CN103693041B - Method for controlling engine stop based on gears of automatic-control vehicle - Google Patents
Method for controlling engine stop based on gears of automatic-control vehicle Download PDFInfo
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- CN103693041B CN103693041B CN201310632283.7A CN201310632283A CN103693041B CN 103693041 B CN103693041 B CN 103693041B CN 201310632283 A CN201310632283 A CN 201310632283A CN 103693041 B CN103693041 B CN 103693041B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000011217 control strategy Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 12
- 238000010257 thawing Methods 0.000 claims description 11
- 238000004378 air conditioning Methods 0.000 claims description 10
- 239000012530 fluid Substances 0.000 claims description 7
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 4
- 230000006870 function Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18018—Start-stop drive, e.g. in a traffic jam
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention provides a method for controlling engine stop based on gears of an automatic-control vehicle. The method comprises the following steps: step A, detecting gear signals; step B, controlling engine stop by adopting different control strategies according to different gear signals, wherein when the gear signal indicates that a vehicle transmission is in a D/M gear state, engine stop is controlled when at least the following conditions are met: the speed of the vehicle is lower than a first preset value, and a brake signal is started. The invention aims at providing the method for performing engine stop control on the automatic-control vehicle.
Description
Technical field
The present invention relates to automobile technical field, more particularly to the shift control engine based on automatic catch vehicle are shut down
Method.
Background technology
The engine start and stop of contrast automatic catch vehicle and the engine start and stop of manual gear vehicle, have at the aspect of realizing of function
Larger difference.The start and stop of automatic transmission need automatic gear-box control unit (tcu) and electronic control unit (ecu,
Electronic control unit) and electronic parking system (epb, electric parking brake) cooperation realization.
Its safety problem is especially needed to obtain careful consideration.
Manual gear vehicle mainly passes through the side such as gear on-off, clutch position switch, brake pedal signal, GES
Face judges whether current state meets the engine shutdown demand of driver, need to ensure not affecting the safety of driver when shutting down
Property, comfortableness, be not required to consider speed changer some correlation behaviors.
And it is directed to automatic catch vehicle, not only car load to be gathered, the coherent signal of engine carry out engine shutdown and sentence ecu
Break in addition it is also necessary to simultaneously take account of the relevant informations such as oil pressure in automatic shift transmission, gear selection, more more multiple than manual transmission
Miscellaneous.
In whole control process, ecu plays vital effect to the judgement of driver intention, and whether its degree of accuracy
Directly influence use feeling and the security of driver, and send out in prior art and either with or without the control for automatic catch vehicle
Motivation is shut down.
Content of the invention
It is an object of the present invention to providing a kind of method that shift control engine based on automatic catch vehicle is shut down,
Including: step a: detection shift signal；Step b: according to the difference of shift signal, engine is controlled using different control strategies
Shut down, wherein, in the case that shift signal instruction transmission for vehicles is in d/m gear, when at least meeting following condition, controls and send out
Motivation is shut down: speed is less than first predetermined value；And brake signal unlatching.
Preferably, before step a, also need to judge: whether each system of vehicle is faulty；Whether vehicle control device is prohibited
Only engine is shut down；Whether the speed after vehicle launch exceedes predetermined startup speed threshold value；And whether vehicle fog lamp open；
If each system of vehicle does not have fault, vehicle control device does not forbid that engine is shut down, and the speed after vehicle launch exceedes startup
Speed threshold value, and vehicle fog lamp is not switched on, then proceed step a and step b.
Preferably, start speed threshold value and be set to more than 5km/h.
Preferably, in step b, in the case that shift signal instruction transmission for vehicles is in d/m gear, also need satisfaction following
Condition, just controls engine to shut down: air-conditioning, defrosting and defogging function are closed mode；The main oil gallery oil of automatic catch gearbox
Pressure is more than predetermined value；And fluid torque-converter opens.
