CN116198620B - Bionic single-foot jumping robot - Google Patents
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- CN116198620B CN116198620B CN202310177508.8A CN202310177508A CN116198620B CN 116198620 B CN116198620 B CN 116198620B CN 202310177508 A CN202310177508 A CN 202310177508A CN 116198620 B CN116198620 B CN 116198620B
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- 230000009191 jumping Effects 0.000 title claims abstract description 56
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 41
- 238000004146 energy storage Methods 0.000 claims description 22
- 210000000629 knee joint Anatomy 0.000 claims description 20
- 210000004394 hip joint Anatomy 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 4
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- 238000000034 method Methods 0.000 description 4
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 2
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 101000827703 Homo sapiens Polyphosphoinositide phosphatase Proteins 0.000 description 1
- 102100023591 Polyphosphoinositide phosphatase Human genes 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
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Abstract
Description
技术领域Technical Field
本发明涉及跳跃机器人技术领域，特别是涉及一种仿生单足跳跃机器人。The invention relates to the technical field of jumping robots, in particular to a bionic monoped jumping robot.
背景技术Background Art
近年来，全球范围内自然灾害和人为事故造成的大量人员、财产损失频繁发生，这些场景往往环境错综复杂且危险性极大，人员无法正常进入，于是对于能够进行灾后救援、高危环境巡检等任务的机器人有着迫切需求。而跳跃机器人由于其出色的越障性能，能够适用非结构化的复杂环境，在军民领域都中有着广泛的应用。In recent years, a large number of casualties and property losses caused by natural disasters and man-made accidents have occurred frequently around the world. These scenes are often complex and dangerous, and people cannot enter normally. Therefore, there is an urgent need for robots that can perform tasks such as post-disaster rescue and high-risk environment inspections. Jumping robots have excellent obstacle-crossing performance and can be used in unstructured complex environments. They are widely used in both military and civilian fields.
然而，目前的跳跃机器人多为双足且不具备空中姿态调整功能。However, most current jumping robots are bipedal and do not have the ability to adjust their posture in the air.
发明内容Summary of the invention
本发明的目的是提供一种仿生单足跳跃机器人，以解决上述现有技术存在的问题，实现单足跳跃，且具备空中姿态调整功能。The purpose of the present invention is to provide a bionic single-leg jumping robot to solve the problems existing in the above-mentioned prior art, realize single-leg jumping, and have the function of adjusting the posture in the air.
为实现上述目的，本发明提供了如下方案：To achieve the above object, the present invention provides the following solutions:
本发明提供一种仿生单足跳跃机器人，包括单足跳跃机器人本体和电机，所述单足跳跃机器人本体能够弹跳至空中，所述电机设置于所述单足跳跃机器人本体上并能够通过电机轴的转动来控制所述单足跳跃机器人本体在空中的姿态。The present invention provides a bionic monopedal jumping robot, comprising a monopedal jumping robot body and a motor. The monopedal jumping robot body can bounce into the air. The motor is arranged on the monopedal jumping robot body and can control the posture of the monopedal jumping robot body in the air by rotating the motor shaft.
优选的，所述单足跳跃机器人本体包括机器人身体部分、多连杆机构、足垫和储能元件，所述机器人身体部分设置于所述多连杆机构上部，所述足垫设置于所述多连杆机构下部；所述多连杆机构能够屈折和伸展，所述储能元件设置于所述多连杆机构上；Preferably, the monopod jumping robot body comprises a robot body part, a multi-link mechanism, a foot pad and an energy storage element, wherein the robot body part is arranged on the upper part of the multi-link mechanism, and the foot pad is arranged on the lower part of the multi-link mechanism; the multi-link mechanism can be flexed and extended, and the energy storage element is arranged on the multi-link mechanism;
所述多连杆机构屈折时，所述储能元件进行储能；When the multi-link mechanism is bent, the energy storage element stores energy;
所述储能元件释放能量时，所述多连杆机构伸展并利用连杆与地面的反作用力推动所述多连杆机构向上移动实现弹跳。When the energy storage element releases energy, the multi-link mechanism stretches and utilizes the reaction force between the connecting rods and the ground to push the multi-link mechanism upward to achieve bouncing.
