技术领域technical field
本发明涉及机器视觉、图像处理及特征检测与识别的视线跟踪领域，尤其涉及一种自由空间视线跟踪测量方法，主要应用于人机交互，是眼动系统作为高级人机交互的前提和基础。The invention relates to the field of sight tracking of machine vision, image processing and feature detection and recognition, in particular to a free space sight tracking measurement method, which is mainly used in human-computer interaction, and is the premise and basis of an eye movement system as a high-level human-computer interaction.
背景技术Background technique
眼动操作系统是高级人机交互的形式之一，对于可视形式的目标选择和操纵任务，人机交互的其它通道都是在视觉通道指导下进行的，即使用者先注视到感兴趣对象，再引导其它通道的选择或操纵动作。因此眼动操作系统的运用能够真正实现更加方便、更加迅速的实时操作，使得人机对话变得简便、自然。眼动操作系统在人机交互领域有广阔的应用前景，例如能理解人意图的智能计算机和机器人，具有交互功能的家用电器，虚拟现实和游戏，国防军事中的武器瞄准与目标定位等。视线跟踪技术是智能眼动操作系统的关键技术，是实现眼动操作系统作为高级人机交互应用的基础和前提，深入研究视线跟踪技术对实现眼动操作系统很好应用于自由空间人机交互系统有重要的理论和应用意义。The eye movement operating system is one of the forms of advanced human-computer interaction. For visual target selection and manipulation tasks, other channels of human-computer interaction are carried out under the guidance of the visual channel, that is, the user first looks at the object of interest , and then guide the selection or manipulation actions of other channels. Therefore, the application of the eye movement operating system can truly realize more convenient and faster real-time operation, making the man-machine dialogue easier and more natural. The eye movement operating system has broad application prospects in the field of human-computer interaction, such as intelligent computers and robots that can understand human intentions, household appliances with interactive functions, virtual reality and games, weapon aiming and target positioning in national defense and military, etc. Gaze tracking technology is the key technology of intelligent eye movement operating system, and it is the basis and premise of realizing eye movement operating system as an advanced human-computer interaction application. In-depth research on eye movement tracking technology is very good for the realization of eye movement operating system for free space human-computer interaction The system has important theoretical and practical significance.
视线跟踪技术主要研究内容是如何实时、客观、准确地记录使用者当前的视线方向或视线落点位置。视线是眼睛注视的方向，反映一个人关注的焦点。当眼睛注视某一物体时，物体的像自动成在视网膜的中央凹上，所以真实的视线方向是中央凹与瞳孔中心的连线方向。但因为中央凹不可见，提取眼睛特征参数表征眼动，间接得到视线方向。从真正使用仪器设备对眼动进行观察和实验的中世纪开始，经历上百年的技术发展，视线跟踪技术经历了直接观察法、后像法、机械记录法、电流记录法、电磁感应法等测量方法，随着机器视觉和数字图像处理技术的迅速发展，利用数字摄像机记录眼动过程并采用图像处理方法分析视线方向的光学记录法得到广泛应用。其中，瞳孔中心角膜反射光斑法是目前最为常用的方法。The main research content of gaze tracking technology is how to record the user's current gaze direction or gaze location in real time, objectively and accurately. Gaze is the direction in which the eyes are looking, reflecting a person's focus of attention. When the eyes focus on an object, the image of the object is automatically formed on the fovea of the retina, so the real line of sight is the direction of the line connecting the fovea and the center of the pupil. But because the fovea is not visible, the feature parameters of the eyes are extracted to represent the eye movement, and the direction of the line of sight is obtained indirectly. Since the Middle Ages when instruments and equipment were used to observe and experiment with eye movements, after hundreds of years of technological development, eye-tracking technology has undergone measurement methods such as direct observation, afterimage, mechanical recording, current recording, and electromagnetic induction. , with the rapid development of machine vision and digital image processing technology, the optical recording method, which uses digital cameras to record the eye movement process and uses image processing methods to analyze the direction of sight, has been widely used. Among them, the pupil center corneal reflection spot method is the most commonly used method at present.
