CN106856445A - Braking System for Multiple Units and its method of work - Google Patents
Braking System for Multiple Units and its method of work Download PDFInfo
- Publication number
- CN106856445A CN106856445A CN201710075420.XA CN201710075420A CN106856445A CN 106856445 A CN106856445 A CN 106856445A CN 201710075420 A CN201710075420 A CN 201710075420A CN 106856445 A CN106856445 A CN 106856445A
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- ethernet
- gateway
- response message
- request message
- external equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40293—Bus for use in transportation systems the transportation system being a train
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Small-Scale Networks (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of Braking System for Multiple Units and its method of work.The Braking System for Multiple Units is connected to an at least external equipment, including：Multiple brake electronic control systems, are connected with each other by Ethernet；Wherein, each brake electronic control system includes：Ethernet gateway；Multiple boards, ethernet gateway and multiple boards are both connected in internal controller LAN gateway bus；Request message is transmitted the ethernet gateway into each brake electronic control system by external equipment by Ethernet, and ethernet gateway is transmitted to multiple boards request message by internal controller LAN gateway bus；Board receives request message, response message of the generation comprising board internal data, and by internal controller LAN gateway bus, response message is transmitted to ethernet gateway, and ethernet gateway is by Ethernet transmission response message to external equipment.The present invention is conducive to improving the communication bandwidth and transmission rate of Braking System for Multiple Units, reduces maintenance cost.
Description
Technical field
The present invention relates to brakes field, in particular it relates to a kind of Braking System for Multiple Units and its method of work.
Background technology
At present, Braking System for Multiple Units is mainly using TCN networks come framework communication network, by wired train bus WTB
Constituted with double-unit traction controller, it is adaptable to need the rail vehicle of dynamic marshalling.It is quick with Braking System for Multiple Units
Development, intelligence degree more and more higher, volume of transmitted data are increasing, and TCN networks are at aspects such as bandwidth, transmission rate and costs
The development new demand of Braking System for Multiple Units is not adapted to, the method for work of existing Braking System for Multiple Units cannot also be adapted to
The growth requirement of Braking System for Multiple Units.
The content of the invention
The main purpose of the embodiment of the present invention is to provide a kind of Braking System for Multiple Units, to solve TCN in the prior art
The communication bandwidth of network is low, the problem that transmission rate is slow and maintenance cost is high.
To achieve these goals, the embodiment of the present invention provides a kind of Braking System for Multiple Units, is connected to outside at least one
Equipment, including：Multiple brake electronic control systems, are connected with each other by Ethernet；Wherein,
Each brake electronic control system includes：
Ethernet gateway；
Multiple boards, ethernet gateway and multiple boards are both connected in internal controller LAN gateway bus；
Request message is transmitted the ethernet gateway into each brake electronic control system by external equipment by Ethernet,
Ethernet gateway is transmitted to multiple boards request message by internal controller LAN gateway bus；
Board receives request message, and generation includes the response message of board internal data, and by internal controller local
Net gateway bus, response message is transmitted to ethernet gateway, and ethernet gateway is by Ethernet transmission response message to outside
Equipment.
Wherein in a kind of embodiment, also include：
Interchanger, is set over ethernet, is that external equipment and multiple brake electronic control systems provide interface；
Interchanger is transmitted to each brake electronic control system the request message from external equipment by Ethernet
Ethernet gateway, and the response message from ethernet gateway is transmitted to external equipment.
Wherein in a kind of embodiment, ethernet gateway is used to for ethernet canonical frame format data to be converted to control general ability
Domain net standard frame format data, and controller LAN standard frame format data are converted into ethernet canonical frame format data.
Wherein in a kind of embodiment, Ethernet is used to transmit ethernet canonical frame format data, internal controller local
Net gateway bus is used for transmission control unit (TCU) local area network standard frame format data.
Wherein in a kind of embodiment, when request message is for diagnosis request message, response message is diagnostic response message；
When request message is to demarcate request message, response message is demarcation response message；
Ethernet and internal controller LAN gateway bus by DOIP communication protocols transmit diagnosis request message or
Diagnostic response message；
Ethernet is transmitted by XCP communication protocols demarcates request message or demarcation response message, internal controller LAN
Gateway bus is transmitted by CCP communication protocols and demarcates request message or demarcation response message.
Wherein in a kind of embodiment, when board is failure board, can be after diagnosis request message be received, generation bag
Diagnostic response message containing the fault data with timestamp；
Ethernet gateway is additionally operable to storage tape the fault data of timestamp.
