CN110959068B - 燃料喷射控制装置以及燃料喷射控制方法 - Google Patents
燃料喷射控制装置以及燃料喷射控制方法 Download PDFInfo
- Publication number
- CN110959068B CN110959068B CN201880049245.XA CN201880049245A CN110959068B CN 110959068 B CN110959068 B CN 110959068B CN 201880049245 A CN201880049245 A CN 201880049245A CN 110959068 B CN110959068 B CN 110959068B
- Authority
- CN
- China
- Prior art keywords
- energization
- period
- valve
- movable core
- fuel injection
- Prior art date
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
- F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/40—Controlling fuel injection of the high pressure type with means for controlling injection timing or duration
- F02D41/402—Multiple injections
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
- F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
- F01L9/21—Valve-gear or valve arrangements actuated non-mechanically by electric means actuated by solenoids
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/20—Output circuits, e.g. for controlling currents in command coils
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M51/00—Fuel-injection apparatus characterised by being operated electrically
- F02M51/06—Injectors peculiar thereto with means directly operating the valve needle
- F02M51/061—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means
- F02M51/0625—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures
- F02M51/0635—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures having a plate-shaped or undulated armature not entering the winding
- F02M51/0642—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures having a plate-shaped or undulated armature not entering the winding the armature having a valve attached thereto
- F02M51/0653—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures having a plate-shaped or undulated armature not entering the winding the armature having a valve attached thereto the valve being an elongated body, e.g. a needle valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M51/00—Fuel-injection apparatus characterised by being operated electrically
- F02M51/06—Injectors peculiar thereto with means directly operating the valve needle
- F02M51/061—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means
- F02M51/0625—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures
- F02M51/0635—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures having a plate-shaped or undulated armature not entering the winding
- F02M51/066—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures having a plate-shaped or undulated armature not entering the winding the armature and the valve being allowed to move relatively to each other or not being attached to each other
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M51/00—Fuel-injection apparatus characterised by being operated electrically
- F02M51/06—Injectors peculiar thereto with means directly operating the valve needle
- F02M51/061—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means
- F02M51/0625—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures
- F02M51/0664—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures having a cylindrically or partly cylindrically shaped armature, e.g. entering the winding; having a plate-shaped or undulated armature entering the winding
- F02M51/0685—Injectors peculiar thereto with means directly operating the valve needle using electromagnetic operating means characterised by arrangement of mobile armatures having a cylindrically or partly cylindrically shaped armature, e.g. entering the winding; having a plate-shaped or undulated armature entering the winding the armature and the valve being allowed to move relatively to each other or not being attached to each other
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02P—IGNITION, OTHER THAN COMPRESSION IGNITION, FOR INTERNAL-COMBUSTION ENGINES; TESTING OF IGNITION TIMING IN COMPRESSION-IGNITION ENGINES
- F02P5/00—Advancing or retarding ignition; Control therefor
- F02P5/04—Advancing or retarding ignition; Control therefor automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions
- F02P5/145—Advancing or retarding ignition; Control therefor automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions using electrical means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
