The present disclosure is directed to a smart assisting device for blind or visually impaired people, and more particularly, directed to a smart cane for an individual including the blind and/or visually impaired and a method of using the smart cane.
The “background” description provided herein is to present the context of the disclosure generally. Work of the presently named inventors, to the extent it is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present invention.
Persons with visual impairments have multiple impediments in their daily lives, particularly when it comes to mobility and navigation. Traditionally, walking canes have been the main form of aid for these people. The walking cane is a vital tool for helping people who are visually impaired to navigate their surroundings. Walking assistance devices for the visually impaired were first introduced as tactile assistance devices. Later, creation of mobility aids was particularly inspired from the first walking cane. The walking cane became a well-known representation of vision impairment, fostering understanding and acceptance. In the past, canes were mainly constructed of wood or metal and had few navigational features. In particular, the weight and length of a cane are important factors in giving a user stability and feedback. To optimize the cane's effectiveness, correct cane sizing and training are needed. Further, in the past, the walking cane was mostly used via touch and physical obstacle detection. People would move the cane back and forth in front of them to feel for changes in the terrain or impending obstacles. The walking cane is a tactile tool that may help users learn about their immediate environment and recognize potential dangers.
The walking cane has been a subject of constant research and development with emphasis on improving the usability, features, and safety of the walking cane. The need for better mobility aids has been highlighted by research on smart canes and assistive technology for people with visual impairments. Although earlier canes lacked sophisticated features and sensory feedback mechanisms, the present technological advancements in the walking cane domain utilize smart assistive technologies for the blind. Traditional walking canes were found to have weak obstacle detection abilities and were unable to detect objects at heights above ground level. Individuals with vision impairments are at risk because of this limitation, particularly in urban settings where low hanging branches and overhead obstructions are present.
In order to mitigate the above mentioned issues, incorporation of sensor technology into walking canes have been proposed. In particular, ultrasonic sensors have demonstrated potential in properly identifying barriers and giving users real-time feedback. Further, ultrasonic sensors provide obstacle detection, enabling visually impaired people to traverse their surroundings more successfully. Additionally, efforts have been made to improve functionality of smart canes by using computer vision techniques. Computer vision may help the visually impaired identify and avoid hazards in real-time. The development of smart canes has focused on navigation and localization methods in addition to sensor technology. Systems based on GPS offer precise positioning and guidance. In order to guarantee that the smart canes satisfies the unique needs and preferences of people who are visually impaired, user-centered design approaches have also been explored.
However, the present technological advancements in the field of smart walking canes have shortcomings in terms of delivering precise navigation and obstacle detection. Therefore, one object of the present disclosure is to provide a smart cane that offers visually impaired people precise obstacle detection and real-time help and support.
IN201921041852A describes a smart cane designed to cater to the visually challenged to make them independent, more conscious of their surroundings and able to move with the same ease as a sighted person. The smart cane may detect moving obstacles, elevation and depression, hot objects and slippery floors. An emergency module is present to email the user's location to a caretaker. The cane was designed to remain robust in all weather conditions and has a choice of switching between auditory feedback (via headphones) and haptic feedback for every functionality. Custom-made features like regional language options for auditory feedback and the ability to cater to different height groups includes a haptic feedback mode for alerting individuals with both hearing and visual impairment. Additionally, a flashlight module caters to individuals with complete visual impairment (by alerting others of their presence at night) and partial visual impairment (as a navigating aid at night). However, the above mentioned reference does not describe real-time, dynamic, and adaptive feedback with AI integration.
CN213190991U describes a utility model that claims a multifunctional blindman stick and communication locating system. The blindman stick or walking stick includes a crutch rod and a handle between the crutch rod. The handle is provided with an elastic buffer material. The crutch rod includes multiple sections of crutch, the crutch is telescopic connection with one side of the crutch rod close to a bottom end is provided with a distance measuring sensor group. The distance measuring sensor group is used for sending a detection signal to a measured target, and receiving the reflected signal formed by the detection signal reflected by the measured target. The crutch rod is provided with a microcontroller, a warning alarm, a GPS positioning device, a communication module, a storage module, and a battery module. The handle is provided with a keyboard and a temperature sensor. The utility model may use the principle of signal transmission detection and reflection control. The detection of a condition of an obstacle is notified by voice prompt to a blind, so as to bring convenience to the travel of the blind. The crutch rod improves safety and convenience of the blind. However, the above mentioned reference does not describe real-time, dynamic, and adaptive feedback with remote operation.
