Robot magnetic attraction recovery system based on space positioning

Abstract

The invention discloses a robot magnetic suction recovery system based on spatial positioning, and relates to the technical field of recovery, which comprises an information acquisition module, a magnetic suction recovery base space construction module, a recovery path analysis module, a diamagnetic analysis module, a magnetic force control module and a part replacement analysis module, the system has the advantages that the system is helped to obtain more accurate working environment information through the space construction module, a more reliable space cognition basis is provided for the recovery operation of the robot, the magnetic force can be optimized in real time according to the position of the robot through the magnetic force management and control module, the robot is attracted properly in the recovery process, and the recovery efficiency of the robot is improved. Smooth recovery can be guaranteed, the problem of recovery failure or part damage caused by too large or too small magnetic force can be avoided, the characteristics of new parts can be rapidly adapted through the part replacement analysis module after robot parts are replaced, and the stability and effectiveness of the whole recovery system are guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of recycling technology, and in particular to a robot magnetic suction recycling system based on spatial positioning. Background Art

[0002] Spatial positioning technology refers to the research objects of geographic information system, remote sensing and global positioning system, including spatial information, spatial model, spatial analysis and spatial decision-making. Global positioning system and remote sensing are used to obtain point and surface spatial information or monitor their changes respectively. Geographic information system is used for storage, analysis and processing of spatial data. Magnetic attraction is to use the attraction of magnetic field to fix, connect or adsorb objects. This technology is widely used in daily life and various industrial fields.

[0003] When in use, the common robot magnetic recovery system does not fully consider the differences in the tolerance of different robot components to magnetism, and cannot perform personalized magnetic control according to the characteristics of the components, which increases the risk of damage to certain components during the recovery process. It cannot use the information collected by the robot during work in real time to dynamically verify and improve the spatial model. To this end, we propose a robot magnetic recovery system based on spatial positioning. Summary of the invention

[0004] The purpose of the present invention is to provide a robot magnetic recovery system based on spatial positioning.

[0005] In order to solve the problems raised in the above background technology, the present invention provides the following technical solutions: a robot magnetic recovery system based on space positioning, comprising an information acquisition module and a magnetic recovery base, wherein the information acquisition module can collect robot information and magnetic recovery base information, and the magnetic recovery base is used to perform magnetic recovery on the robot, and further comprises a space construction module, a recovery path analysis module, an antimagnetic analysis module, a magnetic force control module and a component replacement analysis module;

[0006] The space construction module collects space information and constructs the space in three dimensions to obtain a three-dimensional space model. When the robot is working, it will use the robot to collect surrounding environment information and use the surrounding environment information to verify and improve the three-dimensional space model;

[0007] The recycling path analysis module uses the magnetic recycling base to build the recycling path and transmits the recycling path to the robot after the path construction is completed;

[0008] The anti-magnetic analysis module analyzes the components of the robot and simultaneously analyzes the tolerance of different components to magnetic force. Based on the relationship between magnetic force and distance, it determines the maximum magnetic force information that the robot can withstand during recovery.

[0009] The magnetic force control module establishes a recovery guide unit. When the robot is recovered, it is first placed in the recovery guide unit, and the length information of the recovery guide unit is collected. Then, the recovery guide unit is evenly divided into n areas according to the X distance, where X and n are unknown numbers. The different areas are divided again according to the number of n areas, and L adjustment points are generated, where n=L, and the n areas and L adjustment points are numbered in sequence. In the Gth area, the magnetic force information during magnetic recovery is analyzed according to the distance between the Gth adjustment point and the magnetic recovery base, where G≤n-1, and the original magnetic force adjustment information is generated, and then the original magnetic force adjustment information is used to control the magnetic force of the magnetic recovery base;

[0010] The component replacement analysis module extracts the constituent components of the robot and analyzes the replacement component information of the constituent components of the robot, then calculates the magnetic resistance of the replacement component information, generates replacement robot information, and then transmits the replacement robot information to the magnetic force control module, calculates the magnetic adjustment information of the replacement robot information, and generates replacement magnetic force adjustment information.