Preferably, in step b, in the case that shift signal instruction transmission for vehicles is in n/p gear, at least meet following
Condition group for the moment, controls engine to shut down: brake signal is opened and speed is less than second predetermined value；Or brake signal is closed
And speed is less than third predetermined value.
Preferably, in step b, in the case that shift signal instruction transmission for vehicles is in n/p gear, also need satisfaction following
Condition, just controls engine to shut down: air-conditioning, defrosting and defogging function are closed mode.
Preferably, first predetermined value is equal to second predetermined value；And third predetermined value is less than second predetermined value.
Preferably, first predetermined value and second predetermined value can be set to that 3km/h；And third predetermined value is set to 1km/
h.
Preferably, in the case that shift signal instruction transmission for vehicles is in r gear, engine is controlled not shut down.
Preferably, in the case that shift signal instruction transmission for vehicles is in d/m gear, sentenced in the following order
Disconnected, to determine whether engine to be controlled shut down: judge whether speed is less than first predetermined value；Judge air-conditioning, defrosting and
Whether defrosting function is closed mode；Judge whether brake signal is opened；Whether judge the main oil gallery oil pressure of automatic catch gearbox
More than predetermined value；Judge whether fluid torque-converter is in open mode.
By electronic control unit, automatic catch vehicle is detected, after the shift signal of automatic catch is detected, and examine
The speed of measuring car and the information of brake signal, to shut down to automatic catch wagon control engine.Before automatic catch vehicle
Enter to keep off d/m gear vehicle running state is accounted for, when speed is less than first predetermined value and brake lamp unlatching, then controls and start
Machine is shut down, to reach fuel-efficient effect.
According to the detailed description to the specific embodiment of the invention below in conjunction with accompanying drawing, those skilled in the art will be brighter
The above-mentioned and other purposes of the present invention, advantages and features.
Brief description
Describe some specific embodiments of the present invention hereinafter with reference to the accompanying drawings by way of example, and not by way of limitation in detail.
In accompanying drawing, identical reference denotes same or similar part or part.It should be appreciated by those skilled in the art that these
Accompanying drawing is not necessarily drawn to scale.In accompanying drawing:
Fig. 1 is the method that the shift control engine based on automatic catch vehicle according to an embodiment of the invention is shut down
Schematic flow sheet；
Fig. 2 is the method that the shift control engine based on automatic catch vehicle in accordance with another embodiment of the present invention is shut down
Schematic flow sheet.
Specific embodiment
Fig. 1 is schematic flow sheet according to an embodiment of the invention, the gear based on automatic catch vehicle of the present embodiment
Control the method that engine is shut down, comprising:
Step a: detection shift signal；
Step b: according to the difference of shift signal, control engine to shut down using different control strategies, wherein,
In the case that shift signal instruction transmission for vehicles is in d/m gear, at least meets speed and be less than first predetermined value
And during the condition of brake signal unlatching, control engine to shut down.
In the forward gear d/m gear of automatic catch vehicle, vehicle running state is accounted for, when speed is less than first predetermined value
And brake lamp is opened then it is assumed that engine can be controlled to shut down, to reach fuel-efficient effect, such as when waiting red light, it is to avoid
Waste oil, Vehicular system automatically controlled engine is shut down.
The present embodiment is it is further preferred that before step a, also need to judge:
Whether each system of vehicle is faulty；
Whether vehicle control device forbids that engine is shut down；
Whether the speed after vehicle launch exceedes predetermined startup speed threshold value；And
Whether vehicle fog lamp is opened；
If each system of vehicle does not have fault, vehicle control device does not forbid that engine is shut down, the speed after vehicle launch
Exceed startup speed threshold value, and vehicle fog lamp is not switched on, then proceed step a and step b.
