阅读说明：本技术 一种生猪出厂调运系统以及生猪出厂调运控制系统 (Live pig dispatching system and live pig dispatching control system ) 是由 张玉良 焦一伦 王军 于 2021-06-15 设计创作，主要内容包括：本发明公开了一种生猪出厂调运系统以及生猪出厂调运控制系统,生猪出厂调运系统包括分别和物联网平台无线通讯连接的车辆检测平台、称重平台、以及至少一个运猪车机器人；车辆检测平台采集车辆信息并当销售订单中的货运车辆信息和车辆信息相匹配时,放行货运车辆进入厂区内的取货点；运猪车机器人运行至猪舍并在获取待销售生猪后并经过称重平台称重后运送至货运车辆的取货点卸货出厂；称重平台对待销售生猪的称重并将称重数据发送至物联网平台,以便核对。本申请中通过车辆检测平台、称重平台以及运猪车机器人分别与物联网平台联系配合,自动化实现无人工参与的生猪出厂,使得生猪和外界之间相互隔离,降低养殖场内猪群感染病毒的可能性。(The invention discloses a live pig delivery dispatching system and a live pig delivery dispatching control system, wherein the live pig delivery dispatching system comprises a vehicle detection platform, a weighing platform and at least one pig transporting vehicle robot, wherein the vehicle detection platform, the weighing platform and the at least one pig transporting vehicle robot are respectively in wireless communication connection with an Internet of things platform; the vehicle detection platform collects vehicle information and releases the freight vehicle to enter a goods taking point in a factory when the freight vehicle information in the sales order is matched with the vehicle information; the pig transporting vehicle robot runs to a pig house, obtains live pigs to be sold, and transports the live pigs to a goods taking point of a freight vehicle after being weighed by a weighing platform, and unloads the live pigs for delivery; the weighing platform is to treat the weighing of selling live pig and will weigh data transmission to thing networking platform to check. Through vehicle testing platform, weighing platform and fortune pig car robot in this application contact the cooperation with thing networking platform respectively, the automatic live pig that realizes not having artifical participation dispatches from the factory for mutual isolation between live pig and the external world reduces the possibility of swinery infectious virus in the plant.)

1. A live pig delivery and dispatching system is characterized by comprising a vehicle detection platform, a weighing platform and at least one pig transporting vehicle robot, wherein the vehicle detection platform, the weighing platform and the at least one pig transporting vehicle robot are respectively in wireless communication connection with an Internet of things platform;

the vehicle detection platform is used for acquiring vehicle information and uploading the vehicle information to the Internet of things platform when a freight vehicle enters a factory area; after a release instruction is received, releasing the freight vehicle to enter a goods taking point in the factory; the platform of the Internet of things sends the release instruction when freight vehicle information in a received sales order is matched with the vehicle information;

the pig transporting vehicle robot is used for running to a pig house based on a delivery instruction sent to the pig transporting vehicle robot by the Internet of things platform according to the sales order, obtaining live pigs to be sold, weighing the live pigs to be sold by the weighing platform, and then unloading and delivering the live pigs to be sold to a delivery point of the freight vehicle;

the weighing platform is used for weighing the live pigs to be sold and sending weighing data to the Internet of things platform, so that the Internet of things platform can check whether the weighing data are correct or not according to the sales order.

2. The live pig factory dispatching system of claim 1, wherein the pig transporting robot is configured to transport the live pigs to be sold to the pickup point according to a running route determined by the internet of things platform;

the running route is that after the Internet of things platform receives the sales order, the pig group growth data in the pigsty are called; determining the pigsty position of the live pig to be sold, which meets the requirement in the sales order, based on the swinery growth data; and determining the running route of the pig transporting vehicle robot according to the pig house position.

3. The factory dispatching system for live pigs as claimed in claim 2, further comprising a pig fetching mechanical device arranged in the pigsty, wherein the pig fetching mechanical device comprises a manipulator;

the pig fetching mechanical equipment is used for receiving a pig fetching instruction sent by the Internet of things platform after the pig to be sold meeting the requirement of the sales order is determined; when the pig transporting vehicle robot reaches the pig house, the to-be-sold pig is taken out of the pig house to the pig transporting vehicle robot through the mechanical arm.

