阅读说明：本技术 一种自主可变幅割草无人车 (Autonomous variable-amplitude mowing unmanned vehicle ) 是由 韦能 郑永巍 覃仁壮 梁海浩 李香花 杨航 于 2021-02-18 设计创作，主要内容包括：本发明公开了一种自主可变幅割草无人车,包括无人车主体,还包括圆盘割草装置、往复式割草装置以及环境探测装置,无人车主体两侧安装有移动轮,移动轮与无人车主体之间设有驱动模块,圆盘割草装置,置于无人车主体下端部,往复式割草装置包括定刀架,定刀架置于无人车主体的两侧,定刀架下端设有动刀架,定刀架同无人车主体的连接处设有角度调整组件和往复扩幅组件；本发明由一个圆盘割草装置和一个往复式割草装置,圆盘割草装置设置在车体底端,能通过推杆的伸缩,实现高度升降以及斜面角度的调节,往复式割草装置设置在车体两侧,通过液压推杆装置可实现左右两边扩幅以及通过电动推杆上下V型角度调节,割草范围得到大幅度的加强。(The invention discloses an autonomous variable-amplitude mowing unmanned vehicle which comprises an unmanned vehicle main body, and further comprises a disc mowing device, a reciprocating mowing device and an environment detection device, wherein moving wheels are arranged on two sides of the unmanned vehicle main body, a driving module is arranged between the moving wheels and the unmanned vehicle main body, the disc mowing device is arranged at the lower end part of the unmanned vehicle main body, the reciprocating mowing device comprises a fixed cutter frame, the fixed cutter frame is arranged on two sides of the unmanned vehicle main body, a movable cutter frame is arranged at the lower end of the fixed cutter frame, and an angle adjusting assembly and a reciprocating amplitude expanding assembly are arranged at the joint of the fixed cutter frame and the unmanned vehicle main body; the invention is composed of a disc mowing device and a reciprocating mowing device, wherein the disc mowing device is arranged at the bottom end of a vehicle body and can realize height lifting and adjustment of an inclined plane angle through the extension and retraction of a push rod, the reciprocating mowing device is arranged at two sides of the vehicle body, the widening of the left side and the right side can be realized through a hydraulic push rod device, the vertical V-shaped angle adjustment can be realized through an electric push rod, and the mowing range is greatly enhanced.)

1. The autonomous variable-amplitude mowing unmanned vehicle comprises an unmanned vehicle main body (36), and is characterized by further comprising a disc mowing device, a reciprocating mowing device and an environment detecting device, wherein moving wheels are mounted on two sides of the unmanned vehicle main body (36), and a driving module is arranged between the moving wheels and the unmanned vehicle main body (36);

the disc mowing device is arranged at the lower end of the unmanned vehicle main body (36) and is used for trimming grasslands in the lower area after the unmanned vehicle main body (36) passes through;

the reciprocating type mowing device comprises a fixed cutter frame (22), wherein the fixed cutter frame (22) is arranged on two sides of an unmanned vehicle main body (36), a movable cutter frame (23) is arranged at the lower end of the fixed cutter frame (22), a brushless direct current motor II (25) used for driving the movable cutter frame (23) to rotate is mounted at the upper end of the fixed cutter frame (22), and the output end of the brushless direct current motor II (25) is connected with the movable cutter frame (23) for transmission through a transmission gear (8) and a transmission chain (9) which are arranged on the lower end face of the movable cutter frame (23);

an angle adjusting assembly and a reciprocating expanding assembly for improving the mowing range are arranged at the joint of the fixed cutter frame (22) and the unmanned vehicle main body (36);

an unmanned vehicle main body (36) with a telescopic baffle (28) is arranged on one side of the upper end of the unmanned vehicle main body (36), and a power supply bin (6), a driver for automatically controlling the operation of the unmanned vehicle and a control system bin (7) are installed in the unmanned vehicle main body (36);

the environment detection device is arranged on the unmanned vehicle main body (36), connected with the driver and control system cabin (7) and used for acquiring environment information.

