阅读说明：本技术 电池极片焊前定位检测系统和方法 (Battery pole piece pre-welding positioning detection system and method ) 是由 宋伟 刘亚东 罗印升 贲唯一 于 2019-08-23 设计创作，主要内容包括：本发明公开了一种电池极片焊前定位检测系统和方法,其中,检测系统包括：光照装置,光照装置用于从多个光源位置分别照射定位检测区域；图像获取装置,图像获取装置用于在光照装置从每个光源位置照射定位检测区域时,获取位于定位检测区域的电池极片和焊盘的图像；上位机,上位机分别与光照装置和图像获取装置相连,上位机用于根据从多个光源位置照射定位检测区域时所对应获取的多个图像进行电池极片的定位。本发明能够提高电池极片焊前定位的准确性和工作效率。(The invention discloses a battery pole piece pre-welding positioning detection system and a method, wherein the detection system comprises: the illumination device is used for respectively illuminating the positioning detection area from a plurality of light source positions; the image acquisition device is used for acquiring images of the battery pole piece and the bonding pad positioned in the positioning detection area when the illumination device illuminates the positioning detection area from each light source position; and the upper computer is respectively connected with the illumination device and the image acquisition device, and is used for positioning the battery pole piece according to a plurality of images correspondingly acquired when the positioning detection area is irradiated from a plurality of light source positions. The invention can improve the accuracy and the working efficiency of the positioning of the battery pole piece before welding.)

1. The utility model provides a battery pole piece before welding location detecting system which characterized in that includes:

illumination means for illuminating positioning detection regions from a plurality of light source positions, respectively;

the image acquisition device is used for acquiring images of a battery pole piece and a bonding pad which are positioned in the positioning detection area when the illumination device irradiates the positioning detection area from each light source position;

the upper computer is respectively connected with the illumination device and the image acquisition device and used for positioning the battery pole piece according to a plurality of images correspondingly acquired when the positioning detection area is irradiated by the plurality of light source positions.

2. The battery pole piece pre-weld registration detection system of claim 1, further comprising:

the conveying device is connected with the upper computer and used for conveying the battery pole piece and the welding disc to the positioning detection area for positioning detection, conveying the battery pole piece and the welding disc to the next process of a production line when the position of the battery pole piece is judged to be accurate, and moving the battery pole piece and the welding disc out of the production line when the position of the battery pole piece is judged to be inaccurate.

3. The battery pole piece pre-weld registration detection system of claim 2, further comprising:

the in-place detection device is connected with the upper computer and used for detecting whether the battery pole piece and the bonding pad reach the positioning detection area.

4. The battery pole piece pre-weld registration detection system of claim 3, further comprising:

and the moving-out detection device is connected with the upper computer and is used for detecting whether the battery pole piece and the welding disc are moved out of the production line or not.

5. The system of any one of claims 1-4, wherein the illumination device comprises:

a light source;

the light source controller is respectively connected with the light source and the upper computer and is used for controlling the light source to emit light and adjusting the light emitting brightness of the light source;

the mechanical arm is connected with the upper computer and clamps the light source, and the mechanical arm is used for moving the light source to the light source positions.

6. The system of claim 5, wherein the illumination device illuminates the positioning detection area from three light source positions, wherein the three light source positions are respectively a 45 ° angle right in front of the positioning detection area, a 45 ° angle right behind the positioning detection area, and a 45 ° angle right to the right.

7. The system of any one of claims 1-4, wherein the image capture device comprises:

the industrial camera is connected with the upper computer and arranged right above the positioning detection area so as to shoot images of a battery pole piece and a bonding pad which are positioned in the positioning detection area through a camera lens and transmit the shot images to the upper computer through an image acquisition card.

8. The system of claim 4, wherein the conveyor comprises:

a first conveyor belt;

a second conveyor belt having a different conveying direction than the first conveyor belt;

the conveying belt driving mechanism is connected with the upper computer and is used for driving the first conveying belt and the second conveying belt to operate;

and the conveying direction adjusting mechanism is connected with the upper computer and is used for adjusting the conveying direction of the battery pole piece and the welding disc so as to convey the battery pole piece and the welding disc to the next procedure of a production line along the first conveying belt or move out of the production line along the second conveying belt.

