阅读说明：本技术 工程车辆高危报警和推送方法、系统、电子设备及介质 (Engineering vehicle high-risk alarming and pushing method and system, electronic equipment and medium ) 是由 李博 徐小倩 田钦 吕慧华 李坤 于 2021-08-18 设计创作，主要内容包括：本发明提供一种工程车辆高危报警和推送方法、系统、电子设备及介质,该方法包括：采集并处理内外数据,得到对应于各种高危事件的数据；基于所述对应于各种高危事件的数据,判断工程车辆是否发生高危事件；当确定所述工程车辆发生所述高危事件时,将所述高危事件发生之前和之后的一段时间内的所有工程车辆数据和所述高危事件发送给中心化平台；所述中心化平台在接收到所述高危事件之后,向工程车辆司机通知所述高危事件。通过本发明可以降低工程车辆的事故风险和事故伤亡程度,并且有助于事故的原因分析和事故的责任认定。(The invention provides a method, a system, electronic equipment and a medium for alarming and pushing high-risk engineering vehicles, wherein the method comprises the following steps: acquiring and processing internal and external data to obtain data corresponding to various high-risk events; judging whether the engineering vehicle has a high-risk event or not based on the data corresponding to the various high-risk events; when the high-risk event of the engineering vehicle is determined to occur, sending all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event to a centralized platform; and after receiving the high-risk event, the centralized platform informs an engineering vehicle driver of the high-risk event. The invention can reduce the accident risk and the accident casualty degree of the engineering vehicle, and is beneficial to the analysis of the accident reason and the responsibility confirmation of the accident.)

1. The high-risk alarm and pushing method for the engineering vehicle is characterized by comprising the following steps of:

acquiring and processing internal and external data to obtain data corresponding to various high-risk events;

judging whether the engineering vehicle has the high-risk events or not based on the data corresponding to the various high-risk events;

when the high-risk event of the engineering vehicle is determined to occur, sending all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event to a centralized platform;

and after receiving the high-risk event, the centralized platform informs an engineering vehicle driver of the high-risk event.

2. The engineering vehicle high-risk alarming and pushing method according to claim 1, characterized by further comprising: and confirming the reason of the high-risk event based on all the engineering vehicle data in a period of time before and after the high-risk event occurs, and outputting a high-risk event report and the engineering vehicle data corresponding to the reason of the high-risk event.

3. The engineering vehicle high-risk alarming and pushing method according to claim 2, wherein the judging whether the engineering vehicle has the high-risk event or not based on the data corresponding to the various high-risk events comprises:

and when the data corresponding to various high-risk events meet the high-risk event generation conditions, determining that the high-risk events occur, otherwise, not occurring the high-risk events.

4. The engineering vehicle high-risk alarming and pushing method according to claim 3, wherein the high-risk event generation condition is any one of the following conditions:

the X angle or the Y angle of the level is greater than the threshold angle of the level;

the change amplitude of the lower angle of the main arm is larger than the threshold angle of the main arm within a certain time;

the change amplitude of the rotating speed of the hydraulic motor is larger than the threshold rotating speed of the hydraulic motor within a certain time, and the rotating speed of the motor is larger than the threshold rotating speed of the motor; and

the engine torque percentage is greater than a torque threshold percentage and the duration is greater than a threshold duration.

5. The engineering vehicle high-risk alarming and pushing method according to claim 1, wherein the internal and external data comprise vehicle data and six-axis sensor data, wherein the vehicle data comprises: vehicle speed, engine speed, start signal, suspension main/auxiliary arm angle, hydraulic motor speed, engine torque percentage, and spirit level X or Y axis angle.

6. The method for alarming and pushing high risk of engineering vehicle as claimed in claim 1, wherein the collecting and processing internal and external data to obtain data corresponding to various high risk events comprises:

and filtering the internal and external data to obtain the data corresponding to the high-risk event.

7. The utility model provides an engineering vehicle high risk is reported to police and push system which characterized in that includes:

the whole vehicle terminal system is used for acquiring and processing internal and external data to obtain data corresponding to various high-risk events, judging whether the high-risk event occurs to the engineering vehicle based on the data corresponding to the various high-risk events, and sending all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event occurs to a centralized platform when the high-risk event occurs to the engineering vehicle, wherein the internal and external data comprise whole vehicle data and six-axis sensor data;

the centralized platform is used for notifying a pushing system of the high-risk event after receiving the high-risk event;

and the pushing system is used for notifying the engineering vehicle driver of the high-risk event.