优选的，所述多连杆机构包括仿胯骨关节连杆、仿股节伸肌连杆、仿股节屈肌连杆、仿股节支架、仿膝关节、第一仿径节连杆、第二仿径节连杆、仿附节连杆；Preferably, the multi-link mechanism includes a hip joint imitation link, a femoral extensor imitation link, a femoral flexor imitation link, a femoral bracket imitation, a knee joint imitation, a first diametral link imitation, a second diametral link imitation, and an attachment link imitation;
其中，所述仿胯骨关节连杆的中部绕水平轴能够转动地设置于所述机器人身体部分上，所述仿胯骨关节连杆的两端分别与所述仿股节伸肌连杆和所述仿股节屈肌连杆的一端铰接，所述仿股节伸肌连杆和所述仿股节屈肌连杆的另一端均铰接于所述仿膝关节上，且所述仿股节伸肌连杆和所述仿股节屈肌连杆穿插设置，所述仿股节支架的一端铰接于所述机器人身体部分，另一端与所述仿膝关节铰接，所述第一仿径节连杆的一端铰接于所述仿股节支架靠近所述仿膝关节的部分，所述第一仿径节连杆的另一端铰接于所述仿附节连杆的一端，所述仿附节连杆另一端铰接于所述足垫上，所述第二仿径节连杆的一端固定连接于所述仿膝关节上，另一端铰接于所述仿附节连杆上；Wherein, the middle part of the simulated hip joint connecting rod is rotatably arranged on the robot body part around a horizontal axis, the two ends of the simulated hip joint connecting rod are respectively hinged to one end of the simulated femoral extensor connecting rod and the simulated femoral flexor connecting rod, the other ends of the simulated femoral extensor connecting rod and the simulated femoral flexor connecting rod are both hinged to the simulated knee joint, and the simulated femoral extensor connecting rod and the simulated femoral flexor connecting rod are interlaced, one end of the simulated femoral bracket is hinged to the robot body part, and the other end is hinged to the simulated knee joint, one end of the first simulated diametral connecting rod is hinged to the part of the simulated femoral bracket close to the simulated knee joint, the other end of the first simulated diametral connecting rod is hinged to one end of the simulated attachment connecting rod, the other end of the simulated attachment connecting rod is hinged to the foot pad, one end of the second simulated diametral connecting rod is fixedly connected to the simulated knee joint, and the other end is hinged to the simulated attachment connecting rod;
所述储能元件为扭簧，所述扭簧安装于所述机器人身体部分与所述仿股节支架的铰接处，按压所述机器人身体部分能够使得所述机器人身体部分和所述仿股节支架之间的角度变小并使得所述扭簧发生扭转变形进行储能。The energy storage element is a torsion spring, which is installed at the hinge between the robot body and the femoral articulation bracket. Pressing the robot body can reduce the angle between the robot body and the femoral articulation bracket and cause the torsion spring to twist and deform to store energy.
优选的，所述扭簧为双扭簧。Preferably, the torsion spring is a double torsion spring.
优选的，所述电机安装于所述仿膝关节的一侧。Preferably, the motor is installed on one side of the artificial knee joint.
本发明相对于现有技术取得了以下技术效果：Compared with the prior art, the present invention has achieved the following technical effects:
本发明提供的仿生单足跳跃机器人中包括有电机，电机作为姿态控制机构来控制仿生单足跳跃机器人在空中的姿态。The bionic monoped jumping robot provided by the present invention comprises a motor, and the motor is used as a posture control mechanism to control the posture of the bionic monoped jumping robot in the air.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1为本发明提供的仿生单足跳跃机器人的结构示意图；FIG1 is a schematic structural diagram of a bionic monopedal jumping robot provided by the present invention;
图2为图1中机器人身体部分、多连杆机构、足垫的结构示意图；FIG2 is a schematic diagram of the structure of the robot body, multi-link mechanism, and foot pad in FIG1 ;
图3为图1中扭簧设置位置的示意图；FIG3 is a schematic diagram of the setting position of the torsion spring in FIG1 ;
图4为电机设置位置的示意图；FIG4 is a schematic diagram of the motor setting position;
图5为处于伸展状态的仿生单足跳跃机器人的结构示意图；FIG5 is a schematic structural diagram of a bionic monopedal jumping robot in an extended state;
图6为处于屈折状态的仿生单足跳跃机器人的结构示意图；FIG6 is a schematic structural diagram of a bionic monopedal jumping robot in a flexed state;
图中：1-多连杆机构；2-储能元件；3-姿态控制机构；101-机器人身体部分；102-仿胯骨关节连杆；103-仿股节伸肌连杆；104-仿股节屈肌连杆；105-仿股节支架；106-仿膝关节；107-第一连接套；108-第一仿径节连杆；109-第二仿径节连杆；110-第二连接套；111-仿附节连杆；112-第三连接套；113-足垫；201-扭簧；202-圆柱销；301-电机。In the figure: 1-multi-link mechanism; 2-energy storage element; 3-posture control mechanism; 101-robot body part; 102-imitation hip joint connecting rod; 103-imitation femoral extensor connecting rod; 104-imitation femoral flexor connecting rod; 105-imitation femoral bracket; 106-imitation knee joint; 107-first connecting sleeve; 108-first imitation diametral connecting rod; 109-second imitation diametral connecting rod; 110-second connecting sleeve; 111-imitation attachment connecting rod; 112-third connecting sleeve; 113-foot pad; 201-torsion spring; 202-cylindrical pin; 301-motor.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
