阅读说明：本技术 作业机械回转防撞方法、系统及作业机械 (Operation machine rotation anti-collision method and system and operation machine ) 是由 姜雨 薛海鸥 于 2021-08-17 设计创作，主要内容包括：本发明提供一种作业机械回转防撞方法、系统及作业机械,涉及作业机械防撞技术领域,包括：实时获取作业机械的两侧与障碍物之间的距离；在确定距离小于安全阈值时,发出报警指令,控制预警器报警；基于第一函数,根据距离区间设置预警器的报警频率,随着距离值的逐渐缩短,报警频率逐渐提高。本发明提供的作业机械回转防撞方法可使机手根据预警器的报警频率大小判断作业机械发生碰撞的危险性高低,从而确定减缓回转速度甚至完全停止作业,解决了现有技术中机手注意到声光预警器报警时只能简单粗暴的停止作业,而导致作业效率低下严重降低作业机械寿命的问题。(The invention provides a method and a system for preventing rotation of a working machine and the working machine, which relate to the technical field of collision prevention of the working machine and comprise the following steps: acquiring the distance between two sides of the operation machine and the barrier in real time; when the distance is determined to be smaller than the safety threshold value, an alarm instruction is sent out to control an early warning device to give an alarm; and setting the alarm frequency of the early warning device according to the distance interval based on the first function, wherein the alarm frequency is gradually increased along with the gradual shortening of the distance value. The method for preventing the operating machinery from rotating can enable a manipulator to judge the collision risk of the operating machinery according to the alarm frequency of the early warning device, so as to determine to slow down the rotating speed and even stop the operation completely, and solve the problem that the manipulator only can simply and violently stop the operation when noticing the alarm of the acousto-optic early warning device in the prior art, so that the operating efficiency is low and the service life of the operating machinery is seriously reduced.)

1. A method for preventing rotation of a working machine, comprising:

acquiring the distance between two sides of the operation machine and the barrier in real time;

when the distance is determined to be smaller than the safety threshold value, an alarm instruction is sent out to control an early warning device to give an alarm;

and setting the alarm frequency of the early warning device according to the distance interval based on the first function, wherein the alarm frequency of the early warning device is gradually increased along with the gradual shortening of the distance value.

2. The work machine swing collision avoidance method of claim 1, further comprising, after said real-time acquisition of the distance between the sides of the work machine and the obstacle:

and when the distance is determined to be smaller than the safety threshold value, controlling the rotation speed of the working machine according to the distance based on a second function, wherein the second function is in a descending trend on the whole in the direction of the distance from large to small.

3. The work machine swing collision avoidance method of claim 1, further comprising, after said real-time acquisition of the distance between the sides of the work machine and the obstacle:

and controlling a display device to display the numerical value of the distance.

4. The rotary collision avoidance system of the working machine is characterized by comprising a distance measuring device, a controller and an early warning device, wherein the distance measuring device and the early warning device are both connected with the controller in a communication way;

the distance measuring device is used for detecting the distance between two sides of the working machine and an obstacle and transmitting the distance to the controller;

when the controller determines that the distance is smaller than the safety threshold, an alarm instruction is sent out to control an early-warning device to give an alarm; and setting the alarm frequency of the early warning device according to the distance interval based on the first function, wherein the alarm frequency of the early warning device is gradually increased along with the gradual shortening of the distance value.

5. The work machine swing bumper system of claim 4, wherein the controller is further communicably connected to a main pump solenoid valve of the work machine;

when the controller determines that the distance is smaller than a safety threshold value, based on a second function, the controller controls the opening of the main pump electromagnetic valve according to the distance so as to control the flow of the main pump;

and the second function is in a descending trend on the whole in the direction of the distance from large to small.

6. The work machine swing bumper system of claim 4, further comprising a display device communicatively coupled with the controller for displaying the value of the distance.

7. The work machine swing bumper system of claim 6, wherein the display device is a display and the precaution device is an audible and visual precaution device.

