EP3249321B1 - Dispositif de commande, procédé de commande et programme - Google Patents

Dispositif de commande, procédé de commande et programme Download PDF

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Publication number
EP3249321B1
EP3249321B1 EP16746478.3A EP16746478A EP3249321B1 EP 3249321 B1 EP3249321 B1 EP 3249321B1 EP 16746478 A EP16746478 A EP 16746478A EP 3249321 B1 EP3249321 B1 EP 3249321B1
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EP
European Patent Office
Prior art keywords
refrigerant
heat exchanger
water
pressure
compressor
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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Application number
EP16746478.3A
Other languages
German (de)
English (en)
Other versions
EP3249321A4 (fr
EP3249321A1 (fr
Inventor
Kei Akatsuka
Toru Yamaguchi
Yasushi Fuwa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Thermal Systems Ltd
Original Assignee
Mitsubishi Heavy Industries Thermal Systems Ltd
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Publication of EP3249321A1 publication Critical patent/EP3249321A1/fr
Publication of EP3249321A4 publication Critical patent/EP3249321A4/fr
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Publication of EP3249321B1 publication Critical patent/EP3249321B1/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B47/00—Arrangements for preventing or removing deposits or corrosion, not provided for in another subclass
    • F25B47/02—Defrosting cycles
    • F25B47/022—Defrosting cycles hot gas defrosting
    • F25B47/025—Defrosting cycles hot gas defrosting by reversing the cycle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B49/00—Arrangement or mounting of control or safety devices
    • F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B13/00—Compression machines, plants or systems, with reversible cycle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B47/00—Arrangements for preventing or removing deposits or corrosion, not provided for in another subclass
    • F25B47/02—Defrosting cycles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D31/00—Other cooling or freezing apparatus
    • F25D31/002—Liquid coolers, e.g. beverage cooler
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B2339/00—Details of evaporators; Details of condensers
    • F25B2339/04—Details of condensers
    • F25B2339/047—Water-cooled condensers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B2500/00—Problems to be solved
    • F25B2500/28—Means for preventing liquid refrigerant entering into the compressor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B2700/00—Sensing or detecting of parameters; Sensors therefor
    • F25B2700/19—Pressures
    • F25B2700/193—Pressures of the compressor
    • F25B2700/1931—Discharge pressures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B2700/00—Sensing or detecting of parameters; Sensors therefor
    • F25B2700/19—Pressures
    • F25B2700/193—Pressures of the compressor
    • F25B2700/1933—Suction pressures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B2700/00—Sensing or detecting of parameters; Sensors therefor
    • F25B2700/21—Temperatures
    • F25B2700/2103—Temperatures near a heat exchanger

