阅读说明：本技术 电缆收放路径控制方法、装置和农业机械 (Cable winding and unwinding path control method and device and agricultural machine ) 是由 张卫亮 张迎军 董伟 李达豪 杨帆 于 2021-06-30 设计创作，主要内容包括：本发明提供一种电缆收放路径控制方法、装置和农业机械,涉及农业机械领域。该电缆收放路径控制方法包括获取农业机械的预置信息、排缆器的当前位置信息和出缆口外电缆状态信息。根据农业机械的预置信息、排缆器的当前位置信息和出缆口外电缆状态信息计算出缆口的理论位置信息。控制电缆收放机构调整出缆口的位置,以将出缆口的实际位置信息调整至理论位置信息。该电缆收放路径控制方法通过控制电缆收放机构调整出缆口的位置,能够使露出于出缆口外的电缆保持与机械主体间隔。改善露出于出缆口的电缆与机械主体接触所造成的不安全问题,保证农业机械正常运行,具有良好的安全性,提高了电缆寿命。(The invention provides a cable winding and unwinding path control method and device and agricultural machinery, and relates to the field of agricultural machinery. The cable pay-off and take-up path control method comprises the steps of obtaining preset information of agricultural machinery, current position information of a cable arranger and state information of cables outside a cable outlet. And calculating theoretical position information of the cable port according to preset information of the agricultural machine, current position information of the cable arranger and state information of the cable outside the cable outlet. And the control cable retraction mechanism adjusts the position of the cable outlet so as to adjust the actual position information of the cable outlet to the theoretical position information. According to the cable take-up and pay-off path control method, the cable take-up and pay-off mechanism is controlled to adjust the position of the cable outlet, so that the cable exposed out of the cable outlet can be kept spaced from the machine main body. The problem of unsafe that the cable that exposes out the cable outlet contacts with the main machine body is solved, the normal operation of agricultural machinery is guaranteed, the safety is good, and the service life of the cable is prolonged.)

1. The cable winding and unwinding path control method is applied to agricultural machinery (100), and is characterized in that the agricultural machinery (100) comprises a machinery main body (101), a cable distributor (104) and a cable winding and unwinding mechanism (103), the cable winding and unwinding mechanism (103) and the cable distributor (104) are both installed on the machinery main body (101), the cable distributor (104) is used for leading out cables on the machinery main body (101) to the cable winding and unwinding mechanism (103), the cable winding and unwinding mechanism (103) is provided with a cable outlet (1031) for laying or winding the cables led out by the cable distributor (104), and the control method comprises the following steps:

acquiring preset information of the agricultural machine (100), current position information of the cable arranger (104) and state information of a cable outside a cable outlet (1031);

calculating theoretical position information of the cable outlet (1031) according to preset information of the agricultural machine (100), current position information of the cable arranger (104) and state information of a cable outside the cable outlet (1031), wherein the theoretical position information of the cable outlet (1031) represents that the cable exposed out of the cable outlet (1031) is at a theoretical safety position which is arranged at an interval with the machine main body (101);

controlling the cable retraction mechanism (103) to adjust the position of the cable outlet (1031) so as to adjust the actual position information of the cable outlet (1031) to the theoretical position information.

2. The cable retraction path control method according to claim 1, wherein the cable retraction mechanism (103) is capable of performing a rotational movement about its rotational center;

the theoretical position information of the cable outlet (1031) comprises a theoretical value of a first included angle alpha, wherein the first included angle alpha represents an included angle between a connecting line of the cable outlet (1031) and a rotation center of the cable retraction and release mechanism (103) and the driving direction of the machine main body (101);

the step of calculating the theoretical position information of the cable outlet (1031) according to the preset information of the agricultural machine (100), the current position information of the cable arranger (104) and the state information of the cable outside the cable outlet (1031) comprises the following steps:

and calculating a theoretical value of the first included angle alpha according to preset information of the agricultural machine (100) and current position information of the cable arranger (104).

3. The cable retracting path control method according to claim 2, wherein the agricultural machine (100) further comprises a reel (102), the reel (102) is mounted on the machine body (101) and is used for winding the cable, and the cable discharger (104) is used for leading out the cable on the reel (102) to the cable retracting mechanism (103);

the preset information of the agricultural machine (100) comprises a distance L between a cable exposed out of the cable outlet (1031) and a center line of the agricultural machine (100) during cable laying, and a transverse distance L between a rotation center of the cable retraction and release mechanism (103) and a rotation center of the reel (102)₂A distance W between the cable outlet (1031) and the cable arranger (104) in a traveling direction of the agricultural machine (100);

the current position information of the cable arranger (104) comprises the cable arranger (104) to the cable coiling and uncoilingDistance L of the center of rotation of mechanism (103) in the direction of travel of the agricultural machine (100)_y；

The step of calculating the theoretical value of the first included angle alpha according to the preset information of the agricultural machine (100) and the current position information of the cable arranger (104) comprises the following steps:

when the cable is in a laying state, according to a formula:and calculating a theoretical value of the first included angle alpha.

4. The cable retracting path control method according to claim 2, wherein the agricultural machine (100) further comprises a reel (102), the reel (102) is mounted on the machine body (101) and is used for winding the cable, and the cable discharger (104) is used for leading out the cable on the reel (102) to the cable retracting mechanism (103);

the preset information of the agricultural machine (100) comprises a distance L between a cable exposed out of the cable outlet (1031) and the center line of the agricultural machine (100) when the cable is reeled₃A transverse distance L between the rotation center of the cable retracting mechanism (103) and the rotation center of the reel (102)₂A distance W between the cable outlet (1031) and the cable arranger (104) in a traveling direction of the agricultural machine (100);

the current position information of the cable arranger (104) comprises a distance L between the cable arranger (104) and the rotation center of the cable retracting mechanism (103) in the driving direction of the agricultural machine (100)_y；

The step of calculating the theoretical value of the first included angle alpha according to the preset information of the agricultural machine (100) and the current position information of the cable arranger (104) comprises the following steps:

when the cable is in a furled state, according to a formula:and calculating a theoretical value of the first included angle alpha.