8. The engineering vehicle high-risk alarming and pushing system as claimed in claim 7, wherein the whole vehicle terminal system comprises:

the whole vehicle module is used for providing the whole vehicle data, and the whole vehicle data comprises: the system comprises a vehicle speed, an engine rotating speed, a starting signal, a suspended load main/auxiliary arm angle, a hydraulic motor rotating speed, an engine torque percentage and a gradienter X or Y axis angle;

a sensor system for providing the six-axis sensor data;

the edge computing system is used for filtering the whole vehicle data and the six-axis sensor data, namely the internal and external data, obtaining the data corresponding to the high-risk event, and determining the high-risk event based on the data corresponding to the high-risk event;

and the whole vehicle networking system is used for pushing the high-risk events determined by the edge computing system to a centralized platform and pushing all the engineering vehicle data in a period of time before and after the high-risk events to the centralized platform.

9. The engineering vehicle high-risk alarm and pushing system as claimed in claim 8, wherein the interior of the whole vehicle terminal system is communicated through a Controller Area Network (CAN); and the whole vehicle terminal system and the centralized platform communicate through a TCP/IP protocol.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method for alarming and pushing high risk of engineering vehicle according to any one of claims 1 to 6 when executing the computer program.

11. A non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the engineering vehicle high risk warning and pushing method according to any one of claims 1 to 6.

Technical Field

The invention relates to the field of vehicle intellectualization, in particular to a method, a system, electronic equipment and a medium for alarming and pushing high-risk of an engineering vehicle.

Background

The engineering vehicle has severe working environment, complex running road surface and high accidents such as overturning, arm folding and the like. International standard regulations require that engineering vehicles must be provided with certain protection devices to realize passive protection of drivers, but it is still difficult to avoid the casualties of the drivers when accidents occur. The problems existing in the prior engineering vehicle are as follows: when major accidents such as rollover, arm folding and the like occur to the engineering vehicle, a prompting and alarming mechanism is lacked; the function of detail data acquisition is lacked when a dangerous accident occurs; lack of detailed data before and after an accident and cannot carry out accurate cause analysis; failure to accurately attribute the accident responsible party; the distributed off-line data storage scheme has the defects of incapability of real-time acquisition and low effective data ratio; and the current data condition of the vehicle can not be obtained by an engineering vehicle driver in real time.

Generally speaking, the current engineering vehicles lack the means for accident risk notification and real-time vehicle data acquisition. However, the accident risk early warning can prompt a driver of the engineering vehicle to carry out safety operation in advance, and has an important role in reducing the accident risk and the accident casualty degree of the engineering vehicle; the collection of vehicle data is helpful for the analysis of the cause of the accident and the responsibility identification of the accident.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a method, a system, electronic equipment and a medium for alarming and pushing high-risk events of an engineering vehicle, which can reduce the accident risk and the accident casualty degree of the engineering vehicle by providing high-risk event early warning and engineering vehicle data and are beneficial to the analysis of the accident reason and the responsibility confirmation of the accident.

Specifically, the invention is realized by the following technical scheme:

in a first aspect, the invention provides a high-risk alarm and pushing method for an engineering vehicle, which is characterized by comprising the following steps: acquiring and processing internal and external data to obtain data corresponding to various high-risk events; judging whether the engineering vehicle has the high-risk events or not based on the data corresponding to the various high-risk events; when the high-risk event of the engineering vehicle is determined to occur, sending all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event to a centralized platform; and after receiving the high-risk event, the centralized platform informs an engineering vehicle driver of the high-risk event.

Further, the method further comprises: and confirming the reason of the high-risk event based on all the engineering vehicle data in a period of time before and after the high-risk event occurs, and outputting a high-risk event report and the engineering vehicle data corresponding to the reason of the high-risk event.

Further, the determining whether the engineering vehicle has the high-risk event or not based on the data corresponding to the various high-risk events includes: and when the data corresponding to various high-risk events meet the high-risk event generation conditions, determining that the high-risk events occur, otherwise, not occurring the high-risk events.