Wherein in a kind of embodiment, each brake electronic control system before Ethernet is connected to, by outside
Equipment sets the messaging parameter of ethernet gateway；
Messaging parameter includes：IP address, physical address, subnet mask and default gateway.
By means of above-mentioned technical proposal, the Braking System for Multiple Units of the embodiment of the present invention is by ethernet gateway, and order is multiple
Brake electronic control system is connected with each other by Ethernet, is conducive to improving the communication bandwidth and transmission speed of Braking System for Multiple Units
Rate, effectively reduces the maintenance cost of Braking System for Multiple Units.
The embodiment of the present invention also provides a kind of method of work of Braking System for Multiple Units, to solve EMUs in the prior art
The method of work of brakes cannot adapt to the problem of the growth requirement of Braking System for Multiple Units.
To achieve these goals, the embodiment of the present invention also provides a kind of method of work of Braking System for Multiple Units, including：
Ethernet gateway receives the request message from external equipment by Ethernet, and by internal controller LAN
Gateway bus, request message is transmitted to multiple boards；
Board receives request message, according to request message response message of the generation comprising board internal data, and by interior
Portion's controller LAN gateway bus, response message is transmitted to ethernet gateway；
Ethernet gateway receives response message, by Ethernet transmission response message to external equipment.
Wherein in a kind of embodiment, ethernet gateway receives the request message from external equipment, bag by Ethernet
Include：Interchanger is transmitted the request message from external equipment by Ethernet to the Ethernet of each brake electronic control system
Gateway, ethernet gateway receives request message；
Ethernet gateway receives response message, by Ethernet transmission response message to external equipment, including：Ethernet net
Close by Ethernet transmission response message to interchanger, interchanger receives response message, and by the response from ethernet gateway
Message transmissions are to external equipment.
Wherein in a kind of embodiment, ethernet gateway receives the request message from external equipment by Ethernet, and
By internal controller LAN gateway bus, request message is transmitted to multiple boards, including：Ethernet gateway is received and come from
The ethernet canonical frame format data that request message is carried are converted to controller LAN standard by the request message of external equipment
Frame format data, by internal controller LAN gateway bus, will carry asking for controller LAN standard frame format data
Seek message transmissions to multiple boards；
Ethernet gateway receives response message, by Ethernet transmission response message to external equipment, including：Ethernet net
Close and receive response message, the controller LAN standard frame format data that response message is carried are converted into ethernet standard frame lattice
Formula data, by Ethernet, the response message for carrying ethernet canonical frame format data are transmitted to external equipment.
By means of above-mentioned technical proposal, the method for work of the Braking System for Multiple Units of the embodiment of the present invention is suitable for EMUs
The growth requirement of brakes.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
Needed for the accompanying drawing to be used be briefly described, it should be apparent that, drawings in the following description are only more of the invention
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
Fig. 1 is the structured flowchart of Braking System for Multiple Units in the embodiment of the present invention；
Fig. 2 is the structured flowchart of Braking System for Multiple Units one of which embodiment in the embodiment of the present invention；
Fig. 3 is the flow chart of the method for work of Braking System for Multiple Units in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In view of current TCN networks do not adapt to Braking System for Multiple Units at aspects such as bandwidth, transmission rate and costs
Development new demand, the embodiment of the present invention provides a kind of Braking System for Multiple Units, the multiple brake electronic control systems of order by with
Too net is connected with each other, and is conducive to improving the communication bandwidth and transmission rate of Braking System for Multiple Units, effectively reduces EMUs system
The maintenance cost of dynamic system.Below in conjunction with accompanying drawing, the present invention is described in detail.
Fig. 1 is the structured flowchart of Braking System for Multiple Units in the embodiment of the present invention.As shown in figure 1, Braking System for Multiple Units
An at least external equipment is connected to, including：Multiple brake electronic control system (EBCU, Electronic Brake Control
Unit), it is connected with each other by Ethernet；Wherein, each brake electronic control system includes：Ethernet gateway；Multiple boards,
Ethernet gateway and multiple boards are both connected in internal controller LAN gateway bus (internal CAN).
During specific implementation, Braking System for Multiple Units completes the data interaction with external equipment in the following way：Outside sets
Standby that request message is transmitted into the ethernet gateway into each brake electronic control system by Ethernet, ethernet gateway passes through
Internal CAN transmits to multiple boards request message.Board receives request message, sound of the generation comprising board internal data
Message is answered, and is transmitted to ethernet gateway response message by internal CAN, ethernet gateway is transmitted by Ethernet and rung
Answer message to external equipment.
