CN117643287A - Electric opposite variable boom sprayer - Google Patents
Electric opposite variable boom sprayer Download PDFInfo
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- CN117643287A CN117643287A CN202211001858.0A CN202211001858A CN117643287A CN 117643287 A CN117643287 A CN 117643287A CN 202211001858 A CN202211001858 A CN 202211001858A CN 117643287 A CN117643287 A CN 117643287A
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- spraying
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- 239000007921 spray Substances 0.000 claims abstract description 140
- 239000003814 drug Substances 0.000 claims abstract description 33
- 238000005507 spraying Methods 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims description 4
- 239000000575 pesticide Substances 0.000 abstract description 17
- 241000196324 Embryophyta Species 0.000 description 14
- 241000607479 Yersinia pestis Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 244000038559 crop plants Species 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 206010070863 Toxicity to various agents Diseases 0.000 description 1
- 239000003570 air Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 244000037666 field crops Species 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000447 pesticide residue Substances 0.000 description 1
- 239000010914 pesticide waste Substances 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of agricultural plant protection machinery, and particularly relates to an electric opposite variable boom sprayer. Including running gear, power unit, spray medicine mechanism, variable spraying system and control system that goes to spraying, running gear includes the frame, sets up front end removal wheel, rear end removal wheel and the steering control mechanism in the frame bottom, the top of frame still is provided with frame, medical kit and plunger pump are located at the back of frame, and the water inlet and the medical kit of plunger pump are connected, and the delivery port of plunger pump are connected with the water pipe, it has three branch road of giving medicine to the water pipe to go up to parallelly connected, all is provided with the solenoid valve on three branch road of giving medicine to the water pipe, spray medicine mechanism includes lifting unit, well spray lance and side spray lance. According to the row line fitted by the image processor, the invention automatically adjusts the wheel steering and adjusts the second electric push rod to stretch out and draw back, controls the integral displacement of the integral spray boom, ensures that the integral spray boom is aligned to row crops for spraying, and greatly improves the pesticide utilization rate.
Description
Technical Field
The invention belongs to the technical field of agricultural plant protection machinery, and particularly relates to an electric opposite variable boom sprayer.
Background
The spraying machine is a machine for dispersing liquid into mist, the spraying plant protection operation machine is always the main content of the development of the agricultural plant protection machine, the pest control is an important work in Tian Jianguan, the spraying of chemical pesticides is a main means for controlling the diseases, the weeds and the pests of the field, but the use of a large amount of pesticides even abuse can cause pesticide residues in agricultural products, and the safety of human beings is threatened; in addition, when the pesticides are sprayed on crops, a large amount of pesticides fly into the air, water and soil, and serious pollution is caused to the ecological environment.
Part of the existing plant protection operation still adopts a manual pesticide application mode, and the pesticide application mode has low production efficiency and high labor intensity and is easy to cause drug poisoning and other safety accidents of operators. In recent years, university enterprises also develop boom sprayers of different types and models, and provide favorable conditions for mechanized spraying operation of field crops. However, most of the existing mechanized spraying technologies adopt a uniform spraying method, namely, medicines are uniformly sprayed on all areas, variable pesticide application is not carried out according to the difference conditions of the ground plant positions and the like, the automation degree is low, the pesticide application is unreasonable, the pest control effect is poor, and the pesticide waste is caused. The line spacing between different crop plants can also be different, and especially for some test fields, a plurality of crops can be planted in one season, and the distance of the spray heads on the sprayer needs to be adjusted frequently. Therefore, there is a need for a boom sprayer that can improve the utilization of pesticides, reduce pesticide contamination and improve automation, and automatically adjust the spacing between the spray heads.
Disclosure of Invention
Aiming at the defects and problems, the invention aims at providing an electric opposite variable boom sprayer which can perform variable pesticide application according to the difference conditions of the ground plant position and the like, has high automation degree and saves pesticides; the purpose 2 is to the spray lance spraying machine that can the automatic adjustment shower nozzle interval to the different crop plant intervals of experimental plot difference.
