Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phaseMutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order that those skilled in the art more fully understand application scheme, below in conjunction with the embodiment of the present applicationAccompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present application, it is clear that described embodiment is onlyThe embodiment of the application part, rather than whole embodiments.Based on the embodiment in the application, ordinary skill peopleThe every other embodiment that member is obtained under the premise of creative work is not made, should all belong to the model of the application protectionEnclose.
It should be noted that term " first ", " in the description and claims of this application and above-mentioned accompanying drawingTwo " it is etc. for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so usingData can exchange in the appropriate case, so as to embodiments herein described herein.Additionally, term " including " and " toolHave " and their any deformation, it is intended that covering is non-exclusive to be included, for example, containing a series of system of units, producingProduct or equipment are not necessarily limited to those units clearly listed, but may include not list clearly or for these productsOr other intrinsic units of equipment.
The utility model provides a kind of control system of robot.
Fig. 1 is according to a kind of control system of robot of the present utility model.As shown in figure 1, the control system of the robotSystem includes：First sensor set 10, data fusion unit 20, second sensor set 30, data processing unit 40 and transmissionModule 50.
Including the different parts positioned at the machine person, the multiple sensors for gathering multinomial robot dataIn first sensor set 10, multinomial robot data namely sensing data.Wherein, robot data is relevant with robotThe need for robot participate in and produce data, such as, and the electric quantity data of each module in robot, the position of sound source opposed robotsPut data, the pressure data that robot bears, the haptic data of robot, the attitude data of robot, barrier and robotThe distance between data.
Multiple sensors are respectively used to gather above-mentioned robot data.Such as, first sensor set 10 can include electricityPond electric power detection module, battery electric quantity detection module, when battery electric quantity is abnormal, can send alarm with real-time detection battery electric quantityInformation such as, when battery electric quantity is less than a certain threshold value, sends warning information to carry to point out staff to take O＆M measureShow staff in time for robot charges, reach the effect of the function of the control system of abundant robot.
First sensor set 10 can also include auditory localization module.The auditory localization module is used to detect that sound source is reachedThe time difference of each sensor, and then the orientation of sound source is followed the trail of according to the time difference, so as to reach the effect for listening sound to distinguish position, reachThe effect of the function of the control system of abundant robot.
First sensor set 10 can also include pressure sensor, detect that robot is being moved through by pressure sensorThe pressure born in journey, so as to realize controlling the motion state of stabilization in robot kinematics or quiescing process, reachesThe effect of the function of the control system of abundant robot.
First sensor set 10 can also include touch sensor module.The touch sensor module can be used for detectionThe size of external touch force and the position for producing, so as to assign tactile sensing device of robot attribute, have reached the control system of abundant robotThe effect of the function of system.
First sensor set 10 also includes that attitude transducer module can be included.The attitude transducer module can pass throughGather the acceleration information of robot, angular velocity data and magnetometer data, and by acceleration information, angular velocity data and magnetic forceCount and processed, determine the orientation of current robot, improve the attitude detection precision of robot, reached abundant robotControl system function effect.
First sensor set 10 can also include ultrasonic sensor.The ultrasonic sensor is used for robot and barrierHinder the distance between thing to measure, so as to realize the detection of barrier and evade, reach the control system of abundant robotFunction effect.
It is connected with first sensor set 10, for carrying out merging the number for obtaining fused data to multinomial robot dataAccording to integrated unit 20, after first sensor set 10 gathers multinomial robot data, for entering to multinomial robot dataRow fusion treatment, the data fusion unit 20 is association's controller module of robot controller system.The data fusion unit 20Can be made up of chip and peripheral circuit, alternatively, the data fusion unit 20 is with ARM Cortex-M4 kernels as coreSTM32F407ZGT6 chips and its peripheral circuit are constituted, it is possible to achieve the multiple sensors data in first sensor set 10Collection, fusion.The data fusion unit 20 can also send motor control instruction, according to motor control instruction controlled motorOperation.
The different parts positioned at the machine person are being included, second of the multiple sensors for gathering multi-medium dataIn set of sensors 30, multi-medium data can be the data such as view data, sound.Wherein, view data is included but is not limited toHuman face data, expression data, gesture data etc..Voice data includes but is not limited to voice collecting data and phonetic order dataDeng having reached the effect of the function of the control system of abundant robot.