2. The autonomous variable-amplitude mowing unmanned vehicle is characterized in that the disc mowing device comprises a cutter disc cover (17) arranged at the lower end of an unmanned vehicle main body (36), a first brushless direct current motor (16) is arranged in the cutter disc cover (17), the first brushless direct current motor (16) is fixedly connected with the end part of the cutter disc cover (17) through a motor mounting seat (20), a motor transmission shaft (18) is connected to the output end of the first brushless direct current motor (16), a blade (19) is arranged outside the motor transmission shaft (18), and a height adjusting piece is arranged at the connection part of the upper end of the cutter disc cover (17) and the unmanned vehicle main body (36).

3. The autonomous variable-amplitude mowing unmanned vehicle as claimed in claim 2, wherein the height adjusting member comprises a first electric push rod (32) and a second electric push rod (37), the first electric push rod (32) and the second electric push rod (37) are respectively arranged on two sides of the upper end of the cutter head cover (17), the mounting end of the first electric push rod is fixedly connected with the lower end face of the unmanned vehicle main body (36), and the output end of the first electric push rod is connected with the upper end face of the cutter head cover (17) through a movable member.

4. The autonomous amplitude-variable mowing unmanned vehicle according to claim 1, wherein the reciprocating amplitude-variable component comprises amplitude-variable movable devices (30), fixed frames (3), push rods (4) and hydraulic devices (5), the fixed frames (3) are arranged on two sides of an unmanned vehicle main body (36), the lower end portions of the fixed frames are movably connected with one ends of fixed cutter frames (22) through hinge pieces (26), the amplitude-variable movable devices (30) are fixed at the top ends of the fixed frames (3), the push rods (4) are connected to one sides of the fixed frames, one ends of the push rods (4), far away from the amplitude-variable movable devices (30), are connected with the hydraulic devices (5) fixed on two sides of the unmanned vehicle main body (36), and the amplitude-variable movable devices (30) are movably matched with the side walls of the unmanned vehicle main body (36).

5. The autonomous variable-amplitude mowing unmanned vehicle according to claim 4, wherein the angle adjusting assembly comprises a third electric push rod (21), the mounting end of the third electric push rod (21) is arranged at the center of the variable-amplitude movable device (30) and movably connected with the same, and the output end of the third electric push rod (21) is movably connected with the upper end face of the fixed cutter frame (22).

6. The autonomous variable-amplitude mowing unmanned vehicle according to claim 1, wherein the driving module comprises a servo deceleration hub motor (14) and a connecting shaft (15), the servo deceleration hub motor (14) is arranged at the center of one side, close to the unmanned vehicle main body (36), of the movable wheel and fixedly connected with the movable wheel, the connecting shaft (15) is arranged on two sides of the unmanned vehicle main body (36), one end of the connecting shaft is fixedly connected with the output end of the servo deceleration hub motor (14), and the other end of the connecting shaft is rotatably connected with the unmanned vehicle main body (36).

7. The autonomous luffable mowing unmanned vehicle of claim 1, the environment detection device comprises a first detection part, a second detection part and a third detection part which are electrically connected with the driver and the control system cabin (7), the first detection part is fixed on two sides of the unmanned vehicle main body (36), the lower end surface of the device is provided with a first infrared sensor (1) and a first high-definition camera (2), the second detection part is arranged on the lower end surface of the variable amplitude movable device (30), the lower end surface of the infrared sensor II is provided with an infrared sensor II (10) and a high-definition camera II (11), the third detection part comprises a fixed box (31), the fixed box (31) is arranged at the head part of the unmanned vehicle main body (36), the end face of one side, far away from the unmanned vehicle main body (36), of the unmanned vehicle main body is provided with a third infrared sensor (33), a third high-definition camera (34) and an ultrasonic sensor (35).

8. The autonomous luffable mowing unmanned vehicle according to claim 7, wherein the environment detecting device further comprises an angle sensor (24), and the angle sensor (24) is disposed on and fixedly connected with the upper end face of the stationary blade carrier (22).

9. The autonomous luffable mowing unmanned aerial vehicle according to claim 7, wherein the environment detecting device further comprises an RTK measuring instrument (29), and the RTK measuring instrument (29) is disposed on an upper end face of the tail end of the unmanned vehicle main body (36) and fixedly connected with the unmanned vehicle main body.

