CN117846814A - Method and system for on-orbit entering of spacecraft propulsion system into stable state - Google Patents
Method and system for on-orbit entering of spacecraft propulsion system into stable state Download PDFInfo
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- CN117846814A CN117846814A CN202311791438.1A CN202311791438A CN117846814A CN 117846814 A CN117846814 A CN 117846814A CN 202311791438 A CN202311791438 A CN 202311791438A CN 117846814 A CN117846814 A CN 117846814A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000008569 process Effects 0.000 abstract description 10
- 230000000087 stabilizing effect Effects 0.000 abstract description 4
- GQPLMRYTRLFLPF-UHFFFAOYSA-N Nitrous Oxide Chemical compound [O-][N+]#N GQPLMRYTRLFLPF-UHFFFAOYSA-N 0.000 description 8
- 239000000446 fuel Substances 0.000 description 6
- 239000007800 oxidant agent Substances 0.000 description 6
- 230000001590 oxidative effect Effects 0.000 description 6
- 239000001272 nitrous oxide Substances 0.000 description 4
- 239000003380 propellant Substances 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention provides a method and a system for a spacecraft propulsion system to enter a stable state on orbit, wherein the method comprises the following steps of S1: a plurality of pressure sensors, a plurality of gas path control self-locking valves and pressure reducing valves are arranged in the gas paths; the pressure sensor collects pressure data in the gas circuit; the gas circuit control self-locking valve controls the increase and decrease of the pressure in the gas circuit; step S2: and controlling the opening and closing states of the self-locking valve and the pressure reducing valve based on the adjustment gas path to complete the pressure control in the gas path. According to the invention, under the condition that the configuration of the propulsion system is not increased, the system pressure fluctuation brought in the starting process of the engine is reduced by controlling the starting pressure of the storage tank before the operation of the rail-controlled engine according to the on-orbit flight telemetry data condition, so that the thrust fluctuation is reduced, and the system pressure fluctuation has higher practicability; the system stabilizing time in the starting process of the track control engine can be shortened, the thrust fluctuation can be reduced, and the system stabilizing method can be widely applied to the technical field of spacecraft double-component propulsion systems.
Description
Technical Field
The invention relates to the technical field of spacecraft double-component propulsion systems, in particular to a method and a system for enabling a spacecraft propulsion system to enter a stable state on orbit.
Background
At present, the overall accuracy requirement of the spacecraft on the on-orbit thrust of the orbit control engine is higher and higher, and the propulsion system generally ensures the on-orbit thrust of the orbit control engine through the ground heat standard of the orbit control engine and the system flow resistance adjustment. In the track flight process, the system needs to be stable step by step when the track control engine is started, in the process, the thrust of the track control engine fluctuates, and no improvement method is provided for shortening the system fluctuation in the track control engine starting process at present.
In chinese patent publication No. CN111734554B, a regenerative thermal compensation system and method for realizing self-pressurization stable supply of nitrous oxide are disclosed. The regenerative heat compensation system for realizing self-pressurization stable supply of nitrous oxide comprises a storage tank, a thrust chamber component, a spray pipe hot end heat exchange component, a storage tank cold end heat exchange component and a pipeline cold end heat exchange component; the storage tank is communicated with the thrust chamber assembly through an output pipeline and a propellant supply pipeline assembly, the hot end heat exchange assembly of the spray pipe is sleeved on the thrust chamber assembly, and the cold end heat exchange assembly of the storage tank is arranged at a heat compensation port of the storage tank; the pipeline cold end heat exchange assembly is sleeved on the second heat compensation supply pipeline and the propellant supply pipeline assembly. According to the technical scheme, the heat compensation of a propellant supply pipeline and the storage tank is realized through a part of nitrous oxide gas in the storage tank through a jet pipe hot end heat exchange assembly, a pipeline cold end heat exchange assembly and a storage tank cold end heat exchange assembly, so that energy sources on a spacecraft are saved, and the stable supply of a gaseous nitrous oxide propellant is realized; the method is essentially different from the method adopted in the patent document, and the system pressure fluctuation caused in the starting process of the engine is reduced by controlling the starting pressure of the storage tank before the operation of the rail-controlled engine.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for enabling a spacecraft propulsion system to enter a stable state on orbit.
