CN110267899B - Door closing mechanism point inspection device and door closing mechanism point inspection system of elevator - Google Patents
Door closing mechanism point inspection device and door closing mechanism point inspection system of elevator Download PDFInfo
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- CN110267899B CN110267899B CN201780085210.7A CN201780085210A CN110267899B CN 110267899 B CN110267899 B CN 110267899B CN 201780085210 A CN201780085210 A CN 201780085210A CN 110267899 B CN110267899 B CN 110267899B
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- elevator
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- door closing
- door
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
Abstract
Provided is a door closing mechanism checking device for an elevator, which can acquire an image for checking the mechanical size of a door closing mechanism in a short time. The door closing mechanism point inspection device of an elevator comprises: a frame body portion which forms an outer contour and is detachably provided on a side of a car door of an elevator closer to a landing of the elevator; an imaging unit provided in the frame body and configured to take an image according to a photographing instruction; a storage unit provided in the housing unit and storing information of the image captured by the imaging unit; and a control unit provided in the housing unit, the control unit transmitting a photographing command to the imaging unit at a timing when a door closing mechanism of the elevator is retracted into an image photographed by the imaging unit in a state where the housing unit is mounted on a side of the car door closer to a landing of the elevator.
Description
Technical Field
The invention relates to a door closing mechanism point inspection device and a door closing mechanism point inspection system of an elevator.
Background
Patent document 1 discloses a door closing mechanism spot inspection device for an elevator. According to the door closing mechanism spot inspection device, an image for spot inspection of the mechanical dimensions of the door closing mechanism can be acquired.
Documents of the prior art
Patent document
Patent document 1: japanese laid-open patent publication No. 2014-76871
Disclosure of Invention
Problems to be solved by the invention
However, the door closing mechanism spot inspection device described in patent document 1 may be relatively complicated to mount and dismount. Therefore, the door closing mechanism check sometimes takes time.
The present invention has been made to solve the above problems. The invention aims to provide a door closing mechanism point inspection device and a door closing mechanism point inspection system of an elevator, which can obtain an image for point inspection of the mechanical size of a door closing mechanism in a short time.
Means for solving the problems
The invention relates to a point inspection device for a door closing mechanism of an elevator, which comprises: a frame body portion which forms an outer contour and is detachably provided on a side of a car door of an elevator closer to a landing of the elevator; an imaging unit provided in the frame body and configured to take an image according to a photographing instruction; a storage unit provided in the housing unit and storing information of the image captured by the imaging unit; and a control unit provided in the housing unit, the control unit transmitting a photographing command to the imaging unit at a timing when a door closing mechanism of the elevator is retracted into an image photographed by the imaging unit in a state where the housing unit is mounted on a side of the car door closer to a landing of the elevator.
The door closing mechanism check system of an elevator according to the present invention includes the door closing mechanism check device and a control device that stops a car having a car door to which the door closing mechanism check device is attached at a landing of each floor of a building in which the elevator is installed, opens the car door, opens the landing door of the elevator, and operates the door closing mechanism.
Effects of the invention
According to the present invention, the frame body of the door closing mechanism spot inspection device is detachably provided on the elevator car door on the side closer to the elevator landing. Therefore, an image for checking the mechanical dimensions of the closing mechanism can be acquired in a short time.
Drawings
Fig. 1 is a configuration diagram of an elevator to which a door closing mechanism spot inspection device of an elevator according to embodiment 1 of the present invention is applied.
Fig. 2 is a front view of a closing mechanism of an elevator to which a closing mechanism spot inspection device of an elevator according to embodiment 1 of the present invention is applied.
Fig. 3 is a diagram for explaining contents of a closed door mechanism spot inspection by the closed door mechanism spot inspection device for an elevator according to embodiment 1 of the present invention.
Fig. 4 is a front view of a car door of an elevator to which a door closing mechanism spot inspection device of an elevator according to embodiment 1 of the present invention is applied.
Fig. 5 is a block diagram of a door closing mechanism spot inspection device for an elevator according to embodiment 1 of the present invention.