10. The autonomous variable-amplitude mowing unmanned vehicle according to claim 1, wherein an anti-collision rod (13) is welded to the head of the unmanned vehicle main body (36), a fixed seat (27) is arranged in a region between the anti-collision rod (13) and the unmanned vehicle main body (36), and a photoelectric coded disc (12) is arranged on the lower end face of the fixed seat (27).

Technical Field

The invention relates to the technical field of lawn trimming, in particular to an autonomous variable-amplitude mowing unmanned vehicle.

Background

Autonomous lawn mowing robots have been developed to better technically meet the needs of various grasslands and parks, but further improvements and improvements are needed in the practical capabilities of uneven plots. The main expression is that some system mowing path planning still needs continuous test and verification, so that the working efficiency of mowing is improved, repeated mowing is reduced, and mowing missing of the mower is reduced.

The existing manually operated mower needs manpower to control and operate all the time, and long-time mowing reduces mowing efficiency and mowing quality of an operator, so that the existing unmanned mower needs to be replaced by an autonomous unmanned mower, has good adaptability to simple terrain, but has poor trafficability and mowing quality when facing terrain with uneven and uneven fluctuation, is relatively limited in adaptability to terrain, cannot guarantee mowing area, is too low in working efficiency, and needs to be improved.

Disclosure of Invention

The invention aims to provide an autonomous variable-amplitude mowing unmanned vehicle to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an autonomous variable-amplitude mowing unmanned vehicle comprises an unmanned vehicle main body, a disc mowing device, a reciprocating mowing device and an environment detecting device, wherein moving wheels are mounted on two sides of the unmanned vehicle main body, and a driving module is arranged between the moving wheels and the unmanned vehicle main body;

the disc mowing device is arranged at the lower end part of the unmanned vehicle body and is used for trimming grasslands in the lower area of the unmanned vehicle body after passing through;

the reciprocating type mowing device comprises fixed cutter frames, the fixed cutter frames are arranged on two sides of the unmanned vehicle main body, the lower end of each fixed cutter frame is provided with a movable cutter frame, the upper end of each fixed cutter frame is provided with a brushless direct current motor II for driving the movable cutter frame to rotate, the output end of each brushless direct current motor II is connected with the movable cutter frame through a transmission gear and a transmission chain which are arranged on the lower end face of the movable cutter frame for transmission, and the joint of the fixed cutter frame and the unmanned vehicle main body is provided with an angle adjusting assembly and a reciprocating width expanding assembly for improving mowing range;

the unmanned vehicle is characterized in that one side of the upper end of the unmanned vehicle body is provided with the unmanned vehicle body with a telescopic baffle, and a power supply bin, a driver for automatically controlling the operation of the unmanned vehicle and a control system bin are arranged in the unmanned vehicle body;

and the environment detection device is arranged on the unmanned vehicle main body, connected with the driver and the control system cabin and used for acquiring environment information.

Preferably, disc grass cutting device is provided with brushless DC motor one including setting up the cutter head cover at unmanned vehicle main part lower extreme in the cutter head cover, and brushless DC motor one is through motor mount pad and cutter head cover tip fixed connection, and a brushless DC motor output is connected with motor drive shaft, and motor drive shaft installs the blade outward, and the junction of cutter head cover upper end and unmanned vehicle main part is equipped with altitude mixture control spare.

Preferably, the height adjusting piece comprises a first electric push rod and a second electric push rod, the first electric push rod and the second electric push rod are respectively arranged on two sides of the upper end of the cutter disc cover, the mounting end of the first electric push rod and the second electric push rod are fixedly connected with the lower end face of the unmanned vehicle body, and the output end of the first electric push rod and the output end of the second electric push rod are connected with the upper end face of the cutter disc cover.

Preferably, the reciprocating amplitude-expanding assembly comprises amplitude-changing movable devices, a fixed frame, a push rod and a hydraulic device, the fixed frame is arranged on two sides of the unmanned vehicle main body, the lower end part of the fixed frame is movably connected with one end of the fixed tool rest through an articulated piece, the amplitude-changing movable devices are fixed at the top end of the fixed frame, one side of the amplitude-changing movable devices is connected with the push rod, one end of the push rod, far away from the amplitude-changing movable devices, is connected with the hydraulic device fixed on two sides of the unmanned vehicle main body, and the amplitude.