本发明的目的是提供一种仿生单足跳跃机器人，以解决上述现有技术存在的问题，实现单足跳跃，且具备空中姿态调整功能。The purpose of the present invention is to provide a bionic single-leg jumping robot to solve the problems existing in the above-mentioned prior art, realize single-leg jumping, and have the function of adjusting the posture in the air.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
本发明提供一种仿生单足跳跃机器人，如图1所示，包括单足跳跃机器人本体和电机301，单足跳跃机器人本体能够弹跳至空中，电机301设置于单足跳跃机器人本体上并能够通过电机轴的转动来控制单足跳跃机器人本体在空中的姿态。电机301可采用直流无刷电机，电机轴向不同方向转动时，会提供不同方向的转矩，不同的转动速度会提供不同大小的转矩，因此，通过对电机轴的转动反向和速度进行控制，即可控制电机301输出扭矩的方向和大小进而改变仿生单足跳跃机器人在空中的姿态。The present invention provides a bionic monopedal jumping robot, as shown in FIG1 , comprising a monopedal jumping robot body and a motor 301, wherein the monopedal jumping robot body can bounce into the air, and the motor 301 is arranged on the monopedal jumping robot body and can control the posture of the monopedal jumping robot body in the air by rotating the motor shaft. The motor 301 can be a brushless DC motor, and when the motor shaft rotates in different directions, it will provide torques in different directions, and different rotation speeds will provide torques of different magnitudes. Therefore, by controlling the rotation direction and speed of the motor shaft, the direction and magnitude of the torque output by the motor 301 can be controlled, thereby changing the posture of the bionic monopedal jumping robot in the air.
因此，本发明提供的仿生单足跳跃机器人中的电机301作为姿态控制机构3来控制仿生单足跳跃机器人在空中的姿态。使机器人能够完成多模态的运动并进行模态间的转换，适应更加多样、复杂的非结构化环境，突破传统移动机器人运动模态少、适应环境场景单一的缺点。该机器人离散的落地点使其可以进行不规则地面的灾后救援、环境侦察等任务，满足当前社会对特种机器人在不同场景下的需求。Therefore, the motor 301 in the bionic monopedal jumping robot provided by the present invention is used as a posture control mechanism 3 to control the posture of the bionic monopedal jumping robot in the air. The robot can complete multi-modal motion and convert between modes, adapt to more diverse and complex unstructured environments, and break through the shortcomings of traditional mobile robots with few motion modes and single environmental scenarios. The discrete landing points of the robot enable it to perform tasks such as post-disaster rescue and environmental reconnaissance on irregular ground, meeting the current social demand for special robots in different scenarios.
于一些实施例中，如图2所示，单足跳跃机器人本体包括机器人身体部分101、多连杆机构1、足垫113和储能元件2，机器人身体部分101设置于多连杆机构1上部，足垫113设置于多连杆机构1下部；多连杆机构1能够屈折和伸展，储能元件2设置于多连杆机构1上；In some embodiments, as shown in FIG2 , the unipedal jumping robot body includes a robot body part 101, a multi-link mechanism 1, a foot pad 113 and an energy storage element 2, wherein the robot body part 101 is arranged on the upper part of the multi-link mechanism 1, and the foot pad 113 is arranged on the lower part of the multi-link mechanism 1; the multi-link mechanism 1 can be flexed and extended, and the energy storage element 2 is arranged on the multi-link mechanism 1;
多连杆机构1屈折时，储能元件2进行储能；储能元件2可为弹簧、扭簧201等弹性元件，多连杆机构1中至少存在两个相铰接的杆体，储能元件2设置于两个杆体的铰接部，两个杆体发生相对转动并靠近屈折时，压缩储能元件2进行储能，储能完毕后，解除对多连杆机构1的限制并使得储能元件2释放能量，储能元件2的弹力驱动两个杆体相互远离并实现多连杆机构1伸展，利用连杆与地面的反作用力推动多连杆机构1向上移动实现弹跳。When the multi-link mechanism 1 is bent, the energy storage element 2 stores energy; the energy storage element 2 can be an elastic element such as a spring or a torsion spring 201. There are at least two hinged rods in the multi-link mechanism 1, and the energy storage element 2 is arranged at the hinge part of the two rods. When the two rods rotate relative to each other and approach the bend, the energy storage element 2 is compressed to store energy. After the energy storage is completed, the restriction on the multi-link mechanism 1 is released and the energy storage element 2 releases energy. The elastic force of the energy storage element 2 drives the two rods to move away from each other and realize the extension of the multi-link mechanism 1. The reaction force between the connecting rod and the ground is used to push the multi-link mechanism 1 to move upward to realize bouncing.