基于瞳孔中心角膜反射光斑法的视线跟踪技术包括两部分的内容：(1)视线特征参数提取和(2)视线方向模型建立。视线特征参数提取通过图像处理从眼睛图像中提取瞳孔和角膜反射斑。其中，瞳孔跟踪是视线参数检测的重要步骤。目前视线方向模型建立主要分为二维和三维两种形式。基于二维的视线跟踪技术强烈依赖于标定的映射平面，而且只能得到二维的视点信息；基于三维的视线跟踪技术多采用遥测式，头部自由运动和高精度眼睛图像跟踪是无法做到两者均优化的矛盾体，且空间标定过程繁琐复杂，视线活动范围严重受到限制。The gaze tracking technology based on pupil center corneal reflection spot method includes two parts: (1) extraction of gaze feature parameters and (2) establishment of gaze direction model. The feature parameter extraction of line of sight extracts the pupil and corneal reflection spot from the eye image through image processing. Among them, pupil tracking is an important step in gaze parameter detection. At present, the line-of-sight model is mainly divided into two forms: two-dimensional and three-dimensional. Two-dimensional eye-tracking technology strongly relies on the calibrated mapping plane, and can only obtain two-dimensional viewpoint information; three-dimensional eye-tracking technology mostly uses telemetry, free head movement and high-precision eye image tracking cannot be achieved Both are optimized contradictions, and the space calibration process is cumbersome and complicated, and the range of sight activities is severely limited.
发明内容Contents of the invention
本发明提供了一种自由空间视线跟踪测量方法，本发明采用双目立体视觉自由空间视线跟踪测量方法，可在标定较简便的情况下获得头部自由运动时自由空间的三维视线方向，详见下文描述：The present invention provides a free-space line-of-sight tracking measurement method. The present invention adopts the binocular stereo vision free-space line-of-sight tracking measurement method, which can obtain the three-dimensional line-of-sight direction in free space when the head moves freely under the condition of relatively simple calibration. For details, see Described below:
一种自由空间视线跟踪测量方法，A free-space line-of-sight tracking measurement method,
利用双目立体视觉测量方法对一只眼睛的视线进行跟踪测量；该方法提取眼睛的内外眼角点坐标，计算双目立体视觉视线跟踪测量装置每次穿戴产生的移动坐标，并补偿所发生的相对移动；利用眼睛的瞳孔边缘所构成的圆平面中心点法线方向作为视线测量的间接估计方向；利用视线测量的间接估计方向与真实视线方向之间的系统误差偏差角来对真实视线进行测量。Use the binocular stereo vision measurement method to track and measure the line of sight of one eye; this method extracts the coordinates of the inner and outer corners of the eye, calculates the movement coordinates generated by the binocular stereo vision line of sight tracking measurement device each time it is worn, and compensates for the relative movement that occurs Move; use the normal direction of the center point of the circle plane formed by the pupil edge of the eye as the indirect estimated direction of line of sight measurement; use the system error deviation angle between the indirect estimated direction of line of sight measurement and the real line of sight direction to measure the real line of sight.
所述双目立体视觉视线跟踪测量装置包括：双目立体视觉视线跟踪测量相机与取景相机，The binocular stereo vision line of sight tracking measurement device includes: a binocular stereo vision line of sight tracking measurement camera and a viewfinder camera,
所述双目立体视觉视线跟踪测量相机与所述取景相机通过设置一片半透半反镜实现场景叠加，所述半透半反镜上部设置有双目立体视觉视线跟踪测量相机，所述双目立体视觉视线跟踪测量相机通过所述半透半反镜的反光面对充满双目立体视觉视线跟踪测量视场的单只眼睛成像；所述半透半反镜下方设置有所述取景相机，所述取景相机通过反光面对观察场景成像。The binocular stereo vision line of sight tracking measurement camera and the viewfinder camera realize scene superposition by setting a half-transparent half-mirror, and a binocular stereo vision line-of-sight tracking measurement camera is arranged on the upper part of the half-mirror. The stereo vision line of sight tracking measurement camera is filled with the single eye imaging of the binocular stereo vision line of sight tracking measurement field of view through the reflective face of the half mirror; the said viewfinder camera is arranged below the half mirror, so The viewfinder camera forms an image of the observation scene through the reflective surface.