The invention provides a method for an on-orbit entering of a spacecraft propulsion system into a stable state, which comprises the following steps:
step S1: a plurality of pressure sensors, a plurality of gas path control self-locking valves and pressure reducing valves are arranged in the gas paths;
the pressure sensor collects pressure data in the gas circuit;
the gas circuit control self-locking valve controls the increase and decrease of the pressure in the gas circuit;
step S2: and controlling the opening and closing states of the self-locking valve and the pressure reducing valve based on the adjustment gas path to complete the pressure control in the gas path.
Preferably, the step S2 includes the following substeps:
step S2.1: debugging a pressure reducing valve in the gas circuit to obtain an outlet pressure value of the pressure reducing valve under rated flow;
step S2.2: measuring and calculating flow resistance of each single machine and pipeline in the system to obtain rated pressure P of the storage tank when the rail-controlled engine works Rated storage tank ；
Step S2.3: the flow resistance adjustment of the rail control pipeline is carried out before the propulsion system is assembled, so that the outlet pressure of the pressure reducing valve is a dynamic pressure value under the rated flow when the rail control engine works;
step S2.4: before the rail control engine works for the first time, the gas circuit control self-locking valve is opened for a plurality of times, and after the storage tank reaches rated pressure, the gas circuit control self-locking valve is closed, and the pressurization of the storage tank is stopped;
step S2.5: when the rail control engine works for the first time, the rail control engine and the gas circuit control self-locking valve are simultaneously opened.
Preferably, the pressure sensor includes a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, and a fifth pressure sensor; the first pressure sensor is arranged at the outlet of the pressure reducing valve; the second pressure sensor, the third pressure sensor, the fourth pressure sensor, and the fifth pressure sensor are disposed at each tank.
Preferably, the step S2.1 includes obtaining the outlet pressure P of the rail-controlled engine under the rated working condition based on single-machine debugging of the pressure reducing valve Pressure reducing valve 。
Preferably, the step S2.3 includes adjusting the size of the throttle ring in the rail control pipeline based on the adjustment of the liquid flow of the rail control pipeline, so that the engine inlet pressure value output by the adjustment of the flow resistance of the rail control pipeline reaches the preset value when the rail control engine works nominally.
Preferably, the step S2.4 includes if the pressure value of the second pressure sensor, the pressure value of the third pressure sensor, the pressure value of the fourth pressure sensor and the pressure value of the fifth pressure sensor are all equal to the rated pressure P of the tank when the rail engine is operated when the tank pressure is slowly increased Rated storage tank And if the two types of the air paths are equal, stopping opening the air path control self-locking valve.
The invention provides a system for an on-orbit stable state of a spacecraft propulsion system, which comprises:
module M1: a plurality of pressure sensors, a plurality of gas path control self-locking valves and pressure reducing valves are arranged in the gas paths;
the pressure sensor collects pressure data in the gas circuit;
the gas circuit control self-locking valve controls the increase and decrease of the pressure in the gas circuit;
module M2: and controlling the opening and closing states of the self-locking valve and the pressure reducing valve based on the adjustment gas path to complete the pressure control in the gas path.
Preferably, the module M2 comprises the following sub-modules:
module M2.1: debugging a pressure reducing valve in the gas circuit to obtain an outlet pressure value of the pressure reducing valve under rated flow;
module M2.2: measuring and calculating flow resistance of each single machine and pipeline in the system to obtain rated pressure P of the storage tank when the rail-controlled engine works Rated storage tank ；
Module M2.3: the flow resistance adjustment of the rail control pipeline is carried out before the propulsion system is assembled, so that the outlet pressure of the pressure reducing valve is a dynamic pressure value under the rated flow when the rail control engine works;
module M2.4: before the rail control engine works for the first time, the gas circuit control self-locking valve is opened for a plurality of times, and after the storage tank reaches rated pressure, the gas circuit control self-locking valve is closed, and the pressurization of the storage tank is stopped;
module M2.5: when the rail control engine works for the first time, the rail control engine and the gas circuit control self-locking valve are simultaneously opened.
Preferably, the pressure sensor includes a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, and a fifth pressure sensor; the first pressure sensor is arranged at the outlet of the pressure reducing valve; the second pressure sensor, the third pressure sensor, the fourth pressure sensor, and the fifth pressure sensor are disposed at each tank.