In the present embodiment, it is set as 5km/h by starting speed threshold value, this numerical value is most preferably preferred.It should be noted that this
Skilled person understands, in the case of not affecting function and method and step, judgement step before step a can be by
Secondary carry out carrying out simultaneously.And corresponding detection process be all in the common knowledge of this area or vehicle computer
The data of detection, does not just repeat to detection herein.
Fig. 2 is schematic flow sheet in accordance with another embodiment of the present invention, the gear based on automatic catch vehicle of the present embodiment
The method that position control engine is shut down, comprises the following steps:
Step a: detection shift signal；
Step b: according to the difference of shift signal, control engine to shut down using different control strategies, wherein,
In the case that shift signal instruction transmission for vehicles is in d/m gear, when at least meeting following condition, control is started
Machine is shut down:
Speed is less than first predetermined value；
Brake signal is opened；
Air-conditioning, defrosting and defogging function are closed mode；
The main oil gallery oil pressure of automatic catch gearbox is more than predetermined value；And
Fluid torque-converter is opened.
The method of the embodiment compared to Fig. 1, by increasing the judgement of air-conditioning, defrosting and defogging state it is ensured that driver
Comfortableness and security.In addition, increasing the status monitoring to automatic catch gearbox and fluid torque-converter, wherein, automatic catch
The oil pressure predetermined value of the main oil gallery of gearbox needs according to circumstances to be set.As hydraulic torque converter lockout, then represent and now weigh
The new engine that starts can bring greater impact.So engine can not be shut down, this avoid above-mentioned two damage of components.
Whether the primary condition that the vehicle-mounted computer ecu of vehicle shuts down firstly the need of detection engine meets just can execute is sent out
Engine operation, so can control engine to shut down when not affecting driver's use demand, maximize lifting client and embody, tool
Body ground, before step a, also needs to judge:
Whether each system of vehicle is faulty；
Whether vehicle control device forbids that engine is shut down；
Whether the speed after vehicle launch exceedes predetermined startup speed threshold value；And
Whether vehicle fog lamp is opened；
If each system of vehicle does not have fault, vehicle control device does not forbid that engine is shut down, the speed after vehicle launch
Exceed startup speed threshold value, and vehicle fog lamp is not switched on, then proceed step a and step b.In the present embodiment, car will be started
Fast threshold value is set as 5km/h, and this numerical value is most preferably preferred.It should be noted that skilled person will appreciate that, do not affecting work(
In the case of energy and method and step, the judgement step before step a can gradually carry out carrying out simultaneously.And phase
The detection process answered is all data after testing in the common knowledge of this area or vehicle computer, herein just not to detect into
Row repeats.
Different for automatic catch gear, and carry out distinguishing control strategy, specifically:
In step b, in the case that shift signal instruction transmission for vehicles is in n/p gear, at least meet following condition group
For the moment, engine is controlled to shut down:
Brake signal is opened and speed is less than second predetermined value；Or
Brake signal is closed and speed is less than third predetermined value.
I.e. after judging whether brake signal is opened, according to judged result judge again speed whether less than second predetermined value or
Third predetermined value, if meeting above-mentioned condition, controls engine to shut down.It should be noted that brake signal and speed
Detection and the step of judgement can also carry out simultaneously, realization rate is known to those skilled in the art, herein no longer
Repeat.
In order to ensure the comfortableness of driver and drive safety it is preferable that when the shift signal of detection keeps off for n/p,
It is less than in the case that second predetermined value and brake signal open not only meeting speed, also meet air-conditioning, defrosting and defogging function
When all in off position, then engine is controlled to shut down.
In the present embodiment, first predetermined value is equal to second predetermined value；And third predetermined value is less than second predetermined value.As Fig. 2
Shown, first predetermined value and second predetermined value are 3km/h, and third predetermined value is set to 1km/h.First predetermined value and second
Predetermined value is that optimal speed sets for 3km/h.And the startup speed threshold value of speed is according to the concrete need of vehicle in primary condition
Will, selected.