The invention solves the technical problems by adopting the scheme that: an electric opposite variable spray boom sprayer comprises a travelling mechanism, a power mechanism, a medicine spraying mechanism, a variable spray system and an opposite spray control system, wherein the travelling mechanism comprises a frame, a front end moving wheel, a rear end moving wheel and a steering control mechanism which are arranged at the bottom of the frame, a machine base, a medicine box and a plunger pump are further arranged above the frame, the medicine box and the plunger pump are positioned at the rear of the machine base, a water inlet of the plunger pump is connected with the medicine box, a water outlet of the plunger pump is connected with a water pipe, three medicine applying branches are connected in parallel on the water pipe, electromagnetic valves are arranged on the three medicine applying branches, the medicine spraying mechanism comprises a lifting assembly, a middle spray boom and a side spray boom, the lifting assembly comprises a parallelogram lifting frame and a first electric push rod, the lifting frame comprises a transverse connecting rod and a vertical connecting rod, two ends of the first electric push rod are respectively hinged with the machine base and the transverse connecting rod, one end of the vertical connecting rod is hinged at the front end of the frame, the other end of the vertical connecting rod is connected with a spray rod frame, a guide rail is arranged on the spray rod frame, a middle spray rod is arranged above the guide rail and connected with the guide rail through a sliding block, the middle part of the rear end of the middle spray rod is connected with the spray rod frame through a second electric push rod, two side spray rods are respectively arranged at two ends of the middle spray rod and hinged with the middle spray rod, the rear ends of the side spray rods and the rear ends of the middle spray rod are connected through a third push rod, spray pipes are respectively arranged at the front ends of the middle spray rod and the two side spray rods, the spray pipes are respectively connected with three branches connected in parallel on a water pipe, spray heads are uniformly arranged on the spray pipes, the opposite spray control system comprises an image acquisition device, an image processor, a control unit and a speed unit, the image acquisition device transmits signals to the image processor, the image processor transmits processed information to the control unit, the control unit drives the first electric push rod to make the middle spray rod reciprocate on the guide rail and adjust the steering of the wheel steering motor.
Further, the power mechanism comprises a battery, and the battery provides a power source for the driving motor, the plunger pump, the first electric push rod, the second electric push rod and the third electric push rod.
Further, a divider is arranged on the front end moving wheel.
Further, the image acquisition device comprises an industrial camera arranged in the middle of the front end of the middle spray boom and used for acquiring crop pictures, the image processor comprises a computer and used for receiving the crop pictures and processing the crop pictures to obtain fitting row lines, the control unit comprises an electronic control unit and used for controlling offset of the side spray boom, the speed unit comprises a speed encoder and used for acquiring the running speed v1 of the sprayer and transmitting the running speed v1 of the sprayer to the electronic control unit, and response speed v2 of a corresponding mechanism is obtained according to an offset compensation model.
Further, the electronic control unit controls the speed of the direct current motor to adjust the transverse moving speed of the second push rod through motor driving, the push rod offset is obtained in real time through the Hall encoder, and the push rod offset is fed back to the electronic control unit to realize displacement closed-loop control.
Further, all be provided with the sliding sleeve on the spray lance of both sides, install the slide bar in the sliding sleeve, the one end of slide bar is kept away from the one end of well spray lance with the side spray tube and is passed through fourth electricity push rod and be connected, the both ends of well spray lance and the both ends of slide bar all are connected with the shower nozzle expansion bracket through flexible slide bar, the shower nozzle expansion bracket is articulated by a plurality of quadrangles diagonal and forms, connects through the fifth electricity push rod between the middle part quadrangle diagonal on the shower nozzle expansion bracket, and the even fixing of shower nozzle is on the shower nozzle expansion bracket, connects through the spray tube between the shower nozzle, the middle part of the shower nozzle expansion bracket on the well spray lance is provided with and occupies the mark.
Further, the spray pipe is in a hose shape.
Further, the number of the spray heads is the same as the number of the quadrangles.
The invention has the beneficial effects that: 1. the invention uses the battery as a power source, does not use a conventional engine as power, and uses the battery as a power source for driving a motor, a plunger pump and a push rod, thereby reducing the overall gravity of the equipment, reducing the compaction of the land, improving the flexibility of the equipment and reducing the pollution to the environment; according to the row lines fitted by the image processor, the wheel steering is automatically adjusted, the second electric push rod is automatically adjusted to stretch and retract, and the overall displacement of the overall spray boom is controlled, so that the overall spray boom is aligned to row crops for spraying, and the pesticide utilization rate is greatly improved.
2. According to the invention, the spray head telescopic frame is arranged, and the fifth electric push rod is controlled by the electronic control unit according to different plant intervals, so that the matched spray head interval is adjusted, and the problem that the distance between the existing spray heads is inconvenient to adjust is solved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the structure of the spraying mechanism of the present invention;
FIG. 4 is a front view of the present invention;
FIG. 5 is a system diagram of an opposite spray control system of the present invention;
FIG. 6 is a state diagram of the telescopic bracket of the spray head according to the embodiment 2 of the present invention;
FIG. 7 is a schematic view showing the connection of the spray pipe and the spray head expansion bracket in embodiment 2 of the present invention;
fig. 8 is a schematic diagram showing connection of a side nozzle and a nozzle expansion bracket according to embodiment 2 of the present invention.