9. The system of claim 8, wherein the in-position detection device comprises photoelectric sensors disposed on two sides of the first conveyor belt, and the out-position detection device comprises photoelectric sensors disposed on two sides of the second conveyor belt.

10. A method for positioning and detecting a battery pole piece before welding is characterized by comprising the following steps:

irradiating a positioning detection area from a plurality of light source positions respectively;

when the positioning detection area is irradiated from each light source position, acquiring images of a battery pole piece and a bonding pad which are positioned in the positioning detection area;

and positioning the battery pole piece according to a plurality of images correspondingly acquired when the positioning detection area is irradiated from a plurality of light source positions.

Technical Field

The invention relates to the technical field of machine vision, in particular to a battery pole piece before-welding positioning detection system and a battery pole piece before-welding positioning detection method.

Background

With the development of science and technology, mobile phones become indispensable electronic products in people's lives, built-in batteries are also indispensable, and with the continuous upgrade of communication technology, mobile phones are also updated and iterated rapidly nowadays, so that the sales volume of mobile phones is increased, and the demand of mobile phone batteries is greatly increased.

In production, the requirement for welding precision is higher and higher, when a mobile phone battery performs welding of pole pieces on a production line, in order to save labor cost and improve production efficiency, operation is usually completed through automated equipment such as a spot welding machine, and before welding, the battery pole pieces are generally positioned before welding by using technologies such as machine vision, etc., so as to position the positions of the battery pole pieces and a welding pad, and then are welded by using equipment such as a spot welding machine. However, due to the unevenness of some welding pads and the bending or tilting of some pole pieces, when the battery pole pieces are positioned by using a machine vision technology, shadows or over-bright areas may exist in the acquired images, thereby affecting the accuracy and the working efficiency of the positioning before welding.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a system for detecting a pre-welding position of a battery pole piece, which can improve the accuracy and the working efficiency of the pre-welding position of the battery pole piece.

The second purpose of the invention is to provide a battery pole piece before-welding positioning detection method.

In order to achieve the above object, a system for detecting a pre-weld position of a battery pole piece according to an embodiment of a first aspect of the present invention includes: illumination means for illuminating positioning detection regions from a plurality of light source positions, respectively; the image acquisition device is used for acquiring images of a battery pole piece and a bonding pad which are positioned in the positioning detection area when the illumination device irradiates the positioning detection area from each light source position; the upper computer is respectively connected with the illumination device and the image acquisition device and used for positioning the battery pole piece according to a plurality of images correspondingly acquired when the positioning detection area is irradiated by the plurality of light source positions.

According to the battery pole piece before-welding positioning detection system provided by the embodiment of the invention, the illumination device respectively illuminates the positioning detection area from a plurality of light source positions, the image acquisition device acquires the images of the battery pole piece and the welding disc positioned in the positioning detection area when illuminating the positioning detection area from each light source position, and the upper computer positions the battery pole piece according to the acquired images, so that the accuracy and the working efficiency of battery pole piece before-welding positioning can be improved.

In addition, the battery pole piece pre-welding positioning detection system provided by the embodiment of the invention can also have the following additional technical characteristics:

the system comprises a positioning detection area, a battery pole piece, a welding disc and a conveying device, wherein the positioning detection area is used for detecting the position of the battery pole piece, the conveying device is used for conveying the battery pole piece and the welding disc to the positioning detection area for positioning detection, conveying the battery pole piece and the welding disc to the next process of a production line when the position of the battery pole piece is judged to be accurate, and moving the battery pole piece and the welding disc out of the production line when the position of the battery pole piece is judged to be inaccurate.

Furthermore, the battery pole piece before-welding positioning detection system further comprises an in-place detection device, the in-place detection device is connected with the upper computer, and the in-place detection device is used for detecting whether the battery pole piece and the welding pad reach the positioning detection area or not.

