CN106415233A - Tire cooling control device in chassis dynamometer - Google Patents
Tire cooling control device in chassis dynamometer Download PDFInfo
- Publication number
- CN106415233A CN106415233A CN201580025764.9A CN201580025764A CN106415233A CN 106415233 A CN106415233 A CN 106415233A CN 201580025764 A CN201580025764 A CN 201580025764A CN 106415233 A CN106415233 A CN 106415233A
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- China
- Prior art keywords
- tire
- control device
- speed
- temperature
- chassis dynamometer
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/04—Testing internal-combustion engines
Abstract
It has been found that, in cases of evaluating fuel consumption by mounting a vehicle to be tested on a chassis dynamometer, the management of vehicle conditions and also the management of tire temperature are important in setting load conditions appropriately. In order to manage tire temperature, a tire cooling fan control device (10) (10FL, 10RL, 10FR, 10RR) is provided. The tire cooling fan control device is constituted by, for example, a ratio setting unit (7), a tire cooling fan (11), and an inverter (20) that controls the tire cooling fan. A speed signal is generated by multiplying a vehicle speed setting value from a dynamometer control device (6) by the ratio setting of the wind speed to the vehicle speed, which has been set by the ratio setting unit (7). The temperature of the contact surface between a roller (2) and a tire is managed by controlling the tire cooling fan (11) through the inverter (20) in accordance with a difference between the generated speed signal and the detected speed of the tire cooling fan (the output of a subtracting unit (19)).
Description
Technical field
The present invention relates to the tire cool control device in chassis dynamometer, more particularly to it is used for carrying out the temperature of tire
The control device of the tire cool fan of management.
Background technology
When the oil consumption carrying out vehicle is tested, the data obtaining according to being run by the inertia force on actual road surface, set
Running resistance and inertia mass of equal value and be supplied to chassis dynamometer.Chassis dynamometer provides to vehicle according to set parameter
Load, carries out JC08 isotype traveling, thus carrying out fuel consumption measurement.In this oil consumption test, in order to actual road surface equally
Reproduce running resistance and inertia mass of equal value in chassis dynamometer, by vehicle boarded on the chassis dynamometer in the state of carry out
Inertia force runs, and carries out adjustment of load in the way of so that inertia force run time is equal to actual road surface.
In recent years, reported by non-patent literature：In this oil consumption test, in terms of rightly providing loading condition, wheel
The management of the temperature treatment of tire and vehicle condition is all critically important.When carrying out adjustment of load, if produced due to the state of temperature of tire
Raw impact, then being loaded with of vehicle being provided may change, and, is also possible to when pattern travels understand due to the temperature of tire
Degree state, tire wear produces change and becomes the deviation main cause of oil consumption.
Additionally, by patent document 1 discloses that：In chassis dynamometer, provide wind speed to engine or tire etc..But,
In patent document 1, there is no disclosure to improve the technology that oil consumption evaluation precision carries out the temperature treatment of tire.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Application 62-24126 publication
Non-patent literature 1：On well he, " タ イ ヤ temperature characterisitic Ga Ga り opposing To and Pot The shadow To つ い て "
2011 from skill can spring learn drill meeting, 20115241 (《Shadow rolling resistance being caused by the temperature characterisitic of tire
Ring》, Japanese car technology meeting spring scientific seminar in 2011,20115241)
Content of the invention
Applicant carried out the temperature treatment state of tire whether become carry out oil consumption test when adjustment of load when to
The validation test of the main cause of the deviation of oil consumption caused by the variation of load of vehicle offer and tire wear.
By validation test result, the method for managing temperature that checking has or not tire sets running resistance to chassis dynamometer
When inertia force run and travel, the tire wear (resistance) when pattern travels, travel disturbance degree of causing of amount of work etc., according to its knot
Fruit completes the present invention, so it is an object of the invention to provide in a kind of chassis dynamometer for improving oil consumption evaluation precision
Tire cool control device.
