CN116449376B - Cross-section moving cultivation net cage biological statistics device and working method thereof - Google Patents
Cross-section moving cultivation net cage biological statistics device and working method thereof Download PDFInfo
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- CN116449376B CN116449376B CN202310462470.9A CN202310462470A CN116449376B CN 116449376 B CN116449376 B CN 116449376B CN 202310462470 A CN202310462470 A CN 202310462470A CN 116449376 B CN116449376 B CN 116449376B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 241000251468 Actinopterygii Species 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000009360 aquaculture Methods 0.000 claims description 9
- 244000144974 aquaculture Species 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 108010066278 cabin-4 Proteins 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000002028 Biomass Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012258 culturing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52079—Constructional features
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The application provides a cross-section moving cultivation net cage biological statistics device and a working method thereof, wherein the mode of lifting by a sonar winch and rotating by a propeller is used, the whole net cage can be covered, the sonar horizontally rotates and scans, layered fish density statistics of different water layers can be carried out, and the fish swarm distribution habit is met; meanwhile, the sensor and the propeller are matched to realize closed-loop control of the scanning direction, so that the sonar self-rotation caused by sea current resistance is realized, and the horizontal direction missing scan or repeated scanning is avoided. Compared with a fixed installation or only horizontal rotation scanning mode, the method realizes section layering and angle statistics of multiple water layers, and can remarkably improve statistical accuracy on the premise of saving the number of sonar used.
Description
Technical Field
The application relates to the technical field of cage culture, in particular to a cross-section movement culture cage biological statistical device and a working method thereof.
Background
In recent years, the development of the net cage culture industry in China is rapid, and a large-scale deep sea culture net cage is constructed successively in the marine aspect and put into use. However, the marine environment in China is complex, the water visibility is low, and the culture variety size is small. Compared with the foreign cage culture industry, the evaluation of fishery resources in the field of cage culture in China has great challenges. The total amount of the organisms cultured in the net cages is known, and the control of the culturing process, the user asset evaluation, the insurance business and the like are affected. Therefore, the accurate assessment of the total amount of fish culture in the net cage can bring great convenience to the farmers and insurance business.
In the initial fish throwing process, a user can accurately know the fish throwing quantity in the net cage according to a fry counter or a manual counting mode. However, in the marine cage culture process, many factors exist to cause death of the cultured fish, sometimes the death rate of the whole culture period is even more than 50%, and the conditions of escape, theft and the like can also occur in the fish growth process. Therefore, the total amount of the cultured fishes in the net cage is dynamically changed, and the traditional method relies on manual experience to evaluate that the total amount of the cultured fishes in the net cage has larger error, so that the precise control of feed feeding is not facilitated. Therefore, the regular evaluation of the total amount of fish in the net cage not only can guide accurate feeding, but also can prevent losses in time.
Some of the current commercial net cage fishery resource estimation products are imported from abroad, such as ABS of Biosonics corporation in Norway, BIOMASS DAILY of VAKI corporation in Iceland, etc., and these devices are based on statistical methods, and a small amount of samples are used for estimating the BIOMASS in the whole net cage, which is easy to have the problems of large error and large fluctuation. Danish AKVA company provides a method for evaluating the quantity of the cultured organisms in the net cage by using underwater camera shooting, but the method cannot be effectively applied to the offshore culture net cage in China due to the lower influence of offshore water in China. And the evaluation mode of the fixed angle sonar has larger error because the fish is influenced by environmental factors such as temperature, ocean current and the like.
Disclosure of Invention
In order to make up for the defects of the prior art, the application provides a cross-section movement cultivation net cage biological counting device and a working method thereof.
The application is realized by the following technical scheme: the biological statistics device of the cultivation net cage for profile motion comprises a waterproof winch, wherein a winch frame is arranged outside the waterproof winch, the waterproof winch is placed in the winch frame, the top end of the winch frame is connected to a guardrail or a steel structure of the net cage through a plurality of hoisting cables, an umbilical cable on the waterproof winch is connected with a sonar unit, and the umbilical cable pulls the sonar unit to perform vertical profile motion;
the sonar unit comprises a cylindrical frame, a sealed cabin is arranged on the upper layer inside the cylindrical frame, two propellers are symmetrically and vertically arranged in the middle of the cylindrical frame, the rotation directions of the two propellers are opposite, the top end of the cylindrical frame is connected with one end of an umbilical cable, a sonar protection cover is fixedly arranged at the bottom end of the cylindrical frame, a sonar is arranged in the sonar protection cover, a limiting cable is connected to the bottom of the waterproof winch, and the limiting cable penetrates through the sonar unit and the sonar protection cover to be connected with a counterweight to hang on the bottom of the net cage;
the sealed cabin is provided with a main control circuit board, a depth sensor, a course angle sensor, a propeller driving module sonar and a propeller, which are connected into the sealed cabin through watertight connectors, and the umbilical cable transmits electric power and data to the sealed cabin.