4. The live pig factory dispatching system of claim 1, further comprising an entrance guard device for receiving a pass instruction sent by the platform of internet of things, and controlling the automatic door to open according to the pass instruction when each automatic door of the car-carrying robot path is opened, wherein the pass instruction includes position information of each automatic door of the car-carrying robot path and number information of the car-carrying robot.

5. The live pig factory dispatching system of any one of claims 1 to 4, further comprising image acquisition devices disposed at a robot docking station, an automatic door, the pig house, the weighing platform and the pickup point, for performing image detection on each station on a robot running path of the pig transporting machine, and uploading image detection data to the Internet of things platform.

6. The factory dispatch system for live pigs according to claim 5, further comprising an alarm device for giving an alarm when the operation of the car carrying robot for carrying live pigs to be sold is abnormal.

7. The factory dispatch system for live pigs according to claim 1, further comprising a sterilizing device for sterilizing the pig transporting robot after the pig transporting robot transports the live pigs to be sold to the pick-up point.

8. The factory dispatching system for live pigs as claimed in claim 7, wherein the sterilizing equipment comprises a spraying device for spraying sterilizing liquid medicine and a drying device for drying the robot for transporting pigs.

9. A live pig factory allocation and transportation control system, which is characterized by comprising the live pig factory allocation and transportation system as claimed in any one of claims 1 to 8 and an internet of things platform.

Technical Field

The invention relates to the technical field of intelligent control, in particular to a live pig delivery dispatching system.

Background

In recent years, reports of large-area infection of live pigs, chickens and ducks cultured by breeding enterprises due to virus infection of swine flu, avian flu and the like are frequently available; infected live pigs, chickens and ducks can only be burnt or buried, so that breeding enterprises suffer serious economic loss, and the influence even affects the whole breeding industry.

In livestock and poultry and other living thing breeding industries, infection of infectious diseases such as plague and virus is one of important reasons causing great economic loss of breeding enterprises. Therefore, how to more scientifically and reasonably breed the live livestock and poultry is to reduce the probability of the livestock and poultry being infected as much as possible, and the method is of great importance to livestock and poultry breeding.

Disclosure of Invention

The invention aims to provide a live pig delivery and transportation system, which reduces the possibility of virus infection of a swinery to a certain extent and further improves the safety of the swinery in a live pig raising factory.

In order to solve the technical problem, the invention provides a live pig delivery dispatching system which comprises a vehicle detection platform, a weighing platform and at least one pig transporting vehicle robot, wherein the vehicle detection platform, the weighing platform and the at least one pig transporting vehicle robot are respectively in wireless communication connection with an Internet of things platform;

the vehicle detection platform is used for acquiring vehicle information and uploading the vehicle information to the Internet of things platform when a freight vehicle enters a factory area; after a release instruction is received, releasing the freight vehicle to enter a goods taking point in the factory; the platform of the Internet of things sends the release instruction when freight vehicle information in a received sales order is matched with the vehicle information;

the pig transporting vehicle robot is used for running to a pig house based on a delivery instruction sent to the pig transporting vehicle robot by the Internet of things platform according to the sales order, obtaining live pigs to be sold, weighing the live pigs to be sold by the weighing platform, and then unloading and delivering the live pigs to be sold to a delivery point of the freight vehicle;

the weighing platform is used for weighing the live pigs to be sold and sending weighing data to the Internet of things platform, so that the Internet of things platform can check whether the weighing data are correct or not according to the sales order.

In an optional embodiment of the application, the pig transporting robot is configured to transport the live pigs to be sold to the pickup point according to a running route determined by the internet of things platform;

the running route is that after the Internet of things platform receives the sales order, the pig group growth data in the pigsty are called; determining the pigsty position of the live pig to be sold, which meets the requirement in the sales order, based on the swinery growth data; and determining the running route of the pig transporting vehicle robot according to the pig house position.