Fig. 6 is a flowchart for explaining the operation of the door closing mechanism spot inspection device for an elevator according to embodiment 1 of the present invention.
Fig. 7 is a hardware configuration diagram of an elevator control device to which a door closing mechanism spot inspection device for an elevator according to embodiment 1 of the present invention is applied.
Fig. 8 is a configuration diagram of an elevator to which a door closing mechanism spot inspection device of an elevator according to embodiment 2 of the present invention is applied.
Fig. 9 is a block diagram of a door closing mechanism spot inspection device for an elevator according to embodiment 2 of the present invention.
Detailed Description
Hereinafter, a mode for carrying out the present invention will be described with reference to the drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals. Repeated explanation of this part is appropriately simplified or omitted.
Embodiment mode 1
Fig. 1 is a configuration diagram of an elevator to which a door closing mechanism spot inspection device of an elevator according to embodiment 1 of the present invention is applied.
In fig. 1, a building has a plurality of floors. The building has an elevator.
In an elevator, a hoistway 1 penetrates each floor of a building. The plurality of landings 2 are provided on each floor of the building. Each of the landings 2 faces the hoistway 1. The hoisting machine 3 is provided at an upper portion of the hoistway 1. The diverting sheave 4 is provided at an upper portion of the hoistway 1. The main ropes 5 are wound around the hoisting machine 3 and the return sheave 4. The car 6 is provided inside the hoistway 1. The car 6 is supported by one side of the main rope 5. The counterweight 7 is provided inside the hoistway 1. The counterweight 7 is supported on the other side of the main rope 5.
Each of the landing doors 8 is provided as an elevator door at an entrance of the landing 2 on each floor. The car door 9 is provided as an elevator door at an entrance of the car 6. The plurality of door closing mechanisms 10 are provided on the hall 2 side of each floor. The plurality of closing mechanisms 10 are sometimes referred to as an interlock (interlock), respectively.
The on-car station 11 is provided in an upper part of the car 6. The control device 12 is provided in an upper portion of the hoistway 1. The control cable 13 electrically connects the on-car station 11 and the control device 12.
The door closing mechanism spot inspection device 14 is detachably provided on the car door 9 on the elevator landing 2 side.
In the check of the mechanical dimensions of the closing mechanism 10, the closing mechanism check device 14 is attached to the car door 9 on the side closer to the elevator landing 2. In this state, the control device 12 causes the car 6 to stop at the landing 2 of each floor and opens the car door 9, thereby opening the landing door 8 and operating the door closing mechanism 10. At this time, the closing mechanism spot inspection device 14 photographs the closing mechanisms 10 of the respective floors.
Next, the door closing mechanism 10 will be described with reference to fig. 2.
Fig. 2 is a front view of a closing mechanism of an elevator to which a closing mechanism spot inspection device of an elevator according to embodiment 1 of the present invention is applied.
As shown in fig. 2, the door closing mechanism 10 has a latch 10a, a hook 10b, a spring 10c, and a roller 10 d.
The latch 10a is provided at an upper edge portion of an entrance of the landing 2, not shown, in fig. 2. Although not shown in fig. 2, the latch 10a is provided on a wall surface of the hoistway 1. The hook 10b is provided at the upper edge of the landing door 8. The spring 10c is provided above the hook 10b at the upper edge portion of the landing door 8. The spring 10c applies a downward load to the hook 10 a. The roller 10d is attached to the rear of the latch 10 a.
Although not shown in fig. 2, when the car door 9 is opened, the roller 10d is pressed in a direction in which the car door 9 is opened by a plate body provided in the car 6. At this time, the hook 10b rotates with the rear side as an axis. As a result, the front portion of the hook 10b is disengaged from the latch 10 a.
Next, contents of the checkup of the door closing mechanism 10 will be described with reference to fig. 3.
Fig. 3 is a diagram for explaining contents of a closed door mechanism spot inspection by the closed door mechanism spot inspection device for an elevator according to embodiment 1 of the present invention.