Preferably, the number of hoisting cables is not less than 3.
Preferably, the sonar protection cover is made of POM or PP plastic material.
As a preferable scheme, an integrated control module is designed on a circuit board in the sealed cabin, so that power supply and communication of sonar equipment are realized.
A method for operating a cross-sectional moving aquaculture net cage biometric device, comprising the steps of:
s1, hoisting cables on a winch frame by means of guardrails of a net cage, hoisting and fixing the winch frame on the water surface, wherein the number of the hoisting cables is not less than 3, the winch frame is mounted on a sonar unit through an umbilical cable, and the movement range of the sonar unit in the horizontal direction is limited by a limiting cable, so that the sonar unit can only vertically and horizontally rotate;
s2, controlling the sonar unit to ascend and descend by adopting a waterproof winch, controlling the waterproof winch to descend in a segmented mode at intervals of 1m by adopting a program, and controlling the sonar unit to rotate and scan by using a propeller when the depth sensor detects that the sonar unit reaches a set depth, wherein the rotation angle of each time is 90 degrees;
s3, the two propellers rotate in the forward direction and the reverse direction to realize the rotation of the sonar unit, and when the rotation reaches a set course, the system automatically adjusts the thrust output of the two propellers according to the real-time feedback of the course angle sensor;
s4, the propeller is positioned at the center of the sonar unit, the propeller can control the sonar unit to rotate within the range of 0-360 degrees, and when the set course angle is reached, the propeller is matched with the sensor to realize course angle closed loop;
s5, placing the sonar in the horizontal direction, controlling lifting through a waterproof winch after the sonar rotates for one circle of scanning, so as to cover different water layers, and finally enabling a scanning area to cover the whole aquaculture net cage;
and S6, displaying the result to man-machine interaction software in real time, automatically drawing a line graph, observing a change curve of the total number of fish, automatically archiving historical data, and leading out a report.
The application adopts the technical proposal, and compared with the prior art, the application has the following beneficial effects: the mode of lifting by a winch and rotating by a propeller is used, the sonar can cover and scan the whole net cage, the sonar horizontally rotates and scans, layered fish density statistics of different water layers can be carried out, and the fish shoal distribution habit is met; meanwhile, the sensor and the propeller are matched to realize closed-loop control of the scanning direction, so that the sonar self-rotation caused by sea current resistance is realized, and the horizontal direction missing scan or repeated scanning is avoided. Compared with a fixed installation or only horizontal rotation scanning mode, the method realizes section layering and angle statistics of multiple water layers, and can remarkably improve statistical accuracy on the premise of saving the number of sonar used.
Additional aspects and advantages of the application will be set forth in part in the description which follows, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of the structure of the present application;
FIG. 2 is a schematic diagram of a sonar unit;
wherein, the correspondence between the reference numerals and the components in fig. 1 to 2 is:
the device comprises a waterproof winch 1, a winch frame 2, a sonar unit 3, a sealed cabin (electrical cabin) 4, a propeller 5, a sonar 6, a sonar protection cover 7, an umbilical cable 8, a limiting cable 9, a counterweight 10, a course angle sensor 11, a depth sensor 12 and a hoisting cable 13.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
A cross-sectional moving aquaculture net cage biometric apparatus and a method of operating the same according to an embodiment of the present application will now be described in detail with reference to fig. 1 to 2.
As shown in fig. 1 and 2, the application provides a biological statistics device of a cultivation net cage with a profile motion, which comprises a waterproof winch 1, wherein a winch frame 2 is arranged outside the waterproof winch 1, the waterproof winch 1 is placed in the winch frame 2, the top end of the winch frame 2 is connected to a guardrail or a steel structure of the net cage through a plurality of hoisting cables 13, so that the winch frame 2 is fixed on the water surface, the hoisting cables 13 are not less than 3, the waterproof winch is hoisted at four points and fixed above the water surface by using cables, the number of the hoisting cables is not less than 3, and in order to prevent a sonar unit from being corroded by seawater, a sacrificial anode protection mode is adopted, and a protection cover connected with the sonar uses POM or PP plastic. An umbilical cable 8 on the waterproof winch 1 is connected with the sonar unit 3; the limiting cable 9 is used for limiting the movement range of the sonar unit 3 in the horizontal direction, so that the sonar unit can only move vertically and horizontally in a rotating mode.
