JP2017015010A - フィルタ異常判定装置 - Google Patents
フィルタ異常判定装置 Download PDFInfo
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- 230000005856 abnormality Effects 0.000 title claims abstract description 93
- 239000013618 particulate matter Substances 0.000 claims description 148
- 230000007423 decrease Effects 0.000 claims description 35
- 230000008929 regeneration Effects 0.000 claims description 17
- 238000011069 regeneration method Methods 0.000 claims description 17
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 description 43
- 238000001514 detection method Methods 0.000 description 15
- 239000000758 substrate Substances 0.000 description 11
- 230000003247 decreasing effect Effects 0.000 description 7
- 238000010438 heat treatment Methods 0.000 description 6
- 238000002485 combustion reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 238000005336 cracking Methods 0.000 description 1
- 238000003795 desorption Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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- 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
- F02D41/22—Safety or indicating devices for abnormal conditions
- F02D41/222—Safety or indicating devices for abnormal conditions relating to the failure of sensors or parameter detection devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N11/00—Monitoring or diagnostic devices for exhaust-gas treatment apparatus, e.g. for catalytic activity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N13/00—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00
- F01N13/008—Mounting or arrangement of exhaust sensors in or on exhaust apparatus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/02—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust
- F01N3/021—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/02—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust
- F01N3/021—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters
- F01N3/023—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N9/00—Electrical control of exhaust gas treating apparatus
- F01N9/002—Electrical control of exhaust gas treating apparatus of filter regeneration, e.g. detection of clogging
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- 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
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
- F02D41/1493—Details
- F02D41/1494—Control of sensor heater
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
- G01N15/0656—Investigating concentration of particle suspensions using electric, e.g. electrostatic methods or magnetic methods
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2550/00—Monitoring or diagnosing the deterioration of exhaust systems
- F01N2550/04—Filtering activity of particulate filters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2560/00—Exhaust systems with means for detecting or measuring exhaust gas components or characteristics
- F01N2560/05—Exhaust systems with means for detecting or measuring exhaust gas components or characteristics the means being a particulate sensor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2560/00—Exhaust systems with means for detecting or measuring exhaust gas components or characteristics
- F01N2560/12—Other sensor principles, e.g. using electro conductivity of substrate or radio frequency