As shown on the left side of fig. 3, when the front portion of the hook 10b is hooked on the latch 10a, the horizontal gap dimension a between the latch 10a and the hook 10b becomes a target of spot inspection. The 1 st vertical gap dimension B between the latch 10a and the hook 10B is a target of spot inspection. As shown in the right side of fig. 3, when the front portion of the hook 10b is disengaged from the latch 10a, the 2 nd vertical gap dimension C between the latch 10a and the hook 10b becomes a target of the spot inspection.
Next, the mounting position of the door closing mechanism checkup apparatus 14 will be described with reference to fig. 4.
Fig. 4 is a front view of a car door of an elevator to which a door closing mechanism spot inspection device of an elevator according to embodiment 1 of the present invention is applied.
As shown in fig. 4, the door closing mechanism spot inspection device 14 is mounted on the car door 9 on the side closer to the landing 2. For example, the door closing mechanism spot detection device 14 is attached to the car door 9 on the side closer to the landing 2 by the magnetic force of a magnet not shown. Although not shown in fig. 4, the imaging direction of the closing mechanism spot check device 14 is set so that the closing mechanism 10 is put into the image captured by the closing mechanism spot check device 14 in a state where the height of the floor of the car 6 matches the height of the floor of the landing 2.
Next, the structure of the door closing mechanism spot inspection device 14 will be described with reference to fig. 5.
Fig. 5 is a block diagram of a door closing mechanism spot inspection device for an elevator according to embodiment 1 of the present invention.
As shown in fig. 5, the door closing mechanism spot inspection device 14 includes a frame portion 14a, a power supply portion 14b, an imaging portion 14c, an illumination portion 14d, a storage portion 14e, an acceleration sensor portion 14f, and a control portion 14 g.
The frame portion 14a forms the outline of the door closing mechanism spot inspection device 14. The frame portion 14a is detachably provided on the car door 9 on the side closer to the landing 2. The power supply unit 14b is provided in the housing unit 14 a. The power supply unit 14b supplies power to each unit of the door closing mechanism point inspection device 14. The imaging unit 14c is provided in the frame portion 14 a. The imaging unit 14c performs imaging in accordance with the imaging instruction. The illumination unit 14d is provided in the frame portion 14 a. The illumination unit 14d emits light in the imaging direction of the imaging unit 14 c. The storage unit 14e is provided in the housing 14 a. The storage unit 14e stores information of the image captured by the imaging unit 14 c. The acceleration sensor unit 14f is provided in the frame body 14 a. The acceleration sensor unit 14f detects acceleration. The control unit 14g is provided in the housing portion 14 a. The control unit 14g transmits a photographing instruction to the imaging unit 14c at a timing when the door closing mechanism 10 is received in the image photographed by the imaging unit 14 c. Specifically, the control unit 14g determines the timing of transmitting the photographing instruction to the imaging unit 14c based on the acceleration detected by the acceleration sensor unit 14 f.
Next, the operation of the door closing mechanism spot inspection device 14 will be described with reference to fig. 6.
Fig. 6 is a flowchart for explaining the operation of the door closing mechanism spot inspection device for an elevator according to embodiment 1 of the present invention.
As shown in fig. 6, in step S1, the control unit 14g determines whether the car 6 is at a stop or not, based on the detected value of the acceleration in the vertical direction by the acceleration sensor unit 14 f. When it is determined in step S1 that the car 6 is not at a stop, the control unit 14g performs the operation of step S1. When it is determined in step S1 that the car 6 is at a stop, the control unit 14g performs the operation of step S2.
In step S2, the control unit 14g transmits a shooting instruction to the imaging unit 14 c. At this time, the image pickup unit 14c picks up an image of the state in which the front portion of the hook 10b is hooked on the latch 10 a. Then, the control unit 14g performs the operation of step S3.
In step S3, the control unit 14g determines whether the landing door 8 has started to open, based on the detected value of the horizontal acceleration by the acceleration sensor unit 14 f. When it is determined in step S3 that the landing door 8 has not started to open, the control unit 14g performs the operation of step S3. When it is determined in step S3 that the landing door 8 has started to open, the control unit 14g performs the operation of step S4.
