阅读说明：本技术 一种车辆限速系统 (Vehicle speed limiting system ) 是由 马彪 李飞 姚欣 于 2021-07-13 设计创作，主要内容包括：本发明的实施例提供一种车辆限速系统。该车辆限速系统包括：油门检测装置,用于检测车辆的油门踏板开度；速度检测装置,用于检测车辆的当前速度；限速信息获取装置,用于获取车辆的最大限速值；处理器,处理器分别与油门检测装置、速度检测装置和限速信息获取装置通讯连接,处理器根据当前速度与最大速度值之间的差值,确定对油门踏板开度的限幅信息,并将油门踏板开度的限辐信息发送至车辆的车速控制器。采用本发明实施例的技术方案,可以在使用较低成本的情况下,为车辆增加稳定可靠的限速功能,有助于降低车辆因超速造成的安全事故发生率；而且车辆限速系统还具有通用性,以及性能可靠、功能安全、设备安装简单、成本较低等优点。(An embodiment of the present invention provides a vehicle speed limiting system. This vehicle speed limit system includes: an accelerator detection device for detecting an accelerator pedal opening degree of a vehicle; speed detection means for detecting a current speed of the vehicle; the speed limit information acquisition device is used for acquiring the maximum speed limit value of the vehicle; the processor is respectively in communication connection with the accelerator detection device, the speed detection device and the speed limit information acquisition device, determines amplitude limiting information of the opening of the accelerator pedal according to a difference value between the current speed and the maximum speed value, and sends the amplitude limiting information of the opening of the accelerator pedal to a vehicle speed controller of the vehicle. By adopting the technical scheme of the embodiment of the invention, a stable and reliable speed limiting function can be added for the vehicle under the condition of lower cost, and the safety accident rate of the vehicle caused by overspeed can be reduced; and the vehicle speed limiting system also has the advantages of universality, reliable performance, safe function, simple equipment installation, lower cost and the like.)

1. A vehicle speed limiting system, the vehicle speed limiting system can be arranged in a vehicle, and is characterized in that the vehicle speed limiting system comprises;

an accelerator detection device (2) for detecting an accelerator pedal opening degree of the vehicle;

speed detection means (3) for detecting a current speed of the vehicle;

the speed limit information acquisition device (4) is used for acquiring the maximum speed limit value of the vehicle;

the device comprises a processor (1), wherein the processor (1) is respectively in communication connection with the accelerator detection device (2), the speed detection device (3) and the speed limit information acquisition device (4), and the processor (1) determines amplitude limiting information of the opening degree of the accelerator pedal according to a difference value between the current speed and the maximum speed value and sends the amplitude limiting information of the opening degree of the accelerator pedal to a vehicle speed controller (5) of the vehicle.

2. The vehicle speed limiting system of claim 1, wherein the determining of the limiting information for the accelerator pedal opening based on the difference between the current speed and the maximum speed value comprises:

determining an amplitude limiting value of the opening degree of the accelerator pedal according to a corresponding relation between a preset difference value and an amplitude limiting value and the size of the difference value;

wherein the correspondence includes that the clipping value decreases as the difference increases; if the difference value is larger than a first preset difference value, the amplitude limit value of the opening degree of the accelerator pedal is zero; if the difference is smaller than a second preset difference, the amplitude limit value of the opening degree of the accelerator pedal is the maximum preset amplitude limit value; the first preset difference is greater than the second preset difference.

3. A vehicle speed limiting system according to claim 1, wherein the throttle detecting device (2) comprises a throttle signal detecting component (21) and a switch signal detecting component (22), the throttle signal detecting component (21) is used for detecting the opening degree of a throttle pedal of the vehicle, and the switch signal detecting component (22) is used for detecting the switch signal of the throttle pedal of the vehicle;

the processor (1) also determines the switch output quantity of the accelerator pedal according to the opening degree of the accelerator pedal and the switch signal, and sends the switch output quantity to the vehicle speed controller (5).

4. The vehicle speed limiting system of claim 3, further comprising an AD conversion module and a first IO communication module (IO 1);

the throttle signal detection assembly (21) is in communication connection with the processor (1) through the AD conversion module;

the switch signal detection assembly (22) is in communication connection with the processor (1) through the first IO communication module (IO 1).