- F16K31/0675—Electromagnet aspects, e.g. electric supply therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
- F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
- F01L9/21—Valve-gear or valve arrangements actuated non-mechanically by electric means actuated by solenoids
- F01L2009/2103—Valve-gear or valve arrangements actuated non-mechanically by electric means actuated by solenoids comprising one coil
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L2710/00—Control of valve gear, speed or power
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B75/00—Other engines
- F02B75/12—Other methods of operation
- F02B2075/125—Direct injection in the combustion chamber for spark ignition engines, i.e. not in pre-combustion chamber
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/20—Output circuits, e.g. for controlling currents in command coils
- F02D2041/2003—Output circuits, e.g. for controlling currents in command coils using means for creating a boost voltage, i.e. generation or use of a voltage higher than the battery voltage, e.g. to speed up injector opening
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/20—Output circuits, e.g. for controlling currents in command coils
- F02D2041/202—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit
- F02D2041/2037—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit for preventing bouncing of the valve needle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/20—Output circuits, e.g. for controlling currents in command coils
- F02D2041/202—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit
- F02D2041/2044—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit using pre-magnetisation or post-magnetisation of the coils
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D2041/389—Controlling fuel injection of the high pressure type for injecting directly into the cylinder
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/06—Fuel or fuel supply system parameters
- F02D2200/063—Lift of the valve needle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/40—Controlling fuel injection of the high pressure type with means for controlling injection timing or duration
- F02D41/401—Controlling injection timing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Fuel-Injection Apparatus (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017146905A JP6720935B2 (ja) | 2017-07-28 | 2017-07-28 | 燃料噴射制御装置及び燃料噴射制御方法 |
| JP2017-146905 | 2017-07-28 | ||
| PCT/JP2018/024485 WO2019021732A1 (ja) | 2017-07-28 | 2018-06-28 | 燃料噴射制御装置及び燃料噴射制御方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110959068A CN110959068A (zh) | 2020-04-03 |
| CN110959068B true CN110959068B (zh) | 2022-03-15 |
Family
ID=65039631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880049245.XA Active CN110959068B (zh) | 2017-07-28 | 2018-06-28 | 燃料喷射控制装置以及燃料喷射控制方法 |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US11149598B2 (enExample) |
| JP (1) | JP6720935B2 (enExample) |
| CN (1) | CN110959068B (enExample) |
| DE (1) | DE112018003842B4 (enExample) |
| WO (1) | WO2019021732A1 (enExample) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210104317A (ko) * | 2020-02-17 | 2021-08-25 | 현대자동차주식회사 | 인젝터 열림 시간 편차 개선을 위한 연료 분사 제어 장치 및 방법 |
| JP6888146B1 (ja) * | 2020-03-27 | 2021-06-16 | 日立Astemo株式会社 | 直噴式燃料噴射弁 |
| US11795886B2 (en) | 2021-12-13 | 2023-10-24 | Caterpillar Inc. | Reduced energy waveform for energizing solenoid actuator in fuel injector valve |
| JP7559744B2 (ja) * | 2021-12-13 | 2024-10-02 | トヨタ自動車株式会社 | 内燃機関システム |
| DE102022202027A1 (de) * | 2022-02-28 | 2023-08-31 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zur Ansteuerung eines elektromagnetisch ansteuerbaren Gasventils, Steuergerät |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5090378A (en) * | 1991-02-22 | 1992-02-25 | The Cessna Aircraft Company | Dual nozzle single pump fuel injection system |
| EP1990526A2 (en) * | 2007-05-09 | 2008-11-12 | Hitachi, Ltd. | Electromagnetic fuel injection valve device |
| EP2492479A1 (en) * | 2011-02-25 | 2012-08-29 | Hitachi Automotive Systems, Ltd. | Drive device for electromagnetic fuel injection valve |