8. The work machine swing collision avoidance system of claim 4, wherein the ranging device comprises ranging cameras disposed on both sides of the work machine and an image processing module communicably coupled to the ranging cameras, the image processing module communicably coupled to the controller.

9. A work machine capable of rotary work, comprising a work machine rotary collision avoidance system according to any of claims 4 to 8.

10. The work machine of claim 9, wherein the pre-alarm is linked to a power-on device of the work machine to alarm the pre-alarm when the power-on device is turned on.

Technical Field

The invention relates to the technical field of operation machine collision avoidance, in particular to a rotation collision avoidance method and system for an operation machine and the operation machine.

Background

The prior art work machines, including but not limited to excavators, rotary drilling rigs, etc., usually require rotary work. Due to the fact that the working machine usually has a blind field of view and the like, collision may occur in the rotation process of the working machine, and personnel and property loss is caused.

In order to solve the problem, the working machine in the prior art is usually provided with an audible and visual alarm lamp to prompt the operator to pay attention to safety and prevent collision. When the acousto-optic early warning device gives an alarm, the mechanical arm usually makes an emergency stop on the operation machine. However, in some cases, the rotation speed may only need to be slowed down, and the operation speed is likely to be reduced and the operation machine is likely to be damaged when the vehicle is restarted after sudden stop.

Therefore, the technical problem that needs to be solved by those skilled in the art is how to solve the problem that in the prior art, when the pilot notices the audible and visual alarm, the pilot can only make the work machine suddenly stop, which easily causes the work speed to decrease and the work machine to be damaged.

Disclosure of Invention

The invention provides a method and a system for preventing rotation of a working machine from collision and the working machine, which are used for solving the defects that in the prior art, a manipulator only can suddenly stop the working machine when noticing an audible and visual early warning device to give an alarm, so that the operation speed is reduced and the working machine is damaged easily to at least a certain extent.

The invention provides a rotation anti-collision method for a working machine, which comprises the following steps:

acquiring the distance between two sides of the operation machine and the barrier;

and when the distance is determined to be smaller than the safety threshold value, sending an alarm instruction to control the early warning device to give an alarm, setting the alarm frequency of the early warning device according to the distance interval based on a first function, and gradually increasing the alarm frequency of the early warning device along with the gradual shortening of the distance value.

According to the rotation anti-collision method for the working machine, the distance between two sides of the working machine and the obstacle is obtained, and the alarm frequency of the early warning device is set according to the distance based on the first function. Along with the gradual reduction of the distance, the alarm frequency of the early warning device is improved so as to prompt the manipulator to operate the machine to be closer to the obstacle; along with the distance gradually increasing, the alarm frequency of the early warning device is increased so as to prompt the manipulator to operate the machine and the obstacle farther and farther. The method for preventing the operating machinery from rotating can enable a manipulator to judge the collision risk of the operating machinery according to the alarm frequency of the early warning device, so as to determine to slow down the rotating speed and even stop the operation completely, and solve the problem that the manipulator only can stop the operation simply and roughly when noticing the alarm of the acousto-optic early warning device in the prior art, so that the operating efficiency is low and the service life of the operating machinery is seriously reduced.

According to the rotation anti-collision method for the working machine provided by the invention, after the distance between two sides of the working machine and the obstacle is obtained in real time, the method further comprises the following steps:

and when the distance is determined to be smaller than the safety threshold value, controlling the rotation speed of the working machine according to the distance based on a second function, wherein the second function is in a descending trend on the whole in the direction of the distance from large to small.

The distance between the two sides of the working machine and the obstacle is acquired, and the rotating speed of the working machine is controlled according to the distance based on the second function. The rotating speed of the operation machine is gradually reduced along with the gradual reduction of the distance, and a manipulator does not need to adjust a handle to decelerate; along with the distance gradually increasing, the rotating speed of the operation machine gradually increases until the distance is larger than the safety threshold value, the rotating speed of the operation machine is recovered to the initial rotating speed, and the manipulator can adjust the rotating speed of the operation machine through the handle. By the arrangement, the rotating speed of the working machine can be controlled according to the distance through the rotating anti-collision method of the working machine, and the number of times of sudden stop is reduced, so that the problems that the working efficiency is reduced and the working machine is easily damaged due to the sudden stop are solved.