[0011] As a further solution of the present invention, when the spatial construction module verifies and improves the three-dimensional spatial model using the surrounding environment information, it extracts the spatial information, then splits the spatial information into component information, extracts the surrounding environment information, and then splits the surrounding environment information into component verification information according to the splitting method of the component information. Let the component information be Z 组成 , let the composition verification information be Z 验证 , let different composition information be B 不同 ;

[0012] B 不同 =Z 验证 -(Z 验证 ∩Z 组成 )

[0013] According to the above formula, different composition information can be calculated, and then the different composition information can be supplemented into the component information to generate one-complement space data, and a three-dimensional space model can be constructed based on the one-complement space data.

[0014] As a further solution of the present invention: when the spatial construction module supplements different composition information into the component information, it will extract the quantity of different composition information, analyze the partial quantity of the component information, analyze the working distance of the robot, and then divide the working distance into 10 areas on average, extract the quantity of different composition information collected by the robot in the first area, and generate a supplementary threshold.

[0015] As a further solution of the present invention: after generating the supplementary threshold, the space construction module will record the number of different composition information collected by the robot during work. When the number reaches the supplementary threshold, the different composition information will be supplemented into the one-complement space data to generate two-complement space data, until the robot collects different composition information of all areas and generates P-complement space data, where P is an unknown number.

[0016] As a further solution of the present invention: after the space construction module generates the P-complement space data, when the robot completes the collection of different composition information of the last area, it will automatically convert the number of different composition information below the supplement threshold into the end point number, and supplement the corresponding different composition information into the P-complement space data to generate end point space data, and then use the end point space data to construct a three-dimensional space model.

[0017] As a further solution of the present invention: when the antimagnetic analysis module determines the maximum magnetic force information that the robot can withstand during recycling, it will establish n area clips, and then analyze the distance from the bottom of all areas to the magnetic recovery base, and record it in the corresponding area clips. Suppose the magnetic field strength of the magnetic recovery base is B 强度 , assuming that the vacuum permeability is Z 磁导率 , assuming that the tolerance of different components to magnetic force is C 极矩 , let the distance from the bottom of different areas to the magnetic recovery base be R 距离 ;

[0018]

[0019] The maximum magnetic field strength of the magnetic recovery base that different components can withstand in different areas is calculated based on the above formula.

[0020] As a further solution of the present invention: when the anti-magnetic analysis module calculates the maximum magnetic field strength of the magnetic recovery base that different components can withstand in different areas, it will obtain the regional magnetic field information that different components can withstand, extract the minimum regional magnetic field information, and adjust the magnetic force information of the magnetic recovery base according to the regional magnetic field information.

[0021] As a further solution of the present invention: when the magnetic force control module uses the original magnetic force adjustment information to control the magnetic force of the magnetic recovery base, the last area will be set as the natural area. When the robot moves to the natural area, the magnetic force of the magnetic recovery base will be turned off, and then it will be turned on again after an interval of 3 seconds, and the magnetic force of the magnetic recovery base will be controlled with the maximum magnetic force information that the robot can withstand during recovery.

[0022] As a further solution of the present invention, when analyzing the replacement component information of the components of the robot, the component replacement analysis module will sort the magnetic resistance information of the components in order, calculate the average magnetic resistance information of the components, and set the average magnetic resistance information of the components as N 耐磁 , and then prioritize the analysis of magnetic resistance information below The component information of the

[0023] By adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. The present invention helps the system to obtain more accurate working environment information through the space construction module, provides a more reliable spatial cognition basis for the robot's recycling operation, and uses the magnetic force control module to optimize the magnetic force in real time according to the robot's position, so that the robot is subjected to appropriate attraction during the recycling process, which can not only ensure smooth recycling, but also avoid recycling failure or component damage caused by excessive or insufficient magnetic force. The component replacement analysis module can quickly adapt to the characteristics of the new component after the robot component is replaced, ensuring the stability and effectiveness of the entire recycling system;

[0025] 2. The present invention helps to improve the integrity and accuracy of the spatial model through the spatial construction module, making it more suitable for the actual working environment, reducing the model error caused by information loss, and improving the reliability of the model in the robot recovery operation. At the same time, it can enable the spatial model to be continuously optimized and constantly adapt to environmental changes, always maintain an accurate description of the workspace, and further improve the accuracy and safety of the robot recovery operation;