Further, the high-risk event generation condition is any one of the following conditions: the X angle or the Y angle of the level is greater than the threshold angle of the level; the change amplitude of the lower angle of the main arm is larger than the threshold angle of the main arm within a certain time; the change amplitude of the rotating speed of the hydraulic motor is larger than the threshold rotating speed of the hydraulic motor within a certain time, and the rotating speed of the motor is larger than the threshold rotating speed of the motor; and the engine torque percentage is greater than a torque threshold percentage and the duration is greater than a threshold duration.

Further, the internal and external data include vehicle data and six-axis sensor data, wherein the vehicle data includes: vehicle speed, engine speed, start signal, suspension main/auxiliary arm angle, hydraulic motor speed, engine torque percentage, and spirit level X or Y axis angle.

Further, the acquiring and processing internal and external data to obtain data corresponding to various high-risk events includes: and filtering the internal and external data to obtain the data corresponding to the high-risk event.

In a second aspect, the invention provides an engineering vehicle high-risk alarm and pushing system, which is characterized by comprising:

the whole vehicle terminal system acquires and processes internal and external data to obtain data corresponding to various high-risk events, judges whether the high-risk event occurs to the engineering vehicle based on the data corresponding to the various high-risk events, and sends all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event occurs to a centralized platform when the high-risk event occurs to the engineering vehicle, wherein the internal and external data comprise whole vehicle data and six-axis sensor data;

the centralized platform is used for notifying a pushing system of the high-risk event after receiving the high-risk event;

and the pushing system is used for notifying the engineering vehicle driver of the high-risk event.

Further, the whole vehicle terminal system comprises:

the whole vehicle module is used for providing the whole vehicle data, and the whole vehicle data comprises: the system comprises a vehicle speed, an engine rotating speed, a starting signal, a suspended load main/auxiliary arm angle, a hydraulic motor rotating speed, an engine torque percentage and a gradienter X or Y axis angle;

a sensor system for providing the six-axis sensor data;

the edge computing system is used for filtering the whole vehicle data and the six-axis sensor data, namely the internal and external data, obtaining the data corresponding to the high-risk event, and determining the high-risk event based on the data corresponding to the high-risk event;

and the whole vehicle networking system is used for pushing the high-risk events determined by the edge computing system to a centralized platform and pushing all the engineering vehicle data in a period of time before and after the high-risk events to the centralized platform.

Furthermore, the interior of the finished automobile terminal system is communicated through a Controller Area Network (CAN); and the whole vehicle terminal system and the centralized platform communicate through a TCP/IP protocol.

In a third aspect, the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the engineering vehicle high risk alarm and push method according to any one of the first aspect.

In a fourth aspect, the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the engineering vehicle high risk warning and pushing method according to any one of the first aspect.

The invention provides vehicle data for analyzing the reason of the high-risk event by detecting whether the engineering vehicle has the risk of the high-risk event in advance, and informs an engineering vehicle driver before the high-risk event occurs, thereby reducing the accident risk and the casualty degree of the engineering vehicle, and being beneficial to the accident reason analysis and the accident responsibility confirmation.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart of a high risk warning and pushing method for a work vehicle according to one embodiment of the invention;

FIG. 2 is a schematic diagram of a high risk warning and pushing system for a work vehicle according to another embodiment of the present invention; and

fig. 3 is a schematic structural diagram of an electronic device according to yet another embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 flow chart of a high-risk alarming and pushing method for a construction vehicle according to an embodiment of the invention. Referring to fig. 1, the method may include the steps of:

step 101: acquiring and processing internal and external data to obtain data corresponding to various high-risk events;

step 102: judging whether the engineering vehicle has a high-risk event or not based on the data corresponding to the various high-risk events;

step 103: when the high-risk event of the engineering vehicle is determined to occur, sending all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event to a centralized platform;

step 104: and after receiving the high-risk event, the centralized platform informs an engineering vehicle driver of the high-risk event.

Specifically, in this embodiment, it should be noted that, in step 101, internal and external data may be collected in real time. Wherein, this interior outer whole car data includes: the system comprises a vehicle speed, an engine rotating speed, a starting signal, a suspended load main/auxiliary arm angle, a hydraulic motor rotating speed, an engine torque percentage, a level meter X or Y axis angle and six-axis sensor data; the six-axis sensor data includes three-axis acceleration data and three-axis angular velocity data, and is mainly used for detecting the occurrence of rollover. Further, in step 101, filtering processing may be performed on the collected internal and external data according to various high-risk events (i.e., rollover, arm folding, etc.), so as to obtain data corresponding to various high-risk events. It should be noted that the high-risk event mentioned herein refers to an event that may cause an accident, and when the accident occurs, the high-risk event is the accident.