The sonar unit 3 comprises a cylindrical frame 14, a sealed cabin 4 is arranged on the upper layer inside the cylindrical frame 14, two propellers 5 are symmetrically and vertically arranged in the middle of the inside of the cylindrical frame 14, the rotation directions of the two propellers 5 are opposite, the top end of the cylindrical frame 14 is connected with one end of an umbilical cable 8, a sonar protection cover 7 is fixedly arranged at the bottom end of the cylindrical frame 14, a sonar 6 is arranged in the sonar protection cover 7, a limiting cable 9 is connected to the bottom of the waterproof winch 1, the limiting cable 9 penetrates through the sonar unit 3 and the sonar protection cover 7 to be connected with a counterweight 10 and is perpendicular to the bottom of a net cage, and the sealing device is used for improving the stability of the whole structure in water and limiting the movement range of the sonar unit in the horizontal direction, so that the sonar unit can only vertically and horizontally rotate; in order to prevent the sonar unit from being corroded by seawater, a sacrificial anode protection mode is adopted, and the sonar protection cover 7 is made of POM or PP plastic materials.
The sealed cabin 4 is provided with a main control circuit board, a depth sensor 12, a course angle sensor 11, a propeller driving module sonar 6 and a propeller 5 which are connected into the sealed cabin through watertight connectors, and the umbilical cable 8 transmits electric power and data to the sealed cabin 4 and plays roles of traction lifting and communication power supply. The propeller driving module realizes power supply and driving control of the propeller. The propeller driving module is internally provided with an algorithm, so that the propeller is controlled to realize the rotation of the main body and can be used for resisting flow, and the relative vertical posture of the sonar unit in water is maintained. Therefore, the accuracy of statistics is prevented from being influenced by the shaking of the sonar. Meanwhile, the layering lifting scanning mode can avoid errors caused by layering of fish shoals. The integrated control module is designed on the circuit board inside the sealed cabin 4, so that power supply and communication of sonar equipment are realized.
A method for operating a cross-sectional moving aquaculture net cage biometric device, comprising the steps of:
s1, hoisting cables 13 are used for hoisting winch frames 2 and fixed on the water surface by means of guardrails of net cages, the number of the hoisting cables is not less than 3, the winch frames 2 are mounted with sonar units 3 through umbilical cables 8, and limiting cables 9 limit the movement range of the sonar units in the horizontal direction, so that the sonar units can only vertically and horizontally rotate;
s2, controlling the sonar unit 3 to ascend and descend by adopting the waterproof winch 1, controlling the waterproof winch 1 to descend in a segmented mode at intervals of 1m by adopting a program, and controlling the sonar unit to rotate and scan by using the propeller 5 when the depth sensor 12 detects that the sonar unit 3 reaches a set depth, wherein the rotation angle of each rotation is about 90 degrees;
s3, the two propellers 5 rotate in the forward direction and rotate in the reverse direction to realize the rotation of the sonar unit 3, and when the rotation reaches a set course, the system automatically adjusts the thrust output of the two propellers according to the real-time feedback of the course angle sensor 11 to realize the closed-loop control of the course angle and maintain the stability of the course;
s4, using two propellers as power sources of the sonar rotating mechanism, wherein the propellers 5 are positioned at the center of the sonar unit, the propellers 5 can control the sonar unit 3 to rotate within the range of 0-360 degrees, and when the set course angle is reached, the set course angle is matched with the sensor to realize course angle closed loop, so that the stability of the course is maintained; the propeller driving module is internally provided with an algorithm, so that the propeller is controlled to realize the rotation of the main body and can be used for resisting flow, and the relative vertical posture of the sonar unit in water is maintained. Therefore, the accuracy of statistics is prevented from being influenced by the shaking of the sonar. Meanwhile, the layering lifting scanning mode can avoid errors caused by layering of fish shoals.
S5, placing the sonar 6 in the horizontal direction, and controlling lifting through the waterproof winch 1 after the sonar 6 rotates for one circle of scanning, so that different water layers are covered, and finally, the whole aquaculture net cage is covered by a scanning area;
and S6, displaying the result to man-machine interaction software in real time, automatically drawing a line graph, observing a change curve of the total number of fish, automatically archiving historical data, and leading out a report.