5. The cable retracting path control method according to any one of claims 2 to 4, wherein the cable retracting mechanism (103) comprises a rotating device (1032) for driving the cable retracting mechanism (103) to rotate around its rotation center and a horizontal telescopic device (1033) capable of stretching in a horizontal plane and adjusting the rotation center position of the cable outlet (1031) relative to the cable retracting mechanism (103), wherein the horizontal telescopic device (1033) is connected with the rotating device (1032);

the preset information of the agricultural machine (100) comprises a second included angle theta₁Wherein the second included angle theta₁The included angle between a connecting line of the cable outlet (1031) and the rotation center of the cable retraction mechanism (103) and the extension direction of the horizontal extension device (1033) is shown;

the step of controlling the cable retraction/release mechanism (103) to adjust the position of the cable outlet (1031) includes:

according to the theoretical value of the first included angle alpha and the second included angle theta₁Calculating a theoretical value of a third included angle theta, wherein the third included angle theta represents an included angle between the telescopic direction of the horizontal telescopic device (1033) and the driving direction of the machine main body (101);

and controlling the rotating device (1032) to drive the cable retracting mechanism (103) to rotate around the rotation center of the cable retracting mechanism, so as to adjust the actual value of the third included angle theta to a theoretical value.

6. The cable retraction path control method according to claim 1, wherein the cable retraction mechanism (103) is capable of performing a rotational movement about its rotational center;

the theoretical position information of the cable outlet (1031) comprises a distance L between the cable outlet (1031) and a rotation center of the cable retraction/release mechanism (103)₁The theoretical value of (A);

the step of calculating the theoretical position information of the cable outlet (1031) according to the preset information of the agricultural machine (100), the current position information of the cable arranger (104) and the state information of the cable outside the cable outlet (1031) comprises the following steps:

calculating the distance L between the cable outlet (1031) and the rotation center of the cable retracting mechanism (103) according to the preset information of the agricultural machine (100) and the current position information of the cable arranger (104)₁The theoretical value of (1).

7. The cable retracting path control method according to claim 6, wherein the agricultural machine (100) further comprises a reel (102), the reel (102) is mounted on the machine body (101) and is used for winding the cable, and the cable discharger (104) is used for leading the cable on the reel (102) out to the cable retracting mechanism (103);

the preset information of the agricultural machine (100) comprises a distance L between a cable exposed out of the cable outlet (1031) and a center line of the agricultural machine (100) during cable laying, and a transverse distance L between a rotation center of the cable retraction and release mechanism (103) and a rotation center of the reel (102)₂A distance W between the cable outlet (1031) and the cable arranger (104) in a traveling direction of the agricultural machine (100);

the current position information of the cable arranger (104) comprises a distance L between the cable arranger (104) and the rotation center of the cable retracting mechanism (103) in the driving direction of the agricultural machine (100)_y；

Calculating the distance L between the cable outlet (1031) and the rotation center of the cable retracting mechanism (103) according to the preset information of the agricultural machine (100) and the current position information of the cable arranger (104)₁The steps of (1) include:

when the cable is in a laying state, according to a formula:calculating the distance L between the cable outlet (1031) and the rotation center of the cable retracting mechanism (103)₁The theoretical value of (1).

8. The cable retracting path control method according to claim 6, wherein the agricultural machine (100) further comprises a reel (102), the reel (102) is mounted on the machine body (101) and is used for winding the cable, and the cable discharger (104) is used for leading the cable on the reel (102) out to the cable retracting mechanism (103);

the preset information of the agricultural machine (100) comprises a distance L between a cable exposed out of the cable outlet (1031) and the center line of the agricultural machine (100) when the cable is reeled₃A transverse distance L between the rotation center of the cable retracting mechanism (103) and the rotation center of the reel (102)₂A distance W between the cable outlet (1031) and the cable arranger (104) in a traveling direction of the agricultural machine (100);

the current position information of the cable arranger (104) comprises a distance L between the cable arranger (104) and the rotation center of the cable retracting mechanism (103) in the driving direction of the agricultural machine (100)_y；

Calculating the distance L between the cable outlet (1031) and the rotation center of the cable retracting mechanism (103) according to the preset information of the agricultural machine (100) and the current position information of the cable arranger (104)₁The steps of (1) include:

when the cable is in a furled state, according to a formula:calculating the distance L between the cable outlet (1031) and the rotation center of the cable retracting mechanism (103)₁The theoretical value of (1).

9. The cable retracting path control method according to any one of claims 6 to 8, wherein the cable retracting mechanism (103) comprises a rotating device (1032) for driving the cable retracting mechanism (103) to rotate around its rotation center and a horizontal telescopic device (1033) capable of stretching in a horizontal plane and adjusting the rotation center position of the cable outlet (1031) relative to the cable retracting mechanism (103), wherein the horizontal telescopic device (1033) is connected with the rotating device (1032);

the step of controlling the cable retraction/release mechanism (103) to adjust the position of the cable outlet (1031) includes:

controlling the length of the horizontal telescopic device (1033) to make the distance L between the cable outlet (1031) and the rotation center of the cable retraction mechanism (103)₁Is adjusted to the theoretical value.

10. The cable retracting path control method according to claim 1, wherein the theoretical position information of the cable outlet (1031) comprises a theoretical value of a height h of the cable outlet (1031) from the ground;

the step of calculating the theoretical position information of the cable outlet (1031) according to the preset information of the agricultural machine (100), the current position information of the cable arranger (104) and the state information of the cable outside the cable outlet (1031) comprises the following steps:

and calculating a theoretical value of the height h of the cable outlet (1031) from the ground according to the preset information of the agricultural machine (100) and the state information of the cable outside the cable outlet (1031).