The solution of the present invention 1 is to carry tested vehicle on cylinder, by Dynamometer Control device via tire cold
But fan sends cooling wind to the tire of tested vehicle and cylinder contact part, in the chassis dynamometer tested,
It is characterized in that, it is configured to：
It is provided with the inverter of tire cool fan controlling described tested vehicle and set the wind with respect to speed
The ratio configuration part of fast characteristic,
To be multiplied to generate rate signal with speed setting value by the ratio setting value set by ratio configuration part, and
According to the rate signal being generated, to control tire cooling fan via described inverter.
The solution of the present invention 2 is to carry tested vehicle on cylinder, by Dynamometer Control device via tire cold
But fan sends cooling wind to the tire of tested vehicle and cylinder contact part, in the chassis dynamometer tested,
It is characterized in that, it is configured to：
It is provided with the thermometer of tyre temperature detecting described tested vehicle and control the inverse of described tire cool fan
Become device,
Temperature letter is generated according to the difference of the detection temperature signal being detected by described thermometer and desired temperature
Number, and tire cooling fan is controlled according to this temperature signal via described inverter.
The solution of the present invention 3 is characterised by, is configured to：According to the thermometer detecting tyre temperature and by temperature
Count the difference that the detection temperature signal detecting and temperature set, generate temperature signal, and
It is provided with the switch for switching generated temperature signal and described rate signal, can be cut by switch
Change temperature signal and rate signal.
The solution of the present invention 4 is characterised by, by the wind speed set by described ratio configuration part with respect to speed ratio
Value setting value is set so that the tire cool fan with respect to the front wheel side being arranged at described tested vehicle, after being arranged at
The wind-force that the tire cool fan of wheel side is sent dies down.
The solution of the present invention 5 is characterised by, by the wind speed set by described ratio configuration part with respect to speed ratio
It is can for the tire cool fan of each wheel all around being arranged at described tested vehicle respectively each that value sets
Arbitrarily set.
As described above, according to the present invention, carrying out temperature treatment by using the blast velocity control for each tire, suppression exists
The change from actual road surface different adjoint tire wear (resistance) during adjustment of load is carried out on chassis dynamometer, thus
Loading condition can rightly be provided in test, the oil consumption test approximate with actual road surface can be carried out, it is possible to increase evaluate
Precision.
Brief description
Fig. 1 is the structure chart of the tire cool control device illustrating embodiments of the present invention.
Fig. 2 is the synoptic diagram of the test device based on chassis dynamometer.
Fig. 3 is the speed-wind speed characteristics figure being set based on ratio.
Fig. 4 is the speed-wind speed characteristics figure of the front tyre periphery based on test result.
Fig. 5 is the speed-wind speed characteristics figure of the rear tyre periphery based on test result.
Fig. 6 is the temperature comparison diagram based on tire cool condition.
Specific embodiment
Fig. 2 is the figure of the sketch structure figure of the oil consumption testing device illustrating chassis dynamometer.1 is tested vehicle, vehicle 1
Each wheel be equipped on the cylinder 2 of chassis dynamometer, vehicle self by diagram omit restraint device fixed.In addition, root
When running according on the way inertia force, acquired data, to control cylinder 2 via Dynamometer Control device.3 is from tested vehicle 1
Front face side send the axial fan of wind-force, 11 is each tire to four-wheel with the contact surface of cylinder 2 sends the wheel of wind-force
Tire cooling fan, 5 is table top.In addition although diagram is omitted, but for measuring the non-contact thermometer of tyre temperature and being used for surveying
The hot wire anemometer of amount tire periphery wind speed is installed in vehicle body main body etc..
Before explaining the present invention, validation test is illustrated.
Carry out inertia force operation in the state of tested vehicle 1 is equipped on chassis dynamometer, in order to actual road surface
Equally reproduce running resistance and inertia mass of equal value, carry out adjustment of load so that inertia force run time be on the way equal to.?
Wheel during test, when comparison to the tire periphery wind speed on actual road surface and chassis dynamometer and chassis dynamometer travel
Tire temperature treatment travels, to pattern, the impact causing and is tested.