Second sensor set 30 includes IMAQ and processing module.The IMAQ can be by figure with processing moduleAs Processing Algorithm is processed the view data for collecting, the effect of the function of the control system of abundant robot has been reached.
Second sensor set 30 can also include voice acquisition module.The voice acquisition module can be used for realizing voiceWith the identification of instruction, the effect of the function of the control system of abundant robot has been reached.
Second sensor set 30 can also include voice output module.It is various that the voice output module can be used for outputDefault phonetic order under interaction scenarios, has reached the effect of the function of the control system of abundant robot.
It is connected with data fusion unit 20 and second sensor set 30, for entering to fused data and multi-medium dataThe data processing unit 40 that row treatment obtains processing data is the main controller module of robot control system, with data fusion listUnit 20 communicates, and receives data fusion unit 20 through to multinomial robot data merge the fused data for obtaining, and the second biographyThe multi-medium data that sensor set 10 is obtained, is processed fused data and multi-medium data, obtains processing data.The dataProcessing unit 40 includes chip and peripheral circuit.Alternatively, the data processing unit 40 is used with ARM Cortex-A17 kernelsFor the Master control chip RK3288 and its peripheral circuit of core are constituted, it is possible to achieve the control algolithm of various compound movements, imageCollection and treatment, speech recognition and voice output etc., can also with Wireless Fidelity (Wireless Fidelity, referred to asWIFI) control module communication, the various kinds of sensors data that processing data integrated unit 20 is uploaded have reached the control of abundant robotThe effect of the function of system processed.
It is connected with data processing unit, to the server transport being controlled to robot according to processing dataThe transport module 50 for managing data can be used between robot body and cloud platform control system carrying out the biography of high speed wireless dataDefeated, can combine cloud platform control system carries out the computing of complexity, and alternatively, server is by transport module 50 to robotControl system carries out the updating operation of remote operation and software systems, so that the control to robot is realized, transport module 50, withData processing unit 40 is connected, for server transport processing data, server to be carried out according to processing data to robotControl, has reached the effect of the function of the control system of abundant robot.
First sensor set 10, data fusion unit 20, second sensor set 30, data processing unit 40 and transmissionModule 50 is powered by energy module.Alternatively, the energy module includes lithium polymer battery module and multichannel DC-DC voltagesConversion module, wherein, lithium polymer battery voltage conversion is other DC voltages by DC-DC power source conversion module, so as to be machineEach circuit module in the control system of device people provides the energy.
The embodiment is located at the different parts of the machine person by the multiple sensors in first sensor set 10, usesIn multinomial robot data is gathered, it is connected with first sensor set 10 by data fusion unit 20, to multinomial robotData are merged, and obtain fused data, and the machine person is located at by the multiple sensors in second sensor set 30Different parts, for gathering multi-medium data, by data processing unit 40 and data fusion unit 20 and second sensor 30Set is connected, and fused data and multi-medium data are processed, and obtains processing data, transport module 50, with data processingUnit 40 is connected, and for the data transfer between robot body and server, server is according to processing data to robotIt is controlled, solves the function simple question of the control system of robot, and then has reached the control system of abundant robotThe effect of the function of system.
Alternatively, it is connected with server, for determining for positioning result from robot to server transport that positioned toPosition module can be positioned using ultra wide band positioning (Ultra Wideband, referred to as UWB) technology to robot, can be adoptedRobot is precisely located out by setting up UWB alignment systems in space with the UWB location technologies of 20cm positioning precisionsPosition in space, so as to realize planning the path of robot and barrier is evaded.The locating module and transmission mouldBlock is engaged, and access cloud platform control system by transport module is controlled to multirobot, can assign multirobot raceThe attribute of group, so as to realize being accurately positioned and controlling to every robot.
Alternatively, second sensor set includes at least one of：Image capture module for gathering view data；Voice acquisition module for being input into from the first speech data to data processing unit；For receiving data processing unit transmission theThe voice output module of two speech datas.
Image capture module, for gathering view data, can use USB (Universal SerialBus, referred to as USB) coordinate image processing algorithm to be realized, the data acquisition of including but not limited to recognition of face, expression are knownOther data acquisition, the data acquisition of gesture identification, the data acquisition of thing block identification.