Preferably, the angle adjusting assembly comprises a third electric push rod, the mounting end of the third electric push rod is arranged at the center of the amplitude variation movable device and movably connected with the same, and the output end of the third electric push rod is movably connected with the upper end face of the fixed cutter frame; .

Preferably, drive module includes servo speed reduction in-wheel motor and connecting axle, servo speed reduction in-wheel motor arrange in remove the wheel and press close to unmanned vehicle main part one side center department and with remove wheel fixed connection, the both sides of unmanned vehicle main part are arranged in to the connecting axle, its one end and servo speed reduction in-wheel motor output fixed connection, its other end and unmanned vehicle main part rotate to be connected.

Preferably, the environment detection device comprises a first detection part, a second detection part and a third detection part which are electrically connected with the driver and the control system bin, the first detection part is fixed on two sides of the unmanned vehicle main body, a first infrared sensor and a first high-definition camera are installed on the lower end face of the first detection part, the second detection part is arranged on the lower end face of the variable-amplitude movable device, a second infrared sensor and a second high-definition camera are installed on the lower end face of the second detection part, the third detection part comprises a fixing box, the fixing box is arranged on the head of the unmanned vehicle main body, and a third infrared sensor, a third high-definition camera and an ultrasonic sensor are arranged on the end face of the first side of the unmanned vehicle main body.

Preferably, the environment detection device further comprises an angle sensor, and the angle sensor is arranged on the upper end face of the fixed cutter frame and fixedly connected with the fixed cutter frame.

Preferably, the environment detection device further comprises an RTK measuring instrument, and the RTK measuring instrument is disposed on the upper end face of the tail end of the unmanned vehicle body and fixedly connected with the upper end face.

Preferably, the head of the unmanned vehicle main body is welded with an anti-collision rod, a fixed seat is arranged in a region between the anti-collision rod and the unmanned vehicle main body, and a photoelectric coded disc is arranged on the lower end face of the fixed seat.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention can replace manual mowing mode, improve mowing efficiency and quality, and is suitable for mowing environments with different terrains.

2. The invention is composed of a disc mowing device and a reciprocating mowing device, wherein the disc mowing device is arranged at the bottom end of a vehicle body and can realize height lifting and adjustment of an inclined plane angle through the extension and retraction of a push rod;

3. the invention can automatically cut grass, automatically operate in a specified area according to instructions, avoid obstacles and automatically return.

Drawings

Fig. 1 is a schematic structural diagram of an autonomous variable-amplitude mowing unmanned vehicle.

Fig. 2 is a schematic structural diagram of a cutter head cover in an autonomous variable-amplitude mowing unmanned vehicle.

Fig. 3 is a schematic structural diagram of a variable-amplitude movable device in the autonomous variable-amplitude mowing unmanned vehicle.

Fig. 4 is a schematic structural diagram of an unmanned vehicle main body in an autonomous variable-amplitude mowing unmanned vehicle.

Fig. 5 is a block diagram of a control system in an autonomous variable-amplitude mowing unmanned vehicle.

Fig. 6 is a schematic view of closed-loop control of a drive module in an autonomous variable-amplitude mowing unmanned vehicle.

In the figure: 1. a first infrared sensor; 2. a high-definition camera I; 3. a fixed mount; 4. a push rod; 5. a hydraulic device; 6. a power supply bin; 7. a driver and control system bay; 8. a transmission gear; 9. a drive chain; 10. a second infrared sensor; 11. a second high-definition camera; 12. a photoelectric code disc; 13. an anti-collision bar; 14. a servo deceleration hub motor; 15. a connecting shaft; 16. a brushless direct current motor I; 17. a cutter head cover; 18. a motor transmission shaft; 19. a blade; 20. a motor mounting seat; 21. an electric push rod III; 22. a fixed tool rest; 23. a movable knife rest; 24. an angle sensor; 25. a second brushless direct current motor; 26. an articulation member; 27. a fixed seat; 28. a telescopic baffle; 29. an RTK measuring instrument; 30. a variable amplitude moving device; 31. a fixing box; 32. an electric push rod I; 33. a third infrared sensor; 34. a high-definition camera III; 35. an ultrasonic sensor; 36. an unmanned vehicle main body; 37. and a second electric push rod.