所述利用眼睛的瞳孔边缘所构成的圆平面中心点法线方向作为视线测量的间接评估方向，其步骤为：The normal direction of the center point of the circle plane formed by the pupil edge of the eyes is used as the indirect evaluation direction of the line of sight measurement, and the steps are:
(1)标定所述双目立体视觉视线跟踪测量相机；(1) Calibrating the binocular stereo vision line of sight tracking measurement camera;
(2)利用双目立体视觉方法测量得到眼睛瞳孔边缘所构成圆平面中心点法线方向，即建立该圆中心点的法线直线方程；(3)将眼睛瞳孔边缘所构成平面中心点的法线定义为空间视线测量的间接估计方向。(2) Utilize the binocular stereo vision method to measure the normal direction of the center point of the circle plane formed by the edge of the pupil of the eye, that is, to establish the normal line equation of the center point of the circle; (3) the method of the center point of the plane formed by the edge of the pupil of the eye Lines are defined as indirectly estimated directions for spatial line-of-sight measurements.
所述利用视线测量的间接估计方向与真实视线方向之间的系统误差偏差角来对真实视线进行测量的步骤为：The step of measuring the real line of sight by using the systematic error deviation angle between the indirect estimated direction of line of sight measurement and the real line of sight direction is:
采用对人眼进行视线跟踪测量，在被测试人的参与下，由人指出标准靶标上的注视点位置，所述双目立体视觉视线跟踪测量相机坐标系中瞳孔中心和被测试人指出的注视点连线方向即为真实的视线方向；再与所述双目立体视觉视线跟踪测量相机所得的视线间接估计方向的测量结果比对，即可确定真实视线方向与视线间接估计方向的偏差角。Carry out line-of-sight tracking measurement to the human eye, under the participation of the tested person, the fixation point position on the standard target is pointed out by the person, the center of the pupil in the described binocular stereo vision line-of-sight tracking measurement camera coordinate system and the gaze point pointed out by the tested person The direction of the line connecting the dots is the real line of sight direction; and then compared with the measurement result of the indirect estimated direction of line of sight obtained by the binocular stereo vision line of sight tracking measurement camera, the deviation angle between the real line of sight direction and the indirect estimated direction of line of sight can be determined.
本方法通过半透半反镜和取景相机将视线和对应的自由空间场景及注视点关联起来，标定新定义的视线间接估计方向与真实视线方向之间的偏差角，补偿偏差角后获得自由空间视线方向，实现人眼视线与观察视场的叠加，具有以下的有益效果：This method associates the line of sight with the corresponding free space scene and gaze point through the half mirror and viewfinder camera, calibrates the deviation angle between the newly defined indirect estimated direction of line of sight and the real line of sight direction, and obtains free space after compensating the deviation angle The line of sight direction realizes the superposition of the human eye line of sight and the observation field of view, which has the following beneficial effects:
(1)可获得三维的自由空间视线方向；(1) The three-dimensional free space line of sight direction can be obtained;
(2)视线活动范围不受限制；(2) The sight range is not limited;
(3)头戴式的结构可满足头部自由运动同时，获取高精度眼睛图像；(3) The head-mounted structure can satisfy the free movement of the head while obtaining high-precision eye images;
(4)定义新的视线间接估计方向，空间标定过程简单；(4) Define a new line of sight indirect estimation direction, and the space calibration process is simple;
(5)可标定真实视线方向与定义的视线间接估计方向之间的系统误差。(5) The systematic error between the real line of sight direction and the defined indirect estimated line of sight direction can be calibrated.
附图说明Description of drawings
图1为一种自由空间视线跟踪测量方法的流程图；Fig. 1 is a flow chart of a free space line of sight tracking measurement method;
图2为头戴式双目立体视觉视线跟踪实验系统布局示意图；Fig. 2 is a schematic diagram of the layout of the head-mounted binocular stereo vision line of sight tracking experiment system;
图3为双目立体视觉视线跟踪测量坐标系示意图。Fig. 3 is a schematic diagram of a binocular stereo vision line of sight tracking measurement coordinate system.
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚，下面对本发明实施方式作进一步地详细描述。In order to make the purpose, technical solution and advantages of the present invention clearer, the implementation manners of the present invention will be further described in detail below.