Accordingly, it is one object of the present disclosure to provide a smart cane and a method of using the smart cane, that may circumvent the aforementioned drawbacks such as inability to provide location assistance, real-time feedback, and AI integration to a visually impaired individual using the smart cane.
In an exemplary embodiment, a smart cane for a blind and/or visually impaired individual, is described. The smart cane includes a linear main frame rod (LMFR) having a first end, a second end, and a first internal cavity. The smart cane further includes a linear extending rod (LER) having a first end, a second end, and a second internal cavity. In some embodiments, the second end of the LMFR is connected to the first end of the LER. The smart cane further includes a load-bearing feet disposed at the second end of the LER, a top case assembly having a pivot at a connection to the first end of the LMFR, and a hand grip operably coupled to an outer circumferential side of the top case assembly. In some embodiments, the hand grip is operably coupled to the LMFR via the top case assembly. In some embodiments, the hand grip and the top case assembly are movable relative to the LMFR, and a casing box of the top case assembly is in a form of an irregular hexagonal cell having an axis of symmetry that is coaxial with an axis of the hand grip. In some embodiments, the two longest sides of the irregular hexagonal cell are opposite one another and extend lengthwise down the axis of the hand grip sloping away from the axis of the hand grip. In some embodiments, the two shortest sides of the irregular hexagonal cell are of equal length and are opposite one another. In some embodiments, one of the two shortest sides of the irregular hexagonal cell is proximal to the hand grip, and the other of the two shortest sides of the irregular hexagonal cell is proximal to the first end of the LMFR. In some embodiments, the two shortest sides of the irregular hexagonal cell are perpendicular to the axis of the hand grip.
In some embodiments, the LMFR has a length in a range of 400 to 1600 millimeters (mm). In some embodiments, the LMFR has a cylindrical cross section having an inner diameter in a range of 5 to 50 mm.
In some embodiments, the LER has a length in a range of 200 to 900 mm. In some embodiments, the LER has a cylindrical cross section having an inner diameter in a range of 3 to 40 mm.
In some embodiments, the inner diameter of the LMFR is greater than the inner diameter of the LER. In some embodiments, the first end of the LER is within the first internal cavity of the LMFR.
In some embodiments, the top case assembly includes the casing box, three or more ultrasonic sensors, a camera module, an LED light, a charge module, a GPS module, a vibration motor, a Bluetooth module, a memory module, and a microcontroller containing an SOS system.
In some embodiments, the three or more ultrasonic sensors, the camera module, the LED light, the charge module, the GPS module, the vibration motor, the Bluetooth module, and the memory module are respectively, operably coupled to the microcontroller.
In some embodiments, the charge module, the GPS module, the vibration motor, the Bluetooth module, the memory module, and the microcontroller are enclosed in the casing box.
In some embodiments, the three or more ultrasonic sensors are configured to receive a first signal regarding obstacles detected on a walking surface. In some embodiments, the microcontroller generates a second signal responsive to the first signal.
In some embodiments, the vibration motor generates a vibration responsive to the second signal from the microcontroller. In some embodiments, the vibration indicates that obstacles are within a distance from the individual.
In some embodiments, the GPS module is configured to generate a location of the smart cane and a current time. In some embodiments, the microcontroller is configured to generate a location and time message to the Bluetooth module.
In some embodiments, the camera module is configured to capture an image of an environment around the smart cane. In some embodiments, the memory module is configured to store the image. In some embodiments, the microcontroller is configured to analyze the image to determine whether obstacles are within a distance.
In some embodiments, the charge module is a rechargeable battery capable of providing necessary driving power for an operation of the smart cane. In some embodiments, the rechargeable battery is capable of being charged by a wireless or wired charging module.
In some embodiments, the casing box includes a top side, a bottom side, the two longest sides, two shortest sides, and two intermediate sides. In some embodiments, the pivot is disposed on an outer surface of the bottom surface of the casing box. In some embodiments, the hand grip is disposed on an outer surface of a first shortest side of the casing box.
In some embodiments, at least one of the three or more ultrasonic sensors is disposed on an outer surface of the top side of the casing box.