5. The vehicle speed limiting system of claim 4, wherein the AD conversion module includes a first AD conversion unit (AD1) and a second AD conversion unit (AD2),

the throttle signal detection assembly (21) is in communication connection with the processor (1) through the first AD conversion unit (AD1) and the second AD conversion unit (AD 2).

6. The vehicle speed limiting system of claim 3, further comprising a DA conversion module and a second IO communication module (IO 2);

the processor (1) is in communication connection with the vehicle speed controller (5) through the DA conversion module and the second IO communication module respectively.

7. A vehicle speed limiting system according to claim 6, characterized in that the DA conversion module includes a first DA conversion unit (DA1) and a second DA conversion unit (DA2),

the processor (1) is in communication connection with the vehicle speed controller (5) through the first DA conversion unit (DA1) and the second DA conversion unit (DA 2).

8. A vehicle speed limiting system according to claim 1 wherein the speed sensing device (3) comprises a speed sensor, the speed sensor being connected in wired or wireless communication with the processor (1).

9. The vehicle speed limiting system of claim 1, wherein the speed limiting signal obtaining device comprises an interactive unit, and the interactive unit is used for obtaining the maximum speed limiting value of the vehicle according to input operation of a user.

10. The vehicle speed limiting system according to any one of claims 1 to 9, characterized in that the vehicle speed limiting system further comprises a bypass control device (6), the bypass control device (6) comprises a relay, a normally open contact of the relay is connected with the throttle detection device (2), a normally closed contact of the relay is connected with the vehicle speed controller (5), and an induction coil is in communication connection with the processor (1).

Technical Field

The invention relates to the technical field of vehicle control, in particular to a vehicle speed limiting system.

Background

The method is an effective means for reducing the safety accidents of the industrial vehicles, ensuring the life and property safety of operators and limiting the running speed of the industrial vehicles. Because the occurrence rate of safety accidents of industrial vehicles caused by overspeed is higher, the speed limiting function of the industrial vehicles is more and more important for safety.

Industrial vehicles are mainly classified into internal combustion type industrial vehicles and electric type industrial vehicles, and different methods are respectively adopted for speed limiting. At present, the speed limiting technology of the internal combustion industrial vehicle mainly limits the speed according to the mechanical fuel injection quantity of the vehicle speed limiting engine, has a complex structure and is complex to control, and cannot be adapted to industrial vehicles in various scenes. The speed limiting technology of the electric industrial vehicle mainly limits the speed by limiting the rotating speed of a motor controller, but part of controller manufacturers usually cannot open the speed limiting function permission of the controller and cannot meet the requirements of different users.

Disclosure of Invention

The embodiment of the invention provides a vehicle speed limiting system, which can add a stable and reliable speed limiting function to a vehicle under the condition of using lower cost, is not limited by a speed limiting control algorithm which is kept secret by an engine manufacturer or a controller manufacturer, and can be applied to various industrial vehicles and other vehicles.

To achieve the above object, an embodiment of the present invention provides a vehicle speed limiting system, including; an accelerator detection device for detecting an accelerator pedal opening degree of a vehicle; speed detection means for detecting a current speed of the vehicle; the speed limit information acquisition device is used for acquiring the maximum speed limit value of the vehicle; the processor is respectively in communication connection with the accelerator detection device, the speed detection device and the speed limit information acquisition device, determines amplitude limiting information of the opening of the accelerator pedal according to a difference value between the current speed and the maximum speed value, and sends the amplitude limiting information of the opening of the accelerator pedal to a vehicle speed controller of the vehicle.

Optionally, determining the clipping information of the accelerator pedal opening according to the difference between the current speed and the maximum speed value, including: determining an amplitude limiting value of the opening degree of the accelerator pedal according to a corresponding relation between a preset difference value and the amplitude limiting value and the size of the difference value; wherein the corresponding relation comprises that the amplitude limiting value decreases along with the increase of the difference value; if the difference is larger than the first preset difference, the amplitude limit value of the opening degree of the accelerator pedal is zero; if the difference is smaller than a second preset difference, the amplitude limit value of the opening degree of the accelerator pedal is the maximum preset amplitude limit value; the first preset difference is greater than the second preset difference.

