阅读说明：本技术 可编程点阵磁场控制系统 (Programmable lattice magnetic field control system ) 是由 杨文涛 龚韦 王鲜 王韬 聂彦 于 2021-01-07 设计创作，主要内容包括：本发明公开了一种可编程点阵磁场控制系统,该可编程点阵磁场控制系统包括远控单元、主控单元、驱动单元及磁控单元,所述磁控单元包括多个磁芯线圈。其中远控单元获取控制指令,将所述控制指令转化为磁场控制文件,主控单元将所述磁场控制文件转换为数字开关控制信号,驱动单元根据所述数字开关控制信号,生成磁芯线圈的电流控制信号,以控制磁芯线圈中的电流通断状态,磁控单元根据电流控制信号控制磁芯线圈生成的合成磁场,以驱动磁控机器人在磁控台上的运动轨迹。本发明技术方案能够根据控制指令生成磁芯线圈的电路控制信号,进而控制磁芯线圈生成的可调节的合成磁场,从而可以控制微型机器人的运动轨迹,提升了对微型机器人控制能力。(The invention discloses a programmable lattice magnetic field control system which comprises a remote control unit, a main control unit, a driving unit and a magnetic control unit, wherein the magnetic control unit comprises a plurality of magnetic core coils. The remote control unit obtains a control instruction, converts the control instruction into a magnetic field control file, the main control unit converts the magnetic field control file into a digital switch control signal, the driving unit generates a current control signal of the magnetic core coil according to the digital switch control signal so as to control the on-off state of current in the magnetic core coil, and the magnetic control unit controls a synthetic magnetic field generated by the magnetic core coil according to the current control signal so as to drive the motion track of the magnetic control robot on the magnetic control table. According to the technical scheme, the circuit control signal of the magnetic core coil can be generated according to the control instruction, and the adjustable synthetic magnetic field generated by the magnetic core coil is further controlled, so that the motion trail of the micro-robot can be controlled, and the control capability of the micro-robot is improved.)

1. A programmable lattice magnetic field control system is characterized by comprising a remote control unit, a main control unit, a driving unit and a magnetic control unit, wherein the magnetic control unit comprises a plurality of magnetic core coils; wherein

The remote control unit is used for acquiring a control instruction and converting the control instruction into a magnetic field control file;

the main control unit is used for converting the magnetic field control file into a digital switch control signal;

the driving unit is used for generating a current control signal of the magnetic core coil according to the digital switch control signal so as to control the on-off state of the current in the magnetic core coil;

and the magnetic control unit is used for controlling the synthetic magnetic field generated by the magnetic core coil according to the current control signal so as to drive the movement track of the magnetic control robot on the magnetic control table.

2. The programmable lattice magnetic field control system of claim 1, wherein the remote control unit sets the motion trajectory data of the magnetically controlled robot, encodes the motion trajectory data into a data frame based on the time-sequential lattice magnetic field on-off state control, and generates a magnetic field control file for controlling the lattice magnetic field state.

3. The programmable lattice magnetic field control system of claim 1, wherein the master control unit receives the magnetic field control file, converts the magnetic field control file into a data frame for lattice magnetic field on-off state control, decodes the data frame into lattice magnetic field on-off state data, and converts the lattice magnetic field on-off state into a multi-channel parallel digital on-off control signal.

4. A programmable lattice magnetic field control system according to any one of claims 1 to 3, wherein the magnetron unit comprises a plurality of magnetic core coils vertically arranged in a predetermined area in a lattice manner.

5. The programmable lattice magnetic field control system of claim 4, wherein the drive unit comprises a plurality of drive circuits, the drive circuits being connected to the master control unit and the core coils, respectively, the drive circuits receiving current control signals to drive the core coils.