Preferably, the module M2.1 comprises an outlet pressure P obtained under the rated working condition of the rail-controlled engine based on single-machine debugging of the pressure reducing valve Pressure reducing valve 。
Preferably, the module M2.3 includes adjusting the size of a throttle ring in the rail control pipeline based on the flow adjustment of the rail control pipeline, so that the engine inlet pressure value output by the flow resistance adjustment of the rail control pipeline reaches a preset value when the rail control engine works nominally.
Preferably, the module M2.4 includes a control unit for controlling the pressure of the tank to be higher than the rated pressure P of the tank when the engine is operated Rated storage tank And if the two types of the air paths are equal, stopping opening the air path control self-locking valve.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, under the condition that the configuration of the propulsion system is not increased, the system pressure fluctuation brought in the starting process of the engine is reduced by controlling the starting pressure of the storage tank before the operation of the rail-controlled engine according to the on-orbit flight telemetry data, so that the thrust fluctuation is reduced, and the invention has higher practicability.
2. The invention can shorten the system stabilization time in the starting process of the track-controlled engine, reduce the thrust fluctuation and can be widely applied to the technical field of spacecraft double-component propulsion systems.
Other advantages of the present invention will be set forth in the description of specific technical features and solutions, by which those skilled in the art should understand the advantages that the technical features and solutions bring.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a layout of the gas circuit pipeline in the present invention.
Description of the reference numerals
Pressure reducing valve 1 second fuel path gas path self-locking valve 4
First fuel path gas path self-locking valve 2 and second oxidant gas path self-locking valve 5
First oxidant gas circuit self-locking valve 3 rail-controlled engine 6
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Referring to fig. 1 and 2, a method for an on-orbit steady state spacecraft propulsion system, comprising:
firstly, a plurality of pressure sensors and an air passage control self-locking valve are arranged on an air passage, and in a normal working mode, the air passage self-locking valve is opened in advance. The gas entering the storage tanks needs to pass through the control of the self-locking valve, the outlet of the pressure reducing valve 1 is provided with a pressure sensor P1, and each storage tank is provided with a pressure sensor P2, P3, P4 and P5.
Then the rail-controlled engine is obtained through single-machine debugging of the pressure reducing valve 1Outlet pressure P at 6 rated conditions Pressure reducing valve 。
The rated pressure of the storage tanks (1#MON, 3#MON, 2#MMH and 4#MMH) when the track control engine 6 works is obtained through measurement and calculation of flow resistance of each single machine and each pipeline on the system; the rated pressure P of the storage tank is obtained by calculating the flow resistance of the gas circuit pipeline of the system when the rail-controlled engine 6 works at rated speed Rated storage tank 。
The flow resistance of the front rail control pipeline is adjusted through the propulsion system, so that when the rail control engine 6 works, the outlet pressure of the pressure reducing valve 1 is the dynamic pressure value under the rated flow: the size of a throttle ring arranged in the rail control pipeline is adjusted through the liquid flow adjustment of the rail control pipeline, so that the inlet pressure of the engine given by the flow resistance adjustment of the rail control pipeline meets the rated working requirement of the rail control engine 6.
Before the track control engine 6 works for the first time, the first fuel path gas path self-locking valve 2, the first oxidant gas path self-locking valve 3, the second fuel path gas path self-locking valve 4 and the second oxidant gas path self-locking valve 5 are opened for a plurality of times in a short time, and when the storage tank reaches rated pressure, the valves are closed, and the pressurization of the storage tank is stopped. Opening time T of gas circuit self-locking valve Qi tonifying As short as possible, the tank pressure rises slowly, when the tank pressure reaches p2=p3=p4=p5=p Rated storage tank And stopping opening the gas path self-locking valve.
When the rail control engine 6 works for the first time, the first fuel path gas path self-locking valve 2, the first oxidant gas path self-locking valve 3, the second fuel path gas path self-locking valve 4 and the second oxidant gas path self-locking valve 5 are opened simultaneously with the rail control engine 6.
According to the invention, under the condition that the configuration of the propulsion system is not increased, the system pressure fluctuation brought in the starting process of the engine is reduced by controlling the starting pressure of the storage tank before the operation of the rail-controlled engine according to the on-orbit flight telemetry data condition, so that the thrust fluctuation is reduced, and the system pressure fluctuation has higher practicability; the system stabilizing time in the starting process of the track control engine can be shortened, the thrust fluctuation can be reduced, and the system stabilizing method can be widely applied to the technical field of spacecraft double-component propulsion systems.