According to the rotation anti-collision method for the working machine provided by the invention, after the distance between two sides of the working machine and the obstacle is obtained in real time, the method further comprises the following steps:

and controlling a display device to display the numerical value of the distance.

The distance value is displayed through the display device, so that the manipulator can more accurately know the distance between the working machine and the obstacle, and the requirement of deceleration, acceleration or sudden stop of the working machine is judged according to the distance value.

The invention also provides a rotary collision avoidance system of a working machine, comprising: the system comprises a distance measuring device, a controller and an early warning device, wherein the distance measuring device and the early warning device are both connected with the controller in a communication way;

the distance measuring device is used for detecting the distance between two sides of the working machine and an obstacle and transmitting the distance to the controller;

when the controller determines that the distance is smaller than the safety threshold, an alarm instruction is sent out to control an early-warning device to give an alarm; and setting the alarm frequency of the early warning device according to the distance interval based on the first function, wherein the alarm frequency of the early warning device is gradually increased along with the gradual shortening of the distance value.

The rotary collision avoidance system of the working machine provided by the invention receives the distance between the two sides of the working machine and the obstacle detected by the distance measuring device through the controller, and sets the alarm frequency of the early warning device according to the distance based on the first function. Along with the gradual reduction of the distance, the alarm frequency of the early warning device is improved so as to prompt the manipulator to operate the machine to be closer to the obstacle; along with the distance gradually increasing, the alarm frequency of the early warning device is increased so as to prompt the manipulator to operate the machine and the obstacle farther and farther. The rotary anti-collision system of the working machine, provided by the invention, can enable a manipulator to judge the collision risk of the working machine according to the alarm frequency of the early warning device, so as to determine to slow down the rotary speed and set the complete stop operation, and solve the problem that the manipulator only can simply and roughly stop the operation when noticing the alarm of the acousto-optic early warning device in the prior art, so that the working efficiency is low and the service life of the working machine is seriously reduced.

According to the rotary collision avoidance system of the working machine, the controller is also connected with a main pump electromagnetic valve of the working machine in a communication mode;

when the controller determines that the distance is smaller than a safety threshold value, based on a second function, the controller controls the opening of the main pump electromagnetic valve according to the distance so as to control the flow of the main pump;

and the second function is in a descending trend on the whole in the direction of the distance from large to small.

By acquiring the distance between both sides of the work machine and the obstacle, and based on the second function, the opening degree of the main pump solenoid valve is controlled according to the distance. Along with the gradual reduction of the distance, the opening degree of a main pump electromagnetic valve is reduced, so that the flow of a main pump is reduced, the rotation speed of the working machine is gradually reduced, and a manipulator does not need to adjust a handle to decelerate; along with the distance gradually increasing, the opening degree of the main pump electromagnetic valve is increased, the flow of the main pump is increased, the rotating speed of the working machine is gradually increased until the distance is larger than the safety threshold value, the rotating speed of the working machine is recovered to the initial rotating speed, and the manipulator can adjust the rotating speed of the working machine through the handle again. So set up, operation machinery gyration collision avoidance system can reduce the number of times of scram according to the slew velocity of apart from control operation machinery to avoid the problem that the operating efficiency that the scram leads to reduces and causes the damage to operation machinery easily.

According to the rotary collision avoidance system of the working machine, the rotary collision avoidance system further comprises a display device, and the display device is connected with the controller in a communication mode and used for displaying the numerical value of the distance. The early warning device is an acousto-optic early warning device. The acousto-optic early warning device can remind a mobile phone through sight and hearing, and the early warning effect is better.

The distance value is displayed through the display device, so that the manipulator can more accurately know the distance between the working machine and the obstacle, and the requirement of deceleration, acceleration or sudden stop of the working machine is judged according to the distance value.

According to the rotary collision avoidance system of the working machine, the display device is a display.