6. The programmable lattice magnetic field control system of claim 1, wherein the master control unit obtains preset lattice magnetic field on-off state data to convert the lattice magnetic field on-off state into a multi-channel parallel digital on-off control signal; the driving unit generates a current control signal of the magnetic core coil according to the digital switch control signal so as to control the on-off state of the current in the magnetic core coil; and the magnetic control unit controls the synthetic magnetic field generated by the magnetic core coil according to the current control signal so as to drive the movement track of the magnetic control robot on the magnetic control table.

7. The programmable lattice magnetic field control system of claim 6, wherein the driving circuit comprises a driving chip, a first socket, a second socket, and a coil current driving unit; the driving chip is connected with the first socket and the second socket respectively, and the second socket is further connected with the coil current driving unit.

8. The programmable lattice magnetic field control system of claim 1, wherein the coil current drive unit comprises a field effect transistor, a triode, a first bias resistor, a second bias resistor, a pull-up resistor, a current limiting resistor, and a capacitor; wherein

The first end of the first biasing resistor is connected with the second socket, and the second end of the first biasing resistor is connected with the base electrode of the triode; the first end of the second biasing resistor is connected with the base electrode of the triode, and the second end of the second biasing resistor is grounded; the emitting electrode of the triode is grounded, and the collector electrode of the triode is connected with the grid electrode of the field effect tube; the first end of the pull-up resistor is connected with a direct current power supply, and the second end of the pull-up resistor is connected with the grid electrode of the field effect transistor; the first end of the capacitor is connected with the direct-current power supply, and the second end of the capacitor is connected with the grid electrode of the field effect transistor; the first end of the current-limiting resistor is connected with the magnetic core coil, the second end of the current-limiting resistor is connected with the drain electrode of the field effect transistor, and the source electrode of the field effect transistor is grounded.

Technical Field

The invention relates to the technical field of robots, in particular to a programmable lattice magnetic field control system.

Background

The micro robot is a robot with tiny size and capable of performing tiny operation, and has wide application in the aspects of spaceflight, medical treatment, military affairs and the like. The driving mode of the micro-robot is various, such as pneumatic, intelligent material driving, micro-motor driving, energy field driving and the like. In the energy field driving mode, the magnetic field driving is flexible, the direction and the moving speed are changed by utilizing the variable magnetic field, and the change of the magnetic field force can be controlled only by operating the controller, so that the aim of driving the micro-robot is fulfilled.

The magnetic field distribution area and the orientation generated in the existing magnetic field driving mode are relatively fixed and unchangeable, the system has weaker regulation and control capability on the change of the magnetic field, the spatial distribution of the magnetic field cannot be accurately regulated and controlled, and the control capability on the micro-robot is weaker.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a programmable lattice magnetic field control system, and aims to solve the technical problem that the existing magnetic field drive is weak in control capability on a micro robot.

In order to achieve the above object, the present invention provides a programmable lattice magnetic field control system, which comprises a remote control unit, a main control unit, a driving unit and a magnetic control unit, wherein the magnetic control unit comprises a plurality of magnetic core coils; wherein

The remote control unit is used for acquiring a control instruction and converting the control instruction into a magnetic field control file;

the main control unit is used for converting the magnetic field control file into a digital switch control signal;

the driving unit is used for generating a current control signal of the magnetic core coil according to the digital switch control signal so as to control the on-off state of the current in the magnetic core coil;

and the magnetic control unit is used for controlling the synthetic magnetic field generated by the magnetic core coil according to the current control signal so as to drive the movement track of the magnetic control robot on the magnetic control table.

Preferably, the remote control unit sets the motion trajectory data of the magnetic control robot, encodes the motion trajectory data into a data frame based on the time sequence lattice magnetic field on-off state control, and generates a magnetic field control file for controlling the lattice magnetic field state.

Preferably, the main control unit receives the magnetic field control file, converts the magnetic field control file into a data frame controlled by the dot matrix magnetic field switching state, decodes the data frame into dot matrix magnetic field switching state data, and converts the dot matrix magnetic field switching state into a multi-channel parallel digital switching control signal.