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.

Referring to fig. 1 to 6, in an embodiment of the present invention, an autonomous variable-amplitude mowing unmanned vehicle includes an unmanned vehicle main body 36, and further includes a disc mowing device, a reciprocating mowing device, and an environment detecting device, wherein moving wheels are installed on two sides of the unmanned vehicle main body 36, and a driving module is disposed between the moving wheels and the unmanned vehicle main body 36; the driving module comprises a servo speed-reducing hub motor 14 and a connecting shaft 15, the servo speed-reducing hub motor 14 is arranged at the center of one side, close to the unmanned vehicle main body 36, of the moving wheel and is fixedly connected with the moving wheel, the connecting shaft 15 is arranged on two sides of the unmanned vehicle main body 36, one end of the connecting shaft is fixedly connected with the output end of the servo speed-reducing hub motor 14, and the other end of the connecting shaft is rotatably connected with the unmanned vehicle main body 36;

the reciprocating mowing device comprises a fixed cutter frame 22, the fixed cutter frame 22 is arranged on two sides of an unmanned vehicle main body 36, a movable cutter frame 23 is arranged at the lower end of the fixed cutter frame 22, a brushless direct current motor II 25 used for driving the movable cutter frame 23 to rotate is mounted at the upper end of the fixed cutter frame 22, the output end of the brushless direct current motor II 25 is connected with the movable cutter frame 23 for transmission through a transmission gear 8 and a transmission chain 9 which are arranged on the lower end face of the movable cutter frame 23, and an angle adjusting assembly and a reciprocating width expanding assembly used for improving mowing range are arranged at the joint of the fixed cutter frame 22 and the unmanned vehicle main body 36;

an unmanned vehicle main body 36 with a telescopic baffle 28 is arranged on one side of the upper end of the unmanned vehicle main body 36, and a power supply bin 6 and a driver and control system bin 7 for autonomously controlling the operation of the unmanned vehicle are arranged in the unmanned vehicle main body 36; the environment detection device is arranged on the unmanned vehicle main body 36, connected with the driver and control system cabin 7 and used for acquiring environment information;

a disc mowing device disposed at a lower end portion of the unmanned vehicle main body 36 for trimming grass in a lower area after the unmanned vehicle main body 36 passes; the disc mowing device comprises a cutter head cover 17 arranged at the lower end of an unmanned vehicle main body 36, a brushless direct current motor I16 is arranged in the cutter head cover 17, the brushless direct current motor I16 is fixedly connected with the end part of the cutter head cover 17 through a motor mounting seat 20, the output end of the brushless direct current motor I16 is connected with a motor transmission shaft 18, a blade 19 is arranged outside the motor transmission shaft 18, and a height adjusting part is arranged at the connection part of the upper end of the cutter head cover 17 and the unmanned vehicle main body 36;

the height adjusting piece comprises a first electric push rod 32 and a second electric push rod 37, the first electric push rod 32 and the second electric push rod 37 are respectively arranged on two sides of the upper end of the cutter disc cover 17, the mounting end of the first electric push rod 32 and the second electric push rod 37 are fixedly connected with the lower end face of the unmanned vehicle main body 36, and the output end of the first electric push rod is connected with the upper end face of the cutter disc cover 17 through a movable piece; the height adjusting part mainly realizes that the disc mowing device can automatically lift through a first electric push rod 32 and a second electric push rod 37, the output ends of the first electric push rod 32 and the second electric push rod 37 are movably connected with the cutter head cover 17, and when the telescopic lengths of the two groups of push rods are different, the cutter head cover 17 can form an inclined angle to adapt to different mowing terrains;