Optionally, the accelerator detection device includes an accelerator signal detection component and a switch signal detection component, the accelerator signal detection component is used for detecting the opening degree of an accelerator pedal of the vehicle, and the switch signal detection component is used for detecting a switch signal of the accelerator pedal of the vehicle; the processor also determines the switch output quantity of the accelerator pedal according to the opening degree of the accelerator pedal and the switch signal, and sends the switch output quantity to the vehicle speed controller.

Optionally, the vehicle speed limiting system further comprises an AD conversion module and a first IO communication module; the throttle signal detection assembly is in communication connection with the processor through the AD conversion module; the switch signal detection assembly is in communication connection with the processor through the first IO communication module.

Optionally, the AD conversion module includes a first AD conversion unit and a second AD conversion unit, and the throttle signal detection assembly is in communication connection with the processor through the first AD conversion unit and the second AD conversion unit, respectively.

Optionally, the vehicle speed limiting system further comprises a DA conversion module, a second IO communication module and a second IO communication module; the processor is in communication connection with the vehicle speed controller through the DA conversion module and the second IO communication module respectively.

Optionally, the DA conversion module includes a first DA conversion unit and a second DA conversion unit, and the processor is in communication connection with the vehicle speed controller through the first DA conversion unit and the second DA conversion unit respectively.

Optionally, the speed detection device comprises a speed sensor, and the speed sensor is connected with the processor in a wired communication mode or in a wireless communication mode.

Optionally, the speed limit signal acquiring device includes an interaction unit, and the interaction unit is configured to acquire the maximum speed limit value of the vehicle according to an input operation of a user.

Optionally, the vehicle speed limiting system further comprises a bypass control device, the bypass control device comprises a relay, a normally open contact of the relay is connected with the accelerator detection device, a normally closed contact of the relay is connected with the vehicle speed controller, and the induction coil is in communication connection with the processor.

According to the vehicle speed limiting system provided by the embodiment of the invention, the opening degree and the current speed of the accelerator pedal of the vehicle can be detected in real time, so that the comparison can be carried out according to the current speed and the maximum speed limit value of the vehicle, and the amplitude limiting information of the opening degree of the accelerator pedal can be determined according to the difference value between the current speed and the maximum speed limit value of the vehicle, so that the speed controller can carry out amplitude limiting on the opening degree of the accelerator pedal, the speed limiting function on the speed of the vehicle is realized, and the safety accident rate caused by overspeed of the vehicle can be reduced. The vehicle speed limiting system provided by the embodiment of the invention also has the advantages of universality, reliable performance, simple equipment, lower cost and the like.

Drawings

FIG. 1 is a first schematic structural view of a vehicle speed limiting system in accordance with an embodiment of the present invention;

fig. 2 is a second structural schematic diagram of a vehicle speed limiting system according to an embodiment of the invention.

The reference numbers illustrate:

1. a processor; 2. an accelerator detection device; 21. a throttle signal detection component; 22. an accelerator switch signal detection component; 3. a speed detection device; 4. a speed limit information acquisition device; 5. a vehicle speed controller; 6. a bypass control device; AD1, a first AD conversion unit; AD2, a second AD conversion unit; DA1, a first DA conversion unit; DA2, a second DA conversion unit; an IO1 and a first IO communication module; IO2 and a second IO communication module.

Detailed Description

The following detailed description of embodiments of the invention is provided in conjunction with the accompanying drawings (like numerals indicate like elements throughout the several views) and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Fig. 1 and 2 are schematic structural diagrams illustrating a vehicle speed limiting system according to an embodiment of the present invention, which may be disposed in a vehicle (including an industrial vehicle such as an electric forklift) to limit a driving speed of the vehicle, and add a stable and reliable speed limiting function to the vehicle, so as to reduce the occurrence rate of safety accidents caused by overspeed of the vehicle.

Referring to fig. 1, a vehicle speed limiting system according to an embodiment of the present invention includes a processor 1, an accelerator detection device 2, a speed detection device 3, and a speed limiting information acquisition device 4, where the processor 1 is connected to the accelerator detection device 2, the speed detection device 3, and the speed limiting information acquisition device 4 in a communication manner, respectively.

The accelerator detection device 2 is used for detecting the opening degree of an accelerator pedal (namely the stepping angle of the accelerator pedal) of the vehicle in real time and sending the detected opening degree data of the accelerator pedal to the processor 1; the speed detection device 3 is used for detecting the current speed of the vehicle in real time and sending the detected current speed data to the processor 1; the speed limit information acquiring device 4 is used for acquiring the maximum speed limit value of the vehicle and sending the acquired maximum speed limit value to the processor 1.