When the shift signal of detection keeps off for n/p, when meeting the condition that speed is closed less than 1km/h and brake signal,
Engine is then controlled to shut down.
In the case that shift signal instruction transmission for vehicles is in d/m gear, judged in the following order, to determine
Whether engine is controlled shutting down:
Judge whether speed is less than first predetermined value；
Judge whether air-conditioning, defrosting and defogging function are closed mode；
Judge whether brake signal is opened；
Judge whether the main oil gallery oil pressure of automatic catch gearbox is more than predetermined value；
Judge whether fluid torque-converter is in open mode.
If the result of above-mentioned judgement is when being, engine is controlled to shut down.If above-mentioned any one of testing result
For no when, then control engine do not shut down.Above-mentioned sequence of steps is to judge in step most preferred, and this judgement step is according to stopping
The important level that machine judges is judged one by one, the significance level highest that wherein speed judges, then gradually reduces.But need
To be illustrated, above-mentioned judgement order is not unique judgement order, is not affecting other functions and step punching
In the case of prominent, this judgement step can also be carried out simultaneously, when meeting above-mentioned all conditions, determine and engine is controlled
Shut down.
So far, although those skilled in the art will appreciate that detailed herein illustrate and describe the multiple of the present invention and show
Example property embodiment, but, without departing from the spirit and scope of the present invention, still can be direct according to present disclosure
Determine or derive other variations or modifications of many meeting the principle of the invention.Therefore, the scope of the present invention is it is understood that and recognize
It is set to and cover other variations or modifications all these.
Claims (9)
1. a kind of method that shift control engine based on automatic catch vehicle is shut down, comprising:
Step a: detection shift signal；
Step b: according to the difference of described shift signal, control described engine to shut down using different control strategies, wherein,
In the case that described shift signal instruction transmission for vehicles is in d/m gear, when at least meeting following condition, control described
Engine is shut down:
Speed is less than first predetermined value；And
Brake signal is opened；
Wherein, before step a, also need to judge:
Whether each system of vehicle is faulty；
Whether vehicle control device forbids that engine is shut down；
Whether the speed after vehicle launch exceedes predetermined startup speed threshold value；And
Whether vehicle fog lamp is opened；
If each system of vehicle does not have fault, vehicle control device does not forbid that engine is shut down, and the speed after vehicle launch exceedes
Described startup speed threshold value, and vehicle fog lamp is not switched on, then proceed step a and step b.
2. method according to claim 1 it is characterised in that
Described startup speed threshold value is set to more than 5km/h.
3. method according to claim 1 it is characterised in that
In step b, in the case that described shift signal instruction transmission for vehicles is in d/m gear, also need to meet following condition,
Described engine is controlled to shut down:
Air-conditioning, defrosting and defogging function are closed mode；
The main oil gallery oil pressure of automatic catch gearbox is more than predetermined value；And
Fluid torque-converter is opened.
4. method according to claim 1 it is characterised in that
In step b, in the case that described shift signal instruction transmission for vehicles is in n/p gear, at least meet following condition group
For the moment, described engine is controlled to shut down:
Brake signal is opened and speed is less than second predetermined value；Or
Brake signal is closed and speed is less than third predetermined value.
5. method according to claim 4 it is characterised in that
In step b, in the case that described shift signal instruction transmission for vehicles is in n/p gear, also need to meet following condition,
Described engine is controlled to shut down:
Air-conditioning, defrosting and defogging function are closed mode.
6. method according to claim 4 it is characterised in that
Described first predetermined value is equal to described second predetermined value；And
Described third predetermined value is less than described second predetermined value.
7. method according to claim 6 it is characterised in that
Described first predetermined value and described second predetermined value can be set to that 3km/h；And
Described third predetermined value is set to 1km/h.
8. method according to claim 1 is it is characterised in that be in r gear in described shift signal instruction transmission for vehicles
In the case of, control engine not shut down.