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2560/00—Exhaust systems with means for detecting or measuring exhaust gas components or characteristics
- F01N2560/20—Sensor having heating means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/04—Methods of control or diagnosing
- F01N2900/0416—Methods of control or diagnosing using the state of a sensor, e.g. of an exhaust gas sensor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/04—Methods of control or diagnosing
- F01N2900/0422—Methods of control or diagnosing measuring the elapsed time
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/14—Parameters used for exhaust control or diagnosing said parameters being related to the exhaust gas
- F01N2900/1402—Exhaust gas composition
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/16—Parameters used for exhaust control or diagnosing said parameters being related to the exhaust apparatus, e.g. particulate filter or catalyst
- F01N2900/1606—Particle filter loading or soot amount
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
- G01N15/0606—Investigating concentration of particle suspensions by collecting particles on a support
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N2015/0042—Investigating dispersion of solids
- G01N2015/0046—Investigating dispersion of solids in gas, e.g. smoke
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/08—Investigating permeability, pore-volume, or surface area of porous materials
- G01N2015/084—Testing filters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Biochemistry (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Dispersion Chemistry (AREA)
- Processes For Solid Components From Exhaust (AREA)
- Exhaust Gas After Treatment (AREA)
Abstract
【解決手段】ECU20は、所定の異常判定期間において、PMセンサ15のVpmがPMフィルタ14の異常判定値Th1に到達した場合に、PMフィルタ14が異常であることを判定する。また、Vpmの単位時間あたりの増加量が閾値Th2を超える急増が生じたことが判定された場合に、Vpmの急増前後の出力値の変化量ΔVpmに応じて、Vpm又は異常判定値Th2を補正する補正値Vstを算出するとともに、Vpmの急増が生じたことが判定された以後に、Vpm又は異常判定値Th2を補正値Vstによりオフセット補正する。
【選択図】 図1
Description
上記の実施形態を例えば次のように変更してもよい。
Claims (6)
- エンジン(11)の排気管(13)に設けられ、前記エンジンの排気中に含まれる粒子状物質を捕集するフィルタ装置(14)と、前記排気管において前記フィルタ装置の下流側に設けられ、前記粒子状物質を付着させてその付着量を検出するPMセンサ(15)と、を備える排気処理システムに適用され、
所定の異常判定期間において、前記PMセンサの出力値が前記フィルタ装置の異常判定値に到達した場合に、前記フィルタ装置が異常であることを判定する異常判定部と、
前記出力値の単位時間あたりの増加量が所定値を超える出力急増が生じたことを判定する急増判定部と、
前記出力急増が生じたことが判定された場合に、出力急増前後の前記出力値の変化量に応じて、前記出力値又は前記異常判定値を補正する補正値を算出する算出部と、
前記出力急増が生じたことが判定された以後に、前記出力値又は前記異常判定値を前記補正値によりオフセット補正するオフセット補正部と、
を備えることを特徴とするフィルタ異常判定装置(20)。 - 前記出力急増が生じたことが判定された後に、前記出力値の単位時間当たりの減少量が所定値を超える出力急減が生じたことを判定する急減判定部を備え、
前記算出部は、前記出力急減が生じたことが判定された場合に、その時点の前記補正値を出力急減前後の前記出力値の変化量に応じて変更する請求項1に記載のフィルタ異常判定装置。 - 前記算出部は、前記出力急増前後の変化量と前記出力急減前後の変化量との差に基づいて、前記補正値を算出する請求項2に記載のフィルタ異常判定装置。
- 前記出力急減後の前記出力値が所定の低出力値以下であるか否かを判定する低出力値判定部を備え、
前記算出部は、前記出力急減後の前記出力値が前記低出力値以下であると判定された場合に、前記補正値をゼロにクリアする請求項2又は3に記載のフィルタ異常判定装置。 - 前記PMセンサは、前記PMセンサに付着した粒子状物質を燃焼させるヒータ部(35)を有しており、
前記出力急増後の前記出力値が所定の許容値以上である場合に、前記ヒータ部により前記粒子状物質を燃焼させるセンサ再生部を備える請求項1乃至4のいずれか1項に記載のフィルタ異常判定装置。 - 前記PMセンサは、前記PMセンサに付着した粒子状物質を燃焼させるヒータ部(35)を有しており、
前記急増判定部により前記出力急増が生じたと判定された回数をカウントするカウント部を備え、
前記カウント部によりカウントされた前記回数が所定回数に到達した場合に、前記ヒータ部により前記粒子状物質を燃焼させるセンサ再生部を備える請求項1乃至5のいずれか1項に記載のフィルタ異常判定装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015132866A JP6256421B2 (ja) | 2015-07-01 | 2015-07-01 | フィルタ異常判定装置 |
