Patent ID: 12221196

DETAILED DESCRIPTION OF THE INVENTION

In order to make technical solutions and advantages of the present disclosure more obvious, exemplary embodiments according to the present disclosure are described in detail below with reference to the drawings. Apparently, the described embodiments are merely some but not all of the embodiments of the present disclosure. It is to be understood that, the present disclosure is not limited by the exemplary embodiments described herein.

First, a swimming pool robot according to embodiments of the present disclosure will be described with reference toFIG.1,FIG.2AandFIG.2B.FIG.1is a component block diagram illustrating a swimming pool robot according to an embodiment of the present disclosure.FIG.2Ais an overall schematic diagram illustrating a swimming pool robot according to an embodiment of the present disclosure.FIG.2Bis a schematic diagram illustrating cross-sectional components of a swimming pool robot according to an embodiment of the present disclosure.

As shown inFIG.1,FIG.2AandFIG.2B, the swimming pool robot1according to the embodiments of the present disclosure at least includes a main control unit10, a sinking and floating control unit20, a waterline detection unit30, a posture detection unit40, a distance measurement unit50, a map storage unit60and a water pump unit70. It should be understood that only components related to the sinking and floating control method according to the embodiments of the present disclosure are shown inFIG.1,FIG.2AandFIG.2B, and the swimming pool robot1according to the embodiments of the present disclosure is not limited to this, but can further include a driving unit, a cleaning unit, a communication unit and the like. In addition, it should be understood that the position and the number of each component inFIG.2Bare only exemplary, and the swimming pool robot1according to the embodiments of the present disclosure is not limited to this.

The main control unit10is configured to control each component of the swimming pool robot1according to the embodiments of the present disclosure. For example, in the sinking and floating control method for a swimming pool robot according to the embodiments of the present disclosure described in detail below, the main control unit10controls the sinking and floating control unit20based on operational requirements of the swimming pool robot1and according to detection results of the waterline detection unit30, the posture detection unit40, the distance measurement unit50, and the like, so as to control a floating and a sinking of the swimming pool robot1. Specifically, the main control unit10can control the swimming pool robot1to find a side wall or a slope based on operational requirement information of the swimming pool robot1, and enable the swimming pool robot1crawl along the side wall or the slope; further, control the waterline detection unit30to detect a positional relationship between the swimming pool robot1and a waterline of a liquid surface of a swimming pool where the swimming pool robot1is located; and control the sinking and floating control unit20to enter a floating working state based on detection results to realize a floating of the swimming pool robot1. Accordingly, the main control unit10can further control the sinking and floating control unit20to enter a sinking working state based on the operational requirement information to realize a sinking of the swimming pool robot1.

More specifically, the operational requirement information includes remote control command information sent by a user, clock information, operational task progress information, fault information, power information or swimming pool bottom environment information. That is, the remote control command information, the clock information, the operational task progress information, the fault information, the power information or the swimming pool bottom environment information instruct the swimming pool robot1to switch to a floating state to clean a waterline area, come out of water and charge or maintain; or instruct the swimming pool robot1to switch to a sinking state to clean a pool bottom and/or a sidewall area.

The sinking and floating control unit20is configured to control the swimming pool robot1to float and sink. As shown inFIG.2B, the sinking and floating control unit20includes an airbag subunit201, an inflation and deflation subunit202, a switch subunit203and an air inlet and outlet subunit204. The airbag subunit201is connected to the inflation and deflation subunit202, so that the airbag subunit201is connected to the outside atmosphere through the inflation and deflation subunit202, the switch subunit203and the air inlet and outlet subunit204. In the floating working state, the inflation and deflation subunit202is turned on to suck air from the outside and the switch subunit203is turned on. The air above a water level line enters the airbag subunit201through the air inlet and outlet subunit204, the switch subunit203and the inflation and deflation subunit202, so that a volume of the airbag subunit201becomes larger and a buoyancy of the swimming pool robot1is increased to float. In the floating state, the inflation and deflation subunit202and the switch subunit203are turned off, the airbag subunit201is disconnected from the outside atmosphere, and the swimming pool robot1remains floating. In the sinking working state, the inflation and deflation subunit202is turned on to extract air from the airbag subunit201, and the switch subunit203is turned on, the air in the airbag subunit201is discharged through the inflation and deflation subunit202, the switch subunit203and the air inlet and outlet subunit204, so that the volume of the airbag subunit201becomes smaller and the buoyancy of the swimming pool robot1is reduced to sink.