当然，在其他实施例中，单足跳跃机器人本体可采用任意一款弹跳机器人来实现弹跳功能。Of course, in other embodiments, the monopod jumping robot body can adopt any jumping robot to realize the jumping function.
于一些实施例中，本实施例中的多连杆机构1包括仿胯骨关节连杆102、仿股节伸肌连杆103、仿股节屈肌连杆104、仿股节支架105、仿膝关节106、第一仿径节连杆108、第二仿径节连杆109、仿附节连杆111；In some embodiments, the multi-link mechanism 1 in this embodiment includes a simulated hip joint link 102, a simulated femoral extensor link 103, a simulated femoral flexor link 104, a simulated femoral support 105, a simulated knee joint 106, a first simulated diametral link 108, a second simulated diametral link 109, and a simulated attachment link 111;
其中，仿胯骨关节连杆102的中部绕水平轴能够转动地设置于机器人身体部分101上，仿胯骨关节连杆102的两端分别与仿股节伸肌连杆103和仿股节屈肌连杆104的一端铰接，仿股节伸肌连杆103和仿股节屈肌连杆104的另一端均铰接于仿膝关节106上，且仿股节伸肌连杆103和仿股节屈肌连杆104穿插设置，仿股节支架105的一端铰接于机器人身体部分101，另一端与仿膝关节106铰接，第一仿径节连杆108的一端铰接于仿股节支架105靠近仿膝关节106的部分，第一仿径节连杆108的另一端铰接于仿附节连杆111的一端，仿附节连杆111另一端铰接于足垫113上，第二仿径节连杆109的一端连接于仿膝关节106上，另一端铰接于仿附节连杆111上；The middle part of the simulated hip joint link 102 is rotatably arranged on the robot body part 101 around a horizontal axis, and the two ends of the simulated hip joint link 102 are respectively hinged to one end of the simulated femoral extensor link 103 and the simulated femoral flexor link 104, and the other ends of the simulated femoral extensor link 103 and the simulated femoral flexor link 104 are both hinged to the simulated knee joint 106, and the simulated femoral extensor link 103 and the simulated femoral flexor link 104 are interlaced, and the simulated femoral bracket 105 is One end is hinged to the robot body part 101, and the other end is hinged to the simulated knee joint 106. One end of the first simulated diametral joint link 108 is hinged to the part of the simulated femoral joint bracket 105 close to the simulated knee joint 106. The other end of the first simulated diametral joint link 108 is hinged to one end of the simulated attachment link 111. The other end of the simulated attachment link 111 is hinged to the foot pad 113. One end of the second simulated diametral joint link 109 is connected to the simulated knee joint 106, and the other end is hinged to the simulated attachment link 111.
上述多连杆机构1能够实现足垫113运动轨迹近似线性；近似线性意为，在多连杆机构1运动的过程中，足垫113的运动轨迹呈直线轨迹，或近似的直线轨迹，曲率半径极大。The multi-link mechanism 1 can realize an approximately linear motion trajectory of the foot pad 113; the approximately linear motion means that, during the movement of the multi-link mechanism 1, the motion trajectory of the foot pad 113 is a straight trajectory, or an approximate straight trajectory, with a very large radius of curvature.
通过对多连杆机构1的设计可以改变运动的方向和形式，由于机构本身重力的作用，通过各铰接点的位置和连杆长度的设计，使得机构末端(足垫113)处的轨迹为近似线性。The direction and form of movement can be changed by designing the multi-link mechanism 1. Due to the gravity of the mechanism itself, the position of each hinge point and the length of the link are designed so that the trajectory at the end of the mechanism (foot pad 113) is approximately linear.