Preferably, the magnetic control unit comprises a plurality of magnetic core coils, and the magnetic core coils are vertically arranged in a preset area according to a dot matrix mode.

Preferably, the driving unit includes a plurality of driving circuits, the driving circuits are respectively connected to the main control unit and the magnetic core coil, and the driving circuits receive a current control signal to drive the magnetic core coil.

Preferably, the main control unit acquires preset lattice magnetic field switching state data and converts the lattice magnetic field switching state into a multi-channel parallel digital switching control signal; the driving unit generates a current control signal of the magnetic core coil according to the digital switch control signal so as to control the on-off state of the current in the magnetic core coil; and the magnetic control unit controls the synthetic magnetic field generated by the magnetic core coil according to the current control signal so as to drive the movement track of the magnetic control robot on the magnetic control table.

Preferably, the driving circuit includes a driving chip, a first socket, a second socket, and a coil current driving unit; the driving chip is connected with the first socket and the second socket respectively, and the second socket is further connected with the coil current driving unit.

Preferably, the digital switching signal driving chip is of a type 74HC 595.

Preferably, the coil current driving unit comprises a field effect transistor, a triode, a first bias resistor, a second bias resistor, a pull-up resistor, a current limiting resistor and a capacitor; wherein

The first end of the first biasing resistor is connected with the second socket, and the second end of the first biasing resistor is connected with the base electrode of the triode; the first end of the second biasing resistor is connected with the base electrode of the triode, and the second end of the second biasing resistor is grounded; the emitting electrode of the triode is grounded, and the collector electrode of the triode is connected with the grid electrode of the field effect tube; the first end of the pull-up resistor is connected with a direct current power supply, and the second end of the pull-up resistor is connected with the grid electrode of the field effect transistor; the first end of the capacitor is connected with the direct-current power supply, and the second end of the capacitor is connected with the grid electrode of the field effect transistor; the first end of the current-limiting resistor is connected with the magnetic core coil, the second end of the current-limiting resistor is connected with the drain electrode of the field effect transistor, and the source electrode of the field effect transistor is grounded.

The invention provides a programmable lattice magnetic field control system which comprises a remote control unit, a main control unit, a driving unit and a magnetic control unit, wherein the magnetic control unit comprises a plurality of magnetic core coils. The remote control unit obtains a control instruction, converts the control instruction into a magnetic field control file, the main control unit converts the magnetic field control file into a digital switch control signal, the driving unit generates a current control signal of the magnetic core coil according to the digital switch control signal so as to control the on-off state of current in the magnetic core coil, and the magnetic control unit controls a synthetic magnetic field generated by the magnetic core coil according to the current control signal so as to drive the motion track of the magnetic control robot on the magnetic control table. According to the technical scheme, the circuit control signal of the magnetic core coil can be generated according to the control instruction, and the adjustable synthetic magnetic field generated by the magnetic core coil is further controlled, so that the motion trail of the micro-robot can be controlled, and the control capability of the micro-robot is improved.

Drawings

FIG. 1 is a block diagram of an embodiment of a programmable lattice magnetic field control system of the present invention;

FIG. 2 is a diagram of one embodiment of a magnetic core coil in a magnetron unit;

FIG. 3 is a schematic diagram of an embodiment of a core coil in a magnetron unit;

FIG. 4 is a block diagram of one embodiment of a coil current driving unit;

FIG. 5 is a diagram of a digital driving portion of the driving circuit.

The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

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

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may be explicitly or implicitly included

At least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention provides a programmable lattice magnetic field control system.

Referring to fig. 1, the programmable lattice magnetic field control system of the present invention includes a remote control unit 100, a main control unit 200, a driving unit 300, and a magnetic control unit 400, where the magnetic control unit 400 includes a plurality of magnetic core coils.