Further, a sinking and floating control unit of a swimming pool robot according to the embodiments of the present disclosure will be described with reference toFIG.3.FIG.3is a schematic diagram illustrating a sinking and floating control unit of a swimming pool robot according to an embodiment of the present disclosure.

As shown inFIG.3, the sinking and floating control unit20of the swimming pool robot according to the embodiment of the present disclosure includes two airbag subunits201connected in series. The two airbag subunits201are respectively arranged at a front and a rear of the swimming pool robot1, thereby facilitating the balance of the swimming pool robot1and the inflation of the airbag subunits201. The airbag subunits201, the inflation and deflation subunit202, the switch subunit203and the air inlet and outlet subunit204are connected to each other through an air pipe.

Further, the sinking and floating control unit of the swimming pool robot according to the embodiments of the present disclosure will be described with reference toFIG.4andFIG.5.FIG.4is a schematic diagram further illustrating an example of a sinking and floating control unit of a swimming pool robot according to an embodiment of the present disclosure.FIG.5is a schematic diagram further illustrating another example of a sinking and floating control unit of a swimming pool robot according to an embodiment of the present disclosure.

As shown inFIG.4, the inflation and deflation subunit202includes a first air pump assembly2021and a second air pump assembly2022, and the switch subunit203includes a first electromagnetic valve assembly2023and a second electromagnetic valve assembly2024. An inlet2033of the first electromagnetic valve assembly2023is connected to the air inlet and outlet subunit204, an outlet2043of the first electromagnetic valve assembly2023is connected to an air inlet port2031of the first air pump assembly2021, an air outlet port2041of the first air pump assembly2021is connected to the airbag subunit201, and an inlet2034of the second electromagnetic valve assembly2024is connected to an air outlet port2042of the second air pump assembly2022. An outlet2044of the second electromagnetic valve assembly2024is connected to the air inlet and outlet subunit204, and an air inlet port2032of the second air pump assembly2022is connected to the airbag subunit201.

In the floating working state, the first air pump assembly2021and the second air pump assembly2022are in a power-on working state, and the first electromagnetic valve assembly2023and the second electromagnetic valve assembly2024are in a power-off state. The air above the water level where the swimming pool robot1is located enters the first air pump assembly2021through the air inlet and outlet subunit204and the first electromagnetic valve assembly2023, and is filled into the airbag subunit201through the first air pump assembly2021.

In the sinking working state, the first air pump assembly2021and the second air pump assembly2022are in the power-off state, the first electromagnetic valve assembly2023and the second electromagnetic valve assembly2024are in the power-on working state. The air in the airbag subunit201enters the second air pump assembly2023and is discharged through the second air pump assembly2023, the second electromagnetic valve assembly2024and the air inlet and outlet subunit204.

As shown inFIG.5, the inflation and deflation subunit202includes a third air pump assembly2025, and the switch subunit203includes a first two-position three-way valve assembly2026and a second two-position three-way valve assembly2027. A first port2036of the first two-position three-way valve assembly2026is connected to the air inlet and outlet subunit204, a second port2046of the first two-position three-way valve assembly2026is connected to the airbag subunit201, and a third port2056of the first two-position three-way valve assembly2026is connected to an air inlet port2035of the third air pump assembly2025. A first port2037of the second two-position three-way valve assembly2027is connected to the air inlet and outlet subunit204, a second port2047of the second two-position three-way valve assembly2027is connected to the airbag subunit201, and a third port2057of the second two-position three-way valve assembly2027is connected to an air outlet port2045of the third air pump assembly2025.