[0026] 3. The present invention uses an anti-magnetic analysis module to enable the system to accurately grasp the magnetic limit faced by each component during the recycling process, provide accurate data support for subsequent magnetic force adjustments, and reduce the risk of equipment failure due to improper magnetic force. The magnetic force management and control module enables the robot to smoothly enter the recycling position, reducing the possibility of collision and damage, and improving the safety and stability of the recycling process. The component replacement analysis module helps to more effectively manage and maintain the robot's magnetic resistance during component replacement or system operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the system flow in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0029] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0030] Embodiment 1:

[0031] Therefore, in order to effectively solve the above problems, the present application proposes a robot magnetic suction recovery system based on spatial positioning, as shown in the accompanying drawings of the specification. Figure 1 As shown, it includes an information collection module and a magnetic recovery base. The information collection module can collect robot information and magnetic recovery base information. The magnetic recovery base is used to magnetically recover the robot. It also includes a space construction module, a recovery path analysis module, an anti-magnetic analysis module, a magnetic force control module and a component replacement analysis module;

[0032] The space construction module collects space information and constructs the space in three dimensions to obtain a three-dimensional space model. When the robot is working, it will use the robot to collect surrounding environment information and use the surrounding environment information to verify and improve the three-dimensional space model;

[0033] The recycling path analysis module uses the magnetic recycling base to build the recycling path and transmits the recycling path to the robot after the path construction is completed;

[0034] Comprehensively consider factors such as the distribution of obstacles on the path, magnetic interference in different areas, and the robot's motion performance limitations, and avoid planning a path with too many sharp turns or speed mutation points, as these may cause the robot to lose control or become unstable during movement, affecting the recovery efficiency or even causing damage to the robot;

[0035] The anti-magnetic analysis module analyzes the components of the robot and simultaneously analyzes the tolerance of different components to magnetic force. Based on the relationship between magnetic force and distance, it determines the maximum magnetic force information that the robot can withstand during recovery.

[0036] Further combined with the overall structure and working principle of the robot, the overall performance of the robot in the magnetic suction recovery process is evaluated;

[0037] The magnetic force control module establishes a recovery guide unit. When the robot is recovered, it is first placed in the recovery guide unit, and the length information of the recovery guide unit is collected. Then, the recovery guide unit is evenly divided into n areas according to the X distance, where X and n are unknown numbers. The different areas are divided again according to the number of n areas, and L adjustment points are generated, where n=L, and the n areas and L adjustment points are numbered in sequence. In the Gth area, the magnetic force information during magnetic recovery is analyzed according to the distance between the Gth adjustment point and the magnetic recovery base, where G≤n-1, and the original magnetic force adjustment information is generated, and then the original magnetic force adjustment information is used to control the magnetic force of the magnetic recovery base;

[0038] The component replacement analysis module extracts the components of the robot and analyzes the replacement component information of the robot's components, then calculates the magnetic resistance of the replacement component information, generates replacement robot information, and then transmits the replacement robot information to the magnetic force control module, calculates the magnetic adjustment information of the replacement robot information, and generates replacement magnetic force adjustment information.

[0039] Specific workflow: Collect robot information and magnetic recovery base information, construct three-dimensional space, use surrounding environment information to verify and improve the three-dimensional space model, use the magnetic recovery base to build a recovery path, analyze the robot's components and the tolerance of different components to magnetic force, determine the maximum magnetic force information that the robot can withstand during recovery, establish a recovery guide unit, analyze the magnetic force information during magnetic recovery according to the distance between the Gth adjustment point and the magnetic recovery base, use the original magnetic force adjustment information to control the magnetic force of the magnetic recovery base, analyze the replacement component information of the robot's components, calculate the magnetic resistance of the replacement component information and the magnetic force adjustment information of the replacement robot information;

[0040] Furthermore, the space construction module helps the system obtain more accurate working environment information and provides a more reliable spatial cognition basis for the robot's recycling operations. The magnetic force control module can optimize the magnetic force in real time according to the robot's position, so that the robot is attracted appropriately during the recycling process, which can not only ensure smooth recycling, but also avoid recycling failure or component damage caused by excessive or insufficient magnetic force. The component replacement analysis module can quickly adapt to the characteristics of new components after the robot components are replaced, ensuring the stability and effectiveness of the entire recycling system.