In an optional embodiment of the present application, the pig taking system further comprises a pig taking mechanical device arranged in the pig house, wherein the pig taking mechanical device comprises a manipulator;

the pig fetching mechanical equipment is used for receiving a pig fetching instruction sent by the Internet of things platform after the pig to be sold meeting the requirement of the sales order is determined; when the pig transporting vehicle robot reaches the pig house, the to-be-sold pig is taken out of the pig house to the pig transporting vehicle robot through the manipulator.

In an optional embodiment of this application, still include entrance guard's equipment for receive the pass instruction that thing networking platform sent, according to the pass instruction is in control when each automatically-controlled door of fortune pig car robot way the automatically-controlled door is opened, wherein, the pass instruction contains each automatically-controlled door position information of fortune pig car robot way with the serial number information of fortune pig car robot.

In an optional embodiment of the application, still including set up in the robot stop website, automatically-controlled door the pig house the platform of weighing and get the image acquisition equipment of goods point for carry out image detection to each website on the pig fortune car robot path, and upload image detection data to the thing networking platform.

In an optional embodiment of the application, the pig selling robot further comprises an alarm device, and the alarm device is used for giving an alarm when the pig transporting robot transports the pigs to be sold in the abnormal running process.

In an optional embodiment of the application, the pig transporting robot further comprises a disinfection device, and the disinfection device is used for disinfecting the pig transporting robot after the pig transporting robot transports the live pigs to be sold to the goods taking point.

In an optional embodiment of the present application, the sterilizing apparatus includes a spraying device for spraying sterilizing liquid medicine and a drying device for drying the pig transporting vehicle robot.

The application also provides a live pig factory allocation and transportation control system, which comprises the live pig factory allocation and transportation system and the Internet of things platform.

The live pig delivery dispatching system provided by the invention comprises a vehicle detection platform, a weighing platform and at least one pig transporting vehicle robot, wherein the vehicle detection platform, the weighing platform and the at least one pig transporting vehicle robot are respectively in wireless communication connection with an Internet of things platform; the vehicle detection platform is used for acquiring vehicle information and uploading the vehicle information to the Internet of things platform when a freight vehicle enters a factory area; after receiving the releasing instruction, releasing the freight vehicle to enter a goods taking point in the factory; when the Internet of things platform matches the freight vehicle information and the vehicle information in the received sales order, a release instruction is sent; the pig transporting vehicle robot is used for running to a pig house based on a delivery instruction sent by the pig transporting vehicle robot by the Internet of things platform according to a sales order, obtaining live pigs to be sold, weighing the live pigs by the weighing platform, and then transporting the live pigs to be sold to a goods taking point of a freight vehicle for unloading and delivery; the weighing platform is used for weighing pigs to be sold and sending weighing data to the Internet of things platform, so that the Internet of things platform can check whether the weighing data are correct according to a sale order.

Through vehicle testing platform, weighing platform and fortune pig car machine robot and thing networking platform combined action in this application, in the live pig warehouse-out in-process, the information in the sale order is read automatically, match the detection to the legitimacy of the freight vehicle that gets into the factory, carry out reasonable allocation and transportation to fortune pig car machine robot based on sale order information, control fortune pig car machine robot is automatic realizes the allocation and transportation work and the detection of weighing of live pig process of dispatching from the factory, whole in-process need not artifical the participation, just also make mutual isolation between live pig and the external world to a certain extent, improve the ability of blocking to the viral propagation, reduce the possibility that the swinery infects the virus, the security of live pig breeding in-process has been promoted, and then avoid the virus infection to bring economic loss's problem to the pig farm.

The application also comprises a live pig delivery and allocation control system, and the beneficial effects are achieved.

Drawings

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

Fig. 1 is a schematic structural diagram of a frame of a live pig factory dispatching system provided in an embodiment of the present application.

Detailed Description

The live things are often the best infection vector for the infection of the swine influenza and other viruses which are easy to infect and spread on artificially cultured livestock and poultry, or viruses which can cause diseases of human beings like novel coronavirus and the like. The virus can survive on non-living metal, glass and other articles for a relatively short time, and is relatively weak in infectivity.

Therefore, in the application, the method for preventing the live pigs in the live pig farms from being infected with the viruses is an effective way to block the way of the live pigs in the farms from being infected with the viruses from the outside. And workers in the farm or foreign persons entering the factory area are often connected with the live pigs in the farm and the external environment. Therefore, further consider in this application through reducing staff's quantity in the plant, through intelligent automated control reduce the contact of live pig in staff and the plant to promote the security of plant.