11. The cable retracting path control method according to claim 10, wherein the preset information of the agricultural machine (100) comprises a distance W between the cable outlet (1031) and the cable arranging device (104) in a driving direction of the agricultural machine (100) and a height h of the cable arranging device (104) from the ground₁；

The state information of the cable outside the cable outlet (1031) comprises an included angle beta between a tangent line of the cable exposed out of the cable outlet (1031) at the cable outlet (1031) and a horizontal plane;

the step of calculating the theoretical value of the height h of the cable outlet (1031) from the ground according to the preset information of the agricultural machine (100) and the state information of the cable outside the cable outlet (1031) comprises the following steps:

according to the formula:and calculating a theoretical value of the height h of the cable outlet (1031) from the ground.

12. The cable retracting path control method according to claim 10 or 11, wherein the cable retracting mechanism (103) comprises a vertical retracting device (1034) which is capable of retracting in a vertical plane and adjusting the height of the cable outlet (1031) with respect to the ground;

the step of controlling the cable retraction/release mechanism (103) to adjust the position of the cable outlet (1031) includes:

controlling the telescopic length of the vertical telescopic device (1034) so as to adjust the actual value of the height h of the cable outlet (1031) from the ground to a theoretical value.

13. The cable retracting path control method according to claim 1, wherein in a state where the cable exposed to the outside of the cable outlet (1031) is at a theoretical safe position spaced from the machine main body (101), a distance L between the cable exposed to the outside of the cable outlet (1031) and a center line of the agricultural machine (100) is greater than a distance between an outer contour of a wheel at a maximum wheel track of the agricultural machine (100) and the center line of the agricultural machine (100) and is greater than an implement working width of the agricultural machine (100).

14. The utility model provides a cable winding and unwinding path control device, is applied to agricultural machine (100), its characterized in that, agricultural machine (100) include mechanical main part (101), cable winding and unwinding device (104) and cable winding and unwinding mechanism (103), cable winding and unwinding mechanism (103) with cable winding and unwinding device (104) all install in on mechanical main part (101), cable winding and unwinding device (104) are used for drawing the cable to cable winding and unwinding mechanism (103), cable winding and unwinding mechanism (103) have be used for with cable that cable winding and unwinding device (104) were drawn lays or the play cable mouth (1031) of roll-up, controlling means includes:

the acquisition module (210) is used for acquiring preset information of the agricultural machine (100), current position information of the cable arranger (104) and state information of a cable outside a cable outlet (1031);

the calculation module (220) is used for calculating theoretical position information of the cable outlet (1031) according to preset information of the agricultural machine (100), current position information of the cable arranger (104) and state information of cables outside the cable outlet (1031), wherein the theoretical position information of the cable outlet (1031) represents that the cables exposed out of the cable outlet (1031) are in theoretical safety positions arranged at intervals with the machine main body (101);

a control module (230) for controlling the cable retraction mechanism (103) to adjust the actual position information of the cable outlet (1031) to the theoretical position information.

15. An agricultural machine comprising a memory (110) and a processor (120), the memory (110) being configured to store computer instructions, the processor (120) being configured to execute the computer instructions to implement the cable pay-off and take-up path control method according to any one of claims 1-13.

Technical Field

The invention relates to the field of agricultural machinery, in particular to a cable winding and unwinding path control method and device and agricultural machinery.

Background

Agricultural machinery such as an electric tractor can be applied to agricultural cultivation and the like, and there are two main power supply methods: battery powered and cable powered. The battery power supply has the problem of short endurance time due to low energy density and volume density of the battery, and is difficult to realize large-scale commercial use. The cable power supply is to connect the electric tractor with the power through the cable, and the electric tractor can avoid the battery powered continuation of the journey problem in the long-time continuous operation of cable length within range. When the electric tractor works, the cable needs to be laid and wound along the traveling path of the electric tractor, but the electric tractor has a complex working process, and the cable exposed out of the cable outlet is easy to contact with parts such as a tractor body or machines and tools arranged on the tractor body in the laying and winding processes, and even causes the unsafe problem of cable cutting.

Disclosure of Invention

The invention aims to provide a cable winding and unwinding path control method, a cable winding and unwinding path control device and agricultural machinery, which can solve the problem that the contact between a cable exposed out of a cable outlet and a component in the cable laying and winding process and the unsafe problem caused by the contact.

In a first aspect, the present invention provides a cable reeling and unreeling path control method, which is applied to an agricultural machine, where the agricultural machine includes a machine main body, a cable arranger and a cable reeling and unreeling mechanism, the cable reeling and unreeling mechanism and the cable arranger are both mounted on the machine main body, the cable arranger is used to lead out a cable on the machine main body to the cable reeling and unreeling mechanism, and the cable reeling and unreeling mechanism has a cable outlet for laying or reeling a cable led out by the cable arranger, and the control method includes:

acquiring preset information of the agricultural machine, current position information of the cable arranger and state information of an external cable at a cable outlet;

calculating theoretical position information of the cable outlet according to preset information of the agricultural machine, current position information of the cable arranger and state information of cables outside the cable outlet, wherein the theoretical position information of the cable outlet represents that the cables exposed out of the cable outlet are positioned at a theoretical safety position which is arranged at an interval with the machine main body;

and controlling the cable retraction mechanism to adjust the position of the cable outlet so as to adjust the actual position information of the cable outlet to the theoretical position information.

In a second aspect, the present invention further provides a cable winding and unwinding path control device, which is applied to an agricultural machine, where the agricultural machine includes a machine main body, a cable distributor and a cable winding and unwinding mechanism, the cable winding and unwinding mechanism and the cable distributor are both installed on the machine main body, the cable distributor is used to lead out a cable to the cable winding and unwinding mechanism, the cable winding and unwinding mechanism has a cable outlet used to lay or wind the cable led out by the cable distributor, and the control device includes:

the acquisition module is used for acquiring preset information of the agricultural machine, current position information of the cable arranger and state information of cables outside the cable outlet;

the calculation module is used for calculating theoretical position information of the cable outlet according to preset information of the agricultural machine, current position information of the cable arranger and state information of cables outside the cable outlet, wherein the theoretical position information of the cable outlet represents that the cables exposed out of the cable outlet are positioned at theoretical safety positions which are arranged at intervals with the machine main body;

and the control module is used for controlling the cable retracting mechanism so as to adjust the actual position information of the cable outlet to the theoretical position information.