[0041] Embodiment 2:

[0042] Based on the first embodiment, as shown in the accompanying drawings of the specification Figure 1 As shown in FIG. 1 , when the spatial construction module verifies and improves the three-dimensional spatial model using the surrounding environment information, it extracts the spatial information, then splits the spatial information into component information, extracts the surrounding environment information, and then splits the surrounding environment information into component verification information according to the splitting method of the component information. Let the component information be Z 组成 , let the composition verification information be Z 验证 , let different composition information be B 不同 ;

[0043] B 不同 =Z 验证 -(Z 验证 ∩Z 组成 )

[0044] According to the above formula, different composition information can be calculated, and then the different composition information is added to the component information to generate one-complement space data, and a three-dimensional space model is constructed according to the one-complement space data;

[0045] When the spatial construction module supplements the different component information to the component information, it extracts the number of different component information, analyzes the partial number of component information, analyzes the robot working distance, and then divides the working distance into 10 areas evenly, extracts the number of different component information collected by the robot in the first area, and generates the supplementation threshold;

[0046] During the robot startup and acceleration phases, its movement speed varies greatly and its trajectory uncertainty is high. At this time, the supplementation threshold can be appropriately lowered;

[0047] After generating the supplementary threshold, the spatial construction module will record the number of different component information collected by the robot during work. When the number reaches the supplementary threshold, the different component information will be added to the one-complementary spatial data to generate two-complementary spatial data, until the robot collects different component information of all areas to generate P-complementary spatial data, where P is an unknown number;

[0048] Adopting incremental update algorithm, the partial data that changes due to the newly added different component information is updated;

[0049] After the spatial construction module generates the P-complemented spatial data, when the robot completes the collection of different component information of the last area, it will automatically convert the number of different component information below the supplementary threshold into the end point number, and supplement the corresponding different component information into the P-complemented spatial data to generate the end point spatial data, and then use the end point spatial data to construct a three-dimensional spatial model;

[0050] Specific workflow: Split the spatial information into component information, and extract the surrounding environment information; split the surrounding environment information into component verification information according to the splitting method of the component information; calculate different component information; add the different component information to the component information to generate one-complement spatial data; build a three-dimensional spatial model based on the one-complement spatial data; analyze the partial quantity of the component information; divide the working distance into 10 areas on average; extract the quantity of different component information collected by the robot in the first area; when the quantity reaches the supplement threshold, add the different component information to the one-complement spatial data to generate two-complement spatial data; until the robot collects different component information in all areas to generate P-complement spatial data; convert the quantity of different component information below the supplement threshold into the end point quantity; and add the corresponding different component information to the P-complement spatial data; and use the end point spatial data to build a three-dimensional spatial model;

[0051] Furthermore, the spatial construction module helps to improve the integrity and accuracy of the spatial model, making it more suitable for the actual working environment, reducing model errors caused by missing information, and improving the reliability of the model in robotic recovery operations. At the same time, it enables the spatial model to be continuously optimized and constantly adapt to environmental changes, always maintaining an accurate description of the workspace, and further improving the accuracy and safety of robotic recovery operations.

[0052] Embodiment three:

[0053] Based on the second embodiment, as shown in the accompanying drawings of the specification Figure 1 As shown in the figure, when the antimagnetic analysis module determines the maximum magnetic force information that the robot can withstand during recycling, it will establish n area clips, then analyze the distance from the bottom of all areas to the magnetic recovery base, and record it in the corresponding area clips. Suppose the magnetic field strength of the magnetic recovery base is B 强度 , assuming that the vacuum permeability is Z 磁导率 , assuming that the tolerance of different components to magnetic force is C 极矩 , let the distance from the bottom of different areas to the magnetic recovery base be R 距离 ;

[0054]