The remote control unit 100 is configured to obtain a control instruction, and convert the control instruction into a magnetic field control file. In this embodiment, the remote control unit may be a PC terminal, a tablet computer, or the like, a mobile terminal, or the like, which is pre-installed with a relevant program. Parameters such as the motion trail, the mode and the like of the micro robot are written in a programming mode, and the remote control unit acquires the program, namely the control instruction.

The main control unit 200 is configured to convert the magnetic field control file into a digital switch control signal. The main control unit 200 may be a lower computer, and the main control unit 200 establishes communication with the remote control unit 100 to receive the magnetic field control file. The main control unit 200 and the remote control unit 100 can communicate with each other wirelessly or by wire, which is not limited herein.

The driving unit 300 is configured to generate a current control signal of the magnetic core coil according to the digital switch control signal, so as to control a current on-off state of the magnetic core coil.

And the magnetic control unit 400 is configured to control the synthetic magnetic field generated by the magnetic core coil according to the current control signal so as to drive the movement track of the magnetic control robot on the magnetic control table. In this embodiment, the magnetron unit 400 includes a core coil having an N x N lattice, where N is a positive integer greater than 2. The driving unit 300 drives the core coils, thereby controlling the resultant magnetic field generated by the core coils.

The invention provides a programmable lattice magnetic field control system, which comprises a remote control unit 100, a main control unit 200, a drive unit 300 and a magnetic control unit 400, wherein the magnetic control unit 400 comprises a plurality of magnetic core coils. The remote control unit 100 obtains a control instruction, converts the control instruction into a magnetic field control file, the main control unit 200 converts the magnetic field control file into a digital switch control signal, the driving unit 300 generates a current control signal of the magnetic core coil according to the digital switch control signal to control the on-off state of current in the magnetic core coil, and the magnetic control unit 400 controls a synthetic magnetic field generated by the magnetic core coil according to the current control signal to drive the movement track of the magnetic control robot on the magnetic control table. According to the technical scheme, the circuit control signal of the magnetic core coil can be generated according to the control instruction, and the adjustable synthetic magnetic field generated by the magnetic core coil is further controlled, so that the motion trail of the micro-robot can be controlled, and the control capability of the micro-robot is improved.

Further, the remote control unit 100 sets the motion trajectory data of the robot, encodes the motion trajectory data into a data frame based on the time-series dot matrix magnetic field on-off state control, and generates a magnetic field control file for controlling the dot matrix magnetic field state.

It should be noted that, the specific working process of the remote control unit 100 is as follows:

1. initializing micro robot model parameters, and setting the model parameters such as the number, the control points, the initial position and the like of the micro robots;

2. initializing the range of the working table of the magnetic control unit 400, and determining the number of magnetic field lattices to be 64;

3. respectively drawing or setting the motion track and the motion duration of each robot in the virtual working table of the magnetic control unit 400;

4. setting the total operation time length, the operation frame number and the operation mode (whether the micro robot operates in a plurality of cycles or not);

5. previewing and simulating the running condition of the magnetic control robot in the virtual working table, if the running condition is normal, continuing the following process, otherwise resetting the parameters;

6. and performing time sequence division according to the number of the operating frames, determining a position area of the micro-robot on the working table at the initial moment, and marking the state of the dot matrix contained in the position area as 1 and the state of other dot matrixes as 0. Performing binary combination coding on the state mark value of the dot matrix from left to right according to the dot matrix number to obtain a 64-bit binary string corresponding to 8-byte state coded data; in addition, the additional delay data form a lattice magnetic field data frame.

7. Determining the control frame data of the state of the dot matrix magnetic field at other moments according to the steps until the data frames corresponding to all the time sequence points are completed; and forming a magnetic field control file of a dot matrix magnetic field state by each data frame according to a certain format.

8. The main control end is connected through the Internet network, the communication connection between the main control end and the main control end is established, and the magnetic field control file is sent to the main control unit 200.