In some embodiments, a port connected to the charge module for wired charging is in a first longest side of the casing box.
In some embodiments, at least two of the three or more ultrasonic sensors are respectively disposed on two intermediate sides of the casing box.
In some embodiments, the camera module and the LED light are disposed spaced apart from each other on an outer surface of a second shortest side of the casing box.
In some embodiments, the hand grip includes a first button responsive to a first operation mode, a second button responsive to a second operation mode, and an SOS button responsive to an SOS operation mode. In some embodiments, the first operation mode is to detect obstacles within a distance, classify the obstacles, and generate a first alert. In some embodiments, the second operation mode is to turn on the camera module, describe the environment around the individual, and generate a second alert. In some embodiments, the SOS operation mode is to connect the GPS module to internet and initiate an SOS message.
In some embodiments, the smart cane is at least made of ASTM B209 aluminum alloy 3003, ASTM D2000 rubber, and ABS plastic 3903000.
In another exemplary embodiment, a method using the smart cane is described. The smart cane includes actuating a button to select one operation mode from three operation modes of the smart cane and walking while holding a hand grip of the smart cane. In some embodiments, a load-bearing feet of the smart cane is supported by a ground surface.
The foregoing general description of the illustrative present disclosure and the following detailed description thereof are merely exemplary aspects of the teachings of this disclosure and are not restrictive.
A more complete appreciation of this disclosure and many of the attendant advantages thereof may be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein:
In the drawings, like reference numerals designate identical or corresponding parts throughout the several views. Further, as used herein, the words “a,” “an” and the like generally carry a meaning of “one or more,” unless stated otherwise.
As used herein, the words “about,” “approximately,” or “substantially similar” may be used when describing magnitude and/or position to indicate that the value and/or position described is within a reasonable expected range of values and/or positions. For example, a numeric value may have a value that is +/−0.1% of the stated value (or range of values), +/−1% of the stated value (or range of values), +/−2% of the stated value (or range of values), +/−5% of the stated value (or range of values), +/−10% of the stated value (or range of values), +/−15% of the stated value (or range of values), or +/−20% of the stated value (or range of values). Within the description of this disclosure, where a numerical limit or range is stated, the endpoints are included unless stated otherwise. Also, all values and subranges within a numerical limit or range are specifically included as if explicitly written out.
The use of the terms “include,” “includes”, “including,” “have,” “has,” or “having” should be generally understood as open-ended and non-limiting unless specifically stated otherwise.
Aspects of the present disclosure are directed towards a smart cane for visually impaired and/or blind. The smart cane includes extendable structural members in conjunction with a plurality of sensors and modules in order to provide dynamic, adaptive, and real-time assistance to the visually impaired. The modules may include a Bluetooth receiver and transmitter to enable Bluetooth connectivity for voice instructions and the sensors may include proximity and ultrasonic sensors to provide real-time obstacle detection to the cane. The smart cane may also include a microcontroller in order to enable a plurality of smart features in conjunction with an artificial intelligence unit. The smart cane may enhance the quality of life for the visually impaired by allowing the visually impaired to navigate their surroundings independently, safely, and with a certain level of safety.
Referring to
The smart cane 100 further includes a linear extending rod (LER) 106 having a first end 106A, a second end 106B, and a second internal cavity. The LER 106 is another structural member of the smart cane 100 providing structural rigidity and stability to the smart cane 100. The LER 106 is configured to be inserted into the first internal cavity of the LMFR 102. As such, the second end 102B of the LMFR 102 is slidably connected to the first end 106A of the LER 106. In some embodiments, the LER 106 has a length in a range of 200 mm to 900 mm, preferably 300 to 800 mm, preferably 400 to 700 mm, preferably 500 to 600 mm, or even more preferably about 550 mm. Other ranges are also possible. In some embodiments, the LER 106 has a cylindrical cross section having an inner diameter in a range of 3 mm to 40 mm, preferably 5 to 35 mm, preferably 10 to 30 mm, preferably 15 to 25 mm, or even more preferably about 20 mm. Other ranges are also possible. In some embodiments, the length of the LER 106 may be defined between the first end 106A and the second end 106B thereof. In an embodiment of the present disclosure, the LER 106 may have the length of 450 mm and the inner diameter of the LER 106 may be about 22 mm. Other ranges are also possible. In some embodiments, the LER 106 may be made using material such as, but are not limited to, ASTM B209 aluminum alloy 3003, ASTM D2000 rubber, ABS plastic 3903000.