(1) with regard to the comparison of the tire periphery wind speed on actual road surface and chassis dynamometer
Fig. 4, Fig. 5 are to take the wind speed that the longitudinal axis is tire periphery and take the figure that transverse axis is speed, illustrate actual road surface and chassis
The comparative result of the tire periphery wind speed caused by the difference of tire cool condition on dynamometer machine.Fig. 4 illustrates front tyre periphery
Situation, Fig. 5 illustrates the situation of rear tyre periphery.
It is in Fig. 4 in the comparison diagram of front tyre periphery wind speed, line A represents the wind on actual road surface with respect to speed
Speed, line B represents that the situation of the speed making the wind speed of tire cool fan 11 follow cylinder 2 (speed) (is hereinafter referred to as taken turns
Tire cooling fan speed follows mode).Under front tyre periphery wind speed, tire cool fan speed follows mode compared to it
Its type of cooling, becomes the wind speed result with respect to speed being similar to actual road surface.
In addition, in the comparison of rear tyre periphery wind speed shown in Fig. 5, becoming line B in the wind speed of actual road surface (line A)
Shown tire cool fan speed follows the only about half of of mode.This is considered as the result of the impact by vehicle body.
On the other hand, on chassis dynamometer, follow mode in the approximate tire cool fan speed of front wheel side also due to
In the rear wheel-side output wind speed suitable with speed ratio, so becoming the not result approximate with actual road surface.
(2) impact that tyre temperature when pattern being travelled with regard to tire cool condition causes
Fig. 6 be pattern travel when the difference of tire cool condition caused by the peak of tyre temperature, minimum and
The comparative result of mean value.In figure 6, the tire cool fan speed mode of following becomes the result lower than alternate manner.This
It is considered as that, in the case that tire cool fan speed follows mode, compared to alternate manner, cooling fan is followed up to car
The high-speed domain of speed, so cooled down further compared to alternate manner.In addition, the tire of initial 300 second of JC08 pattern
The instantaneous value of temperature also is being set to become and alternate manner phase by pattern in the case that tire cool fan speed follows mode
Than relatively low result.
Additionally, the rolling to the tire monomer suitable with a item of vehicle drive force (running resistance formula) for the impact of tyre temperature
Dynamic resistance plays a role.By way of parenthesis, the situation low compared to tyre temperature, when tyre temperature is high, tire wear reduces.The bottom of at
Before mode operation in disk dynamometer machine, need to carry out the adjustment of load of chassis dynamometer, but the tyre temperature in mode operation
Than adjustment of load when tyre temperature high in the case of, tire wear reduce, so be in oil consumption improvement tendency.
In addition to above-mentioned (1), (2), carry out gross vehicle amount of work when tire cool condition travels to pattern and caused
Impact and for tire cool condition JC08 pattern travel amount of work reckoning result of the comparison, obtained as follows
A～D experience.
A. with regard to the wind speed of the tire periphery on chassis dynamometer, the speed mode of following of tire cool fan is similar to reality
The wind velocity condition on border road surface.But, in actual road surface, due to the impact of vehicle body, rear wheel-side is compared to front wheel side, tire periphery
Wind speed halves.Therefore, for close actual road traveling it is desirable to be able to the wind speed independently setting trailing wheel with front-wheel sets.
B. tyre temperature becomes minimum in the case of operating in the tire cool fan speed mode of following.Its reason is,
Because tire cool fan is followed up to high-speed domain, so compared to alternate manner, the air quantity that tire is applied is more, cooling effect
Fruit is higher.
C. tire wear amount can be obtained using tire RRC (coefficient of rolling resistance), carry out the vehicle in rolling resistance
The estimation of internal transmission loss.
D., in the rolling resistance amount of work that tyre temperature is affected, tire periphery wind speed is equivalent to actual road surface and tire
Temperature is tended to low tire cool fan speed and is followed mode compared to alternate manner change greatly, will appreciate that chassis dynamometer is surveyed
The necessity of the tyre temperature management in examination.