Furthermore, the battery pole piece pre-welding positioning detection system further comprises a moving-out detection device, the moving-out detection device is connected with the upper computer, and the moving-out detection device is used for detecting whether the battery pole piece and the welding pad are moved out of the production line or not.

According to an embodiment of the present invention, the illumination device includes: a light source; the light source controller is respectively connected with the light source and the upper computer and is used for controlling the light source to emit light and adjusting the light emitting brightness of the light source; the mechanical arm is connected with the upper computer and clamps the light source, and the mechanical arm is used for moving the light source to the light source positions.

Further, the illumination device illuminates the positioning detection area from three light source positions respectively, wherein the three light source positions are respectively an upper 45 ° angle right in front of the positioning detection area, an upper 45 ° angle right behind the positioning detection area, and an upper 45 ° angle right to the right.

According to one embodiment of the present invention, the image acquisition apparatus includes: the industrial camera is connected with the upper computer and arranged right above the positioning detection area so as to shoot images of a battery pole piece and a bonding pad which are positioned in the positioning detection area through a camera lens and transmit the shot images to the upper computer through an image acquisition card.

According to one embodiment of the invention, the transfer device comprises: a first conveyor belt; a second conveyor belt having a different conveying direction than the first conveyor belt; the conveying belt driving mechanism is connected with the upper computer and is used for driving the first conveying belt and the second conveying belt to operate; and the conveying direction adjusting mechanism is connected with the upper computer and is used for adjusting the conveying direction of the battery pole piece and the welding disc so as to convey the battery pole piece and the welding disc to the next procedure of a production line along the first conveying belt or move out of the production line along the second conveying belt.

According to an embodiment of the present invention, the in-position detection device of the pre-welding positioning detection system for battery electrode plates includes photoelectric sensors disposed in the positioning detection area and on both sides of the first conveyor belt, and the out-position detection device includes photoelectric sensors disposed on both sides of the second conveyor belt.

In order to achieve the above object, a method for detecting a pre-welding position of a battery pole piece provided by an embodiment of a second aspect of the present invention includes the following steps: irradiating a positioning detection area from a plurality of light source positions respectively; when the positioning detection area is irradiated from each light source position, acquiring images of a battery pole piece and a bonding pad which are positioned in the positioning detection area; and positioning the battery pole piece according to a plurality of images correspondingly acquired when the positioning detection area is irradiated from a plurality of light source positions.

According to the method for detecting the battery pole piece pre-welding positioning, the positioning detection areas are respectively irradiated from the positions of the plurality of light sources, images of the battery pole piece and the welding disc positioned in the positioning detection areas are obtained when the positioning detection areas are irradiated from each light source position, and the battery pole piece is positioned according to the obtained images, so that the accuracy and the working efficiency of the battery pole piece pre-welding positioning can be improved.

Drawings

FIG. 1 is a block diagram of a battery pole piece pre-weld positioning detection system according to an embodiment of the present invention;

FIG. 2 is a block diagram of a pre-weld positioning detection system for a battery pole piece according to one embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a pre-weld positioning detection system for a battery pole piece according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method for detecting the pre-weld positioning of a battery pole piece according to an embodiment of the present invention;

fig. 5 is a flowchart of a method for detecting a pre-welding position of a battery pole piece according to an embodiment of the invention.

Reference numerals:

10-an illumination device, 11-a light source, 12-a light source controller and 13-a mechanical arm; 20-image acquisition device, 21-industrial camera; 30-an upper computer; 40-a conveying device, 41-a first conveyor belt, 42-a second conveyor belt, 401-a PLC control mechanism, 402-an actuating mechanism, 403-a mechanical door; 50-in-place detection means; 60-removing the detection device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a block diagram of a battery pole piece pre-welding positioning detection system according to an embodiment of the invention.