In the floating working state, the first two-position three-way valve assembly2026and the third air pump assembly2025are in the power-on working state, and the second two-position three-way valve assembly2027is in the power-off state. The air above the water level line where the swimming pool robot1is located enters the third air pump assembly2025through the air inlet and outlet subunit204and the first two-position three-way valve assembly2026, and is filled into the airbag subunit201through the third air pump assembly2025.

In the sinking working state, the first two-position three-way valve assembly2026is in the power-off state, the second two-position three-way valve assembly2027and the third air pump assembly2025are in the power-on working state, and the air in the airbag subunit201enters the third air pump assembly2025and is discharged through the third air pump assembly2025, the first two-position three-way valve assembly2026and the air inlet and outlet subunit204.

Referring back toFIG.1, the main control unit10controls the sinking and floating control unit20based on the detection results of the waterline detection unit30, the posture detection unit40and the distance measurement unit50will be further described.

The waterline detection unit30is configured to detect the positional relationship between the swimming pool robot1and the waterline of the liquid surface of the swimming pool where the swimming pool robot1is located. Specifically, the waterline detection unit30includes an outlet water detection subunit301and a proximity waterline detection subunit302. The outlet water detection subunit301is configured to detect whether at least a part of the swimming pool robot1has come out of water. In one embodiment of the present disclosure, the outlet water detection subunit301is configured by, for example, a capacitive sensor or an ultrasonic ranging device. The proximity waterline detection subunit302is configured to detect whether the swimming pool robot1has crawled to a distance less than or equal to a predetermined distance from the waterline (for example, the predetermined distance is 10 cm to 20 cm). In one embodiment of the present disclosure, the proximity waterline detection subunit302is configured by, for example, an ultrasonic ranging device.

In one embodiment of the present disclosure, when the outlet water detection subunit301detects that at least a part of the swimming pool robot1has come out of the water, the inflation and deflation subunit202is controlled to start sucking air and the switch subunit203is controlled to open, so that the sinking and floating control unit20enters the floating working state.

Alternatively, in one embodiment of the present disclosure, when the proximity waterline detection subunit302detects that the swimming pool robot1has crawled to the distance less than or equal to the predetermined distance from the waterline, the inflation and deflation subunit202is controlled to start sucking air, and when the outlet water detection subunit301detects that at least a part of the swimming pool robot1has come out of the water, the switch subunit203is controlled to open, so that the sinking and floating control unit20enters the floating working state. In this case, the inflation and deflation subunit202and the switch subunit203are controlled to open in stages based on the detection of the outlet water detection subunit301and the proximity waterline detection subunit302, and the air in the air pipe is filled into the airbag subunit201in advance, thereby further improving the working efficiency of the sinking and floating control unit20.

Further, in response to the outlet water detection subunit301detecting that at least a part of the swimming pool robot1enters underwater again, the inflation and deflation subunit202and the switch subunit203are controlled to be closed. In this state, the swimming pool robot1remains floating. Alternatively, in one embodiment of the present disclosure, in response to that the outlet water detection subunit301does not detect that at least a part of the swimming pool robot1enters underwater again after the sinking and floating control unit20enters the floating working state for a predetermined time (for example, 40 seconds), the inflation and deflation subunit202and the switch subunit203are controlled to be closed. In another embodiment of the present disclosure, after the sinking and floating control unit20enters the floating working state, the outlet water detection subunit301stops working, and after a predetermined time (for example, 40 seconds), the inflation and deflation subunit202and the switch subunit203are controlled to be closed.

In this case, inflation and deflation subunit202and switch subunit203are prevented from inflating the airbag subunit201for a long time, and airbag subunit201is protected from being damaged.