The invention also provides a system for the on-orbit entering of the spacecraft propulsion system into the stable state, which can be realized by executing the flow steps of the method for the on-orbit entering of the spacecraft propulsion system into the stable state, namely, the method for the on-orbit entering of the spacecraft propulsion system into the stable state can be understood as a preferred implementation mode of the system for the on-orbit entering of the spacecraft propulsion system by a person skilled in the art.
Specifically, a system for an on-orbit stable state of a spacecraft propulsion system comprises:
module M1: a plurality of pressure sensors, a plurality of gas path control self-locking valves and pressure reducing valves are arranged in the gas paths;
the pressure sensor collects pressure data in the gas circuit;
the gas circuit control self-locking valve controls the increase and decrease of the pressure in the gas circuit;
module M2: and controlling the opening and closing states of the self-locking valve and the pressure reducing valve based on the adjustment gas path to complete the pressure control in the gas path.
The module M2 comprises the following sub-modules:
module M2.1: debugging a pressure reducing valve in the gas circuit to obtain an outlet pressure value of the pressure reducing valve under rated flow;
module M2.2: measuring and calculating flow resistance of each single machine and pipeline in the system to obtain rated pressure P of the storage tank when the rail-controlled engine works Rated storage tank ；
Module M2.3: the flow resistance adjustment of the rail control pipeline is carried out before the propulsion system is assembled, so that the outlet pressure of the pressure reducing valve is a dynamic pressure value under the rated flow when the rail control engine works;
module M2.4: before the rail control engine works for the first time, the gas circuit control self-locking valve is opened for a plurality of times, and after the storage tank reaches rated pressure, the gas circuit control self-locking valve is closed, and the pressurization of the storage tank is stopped;
module M2.5: when the rail control engine works for the first time, the rail control engine and the gas circuit control self-locking valve are simultaneously opened.
The pressure sensor comprises a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor and a fifth pressure sensor; the first pressure sensor is arranged at the outlet of the pressure reducing valve; the second pressure sensor, the third pressure sensor, the fourth pressure sensor, and the fifth pressure sensor are disposed at each tank.
The module M2.1 comprises an outlet pressure P based on the single-machine debugging of a pressure reducing valve under the rated working condition of the rail control engine Reduction of And (5) pressing a valve.
The module M2.3 comprises a throttle ring arranged in the rail control pipeline and adjusted based on the liquid flow adjustment of the rail control pipeline, so that the engine inlet pressure value output by the flow resistance adjustment of the rail control pipeline reaches a preset value when the rail control engine works nominally.
The module M2.4 comprises a pressure value of the second pressure sensor, a pressure value of the third pressure sensor, a pressure value of the fourth pressure sensor and a pressure value of the fifth pressure sensor which are equal to a rated pressure P of the storage tank when the rail-controlled engine works when the pressure of the storage tank slowly rises Rated storage tank And if the two types of the air paths are equal, stopping opening the air path control self-locking valve.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method of an on-orbit steady state spacecraft propulsion system, comprising:
step S1: a plurality of pressure sensors, a plurality of gas path control self-locking valves and pressure reducing valves are arranged in the gas paths;
the pressure sensor collects pressure data in the gas circuit;
the gas circuit control self-locking valve controls the increase and decrease of the pressure in the gas circuit;
step S2: and controlling the opening and closing states of the self-locking valve and the pressure reducing valve based on the adjustment gas path to complete the pressure control in the gas path.
2. A method for the in-orbit entering of a spacecraft propulsion system into a steady state according to claim 1, wherein said step S2 comprises the sub-steps of:
step S2.1: debugging a pressure reducing valve in the gas circuit to obtain an outlet pressure value of the pressure reducing valve under rated flow;
step S2.2: measuring and calculating flow resistance of each single machine and pipeline in the system to obtain rated pressure P of the storage tank when the rail-controlled engine works Rated storage tank ；
Step S2.3: the flow resistance adjustment of the rail control pipeline is carried out before the propulsion system is assembled, so that the outlet pressure of the pressure reducing valve is a dynamic pressure value under the rated flow when the rail control engine works;
step S2.4: before the rail control engine works for the first time, the gas circuit control self-locking valve is opened for a plurality of times, and after the storage tank reaches rated pressure, the gas circuit control self-locking valve is closed, and the pressurization of the storage tank is stopped;
step S2.5: when the rail control engine works for the first time, the rail control engine and the gas circuit control self-locking valve are simultaneously opened.