Voice acquisition module, for being input into the first speech data to data processing unit, can gather for high-quality voiceSensor, and coordinate sound identification module so as to realize the identification to speech data and instruction.
Voice output module, the second speech data for receiving data processing unit transmission, can be raised using high-qualitySound device and audio power amplifier circuit export default phonetic order of the storage in data processing unit, or by data processing listUnit receives the default phonetic order from server, wherein, default phonetic order is the usual instructions under current interaction scenarios.
Alternatively, image capture module is located at the eyes of robot；Voice acquisition module is located at the ears of robotPosition.
Image capture module is located at the eyes of robot, can be the shooting head mould of the eyes positioned at robotBlock, the camera module uses USB camera, and image processing algorithm can be coordinated to realize including but is not limited to recognition of face work(Energy, expression identification function, gesture identification function, thing block identification function etc..
Voice acquisition module is located at the ears position of robot, and the voice acquisition module can be to be arranged in robot earsHigh-quality voice collection sensor, and coordinate sound identification module so as to realize to voice and instruction identification.
Alternatively, first sensor set includes at least one of：Battery electric quantity for gathering electric quantity data is detectedModule；Auditory localization sensor for gathering sound source data；Pressure sensor for gathering the pressure data of robot；WithIn the touch sensor of the haptic data of detection robot；Attitude transducer for gathering the attitude data of robot；ForThe ultrasonic sensor of collection the distance between robot and barrier data.
Battery electric quantity detection module, for gathering electric quantity data, can be using the electricity being integrated in inside lithium polymer batteryAmount detects circuit and sensor to realize the real-time detection of battery electric quantity, and is carried out when battery electric quantity is less than a certain threshold value pre-It is alert, so as to point out charging in time.
Auditory localization sensor, for gathering sound source data, using filter circuit, amplifying circuit and can be installed on machineSound collection sensor on the device person is realized.Sound is followed the trail of by detecting that sound source reaches time difference of each sensorSource, so as to reach the effect for listening sound to distinguish position, makes robot tend to the auditory function of true people, and direction is produced with identification soundFunction.
Pressure sensor, the pressure data for gathering robot can detect the pressure of machine pressure sensor outputValue, with realize robot in motion process or quiescing process to the detection of the position of centre of gravity of robot, so as to control machineThe motion gait of people's stabilization in motion process.
Touch sensor, the haptic data for detecting robot can be sampled electric by the ADC in data fusion unitThe size and location of external touch force is detected on road, so as to assign tactile sensing device of robot attribute.
Attitude transducer, the attitude data for gathering robot can be by merging the acceleration of three axis accelerometerData, the angular velocity data of three-axis gyroscope, the magnetometer data of three axle magnetometer determine the attitude of robot, by reading threeAxle gyroscope attitude angle, calculates the attitude after correction, and then obtain the orientation of current robot.Utilized when robot is staticMagnetometer is corrected to gyroscope, and the precision of robot pose detection is improved so as to reach, further, it is also possible to by acceleratingDegrees of data integration obtains the speed of robot.
Ultrasonic sensor, for gathering the distance between robot and barrier data, realizes robot and barrierBetween distance detection, reach detection of obstacles with the purpose evaded.
Alternatively, auditory localization sensor includes the sound collection sensor positioned at the front of robot and back；PressureSensor is located at the double-legged bottom of robot；Touch sensor is located at the crown, both shoulders and the arm of robot；Attitude transducer positionIn the thoracic cavity of robot；Ultrasonic sensor is located at front and the both feet of robot.
Auditory localization sensor, using filter circuit, amplifying circuit and can be installed on robot front and backEach 2 sound collection sensors are realized.
Pressure sensor, can detect the pressure value of each 4 pressure sensors output in robot both feet bottom, to realize machineDevice people is in motion process or quiescing process to the detection of the position of centre of gravity of robot.
Touch sensor, can be gathered by ADC sample circuits in data fusion unit be installed on the robot crown andThe sensing data of the touch sensor at both shoulders and arm detects the size and location of external touch force, so as to assign machineDevice people's tactile properties.