Specifically, the main control unit 200 receives the magnetic field control file, converts the magnetic field control file into a data frame for controlling the on-off state of the dot matrix magnetic field, decodes the data frame into data for controlling the on-off state of the dot matrix magnetic field, and converts the on-off state of the dot matrix magnetic field into a multi-channel parallel digital on-off control signal.

The software system of the main control unit 200 includes a Linux operating system, a hardware driver, and a dot matrix magnetic field control program. The lattice magnetic field control program comprises functional modules such as system initialization, remote network communication, data frame conversion, signal output instructions and the like, and the working process is as follows:

1. system initialization, setting the operating mode of the main control unit 200: remote control, local mode; step 2 is executed in the remote control mode, otherwise step 3 is directly executed;

2. the network communication module is started, receives communication connection from the remote control unit 100 and receives a magnetic field control file;

3. converting the magnetic field control file or the local preset data file into a data frame of the lattice magnetic field switch state control with the time sequence as the sequence;

4. reading a data frame at a certain moment, and decoding the data frame into 64-bit binary strings corresponding to 8-by-8 lattice states;

5. sequentially writing 64-bit binary strings into a driving unit 300 (corresponding to 8 cascaded 74HC595 chips) for buffering in a serial mode through a GPIO port of a mainboard;

6. calling a synchronous output operation instruction, enabling the control signal to be effective corresponding to the output/OE of the 74HC595 chip, and simultaneously outputting 8 paths of digital signals to the magnetic control driving circuit by 8 cascaded 74HC595 chips; the magnetic control driving circuit controls the working state of a magnetic field coil of the magnetic control platform to generate a dot matrix magnetic field;

7. the system delays for a period of time, and repeats the step 4 until all data frames are executed;

referring to fig. 2, further, the magnetron unit 400 includes a plurality of magnetic core coils vertically arranged in a predetermined area in a lattice manner.

The magnetic control unit 400 is provided with a plurality of magnetic core coils arranged in a lattice manner to form a lattice coil, and is connected with the lattice coil through a magnetic control driving circuit, so that the current conduction state of the lattice coil is changed under the control of an external lattice digital switching signal, and a changeable lattice magnetic field is generated.

Referring to fig. 3, a magnetron unit 400 module is vertically arranged in an area by 16 magnetic core coils according to a 4X 4 lattice mode, and a protection layer covers the top end of the magnetic core to form a square working surface. Wherein, the magnetic core adopts cylindrical ferrite, and relevant parameters are: the diameter D is 5mm, the height H is 50mm, the magnetic core spacing is 5mm, the coil diameter is 0.1mm, and the number of turns N is 45.

The working surface coverage of one basic working unit module is about 40mmX40mm, the working range of a single basic working unit module is small in practical use and cannot meet the application requirements, and a plurality of basic working unit modules need to be combined to expand the working range of the magnetic control table. By splicing and combining 4 magnetron unit modules, the scale of the dot matrix coil can be expanded to 8 × 8, and accordingly, the range of the working surface of the magnetron unit 400 is expanded to 80mm × 80 mm. According to actual needs, a plurality of basic working unit modules can be spliced and combined, and the range of the working surface of the magnetic control table of the magnetic control unit 400 is expanded.

Further, the driving unit 300 includes a plurality of driving circuits, the driving circuits are respectively connected to the main control unit 200 and the core coil, and the driving circuits receive a current control signal to drive the core coil.

Further, the main control unit 200 obtains preset lattice magnetic field switching state data, and converts the lattice magnetic field switching state into a multi-channel parallel digital switching control signal; the driving unit 300 generates a current control signal of the magnetic core coil according to the digital switch control signal to control the on-off state of the current in the magnetic core coil; the magnetic control unit 400 controls the synthetic magnetic field generated by the magnetic core coil according to the current control signal so as to drive the movement track of the magnetic control robot on the magnetic control table.