如图3所示，储能元件2为扭簧201，扭簧201安装于机器人身体部分101与仿股节支架105的铰接处，按压机器人身体部分101能够使得机器人身体部分101和仿股节支架105之间的角度变小并使得扭簧201发生扭转变形进行储能。具体的，扭簧201可为双扭簧。双扭簧通过圆柱销安装于机器人身体部分101与仿股节支架105的铰接处。As shown in FIG3 , the energy storage element 2 is a torsion spring 201, which is installed at the hinge of the robot body part 101 and the imitation femoral joint bracket 105. Pressing the robot body part 101 can reduce the angle between the robot body part 101 and the imitation femoral joint bracket 105 and cause the torsion spring 201 to twist and deform to store energy. Specifically, the torsion spring 201 can be a double torsion spring. The double torsion spring is installed at the hinge of the robot body part 101 and the imitation femoral joint bracket 105 through a cylindrical pin.
于一些实施例中，第一仿径节连杆108的两端分别套设有第一连接套107和第二连接套110，并通过第一连接套107和第二连接套110与其他构件铰接。In some embodiments, the first pseudo-diametral connecting rod 108 is respectively sleeved with a first connecting sleeve 107 and a second connecting sleeve 110 at both ends thereof, and is hinged to other components through the first connecting sleeve 107 and the second connecting sleeve 110 .
第二仿径节连杆109的一端通过第三连接套与仿附节连杆111铰接。One end of the second pseudo-diametral joint connecting rod 109 is hinged to the pseudo-jointed joint connecting rod 111 through a third connecting sleeve.
于一些实施例中，如图4所示，电机301安装于仿膝关节106的一侧，电机301通过螺栓固定安装于仿膝关节106上。In some embodiments, as shown in FIG. 4 , the motor 301 is installed on one side of the artificial knee joint 106 , and the motor 301 is fixed to the artificial knee joint 106 by bolts.
起跳原理：手动竖直按压机器人身体部分101，带动仿胯骨关节连杆102旋转，带动仿股节伸肌连杆103与仿股节屈肌连杆104转动，使得机器人身体部分101发生向下位移。机器人身体部分101和仿股节支架105产生相对角度，挤压扭簧201，使得扭簧201获得能量。将按压在机器人身体部分101的手指移开，因压力得到释放，使得扭簧201驱动机器人身体部分101和仿股节支架105相对角度增大，在地面反力的作用下，带动仿生单足跳跃机器人实现起跳动作。Jumping principle: Manually press the robot body part 101 vertically to drive the simulated hip joint link 102 to rotate, drive the simulated femoral extensor link 103 and the simulated femoral flexor link 104 to rotate, and cause the robot body part 101 to move downward. The robot body part 101 and the simulated femoral bracket 105 form a relative angle, squeezing the torsion spring 201 so that the torsion spring 201 gains energy. Remove the finger pressing on the robot body part 101, and the pressure is released, so that the torsion spring 201 drives the robot body part 101 and the simulated femoral bracket 105 to increase the relative angle. Under the action of the ground reaction force, the bionic single-leg jumping robot is driven to achieve the jump action.
控制机器人姿态变化的原理：实现起跳的机器人在空中可以建模为倒立摆模型，通过对电机301的转动反向和速度控制，可以实现对机器人空中姿态的控制，从而实现对机器人落地点的位置和姿态控制。Principle of controlling the change of robot posture: The robot that takes off can be modeled as an inverted pendulum model in the air. By controlling the reverse rotation and speed of the motor 301, the robot's posture in the air can be controlled, thereby achieving position and posture control of the robot's landing point.
连续跳跃原理：利用电机301调整机器人的落地姿态为竖直状态，在该状态下，因为机器人本身重量导致的惯性作用，多连杆机构1屈折，扭簧201受到挤压，使得储能机构重新进行储能。在扭簧201的作用下，惯性力逐渐减小，而扭簧201的能量逐渐增加到达极限，最终使得在扭簧201的弹力作用下，机器人实现再次起跳。至此，一轮跳跃动作实现。后续连续跳跃皆为重复此跳跃流程。Continuous jumping principle: Use motor 301 to adjust the robot's landing posture to a vertical state. In this state, due to the inertia caused by the robot's own weight, the multi-link mechanism 1 is bent, and the torsion spring 201 is squeezed, causing the energy storage mechanism to re-store energy. Under the action of the torsion spring 201, the inertial force gradually decreases, while the energy of the torsion spring 201 gradually increases to the limit, and finally the robot takes off again under the elastic force of the torsion spring 201. At this point, a round of jumping action is achieved. Subsequent continuous jumps are all repeated this jumping process.
图5为处于伸展状态的仿生单足跳跃机器人的结构示意图；FIG5 is a schematic structural diagram of a bionic monopedal jumping robot in an extended state;
图6为处于屈折状态的仿生单足跳跃机器人的结构示意图；FIG6 is a schematic structural diagram of a bionic monopedal jumping robot in a flexed state;
本发明中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.
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