The posture detection unit40is configured to detect a posture of the swimming pool robot1. In one embodiment of the present disclosure, the posture detection unit40is configured by, for example, an inertial sensor (IMU). The main control unit10controls the waterline detection unit to start to perform the detection of the positional relationship when posture detection results of the posture detection unit40meet a first predetermined condition (for example, changing from a state parallel to the bottom surface of the swimming pool to a state parallel to the side wall of the swimming pool). In one embodiment of the present disclosure, in the floating working state, in response to the posture detection unit40detecting that the posture of the swimming pool robot1meets a second predetermined condition (for example, changing from a state parallel to the side wall of the swimming pool to a state parallel to the bottom surface of the swimming pool), the inflation and deflation subunit202and the switch subunit203are controlled to be closed. Further, after the sinking and floating control unit20enters the floating working state for a predetermined time, the inflation and deflation subunit202and the switch subunit203are controlled to be closed. Alternatively, in response to a predetermined time after the sinking and floating control unit20enters the floating working state, if the posture detection unit40does not detect that the posture of the swimming pool robot1meets the second predetermined condition, the inflation and deflation subunit202and the switch subunit203are controlled to be closed.

The distance measurement unit50performs distance measurement to control the swimming pool robot1to find the nearest side wall or slope in response to the operational requirement information of the swimming pool robot1. For example, the swimming pool robot1rotates once in situ to detect a distance between the swimming pool robot1and each side wall of the swimming pool where the swimming pool robot1is located, so as to determine the nearest side wall or slope. After that, the main control unit10controls the swimming pool robot1to move to the nearest side wall or slope, and further makes the swimming pool robot1crawl along the side wall or slope to move to a liquid surface of the swimming pool.

The map storage unit60is configured to store map data of the swimming pool. The main control unit10controls the swimming pool robot to find the nearest side wall or slope based on the map data in the map storage unit. The main control unit10controls the swimming pool robot1to move to the nearest side wall or slope, and further makes the swimming pool robot crawl along the side wall or slope to move to the liquid surface of the swimming pool.

The water pump unit70is configured to extract liquid in the swimming pool where the swimming pool robot1is located, and discharge the liquid to propel the swimming pool robot1. When the swimming pool robot1performs cleaning work, the extracted liquid is discharged after being filtered inside the swimming pool robot1. In the embodiment of the present disclosure described above, a power of the water pump unit70is changed in response to the sinking and floating control unit20entering the floating working state or the swimming pool robot climbing the side wall or slope. That is, when at least a part of the swimming pool robot1is out of the water, a running power of the water pump unit70is reduced, thereby reducing an adsorption force between the swimming pool robot1and the side wall or slope, and facilitating the swimming pool robot1to gradually enter a floating state with the inflation and deflation subunit202and the switch subunit203inflating the airbag subunit201. In addition, in the process that the swimming pool robot1crawls along the side wall or slope until at least a part of the swimming pool robot1comes out of the water, the water pump unit70and a driving wheel of the swimming pool robot1jointly push the swimming pool robot1to move to the liquid surface of the swimming pool where the swimming pool robot1is located. Further, after the swimming pool robot1is in the floating state, the water pump unit70can be controlled to operate at an appropriate power based on the operational requirement information of the swimming pool robot1to perform cleaning work such as the waterline area.

Above, the swimming pool robot according to the embodiments of the present disclosure has been described with reference toFIG.1toFIG.5. The swimming pool robot according to the embodiments of the present disclosure, the sinking and floating control of the swimming pool robot can be realized by inflating and deflating the airbag with the air above the water level line, thereby having a faster sinking and floating speed compared to the solution of changing a quality of the swimming pool robot itself to realize floating or sinking through water absorption and drainage, and simplifying the configuration of internal components. By monitoring the working state and the posture of the swimming pool robot based on operational requirements of the swimming pool robot, starting detecting the positional relationship between the swimming pool robot and the waterline of the liquid surface of the swimming pool where the swimming pool robot is located, and starting each component of the sinking and floating control unit in stages according to detection results of the positional relationship, more accurate floating and sinking control can be realized, and the correct posture of the swimming pool robot in the whole operational process can be ensured.