Attitude transducer, can be by obtaining three axis accelerometer, three-axis gyroscope, three axle magnetometer data, by readingThree-axis gyroscope attitude angle is taken, the orientation that the attitude after correction obtains current robot can be calculated；When robot is staticGyroscope is corrected using magnetometer, improves attitude detection precision；Robot is obtained using to acceleration information integrationSpeed.
Ultrasonic sensor, range measurement is carried out using the ultrasonic wave module being installed on robot body, so as to realizeDetection of obstacles with evade.
Alternatively, control system also includes：For receiving entering for the body to robot for data fusion unit transmissionThe motion drive control module of the first control instruction of row control, it is total that motion drive control module is additionally operable to control half-duplex UARTLine；Facial table for receiving second control instruction being controlled for the face to robot of data fusion unit transmissionFeelings control module, facial expression control module is additionally operable to control IIC and turns multi-channel PWM output bus.
In drive control module is moved, the first control instruction can include left foot, right foot, left hand, the right side to robotThe control instruction of hand, waist and neck etc..Drive control module can also realize that full duplex UART turns half-duplex by latchUART modular circuits, so as to realize that each motion drives digital rudder controller to use monobus or star-like connected mode serial communication one by oneAnd control, and then reduce control and connecting wiring complexity.
In facial expression control module, the second control instruction includes the eyebrow to robot face, eyes, face and faceThe control instruction of cheek etc..The facial expression control module is also the multi-channel PWM output circuit mould controlled by IIC communication interfacesBlock, communicates and controls to simplify the complexity of robot wiring by monobus mode.
Alternatively, motion drive control module includes：Motion drive control module includes at least one of：Positioned at machineThe digital rudder controller of the first predetermined number of the left foot of people；Positioned at the digital rudder controller of the second right sufficient predetermined number of robot；PositionIn the digital rudder controller of the 3rd predetermined number of the left hand of robot；Positioned at the digital rudder of the 4th predetermined number of the right hand of robotMachine；Positioned at the digital rudder controller of the 5th predetermined number of the waist and top of robot；Facial expression control module include it is following extremelyIt is one of few：For the digital rudder controller of the 6th predetermined number of the eyebrow activity of driven machine people；For the eyes of driven machine peopleThe digital rudder controller of the 7th predetermined number of activity；For the digital rudder of the 8th predetermined number of the face activity of driven machine peopleMachine；For the digital rudder of the 9th predetermined number of the cheek activity of driven machine people；Digital rudder controller is that PWM controls digital rudder controller.
The digital rudder controller of the first predetermined number uses serial communication mode, and first predetermined number can be 6.Second presetsThe digital rudder controller of number uses serial communication mode, and second predetermined number can be 6.The digital rudder controller of the 3rd predetermined number is adoptedSerial communication mode is used, the 3rd predetermined number can be 4.The digital rudder controller of the 4th predetermined number uses serial communication mode,4th predetermined number can be 4.The digital rudder controller of the 5th predetermined number uses serial communication mode, and the 5th predetermined number canThink 5.The eyebrow activity of the digital rudder controller driven machine people that the embodiment passes through the 6th predetermined number, by the 7th predetermined numberDigital rudder controller driven machine people eye activity, lived by the face of the digital rudder controller driven machine people of the 8th predetermined numberIt is dynamic, by the cheek activity of the digital rudder controller driven machine people of the 9th predetermined number so as to realize that it is various that driving face epidermis is realizedComplicated expression.Alternatively, the 6th predetermined number, the 7th predetermined number, the 8th predetermined number and the 9th predetermined number are total up to10。
Above-mentioned digital rudder controller can control digital rudder controller for PWM.
Alternatively, data processing unit includes robot is upgraded for the upgrading data issued according to serverUpgraded module.After server issues upgrading data, transmitted by transport module, upgraded module receives upgrading data and to machineThe software of device people is upgraded.
The WIFI controller module of the embodiment mainly realizes that robot body carries out high speed nothing with cloud platform control systemThe transmission of line number evidence, can cooperate with cloud system to carry out complex calculation, and can by cloud system carry out remote control and by WIFI withoutLine communication mode is to robot software's system upgrade, it is to avoid need to power off and tear open the problem of machine upgrading, so as to improve machineThe simplicity of the function upgrading of people and the scalability of later stage function, have reached the effect of the function of abundant control system.