In a third aspect, the present invention further provides an agricultural machine, including a memory and a processor, where the memory is used to store computer instructions, and the processor is used to execute the computer instructions to implement the cable reeling and unreeling path control method in the foregoing embodiment.

The cable winding and unwinding path control method and device and the agricultural machine provided by the invention have the beneficial effects that: theoretical position information of the cable outlet is calculated through preset information of the agricultural machine, current position information of the cable arranger and state information of the cable outside the cable outlet, the cable retracting mechanism is controlled to adjust the position of the cable outlet, and actual position information of the cable outlet is adjusted to the theoretical position information, so that the cable exposed out of the cable outlet can be kept at a theoretical safety position which is arranged at an interval with the machine main body. The cable exposed out of the cable outlet is spaced from the mechanical main body and does not contact with the mechanical main body, so that the problem that the cable exposed out of the cable outlet is contacted with the mechanical main body in the cable laying and winding processes and the unsafe problem caused by contact are solved, the problem that the cable exposed out of the cable outlet is interfered with agricultural machinery is solved, the normal operation of the agricultural machinery is ensured, the safety is good, and the service life of the cable is prolonged.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a block diagram schematically illustrating the structure of an agricultural machine according to an embodiment of the present invention;

fig. 2 is a block diagram schematically illustrating a structure of a cable retracting mechanism of an agricultural machine according to an embodiment of the present invention;

FIG. 3 is a schematic block diagram of a related structure of a cable retraction path control device of an agricultural machine according to an embodiment of the present invention;

fig. 4 is a schematic flow chart of a cable retraction path control method according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an agricultural machine according to an embodiment of the present invention during a forward stroke;

FIG. 6 is a schematic structural diagram of an agricultural machine according to an embodiment of the present invention during a return trip;

FIG. 7 is a schematic side view of an agricultural machine according to an embodiment of the present invention;

FIG. 8 is a flowchart illustrating the sub-steps of step S300 in FIG. 4;

FIG. 9 is a schematic diagram of a cable laying path of an agricultural machine according to an embodiment of the present invention during operation;

fig. 10 is a block diagram schematically illustrating a structure of a cable retraction path control device according to an embodiment of the present invention.

Icon:

100-agricultural machinery; 101-a machine body; 102-a reel; 103-cable retraction mechanism; 1031-a cable outlet; 1032-a slewing device; 1033-horizontal telescoping device; 1034-vertical telescopic device; 1035-fairlead; 104-cable arrangement device; 110-a memory; 120-a processor;

200-cable winding and unwinding path control device; 210-an obtaining module; 220-a calculation module; 230-control module.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

Referring to fig. 1, an embodiment of the present invention provides a method and an apparatus for controlling a cable retraction path, which are applied to an agricultural machine 100, for example, a mechanical device such as an unmanned tractor for performing agricultural operations, where the unmanned tractor may be an electric tractor and supplies power to a cable. In other embodiments of the present invention, the cable winding and unwinding path control method and apparatus may also be applied to construction machinery that uses a cable to supply power and to cable laying work in an electric power system. In this embodiment, the method and the apparatus for controlling the cable winding and unwinding path are specifically described as an example of applying the method and the apparatus to the agricultural machine 100.

The agricultural machine 100 may include a machine main body 101, a cable arranger 104, a cable retracting mechanism 103, and a reel 102. The cable retracting mechanism 103, the cable arranger 104, and the reel 102 are mounted on the machine main body 101. The machine main body 101 has implements, and can correspondingly realize functions such as ploughing, sowing, mowing, harvesting and the like by setting different implements.

Wherein, reel 102 is used for coiling cable, and reel 102 is driven by reel driving device, thereby realizing that reel 102 rotates around its own centre of rotation, so as to realize laying and coiling of cable.

The cable is wound around the reel 102, and one end thereof is connected to a power supply cabinet fixedly provided, and the other end thereof is connected to a carbon brush rotating together with the reel 102. The operation of the agricultural machine 100 is mainly divided into a forward travel and a backward travel, the forward direction of the agricultural machine 100 is far away from the power cabinet, and the backward travel is close to the power cabinet. When the agricultural machine 100 goes out of the way, the cable is laid along the traveling path of the agricultural machine 100; during the return of the agricultural machine 100, the cable is wound along the traveling path of the agricultural machine 100.

The cable distributor 104 is used for leading out the cable on the machine main body 101 to the cable retracting mechanism 103, and in this embodiment, since the cable is wound on the reel 102, the cable distributor 104 is used for leading out the cable wound on the reel 102 to the cable retracting mechanism 103. In addition, the cable distributor 104 is disposed on the reel 102, and the reel 102 is provided with a reciprocating mechanism for driving the cable distributor 104 to move along a direction parallel to the axis of the reel 102, so that the cable distributor 104 can arrange the cables tightly when the cables are reeled.

The cable retracting mechanism 103 has a cable outlet 1031 for laying or retracting the cable drawn out from the cable distributor 104. When the cable is laid, the cable outlet 1031 refers to a position point where the cable on the cable retracting mechanism 103 starts to be separated from the cable retracting mechanism 103, and after the cable is separated from the cable outlet 1031, the cable is suspended until the cable is laid on the ground; when the cable is wound, the cable outlet 1031 is a position where the cable is suspended to contact with the cable retraction mechanism 103 after being separated from the ground.

Referring to fig. 2, the cable retraction/release mechanism 103 is used to adjust the position of the cable outlet 1031 during operation. In this embodiment, the cable retracting mechanism 103 can perform a rotation motion around its own rotation center; and can do telescopic motion in the horizontal plane to adjust the position of the outlet 1031 in the horizontal plane; and can also perform telescopic action in the vertical plane to adjust the position of the cable outlet 1031 in the vertical plane. Here, the center of rotation of the cable retracting mechanism 103 is denoted by O.

Further, the cable retracting mechanism 103 may include a rotating device 1032 for driving the cable retracting mechanism 103 to rotate around its rotation center, a horizontal telescopic device 1033 capable of being extended and contracted in a horizontal plane and adjusting the rotation center position of the cable outlet 1031 relative to the cable retracting mechanism 103, and a vertical telescopic device 1034 capable of being extended and contracted in a vertical plane and adjusting the height of the cable outlet 1031 relative to the ground.