According to the rotary collision avoidance system of the working machine, the distance measuring device comprises distance measuring cameras arranged on two sides of the working machine and an image processing module in communication connection with the distance measuring cameras, and the image processing module is in communication connection with the controller. The distance measurement camera transmits acquired image information to the image processing module, the image processing module converts the image information into information which can be identified by the controller, the converted information is transmitted to the controller, and the controller calculates the distance according to the converted information. So set up, range unit's simple structure, required hardware is still less.

According to the rotary anti-collision system of the working machine, the early warning device is an acousto-optic early warning device. The acousto-optic early warning device can remind a mobile phone through sight and hearing, and the early warning effect is better.

The invention also provides a working machine which can perform rotary operation and comprises the rotary collision avoidance system of the working machine.

According to the working machine provided by the invention, the early warning device is linked with the starting-up device of the working machine, so that the early warning device gives an alarm when the starting-up device is started.

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 schematic illustration of a work machine swing collision avoidance system provided in an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a first function provided in an embodiment of the invention;

fig. 3 is a schematic diagram of a second function provided in an embodiment of the present 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.

A method of swing collision avoidance for a work machine provided in an embodiment of the present invention will be described with reference to fig. 1.

Specifically disclosed is a method for preventing a working machine from rotating, which comprises:

acquiring the distance between two sides of the operation machine and the barrier in real time;

and when the distance is determined to be smaller than the safety threshold value, sending an alarm instruction to control the early warning device to give an alarm. And setting the alarm frequency of the early warning device according to the distance interval based on the first function, wherein the alarm frequency of the early warning device is gradually increased along with the gradual shortening of the distance value. As shown in fig. 2, the first function is generally ascending in the direction of decreasing distance.

A first function as shown in fig. 2, where S represents the distance and F represents the alarm frequency of the early-warning device. The alarm frequency includes, but is not limited to, a blinking frequency or a ringing frequency. Alternatively, the first function may be a univariate polyline function as shown in fig. 2, which is in an overall increasing trend with increasing distance. Of course, the first function may be a curve function or a unitary linear function which is entirely ascending.

According to the rotation anti-collision method for the working machine, the distance between two sides of the working machine and the obstacle is obtained, and the alarm frequency of the early warning device is set according to the distance based on the first function. Along with the gradual reduction of the distance, the alarm frequency of the early warning device is improved so as to prompt the manipulator to operate the machine to be closer to the obstacle; along with the distance gradually increasing, the alarm frequency of the early warning device is increased so as to prompt the manipulator to operate the machine and the obstacle farther and farther. The method for preventing the operating machinery from rotating can enable a manipulator to judge the collision risk of the operating machinery according to the alarm frequency of the early warning device, so as to determine to slow down the rotating speed and even stop the operation completely, and solve the problem that the manipulator only can simply and violently stop the operation when noticing the alarm of the acousto-optic early warning device in the prior art, so that the operating efficiency is low and the service life of the operating machinery is seriously reduced.

In some embodiments of the present invention, after obtaining the distance between the two sides of the working machine and the obstacle in real time, the method further includes:

and controlling the slewing speed of the working machine according to the distance based on the second function when the distance is determined to be smaller than the safety threshold. As shown in fig. 2, the second function is in a decreasing trend as a whole in the direction of the distance from large to small.

A second function as shown in fig. 3, where S represents the distance and V represents the swing speed of the work machine. Alternatively, the second function may be a univariate polyline function as shown in fig. 3, which is in an overall increasing trend with increasing distance. Of course, the first function may be a curve function or a unitary linear function which is entirely ascending.

The distance between the two sides of the working machine and the obstacle is acquired, and the rotating speed of the working machine is controlled according to the distance based on the second function. The rotating speed of the operation machine is gradually reduced along with the gradual reduction of the distance, and a manipulator does not need to adjust a handle to decelerate; along with the distance gradually increasing, the rotating speed of the operation machine gradually increases until the distance is larger than the safety threshold value, the rotating speed of the operation machine is recovered to the initial rotating speed, and the manipulator can adjust the rotating speed of the operation machine through the handle. By the arrangement, the rotating speed of the working machine can be controlled according to the distance through the rotating anti-collision method of the working machine, and the number of times of sudden stop is reduced, so that the problems that the working efficiency is reduced and the working machine is easily damaged due to the sudden stop are solved.