Therefore, in order to oil consumption evaluation is accurately carried out by chassis dynamometer, in terms of rightly providing loading condition,
The temperature treatment of tire and the management of vehicle condition all become important, complete the present invention accordingly.
Fig. 1 is the figure illustrating to follow the embodiment of mode based on tire cool fan speed.Fig. 1 illustrates tested test run
It is set to the control device 10 (10F of the tire cool fan in only each left side of front and back wheel during 4WD carL、10RL) structure chart,
But the control device 10 (10F of the tire cool fan with regard to right sideR、10RR) similarly constitute.Therefore, with front left wheel side
The control device 10F of tire cool fanLIllustrate as representative.
In FIG, 11 is tire cool fan, is disposed in the contact surface for cylinder 2 and the tire of tested vehicle and send
Go out to cool down the position of wind.12 is non-contacting thermometer, is installed on the vehicle body near tire.13 is subtraction portion, calculates detection temperature
Degree sets the difference of Tset with temperature.14 is PI operational part, carries out proportional integral computing for the temperature difference calculating, defeated
Go out the temperature signal for regulation.15 is switch, carry out the output signal of PI operational part 17 and temperature signal (PI operational part 14
Output signal) switching.
16 is multiplier, be enter to from the pattern of dynamometer machine control device 6 travel when speed setting value, in this multiplication
In portion 16, carry out the multiplying of the ratio setting value of speed setting value and ratio configuration part 7, be input to PI operational part 17, raw
Become rate signal.18 is speed detecting portion, by detectors such as p mulse picker, detects the speed of tire cool fan 11,
In subtraction portion 19, obtain and the temperature signal being generated in PI operational part 14 or the rate signal being generated in PI operational part 17
Difference.
20 is inverter, generates and the corresponding control signal of difference from subtraction portion 19, according to according to this control signal
Frequency obtained by modulation, to control the rotating speed of tire cooling fan 11, sends wind-force.In addition, 11～20 constituting wheel by these
Control device 10 (the 10F of tire cooling fanL、10RL、10FR、10RR).
Additionally, in ratio configuration part 7, according to the test result of Fig. 4, Fig. 5, carrying out wind speed and set with respect to the ratio of speed
Determine, so that wind speed sets the speed-wind speed characteristics becoming as shown in Figure 3, to carry out the control of the tire cool fan of front wheel side
Device 10FLControl device 10R with the tire cool fan of rear wheel-sideLRatio distribution.For example, so that front wheel side is being set to
When 0.7, rear wheel-side is 0.3 mode, becomes and individually sets the function that the wind speed for each tire all around sets respectively
The characteristic of type.Can be set by the wind speed of this ratio configuration part 7, enter trip temperature using the blast velocity control for each tire
Management.
Work to the present invention constituting as described above illustrates.
In each Dynamometer Control device 6 of front and back wheel side, it is previously stored with and institute is run by the inertia force on actual road surface
The data obtaining, according to this data storage, drives cylinder 2 to carry out oil consumption test via dynamometer machine 4.Not necessarily oil consumption is surveyed every time
All it is directed to the temperature conditionss that tire grasped by tested vehicle during examination.When not grasping the temperature conditionss of tire, will be pre- for switch 15
First it is switched to terminal a side.
The situation that switch 15 is switched to terminal a side illustrates.
With regard to the ratio set by ratio configuration part 7, it is set to the control device of the tire cool fan of such as front wheel side
10FLFor 0.7, the control device 10R of the tire cool fan of rear wheel-sideLFor 0.3.In each multiplier 16, carry out ratio setting value
With the multiplying of the speed setting value from each Dynamometer Control device 6, generate the speed letter of regulation in each PI operational part 17
Number.Rate signal is separately input to subtraction portion 19 via the terminal a of switch 15.