In some embodiments of the present invention, the swivel 1032 is mounted on the machine body 101, the swivel 1032 is connected to the vertical telescoping device 1034 by the horizontal telescoping device 1033, and the cable outlet 1031 may be disposed on the vertical telescoping device 1034. The rotation device 1032 can perform rotation movement, and thus the adjustment of the cable outlet 1031 is realized by driving the horizontal expansion device 1033 and the vertical expansion device 1034, and the horizontal expansion device 1033 drives the vertical expansion device 1034 when expanding in the horizontal plane, so that the adjustment of the position of the cable outlet 1031 in the horizontal plane is realized.

In other embodiments of the present invention, the swiveling device 1032 may be mounted on the machine main body 101, the swiveling device 1032 is connected to the horizontal telescoping device 1033 through the vertical telescoping device 1034, and the cable outlet 1031 may be disposed on the horizontal telescoping device 1033. Slewing device 1032 can carry out the rotary motion, thereby realizes the adjustment to cable outlet 1031 through driving vertical telescoping device 1034 and horizontal telescoping device 1033, and vertical telescoping device 1034 is through driving horizontal telescoping device 1033 when the vertical in-plane is flexible to the realization is adjusted cable outlet 1031 in the position of vertical face.

In this embodiment, for the convenience of cable out, the cable retracting mechanism 103 may further include a cable guide 1035. The swivel 1032 is mounted on the machine body 101, the swivel 1032 is connected to the vertical telescoping device 1034 via the horizontal telescoping device 1033, the cable guide frame 1035 is disposed on the vertical telescoping device 1034, and the cable outlet 1031 is disposed on the cable guide frame 1035. The cable guide frame 1035 is mainly used for adjusting the cable outlet state and controlling the cable laying path, and the position of the cable guide frame 1035 in a three-dimensional space can be adjusted in real time through the rotating device 1032, the horizontal telescopic device 1033 and the vertical telescopic device 1034, so that the adjustment of the position of the cable outlet 1031 is realized.

In addition, it should be noted that the rotating device 1032 may include a rotating motor for providing power to the rotation of the entire cable retracting mechanism 103 and precisely controlling the rotation angle of the cable retracting mechanism 103. The rotary motor can be a variable frequency motor or a servo motor.

The horizontal expansion device 1033 may comprise an electric push rod, or other devices or systems for achieving expansion and contraction may be used, for example, a hydraulic cylinder or a rack-and-pinion mechanism may be used, and a hydraulic pump or an electric motor may be used as a power source of the horizontal expansion device 1033. As long as the horizontal expansion device 1033 can expand and contract in the horizontal plane.

Similarly, vertical retraction device 1034 may also include an electric pushrod, or other device or system for achieving stretching and retracting may be used, for example, a hydraulic cylinder or a rack-and-pinion mechanism may be used, and a power source of vertical retraction device 1034 may be a hydraulic pump or an electric motor. So long as vertical retraction 1034 enables retraction within a vertical plane.

In addition, in this embodiment, transmission mechanisms may be correspondingly disposed between the revolving device 1032 and the horizontal telescopic device 1033, and between the horizontal telescopic device 1033 and the vertical telescopic device 1034 as required.

Referring to fig. 3, in addition, the agricultural machine 100 may further include a memory 110, a processor 120, and a cable retraction path control device 200, where the memory 110 is used for storing computer instructions, and the processor 120 is used for executing the computer instructions to implement the cable retraction path control method provided by the embodiment of the present invention. The memory 110, the processor 120 and the cable take-up path control device 200 are electrically connected to each other directly or indirectly to enable data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 120 is electrically connected to the swiveling device 1032, the horizontal telescoping device 1033, and the vertical telescoping device 1034, respectively, for controlling the swiveling device 1032, the horizontal telescoping device 1033, and the vertical telescoping device 1034 to operate accordingly.

The memory 110 is used to store programs or data. The Memory 110 may be, but is not limited to, a Random Access Memory 110 (RAM), a Read Only Memory 110 (ROM), a Programmable Read Only Memory 110 (PROM), an Erasable Read Only Memory 110 (EPROM), an electrically Erasable Read Only Memory 110 (EEPROM), and the like.

The processor 120 may be an integrated circuit chip having signal processing capabilities. The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions. The Processor 120 may be a general-purpose Processor 120, and includes a Central Processing Unit 120 (CPU), a Network Processor 120 (NP), and the like; but may also be a digital signal processor 120(DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. The general purpose processor 120 may be a microprocessor 120 or the processor 120 may be any conventional processor 120 or the like.

Referring to fig. 4 in combination with fig. 5 to 7, with reference to the agricultural machine 100, a cable retraction path control method according to an embodiment of the present invention is specifically described below, where the cable retraction path control method is used to control the cable retraction mechanism 103 to adjust the position of the cable outlet 1031, so that the cable exposed out of the cable outlet 1031 is kept spaced from the machine main body 101, and the cable exposed out of the cable outlet 1031 can be prevented from contacting the machine main body 101, thereby improving the unsafe problem caused by the contact between the cable exposed out of the cable outlet 1031 and the machine main body 101 during the cable laying and retracting process. The method for controlling the cable winding and unwinding path provided by the embodiment of the invention can comprise the following steps:

step S100, acquiring preset information of the agricultural machine 100, current position information of the cable arranger 104 and state information of the cable outside the cable outlet 1031.

In step S100, the preset information of the agricultural machine 100 is preset vehicle information, which is used to represent a mechanical position relationship among the components such as the reel 102, the cable arranger 104, the cable retracting mechanism 103, and the like. In this embodiment, the preset information of the agricultural machine 100 may include the following parameter information:

a distance L between the cable exposed to the outside of the cable outlet 1031 and the center line of the agricultural machine 100 when the cable is laid. The projection of the cable exposed outside the cable outlet 1031 on the horizontal plane may be considered to be parallel to the projection of the center line of the agricultural machine 100 on the same horizontal plane, and the distance L between the cable exposed outside the cable outlet 1031 and the center line of the agricultural machine 100 when the cable is laid may be considered to be the distance between the projection of the cable exposed outside the cable outlet 1031 and the center line of the agricultural machine 100 on the same horizontal plane.