Hereinafter, a sinking and floating control method for a swimming pool robot according to embodiments of the present disclosure will be described with further reference toFIG.6toFIG.8E.FIG.6is a flowchart illustrating a sinking and floating control method for a swimming pool robot according to an embodiment of the present disclosure.FIG.7is a schematic diagram illustrating a sinking and floating control method for a swimming pool robot according to an embodiment of the present disclosure.FIG.8AtoFIG.8Eare schematic diagrams further illustrating a sinking and floating control method for a swimming pool robot according to an embodiment of the present disclosure.

As shown inFIG.6, the sinking and floating control method for a swimming pool robot according to the embodiment of the present disclosure includes the following steps.

In step S601, a swimming pool robot is controlled to find a side wall or a slope based on operational requirement information of the swimming pool robot, and the swimming pool robot is enabled to crawl along the side wall or the slope.

In one embodiment of the present disclosure, the operational requirement information includes remote control command information sent by a user, clock information, operational task progress information, fault information, power information or swimming pool bottom environment information. That is, the remote control command information, the clock information, the operational task progress information, the fault information, the power information or the swimming pool bottom environment information instruct the swimming pool robot1to switch to a floating state to clean the waterline area, come out of water and charge or maintain; or instruct the swimming pool robot1to switch to a sinking state to clean the pool bottom and/or the sidewall area.

In one embodiment of the present disclosure, the distance measurement unit50performs distance measurement to control the swimming pool robot1to find the nearest side wall or slope in response to the operational requirement information of the swimming pool robot1. Specifically, referring toFIG.7, the swimming pool robot1rotates once in situ to detect distances L1, L2, L3and L4among the swimming pool robot1and side walls of the swimming pool where the swimming pool robot1is located, so as to determine the nearest side wall Wr. The distance between the swimming pool robot1and the side wall Wr is L4, and L4is smaller than any of L1, L2and L3. After that, the main control unit10controls the swimming pool robot1to move to the nearest side wall Wr, and further makes the swimming pool robot1crawl along the side wall Wr to move to the liquid surface of the swimming pool.

Alternatively, the map storage unit60is configured to store map data of the swimming pool. The main control unit10controls the swimming pool robot1to find the nearest side wall Wr based on the map data in the map storage unit60. The main control unit10controls the swimming pool robot1to move to the nearest side wall Wr, and further makes the swimming pool robot1crawl along the side wall Wr to move to the liquid surface of the swimming pool.

In one embodiment of the present disclosure, when the swimming pool robot1performs cleaning work at the bottom of the swimming pool, the water pump unit70extracts the liquid in the swimming pool where the swimming pool robot1is located, the extracted liquid is discharged after being filtered inside the swimming pool robot1, and the discharged liquid pushes the swimming pool robot1. When the swimming pool robot1crawls along the side wall Wr, the water pump unit70and the driving wheel of the swimming pool robot1jointly push the swimming pool robot1to move to the liquid surface Wt of the swimming pool where the swimming pool robot1is located.

In step S602, a positional relationship between the swimming pool robot and a waterline of a liquid surface of a swimming pool where the swimming pool robot is located is detected.

In one embodiment of the present disclosure, a posture of the swimming pool robot1is detected by a posture detection unit40configured by an inertial sensor (IMU). The main control unit10controls the waterline detection unit30to start to perform the detection of the positional relationship when posture detection results of the posture detection unit40meet a first predetermined condition (for example, changing from a state parallel to the bottom surface of the swimming pool to a state parallel to the side wall of the swimming pool). That is, as shown inFIG.8A, when the swimming pool robot1crawls along the side wall Wr to move to the liquid surface of the swimming pool where the swimming pool robot1is located, the detection of the positional relationship between the swimming pool robot1and the waterline Wt of the liquid surface of the swimming pool where the swimming pool robot1is located is performed.