| EP2508743A1 (en) * | 2009-11-30 | 2012-10-10 | Hitachi Automotive Systems, Ltd. | Drive circuit for electromagnetic fuel-injection valve |
| CN103069138A (zh) * | 2010-08-31 | 2013-04-24 | 日立汽车系统株式会社 | 燃料喷射装置的驱动装置 |
| JP2013124577A (ja) * | 2011-12-14 | 2013-06-24 | Toyota Motor Corp | 内燃機関の燃料噴射制御装置 |
| WO2013191267A1 (ja) * | 2012-06-21 | 2013-12-27 | 日立オートモティブシステムズ株式会社 | 内燃機関の制御装置 |
| DE102014201973A1 (de) * | 2013-02-06 | 2014-08-07 | Denso Corporation | Elektromagnetventilansteuervorrichtung |
| EP2796695A1 (en) * | 2013-04-26 | 2014-10-29 | Continental Automotive GmbH | Method for operating a fuel supply arrangement, control device for a fuel supply arrangement, fuel supply arrangement and computer program product |
| JP2015212536A (ja) * | 2014-05-07 | 2015-11-26 | 株式会社デンソー | 燃料噴射制御装置及び制御方法 |
| CN105189992A (zh) * | 2013-05-10 | 2015-12-23 | 株式会社电装 | 燃料喷射控制装置和燃料喷射系统 |
| CN105765202A (zh) * | 2013-11-21 | 2016-07-13 | 株式会社电装 | 燃料喷射控制装置以及燃料喷射系统 |
| WO2017010032A1 (ja) * | 2015-07-15 | 2017-01-19 | 株式会社デンソー | 内燃機関の燃料噴射制御装置 |
| JP2017096233A (ja) * | 2015-11-27 | 2017-06-01 | 株式会社Soken | 燃料噴射制御装置および燃料噴射システム |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2662555A1 (en) * | 2012-05-10 | 2013-11-13 | Continental Automotive GmbH | Method for monitoring an injection valve |
| JP5579787B2 (ja) * | 2012-06-19 | 2014-08-27 | 本田技研工業株式会社 | 内燃機関の制御装置 |
| GB201511007D0 (en) * | 2015-06-23 | 2015-08-05 | Delphi Int Operations Lux Srl | Nozzle assembly with adaptive closed signal |
| US10989154B2 (en) * | 2016-05-03 | 2021-04-27 | Vitesco Technologies GmbH | Fuel injector with an idle stroke |
| JP6520816B2 (ja) * | 2016-05-06 | 2019-05-29 | 株式会社デンソー | 燃料噴射制御装置 |
| JP6597535B2 (ja) * | 2016-09-13 | 2019-10-30 | 株式会社デンソー | 弁体作動推定装置 |
| JP6717271B2 (ja) | 2017-07-28 | 2020-07-01 | 株式会社デンソー | 内燃機関制御システム |
| US11004587B2 (en) * | 2018-07-16 | 2021-05-11 | The Florida State University Research Foundation, Inc. | Linear actuator for valve control and operating systems and methods |
-
2017
- 2017-07-28 JP JP2017146905A patent/JP6720935B2/ja active Active
-
2018
- 2018-06-28 WO PCT/JP2018/024485 patent/WO2019021732A1/ja not_active Ceased
- 2018-06-28 CN CN201880049245.XA patent/CN110959068B/zh active Active
- 2018-06-28 DE DE112018003842.4T patent/DE112018003842B4/de active Active
-
2020
- 2020-01-24 US US16/751,870 patent/US11149598B2/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5090378A (en) * | 1991-02-22 | 1992-02-25 | The Cessna Aircraft Company | Dual nozzle single pump fuel injection system |
| EP1990526A2 (en) * | 2007-05-09 | 2008-11-12 | Hitachi, Ltd. | Electromagnetic fuel injection valve device |
| EP2508743A1 (en) * | 2009-11-30 | 2012-10-10 | Hitachi Automotive Systems, Ltd. | Drive circuit for electromagnetic fuel-injection valve |
| CN103069138A (zh) * | 2010-08-31 | 2013-04-24 | 日立汽车系统株式会社 | 燃料喷射装置的驱动装置 |
| EP2492479A1 (en) * | 2011-02-25 | 2012-08-29 | Hitachi Automotive Systems, Ltd. | Drive device for electromagnetic fuel injection valve |
| JP2013124577A (ja) * | 2011-12-14 | 2013-06-24 | Toyota Motor Corp | 内燃機関の燃料噴射制御装置 |
| WO2013191267A1 (ja) * | 2012-06-21 | 2013-12-27 | 日立オートモティブシステムズ株式会社 | 内燃機関の制御装置 |
| DE102014201973A1 (de) * | 2013-02-06 | 2014-08-07 | Denso Corporation | Elektromagnetventilansteuervorrichtung |
| EP2796695A1 (en) * | 2013-04-26 | 2014-10-29 | Continental Automotive GmbH | Method for operating a fuel supply arrangement, control device for a fuel supply arrangement, fuel supply arrangement and computer program product |
| CN105189992A (zh) * | 2013-05-10 | 2015-12-23 | 株式会社电装 | 燃料喷射控制装置和燃料喷射系统 |
| CN105765202A (zh) * | 2013-11-21 | 2016-07-13 | 株式会社电装 | 燃料喷射控制装置以及燃料喷射系统 |
| JP2015212536A (ja) * | 2014-05-07 | 2015-11-26 | 株式会社デンソー | 燃料噴射制御装置及び制御方法 |
| WO2017010032A1 (ja) * | 2015-07-15 | 2017-01-19 | 株式会社デンソー | 内燃機関の燃料噴射制御装置 |
| JP2017096233A (ja) * | 2015-11-27 | 2017-06-01 | 株式会社Soken | 燃料噴射制御装置および燃料噴射システム |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6720935B2 (ja) | 2020-07-08 |
| JP2019027348A (ja) | 2019-02-21 |
| US11149598B2 (en) | 2021-10-19 |
| WO2019021732A1 (ja) | 2019-01-31 |
| CN110959068A (zh) | 2020-04-03 |
| DE112018003842T5 (de) | 2020-04-09 |
| US20200157980A1 (en) | 2020-05-21 |
| DE112018003842B4 (de) | 2020-08-13 |
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