Referring to fig. 4 and 5, in particular, the driving circuit includes a driving chip U-1, a first socket J1, a second socket J2, and a coil current driving unit 300; the driving chip U-1 is connected to the first socket J1 and the second socket J2, respectively, and the second socket J2 is further connected to the coil current driving unit. In this embodiment, the driving chip is 74HC 595. In this embodiment, the driving chip U-1 is further connected with the driving chip U-2 in a cascade manner, and the two chips are connected in a cascade manner, so that 16 magnetic core coils can be driven simultaneously. Wherein J1 includes terminals VCC, GND, SCK, DAT, RCK, CLR, and OE.

Specifically, the coil current driving unit comprises a field effect transistor Q1, a triode Q2, a first biasing resistor R1, a second biasing resistor R2, a pull-up resistor R3, a current limiting resistor R4 and a capacitor C1; wherein

A first end of the first bias resistor R1 is connected to the second socket J2, and a second end of the first bias resistor R1 is connected to the base of the transistor Q2; a first end of the second biasing resistor R2 is connected with the base of the transistor Q2, and a second end of the second biasing resistor R2 is grounded; the emitter of the triode Q2 is grounded, and the collector of the triode Q2 is connected with the gate of the field effect transistor Q1; a first end of the pull-up resistor R3 is connected with a direct current power supply, and a second end of the pull-up resistor R3 is connected with the grid electrode of the field effect transistor Q1; a first end of the capacitor C1 is connected with the direct current power supply VDD, and a second end of the capacitor C1 is connected with the gate of the field effect transistor Q2; the first end of the current-limiting resistor R4 is connected with a magnetic core coil Header, the second end of the current-limiting resistor R4 is connected with the drain electrode of the field-effect transistor Q1, and the source electrode of the field-effect transistor Q1 is grounded.

When a digital switch input signal S at the signal input end of the triode Q2 is at a high level, the grid of the Q1 is at a low level, the Q1 field effect transistor is conducted, current passes through the point coil, and the magnetic core generates a magnetic field; on the other hand, when S is low, Q1 is off, and no current flows through the dotted coil, and a magnetic field cannot be generated.

In this embodiment, the digital signal driving circuit is formed by cascading 2 74HC595 chips, the 16Bit binary data in the lattice magnetic field state control frame is serially output to the 8-Bit latch of the 2 74HC595 through one GPIO port of the raspberry pi board to be latched, the latched 16Bit data is taken as 16 control signals under the control of the output enable/OE instruction, and is synchronously and parallelly output to the signal input end of the coil current driving unit, the current on-off state of each lattice coil of the magnetic console is further controlled by the coil current driving unit, and finally the lattice magnetic field distribution in the working surface of the magnetic console is controlled.

Thus, one magnetron unit 400 module is controlled by 16 digital signals through a driving circuit of 16 magnetic core coils, and the driving circuit can be generated by cascading 2 74HC595 chips. By analogy, 64 control signals are required for 8 x 8 lattice coils, and can be generated by cascading 8 blocks of 74HC595 chips.

The magnetic control micro robot is a small moving body made of soft iron or ferrite materials, is placed on a workbench plane of a magnetic control table, and moves in a certain area range according to a path of a synthetic magnetic field designed in advance under the action of magnetic field force generated by an lattice magnetic field. The manufacturing process and application scenario of the magnetic control micro-robot are not specifically defined and explained in the present embodiment.

The technical scheme of the invention designs the motion trail of the magnetic control robot in a remote programming mode, sends control data to the magnetic control unit for execution, and controls one magnetic control robot to move in a certain area range according to a preset path. The system can be applied to the detection of human gastrointestinal tract of a micro robot driven by a cableless magnetic field in the medical industry; the method can be industrially used for complex pipeline detection, part flaw detection and the like. The system can simultaneously drive a plurality of magnetic control robots to move, and the movements of the robots can be independent and do not influence each other, and can also be coordinated and move simultaneously. Therefore, the system device can be applied to occasions requiring the cooperation of multiple robots.

It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.

It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.

Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.