本发明针对上述视线跟踪方法研究存在的问题，提供了一种自由空间视线跟踪测量方法，本方法将头戴式结构与三维视线测量原理结合，解决目前遥测式三维视线跟踪方法头部自由运动与高精度眼睛图像跟踪无法兼顾的问题，以及因此而引起的视线活动范围严重受限制的问题。The present invention aims at the problems existing in the research of the above-mentioned line-of-sight tracking method, and provides a free-space line-of-sight tracking measurement method. This method combines the head-mounted structure with the three-dimensional line-of-sight measurement principle, and solves the problem of the free movement of the head in the current telemetry-based three-dimensional line-of-sight tracking method. The problem that high-precision eye image tracking cannot be taken into account, and the problem that the range of sight activities caused by this is severely limited.
视线是眼睛注视的方向，反映一个人关注的焦点。当眼睛注视某一物体时，物体的像自动成在视网膜的中央凹上，所以真实的视线方向是中央凹与瞳孔中心的连线方向。但因为中央凹不可见，真实视线无法直接测量得到，故本方法定义“眼睛瞳孔边缘所构成的圆平面中心点法线方向为视线间接估计方向”，新定义的视线间接估计方向与真实视线方向之间存在偏差角，通过提取和补偿视线间接估计方向与真实视线方向之间的偏差角，即可间接得到真实视线方向，参见图1，下面逐步阐述本发明：Gaze is the direction in which the eyes are looking, reflecting a person's focus of attention. When the eyes focus on an object, the image of the object is automatically formed on the fovea of the retina, so the real line of sight is the direction of the line connecting the fovea and the center of the pupil. However, because the fovea is invisible, the real line of sight cannot be directly measured. Therefore, this method defines "the normal direction of the center point of the circular plane formed by the edge of the pupil of the eye as the indirect estimated direction of the line of sight". The newly defined indirect estimated direction of the line of sight and the true line of sight direction There is a deviation angle between them, by extracting and compensating the deviation angle between the indirectly estimated direction of the line of sight and the real line of sight direction, the real line of sight direction can be obtained indirectly, referring to Fig. 1, the present invention is explained step by step below:
101：构建双目立体视觉视线跟踪测量装置；101: Construct a binocular stereo vision line of sight tracking measurement device;
参见图2，该装置包括：头部固定架1，头部固定架1的设计采用眼眉上部接触定位法，头顶支撑和头后调紧，前后接触头部的部分呈弧形。该一片半透半反镜2设置在头部固定架1的前部，半透半反镜2上设置有双目立体视觉视线跟踪测量相机3，双目立体视觉视线跟踪测量相机3通过反光面对眼睛成像。半透半反镜2下方设置有取景相机4，取景相机4通过反光面对场景成像。Referring to Fig. 2, this device comprises: head holder 1, the design of head holder 1 adopts the upper part of the eyebrow contact positioning method, the top of the head is supported and the back of the head is adjusted tightly, and the part that contacts the head before and after is arc-shaped. This half-mirror 2 is arranged on the front portion of the head holder 1, and the half-mirror 2 is provided with a binocular stereo vision line of sight tracking measurement camera 3, and the binocular stereo vision line of sight tracking measurement camera 3 passes through the reflective surface Image the eye. A viewfinder camera 4 is arranged below the half-transparent mirror 2, and the viewfinder camera 4 images the scene through the reflective surface.
该双目立体视觉视线跟踪测量装置的布局可实现既不妨碍人眼对场景的观察，又覆盖取景相机的拍摄范围，将光线反射入取景相机，同时双目立体视觉视线跟踪测量相机3可采集到清晰的眼睛图像。The layout of the binocular stereo vision line-of-sight tracking measurement device can not only prevent human eyes from observing the scene, but also cover the shooting range of the viewfinder camera, and reflect light into the viewfinder camera. At the same time, the binocular stereo vision line-of-sight tracking measurement camera 3 can collect to a clear eye image.
102：利用眼睛的内外眼角点坐标，计算双目立体视觉视线跟踪测量装置每次穿戴产生的移动坐标，并补偿所发生的相对移动；102: Using the coordinates of the inner and outer corners of the eyes, calculate the movement coordinates of the binocular stereo vision line of sight tracking measurement device each time it is worn, and compensate for the relative movement that occurs;
通过该步骤补偿了双目立体视觉视线跟踪测量装置与头部发生相对移动，提高了测量精度。Through this step, the relative movement between the binocular stereo vision line of sight tracking measurement device and the head is compensated, and the measurement accuracy is improved.