In step S4, the control unit 14g transmits a shooting instruction to the imaging unit 14 c. At this time, the image pickup unit 14c picks up an image of the state where the front portion of the hook 10b is disengaged from the latch 10 a. Then, the control unit 14g performs the operation of step S5.
In step S5, the control unit 14g determines whether the car 6 has started moving based on the detected value of the acceleration in the vertical direction by the acceleration sensor unit 14 f. When it is determined in step S1 that the car 6 has not started moving, the control unit 14g performs the operation of step S5. When it is determined in step S5 that the car 6 has started moving, the control unit 14g performs the operation of step S1.
According to the embodiment 1 described above, the frame portion 14a of the door closing mechanism spot inspection device 14 is detachably provided on the car door 9 on the side closer to the landing 2. Therefore, an image for checking the mechanical size of the door closing mechanism 10 can be acquired in a short time.
In this case, the work of climbing onto the ceiling of the car 6 and the work of climbing inside the car 6 are not required. Therefore, particularly when the door closing mechanism 10 of the uppermost landing 2 is checked, the operation of climbing onto the ceiling of the car 6 is not required.
In addition, no special wiring is required. In addition, the spot inspection can be performed while the car 6 is running at high speed. Therefore, the operation time for acquiring the image for checking the machine size of the closing mechanism 10 can be shortened.
The frame 14a of the door closing mechanism spot inspection device 14 is attached to the car door 9 on the side closer to the car 2 by magnetic force. Therefore, the door closing mechanism spot inspection device 14 can be easily attached to the car door 9.
The control unit 14g determines the timing of transmitting the photographing instruction to the imaging unit 14c based on the acceleration detected by the acceleration sensor unit 14 f. In this case, the control of the control device 12 is not necessary. Therefore, the image for checking the machine size of the door closing mechanism 10 can be acquired in a short time regardless of the model of the elevator. For example, even in an existing elevator, an image for checking the machine size of the door closing mechanism 10 can be acquired in a short time.
At this time, the control device 12 causes the car 6 to stop at the landing 2 of each floor of the building and opens the car door 9, thereby opening the landing door 8 and operating the door closing mechanism 10. Therefore, according to the door closing mechanism checking system including the door closing mechanism checking device 14 and the control device 12, it is possible to reliably acquire images for checking the horizontal gap size a, the 1 st vertical gap size B, and the 2 nd vertical gap size C for each of the plurality of door closing mechanisms 10. The operator can check the horizontal clearance dimension a, the 1 st vertical clearance dimension B, and the 2 nd vertical clearance dimension C by detaching the closing mechanism checking device 14 from the car door 9 and displaying the image on a display device or the like.
Next, an example of the control device 12 will be described with reference to fig. 7.
Fig. 7 is a hardware configuration diagram of an elevator control device to which a door closing mechanism spot inspection device for an elevator according to embodiment 1 of the present invention is applied.
The various functions of the control device 12 may be implemented by processing circuitry. For example, the processing circuit has at least one processor 15a and at least one memory 15 b. For example, the processing circuitry has at least one dedicated hardware 16.
In the case of a processing circuit having at least one processor 15a and at least one memory 15b, the respective functions of the control device 12 are implemented by software, firmware or a combination of software and firmware. At least one of the software and the firmware is described as a program. At least one of the software and the firmware is stored in the at least one memory 15 b. The at least one processor 15a realizes the respective functions of the control device 12 by reading out and executing programs stored in the at least one memory 15 b. The at least one processor 15a is also referred to as a CPU (Central Processing Unit), a Central Processing Unit, a Processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. For example, the at least one Memory 15b is a nonvolatile or volatile semiconductor Memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash Memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), or the like, a magnetic Disk, a flexible Disk, an optical Disk, a compact Disk, a mini Disk, a DVD (Digital Versatile Disk), or the like.
In case of a processing circuit with at least one dedicated hardware 16, the processing circuit is for example realized by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA or a combination thereof. For example, the respective functions of the control device 12 are realized by respective processing circuits. For example, the respective functions of the control device 12 are collectively realized by a processing circuit.