Definitions

  • the present invention relates to a control device, a control method, and a program.
  • chilling unit which performs operation of a cooling cycle to cool water with a water heat exchanger.
  • the chilling unit cools the water using a refrigerant.
  • Patent Document 1 A related technology is disclosed in Patent Document 1.
  • a device disclosed in Patent Document 1 performs a reverse cycle operation so that a compressor does not absorb the refrigerant which has fallen into the lower temperature side of indoor and outdoor units, and prevents liquid compression or oil foaming from occurring when the compressor takes in the liquid refrigerant.
  • JP 2009-174769 A discloses a refrigerator in which a liquid solenoid valve is provided in a primary side of an expansion valve. A primary side of a condenser and a secondary side of the expansion valve are connected by a bypass passage. An opening-adjustable bypass valve is provided in the bypass passage. The water is circulated between an evaporator and a tank, and cooling of the circulated water is carried out by heat of vaporization of a refrigerant in the evaporator.
  • Patent Document 1 Japanese Unexamined Patent Application, First Publication No. S63-129258
  • the control unit when the chilling unit includes a plurality of sets of air heat exchanger, water heat exchanger, and compressor, the control unit switches from the operation of the reverse cycle of the cooling cycle to the operation of the cooling cycle at different timings for each of the plurality of sets.
  • a control method is provided.
  • the control method is a control method of a control device for a chilling unit which includes an air heat exchanger configured to send out a refrigerant heat-exchanged with the outside air, a water heat exchanger configured to cool water by exchanging heat between the refrigerant sent out from the air heat exchanger and the water, a compressor configured to compress the refrigerant and to send out the compressed refrigerant, and a first refrigerant pipe configured to send out the refrigerant sent out from the compressor to the air heat exchanger.
  • the first pressure sensor 202 detects a pressure of a refrigerant in the water heat exchanger 201 connected to the four-way valve 207.
  • the first pressure sensor 202 detects a pressure of the refrigerant in the water heat exchanger 201 connected to the four-way valve 207 before the operation of the cooling cycle is started.
  • the second pressure sensor 203 detects a pressure of a refrigerant in the air heat exchanger 101 connected to the four-way valve 207.
  • the second pressure sensor 203 detects a pressure of the refrigerant in the air heat exchanger 101 connected to the four-way valve 207 before the operation of the cooling cycle is started.
  • the four-way valve 207 has four valves. One of the four valves is connected to the water heat exchanger 201. Another one of the four valves is connected to the accumulator 208. Still another one valve of the four valves is connected to the air heat exchanger 101. The remaining one of the four valves is connected to the compressor 209.
  • the accumulator 208 is provided between the four-way valve 207 and the compressor motor 210.
  • the accumulator 208 prevents refrigerant which is not gasified by an evaporator from being absorbed into the compressor 209 in a liquid form.
  • the compressor 209 turns the input gas refrigerant into a gas refrigerant with a higher temperature and a higher pressure than at a time of input and sends out the gas refrigerant to the water heat exchanger 201 via the four-way valve 207.
  • the water heat exchanger 201 functioning as a condenser exchanges heat between the refrigerant and water and outside air. At this time, the temperature of the refrigerant is higher than the temperature of the water and the outside. For this reason, the water heat exchanger 201 turns the input refrigerant into a refrigerant with a temperature lower than at a time of input and sends out the refrigerant to the expansion valve 215.
  • control unit 217 performs control to immediately operate the cooling cycle without the operation of the heating cycle before the operation of the cooling cycle is started in the chilling unit 1 in a period with a low outside air temperature such as winter will be described.
  • the expansion valve 215 turns the input refrigerant into a refrigerant with a low pressure at a low temperature by performing decompression adjustment and flow adjustment thereon and sends out the refrigerant to the water heat exchanger 201.
  • the water heat exchanger 201 functioning as an evaporator exchanges heat between the refrigerant input from the expansion valve 215 and water and outside air. At this time, the temperature of the refrigerant is lower than the temperature of the water and the outside air. For this reason, the water heat exchanger 201 cools the water and increases the temperature and the pressure of the refrigerant.
  • the water heat exchanger 201 sends out the refrigerant to the accumulator 208 via the four-way valve 207.
  • the expansion valve 215 turns the input refrigerant into a refrigerant with a lower temperature and a lower pressure by performing decompression adjustment and flow adjustment thereon, and sends out the refrigerant to the water heat exchanger 201.
  • the temperature of the refrigerant at this time is lower than the temperature of the water and the outside air in the water heat exchanger 201.
  • the horizontal axis represents time and the vertical axis represents the pressure of refrigerant.
  • the temperature of the refrigerant sent out to the air heat exchanger 101 via the four-way valve 207 by the compressor 209 increases.
  • the refrigerant pressure P1 detected by the first pressure sensor 202 matches the refrigerant pressure P2 detected by the second pressure sensor 203 at the time t4b.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Air Conditioning Control Device (AREA)
  • Compression-Type Refrigeration Machines With Reversible Cycles (AREA)

Claims (3)