As described above, the inner diameter of the LMFR 102 is greater than the inner diameter of the LER 106, thus the first end 106A of the LER 106 is slidably disposed within the first internal cavity of the LMFR 102. In other words, the LER 106 is configured to be inserted into the LMFR 102 in order to provide height adjustment capabilities to the smart cane 100. Further, the LER 106 includes a cylindrical protrusion 108, retractable and deployable in order to adjust the length of the smart cane 100. The cylindrical protrusion 108 is configured to be locked into place at one of the plurality of holes 104 present in the LMFR 102. In an embodiment, the plurality of holes 104 and the cylindrical protrusion 108 enables the individual to adjust the length of the smart cane 100 as desired for ergonomic enhancements. Further, the LMFR 102 and the LER 106 are made of similar materials. In some embodiments, the smart cane 100 is at least made of ASTM B209 aluminum alloy 3003, ASTM D2000 rubber, and ABS plastic 3903000. In some embodiments, the smart cane 100 may be made using a combination of the aforementioned materials. In some embodiments, the smart cane 100 is configured to be rust and deformation resistant.
Further, as can be seen from
In an embodiment, an exemplary modelling analysis of the smart cane 100 is carried out to assess and determine structural rigidity of the smart cane 100 including the LMFR 102 and the LER 106, under load conditions. The modelling analysis included a plurality of parameters such as bending analysis, static analysis, fatigue analysis, and buckling load analysis. The smart cane 100 including the LMFR 102 having the length of 820 mm and the LER 106 having the length of 450 mm is used for the modelling analysis. Further, the inner diameters of the LMFR 102 and the LER 106 remained constant at, e.g., preferably about 25 mm and preferably about 22 mm, respectively. The modelling analysis and equations involved are provided below.
Bending Analysis:
Assume 1/10+n of body load applied at top end,
Static Analysis:
Wherein D is the inner diameter of the LMFR 102 and d is the inner diameter of the LER 106. Assuming,
Using SCF chart for moment
where, m=441.45 Nm, d=22 mm
Yield stress of Aluminium (Al 3003) used in manufacturing the LMFR 102 and the LER 106=186 MPa
UTS of Al 3003=200 Mpa
Fatigue Analysis:
Sut=200 MPa
Assuming endurance limit is 0.35 Su for Al 3003
Fatigue failure of safety using Goodman equation
Buckling Analysis:
Minimum buckling critical load.
Maximum buckling critical load.
For Aluminum E=700 Pa
Factor of safety against buckling,
In light of the aforementioned modelling analysis, the smart cane 100 is found to be structurally rigid and safe for personal use.
Referring to
Referring to
Referring to
In some embodiments, the charge module 218, the GPS module 220, the vibration motor 222, the Bluetooth module 224, the memory module 226, and the microcontroller 228 are enclosed in the casing box 200. Further, the three or more ultrasonic sensors 212, the camera module 214, the LED light 216, the charge module 218, the GPS module 220, the vibration motor 222, and the Bluetooth module 224, and the memory module 226 are respectively, and operably coupled to the microcontroller 228. In other words, the microcontroller 228 is configured to govern multiple operations performed by the above mentioned components. In some embodiments, the smart cane 100 senses multiple obstacles present in front of the smart cane 100 via the three or more ultrasonic sensors 212. In general, ultrasonic sensors are electronic devices that calculate a distance of a target or an obstacle by emission of ultrasonic sound waves and further converting the ultrasonic waves into electrical signals. Ultrasonic sensors, in general, includes two essential elements, a transmitter and a receiver. Using piezoelectric crystals, the transmitter generates ultrasonic waves, and from there the ultrasonic waves travel to the target or the obstacle and gets back to the receiver. In some embodiments, the three or more ultrasonic sensors 212 are configured to receive a first signal regarding obstacles detected on a walking surface, and the microcontroller 228 generates a second signal responsive to the first signal and subsequently alert the individual regarding a presence of the obstacle.