The utility model is illustrated with reference to a kind of preferred embodiment.
Fig. 2 is the schematic diagram of the control system of another robot according to the utility model embodiment.As shown in Fig. 2The control system of the robot includes：Image capture module, voice input module, voice output module, battery electric quantity detection mouldBlock, auditory localization sensor, pressure sensor, touch sensor, attitude transducer, ultrasonic sensor modules, WIFI controlsDevice, primary processor device module, co-processor module, locating module, motion drive control module, facial expression control module, energySource module.
WIFI controller module is mainly realized carrying out the transmission of high speed wireless data between robot body and cloud platform, canCollaboration cloud system carries out complex calculation, and can carry out remote control and software system updating by cloud system, coordinates robot to determinePosition system can assign the attribute of multirobot group, it is not necessary to machine upgrading be powered off and tear open, so as to improve robot function upgradingSimplicity and later stage function expansibility.
Locating module can by the UWB alignment systems for setting up in space using the UWB location technologies of 20cm positioning precisionsSo that robot position in space is precisely located out, so as to realize that robot path planning and barrier evade.
Main processor modules are connected with WIFI controller, can use the master with ARM Cortex-A17 kernels as coreControl chip RK3288 and its peripheral circuit realize various compound movement control algolithms, IMAQ and treatment, speech recognition andVoice output, and communicated with WIFI controller, process various kinds of sensors data that association's controller is uploaded etc..
Co-processor module is connected with main processor modules, can be core by ARM Cortex-M4 kernelsSTM32F407ZGT6 chips and its peripheral circuit are constituted, and realize collection, fusion and the motor control of multiple sensors dataThe transmission of instruction, and communicated with main processor modules, realize processing more tasks using multiprocessor Collaborative Control.
Image capture module, is connected with primary processor, can be IMAQ and processing module, using USB cameraModule cooperation image processing algorithm can realize including but not limited to face identification functions, expression identification function, gesture identification work(Energy, thing block identification function.
Voice input module, is connected with primary processor, can be used for speech recognition, using being arranged in robot earsHigh-quality voice gathers sensor, and coordinates speech recognition software module to be recognized so as to realize voice and instruction.
Voice output module, is connected with primary processor, can be exported using high-quality loudspeaker and audio power amplifier circuitStorage in main processor modules system, or suitable current interaction scenarios of the storage in cloud platform system more than 500Conventional phonetic order.
Battery electric quantity detection module, is connected with coprocessor, can be using the electricity being integrated in inside lithium polymer batteryAmount detection circuit and sensor realize the real-time detection of battery electric quantity, and early warning is carried out when battery electric quantity is less than a certain threshold value, andPrompting is charged in time.
Auditory localization module, is connected with coprocessor, can include filter circuit and amplifying circuit and be installed on machinePeople front and each 2 sound collection sensors of back, sound is followed the trail of by detecting that sound source reaches time difference of each sensorSource, so as to reach the effect for listening sound to distinguish position, makes robot tend to the auditory function of true people, can recognize the side that sound is producedTo.
Pressure sensor module, is connected with coprocessor, can be placed in each 4 pressures in robot both feet bottom by detectionThe pressure value of force snesor output is realizing robot in motion process or in quiescing process to robot position of centre of gravityDetection, to realize the motion gait of robot stabilization in motion process.
Touch sensor module, is connected with coprocessor, can be realized by pressure film sensor, by coprocessorThe collection of ADC sample circuits is installed on the sensor at the robot crown and both shoulders and arm to detect external touch force in moduleSize and location, so as to assign tactile sensing device of robot attribute.
Attitude transducer module, is connected with coprocessor, and the attitude transducer module can obtain three axis accelerometerAcceleration information, the angular velocity data of three-axis gyroscope, three axle magnetometer data, by reading three-axis gyroscope attitude angle, canTo calculate the attitude data after correction so as to obtain the orientation of current robot；When robot is static using magnetometer to topSpiral shell instrument is corrected, so as to improve attitude detection precision；The attitude transducer can also be utilized to integrate acceleration information and obtainedThe speed of robot.