[0055] According to the above formula, the maximum magnetic field strength of the magnetic recovery base that different components can withstand in different areas is calculated;

[0056] Based on the collected surrounding environment information and the existing structure of the spatial model, an interpolation algorithm is used to estimate the different components of information that may be missing in the area that does not reach the supplementary threshold;

[0057] When the antimagnetic analysis module calculates the maximum magnetic field strength of the magnetic recovery base that different components can withstand in different areas, it will obtain the regional magnetic field information of different components, extract the minimum regional magnetic field information, and adjust the magnetic force information of the magnetic recovery base according to the regional magnetic field information;

[0058] When the magnetic force control module uses the original magnetic force adjustment information to control the magnetic force of the magnetic recovery base, it will set the last area as the natural area. When the robot moves to the natural area, it will turn off the magnetic force of the magnetic recovery base, and then turn it on again after an interval of 3 seconds, and control the magnetic force of the magnetic recovery base with the maximum magnetic force information that the robot can withstand during recovery;

[0059] The starting and ending positions of the natural area are dynamically determined based on the robot's real-time speed, posture, and relative position to the magnetic recovery base during the recovery process;

[0060] When analyzing the replacement component information of the robot's components, the component replacement analysis module will sort the magnetic resistance information of the components in order and calculate the average magnetic resistance information of the components. Suppose the average magnetic resistance information of the components is N 耐磁 , and then prioritize the analysis of magnetic resistance information below Component information of

[0061] Specific workflow: Establish regional clamps, analyze the distance from the bottom of all regions to the magnetic recovery base, and record it in the corresponding regional clamps, calculate the maximum magnetic field strength of the magnetic recovery base that different components can withstand in different regions, obtain the regional magnetic field information of different components, adjust the magnetic force information of the magnetic recovery base according to the regional magnetic field information, set the last area as the natural area, and when the robot moves to the natural area, turn off the magnetic force of the magnetic recovery base, and turn it on again after an interval of 3s, sort the magnetic resistance information of the components in order, calculate the average magnetic resistance information of the components, and give priority to analyzing the components with magnetic resistance information lower than Component information of

[0062] Furthermore, the anti-magnetic analysis module enables the system to accurately grasp the magnetic limits faced by each component during the recycling process, providing precise data support for subsequent magnetic adjustments, reducing the risk of equipment failure due to improper magnetism, and using the magnetic management and control module to enable the robot to smoothly enter the recycling position, reducing the possibility of collision and damage, and improving the safety and stability of the recycling process. The component replacement analysis module helps to more effectively manage and maintain the robot's magnetic resistance during component replacement or system operation.

[0063] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot magnetic recovery system based on spatial positioning, comprising an information acquisition module and a magnetic recovery base, wherein the information acquisition module can collect robot information and magnetic recovery base information, and the magnetic recovery base is used to perform magnetic recovery on the robot, characterized in that: It also includes a space construction module, a recovery path analysis module, an anti-magnetic analysis module, a magnetic force control module, and a component replacement analysis module; The space construction module collects space information and constructs the space in three dimensions to obtain a three-dimensional space model. When the robot is working, it will use the robot to collect surrounding environment information and use the surrounding environment information to verify and improve the three-dimensional space model; The recycling path analysis module uses the magnetic recycling base to build the recycling path and transmits the recycling path to the robot after the path construction is completed; The anti-magnetic analysis module analyzes the components of the robot and simultaneously analyzes the tolerance of different components to magnetic force. Based on the relationship between magnetic force and distance, it determines the maximum magnetic force information that the robot can withstand during recovery. The magnetic force control module establishes a recovery guide unit. When the robot is recovered, it is first placed in the recovery guide unit, and the length information of the recovery guide unit is collected. Then, the recovery guide unit is evenly divided into n areas according to the X distance, where X and n are unknown numbers. The different areas are divided again according to the number of n areas, and L adjustment points are generated, where n=L, and the n areas and L adjustment points are numbered in sequence. In the Gth area, the magnetic force information during magnetic recovery is analyzed according to the distance between the Gth adjustment point and the magnetic recovery base, where G≤n-1, and the original magnetic force adjustment information is generated, and then the original magnetic force adjustment information is used to control the magnetic force of the magnetic recovery base; The component replacement analysis module extracts the constituent components of the robot and analyzes the replacement component information of the constituent components of the robot, then calculates the magnetic resistance of the replacement component information, generates replacement robot information, and then transmits the replacement robot information to the magnetic force control module, calculates the magnetic adjustment information of the replacement robot information, and generates replacement magnetic force adjustment information.