In step 102, specifically, the data corresponding to the various high-risk events are compared with the high-risk event generating conditions, and when the data corresponding to the various high-risk events meet the high-risk event generating conditions, it is determined that the high-risk event occurs, otherwise, the high-risk event does not occur. The high-risk event generating condition comprises that the X angle or the Y angle of the gradienter is larger than the threshold angle of the gradienter; the change amplitude of the lower angle of the main arm is larger than the threshold angle of the main arm within a certain time; the change amplitude of the rotating speed of the hydraulic motor is larger than the threshold rotating speed of the hydraulic motor within a certain time, and the rotating speed of the motor is larger than the threshold rotating speed of the motor; and engine torque percentage is greater than a torque threshold percentage and duration is greater than a threshold duration. For example, the high-risk event generation condition may be determined as that the X or Y angle of the level gauge is greater than 5 ° when the vehicle is in a starting state; the change range of the lower angle of the main arm is more than 10 degrees within 5 s; the change range of the rotating speed of the hydraulic motor is more than 3000 turns within 2s or the rotating speed of the motor is about 4500; the engine torque percentage is equal to or greater than 150% and lasts for any of 5 seconds. It should be noted that the angle of the main arm is divided into a lower angle of the main arm and an upper angle of the main arm, the lower angle of the main arm refers to an included angle between the main arm and a horizontal plane, and then the upper angle of the main arm is an angle of the auxiliary hook.

In step 103, specifically, when the engineering vehicle has a high-risk event, all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event occurs (for example, a period of time 2 minutes before the high-risk event occurs and a period of time 3 minutes after the high-risk event occurs) may be sent to the centralized platform, where all the engineering vehicle data is mainly used to analyze the cause of the high-risk event, including all the data cached by the engineering vehicle in the period of time before and after the high-risk event occurs, including the internal and external data mentioned above, and in addition, including other data that can be obtained about the engineering vehicle data.

In step 104, after receiving the high-risk event, the centralized platform may notify the engineering vehicle driver of the high-risk event, and the engineering vehicle driver may perform a safety operation in advance according to the notification, thereby ensuring safety or saving self in time. Optionally, the centralized platform can inform high-risk events through a mobile phone APP pre-installed by an engineering vehicle driver.

In addition, the centralized platform can inform drivers of engineering vehicles of high-risk events and also inform the drivers of after-sales personnel of the whole vehicle factory; after the after-sales personnel are notified of the high-risk event, all the engineering vehicle data in a period of time before and after the high-risk event is generated can be exported through the centralized platform, then the reason of the high-risk event is analyzed and confirmed according to the data, and then a high-risk event report and the engineering vehicle data corresponding to the reason of the high-risk event are output.

According to the embodiment, the data corresponding to various high-risk events are obtained by collecting and processing the internal and external data, whether the high-risk event occurs on the engineering vehicle is judged based on the data corresponding to the various high-risk events, when the high-risk event occurs on the engineering vehicle is determined, all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event occurs are sent to the centralized platform, and the centralized platform informs an engineering vehicle driver of the high-risk event after receiving the high-risk event, so that the accident risk and the accident casualty degree of the engineering vehicle are reduced, and the accident cause analysis and the accident liability determination are facilitated.

Fig. 2 is a schematic diagram of a work vehicle high risk warning and pushing system 2000 according to another embodiment of the present invention.

In this embodiment, it should be noted that, referring to fig. 2, the engineering vehicle high-risk warning and pushing system 2000 according to the present invention may include: the whole vehicle terminal system 200 acquires and processes internal and external data to obtain data corresponding to various high-risk events, judges whether the engineering vehicle has the high-risk event or not based on the data corresponding to the various high-risk events, and sends all the engineering vehicle data and the high-risk events in a period of time before and after the high-risk event to the centralized platform when the high-risk event of the engineering vehicle is determined to occur, wherein the internal and external data comprise whole vehicle data and six-axis sensor data; the centralized platform 210 is configured to notify the high-risk event to the push system 220 after receiving the high-risk event; and the pushing system 220 is used for notifying the engineering vehicle driver of the high-risk event.