In embodiment, ethernet gateway can change the frame format that message carries data, by ethernet canonical frame format number
According to being converted to controller LAN (CAN, Controller Area Network) standard frame format data, and by CAN standard frames
Formatted data is converted to ethernet canonical frame format data.Ethernet is used to transmit ethernet canonical frame format data, internal CAN
Bus is used to transmit CAN standard frame format data.
During specific implementation, ethernet gateway receives the request message from external equipment, the ether that request message is carried
Net standard frame format data are converted to CAN standard frame format data, then will carry CAN standard frame lattice by internal CAN
The request message of formula data is transmitted to multiple boards.And, ethernet gateway receives response message, and response message is carried
CAN standard frame format data are converted to ethernet canonical frame format data, then will carry ethernet standard frame lattice by Ethernet
The response message of formula data is transmitted to external equipment.
Fig. 2 is the structured flowchart of Braking System for Multiple Units one of which embodiment in the embodiment of the present invention.As shown in Fig. 2
Braking System for Multiple Units also includes：Interchanger, is set over ethernet, is that external equipment and multiple brake electronic control systems are carried
For interface.During specific implementation, interchanger is transmitted to each brake electronic the request message from external equipment by Ethernet
The ethernet gateway of control system, and the response message from ethernet gateway is transmitted to external equipment.
In embodiment, message is for diagnosis message or demarcates message.When message is for diagnosis message, Ethernet is logical by DOIP
Letter agreement transmission diagnoses request message to ethernet gateway, then please by the transmission diagnosis of DOIP communication protocols by internal CAN
Message to each board is sought, to realize the download program inside brake electronic control system.Meanwhile, each board please according to diagnosis
Ask message to generate the diagnostic response message comprising board internal data, DOIP communication protocols are passed through by Ethernet and internal CAN
View is transmitted to external equipment, and so that external equipment reads the data inside board, the I/O interface of Control card diagnoses the event of board
Barrier etc..Wherein, external equipment can be the part of service terminal (such as computer) and EMUs other systems (such as trailer system).
During specific implementation, when board inside is broken down, failure board can be after diagnosis request message be received, generation
Diagnostic response message comprising the fault data with timestamp.The first storage tape of ethernet gateway meeting has the number of faults of timestamp
According to, then the fault data with timestamp is uploaded to external equipment by Ethernet.
When message is to demarcate message, Ethernet is transmitted by XCP communication protocols demarcates request message to ethernet gateway,
Transmitted by CCP communication protocols by internal CAN again and demarcate request message to each board, to realize brake electronic control system
Download program inside system.Meanwhile, each board is responded according to request message demarcation of the generation comprising board internal data is demarcated
Message, internal CAN is transmitted by CCP communication protocols and demarcates response message to ethernet gateway, then by Ethernet by XCP
Communication protocol is transmitted to external equipment, with the data inside parallel measurement board, carries out calibration of camera etc..
EMUs include multiple motor-cars and multiple trailers, and multiple brake electronic controls are mounted on each motor-car or trailer
System.The Braking System for Multiple Units of the embodiment of the present invention can obtain the control for brake speed of motor-car or trailer, be made by demarcating
Dynamic this parameter of control speed, can adjust the stopping power and braking distance of motor vehicle braking system.The parameter of demarcation also includes
Rotary inertia, coefficient of friction of foundation brake friction pair of wheel etc..In embodiment, can be when the wheel of train changes
(the wheel diameter change that e.g., wheel wear is caused), the rotary inertia of wheel is adjusted by parameter calibration, to make vehicle in time
Brake force is accurately calculated.
In embodiment, each brake electronic control system before Ethernet is connected to, by external equipment set with
The too messaging parameter of net gateway, including：IP address, physical address, subnet mask and default gateway etc..Each ethernet gateway it is logical
Letter parameter it is different, it is to avoid brake electronic control system after access network based on ethernet, because identical messaging parameter influence Ethernet
Integrated communication.
In embodiment, ethernet gateway can be the single-chip microcomputer SPC5675K based on Freescale 32.It has ether
Network Communication interface and CAN communication interface, realize interconnecting inside Braking System for Multiple Units, and overall hardware cost is low, work
Make reliable, highly versatile, the demand of Braking System for Multiple Units car control pattern is met, with actual application value.