In the description of the present application, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present application; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (5)
1. The biological statistics device of the cultivation net cage for profile movement comprises a waterproof winch (1), and is characterized in that a winch frame (2) is arranged outside the waterproof winch (1), the waterproof winch (1) is placed in the winch frame (2), the top end of the winch frame (2) is connected to a guardrail or a steel structure of the net cage through a plurality of hoisting cables (13), an umbilical cable (8) on the waterproof winch (1) is connected with a sonar unit (3), and the umbilical cable (8) pulls the sonar unit (3) to perform vertical profile movement;
the sonar unit (3) comprises a cylindrical frame (14), a sealed cabin (4) is arranged on the upper layer inside the cylindrical frame (14), two propellers (5) are symmetrically and vertically arranged in the middle inside the cylindrical frame (14), the rotation directions of the two propellers (5) are opposite, the top end of the cylindrical frame (14) is connected with an umbilical cable (8), a sonar protection cover (7) is fixedly arranged at the bottom end of the cylindrical frame (14), a sonar (6) is arranged in the sonar protection cover (7), a limit cable (9) is connected to the bottom of the waterproof winch (1), and the limit cable (9) penetrates through the sonar unit (3) and the sonar protection cover (7) to be connected with a counterweight (10) to be perpendicular to the bottom of the net cage;
the sealed cabin (4) is provided with a main control circuit board, a depth sensor (12), a course angle sensor (11), a propeller driving module sonar (6) and a propeller (5), and the main control circuit board, the depth sensor, the course angle sensor, the propeller driving module sonar (6) and the propeller driving module are connected into the sealed cabin (4) through watertight connectors, and an umbilical cable (8) transmits electric power and data to the sealed cabin (4).
2. A cross-sectionally moving aquaculture net cage biometric device according to claim 1, wherein said hoisting cables (13) are not less than 3.
3. A cross-sectional sports aquaculture net cage biometric device according to claim 1, characterized in that said sonar protection cover (7) is made of POM or PP plastic material.
4. A cross-sectional moving aquaculture net cage biological counting device according to claim 1, wherein the circuit board inside said sealed cabin (4) is designed with an integrated control module for realizing power supply and communication of sonar equipment.
5. A method of operating a cross-sectionally mobile culture cage biometric device according to any one of claims 1 to 4, comprising the steps of:
s1, hoisting cables (13) are hoisted and fixed on the water surface by means of guardrails of a net cage, the number of the hoisted cables is not less than 3, the winch frames (2) are used for mounting sonar units (3) through umbilical cables (8), and limiting cables (9) limit the movement range of the sonar units (3) in the horizontal direction, so that the sonar units (3) can only vertically and horizontally rotate;
s2, controlling the sonar unit (3) to ascend and descend by adopting the waterproof winch (1), controlling the waterproof winch (1) to descend in a segmented mode at intervals of 1m, and controlling the sonar unit to rotate and scan by using the propeller (5) when the depth sensor (12) detects that the sonar unit (3) reaches a set depth, wherein the rotation angle of each rotation is 90 degrees;
s3, the two propellers (5) rotate in the forward direction and rotate in the reverse direction to realize the rotation of the sonar unit (3), and when the rotation reaches a set course, the system automatically adjusts the thrust output of the two propellers according to the real-time feedback of the course angle sensor (11);
s4, the propeller (5) is positioned at the center of the sonar unit, the propeller (5) can control the sonar unit (3) to rotate within the range of 0-360 degrees, and when the set course angle is reached, the propeller is matched with the sensor to realize course angle closed loop;
s5, placing the sonar (6) in the horizontal direction, and controlling lifting through a waterproof winch (1) after the sonar (6) rotates for one circle of scanning, so that different water layers are covered, and finally, the whole aquaculture net cage is covered by a scanning area;
and S6, displaying the result to man-machine interaction software in real time, automatically drawing a line graph, observing a change curve of the total number of fish, automatically archiving historical data, and leading out a report.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310462470.9A CN116449376B (en) | 2023-04-26 | 2023-04-26 | Cross-section moving cultivation net cage biological statistics device and working method thereof |
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| CN202310462470.9A CN116449376B (en) | 2023-04-26 | 2023-04-26 | Cross-section moving cultivation net cage biological statistics device and working method thereof |
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| CN116449376B true CN116449376B (en) | 2023-09-15 |
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