In subtraction portion 19, calculate the detection speed of tire cool fan 11 detecting via speed detecting portion 18 and speed
The difference of degree signal, controls tire cooling fan 11 by inverter 20 in the way of making this difference become 0, by this control, presses
Photograph makes the ratio that rear wheel-side becomes 0.3 send wind speed front wheel side 0.7.That is, when speed setting value as shown in Figure 3 is n,
W1 is become by the wind speed of front wheel side, rear wheel-side wind speed becomes the tire cool fan speed mode of following of w2 and is controlled, enter
The tire cool that row is equal to when running and travel with the inertia force on actual road surface controls.
Next, illustrating to the situation of the temperature conditionss having grasped tested vehicle.In this case, switch 15
It is switched to terminal b side.
With regard to tyre temperature during operating, detected respectively by each thermometer 12, in subtraction portion 13, obtain detection temperature
The difference setting Tset with temperature is temperature detection value, and the temperature signal being generated by PI operational part 14 is inputted via terminal b
To each subtraction portion 19.This temperature can be set for each tire cool fan and set Tset.In each subtraction portion 19, calculate via
The detection speed of tire cool fan 11 that speed detecting portion 18 detects and the difference of temperature signal, so that this difference becomes 0
Mode, tire cooling fan 11 is controlled by inverter 20.
Additionally, the above ratio by the wind speed of tire cool fan sets side only before and after tested vehicle is set to difference
Setting value, but speed can be respectively directed to be set to respective ratio set, or be set to relatively in left and right in each wheel of four-wheel
The ratio setting value of speed.
Therefore, according to the present invention, carry out temperature treatment by using the blast velocity control for each tire, in Chassis dynamometer
When carrying out adjustment of load on machine, the change of different from actual road surface the adjoint tire wear (resistance) of suppression, therefore, it is possible to proper
The local loading condition providing during test, can carry out the oil consumption test approximate with actual road surface, it is possible to increase evaluation precision.
Claims (5)
1. the tire cool control device in a kind of chassis dynamometer, in described chassis dynamometer, carries tested on cylinder
Test run, is sent to the tire of tested vehicle and cylinder contact part via tire cool fan by Dynamometer Control device
Go out to cool down wind, tested, the tire cool control device in this chassis dynamometer is configured to：
It is provided with the inverter of tire cool fan controlling described tested vehicle and set special with respect to the wind speed of speed
The ratio configuration part of property,
To be multiplied to generate rate signal with speed setting value by the ratio setting value set by ratio configuration part, and
According to the rate signal being generated, to control tire cooling fan via described inverter.
2. the tire cool control device in a kind of chassis dynamometer, in described chassis dynamometer, carries tested on cylinder
Test run, is sent to the tire of tested vehicle and cylinder contact part via tire cool fan by Dynamometer Control device
Go out to cool down wind, tested, the tire cool control device in this chassis dynamometer is configured to：
The inverter being provided with the thermometer of tyre temperature detecting described tested vehicle and controlling described tire cool fan,
Temperature signal is generated according to the difference of the detection temperature signal being detected by described thermometer and desired temperature, and
Tire cooling fan is controlled according to this temperature signal via described inverter.
3. the tire cool control device in chassis dynamometer according to claim 1, wherein, is configured to：
The difference that thermometer according to detection tyre temperature and the detection temperature signal being detected by thermometer and temperature are set
Point, generate temperature signal, and,
It is provided with the switch for switching generated temperature signal and described rate signal, temperature is allowed hand over by switch
Degree signal and rate signal.
4. the tire cool control device in the chassis dynamometer according to claim 1 or 3, wherein,
It is set so that with respect to setting with respect to the ratio setting value of speed by the wind speed set by described ratio configuration part
In the tire cool fan of the front wheel side of described tested vehicle, the wind-force sent from the tire cool fan being arranged at rear wheel-side
Die down.