3. A method of bringing a spacecraft propulsion system into steady state in accordance with claim 1, wherein said pressure sensors comprise a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, and a fifth pressure sensor; the first pressure sensor is arranged at the outlet of the pressure reducing valve; the second pressure sensor, the third pressure sensor, the fourth pressure sensor, and the fifth pressure sensor are disposed at each tank.
4. The method for on-orbit steady state of a spacecraft propulsion system according to claim 2, wherein said step S2.1 comprises deriving the outlet pressure P of the controlled engine at nominal operation based on stand-alone commissioning of pressure relief valves Pressure reducing valve 。
5. The method for on-orbit entering of a spacecraft propulsion system according to claim 2, wherein the step S2.3 comprises adjusting the size of a throttle ring arranged in the rail control pipeline based on the flow adjustment of the rail control pipeline, so that the inlet pressure value of the engine output by the flow resistance adjustment of the rail control pipeline reaches a preset value when the rail control engine works nominally.
6. The method according to claim 2, wherein the step S2.4 includes the step of, if the tank pressure rises slowly, comparing the pressure value of the second pressure sensor, the pressure value of the third pressure sensor, the pressure value of the fourth pressure sensor and the pressure value of the fifth pressure sensor with the rated pressure P of the tank during the operation of the on-track engine Rated storage tank And if the two types of the air paths are equal, stopping opening the air path control self-locking valve.
7. A system for an on-orbit steady state spacecraft propulsion system, comprising:
module M1: a plurality of pressure sensors, a plurality of gas path control self-locking valves and pressure reducing valves are arranged in the gas paths;
the pressure sensor collects pressure data in the gas circuit;
the gas circuit control self-locking valve controls the increase and decrease of the pressure in the gas circuit;
module M2: and controlling the opening and closing states of the self-locking valve and the pressure reducing valve based on the adjustment gas path to complete the pressure control in the gas path.
8. A spacecraft propulsion system in-orbit steady state system according to claim 7, wherein said module M2 comprises the following sub-modules:
module M2.1: debugging a pressure reducing valve in the gas circuit to obtain an outlet pressure value of the pressure reducing valve under rated flow;
module M2.2: measuring and calculating flow resistance of each single machine and pipeline in the system to obtain rated pressure P of the storage tank when the rail-controlled engine works Rated storage tank ；
Module M2.3: the flow resistance adjustment of the rail control pipeline is carried out before the propulsion system is assembled, so that the outlet pressure of the pressure reducing valve is a dynamic pressure value under the rated flow when the rail control engine works;
module M2.4: before the rail control engine works for the first time, the gas circuit control self-locking valve is opened for a plurality of times, and after the storage tank reaches rated pressure, the gas circuit control self-locking valve is closed, and the pressurization of the storage tank is stopped;
module M2.5: when the rail control engine works for the first time, the rail control engine and the gas circuit control self-locking valve are simultaneously opened.
9. The system for on-orbit entering of a spacecraft propulsion system of claim 7, wherein said pressure sensors comprise a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor and a fifth pressure sensor; the first pressure sensor is arranged at the outlet of the pressure reducing valve; the second pressure sensor, the third pressure sensor, the fourth pressure sensor, and the fifth pressure sensor are disposed at each tank.
10. The system for on-orbit entering of a spacecraft propulsion system according to claim 8, wherein said module M2.1 comprises means for deriving the outlet pressure P at nominal conditions of the orbit control engine based on stand-alone commissioning of the pressure relief valve Pressure reducing valve 。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311791438.1A CN117846814A (en) | 2023-12-22 | 2023-12-22 | Method and system for on-orbit entering of spacecraft propulsion system into stable state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311791438.1A CN117846814A (en) | 2023-12-22 | 2023-12-22 | Method and system for on-orbit entering of spacecraft propulsion system into stable state |
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| Publication Number | Publication Date |
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| CN117846814A true CN117846814A (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311791438.1A Pending CN117846814A (en) | 2023-12-22 | 2023-12-22 | Method and system for on-orbit entering of spacecraft propulsion system into stable state |
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| Country | Link |
|---|---|
| CN (1) | CN117846814A (en) |
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2023
- 2023-12-22 CN CN202311791438.1A patent/CN117846814A/en active Pending
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