As shown in fig. 1, the system for detecting the pre-welding position of a battery pole piece in the embodiment of the present invention includes an illumination device 10, an image acquisition device 20, and an upper computer 30. The illumination device 10 is used for respectively illuminating the positioning detection areas from a plurality of light source positions; the image acquisition device 20 is used for acquiring images of the battery pole piece and the bonding pad positioned in the positioning detection area when the illumination device irradiates the positioning detection area from each light source position; the upper computer 30 is connected with the illumination device 10 and the image acquisition device 20 respectively, and the upper computer 30 is used for positioning the battery pole piece according to a plurality of images correspondingly acquired when the positioning detection area is irradiated from a plurality of light source positions.

Further, as shown in fig. 2, the system for detecting the pre-welding position of the battery pole piece may further include a conveying device 40. The conveying device 40 is connected with the upper computer 30, and the conveying device 40 is used for conveying the battery pole pieces and the bonding pads to a positioning detection area for positioning detection, conveying the battery pole pieces and the bonding pads to the next process of the production line when the position of the battery pole pieces is judged to be accurate, and moving the battery pole pieces and the bonding pads out of the production line when the position of the battery pole pieces is judged to be inaccurate.

Further, as shown in fig. 2, the system for detecting the pre-welding position of the battery pole piece may further include a position detecting device 50. The in-place detection device 50 is connected with the upper computer 30 and is used for detecting whether the battery pole piece and the bonding pad reach a positioning detection area.

Further, as shown in fig. 2, the system for detecting the pre-weld positioning of the battery pole piece may further include a removal detection device 60. The removal detection device 60 is connected to the upper computer 30, and is used for detecting whether the battery pole pieces and the bonding pads are removed from the production line.

In one embodiment of the present invention, as shown in fig. 3, the illumination device 10 may include a light source 11, a light source controller 12, and a robot arm 13. The light source controller 12 is respectively connected with the light source 11 and the upper computer 30, and the light source controller 12 is used for controlling the light source 11 to emit light and adjusting the light emitting brightness of the light source 11; the robot arm 13 is connected to the upper computer 30 and holds the light source 11, and the robot arm can move the light source 11 to a plurality of light source positions. In one embodiment of the present invention, the light source 11 may be a bar light source, the robot 13 may be a four-axis robot, and the bar light source may be mounted at the hand position of the four-axis robot at an angle of 45 ° to the conveyor belt.

In one embodiment of the present invention, referring to fig. 3, the lighting device 10 may respectively illuminate the positioning detection area from three light source positions, which may be respectively an angle of 45 ° forward from the positioning detection area, an angle of 45 ° rearward from the positioning detection area, and an angle of 45 ° rightward from the positioning detection area, that is, A, B, C position in the drawing. Wherein the linear distance between each light source position and the battery pole piece is about 50 cm.

In one embodiment of the present invention, as shown in FIG. 3, the image acquisition device 20 may include an industrial camera 21. The industrial camera 21 is connected to the upper computer 30, and may be disposed at a predetermined distance, for example, 50cm, directly above the positioning detection area, so as to capture images of the battery pole piece and the bonding pad located in the positioning detection area through a camera lens, and transmit the captured images to the upper computer 30 through an image capture card.

In one embodiment of the present invention, referring to fig. 3, the robot arm 13 can control the light source 11 to move A, B, C to each position respectively, and at each corresponding position, the industrial camera 21 can capture images of at least one battery plate and pad through the camera lens respectively, and transmit the captured images to the upper computer 30 through the image capture card.

In one embodiment of the present invention, as shown in fig. 3, the conveying device 40 may include a first conveyor belt 41, a second conveyor belt 42, a conveyor belt driving mechanism (not shown in the figure), and a conveying direction adjusting mechanism. The first conveyor belt 41 and the second conveyor belt 42 have different conveying directions, for example, may be perpendicular to each other; the conveyor belt driving mechanism is connected with the upper computer 30 and is used for driving the first conveyor belt and the second conveyor belt to run; the conveying direction adjusting mechanism is connected to the upper computer 30, and the conveying direction adjusting mechanism is used for adjusting the conveying direction of the battery pole pieces and the bonding pads, so that the battery pole pieces and the bonding pads can be conveyed to the next process of the production line along the first conveying belt, or can be moved out of the production line along the second conveying belt.