The functions of the control device 12 may be partly implemented by the dedicated hardware 16 and partly implemented by software or firmware. For example, the function of controlling the operation of the car 6 may be realized by a processing circuit as the dedicated hardware 16, and the function other than the function of controlling the operation of the car 6 may be realized by the at least one processor 15a reading out and executing a program stored in the at least one memory 15 b.
In this way, the processing circuitry can implement the functions of the control device 12 via hardware 16, software, firmware, or a combination thereof.
Embodiment mode 2
Fig. 8 is a configuration diagram of an elevator to which a door closing mechanism spot inspection device of an elevator according to embodiment 2 of the present invention is applied. The same or corresponding portions as or to embodiment 1 are denoted by the same reference numerals, and the description thereof is omitted.
As shown in fig. 8, the communication device 17 is provided on the upper part of the car 6. The communication device 17 is electrically connected to the on-car station 11.
Next, the structure of the door closing mechanism spot inspection device 14 will be described with reference to fig. 9.
Fig. 9 is a block diagram of a door closing mechanism spot inspection device for an elevator according to embodiment 2 of the present invention.
As shown in fig. 8, the door closing mechanism spot inspection device 14 does not have the acceleration sensor portion 14 f. The door closing mechanism spot inspection device 14 has a communication unit 14 h.
The communication unit 14h wirelessly receives a signal from the elevator via the on-car station 11 and the communication device 17. The control unit 14g determines the timing of transmitting the photographing instruction to the image pickup unit 14c based on the signal.
According to embodiment 2 described above, the control unit 14g determines the timing of transmitting the photographing instruction to the imaging unit 14c based on the signal received from the control device 12 via the on-car station 11 and the communication device 17 by the communication unit 14 h. At this time, the control device 12 may transmit a signal corresponding to the on-car station 11 at the following timing: the timing at which the landing doors 8 are opened and the closing mechanism 10 is operated by stopping the car 6 at the landing 2 of each floor of the building and opening the car doors 9. In this case, the acceleration sensor unit 14f is not required, and an image for checking the mechanical size of the door closing mechanism 10 can be acquired in a short time.
Industrial applicability
As described above, the elevator door closing mechanism spot inspection device and the door closing mechanism spot inspection system according to the present invention can be used in a system that acquires an image for spot inspection of the mechanical dimension of the door closing mechanism in a short time.
Description of the reference symbols
1: a hoistway; 2: a landing; 3: a traction machine; 4: a diverting pulley; 5: a main rope; 6: a car; 7: a counterweight; 8: a landing door; 9: a car door; 10: a door closing mechanism; 10 a: a latch; 10 b: hooking; 10 c: a spring; 10 d: a roller; 11: a workstation on the car; 12: a control device; 13: a control cable; 14: a door closing mechanism point inspection device; 14 a: a frame body portion; 14 b: a power supply unit; 14 c: an image pickup unit; 14 d: an illumination unit; 14 e: a storage unit; 14 f: an acceleration sensor unit; 14 g: a control unit; 14 h: a communication unit; 15 a: a processor; 15 b: a memory; 16: hardware; 17: a communication device.
Claims (3)
1. A door closing mechanism spot inspection device of an elevator, wherein the door closing mechanism spot inspection device of the elevator comprises:
a frame body portion which forms an outer contour and is detachably provided on a side of a car door of an elevator closer to a landing of the elevator;
an imaging unit provided in the frame body and configured to take an image according to a photographing instruction;
a storage unit provided in the housing unit and storing information of the image captured by the imaging unit;
an acceleration sensor unit provided in the frame unit and detecting acceleration; and
and a control unit provided in the frame unit, for determining whether or not a car of the elevator is at a stop based on a detected value of acceleration in a vertical direction by the acceleration sensor unit, determining whether or not a landing door of the elevator has started to open based on a detected value of acceleration in a horizontal direction by the acceleration sensor unit, and transmitting a photographing instruction to the image pickup unit at a timing when a door closing mechanism of the elevator is retracted into an image photographed by the image pickup unit in a state where the frame unit is attached to the car door on a side closer to the landing of the elevator.