In some embodiments of the present invention, after obtaining the distance between the two sides of the working machine and the obstacle in real time, the method further includes:

and controlling the display device to display the numerical value of the distance. For example, the display device may be a display.

The distance value is displayed through the display device, so that the manipulator can more accurately know the distance between the operation machine and the obstacle, and the manipulator judges whether the operation machine needs to be decelerated, accelerated or scram according to the distance value, so that the manipulator can conveniently perform pointed operation, unnecessary scram times are reduced, and the operation efficiency is improved.

An embodiment of the present invention further provides a rotary collision avoidance system for a working machine, as shown in fig. 1, including: distance measuring device, controller and precaution device. The distance measuring device and the early warning device are both connected with the controller in a communication mode.

The distance measuring device is used for detecting the distance between two sides of the working machine and the obstacle and transmitting the distance to the controller.

And when the controller determines that the distance is smaller than the safety threshold value, the alarm frequency of the early warning device is set according to the distance interval based on the first function, and the alarm frequency is gradually increased along with the gradual shortening of the distance value. As shown in fig. 2, the first function is generally ascending in the direction of decreasing distance.

According to the rotary collision avoidance system for the working machine, the controller receives the distance between the two sides of the working machine and the obstacle, which is detected by the distance measuring device, and the alarm frequency of the early warning device is set according to the distance based on the first function. Along with the gradual reduction of the distance, the alarm frequency of the early warning device is improved so as to prompt the manipulator to operate the machine to be closer to the obstacle; along with the distance gradually increasing, the alarm frequency of the early warning device is increased so as to prompt the manipulator to operate the machine and the obstacle farther and farther. The rotary anti-collision system of the working machine, provided by the invention, can enable the manipulator to judge the collision risk of the working machine according to the alarm frequency of the early warning device, so as to determine to slow down the rotary speed and even stop the operation completely, and solve the problem that the manipulator only can simply and violently stop the operation when noticing the alarm of the acousto-optic early warning device in the prior art, so that the working efficiency is low, and the service life of the working machine is seriously reduced and damaged.

In some embodiments provided by the present disclosure, the controller is further communicatively coupled to a solenoid valve of a main pump of the work machine.

And when the controller determines that the distance is smaller than the safety threshold value, the controller controls the opening of the electromagnetic valve of the main pump according to the distance based on the second function so as to control the flow of the main pump, and the effect of controlling the rotation speed of the working machine is achieved by controlling the flow of the main pump.

As shown in fig. 3, the second function is a decreasing trend in the direction of decreasing distance as a whole.

By acquiring the distance between both sides of the work machine and the obstacle, and based on the second function, the opening degree of the main pump solenoid valve is controlled according to the distance. Along with the gradual reduction of the distance, the opening degree of a main pump electromagnetic valve is reduced, so that the flow of a main pump is reduced, the rotation speed of the working machine is gradually reduced, and a manipulator does not need to adjust a handle to decelerate; along with the distance gradually increasing, the opening degree of the main pump electromagnetic valve is increased, the flow of the main pump is increased, the rotating speed of the working machine is gradually increased until the distance is larger than the safety threshold value, the rotating speed of the working machine is recovered to the initial rotating speed, and the manipulator can adjust the rotating speed of the working machine through the handle again. So set up, operation machinery gyration collision avoidance system can reduce the number of times of scram according to the slew velocity of apart from control operation machinery to avoid the problem that the operating efficiency that the scram leads to reduces and causes the damage to operation machinery easily.

In some embodiments of the present disclosure, the work machine swing collision avoidance system further includes a display device. The display device is communicatively connected with the controller for displaying the value of the distance. Alternatively, the display device may be a display. The distance value is displayed through the display device, so that the manipulator can more accurately know the distance between the operation machine and the obstacle, and the manipulator judges whether the operation machine needs to be decelerated, accelerated or scram according to the distance value, so that the manipulator can conveniently perform pointed operation, unnecessary scram times are reduced, and the operation efficiency is improved.