Distance L between the cable exposed from cable outlet 1031 when the cable is wound and the center line of agricultural machine 100₃. Similar to L, the distance L between the cable exposed out of the cable outlet 1031 and the center line of the agricultural machine 100 when the cable is wound up₃The distance between the cable exposed to the cable outlet 1031 and the projection of the center line of the agricultural machine 100 on the same horizontal plane can be considered.

The transverse distance L between the center of rotation of the cable take-up and pay-off mechanism 103 and the center of rotation of the reel 102₂. Here, the lateral distance here refers to a distance in a direction perpendicular to the center line of the agricultural machine 100 in the horizontal plane. In this embodiment, the center of rotation of the reel 102 is collinear with the centerline of the agricultural machine 100.

The cable outlet 1031 is spaced from the cable discharger 104 by a distance W in the traveling direction of the agricultural machine 100. It will be appreciated that the distance W represents the line between the cable outlet 1031 and the cable drainer 104 at the agricultural machineThe length of the projection in the direction of travel of the machine 100. The distance W is larger than the preset minimum bending radius R required by the cable₀。

Height h of cable arranger 104 from ground₁. The height h₁The height h may be fixed after the cable arranger 104 is installed₁The value of (c) is set into the system.

Second included angle theta₁Wherein the second angle theta₁The angle between the line connecting the cable port 1031 and the center of rotation of the cable retracting mechanism 103 and the extending/retracting direction of the horizontal retracting/retracting device 1033 is shown. It will be further appreciated that the second included angle θ₁An angle formed between a line connecting the cable outlet 1031 and the rotation center of the cable retracting mechanism 103 in the horizontal plane and the extending and retracting direction of the horizontal extending and retracting device 1033 is shown.

The current position information of the cable arranger 104 represents the current position of the cable arranger 104, and may include the following parameter information:

a distance L from the cable arranger 104 to the center of rotation of the cable retracting mechanism 103 in the traveling direction of the agricultural machine 100_y. Note that, the distance L_yThe distance L measured in the horizontal plane may be detected by a sensor provided on the machine body 101, and the distance may be measured_yIs sent to the processor 120 for processing.

The cable state information outside the cable outlet 1031 represents the laying state of the cable exposed out of the cable outlet 1031, and may include the following parameter information:

the cable state information outside the cable outlet 1031 includes an included angle β between a tangent line of the cable exposed outside the cable outlet 1031 at the cable outlet 1031 and a horizontal plane. Note that the included angle β may be detected by a sensor provided on the machine main body 101, and data of the included angle β is sent to the processor 120 for processing. In this embodiment, the opening direction of the cable outlet 1031 may be inclined downward, so that a tangent line of the cable exposed outside the cable outlet 1031 at the cable outlet 1031 is also inclined downward, and the angle range of the included angle β may be between 0 ° and 90 °.

Step S200, calculating theoretical position information of the cable outlet 1031 according to preset information of the agricultural machine 100, current position information of the cable arranger 104 and state information of a cable outside the cable outlet 1031, wherein the theoretical position information of the cable outlet 1031 represents that the cable exposed out of the cable outlet 1031 is at a theoretical safety position which is arranged at an interval with the machine main body 101.

In step S200, the theoretical position information of the cable outlet 1031 may be calculated according to one or at least two of the preset information of the agricultural machine 100, the current position information of the cable arranger 104, and the cable state information outside the cable outlet 1031, due to the difference of the theoretical position information of the cable outlet 1031. It should be noted that the theoretical safety position of the cable exposed outside the cable outlet 1031 may represent: the cable exposed to the outside of the cable outlet 1031 is spaced from the machine main body 101 and the tool provided on the machine main body 101, and does not contact with or interfere with the machine main body 101; further, the cable exposed out of the cable outlet 1031 is located outside the contour of the machine main body 101, and in the working or non-working state of the machine, the cable exposed out of the cable outlet 1031 is spaced from the machine and does not contact with the machine.

In this embodiment, in a state where the cable exposed out of the cable outlet 1031 is at the theoretical safety position spaced from the machine main body 101, the distance L between the cable exposed out of the cable outlet 1031 and the center line of the agricultural machine 100 is greater than the distance between the outer contour of the wheel and the center line of the agricultural machine 100 at the maximum wheel tread of the agricultural machine 100 and is greater than the implement working width of the agricultural machine 100. That is, the distance L is larger than the distance between the outer contour of the wheel and the center line of the agricultural machine 100 at the time of the maximum tread of the agricultural machine 100 and larger than the implement working width of the agricultural machine 100.

In addition, in this embodiment, the theoretical position information of the cable outlet 1031 may include the following parameter information:

the theoretical position information of the cable outlet 1031 may include a theoretical value of a first included angle α, where the first included angle α represents an included angle between a connection line between the cable outlet 1031 and the rotation center of the cable retracting mechanism 103 and the traveling direction of the machine main body 101.

The theoretical position information of the cable outlet 1031 may include the theoretical positions of the cable outlet 1031 and the cable retraction mechanism 103Distance L of center of rotation₁The theoretical value of (1). Note that, the distance L₁It can be considered as the distance between the cable outlet 1031 and the rotation center of the cable retracting mechanism 103 in the horizontal plane. To calculate the distance L₁The step S200 may include calculating a distance L between the cable port 1031 and the rotation center of the cable retracting mechanism 103 according to preset information of the agricultural machine 100 and current position information of the cable arranger 104₁The theoretical value of (1).

The theoretical position information of the outlet 1031 may include a theoretical value of the height h of the outlet 1031 from the ground.

In order to calculate the theoretical value of the first included angle α, step S200 may include calculating the theoretical value of the first included angle α according to the preset information of the agricultural machine 100 and the current position information of the cable arranger 104. Further, according to the difference between the cable laying state and the cable winding state, the calculation mode of the theoretical value of the first included angle α is different, specifically as follows:

when the cable is in a laying state, according to the formula:a theoretical value of the first angle alpha is calculated.