2. The robot magnetic recovery system based on spatial positioning according to claim 1, characterized in that: When the spatial construction module verifies and improves the three-dimensional spatial model using the surrounding environment information, it extracts the spatial information, then splits the spatial information into component information, extracts the surrounding environment information, and then splits the surrounding environment information into component verification information according to the splitting method of the component information. Let the component information be Z 组成 , let the composition verification information be Z 验证 , let different composition information be B 不同 ; B 不同 =Z 验证 -(Z 验证 ∩Z 组成 ) According to the above formula, different composition information can be calculated, and then the different composition information can be supplemented into the component information to generate one-complement space data, and a three-dimensional space model can be constructed based on the one-complement space data.

3. The robot magnetic recovery system based on spatial positioning according to claim 2 is characterized in that: When the space construction module supplements different composition information into the component information, it extracts the quantity of different composition information, analyzes the partial quantity of the component information, analyzes the working distance of the robot, and then divides the working distance into 10 areas on average, extracts the quantity of different composition information collected by the robot in the first area, and generates a supplement threshold.

4. The robot magnetic recovery system based on spatial positioning according to claim 3 is characterized in that: After generating the supplementary threshold, the space construction module will record the number of different composition information collected by the robot during work. When the number reaches the supplementary threshold, the different composition information will be added to the one-complement space data to generate two-complement space data, until the robot collects different composition information of all areas and generates P-complement space data, where P is an unknown number.

5. The robot magnetic recovery system based on spatial positioning according to claim 4 is characterized in that: After the space construction module generates the P-complement space data, when the robot completes the collection of different composition information of the last area, it will automatically convert the number of different composition information below the supplement threshold into the end point number, and supplement the corresponding different composition information into the P-complement space data to generate the end point space data, and then use the end point space data to construct a three-dimensional space model.

6. The robot magnetic recovery system based on spatial positioning according to claim 1, characterized in that: When the antimagnetic analysis module determines the maximum magnetic force information that the robot can withstand during recycling, it will establish n area clips, then analyze the distance from the bottom of all areas to the magnetic recovery base, and record it in the corresponding area clips. Suppose the magnetic field strength of the magnetic recovery base is B 强度 , assuming that the vacuum permeability is Z 磁导率 , assuming that the tolerance of different components to magnetic force is C 极矩 , let the distance from the bottom of different areas to the magnetic recovery base be R 距离 ; The maximum magnetic field strength of the magnetic recovery base that different components can withstand in different areas is calculated based on the above formula.

7. The robot magnetic recovery system based on spatial positioning according to claim 6 is characterized in that: When the antimagnetic analysis module calculates the maximum magnetic field strength of the magnetic recovery base that different components can withstand in different areas, it will obtain the regional magnetic field information that different components can withstand, extract the minimum regional magnetic field information, and adjust the magnetic force information of the magnetic recovery base according to the regional magnetic field information.

8. The robot magnetic recovery system based on spatial positioning according to claim 1, characterized in that: When the magnetic force control module uses the original magnetic force adjustment information to control the magnetic force of the magnetic recovery base, the last area will be set as the natural area. When the robot moves to the natural area, the magnetic force of the magnetic recovery base will be turned off, and then it will be turned on again after an interval of 3 seconds, and the magnetic force of the magnetic recovery base will be controlled with the maximum magnetic force information that the robot can withstand during recovery.

9. The robot magnetic recovery system based on spatial positioning according to claim 1, characterized in that: When analyzing the replacement component information of the robot's components, the component replacement analysis module will sort the magnetic resistance information of the components in order, calculate the average magnetic resistance information of the components, and set the average magnetic resistance information of the components as N 耐磁 , and then prioritize the analysis of magnetic resistance information below The component information of the

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