Therefore, the technical scheme for automatically realizing ex-warehouse of the live pigs without manual participation is provided.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, fig. 1 is a schematic diagram of a frame structure of a live pig factory dispatching system provided in an embodiment of the present application; the live pig delivery and allocation system can comprise:

the system comprises a vehicle detection platform, a weighing platform 2 and at least one pig-carrying vehicle robot 3, wherein the vehicle detection platform, the weighing platform 2 and the at least one pig-carrying vehicle robot are respectively in wireless communication connection with an Internet of things platform 1;

the vehicle detection platform is used for acquiring vehicle information and uploading the vehicle information to the Internet of things platform 1 when a freight vehicle enters a factory area; after receiving a sales order, the Internet of things platform 1 sends a release instruction when freight vehicle information in the sales order is matched with vehicle information, and when the vehicle detection platform receives the release instruction, releases freight vehicles to enter a pickup point 4 of a factory;

after receiving the sales order, the Internet of things platform 1 sends a delivery instruction to the pig transporting vehicle robot 3 according to the sales order;

the pig transporting vehicle robot 3 is used for running to a pig house 5 according to a delivery instruction, and after obtaining live pigs to be sold, transporting the live pigs to be sold to a delivery point 4 for unloading and delivery after being weighed by the weighing platform 2;

the weighing platform 2 is used for weighing pigs to be sold and sending weighing data to the Internet of things platform 1, so that the Internet of things platform 1 can check whether the weighing data are correct according to a sale order.

In the live pig delivery and dispatching system process, the Internet of things platform 1 can receive a sales order sent by a sales department; the sales order at least includes information of sales quantity, freight vehicle information and the like, and may further include information of the general pickup time of the freight vehicle, so that the internet of things platform 1 controls the pigsty 5 to prepare the corresponding live pigs to be sold in advance.

When the freight vehicle reaches the factory area, the vehicle information of the freight vehicle can be detected through the vehicle detection platform arranged at the door of the factory area. The vehicle detection platform can be in various forms, for example, a camera for collecting a vehicle image is used for sending the vehicle image to the internet of things platform 1, and the internet of things platform 1 determines whether the freight vehicle is a specified vehicle in a sales order by identifying the license plate number, the vehicle model number and the like of the vehicle.

In order to further ensure the safety, the vehicle detection platform can further comprise a camera for collecting the face image of the driver and an infrared thermometer for detecting the body temperature of the driver, and the face image of the driver is identified and detected based on the internet of things platform 1, so that the driver is confirmed to be consistent with the designated driver in the sales order, and the body temperature is normal, and a release instruction can be sent to the vehicle detection platform. Of course, the image of the face of the driver can be collected based on safety considerations, and whether the driver wears a mask or not can be identified.

Certainly, before the freight vehicle is allowed to enter the factory area, the platform 1 of the internet of things can allocate a corresponding stop point number to the freight vehicle according to the current existing pickup point 4, namely the pickup platform, and the stop point number is broadcasted to the driver through the vehicle detection platform in a voice mode or is directly sent to the mobile phone of the driver.

When the freight vehicle enters a factory and arrives at the goods taking platform, the Internet of things platform 1 can dispatch the corresponding pig transporting vehicle robot 3 to move to the pig house 5, and live pigs to be sold which need to be sold are obtained. After the live pigs to be sold are obtained, the live pigs are weighed by the weighing platform 2 and the weighing data are sent to the Internet of things platform 1, and the weighing data and the sales data in the sales order are compared by the Internet of things platform 1 to ensure that the live pigs leaving the factory are consistent with the sales order; and then the pig transporting vehicle robot 3 transports the live pigs to be sold to the stop points of the corresponding freight vehicles for unloading so that the freight vehicles can be transported out of the factory.