103：双目立体视觉测量方法对单只眼睛的视线间接估计方向进行测量；103: The binocular stereo vision measurement method measures the indirect estimation direction of the line of sight of a single eye;
参见图3，双目立体视觉视线跟踪测量相机3(包括：左CMOS成像器和右CMOS成像器)，取坐标系OW-XWYWZW为世界坐标系。标定双目立体视觉视线跟踪测量相机3，利用已标定的双目立体视觉视线跟踪测量相机3在可见光下摄取高分辨率的眼睛图像，对图像进行处理，保留真实瞳孔区域边缘。通过双目立体视觉测量方法获得眼睛瞳孔边缘所构成圆平面中心点法线方向，即建立该圆中心点的法线直线方程；并定义该空间直线方程所描述的方向为视线间接估计方向。Referring to Fig. 3, binocular stereo vision line of sight tracking measurement camera 3 (comprising: left CMOS imager and right CMOS imager), take coordinate system OW -XW YW ZW as world coordinate system. Calibrate the binocular stereo vision line-of-sight tracking measurement camera 3, use the calibrated binocular stereo vision line-of-sight tracking measurement camera 3 to capture high-resolution eye images under visible light, process the images, and retain the real pupil area edge. Obtain the normal direction of the center point of the circle plane formed by the eye pupil edge through the binocular stereo vision measurement method, that is, establish the normal straight line equation of the circle center point; and define the direction described by the space straight line equation as the indirect estimated direction of sight.
拟合瞳孔所在平面表达式如下：The expression of the plane where the fitted pupil is located is as follows:
AXw+BYw+CZw+D＝0 (1)AXw +BYw +CZw +D＝0 (1)
由空间几何知识知，瞳孔所在平面的法向量为设双目立体视觉测量方法得到的瞳孔中心的三维坐标是(Xw0，Yw0，Zw0)，则瞳孔边缘构成圆平面的中心点的法线方程表达式如下：According to the knowledge of space geometry, the normal vector of the plane where the pupil is located is Assuming that the three-dimensional coordinates of the pupil center obtained by the binocular stereo vision measurement method are (Xw0 , Yw0 , Zw0 ), then the normal equation expression of the center point of the circular plane formed by the edge of the pupil is as follows:
104：标定空间视线间接估计方向与真实视线方向之间的偏差角。104: Calibrate the deviation angle between the indirect estimated direction of the spatial line of sight and the real line of sight direction.
其中，真实视线方向是瞳孔中心与视网膜中央凹的连线方向，但中央凹不可见，由被测人的配合确定真实视线方向，真实视线方向的落点即注视点也在真实视线方向上，故真实视线方向也是过瞳孔中心和注视点的连线方向。由被测试人告知目前所注视的标准靶标中的注视点位置，由取景相机4获得注视点坐标，通过标定确定双目立体视觉视线跟踪测量相机3与取景相机4相对位置关系(由头部固定架1保证相对位置关系固定)，则双目立体视觉视线跟踪测量相机3中瞳孔中心和注视点的连线方向，即为真实的视线方向。再与双目立体视觉视线跟踪测量相机3测试所得的视线间接估计方向的测量结果比对，确定真实视线方向与视线间接估计方向的偏差角，将偏差角补偿到测量所得的视线间接估计方向的测量值，即可得到真实的视线方向。Among them, the real line of sight direction is the direction of the line connecting the pupil center and the fovea of the retina, but the fovea is invisible, and the real line of sight direction is determined by the cooperation of the person under test. Therefore, the direction of the real line of sight is also the direction of the line passing through the center of the pupil and the fixation point. The person being tested informs the fixation point position in the standard target that is watching at present, obtains the fixation point coordinates by the viewfinder camera 4, and determines the relative positional relationship between the binocular stereo vision line of sight tracking measurement camera 3 and the viewfinder camera 4 by calibration (fixed by the head Frame 1 guarantees that the relative positional relationship is fixed), then the line direction of the pupil center and the fixation point in the binocular stereo vision line of sight tracking measurement camera 3 is the real line of sight direction. Then compare it with the measurement results of the indirect estimated direction of the line of sight obtained by the binocular stereo vision line of sight tracking measurement camera 3 test, determine the deviation angle between the real line of sight direction and the indirect estimated direction of the line of sight, and compensate the deviation angle to the indirect estimated direction of the line of sight measured. Measured value, you can get the real line of sight direction.