In some embodiments of the present disclosure, the distance measuring device includes distance measuring cameras disposed on both sides of the work machine and an image processing module communicably connected to the distance measuring cameras, and the image processing module is communicably connected to the controller. The distance measurement camera transmits acquired image information to the image processing module, the image processing module converts the image information into information which can be identified by the controller, the converted information is transmitted to the controller, and the controller calculates the distance according to the converted information. So set up, range unit's simple structure, required hardware is still less.

In some embodiments provided by the present invention, the alarm is an audible and visual alarm. Can sound simultaneously and twinkle through setting up reputation precaution device to remind the quick-witted hand through impression and listening, the early warning effect is better.

Optionally, an early warning device can be arranged outside the cab and the cab. The early warning device in the cab can prompt a driver to operate, and the early warning device outside the cab can remind external personnel of paying attention to safety and avoiding in time.

The embodiment of the invention also provides a working machine capable of performing rotary operation, and the working machine rotary collision avoidance system comprises the working machine rotary collision avoidance system. It should be noted that the work machine includes a swing collision avoidance system, which includes all the advantages thereof, and thus, the detailed description thereof is omitted.

In the embodiment provided by the invention, the early warning device is linked with the starting-up device of the working machine, so that the early warning device gives an alarm when the starting-up device is started. Therefore, when the operation machine is started, the early warning device is started to warn surrounding personnel to avoid, and the safety of surrounding constructors is protected. Certainly, after the operation machine stably runs, the starting early warning of the early warning device can be turned off, and the operation machine rotation anti-collision system controls the early warning device to give an alarm according to the distance between the operation machine and the obstacle. The closing of the start-up early warning of the early warning device can be implemented by setting the warning time length. For example, the alarm is automatically stopped after the early warning of the power-on of the alarm is carried out for 15-30S. Besides the closing mode, the closing mode can be implemented by arranging a closing button, so that a phone driver can manually close the starting early warning of the early warning device through the closing button.

It should be noted that, the steps of the above-mentioned work machine rotation collision avoidance method may be combined, for example, the work machine rotation collision avoidance method includes:

acquiring the distance between two sides of the operation machine and the barrier, and displaying the numerical value of the distance through a display device;

and when the distance is determined to be smaller than the safety threshold value, setting the alarm frequency of the early warning device according to the distance interval based on the first function, wherein the alarm frequency is gradually increased along with the gradual shortening of the distance value. The first function is in an overall ascending trend in the direction of the distance from large to small. The slewing speed of the work machine is controlled according to the distance based on the second function. The second function is in a descending trend in the direction of the distance from large to small. Therefore, the rotation speed of the working machine and the alarm frequency of the early warning device are controlled according to the distance, so that a manipulator can feel whether an obstacle exists or not through the transformation of body feeling and sound feeling, more attention is released in work, and the construction quality is improved. When the obstacle is separated from the safety threshold, the rotating speed of the working machine can return to the initial rotating speed, so that the working efficiency is improved.

Likewise, the various parts of the work machine swing collision avoidance system described above can also be combined, for example, a work machine swing collision avoidance system comprising: distance measuring device, controller, early warning ware and display. The distance measuring device, the early warning device and the display are all connected with the controller in a communication mode. The controller is also communicatively coupled to a main pump solenoid valve of the work machine. The display is used for displaying the numerical value of the distance.

The distance measuring device is used for detecting the distance between two sides of the working machine and the obstacle and transmitting the distance to the controller.

And when the controller determines that the distance is smaller than the safety threshold value, the alarm frequency of the early warning device is set according to the distance interval based on the first function, and the alarm frequency is gradually increased along with the gradual shortening of the distance value. The first function is in an overall ascending trend in the direction of the distance from large to small. The opening of the solenoid valve is controlled according to the distance based on the second function to control the flow rate of the main pump. The second function is in a descending trend in the direction of the distance from large to small.

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. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

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.