  1. Dispositif de commande (216) pour une unité de réfrigération (1) comprenant un échangeur thermique d'air (101) configuré pour envoyer un fluide frigorigène soumis à un échange thermique avec l'air extérieur, un échangeur thermique d'eau (201) configuré pour refroidir de l'eau en échangeant de la chaleur entre le fluide frigorigène envoyé depuis l'échangeur thermique d'air (101) et l'eau, un compresseur (209) configuré pour comprimer le fluide frigorigène et pour envoyer le fluide frigorigène comprimé, un premier tuyau de fluide frigorigène configuré pour envoyer le fluide frigorigène envoyé depuis le compresseur (209) jusqu'à l'échangeur thermique d'air (101), et un second tuyau de fluide frigorigène prévu entre le compresseur (209) et l'échangeur thermique d'eau (201), le dispositif de commande (216) comprenant :
    un premier capteur de pression (202) configuré pour détecter une pression de fluide frigorigène dans le second tuyau de fluide frigorigène ;
    un second capteur de pression (203) configuré pour détecter une pression de fluide frigorigène dans le premier tuyau de fluide frigorigène ; et
    une unité de commande (217) configurée pour commander un fonctionnement de l'unité de réfrigération (1),
    dans lequel la commande que l'unité de commande (217) est configurée pour effectuer comprend :
    la commande d'une pression différentielle obtenue en soustrayant une pression de fluide frigorigène détectée par le premier capteur de pression (202) d'une pression de fluide frigorigène détectée par le second capteur de pression (203) pour être supérieure ou égale à une pression différentielle prédéterminée à laquelle le fluide frigorigène circule et l'eau ne gèle pas lorsqu'un cycle de refroidissement pour refroidir l'eau en utilisant l'échangeur thermique d'eau (201) fonctionne ;
    le fait de faire en sorte que l'unité de réfrigération (1) exécute un cycle inversé du cycle de refroidissement avant que le fonctionnement du cycle de refroidissement soit commencé dans l'unité de réfrigération (1) lorsque la température de l'air extérieur est une température de l'air extérieur qui rend la température de l'eau inférieure ou égale au point de congélation de l'eau ; et
    le fait de faire en sorte que le fonctionnement du cycle inversé soit commuté en fonctionnement du cycle de refroidissement à un instant où une pression différentielle du fluide frigorigène obtenue en soustrayant une pression détectée par le premier capteur de pression (202) d'une pression détectée par le second capteur de pression (203) entre dans une plage prédéterminée où le fluide frigorigène est capable d'être acheminé avec le même débit de circulation du fluide frigorigène lorsque l'unité de réfrigération (1) atteint un état d'équilibre ;
    dans lequel l'unité de commande (217) est configurée pour commuter du fonctionnement du cycle inversé du cycle de refroidissement au fonctionnement du cycle de refroidissement à différents instants pour chacun de la pluralité d'ensembles, lorsque l'unité de réfrigération (1) comprend une pluralité d'ensembles qui comprennent chacun un échangeur thermique d'air (101), un échangeur thermique d'eau (201), et un compresseur (209).
  2. Procédé de commande d'un dispositif de commande (216) pour une unité de réfrigération (1) qui comprend un échangeur thermique d'air (101) configuré pour envoyer un fluide frigorigène soumis à un échange thermique avec l'air extérieur, un échangeur thermique d'eau (201) configuré pour refroidir de l'eau en échangeant de la chaleur entre le fluide frigorigène envoyé depuis l'échangeur thermique d'air (101) et l'eau, un compresseur (209) configuré pour comprimer le fluide frigorigène et envoyer le fluide frigorigène comprimé, un premier tuyau de fluide frigorigène configuré pour envoyer le fluide frigorigène envoyé depuis le compresseur (209) jusqu'à l'échangeur thermique d'air (101), et un second tuyau de fluide frigorigène prévu entre le compresseur (209) et l'échangeur thermique d'eau (201), le procédé de commande comprenant les étapes consistant à :
    détecter une pression de fluide frigorigène dans le second tuyau de fluide frigorigène ;
    détecter une pression de fluide frigorigène dans le premier tuyau de fluide frigorigène ;
    commander une pression différentielle obtenue en soustrayant une pression de fluide frigorigène détectée d'une pression de fluide frigorigène détectée pour être supérieure ou égale à une pression différentielle prédéterminée à laquelle le fluide frigorigène circule et l'eau ne gèle pas lorsqu'un cycle de refroidissement pour refroidir l'eau en utilisant l'échangeur thermique d'eau (201) fonctionne ;
    faire en sorte que l'unité de réfrigération (1) exécute un cycle inversé du cycle de refroidissement avant que le fonctionnement du cycle de refroidissement soit commencé dans l'unité de réfrigération (1) lorsque la température de l'air extérieur est une température de l'air extérieur qui rend la température de l'eau inférieure ou égale au point de congélation de l'eau ; et
    faire en sorte que le fonctionnement du cycle inversé soit commuté en fonctionnement du cycle de refroidissement à un instant où une pression différentielle du fluide frigorigène obtenue en soustrayant une pression détectée d'une pression détectée entre dans une plage prédéterminée où le fluide frigorigène est capable d'être acheminé avec le même débit de circulation du fluide frigorigène lorsque l'unité de réfrigération (1) atteint un état d'équilibre ;
    dans lequel en commutant du fonctionnement du cycle inversé du cycle de refroidissement au fonctionnement du cycle de refroidissement à différents instants pour chacun de la pluralité d'ensembles, lorsque l'unité de réfrigération (1) comprend une pluralité d'ensembles qui comprennent chacun un échangeur thermique d'air (101), un échangeur thermique d'eau (201), et un compresseur (209).
  3. Programme qui fait en sorte qu'un ordinateur pour une unité de réfrigération (1) comprenant un échangeur thermique d'air (101) configuré pour envoyer un fluide frigorigène soumis à un échange thermique avec l'air extérieur, un échangeur thermique d'eau (201) configuré pour refroidir de l'eau en échangeant de la chaleur entre le fluide frigorigène envoyé depuis l'échangeur thermique d'air (101) et l'eau, un compresseur (209) configuré pour comprimer le fluide frigorigène et envoyer le fluide frigorigène comprimé, un premier tuyau de fluide frigorigène configuré pour envoyer le fluide frigorigène envoyé depuis le compresseur (209) jusqu'à l'échangeur thermique d'air (101), un second tuyau de fluide frigorigène prévu entre le compresseur (209) et l'échangeur thermique d'eau (201), exécute des fonctions, les fonctions comprenant :
    la détection d'une pression de fluide frigorigène dans le second tuyau de fluide frigorigène ;
    la détection d'une pression de fluide frigorigène dans le premier tuyau de fluide frigorigène ;
    la commande d'une pression différentielle obtenue en soustrayant une pression de fluide frigorigène détectée d'une pression de fluide frigorigène détectée pour être supérieure ou égale à une pression différentielle prédéterminée à laquelle le fluide frigorigène circule et l'eau ne gèle pas lorsqu'un cycle de refroidissement pour refroidir l'eau en utilisant l'échangeur thermique d'eau (201) fonctionne ;
    le fait de faire en sorte que l'unité de réfrigération (1) exécute un cycle inversé du cycle de refroidissement avant que le fonctionnement du cycle de refroidissement soit commencé dans l'unité de réfrigération (1) lorsque la température de l'air extérieur est une température de l'air extérieur qui rend la température de l'eau inférieure ou égale au point de congélation de l'eau ; et
    le fait de faire en sorte que le fonctionnement du cycle inversé soit commuté en fonctionnement du cycle de refroidissement à un instant où une pression différentielle du fluide frigorigène obtenue en soustrayant une pression détectée d'une pression détectée entre dans une plage prédéterminée où le fluide frigorigène est capable d'être acheminé avec le même débit de circulation du fluide frigorigène lorsque l'unité de réfrigération (1) atteint un état d'équilibre ;
    dans lequel en commutant du fonctionnement du cycle inversé du cycle de refroidissement au fonctionnement du cycle de refroidissement à différents instants pour chacun de la pluralité d'ensembles, lorsque l'unité de réfrigération (1) comprend une pluralité d'ensembles qui comprennent chacun un échangeur thermique d'air (101), un échangeur thermique d'eau (201), et un compresseur (209) .
EP16746478.3A 2015-02-02 2016-01-27 Dispositif de commande, procédé de commande et programme Active EP3249321B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015018384A JP6501392B2 (ja) 2015-02-02 2015-02-02 制御装置、制御方法及びプログラム
PCT/JP2016/052273 WO2016125647A1 (fr) 2015-02-02 2016-01-27 Dispositif de commande, procédé de commande et programme