In some embodiments, the camera module 214 is configured to capture the image of an environment around the smart cane 100 and the memory module 226 is configured to store the images as captured by the camera module 214. In addition, the microcontroller 228 is configured to analyze the image to determine whether obstacles are within a distance or the vicinity of the smart cane 100. In other words, the camera module 214 is configured to scan an area in front of the smart cane 100 via a lens included in the camera module 214 and transmit imagery to the microcontroller 228 for analysis of the distance of the obstacle from the smart cane 100. In some embodiments, the charge module 218 is a rechargeable battery capable of providing necessary driving power for an operation of the smart cane 100. In order to improve usability of the smart cane 100, the rechargeable battery is capable of being charged by a wireless or wired charging module. In some embodiments, the vibration motor 222 generates a vibration responsive to the second signal from the microcontroller 228, and the vibration indicates that the obstacles are within a distance from the individual. In other words, the vibration produced by the vibration motor 222, in response to the detection of the obstacle within the vicinity of the smart cane 100, acts as a haptic feedback for the individual. Consequently, the individual is alerted regarding the presence of the obstacle so the individual may maneuver around the obstacle. Moreover, the GPS module 220 is configured to generate a location of the smart cane 100 and a current time. In general, GPS refers to global positioning system responsible for generating or detecting a location of a particular object. The GPS module 220 enables the smart cane 100 to have real-time positioning capabilities. In particular, a caretaker or an acquaintance of the individual using the smart cane 100 may have a real-time location of the individual, resulting in an overall safer environment for the individual. The real-time location, as provided by the GPS module 220 may be transmitted to the individual in order for the individual to know the location they are currently traversing. In some embodiments, the microcontroller 228 is configured to generate a location and time message and transmit it to the Bluetooth module 224. The Bluetooth module 224 enables a connection of the smart cane 100 to a mobile device or a smartphone, present with the individual using the smart cane 100. In general, GPS is an accurate way of measuring time, as it may automatically judge multiple time zones. The location message and time message, as generated by the GPS module 220, are transmitted to the Bluetooth module 224, subsequently relayed to the individual. In some embodiments, in case of an emergency, the location and time message may also be relayed to multiple emergency contacts of the individual using the smart cane 100. In some embodiments, the location and time message may also be relayed to one or more emergency services such as, but not limited to, law enforcement department, emergency medical services, and fire department.
Referring to
Referring to
Referring to
Referring to
In addition, the second operation mode of the at least two modes may be executed at step 503C, at step 503D, and at step 503E. At step 503C, the second operation mode executes a command to turn on the camera module 214. Further, at step 503D, the camera module 214 may describe the surrounding of the smart cane 100. In conclusion, at step 503E, the second operation mode may classify the obstacle as detected by the camera module 214 and generate one or more alerts to alert the individual regarding the obstacle.
At step 504A, the microcontroller 228 of the smart cane 100 is communicated with the AI unit 306. Further, at step 504B, the smart cane 100 checks for a status of the SOS button 254, in case the SOS button 254 is switched off, the smart cane 100 executes the step 504B again. However, in case the SOS button 254 is switched on, the smart cane 100 executes step 504C. At step 504C, the smart cane 100 requests coordinates of the GPS module 220, included in the smart cane 100. Further, at step 504D, the smart cane 100 transmits the coordinates received from the GPS module 220 to of the saved emergency contacts of the individual using the smart cane 100.
Next, further details of the hardware description of the computing environment according to exemplary embodiments is described with reference to
Further, the claims are not limited by the form of the computer-readable media on which the instructions of the inventive process are stored. For example, the instructions may be stored on CDs, DVDs, in FLASH memory, RAM, ROM, PROM, EPROM, EEPROM, hard disk or any other information processing device with which the computing device communicates, such as a server or computer.
Further, the claims may be provided as a utility application, background daemon, or component of an operating system, or combination thereof, executing in conjunction with CPU 601, 603 and an operating system such as Microsoft Windows 7, Microsoft Windows 10, Microsoft Windows 11, UNIX, Solaris, LINUX, Apple MAC-OS, and other systems known to those skilled in the art.