In one embodiment of the present invention, as shown in fig. 3, the conveying direction adjusting mechanism may include a PLC control mechanism 401, an actuator 402, and a mechanical door 403. The PLC control mechanism 401 is connected with the upper computer 30, and after the upper computer 30 sends an instruction, the PLC control mechanism 401 can control the execution mechanism 402 to work, so that the mechanical door 403 is controlled to rotate, the conveying direction of the battery pole piece and the welding disc is adjusted, and the battery pole piece and the welding disc are conveyed to the next procedure of the production line along the first conveying belt or are moved out of the production line along the second conveying belt.

In one embodiment of the present invention, as shown in fig. 3, the in-position detecting device 50 may include photosensors disposed at both sides of the first conveyor belt 41. The photoelectric sensor comprises a transmitter and a receiver, and is installed corresponding to the positioning detection area, when the photoelectric sensor works, the transmitter can uninterruptedly transmit light beams, and the receiver can receive the light beams under the unobstructed condition, but when the battery pole piece and the welding disc pass through the positioning detection area, the light beams are shielded, the photoelectric switch acts, and a switch control signal is output to the upper computer 30. The removal detecting device 60 may include a photo sensor disposed on both sides of the second conveyor belt 42, and the structure and detection principle of the photo sensor are the same as those of the in-place detecting device 50, and thus the description thereof is omitted.

In one embodiment of the present invention, as shown in FIG. 3, the upper computer 30 may be a personal computer terminal. The computer terminal is used as an information control hub and is connected with the light source controller 12, the mechanical arm 13, the industrial camera 21, the conveying belt driving control mechanism, the conveying belt direction adjusting mechanism, the photoelectric sensor and the like. The computer terminal can be used for sending an illumination instruction to the light source controller 12 so as to control the light source 11 to emit light and adjust the light emitting brightness of the light source 11; the computer terminal can be used for sending a light source moving instruction to the mechanical arm 13 so as to control the mechanical arm to clamp the light source 11 to move to a specified position; the computer terminal can be used for sending a photographing instruction to the industrial camera 21 so as to control the lens of the industrial camera to photograph images of the battery pole piece and the bonding pad in the positioning detection area, and transmitting a plurality of photographed images to the computer terminal through the image acquisition card; the computer terminal can be used for sending a transmission instruction to the conveyor belt driving mechanism so as to control the rotation and stop of the conveyor belt; the computer terminal can be used for sending a direction adjusting instruction to the transmission direction adjusting mechanism so as to control the transmission direction adjusting mechanism to adjust the transmission direction of the battery pole piece and the welding disc. And the computer terminal is connected with the photoelectric sensor and receives the in-place signal and the removal signal of the object to be detected sent by the photoelectric sensor. The computer terminal converts a plurality of images, which are acquired correspondingly when the positioning detection area is irradiated from a plurality of light source positions, into an editable image data file, and then performs software processing on the image data file. For example, the computer terminal can process the image data file by using Halcon software, so that the positioning detection before welding of the battery pole piece is realized.

According to the battery pole piece before-welding positioning detection system provided by the embodiment of the invention, the positioning detection areas are respectively irradiated from a plurality of light source positions through the illumination device, the images of the battery pole piece and the welding disc positioned in the positioning detection areas are acquired when the positioning detection areas are irradiated from each light source position through the image acquisition device, and the battery pole piece is positioned through the upper computer according to the acquired images, so that the accuracy and the working efficiency of battery pole piece before-welding positioning can be improved.

The invention also provides a battery pole piece pre-welding positioning detection method corresponding to the battery pole piece pre-welding positioning detection system of the embodiment.

As shown in fig. 4, the method for detecting the pre-welding positioning of the battery pole piece in the embodiment of the invention comprises the following steps:

s1, the positioning detection regions are irradiated from the respective light source positions.