To sum up, the live pig dispatch and transportation system that dispatches from factory that provides in this application sells the live pig and dispatches from factory the in-process, directly cooperates the collaborative work between vehicle check out test set, the platform of weighing and fortune pig car robot through thing networking platform, realizes the unmanned automatic dispatch that the live pig dispatched from the factory, has completely cut off the swinery in the pig house to a certain extent and has received external environment's interference to reduce the possibility that the swinery is infected by the virus to a certain extent, reduce the breed risk of breeding the enterprise.

In order to avoid cross-infection of the herds in the pig farm, the piggeries 5 are generally separated from each other in a small compartment, and a small number of live pigs are fed in each piggery 5. Before the pig transporting vehicle robot 3 starts running, it should be determined which pig house 5 has the pig meeting the requirement of the sales order, so as to select the pig to be sold in advance.

For this reason, in an optional embodiment of the present application, the internet of things platform 1 may also call the pig farm growth data in the pig house 5 after receiving the sales order; determining the pigsty position of the live pig to be sold, which meets the requirements in the sales order, based on the swinery growth data; and determining the running route of the pig transporting vehicle robot 3 according to the position of the pig house.

The pig transporting vehicle robot 3 can operate according to the operation route determined by the Internet of things platform 1, so that live pigs to be sold in the pig house 5 are transported to the goods taking point 4 of the freight vehicle.

It should be noted that the platform 1 of the internet of things should be a platform for summarizing daily operation information of the whole aquaculture plant. The time for starting the breeding of the swinery bred in each piggery 5, the weighing data measured at intervals, the quantity of the swinery and the like are recorded. Based on the swinery growth information of each pigsty 5, the Internet of things platform 1 can select a proper pigsty in the pigsty 2 as a live pig to be sold based on the principles of the longest breeding time, the weight of the pigsty meeting the selling requirement and the like; and planning an operation route for the pig transporting vehicle robot 3 based on the position of the pig house where the live pigs to be sold are located.

Considering further that when the pig transporting vehicle robot 3 reaches the pig house 5, the pig farm will not automatically enter the vehicle of the pig transporting vehicle robot 3, in order to further reduce the need for human intervention in this process, in another optional embodiment of the present application, it may further include:

the pig taking mechanical equipment is arranged in the pig house 5 and comprises a manipulator;

the Internet of things platform 1 sends a pig fetching instruction to the pig fetching mechanical equipment after determining that the pigs to be sold meet the requirement of a sales order;

the pig taking mechanical equipment is used for taking out the pigs to be sold from the pig house 5 to the pig transporting vehicle robot 3 through a mechanical arm when the pig transporting vehicle robot 3 reaches the pig house 5.

In the process of obtaining live pigs to be sold by the pig transporting vehicle robot 3, the vehicle door of the pig transporting vehicle robot 3 can be set to be in a structure form capable of being mutually butted with a pigsty door, and the pigsty in the pig house 5 is pushed by devices such as a mechanical arm to enter the vehicle of the pig transporting vehicle robot 3.

Certainly, in practical application, all live pigs in the same pigsty 5 are not necessarily sold at the same time, so that a manipulator of the mechanical pig taking device can be set to identify and grab the live pigs to be sold at a fixed point in the pigsty 5 in an identification and grabbing manner; for example, a signboard can be configured on each live pig, after the live pig screened by the pig mechanical equipment through the signboard identification internet of things platform 1 is taken, the manipulator is controlled to move downwards from the upper part of the live pig to be sold, the live pig to be sold is directionally grabbed and sent into the pig transporting vehicle robot 3, and the like.

Based on any of the above embodiments, it is further considered that, during the process of transporting live pigs for sale, the pig transporting robot 3 may need to pass through a plurality of doors along the route, and for a pig house building comprising a plurality of floors, the pig transporting robot 3 needs to take an elevator, etc. For this reason, in another optional embodiment of the present application, the method may further include:

the live pig delivery and dispatching system can further comprise an access control device;

after outputting the delivery instruction, the Internet of things platform 1 sends a pass instruction to the access control equipment, wherein the pass instruction comprises the position information of each automatic door of the route of the pig transporting vehicle robot 3 and the number information of the pig transporting vehicle robot 3;

the entrance guard equipment is used for opening the automatic doors when the automatic doors on the 3-way of the pig transporting vehicle are opened according to the passing instructions after the passing instructions are received.