When the cable is in a winding state, according to the formula:a theoretical value of the first angle alpha is calculated.

To calculate the distance L₁The step S200 may include calculating a distance L between the cable port 1031 and the rotation center of the cable retracting mechanism 103 according to preset information of the agricultural machine 100 and current position information of the cable arranger 104₁The theoretical value of (1). Further, the distance L is determined according to the laying and winding states of the cable₁The theoretical value of (2) is calculated in different ways, specifically as follows:

when the cable is in a laying state, according to the formula:calculate the cable mouthDistance L between 1031 and the rotation center of cable retracting mechanism 103₁The theoretical value of (1).

When the cable is in a winding state, according to the formula:calculates the distance L between the cable port 1031 and the rotation center of the cable retracting mechanism 103₁The theoretical value of (1).

In order to calculate the theoretical value of the height h, step S200 may include calculating the theoretical value of the height h of the cable port 1031 from the ground according to preset information of the agricultural machine 100 and information of the state of the cable outside the cable port 1031. In the cable laying and winding states, the calculation mode of the theoretical value of the height h is the same, and the method specifically comprises the following steps:

according to the formula:and calculating a theoretical value of the height h of the cable port 1031 from the ground.

In step S300, the cable retraction/extension mechanism 103 is controlled to adjust the position of the cable outlet 1031, so as to adjust the actual position information of the cable outlet 1031 to the theoretical position information.

In step S300, it should be noted that the actual position information of the cable outlet 1031 is obtained in real time, and includes the actual value of the first included angle α and the distance L₁And the actual value of the height h mentioned above. Comparing the actual value of the first included angle alpha with the theoretical value of the first included angle alpha, and comparing the distance L₁Actual value of and distance L₁Comparing the actual value of the height h with the theoretical value of the height h, and if any one of the three groups of comparison results is different, adjusting the position of the cable outlet 1031 by controlling the cable retraction mechanism 103 so that the actual values of the different parameters are adjusted to the corresponding theoretical values.

In addition, it should be noted that, controlling the cable retraction/release mechanism 103 to adjust the position of the cable outlet 1031 can control the rotating device 1032 to drive the cable retraction/release mechanism 103 to rotate around its rotation center, so as to adjust the first included angle α,that is, the first angle α is adjusted by controlling the turning device 1032. The control cable retraction mechanism 103 can also adjust the position of the cable outlet 1031 by controlling the length of the horizontal retraction device 1033 to adjust the distance L₁That is to say the distance L₁By controlling the horizontal telescoping device 1033. The control cable retraction mechanism 103 may also adjust the position of the cable outlet 1031 by controlling the length of the vertical retraction device 1034 to adjust the height h, i.e., the height h is adjusted by controlling the vertical retraction device 1034. It should be appreciated that the position of the cable outlet 1031 may be adjusted by controlling at least one of the swivel 1032, horizontal telescope 1033, and vertical telescope 1034.

Referring to fig. 8, in order to accurately adjust the actual position information of the outlet 1031 to the theoretical position information, step S300 may include the following sub-steps S310-S340.

A substep S310 of calculating a second angle theta according to a theoretical value of the first angle alpha₁A theoretical value of a third angle θ is calculated, where the third angle θ represents an angle between the extending and retracting direction of the horizontal extending and retracting device 1033 and the traveling direction of the machine main body 101.

It should be noted that, in the case where the telescopic length of the horizontal telescopic device 1033 is determined, the second angle θ is set₁And a distance L₁There is a mapping relationship between the angle theta and the second angle theta₁With the corresponding setting, the second included angle θ can be considered₁The theoretical value of the third angle theta is directly called when the theoretical value of the third angle theta is calculated, and is a set value or a known value. In other embodiments of the present invention, the length and distance L of the horizontal telescopic device 1033 may be used₁And calculating the distance between the cable outlet 1031 and one end of the horizontal telescopic device 1033 far away from the rotation center O in the horizontal plane to obtain a second included angle theta₁。

According to different cable laying and winding states, the theoretical value of the first included angle alpha and the second included angle theta₁The calculation manner of calculating the theoretical value of the third included angle θ is different, and specifically, the calculation manner is as follows:

when the cable is in a laying state, according to the formula: theta ═ alpha-θ₁And calculating a theoretical value of the third included angle theta.

When the cable is in a winding state, according to the formula: theta is alpha + theta₁And calculating a theoretical value of the third included angle theta.

In the sub-step S320, the control rotating device 1032 drives the cable retracting mechanism 103 to rotate around its rotation center, so as to adjust the actual value of the third included angle θ to the theoretical value.

In the sub-step S320, an actual value of the third included angle θ may be obtained in real time, where the actual value of the third included angle θ is detected by a sensor disposed on the machine body 101, and the detected data is sent to the processor 120. Comparing the actual value of the third included angle theta with the theoretical value of the third included angle theta, and if the actual value of the third included angle theta is different from the theoretical value of the third included angle theta, controlling the rotation device 1032 to act to adjust the actual value of the third included angle theta to the theoretical value; if the same, the turning device 1032 is controlled not to operate.

In the substep S330, the length of the horizontal expansion device 1033 is controlled to adjust the distance L between the cable outlet 1031 and the rotation center of the cable retracting mechanism 103₁Is adjusted to the theoretical value.

In sub-step S330, the distance L is measured₁Actual value of and distance L₁If the theoretical values are different, the horizontal expansion device 1033 is controlled to expand and contract to make the distance L₁Adjusting the actual value of (A) to a theoretical value; if the same, the horizontal expansion device 1033 is controlled not to operate.

In the substep S340, the length of the vertical retraction device 1034 is controlled to adjust the actual height h of the cable outlet 1031 from the ground to a theoretical value.

In the substep S340, comparing the actual value of the height h with the theoretical value of the height h, and if the actual value of the height h is different from the theoretical value of the height h, controlling the vertical retraction device 1034 to retract and adjust the actual value of the height h to the theoretical value; if so, the vertical retraction device 1034 is controlled not to operate.