5. the tire cool control device in the chassis dynamometer according to any one of claim 1,3 and 4, wherein,
Being set with respect to the ratio of speed by the wind speed set by described ratio configuration part is can be directed to be arranged at described quilt
Test the tire cool fan of each wheel all around of vehicle and distinguish each any setting.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014104582 | 2014-05-20 | ||
| JP2014-104582 | 2014-05-20 | ||
| JP2015-100713 | 2015-05-18 | ||
| JP2015100713A JP6027184B2 (en) | 2014-05-20 | 2015-05-18 | Tire cooling control system for chassis dynamometer |
| PCT/JP2015/064276 WO2015178362A1 (en) | 2014-05-20 | 2015-05-19 | Tire cooling control device in chassis dynamometer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106415233A true CN106415233A (en) | 2017-02-15 |
| CN106415233B CN106415233B (en) | 2018-07-20 |
Family
ID=54554031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580025764.9A Active CN106415233B (en) | 2014-05-20 | 2015-05-19 | Tire cool control device in chassis dynamometer |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6027184B2 (en) |
| KR (1) | KR101758142B1 (en) |
| CN (1) | CN106415233B (en) |
| WO (1) | WO2015178362A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3825675B1 (en) * | 2018-07-18 | 2024-01-10 | Horiba, Ltd. | Vehicle testing device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5837491B2 (en) * | 1976-08-30 | 1983-08-16 | クレイトン マニユフアクチユアリング カンパニ− | Inertia and road load simulator |
| JPH08152380A (en) * | 1994-11-30 | 1996-06-11 | Hitachi Ltd | Pit cover for chassis dynamometer |
| JP2001289741A (en) * | 2000-04-10 | 2001-10-19 | Toyo Eng Works Ltd | Traveling test apparatus for test self-advancing vehicle |
| JP4176406B2 (en) * | 2002-07-16 | 2008-11-05 | 株式会社堀場製作所 | Automobile running test system, auto exhaust gas measurement system, and simulation mode selection program |
| JP2009133631A (en) * | 2007-11-28 | 2009-06-18 | Bridgestone Corp | Durability test method of tire drum |
| CN103124644A (en) * | 2010-09-28 | 2013-05-29 | 丰田自动车株式会社 | Tire temperature control device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6224126A (en) | 1985-07-24 | 1987-02-02 | Hitachi Ltd | Wind velocity controller of cooling fan for chasis dynamometer |
| KR101383443B1 (en) * | 2013-04-30 | 2014-04-08 | 주식회사 현대케피코 | Cooling system for chassis dynamometer and control method thereof |
-
2015
- 2015-05-18 JP JP2015100713A patent/JP6027184B2/en active Active
- 2015-05-19 WO PCT/JP2015/064276 patent/WO2015178362A1/en active Application Filing
- 2015-05-19 KR KR1020167035104A patent/KR101758142B1/en active IP Right Grant
- 2015-05-19 CN CN201580025764.9A patent/CN106415233B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5837491B2 (en) * | 1976-08-30 | 1983-08-16 | クレイトン マニユフアクチユアリング カンパニ− | Inertia and road load simulator |
| JPH08152380A (en) * | 1994-11-30 | 1996-06-11 | Hitachi Ltd | Pit cover for chassis dynamometer |
| JP2001289741A (en) * | 2000-04-10 | 2001-10-19 | Toyo Eng Works Ltd | Traveling test apparatus for test self-advancing vehicle |
| JP4176406B2 (en) * | 2002-07-16 | 2008-11-05 | 株式会社堀場製作所 | Automobile running test system, auto exhaust gas measurement system, and simulation mode selection program |
| JP2009133631A (en) * | 2007-11-28 | 2009-06-18 | Bridgestone Corp | Durability test method of tire drum |
| CN103124644A (en) * | 2010-09-28 | 2013-05-29 | 丰田自动车株式会社 | Tire temperature control device |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101758142B1 (en) | 2017-07-14 |
| WO2015178362A1 (en) | 2015-11-26 |
| JP2016001173A (en) | 2016-01-07 |
| KR20170002647A (en) | 2017-01-06 |
| JP6027184B2 (en) | 2016-11-16 |
| CN106415233B (en) | 2018-07-20 |
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