In the figure, 1, a rack; 2. a front drive wheel assembly; 3. a rear drive wheel assembly; 4. a steering control mechanism; 5. a base; 6. a medicine box; 7. a lifting assembly; 71. a lifting frame; 72. a first electrical push rod; 8. A middle spray rod; 9. a side spray bar; 10. a spray bar frame; 11. a guide rail; 12. a slide block; 13. a second electric push rod; 14. a third electric push rod; 15. a spray pipe; 16. a spray head; 17. an industrial camera; 18. a computer; 19. a sliding sleeve; 20. a slide bar; 21. a fourth electrical push rod; 22. A telescopic slide bar; 23. a spray head expansion bracket; 24. a fifth electric push rod; 25. occupying the mark.
Detailed Description
The invention will be further described with reference to the drawings and examples.
Example 1: this embodiment aims at providing a to row variable boom sprayer, mainly used agricultural plant protection machinery technical field, does not carry out the variable according to the difference condition such as ground plant position to current plant protection machinery and carries out the variable and apply medicine, and degree of automation is low, causes the pesticide to apply unreasonably, and the pest control effect is poor and causes the pesticide extravagant.
The utility model provides a to going variable spray lance sprayer, shown in fig. 1-4, includes running gear, power unit, spouts medicine mechanism, variable spraying system and to going spraying system, running gear includes frame 1, driving motor, installs preceding wheel subassembly 2, back wheel subassembly 3 and the steering control mechanism 4 in the frame bottom, is provided with the divider on the preceding wheel subassembly 2, steering control mechanism 4 is connected with front end movable wheel 2 transmission, and rear end movable wheel 3 is connected with driving motor transmission, and the driving mode that this wheel turned to has a plurality of, selects steering motor drive right angle connecting rod to drive the swing in this embodiment, and this structure is prior art, just will not be repeated here. The power mechanism comprises a battery, wherein the battery provides a power source for a driving motor, a plunger pump, a first electric push rod, a second electric push rod and a third electric push rod, so that the overall gravity of the equipment is reduced, the compaction of the land is reduced, the flexibility of the equipment is improved, and the pollution to the environment is reduced.
The upper part of the frame 1 is also provided with a frame 5, a medicine box 6 and a plunger pump, the medicine box 6 and the plunger pump are positioned at the rear of the frame 5, a water inlet of the plunger pump is connected with the medicine box 6, a water outlet of the plunger pump is connected with a water pipe, three medicine applying branches are connected in parallel on the water pipe, electromagnetic valves are arranged on the three medicine applying branches, a medicine spraying mechanism comprises a lifting component 7, a middle spray rod 8 and side spray rods 9, the lifting component 7 comprises a parallelogram lifting frame 71 and a first electric push rod 72, the lifting frame 71 comprises a transverse connecting rod and a vertical connecting rod, two ends of the first electric push rod 72 are respectively hinged with the frame and the transverse connecting rod, one end of the vertical connecting rod is hinged at the front end of the frame 1, the other end of the vertical connecting rod is connected with a spray rod frame 10, a guide rail 11 is arranged on the spray rod frame 10, the middle spray rod 8 is arranged above the guide rail 11 and is connected with the guide rail 11 through a slide block 12, the middle part of the rear end of the middle spray rod 8 is connected with the spray rod frame 10 through a second electric push rod 13, the side spray rod 9 is provided with two side spray rods 9, the two side spray rods 9 are respectively connected with the electromagnetic valves on the side spray rod 8 and the side 15 respectively, the two ends of the side spray rod 8 are respectively connected with the spray rod 16 in parallel, and the two ends of the spray rod 16 are respectively, and the electromagnetic valve 15 are respectively connected with the spray rod 15, and the flow can be connected with the spray rod 16.
The variable spraying system comprises a variable spraying controller and a monitoring module, wherein the monitoring module comprises a speed measuring sensor, a flow sensor and a pressure sensor, the speed measuring sensor, the flow sensor and the pressure sensor are all used for detecting, collecting and displaying relevant parameters on time, the speed sensor is used for detecting the speed of a vehicle, the flow sensor is used for detecting the flow flowing to a spray head, and the pressure sensor is used for detecting the pressure of the spray head during spraying.