9. method according to claim 3 is it is characterised in that be in d/m in described shift signal instruction transmission for vehicles
In the case of gear, judged in the following order, to determine whether described engine to be controlled shut down:
Judge whether speed is less than first predetermined value；
Judge whether air-conditioning, defrosting and defogging function are closed mode；
Judge whether brake signal is opened；
Judge whether the main oil gallery oil pressure of automatic catch gearbox is more than predetermined value；
Judge whether fluid torque-converter is in open mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310632283.7A CN103693041B (en) | 2013-11-29 | 2013-11-29 | Method for controlling engine stop based on gears of automatic-control vehicle |
| CN201611140926.6A CN106627583B (en) | 2013-11-29 | 2013-11-29 | The method that shift control engine based on automatic block vehicle is shut down |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310632283.7A CN103693041B (en) | 2013-11-29 | 2013-11-29 | Method for controlling engine stop based on gears of automatic-control vehicle |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611140926.6A Division CN106627583B (en) | 2013-11-29 | 2013-11-29 | The method that shift control engine based on automatic block vehicle is shut down |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103693041A CN103693041A (en) | 2014-04-02 |
| CN103693041B true CN103693041B (en) | 2017-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310632283.7A Active CN103693041B (en) | 2013-11-29 | 2013-11-29 | Method for controlling engine stop based on gears of automatic-control vehicle |
| CN201611140926.6A Active CN106627583B (en) | 2013-11-29 | 2013-11-29 | The method that shift control engine based on automatic block vehicle is shut down |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611140926.6A Active CN106627583B (en) | 2013-11-29 | 2013-11-29 | The method that shift control engine based on automatic block vehicle is shut down |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109606349B (en) * | 2018-12-24 | 2020-07-07 | 浙江吉利汽车研究院有限公司 | Engine stop control method, device and system and vehicle control unit |
| JP6951315B2 (en) * | 2018-12-26 | 2021-10-20 | 本田技研工業株式会社 | Vehicle control device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0337473A (en) * | 1989-06-30 | 1991-02-18 | Mazda Motor Corp | Transmission control device of automatic transmission |
| CN1986307A (en) * | 2006-12-08 | 2007-06-27 | 奇瑞汽车有限公司 | Engine on-off control method for mixed power automobile |
| CN101850767B (en) * | 2009-03-30 | 2013-06-26 | 北汽福田汽车股份有限公司 | Vehicle engine high-speed starting and stopping control method and system based on active shutdown mode |
| CN102454495A (en) * | 2010-10-22 | 2012-05-16 | 上海通用汽车有限公司 | Engine start-stop control method applied on vehicle with manual-automatic combined gearbox and system thereof |
| KR101262484B1 (en) * | 2010-12-01 | 2013-05-08 | 현대자동차주식회사 | Economic ISG System and Control Method thereof |
| CN102485560A (en) * | 2010-12-02 | 2012-06-06 | 上海通用汽车有限公司 | Engine start/stop control method and system applied to electric manual transmission (EMT) type vehicle with start motor |
| KR101693871B1 (en) * | 2010-12-07 | 2017-01-09 | 현대자동차주식회사 | Device and Method for Controlling ISG Logic |
| CN102562330B (en) * | 2010-12-28 | 2016-02-17 | 上海汽车集团股份有限公司 | Realize automatic engine stop and self-drive controlling method |
| CN103223946A (en) * | 2013-04-22 | 2013-07-31 | 重庆长安汽车股份有限公司 | Hybrid electric vehicle, control system and method for idling stop of hybrid electric vehicle |
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2013
- 2013-11-29 CN CN201310632283.7A patent/CN103693041B/en active Active
- 2013-11-29 CN CN201611140926.6A patent/CN106627583B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106627583B (en) | 2019-02-26 |
| CN103693041A (en) | 2014-04-02 |
| CN106627583A (en) | 2017-05-10 |
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