In step S300, when at least two of the swiveling device 1032, the horizontal telescoping device 1033, and the vertical telescoping device 1034 need to be controlled to operate, the sequence of the control operation is not particularly limited, as long as the actual position information of the cable outlet 1031 is finally adjusted to the theoretical position information.

Referring to fig. 9, fig. 9 is a schematic diagram showing a cable laying path of the agricultural machine 100 during operation. For agricultural machines 100 (such as electric tractors), the cables are laid or wound at different stages of the path during operation. The operation direction of the electric tractor is from left to right. And taking the point A as the starting point of the electric tractor and a as the starting point of the cable.

The electric tractor runs along a section from A to B along a straight line basically and is in a going range; in this section, the cable is laid, i.e., the cable is unwound from reel 102 and laid to the ground by the cable take-up mechanism.

In the B-C-D-E operation section, the electric tractor is in a steering and turning state. The electric tractor adopts a turning mode of turning around the fishtail. In the BC operation section, the electric tractor moves forwards and turns to the right, and at the moment, the path of the cable is BC and the cable is in a cable laying state. Wherein, in the CD operation section, the electric tractor is in reversing left and turning to, and at this moment, the route of cable is CD to be in the cable roll-up state. Wherein, in the DE operation section, the electric tractor is in the direction of advancing to the right, and at this moment, the route of cable is DE, and is in the roll-up state. Wherein point b may coincide with point e.

In the EF operation section, the electric tractor basically runs along a straight line and is in a return stroke, and the cable is in a winding state.

In the F-G-H-I operation section, a fishtail turning way is also adopted, which is basically consistent with the B-C-D-E operation section and is not described again here.

It should be noted that, in each of the forward and backward operation stages, the cable laying and winding processes can be controlled and adjusted through the steps S100 to S300. It should be understood that, in different work sections, the current position information of the cable arranger 104 and the state information of the cable outside the cable outlet 1031 may be different, while the preset information of the agricultural machine 100 is substantially the same, and in different work sections, if the actual position information of the cable outlet 1031 is different from the theoretical position information, the cable retracting mechanism 103 is controlled to act, so that the actual position information of the cable outlet 1031 is adjusted to the theoretical position information.

To sum up, in the cable retraction path control method provided by the present invention, the theoretical position information of the cable outlet 1031 is calculated according to the preset information of the agricultural machine 100, the current position information of the cable arranger 104 and the state information of the cable outside the cable outlet 1031, the turning device 1032, the horizontal telescopic device 1033 and the vertical telescopic device 1034 are controlled to adjust the position of the cable outlet 1031, and the actual position information of the cable outlet 1031 is adjusted to the theoretical position information, so that the cable exposed out of the cable outlet 1031 can be kept at the theoretical safe position spaced from the machine main body 101, the problem that the cable exposed out of the cable outlet 1031 contacts with the machine main body 101 in the cable laying and winding processes and the unsafe problem caused by the contact are improved, the problem that the cable exposed out of the cable outlet 1031 interferes with the agricultural machine 100 is improved, and the normal operation of the agricultural machine 100 is ensured, the cable has good safety and the service life of the cable is prolonged.

Referring to fig. 10, in order to execute possible steps of the cable retracting path control method provided in each of the above embodiments, an embodiment of the present invention provides a cable retracting path control device 200, which is applied to an agricultural machine 100 and is used for executing the above cable retracting path control method. It should be noted that the basic principle and the generated technical effect of the cable retraction path control device 200 provided by the embodiment of the present invention are substantially the same as those of the above embodiment, and for the sake of brief description, no part of this embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiment.

The cable take-up and pay-off path control device 200 includes an acquisition module 210, a calculation module 220, and a control module 230.

The obtaining module 210 is configured to obtain preset information of the agricultural machine 100, current position information of the cable distributor 104, and status information of the cable outside the cable outlet 1031.

Optionally, the obtaining module 210 may be specifically configured to execute step S100 in the control method, so as to achieve a corresponding technical effect.

The calculating module 220 is configured to calculate theoretical position information of the cable outlet 1031 according to preset information of the agricultural machine 100, current position information of the cable arranger 104, and state information of a cable outside the cable outlet 1031, where the theoretical position information of the cable outlet 1031 represents that the cable exposed outside the cable outlet 1031 is at a theoretical safety position spaced from the machine main body 101.

Optionally, the calculating module 220 may be specifically configured to execute step S200 in the above control method, so as to achieve a corresponding technical effect.

And a control module 230 for controlling the cable retracting mechanism 103 to adjust the actual position information of the cable outlet 1031 to the theoretical position information.

Optionally, the control module 230 may be specifically configured to execute the step S300 and each sub-step thereof in the control method described above, so as to achieve the corresponding technical effect.

According to the method and the device for controlling the cable winding and unwinding path and the agricultural machine 100, the theoretical position information of the cable outlet 1031 is calculated according to the preset information of the agricultural machine 100, the current position information of the cable arranger 104 and the state information of the cable outside the cable outlet 1031, and the rotary device 1032, the horizontal telescopic device 1033 and the vertical telescopic device 1034 are controlled to adjust the position of the cable outlet 1031 to the theoretical safe position, so that the cable exposed out of the cable outlet 1031 can be arranged at an interval with the machine main body 101, the problem that the cable exposed out of the cable outlet 1031 is in contact with the machine main body 101 in the cable laying and winding process and the unsafe problem caused by the contact are solved, the problem that the cable exposed out of the cable outlet 1031 is interfered with the agricultural machine 100 is solved, the normal operation of the agricultural machine 100 is ensured, the safety is good, and the service life of the cable is prolonged.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. 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: u disk, removable hard disk, ROM 110, RAM 110, magnetic disk or optical disk, etc. for storing program codes.

It is noted that, herein, 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.

The above embodiments are merely various examples of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and the present invention shall be covered by the scope of the present invention. Therefore, the protection scope of the embodiments of the present invention shall be subject to the protection scope of the claims.