The opposite-row spraying control system comprises an image acquisition device, an image processor, an electronic control unit and a speed unit, wherein the image acquisition device can be an industrial camera 17, is installed in the middle of the middle spray boom 8 and is used for acquiring information of crops in real time, the image processor is used for processing shot images, the image processor can be a computer 18, the image processor transmits the processed information to the electronic control unit, the electronic control unit controls and drives the middle spray boom 8 to reciprocate on the guide rail 11 and adjust steering of a wheel steering motor according to the acquired information, and the speed template comprises a speed encoder and is used for acquiring the running speed v1 of the sprayer and transmitting the running speed v1 to the electronic control unit, so that the response speed v2 of the opposite-row mechanism is acquired according to an offset compensation model. The electronic control unit adopts pulse modulation to control the speed of the direct current motor to adjust the transverse moving speed of the second push rod through motor driving, the push rod offset is obtained in real time by utilizing the Hall encoder, and the push rod offset is fed back to the electronic control unit to realize displacement closed-loop control.
When the row spraying operation is performed, the row spacing, the spray boom width and the mu pesticide application quantity set values are input by keys on the variable spraying controller, and the speed sensor, the flow sensor and the pressure sensor acquire, monitor and display related parameters on time after the vehicle is started; the variable spraying controller compares the actual value of the medicine applying amount in unit area and the speed of the vehicle with a set value at regular time, the rotation speed of the electric plunger pump is regulated to cause the pressure change of the medicine spraying pipeline, so that the medicine applying amount in unit area is consistent with the set value, the aim of variable medicine spraying is achieved, an industrial camera acquires images in real time and transmits the images to a computer through a USB, control system software of the computer calculates the offset of the crop row in real time and communicates with an Electronic Control Unit (ECU) through a USB-CAN switching mode, and the computer and the ECU are connected through a USB-CAN switching module. Meanwhile, the installed speed encoder acquires the running speed v1 of the machine tool and transmits the running speed v1 to the ECU, and the response speed v2 of the traveling mechanism is obtained according to the offset compensation model. The ECU controls the speed of the direct current motor to adjust the transverse moving speed of the second push rod through motor driving by adopting pulse width modulation, obtains the push rod offset in real time by utilizing a Hall encoder, feeds back the push rod offset to the ECU, realizes displacement closed-loop control, and achieves the aim of applying medicines to the row variable.
Example 2: the present embodiment is substantially the same as embodiment 1, except that the present embodiment mainly provides a device capable of adjusting the distance between the spray heads according to different planting pitches of crops.
Referring to fig. 5-6, sliding sleeves 19 are disposed on the spray bars 9 on both sides, sliding rods 20 are mounted in the sliding sleeves 19, one ends of the sliding rods 20 are connected with one ends of the side spray pipes 9, which are far away from the middle spray bars 8, through fourth electric push rods 21, when the distance between the spray heads 16 is reduced, the distance between the spray heads 16 on the side spray bars 9 and the spray heads 16 on the middle spray bars 8 is convenient to adjust, two ends of the middle spray bars 8 and two ends of the sliding rods 20 are connected with spray head telescopic frames 23 through telescopic sliding rods 22, the spray head telescopic frames 23 are formed by hinging a plurality of quadrangle diagonal angles, middle quadrangle diagonal lines on the spray head telescopic frames 23 are connected through fifth electric push rods 24, the spray heads 16 are uniformly fixed on the spray head telescopic frames 23, the spray pipes 15 are in a hose shape, and the middle parts of the spray head telescopic frames 23 on the middle spray bars 8 are provided with occupation marks 25, and the number of the spray heads 16 is the same as the number of quadrangle diagonal lines.