As described above, the waterline detection unit30is configured to detect the positional relationship between the swimming pool robot1and the waterline Wt of the liquid surface of the swimming pool where the swimming pool robot1is located. Specifically, the waterline detection unit30includes an outlet water detection subunit301and a proximity waterline detection subunit302. The outlet water detection subunit301is configured to detect whether at least a part of the swimming pool robot1has come out of water. In one embodiment of the present disclosure, the outlet water detection subunit301is configured by, for example, a capacitive sensor or an ultrasonic ranging device. The proximity waterline detection subunit302is configured to detect whether the swimming pool robot1has crawled to a distance less than or equal to a predetermined distance from the waterline (for example, the predetermined distance is 10 cm to 20 cm). In one embodiment of the present disclosure, the proximity waterline detection subunit302is configured by, for example, an ultrasonic ranging device.

In step S603, a sinking and floating control unit is controlled to enter a floating working state based on detection results to realize a floating of the swimming pool robot.

In one embodiment of the present disclosure, when the outlet water detection subunit301detects that at least a part of the swimming pool robot1has come out of the water (for example, a state shown inFIG.8C), the inflation and deflation subunit202is controlled to start sucking air and the switch subunit203is controlled to open, so that the sinking and floating control unit20enters the floating working state.

Alternatively, in one embodiment of the present disclosure, when the proximity waterline detection subunit302detects that the swimming pool robot1has crawled to the distance less than or equal to the predetermined distance from the waterline (for example, a state shown inFIG.8B, the swimming pool robot1has crawled to a distance less than or equal to a predetermined distance H), the inflation and deflation subunit202is controlled to start sucking air, and when the outlet water detection subunit301detects that at least a part of the swimming pool robot1has come out of the water (for example, the state shown inFIG.8C), the switch subunit203is controlled to open, so that the sinking and floating control unit20enters the floating working state. In this case, the inflation and deflation subunit202and the switch subunit203are controlled to open in stages based on the detection of the outlet water detection subunit301and the proximity waterline detection subunit302, and the air in the air pipe is filled into the airbag subunit201in advance, thereby further improving the working efficiency of the sinking and floating control unit20.

In one embodiment of the present disclosure, a power of the water pump unit70is changed in response to the sinking and floating control unit20entering the floating working state. That is, when at least a part of the swimming pool robot1is out of the water, a running power of the water pump unit70is reduced, thereby reducing an adsorption force between the swimming pool robot1and the side wall or slope, and facilitating the swimming pool robot1to gradually enter a floating state with the inflation and deflation subunit202and the switch subunit203inflating the airbag subunit201. For example, as shown inFIG.8D, as the sinking and floating control unit20enters the floating working state, an end of the swimming pool robot1that does not come out of the water gradually floats.

In step S604, the sinking and floating control unit is controlled to stop working in response to detecting that at least a part of the swimming pool robot enters underwater again and/or detecting that the posture of the swimming pool robot meets a second predetermined condition.

In one embodiment of the present disclosure, in the floating working state, in response to the outlet water detection subunit301detecting that at least a part of the swimming pool robot1enters underwater again, the inflation and deflation subunit202and the switch subunit203are controlled to be closed. Alternatively, in response to the posture detection unit40detecting that the posture of the swimming pool robot1meets a second predetermined condition (for example, changing from a state parallel to the side wall of the swimming pool to a state parallel to the bottom surface of the swimming pool), the inflation and deflation subunit202and the switch subunit203are controlled to be closed. For example, as shown inFIG.8E, when the swimming pool robot1gradually floats to the state parallel to the bottom surface of the swimming pool, that is, when the swimming pool robot1enters the floating state, the sinking and floating control unit is controlled to stop working.

In addition, in response to the sinking and floating control unit20entering the floating working state, the outlet water detection subunit301and the posture detection unit40are closed, and after a predetermined time (for example, 40 seconds), the inflation and deflation subunit202and the switch subunit203are controlled to be closed. Alternatively, in one embodiment of the present disclosure, in response to that the outlet water detection subunit301does not detect that at least a part of the swimming pool robot1enters underwater again after the sinking and floating control unit20enters the floating working state for a predetermined time (for example, 40 seconds), the inflation and deflation subunit202and the switch subunit203are controlled to be closed. Alternatively, in response to the predetermined time after the sinking and floating control unit20enters the floating working state, if the posture detection unit40does not detect that the posture of the swimming pool robot1meets the second predetermined condition, the inflation and deflation subunit202and the switch subunit203are controlled to be closed. In this case, inflation and deflation subunit202and switch subunit203are prevented from inflating the airbag subunit201for a long time, and airbag subunit201is protected from being damaged.

