device 500 and is not intended to limit the computer device 500, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a computer device may also include an input-output device, a network access device, a bus, etc.
The processor 501 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 502 may be an internal storage unit of the computer device 500, such as a hard disk or a memory of the computer device 500. The memory 502 may also be an external storage device of the computer device 300, such as a plug-in hard disk provided on the computer device 500, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), or the like. Further, the memory 502 may also include both internal storage units and external storage devices of the computer device 500. The memory 502 is used to store computer programs and other programs and data required by the computer device. The memory 502 may also be used to temporarily store data that has been output or is to be output.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the above elements is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a Processor (Processor) to perform part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (10)

1. A laser marking control method, characterized by comprising:
acquiring a surface image of a PCB product, wherein a plurality of unit modules are integrated on the surface of the PCB product;
obtaining a product model corresponding to the PCB product, and determining corresponding product template data according to the product model;
positioning points of all unit modules in the surface image of the PCB product;
determining an image area of each unit module in the surface image of the PCB product according to the product template data and the positioning points of each unit module;
identifying the mark information in the image area of each unit module;
determining marking coordinates and marking contents corresponding to each unit module according to the marking information in the image area of each unit module;
and executing marking operation according to the marking coordinates and marking contents corresponding to each unit module.
2. The laser marking control method according to claim 1, wherein the acquiring the surface image of the PCB product comprises:
and controlling the motion platform to drive the PCB product to move, and acquiring the surface image of the PCB product through the line scanning device.
3. The laser marking control method according to claim 1, wherein before the obtaining the corresponding product model of the PCB product and determining the corresponding product template data according to the product model, the method further comprises: and establishing product template data corresponding to the product model in advance according to the product model of the PCB product, wherein the product template data carries the number of unit modules, the shapes of all the unit modules and the positioning point coordinates of the PCB product of the product model.
4. The method for controlling laser marking according to claim 1, wherein the obtaining the product model corresponding to the PCB product comprises:
and identifying the code or the two-dimensional code of the PCB product, and obtaining the product model corresponding to the PCB product.
5. The laser marking control method according to claim 1, wherein the positioning points of the respective unit modules in the surface image of the PCB product comprises:
and identifying the coordinates of positioning points of each unit module in the surface image of the PCB product by a template positioning method according to the product template data.
6. The laser marking control method according to claim 1, characterized in that before the identification of the marking information in the image area of the respective unit modules, the method further comprises:
and carrying out image segmentation according to the image areas of each unit module in the surface image of the PCB product, so that the segmented area comprises the image area of one unit module.
7. The laser marking control method according to claim 6, wherein the identifying the marking information in the image area of the respective unit modules includes:
the marker information in the image area of each unit module is identified using a machine identification algorithm for deep learning.
8. The laser marking control method according to claim 1, wherein the marking information is marking information formed by attaching an oily material to the unit module.
9. A laser marking control device, the device comprising:
the image acquisition unit is used for acquiring a surface image of a PCB product, and a plurality of unit modules are integrated on the surface of the PCB product;
the template determining unit is used for obtaining the product model corresponding to the PCB product and determining corresponding product template data according to the product model;
the positioning unit is used for positioning points of all unit modules in the surface image of the PCB product;
the unit dividing unit is used for determining the image area of each unit module in the surface image of the PCB product according to the product template data and the positioning points of each unit module;
an identification unit configured to identify the marker information in the image area of each unit module;
the analysis processing unit is used for determining marking coordinates and marking contents corresponding to each unit module according to the marking information in the image area of each unit module;
and the marking control unit is used for executing marking operation according to the marking coordinates and marking contents corresponding to each unit module.
10. A computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program controls a device in which the computer readable storage medium is located to execute the laser marking control method according to any one of claims 1 to 8 when running.
CN202210862650.1A 2022-07-21 2022-07-21 Laser marking control method, device and storage medium Pending CN117464189A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210862650.1A CN117464189A (en) 2022-07-21 2022-07-21 Laser marking control method, device and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210862650.1A CN117464189A (en) 2022-07-21 2022-07-21 Laser marking control method, device and storage medium

Publications (1)

Publication Number Publication Date
CN117464189A true CN117464189A (en) 2024-01-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210862650.1A Pending CN117464189A (en) 2022-07-21 2022-07-21 Laser marking control method, device and storage medium

Country Status (1)

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CN (1) CN117464189A (en)

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