When the intelligent control device is used, the industrial camera collects the distance between the mark and the nearest row crop in real time, the collected information is transmitted to the computer for processing, the computer controls the spray rod in the second electric slide rod driving according to the distance between the mark and the nearest row crop, the mark is aligned to the nearest row crop, then the industrial camera collects the plant row spacing d and the spray head clearance e, the computer compares the plant row spacing d with the spray head clearance e, the electronic control unit controls the fifth electric push rod to move, the plant row spacing d is equal to the spray head clearance e, and the purpose of adjusting the spray head clearance according to different crop row spacing is achieved.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (8)
1. An electric opposite variable boom sprayer is characterized in that: comprises a travelling mechanism, a power mechanism, a medicine spraying mechanism, a variable spraying system and a contra-moving spraying control system, wherein the travelling mechanism comprises a frame, a front end moving wheel, a rear end moving wheel and a steering control mechanism which are arranged at the bottom of the frame, a machine seat, a medicine box and a plunger pump are further arranged above the frame, the medicine box and the plunger pump are positioned at the rear of the machine seat, a water inlet of the plunger pump is connected with the medicine box, a water outlet of the plunger pump is connected with a water pipe, three medicine applying branches are connected in parallel on the water pipe, electromagnetic valves are arranged on the three medicine applying branches, the medicine spraying mechanism comprises a lifting assembly, a middle spraying rod and a side spraying rod, the lifting assembly comprises a parallelogram lifting frame and a first electric push rod, the lifting frame comprises a transverse connecting rod and a vertical connecting rod, two ends of the first electric push rod are respectively hinged with the frame and the transverse connecting rod, one end of the vertical connecting rod is hinged at the front end of the frame, the other end of the vertical connecting rod is connected with a spray rod frame, a guide rail is arranged on the spray rod frame, a middle spray rod is arranged above the guide rail and is connected with the guide rail through a sliding block, the middle part of the rear end of the middle spray rod is connected with the spray rod frame through a second electric push rod, two side spray rods are respectively arranged at the two ends of the middle spray rod and are hinged with the middle spray rod, the rear ends of the side spray rods and the rear ends of the middle spray rod are connected through a third push rod, the front ends of the middle spray rod and the two side spray rods are respectively provided with a spray pipe, the spray pipes are respectively connected with three branches connected in parallel on a water pipe, spray heads are uniformly arranged on the spray pipes, the opposite spray control system comprises an image acquisition device, an image processor, a control unit and a speed unit, the image acquisition device transmits signals to the image processor, the image processor transmits processed information to the control unit, the control unit drives the first electric push rod to make the middle spray rod reciprocate on the guide rail and adjust the steering of the wheel steering motor.
2. An electric variable displacement boom sprayer according to claim 1, wherein: the power mechanism comprises a battery, and the battery provides a power source for the driving motor, the plunger pump, the first electric push rod, the second electric push rod and the third electric push rod.
3. An electric variable displacement boom sprayer according to claim 1, wherein: the front end moving wheel is provided with a divider.
4. An electric variable displacement boom sprayer according to claim 1, wherein: the image acquisition device comprises an industrial camera arranged in the middle of the front end of the middle spray boom and used for acquiring crop pictures, the image processor comprises a computer and used for receiving the crop pictures and processing the crop pictures to obtain fitting row lines, the control unit comprises an electronic control unit and used for controlling the offset of the side spray boom, the speed unit comprises a speed encoder and used for acquiring the running speed v1 of the sprayer and transmitting the running speed v1 of the sprayer to the electronic control unit, and the response speed v2 of the corresponding mechanism is obtained according to the offset compensation model.
5. An electric variable displacement boom sprayer according to claim 4, wherein: the electronic control unit controls the speed of the direct current motor to adjust the transverse moving speed of the second push rod through motor driving, obtains the push rod offset in real time by utilizing the Hall encoder, and feeds back the push rod offset to the electronic control unit to realize displacement closed-loop control.
6. An electric variable displacement boom sprayer according to claim 1, wherein: the spray rod comprises a spray rod body, and is characterized in that sliding sleeves are arranged on the spray rods on two sides, sliding rods are arranged in the sliding sleeves, one ends of the sliding rods are connected with one ends of the side spray pipes, which are far away from the middle spray rod, through fourth electric push rods, two ends of the middle spray rod and two ends of the sliding rods are connected with spray head telescopic frames through telescopic sliding rods, the spray head telescopic frames are formed by hinging a plurality of quadrilateral diagonal angles, the middle quadrilateral diagonal lines on the spray head telescopic frames are connected through fifth electric push rods, spray heads are uniformly fixed on the spray head telescopic frames, the spray heads are connected through spray pipes, and the middle parts of the spray head telescopic frames on the middle spray rod are provided with mark occupation.
7. An electric variable displacement boom sprayer according to claim 6, wherein: the spray pipe is in a hose shape.
8. An electric variable displacement boom sprayer according to claim 7, wherein: the number of the spray heads is the same as that of the quadrangles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211001858.0A CN117643287A (en) | 2022-08-20 | 2022-08-20 | Electric opposite variable boom sprayer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211001858.0A CN117643287A (en) | 2022-08-20 | 2022-08-20 | Electric opposite variable boom sprayer |
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| Publication Number | Publication Date |
|---|---|
| CN117643287A true CN117643287A (en) | 2024-03-05 |
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ID=90048269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211001858.0A Pending CN117643287A (en) | 2022-08-20 | 2022-08-20 | Electric opposite variable boom sprayer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117643287A (en) |
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2022
- 2022-08-20 CN CN202211001858.0A patent/CN117643287A/en active Pending
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