Publications (3)

Publication Number Publication Date
EP3249321A1 EP3249321A1 (fr) 2017-11-29
EP3249321A4 EP3249321A4 (fr) 2017-12-27
EP3249321B1 true EP3249321B1 (fr) 2019-01-23

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EP16746478.3A Active EP3249321B1 (fr) 2015-02-02 2016-01-27 Dispositif de commande, procédé de commande et programme

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Country Link
EP (1) EP3249321B1 (fr)
JP (1) JP6501392B2 (fr)
KR (1) KR101980467B1 (fr)
CN (1) CN107208942A (fr)
ES (1) ES2717312T3 (fr)
WO (1) WO2016125647A1 (fr)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63129258A (ja) 1986-11-19 1988-06-01 三洋電機株式会社 ヒ−トポンプ式空気調和機
JP2005300056A (ja) * 2004-04-14 2005-10-27 Matsushita Electric Ind Co Ltd 冷凍サイクル装置
JP2005351494A (ja) * 2004-06-08 2005-12-22 Daikin Ind Ltd 冷凍装置
JP2007170706A (ja) * 2005-12-20 2007-07-05 Sanyo Electric Co Ltd 冷凍システム
JP4974714B2 (ja) * 2007-03-09 2012-07-11 三菱電機株式会社 給湯器
JP5401793B2 (ja) * 2008-01-24 2014-01-29 三浦工業株式会社 チラー
JP5590980B2 (ja) * 2010-06-11 2014-09-17 三菱電機株式会社 冷凍空調装置
JP2014052123A (ja) * 2012-09-06 2014-03-20 Yanmar Co Ltd エンジン駆動ヒートポンプチラー
WO2014091548A1 (fr) * 2012-12-11 2014-06-19 三菱電機株式会社 Système composite de climatisation et d'approvisionnement d'eau chaude
JP6190388B2 (ja) * 2012-12-26 2017-08-30 ダイキン工業株式会社 ヒートポンプ温水暖房機

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
JP2016142452A (ja) 2016-08-08
WO2016125647A1 (fr) 2016-08-11
ES2717312T3 (es) 2019-06-20
EP3249321A4 (fr) 2017-12-27
KR101980467B1 (ko) 2019-05-20
EP3249321A1 (fr) 2017-11-29
JP6501392B2 (ja) 2019-04-17
KR20170100019A (ko) 2017-09-01
CN107208942A (zh) 2017-09-26

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