Further, after the swimming pool robot1is in the floating state, the water pump unit70can be controlled to operate at an appropriate power based on the operational requirement information of the swimming pool robot1to perform cleaning work such as the waterline area.

Above, the controllable sinking and floating swimming pool robot and the sinking and floating control method for the swimming pool robot according to embodiments of the present disclosure are described with reference to the drawings, the sinking and floating control of the swimming pool robot can be realized by inflating and deflating the airbag with the air above the water level line, thereby having a faster sinking and floating speed compared to the solution of changing a quality of the swimming pool robot itself to realize floating or sinking through water absorption and drainage, and simplifying the configuration of internal components. In the sinking and floating control method, by monitoring the working state and the posture of the swimming pool robot based on operational requirements of the swimming pool robot, starting detecting the positional relationship between the swimming pool robot and the waterline of the liquid surface of the swimming pool where the swimming pool robot is located, and starting each component of the sinking and floating control unit in stages according to detection results of the positional relationship, more accurate floating and sinking control can be realized, and the correct posture of the swimming pool robot in the whole operational process can be ensured.

The above describes basic principles of the present disclosure with reference to specific embodiments. However, the advantages, effects, and the like mentioned in the present disclosure are merely examples but not limitations. These advantages, effects, and the like cannot be considered to be necessary for the embodiments of the present disclosure. In addition, the specific details disclosed above are only for illustrative purposes and easy-to-understand functions rather than limitation, and the foregoing details do not limit the present disclosure for implementation of the foregoing specific details.

The block diagrams of the device, apparatus, equipment, and system involved in the present disclosure are merely illustrative examples and are not intended to require or imply that the device, apparatus, equipment, and system need to be connected, arranged, and configured in the manner shown in the block diagrams. Those skilled in the art realize that the device, apparatus, equipment, and system can be connected, arranged, and configured in any manner. Terms such as “include”, “comprise”, “have”, and the like are open terms that mean “including but not limited to” and may be used interchangeably. The terms “or” and “and” used herein refer to the terms “and/or” and may be used interchangeably, unless the context clearly dictates otherwise. The expression “such as” used herein refers to the phrase “such as but not limited to” and may be used interchangeably with “such as”.

In addition, as used herein, “or” used in a listing of items beginning with “at least one” indicates a separate listing. Therefore, for example, a listing of “at least one of A, B, or C” means A, or B or C, or AB or AC or BC, or ABC (that is, A and B and C). In addition, the word “exemplary” does not mean that the described example is preferred or better than other examples.

In the system and method of the present disclosure, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations shall be regarded as equivalent solutions of the present disclosure.

Various changes, substitutions, and alterations may be made to the technology described herein without departing from the technology taught by the appended claims. In addition, the scope of the claims of the present disclosure is not limited to the foregoing specific aspects such as the processing, the machine, the manufacturing, the event composition, the means, the methods, and the actions. Existing or to-be-developed processing, machines, manufacturing, event composition, means, methods, or actions later performing substantially the same functions or achieving substantially the same results as the corresponding aspects described herein may be used. Therefore, the attached claims include such processing, machine, manufacturing, event composition, means, methods or actions within its scope.

The foregoing description of the disclosed aspects is provided to enable a person skilled in the art to make modifications to or use the present disclosure. Various modifications to these aspects are apparent to a person skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein but in accordance with the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been given for the purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the form disclosed herein. Although a plurality of example aspects and embodiments have been discussed above, those skilled in the art realize some variations, modifications, changes, additions, and sub-combinations thereof.