下面结合具体的实施例详细描述一种自由空间视线跟踪测量方法的操作过程，详见下文描述：The following describes in detail the operation process of a free-space line-of-sight tracking measurement method in conjunction with specific embodiments, see the following description for details:
如图2所示，一片半透半反镜2安装在头部固定架1的前部，其上放置双目立体视觉视线跟踪测量相机3，其下放置取景相机4。头部固定架1采用眼眉上部接触定位法固定在被测试者头部，标定双目立体视觉视线跟踪测量相机3。在可见光下由已标定的双目立体视觉视线跟踪测量相机3摄取被测试者眼睛图像，利用眼图中眼睛内外眼角坐标，作为测量过程中头双目立体视觉视线跟踪测量装置与头部发生相对位移的基准。被试者依次注视标准靶标中不同的注视点，摄取对应时刻的眼睛图像，对图像进行处理保留真实瞳孔区域边缘。利用双目立体视觉测量方法获得眼睛瞳孔边缘所构成圆平面中心点法线方向，即建立该圆中心点的法线直线方程，视其为视线间接估计方向。被测试者配合，告知目前所注视的标准靶标中的注视点位置，由取景相机4获得注视点坐标，通过标定确定双目立体视觉视线跟踪测量相机3与取景相机4相对位置关系，双目立体视觉视线跟踪测量相机3坐标系中瞳孔中心和标准靶标中注视点的连线方向，即为真实的视线方向。再与双目立体视觉视线跟踪测量相机3测试所得的视线间接估计方向的测量结果比对，确定真实视线方向与视线间接估计方向的偏差角，将偏差角补偿到测量所得的视线间接估计方向的测量值，即可得到真实的视线方向，将人眼真实视线方向与观察视场叠加。As shown in Figure 2, a piece of half-mirror 2 is installed on the front portion of head holder 1, on which a binocular stereo vision line of sight tracking measurement camera 3 is placed, and a viewfinder camera 4 is placed below it. The head fixing frame 1 is fixed on the head of the subject by using the upper part of the eyebrow contact positioning method, and the binocular stereo vision line-of-sight tracking measurement camera 3 is calibrated. Under visible light, the eye image of the subject is captured by the calibrated binocular stereo vision line of sight tracking measurement camera 3, and the coordinates of the inner and outer corners of the eye in the eye diagram are used as the relative position of the head binocular stereo vision line of sight tracking measurement device and the head during the measurement process. The base of the displacement. The subjects stared at different fixation points in the standard target in turn, took the eye images at the corresponding moments, and processed the images to preserve the real pupil area edges. Using the binocular stereo vision measurement method to obtain the normal direction of the center point of the circle plane formed by the edge of the pupil of the eye, that is, to establish the normal line equation of the circle center point, which is regarded as the indirect estimated direction of the line of sight. The subject cooperates and informs the position of the fixation point in the standard target that is currently watching, and obtains the coordinates of the fixation point from the viewfinder camera 4, and determines the relative positional relationship between the binocular stereo vision line of sight tracking measurement camera 3 and the viewfinder camera 4 through calibration, and the binocular stereo vision Visual line of sight tracking measures the direction of the line connecting the pupil center in the coordinate system of the camera 3 and the fixation point in the standard target, which is the real line of sight direction. Then compare it with the measurement results of the indirect estimated direction of the line of sight obtained by the binocular stereo vision line of sight tracking measurement camera 3 test, determine the deviation angle between the real line of sight direction and the indirect estimated direction of the line of sight, and compensate the deviation angle to the indirect estimated direction of the line of sight measured. The measured value can get the real line of sight direction, and superimpose the real line of sight direction of the human eye with the observation field of view.
本领域技术人员可以理解附图只是一个优选实施例的示意图，上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。Those skilled in the art can understand that the accompanying drawing is only a schematic diagram of a preferred embodiment, and the serial numbers of the above-mentioned embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.
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