The automatic door opening and closing device can be used for setting all the doors in a factory area into automatic doors which are not required to be manually pushed to open, and the access control devices of all the automatic doors are devices for controlling the opening and closing of the automatic doors. The entrance guard equipment at least comprises camera or RFID identification equipment which can identify the pig transporting vehicle robot 3. The pig transporting robot 3 can be configured with corresponding specific marks. The internet of things platform 1 determines which doors the pig-transporting car-mounted robot 3 needs to pass through and which elevators to take in turn during the operation based on the operation route of the pig-transporting car-mounted robot 3, reaches the approximate time period of each automatic door, sends the relevant information and the identification of the pig-transporting car-mounted robot 3 to the access control equipment, and can automatically open the automatic doors when the access control equipment detects the pig-transporting car-mounted robot 3 in front of the corresponding automatic doors in the corresponding time periods, so that the automatic doors automatically release the pig-transporting car-mounted robot 3 without manual participation.

In order to avoid the accident fault of the pig transporting robot 3 in the operation process, when the faults are similar to the faults that an automatic door is not opened, the weighing platform 2 cannot weigh and the like, image acquisition equipment can be arranged at each station of the approach of the pig transporting robot 3. Therefore, in another optional embodiment of the present application, the method may further include:

the image acquisition equipment is arranged at the robot stop station, the automatic door, the pig house 5, the weighing platform 2 and the goods taking point 4 of the freight vehicle, and is used for carrying out image detection on each station on the running path of the pig transporting robot 3 and uploading image detection data to the Internet of things platform 1.

The image acquisition device is used for carrying out image detection on all stations such as a robot station, an automatic door, a pig house 5, a weighing platform 2 and a goods taking point 4 of a freight vehicle along the pig transporting robot 3, so that the whole process of the running process of the pig transporting robot is recorded, and the abnormal running condition of the pig transporting robot can be monitored.

For this reason, in this embodiment, an alarm device may be further included, which is used to give an alarm when the pig transporting robot 3 transports pigs to be sold in the course of operation.

When the detection image acquired by the image acquisition equipment shows that the pig-transporting robot 3 stays at a certain position and cannot move forward continuously, the alarm can give an alarm to call a worker to check the pig-transporting robot in the coming direction.

Of course, the abnormal situation that appears in this application also not only is not limited to the abnormal situation that image acquisition equipment detected, for example the weighing data that fortune pig car robot 3 obtained in weighing at weighing platform 2 is unsatisfactory, and thing networking platform 1 also can control alarm device and report to the police to the staff, and then reminds the staff to go forward to look over.

As mentioned before, live pig dispatch and delivery system in this application can realize the isolation of the swinery and external environment in the pig house to a certain extent, and then reduces the probability that the swinery is infected by the virus. In order to further ensure the safety of the swinery in the pigsty, in another optional embodiment of the present application, the method may further comprise:

and the sterilizing equipment is used for sterilizing the pig transporting vehicle robot 3 after the pig transporting vehicle robot 3 transports the live pigs to be sold to a goods taking point.

This disinfecting equipment can be including being used for spilling the sprinkler of disinfectant and carrying out the drying device who dries to fortune pig car robot 3.

This sprinkler can both wash the obvious spot in fortune pig car robot 3 surface through spraying a large amount of liquid disinfectant to fortune pig car robot 3, can carry out the sterilization to the bacterial virus that probably adheres to on fortune pig car robot 3 again.

The drying device can be equipment capable of spraying high-temperature air flow, and can sterilize the pig transporting vehicle robot 3 to a certain extent while drying the pig transporting vehicle robot 3.

The application also provides an embodiment of the live pig factory dispatching control system, which comprises any live pig factory dispatching system and an Internet of things platform.

In this embodiment, through mutually supporting between each equipment in thing networking platform and the above-mentioned live pig dispatch system that dispatches from factory, realize that the live pig dispatches from factory unmanned automatic operation, need not artifical the participation, completely cut off swinery and external contact to a certain extent, reduce the probability that the swinery is infected by the virus, be favorable to guaranteeing the economic benefits of pig raising factory.

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. Furthermore, 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 elements inherent in the list. 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. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.