2. The elevator door closing mechanism spot inspection device according to claim 1,
the frame body is attached to the car door by magnetic force on a side close to a landing of the elevator.
3. A door closing mechanism point inspection system of an elevator, wherein the door closing mechanism point inspection system of the elevator comprises:
a door closing mechanism spot inspection device for an elevator according to claim 1 or 2; and
and a control device that causes a car having a car door to which the door closing mechanism spot inspection device of the elevator is attached to stop at a landing of each floor of a building in which the elevator is installed, and opens the car door, thereby opening the landing door of the elevator and operating the door closing mechanism.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2017/005574 WO2018150497A1 (en) | 2017-02-15 | 2017-02-15 | Door closing mechanism inspection device and door closing mechanism inspection system for elevators |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110267899A CN110267899A (en) | 2019-09-20 |
| CN110267899B true CN110267899B (en) | 2020-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780085210.7A Active CN110267899B (en) | 2017-02-15 | 2017-02-15 | Door closing mechanism point inspection device and door closing mechanism point inspection system of elevator |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6213704B1 (en) |
| CN (1) | CN110267899B (en) |
| WO (1) | WO2018150497A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6960946B2 (en) * | 2019-01-18 | 2021-11-05 | 株式会社日立ビルシステム | Door anomaly detection system and elevator system |
| CN113597404A (en) * | 2019-04-25 | 2021-11-02 | 三菱电机大楼技术服务株式会社 | Point inspection system for airtight component arranged on elevator landing side |
| JP6930651B1 (en) * | 2020-12-15 | 2021-09-01 | 三菱電機株式会社 | Inspection system and elevator |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05139642A (en) * | 1991-01-04 | 1993-06-08 | Toshiba Erebeeta Technos Kk | Remote monitoring device for elevator |
| FI117432B (en) * | 2002-02-05 | 2006-10-13 | Kone Corp | Procedure and arrangement for remote monitoring of an elevator |
| FI117010B (en) * | 2004-11-01 | 2006-05-15 | Kone Corp | Elevator remote control |
| JP4664394B2 (en) * | 2008-05-23 | 2011-04-06 | 株式会社日立製作所 | Elevator door safety device and safety control method |
| JP5278146B2 (en) * | 2009-04-30 | 2013-09-04 | 三菱電機ビルテクノサービス株式会社 | Elevator door interlock inspection device |
| JP5267318B2 (en) * | 2009-05-18 | 2013-08-21 | 三菱電機ビルテクノサービス株式会社 | Linked rope inspection device for elevator hall doors |
| JP2011098806A (en) * | 2009-11-05 | 2011-05-19 | Mitsubishi Electric Building Techno Service Co Ltd | Inspection device of elevator |
| JP5446849B2 (en) * | 2009-12-25 | 2014-03-19 | 株式会社明電舎 | Wire rope inspection device |
| JP2013180862A (en) * | 2012-03-01 | 2013-09-12 | Hitachi Ltd | Elevator system |
| JP5936450B2 (en) * | 2012-06-08 | 2016-06-22 | 株式会社日立製作所 | Elevator system and safety device |
| JP6109097B2 (en) * | 2014-02-12 | 2017-04-05 | 三菱電機ビルテクノサービス株式会社 | Elevator pit status confirmation system |
| JP2015157680A (en) * | 2014-02-24 | 2015-09-03 | 東芝エレベータ株式会社 | Alarm system of landing side door of elevator |
| JP6021998B1 (en) * | 2015-05-29 | 2016-11-09 | 東芝エレベータ株式会社 | Elevator system and elevator control method |
-
2017
- 2017-02-15 WO PCT/JP2017/005574 patent/WO2018150497A1/en active Application Filing
- 2017-02-15 CN CN201780085210.7A patent/CN110267899B/en active Active
- 2017-02-15 JP JP2017536914A patent/JP6213704B1/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018150497A1 (en) | 2018-08-23 |
| JPWO2018150497A1 (en) | 2019-02-21 |
| CN110267899A (en) | 2019-09-20 |
| JP6213704B1 (en) | 2017-10-18 |
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