The processor 1 receives the accelerator pedal opening data detected by the accelerator detection device 2, the current speed data detected by the speed detection device 3 and the maximum speed limit value acquired by the speed limit information acquisition device 4, and determines the amplitude limiting information of the accelerator pedal opening according to the difference value between the current speed and the maximum speed value. The processor 1 is also in communication connection with a vehicle speed controller 5 in the vehicle, and sends the amplitude limiting information for determining the opening degree of the accelerator pedal to the vehicle speed controller 5 of the vehicle, so that the vehicle speed controller 5 carries out amplitude limiting control on the opening degree of the accelerator pedal of the vehicle according to the speed limiting information, controls the output quantity of the opening degree of the accelerator pedal, and accordingly realizes speed limiting control on the driving speed of the vehicle.

The vehicle speed controller 5 is a device for controlling the vehicle speed on the vehicle, and may specifically include a motor controller on an electric vehicle, or an ECU (Electronic Control Unit, ECU, Electronic Control Unit, also called "driving computer" or "onboard computer") on the electric vehicle or the internal combustion vehicle. In this embodiment, the vehicle speed limiting system does not include the vehicle speed controller 5, and in other embodiments, a vehicle speed limiting system of the present invention may further include the vehicle speed controller 5.

According to the vehicle speed limiting system provided by the embodiment of the invention, the opening degree and the current speed of the accelerator pedal of the vehicle can be detected in real time, so that the comparison is carried out according to the current speed and the maximum speed limit value of the vehicle, and the amplitude limiting information of the opening degree of the accelerator pedal is determined according to the difference value between the current speed and the maximum speed limit value of the vehicle, so that the vehicle speed controller 5 can carry out amplitude limiting on the opening degree of the accelerator pedal, and the speed limiting function of the vehicle speed is realized. The vehicle speed limiting system provided by the embodiment of the invention can be applied to electric vehicles or internal combustion type vehicles and has universality.

In an alternative embodiment, when determining the clipping information for the accelerator pedal opening, the processor 1 determines the clipping value for the accelerator pedal opening according to a preset correspondence relationship between the difference value and the clipping value, and the magnitude of the difference value, where the preset correspondence relationship includes: the limiting value of the accelerator pedal opening is reduced along with the increase of the difference value, and can be reduced from the maximum preset limiting value (enabling the output quantity of the accelerator pedal opening to be zero) to zero.

The preset corresponding relationship may be a linear corresponding relationship or a non-linear corresponding relationship. The preset corresponding relation comprises that the larger the difference between the current speed of the vehicle and the maximum speed limit value is, the smaller the amplitude limiting value is; the smaller the difference, the larger the clipping value. That is, when the current speed of the vehicle is low, the difference value between the current speed and the maximum speed limit value is large, the output quantity of the opening degree of the accelerator pedal can be limited in a small range, and the running speed of the vehicle can be increased in a large range; when the current speed of the vehicle is higher, the difference value between the current speed and the maximum speed limit value is smaller, and the output quantity of the opening degree of the accelerator pedal can be greatly limited, so that the increase of the running speed of the vehicle is greatly limited.

If the difference is larger than the first preset difference, the amplitude limiting value of the opening degree of the accelerator pedal is zero, namely the opening degree of the accelerator pedal is not limited; at this time, the difference between the current speed of the vehicle and the maximum speed limit value is large, the running speed of the vehicle has a large increase space on the premise of not overspeeding, and speed limit control can not be carried out. If the difference value is smaller than the second preset difference value, the limiting value of the opening degree of the accelerator pedal is the maximum preset limiting value, at the moment, the difference value between the current speed of the vehicle and the maximum limiting value is small, the running speed of the vehicle is about to overspeed, the opening degree of the accelerator pedal needs to be greatly limited, and then the speed of the vehicle is greatly limited, so that the vehicle is prevented from exceeding the maximum limiting value. The first preset difference is greater than the second preset difference, and the first preset difference and the second preset difference may be an upper threshold and a lower threshold of a difference range corresponding to the preset corresponding relationship, respectively.