Referring to fig. 3, in one embodiment of the present invention, the battery pole piece and the bonding pad may be conveyed to the alignment detection area by the first conveyor belt 41 for alignment detection, and the alignment detection area is irradiated from three light source positions by the robot arm 13 while clamping the light source 11 for position adjustment. The three light source positions are respectively an upper 45-degree angle right in front of the positioning detection area, an upper 45-degree angle right behind the positioning detection area and an upper 45-degree angle right to the positioning detection area, namely A, B, C positions in the figure, wherein the linear distance between each light source position and the battery pole piece is about 50 cm.

And S2, acquiring images of the battery pole piece and the welding disc positioned in the positioning detection area when the positioning detection area is irradiated from each light source position.

In one embodiment of the invention, the camera lens can be controlled to shoot images of the battery pole piece and the bonding pad positioned in the positioning detection area through the industrial camera arranged right above the positioning detection area, and the shot images are transmitted to the computer terminal through the image acquisition card.

And S3, positioning the battery pole piece according to the plurality of images acquired correspondingly when the positioning detection area is irradiated from the plurality of light source positions.

In an embodiment of the present invention, a plurality of images obtained when the positioning detection region is irradiated from a plurality of light source positions may be converted into an editable image data file by a computer terminal, and software processing may be performed. Specifically, Halcon software can be used for processing and positioning the image data file, so that the battery pole piece is positioned before welding, and whether the battery pole piece is qualified in positioning before welding is judged. When the position of the battery pole piece is judged to be accurate, the battery pole piece and the bonding pad can be conveyed to the next procedure of the production line, and when the position of the battery pole piece is judged to be inaccurate, the battery pole piece and the bonding pad can be moved out of the production line.

In an embodiment of the present invention, as shown in fig. 5, the method for detecting the pre-welding positioning of the battery pole piece includes the following steps:

and S501, initializing.

And S502, controlling the first conveyor belt to rotate. The object to be detected, namely the battery pole piece and the bonding pad can be conveyed to the specified positioning detection area through the rotation of the first conveyor belt.

And S503, judging whether the object to be detected is detected or not through the first photoelectric sensor. If so, then S504 is performed, otherwise S502 is performed.

And S504, controlling the first conveyor belt to stop.

And S505, controlling the mechanical arm to clamp the light source to rotate to the position A, and taking a picture by the industrial camera.

And S506, judging whether to acquire the image or not through an image acquisition card. If so, executing S507, otherwise executing S505.

And S507, the computer terminal receives the image.

And S508, controlling the mechanical arm to clamp the light source to rotate to the position B, and taking a picture by the industrial camera.

And S509, judging whether an image is acquired or not through an image acquisition card. If so, S510 is performed, otherwise, S508 is performed.

S510, the computer terminal receives the image.

And S511, controlling the mechanical arm to clamp the light source and rotate to the position C, and taking a picture by the industrial camera.

And S512, judging whether to acquire the image or not through an image acquisition card. If so, S513 is performed, otherwise, S511 is performed.

S513, the computer terminal receives the image.

And S514, processing the image and positioning the pole piece.

And S515, judging whether the position of the pole piece is accurate. If so, S519 is performed, otherwise, S516 is performed.

And S516, controlling an actuating mechanism through the PLC.

And S517, controlling the first conveyor belt and the second conveyor belt to rotate simultaneously.

And S518, judging whether the object is detected or not through the second photoelectric sensor. If so, S519 is performed, otherwise, S517 is performed.

And S519, controlling the first conveyor belt to rotate.

According to the method for detecting the pre-welding positioning of the battery pole piece, the positioning detection areas are respectively irradiated from the plurality of light source positions, images of the battery pole piece and the welding pad positioned in the positioning detection areas are obtained when the positioning detection areas are irradiated from each light source position, and the battery pole piece is positioned according to the obtained images, so that the accuracy and the working efficiency of the pre-welding positioning of the battery pole piece can be improved.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.