To sum up, the Braking System for Multiple Units of the embodiment of the present invention can make multiple brake electronic controls by ethernet gateway
System processed is connected with each other by Ethernet, is conducive to improving the communication bandwidth and transmission rate of Braking System for Multiple Units, effectively drop
The low maintenance cost of Braking System for Multiple Units.Further, the present invention also sets interchanger over ethernet, is external equipment
And multiple brake electronic control systems provide interface, and more brake electronic control systems are included into Braking System for Multiple Units
In, facilitate external equipment centralized Control brake electronic control system, improve operating efficiency.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of method of work of Braking System for Multiple Units, such as
Described in example below.Because the principle of the method solve problem is similar to Braking System for Multiple Units, thus the method implementation
Braking System for Multiple Units is may refer to, part is repeated and is repeated no more.
Fig. 3 is the flow chart of the method for work of Braking System for Multiple Units in the embodiment of the present invention.As shown in figure 3, the method
Can include：
Step 101：Ethernet gateway receives the request message from external equipment by Ethernet, and by internal control
General ability area network gateway bus, request message is transmitted to multiple boards.
Step 102：Board receives request message, according to request message response message of the generation comprising board internal data,
And by internal controller LAN gateway bus, response message is transmitted to ethernet gateway.
Step 103：Ethernet gateway receives response message, by Ethernet transmission response message to external equipment.
In embodiment, ethernet gateway receives the request message from external equipment by Ethernet, can include：Exchange
Machine is transmitted the request message from external equipment by Ethernet to the ethernet gateway of each brake electronic control system, with
Too net gateway receives request message.
Ethernet gateway receives response message, by Ethernet transmission response message to external equipment, can include：Ether
Net gateway receives response message by Ethernet transmission response message to interchanger, interchanger, and by from ethernet gateway
Response message is transmitted to external equipment.
In embodiment, ethernet gateway receives the request message from external equipment by Ethernet, and is controlled by inside
General ability area network gateway bus processed, request message is transmitted to multiple boards, can be included：Ethernet gateway is received and set from outside
The ethernet canonical frame format data that request message is carried are converted to controller LAN standard frame format by standby request message
Data, by internal controller LAN gateway bus, will carry the request message of controller LAN standard frame format data
Transmit to multiple boards.
Ethernet gateway receives response message, by Ethernet transmission response message to external equipment, can include：Ether
Net gateway receives response message, and the controller LAN standard frame format data that response message is carried are converted into ethernet standard
Frame format data, by Ethernet, the response message for carrying ethernet canonical frame format data are transmitted to external equipment.
To sum up, the method for work of the Braking System for Multiple Units of the embodiment of the present invention is adapted to the hair of Braking System for Multiple Units
Exhibition demand.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, should be understood that and the foregoing is only specific embodiment of the invention, the guarantor being not intended to limit the present invention
Shield scope, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc., should be included in this
Within the protection domain of invention.
Claims (10)
1. a kind of Braking System for Multiple Units, is connected to an at least external equipment, it is characterised in that including：Multiple brake electronic controls
System processed, is connected with each other by Ethernet；Wherein,
Each brake electronic control system includes：
Ethernet gateway；
Multiple boards, the ethernet gateway and multiple boards are both connected in internal controller LAN gateway bus；
Request message is transmitted the Ethernet into each brake electronic control system by the Ethernet for the external equipment
Gateway, the ethernet gateway is transmitted to multiple the request message by the internal controller LAN gateway bus
The board；
The board receives the request message, response message of the generation comprising board internal data, and is controlled by the inside
General ability area network gateway bus processed, the response message is transmitted to ethernet gateway, and the ethernet gateway passes through the ether
Net transmits the response message to the external equipment.
2. Braking System for Multiple Units according to claim 1, it is characterised in that also include：
Interchanger, is arranged on the Ethernet, is that the external equipment and multiple brake electronic control systems provide interface；
Request message from the external equipment is transmitted to each brake electronic and controls system by the interchanger by Ethernet
The ethernet gateway of system, and the response message from the ethernet gateway is transmitted to the external equipment.
3. Braking System for Multiple Units according to claim 1, it is characterised in that
The ethernet gateway is used to for ethernet canonical frame format data to be converted to controller LAN standard frame format data,
And controller LAN standard frame format data are converted into ethernet canonical frame format data.
4. Braking System for Multiple Units according to claim 3, it is characterised in that
The Ethernet is used to transmit ethernet canonical frame format data, and the internal controller LAN gateway bus is used to pass
Defeated controller LAN standard frame format data.