The hardware elements in order to achieve the computing device may be realized by various circuitry elements, known to those skilled in the art. For example, CPU 601 or CPU 603 may be a Xenon or Core processor from Intel of America or an Opteron processor from AMD of America, or may be other processor types that would be recognized by one of ordinary skill in the art. Alternatively, the CPU 601, 603 may be implemented on an FPGA, ASIC, PLD or using discrete logic circuits, as one of ordinary skill in the art would recognize. Further, CPU 601, 603 may be implemented as multiple processors cooperatively working in parallel to perform the instructions of the inventive processes described above.
The computing device in
The computing device further includes a display controller 608, such as a NVIDIA GeForce GTX or Quadro graphics adaptor from NVIDIA Corporation of America for interfacing with display 610, such as a Hewlett Packard HPL2445w LCD monitor. A general purpose I/O interface 612 interfaces with a keyboard and/or mouse 614 as well as a touch screen panel 616 on or separate from display 610. General purpose I/O interface also connects to a variety of peripherals 618 including printers and scanners, such as an OfficeJet or DeskJet from Hewlett Packard.
A sound controller 620 is also provided in the computing device such as Sound Blaster X-Fi Titanium from Creative, to interface with speakers/microphone 622 thereby providing sounds and/or music.
The general purpose storage controller 624 connects the storage medium disk 604 with communication bus 626, which may be an ISA, EISA, VESA, PCI, or similar, for interconnecting all of the components of the computing device. A description of the general features and functionality of the display 610, keyboard and/or mouse 614, as well as the display controller 608, storage controller 624, network controller 606, sound controller 620, and general purpose I/O interface 612 is omitted herein for brevity as these features are known.
The exemplary circuit elements described in the context of the present disclosure may be replaced with other elements and structured differently than the examples provided herein. Moreover, circuitry configured to perform features described herein may be implemented in multiple circuit units (e.g., chips), or the features may be combined in circuitry on a single chipset, as shown in
In
For example,
Referring again to
The PCI devices may include, for example, Ethernet adapters, add-in cards, and PC cards for notebook computers. The Hard disk drive 760 and CD-ROM 766 can use, for example, an integrated drive electronics (IDE) or serial advanced technology attachment (SATA) interface. In one implementation the I/O bus can include a super I/O (SIO) device.
Further, the hard disk drive (HDD) 760 and optical drive 766 can also be coupled to the SB/ICH 720 through a system bus. In one implementation, a keyboard 770, a mouse 772, a parallel port 778, and a serial port 776 can be connected to the system bus through the I/O bus. Other peripherals and devices that can be connected to the SB/ICH 720 using a mass storage controller such as SATA or PATA, an Ethernet port, an ISA bus, a LPC bridge, SMBus, a DMA controller, and an Audio Codec.
Moreover, the present disclosure is not limited to the specific circuit elements described herein, nor is the present disclosure limited to the specific sizing and classification of these elements. For example, the skilled artisan will appreciate that the circuitry described herein may be adapted based on changes on battery sizing and chemistry or based on the requirements of the intended back-up load to be powered.
The functions and features described herein may also be executed by various distributed components of a system. For example, one or more processors may execute these system functions, wherein the processors are distributed across multiple components communicating in a network. The distributed components may include one or more client and server machines, which may share processing, as shown by
The above-described hardware description is a non-limiting example of corresponding structure for performing the functionality described herein.
The aspects of the present disclosure are directed towards the smart cane 100 and the method 400 of using the smart cane 100. The smart cane 100, as described herein, includes a plurality of smart and adaptive features to assist the visually impaired individual. With the use of three or more ultrasonic sensors 212, the microcontroller 228, and the AI unit 306, the smart cane 100 may be able to detect multiple obstacles efficiently. Further, the smart cane 100 may also be able to classify the above mentioned obstacles and send an audio message via the audio device 304 to the individual regarding the classification, distance, and size of the obstacle present in from of the smart cane 100. Thus, the individual may traverse through an unknown territory with confidence, resulting in improved quality of life for the individual. The materials used in the construction of the smart cane 100 have been selected based on rigorous testing parameters, consequently, the smart cane 100 may have a durable construction. In some aspects, the top case assembly 115 and the hand grip 120 may also be made available for retro-fitments for existing walking canes. The above mentioned qualities may improve overall economical aspects of the smart cane 100.
Numerous modifications and variations of the present disclosure are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described herein.
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Number | Date | Country |
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104688498 | Jun 2015 | CN |
213190991 | May 2021 | CN |
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