It is to be noted here that the clipping method is not limited to the above-described clipping method in other embodiments

Can also be based on clipping

As shown in fig. 2, the throttle detecting device 2 may include a throttle signal detecting component 21 and a switch signal detecting component 22, the throttle signal detecting component 21 is used for detecting the opening degree of a throttle pedal of the vehicle, and the switch signal detecting component 22 is used for detecting a switch signal of the throttle pedal of the vehicle; the processor 1 also determines the switch output quantity of the accelerator pedal according to the opening degree of the accelerator pedal and the switch signal, and sends the switch output quantity to the vehicle speed controller 5.

The accelerator signal detection component 21 may specifically include an accelerator pedal sensor, and is disposed at an accelerator pedal; the switching signal detecting assembly 22 may include a pedal switch sensor provided at an accelerator pedal switch for detecting a switching amount of an accelerator pedal and transmitting the detected switching amount to the processor 1. The processor 1 may determine whether the opening/closing amount signal of the accelerator pedal is valid according to the detected variation amount of the opening data of the accelerator pedal within the preset time period, for example, if the opening data of the accelerator pedal is not changed within the preset time period, the opening/closing amount signal is determined to be invalid; if the opening data of the accelerator pedal changes within the preset duration, the on-off signal is determined to be effective, and the on-off signal can be used as the on-off output quantity to be sent to the vehicle speed controller 5, so that the vehicle speed controller 5 can determine the output opening of the accelerator pedal according to the opening amplitude limiting information and the on-off output quantity of the accelerator pedal, and further control over the vehicle speed is achieved.

Further, the vehicle speed limiting system further comprises an AD conversion module and a first IO communication module IO1, the throttle signal detection assembly 21 is in communication connection with the processor 1 through the AD conversion module, and the switch signal detection assembly 22 is in communication connection with the processor 1 through the first IO communication module IO 1.

The opening data of the accelerator pedal detected by the accelerator signal detection component 21 is analog quantity signals, and the AD conversion module is used for converting the analog quantity data into digital quantity signals, so that the processor 1 can process the signals conveniently. Preferably, the AD conversion module includes a first AD conversion unit AD1 and a second AD conversion unit AD2, and the throttle signal detection assembly 21 is in communication connection with the processor 1 through the first AD conversion unit AD1 and the second AD conversion unit AD2, respectively. Here, the first AD conversion unit AD1 and the second AD conversion unit AD2 are provided in the AD conversion module, which is equivalent to providing two AD conversion channels for the throttle signal detection assembly 21, so that the processor 1 can receive the data detected by the throttle signal detection assembly 21 in the electric vehicle through one AD conversion channel, and at the same time, the processor 1 can receive the data detected by the throttle signal detection assembly 21 in the internal combustion vehicle through two AD conversion channels, so that the vehicle speed limiting system of the embodiment can be applied to the electric vehicle and also can be applied to the internal combustion vehicle.

Correspondingly, the vehicle speed limiting system further comprises a DA conversion module and a second IO communication module IO2, and the processor 1 is in communication connection with the vehicle speed controller 5 through the DA conversion module and the second IO communication module IO2 respectively.

The DA conversion module is used for converting the digital quantity signals processed by the processor 1 into analog quantity signals, and the vehicle speed controller 5 can conveniently process the analog quantity signals. Preferably, the DA conversion module includes a first DA conversion unit DA1 and a second DA conversion unit DA2, and the processor 1 is in communication connection with the vehicle speed controller 5 through the first DA conversion unit DA1 and the second DA conversion unit DA2, respectively. A first DA conversion unit DA1 and a second DA conversion unit DA2, which correspond to two DA conversion channels on which the processor 1 outputs signals, and in the electric vehicle, the processor 1 may send signals to the vehicle speed controller 5 through one DA conversion channel; and, in an internal combustion vehicle, the processor 1 may signal the vehicle speed controller 5 via two DA conversion channels.

Alternatively, the speed detection means 3 comprises a speed sensor, which is in wired or wireless communication connection with the processor 1. Here, the speed sensor is used to detect the current speed of the vehicle and transmit it to the processor 1 in a pulse signal manner through a wired communication manner, or transmit it to the processor 1 through a wireless communication manner such as Zigbee, bluetooth, 4G, 5G, etc.