5. Braking System for Multiple Units according to claim 1, it is characterised in that
When the request message is for diagnosis request message, the response message is diagnostic response message；
When the request message is to demarcate request message, the response message is demarcation response message；
The Ethernet and the internal controller LAN gateway bus transmit the diagnosis by DOIP communication protocols please
Ask message or the diagnostic response message；
The Ethernet transmits demarcation request message or the demarcation response message, the inside by XCP communication protocols
Controller LAN gateway bus transmits demarcation request message or the demarcation response message by CCP communication protocols.
6. Braking System for Multiple Units according to claim 5, it is characterised in that
When the board is failure board, can be after the diagnosis request message be received, generation is included with timestamp
The diagnostic response message of fault data；
The ethernet gateway is additionally operable to the storage fault data with timestamp.
7. Braking System for Multiple Units according to claim 1, it is characterised in that
Each brake electronic control system set the communication of ethernet gateway before Ethernet is connected to by external equipment
Parameter；
The messaging parameter includes：IP address, physical address, subnet mask and default gateway.
8. the method for work of any Braking System for Multiple Units of a kind of claim 1-7, it is characterised in that including：
Ethernet gateway receives the request message from external equipment by Ethernet, and by internal controller LAN gateway
Bus, the request message is transmitted to multiple boards；
The board receives the request message, according to request message response message of the generation comprising board internal data,
And by internal controller LAN gateway bus, the response message is transmitted to ethernet gateway；
The ethernet gateway receives the response message, and transmitting the response message to the outside by the Ethernet sets
It is standby.
9. the method for work of Braking System for Multiple Units according to claim 8, it is characterised in that
Ethernet gateway receives the request message from external equipment by Ethernet, including：Interchanger passes through Ethernet in the future
Transmitted from the request message of external equipment to the ethernet gateway of each brake electronic control system, the ethernet gateway is received
The request message；
The ethernet gateway receives the response message, and transmitting the response message to the outside by the Ethernet sets
It is standby, including：The ethernet gateway transmits the response message to the interchanger by the Ethernet, and the interchanger connects
The response message is received, and the response message from the ethernet gateway is transmitted to the external equipment.
10. the method for work of Braking System for Multiple Units according to claim 8, it is characterised in that
Ethernet gateway receives the request message from external equipment by Ethernet, and by internal controller LAN gateway
Bus, the request message is transmitted to multiple boards, including：Ethernet gateway receives the request report from external equipment
The ethernet canonical frame format data that the request message is carried are converted to controller LAN standard frame format data by text,
By internal controller LAN gateway bus, by the request message for carrying controller LAN standard frame format data transmit to
Multiple boards；
The ethernet gateway receives the response message, and transmitting the response message to the outside by the Ethernet sets
It is standby, including：The ethernet gateway receives the response message, the controller LAN standard frame that the response message is carried
Formatted data is converted to ethernet canonical frame format data, by the Ethernet, will carry ethernet canonical frame format data
Response message transmit to the external equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710075420.XA CN106856445B (en) | 2017-02-13 | 2017-02-13 | Motor train unit braking system and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710075420.XA CN106856445B (en) | 2017-02-13 | 2017-02-13 | Motor train unit braking system and working method thereof |
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| Publication Number | Publication Date |
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| CN106856445A true CN106856445A (en) | 2017-06-16 |
| CN106856445B CN106856445B (en) | 2020-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710075420.XA Active CN106856445B (en) | 2017-02-13 | 2017-02-13 | Motor train unit braking system and working method thereof |
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| CN107450518A (en) * | 2017-08-16 | 2017-12-08 | 北京车和家信息技术有限责任公司 | A kind of program upgrade apparatus and its control method based on vehicle-mounted Ethernet framework |
| CN109669442A (en) * | 2018-12-25 | 2019-04-23 | 深圳市元征科技股份有限公司 | A kind of method for converting protocol and conversion equipment |
| CN110962778A (en) * | 2019-11-28 | 2020-04-07 | 安徽江淮汽车集团股份有限公司 | Gateway device of automobile and automobile |
| CN114715091A (en) * | 2022-04-24 | 2022-07-08 | 刘尧 | Subway vehicle braking system optimization method |
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| CN107450518A (en) * | 2017-08-16 | 2017-12-08 | 北京车和家信息技术有限责任公司 | A kind of program upgrade apparatus and its control method based on vehicle-mounted Ethernet framework |
| CN109669442A (en) * | 2018-12-25 | 2019-04-23 | 深圳市元征科技股份有限公司 | A kind of method for converting protocol and conversion equipment |
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| CN114715091A (en) * | 2022-04-24 | 2022-07-08 | 刘尧 | Subway vehicle braking system optimization method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106856445B (en) | 2020-11-06 |
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