the reciprocating amplitude-expanding assembly comprises an amplitude-expanding movable device 30, a fixed frame 3, a push rod 4 and a hydraulic device 5, wherein the fixed frame 3 is arranged on two sides of the unmanned vehicle main body 36, the lower end part of the fixed frame 3 is movably connected with one end of a fixed cutter frame 22 through a hinge part 26, the amplitude-expanding movable device 30 is fixed at the top end of the fixed frame 3, one side of the amplitude-expanding movable device is connected with the push rod 4, one end, far away from the amplitude-expanding movable device 30, of the push rod 4 is connected with the hydraulic device 5 fixed on two sides of the unmanned vehicle main body 36; the fixed frame 3 is arranged on two sides of the center of the vehicle body and is fixedly connected with the variable amplitude movable device 30, the variable amplitude movable device 30 is connected with the push rod 4 on the output end of the hydraulic device 5, and the push rod 4 is driven by the hydraulic device 5 to work back and forth to realize the left and right width expansion of the reciprocating mowing knife and increase the mowing range;

the angle adjusting component comprises an electric push rod III 21, the installation end of the electric push rod III 21 is arranged at the center of the amplitude variation movable device 30 and is movably connected with the amplitude variation movable device, and the output end of the electric push rod III 21 is movably connected with the upper end surface of the fixed cutter frame 22; the fixed frame 3 is provided with an electric push rod III 21, the electric push rod III 21 is movably connected with a fixed slide block on the fixed cutter frame 22, the fixed frame 3 is fixed with one end of the fixed frame 3 by a hinge 26, when the electric push rod III 21 extends and retracts, the reciprocating type mowing device can adjust the angle up and down to form a mowing mode of a V-shaped surface so as to be suitable for mowing ridges;

the environment detection device comprises a first detection part, a second detection part and a third detection part, wherein the first detection part, the second detection part and the third detection part are electrically connected with the driver and control system bin 7, the first detection part is fixed on two sides of the unmanned vehicle main body 36, the lower end face of the first detection part is provided with a first infrared sensor 1 and a first high-definition camera 2, the second detection part is arranged on the lower end face of the variable amplitude movable device 30, the lower end face of the second detection part is provided with a second infrared sensor 10 and a second high-definition camera 11, the third detection part comprises a fixing box 31, the fixing box 31 is arranged at the head of the unmanned vehicle main body 36, and the end face of one side of the fixing box 31, which is far away from the unmanned vehicle main; the first detection part is used for acquiring road condition information on two sides of the unmanned vehicle main body 36, the second detection part is used for acquiring state information of the reciprocating mowing device during working, and the third detection part is used for acquiring road condition information in front of the unmanned vehicle main body 36;

the environment detection device also comprises an angle sensor 24, and the angle sensor 24 is arranged on the upper end surface of the stationary knife rest 22 and is fixedly connected with the stationary knife rest; the environment detection device also comprises an RTK measuring instrument 29, wherein the RTK measuring instrument 29 is arranged on the upper end face of the tail end of the unmanned vehicle main body 36 and is fixedly connected with the upper end face; the head of the unmanned vehicle main body 36 is welded with an anti-collision rod 13, a fixed seat 27 is arranged in a region between the anti-collision rod 13 and the unmanned vehicle main body 36, and a photoelectric coded disc 12 is arranged on the lower end face of the fixed seat 27;

the control system of the unmanned vehicle mainly utilizes a microprocessor to process multiple information, drive control of a motor and the like, and the turning of the mowing unmanned vehicle is mainly realized by controlling a differential speed formed by the rotating speeds of the motors at two sides.

The working principle is as follows: the autonomous variable-amplitude mowing unmanned vehicle uses a servo deceleration hub motor 14 with speed regulated in a PWM mode as a driving motor, a PWM control signal output by a main control system needs to be amplified and converted by a driving module to drive a load motor, and a driver is used for controlling forward and reverse rotation of the motor, braking for rapid parking and differential turning. The control circuit singlechip directly compensates, carries out speed closed-loop regulation on data fed back by a photoelectric coded disc 12 arranged on the vehicle body, carries out mowing path planning and calibration through a carrier phase differential technology, and controls the electric push rod through the output PWM control signal to regulate the height and the angle of the mowing device.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.