In a specific application scenario, if a speed sensor is arranged in a vehicle, the speed sensor arranged in the vehicle can be utilized when the vehicle speed limiting system provided by the embodiment of the invention is arranged in the vehicle. For example, a speed sensor in the vehicle usually sends a collected speed signal to the vehicle speed controller 5, and when the vehicle speed limiting system according to the embodiment of the present invention is applied to the vehicle, the processor 1 may be in communication with the vehicle speed controller 5 to obtain the current speed of the vehicle from the vehicle speed controller 5. Here, the vehicle speed limiting system may further include a CAN communication module, and the processor 1 is in communication connection with the vehicle speed controller 5 through the CAN communication module, so that the processor 1 may also be in communication connection with the vehicle speed controller 5 based on a CAN communication protocol, and may be used to obtain the current speed of the vehicle from the vehicle speed controller 5, and may also be used to output a signal to the vehicle speed controller 5.

And the speed limit signal acquisition device comprises an interaction unit, and the interaction unit is used for acquiring the maximum speed limit value of the vehicle according to the input operation of the user. For example, the user may input the maximum speed limit value based on an input operation of the interaction unit after determining the maximum speed limit value according to different application scenarios of the industrial vehicle. The speed limit signal acquiring device acquires the maximum speed limit value in response to an input operation of a user, and transmits the maximum speed limit value to the processor 1.

In an optional implementation mode, the vehicle speed limiting system further comprises a bypass control device 6, the bypass control device 6 comprises a relay, a normally open contact of the relay is connected with the accelerator detection device 2, a normally closed contact of the relay is connected with the vehicle speed controller 5, and the induction coil is in communication connection with the processor 1.

The bypass control device 6 can be used for communicating the communication connection between the accelerator detection device 2 and the vehicle speed controller 5 when the processor 1 fails, so that the vehicle speed controller 5 directly obtains an accelerator pedal opening signal and an accelerator pedal opening and closing quantity signal detected by the accelerator detection device 2 for vehicle speed control, and the safety and the reliability of the vehicle speed limiting system of the embodiment of the invention are further improved.

Specifically, as shown in fig. 2, the relay may include three normally open contacts connected to three communication lines between the throttle signal detection assembly 21 and the switch signal detection assembly 22, respectively, and the processor 1, and three normally closed contacts connected to three communication lines between the processor 1 and the vehicle speed controller 5, and when the processor 1 is operating normally, the processor 1 may output a signal to the vehicle speed controller 5 normally through the three communication lines; when the processor 1 breaks down, the induction coil of the relay controls the normally closed contact to be disconnected and controls the normally open contact to be closed, so that three communication lines are communicated between the accelerator signal detection assembly 21 and the vehicle speed controller 5 as well as between the switch signal detection assembly 22 and the vehicle speed controller 5, detected accelerator pedal signals can be directly sent to the vehicle speed controller 5, and the problem that the vehicle speed controller 5 cannot execute accelerator pedal control due to the fault of the processor 1 can be avoided.

In addition, the vehicle speed limiting system provided by the embodiment of the invention further comprises a power supply module, wherein the power supply module is electrically connected with other parts in the system and used for supplying power to other parts.

According to the vehicle speed limiting system provided by the embodiment of the invention, the opening degree and the current speed of the accelerator pedal of the vehicle can be detected in real time, so that the comparison can be carried out according to the current speed and the maximum speed limit value of the vehicle, and the amplitude limiting information of the opening degree of the accelerator pedal can be determined according to the difference value between the current speed and the maximum speed limit value of the vehicle, so that the speed controller can carry out amplitude limiting on the opening degree of the accelerator pedal, the speed limiting function on the speed of the vehicle is realized, and the safety accident rate caused by overspeed of the vehicle can be reduced.

The vehicle speed limiting system can be applied to electric vehicles or internal combustion vehicles, and has universality; and the vehicle speed limiting system has reliable performance, simple equipment, convenient installation and lower cost.

It should be noted that, according to the implementation requirement, each component described in the embodiment of the present invention may be divided into more components, and two or more components or parts of components may be combined into a new component to achieve the purpose of the embodiment of the present invention.

The above embodiments are only for illustrating the embodiments of the present invention and not for limiting the embodiments of the present invention, and those skilled in the art can make various changes, modifications or substitutions without departing from the spirit and scope of the embodiments of the present invention, so that all equivalent technical solutions also belong to the scope of the embodiments of the present invention, and the scope of patent protection of the embodiments of the present invention should be defined by the claims.