Ultrasonic sensor modules, are connected with coprocessor, it is possible to use install and the ultrasonic wave on robot bodyModule carries out range measurement, realizes detection of obstacles and evades.
Alternatively, the embodiment uses and is arranged in the camera module of robot eyes, is arranged in ears, front and backEach 2 sound collection sensors, the touch sensor for being arranged in the crown and both shoulders and arm, loudspeaker, the cloth for being arranged in frontThe ultrasonic sensor of front and both feet is placed in, the attitude transducer in thoracic cavity is arranged in and is arranged in each 4 pressure at double-legged bottomSensor, be arranged in robot eyes camera module, be arranged in ears, front and each 2 sound collection sensors of back,The touch sensor of the crown and both shoulders and arm is arranged in, the loudspeaker of front is arranged in, is arranged in the ultrasound of front and both feetWave sensor, the attitude transducer for being arranged in thoracic cavity and each 4 pressure sensors at double-legged bottom are arranged in, realize above-mentioned imageAcquisition module, above-mentioned voice input module, above-mentioned voice output module, above-mentioned battery electric quantity detection module, above-mentioned auditory localizationModule, above-mentioned pressure sensor module, above-mentioned touch sensor module, above-mentioned attitude transducer module, above-mentioned supersonic sensingThe combination integration program and rational deployment of device module, improve the accuracy and the stability of a system of robot data.
Motion drive control module is connected with coprocessor and be connected with 5 groups of digital rudder controllers, is realized by latch completeDuplexing UART turns half-duplex UART modular circuits, so as to realize that each motion drives digital rudder controller to use monobus or star-like connectionMode serial communication and control one by one, reduces control and connecting wiring complexity.5 groups of digital rudder controllers are all serial communication sideFormula, including 6 digital rudder controllers of robot left foot, 6 digital rudder controllers of right foot, 4 digital rudder controllers of left hand, 4 digital rudder controllers of the right hand,3 digital rudder controllers of waist and neck.
Facial expression control module is connected with coprocessor and be connected with 4 groups of digital rudder controllers, is the control of IIC communication interfacesThe multi-channel PWM output circuit module of generation, communicates and controls to simplify robot wiring complexity by monobus mode.This 4 groupsDigital rudder controller be PWM control digital rudder controller, including for drive eyebrow, eyes, face, cheek totally 10 digital rudder controllers to driveFace's epidermis is moved to realize the expressions of various complexity.
Energy module includes lithium polymer battery module and multichannel DC-DC voltage transformation modules, DC-DC power source conversion moduleBy lithium polymer battery voltage conversion for other DC voltages for each circuit module provides the energy.
The embodiment adds association's controller module, main controller module mainly to realize number by a main controller moduleRealized according to treatment and complicated algorithm etc., association's controller mainly realizes that each sensor data acquisition and fusion and motor control are realizedMore tasks are processed using multiprocessor Collaborative Control, by be arranged in robot eyes camera module, be arranged in it is doubleEar, front and each 2 sound collection sensors of back, the touch sensor for being arranged in the crown and both shoulders and arm, it is arranged in chestPreceding loudspeaker, the ultrasonic sensor for being arranged in front and both feet, it is arranged in the attitude transducer in thoracic cavity and is arranged in both feetEach 4 pressure sensors at bottom are realized and combine integration program and rational placement scheme raising robot using multiple sensorsThe accuracy and the stability of a system of data, half-duplex UART buses and the facial expression control of digital servos control are driven by movingThe IIC of system turns multi-channel PWM output bus, motion and drives what the half-duplex UART buses and facial expression of digital servos control were controlledIIC turns multi-channel PWM output bus and simplifies robot wiring complexity, by using high-precision UWB location technologies to everyRobot be accurately positioned and by high speed WIFI communication access cloud platform control systems to multirobot control realization using highPrecision positioning method and high-speed radiocommunication mode assign group of robot attribute and simplify software system updating complexity, pass throughCloud platform system, to robot software's system upgrade, is not required to power off and tear open machine upgrading with WIFI communications, improves machinePeople's function upgrading simplicity and later stage function expansibility, so as to enrich the function of robot control system.
It should be noted that it is above-mentioned unit module and its annexation that the utility model is required for protection, andIt is not related to the innovation to internal software.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for thisFor the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principleWithin, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.