Additionally, with continued reference to fig. 2, the full vehicle terminal system 200 includes: a vehicle finishing module 201, configured to provide the vehicle finishing data, where the vehicle finishing data includes: the system comprises a vehicle speed, an engine rotating speed, a starting signal, a suspended load main/auxiliary arm angle, a hydraulic motor rotating speed, an engine torque percentage and a gradienter X or Y axis angle; a sensor system 202 for providing six-axis sensor data, the six-axis sensor data including three-axis acceleration data and three-axis angular velocity data, and being primarily for detecting the occurrence of a rollover; the edge computing system 203 is configured to filter the vehicle data and the six-axis sensor data, that is, the internal and external data, to obtain the data corresponding to the high-risk event, and determine the high-risk event based on the data corresponding to the high-risk event; and the whole vehicle networking system 204 is used for pushing the high-risk events determined by the edge computing system to a centralized platform and pushing all the engineering vehicle data in a period of time before and after the high-risk events to the centralized platform.

The interior of the finished automobile terminal system 200 is communicated through a controller area network CAN; and the entire vehicle terminal system 200 and the centralized platform 210 communicate through a TCP/IP protocol. In addition, the entire vehicle terminal system 200 may cache the collected data in advance at the frequency of sending the data and delete the overtime data in real time.

The engineering vehicle high-risk alarming and pushing system provided by the embodiment of the invention can be used for executing the engineering vehicle high-risk alarming and pushing method in the embodiment, the working principle and the beneficial effect are similar, so detailed description is omitted here, and specific contents can be referred to the introduction of the embodiment.

In this embodiment, it should be noted that each unit in the apparatus according to the embodiment of the present invention may be integrated into a whole, or may be separately disposed. The units may be combined into one unit, or further divided into a plurality of sub-units.

Based on the same inventive concept, another embodiment of the present invention provides an electronic device, which specifically includes the following components, with reference to fig. 3: a processor 301, a memory 302, a communication interface 303, and a communication bus 304; the processor 301, the memory 302 and the communication interface 303 complete communication with each other through the communication bus 304.

The processor 301 is configured to call a computer program in the memory 302, and the processor implements all the steps of the engineering vehicle high risk warning and pushing method when executing the computer program, for example, the processor implements the following processes when executing the computer program: acquiring and processing internal and external data to obtain data corresponding to various high-risk events; judging whether the engineering vehicle has the high-risk events or not based on the data corresponding to the various high-risk events; when the high-risk event of the engineering vehicle is determined to occur, sending all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event to a centralized platform; and after receiving the high-risk event, the centralized platform informs an engineering vehicle driver of the high-risk event.

It will be appreciated that the detailed functions and extended functions that the computer program may perform may be as described with reference to the above embodiments.

Based on the same inventive concept, yet another embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements all the steps of the above-mentioned engineering vehicle high-risk warning and pushing method, for example, the processor implements the following processes when executing the computer program: acquiring and processing internal and external data to obtain data corresponding to various high-risk events; judging whether the engineering vehicle has the high-risk events or not based on the data corresponding to the various high-risk events; when the high-risk event of the engineering vehicle is determined to occur, sending all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event to a centralized platform; and after receiving the high-risk event, the centralized platform informs an engineering vehicle driver of the high-risk event.

It will be appreciated that the detailed functions and extended functions that the computer program may perform may be as described with reference to the above embodiments.

Based on the same inventive concept, yet another embodiment of the present invention provides a computer program product, which comprises a computer program, when being executed by a processor, the computer program implements all the steps of the above-mentioned engineering vehicle high-risk warning and pushing method, for example, when the processor executes the computer program, the processor implements the following processes: acquiring and processing internal and external data to obtain data corresponding to various high-risk events; judging whether the engineering vehicle has the high-risk events or not based on the data corresponding to the various high-risk events; when the high-risk event of the engineering vehicle is determined to occur, sending all the engineering vehicle data and the high-risk event in a period of time before and after the high-risk event to a centralized platform; and after receiving the high-risk event, the centralized platform informs an engineering vehicle driver of the high-risk event.

It will be appreciated that the detailed functions and extended functions that the computer program may perform may be as described with reference to the above embodiments.

In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the technical solutions mentioned above may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the engineering vehicle high-risk warning and pushing method according to various embodiments or some parts of the embodiments.

Moreover, in the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Furthermore, in the present disclosure, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means 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 present disclosure. 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.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.