DE112016003009.6T DE112016003009T5 (de) | 2015-07-01 | 2016-06-30 | Vorrichtung zur Bestimmung, ob eine Fehlfunktion in einer Filtervorrichtung vorliegt |
PCT/JP2016/069526 WO2017002942A1 (ja) | 2015-07-01 | 2016-06-30 | フィルタ装置に異常が発生したか否かを判定する装置 |
US15/740,919 US10422295B2 (en) | 2015-07-01 | 2016-06-30 | Apparatus for determining whether there is malfunction in filter device |
CN201680038602.3A CN108350778B (zh) | 2015-07-01 | 2016-06-30 | 判定在过滤器装置中是否发生了异常的装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015132866A JP6256421B2 (ja) | 2015-07-01 | 2015-07-01 | フィルタ異常判定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017015010A true JP2017015010A (ja) | 2017-01-19 |
JP6256421B2 JP6256421B2 (ja) | 2018-01-10 |
Family
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JP2015132866A Active JP6256421B2 (ja) | 2015-07-01 | 2015-07-01 | フィルタ異常判定装置 |
Country Status (5)
Country | Link |
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US (1) | US10422295B2 (ja) |
JP (1) | JP6256421B2 (ja) |
CN (1) | CN108350778B (ja) |
DE (1) | DE112016003009T5 (ja) |
WO (1) | WO2017002942A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102018216084A1 (de) * | 2018-09-20 | 2020-03-26 | Robert Bosch Gmbh | Verfahren zur Partikelgrößen-selektiven Erfassung von Partikelzahlen im Abgas einer Verbrennungsvorrichtung |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2010275877A (ja) * | 2009-05-26 | 2010-12-09 | Toyota Motor Corp | フィルタの故障検出システム |
JP2011080439A (ja) * | 2009-10-09 | 2011-04-21 | Nippon Soken Inc | パティキュレートフィルタの異常検出装置 |
JP2012037373A (ja) * | 2010-08-06 | 2012-02-23 | Denso Corp | センサ制御装置 |
WO2012114518A1 (ja) * | 2011-02-25 | 2012-08-30 | トヨタ自動車株式会社 | 粒子状物質検出センサの異常判定装置 |
Family Cites Families (7)
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CN101169059B (zh) * | 2006-10-27 | 2010-10-06 | 通用汽车环球科技运作公司 | 微波再生控制系统及减少其反射波和检验其运作的方法 |
US20080282682A1 (en) * | 2007-05-16 | 2008-11-20 | Honeywell International Inc. | Integrated DPF loading and failure sensor |
JP2009293518A (ja) * | 2008-06-05 | 2009-12-17 | Denso Corp | 内燃機関の排気浄化装置 |
US9145815B2 (en) * | 2010-11-11 | 2015-09-29 | Honeywell International Inc. | System and method for sensing particulate matter |
JP5115873B2 (ja) | 2010-12-08 | 2013-01-09 | 株式会社デンソー | パティキュレートフィルタの故障検出装置 |
DE102012201594B4 (de) | 2012-02-03 | 2024-05-08 | Robert Bosch Gmbh | Verfahren zur Signalaufbereitung für einen sammelnden Partikelsensor |
JP6061203B2 (ja) * | 2014-01-29 | 2017-01-18 | 株式会社デンソー | フィルタの故障検出装置 |
-
2015
- 2015-07-01 JP JP2015132866A patent/JP6256421B2/ja active Active
-
2016
- 2016-06-30 US US15/740,919 patent/US10422295B2/en active Active
- 2016-06-30 WO PCT/JP2016/069526 patent/WO2017002942A1/ja active Application Filing
- 2016-06-30 DE DE112016003009.6T patent/DE112016003009T5/de not_active Withdrawn
- 2016-06-30 CN CN201680038602.3A patent/CN108350778B/zh not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010275877A (ja) * | 2009-05-26 | 2010-12-09 | Toyota Motor Corp | フィルタの故障検出システム |
JP2011080439A (ja) * | 2009-10-09 | 2011-04-21 | Nippon Soken Inc | パティキュレートフィルタの異常検出装置 |
JP2012037373A (ja) * | 2010-08-06 | 2012-02-23 | Denso Corp | センサ制御装置 |
WO2012114518A1 (ja) * | 2011-02-25 | 2012-08-30 | トヨタ自動車株式会社 | 粒子状物質検出センサの異常判定装置 |
Also Published As
Publication number | Publication date |
---|---|
WO2017002942A1 (ja) | 2017-01-05 |
US20180187623A1 (en) | 2018-07-05 |
DE112016003009T5 (de) | 2018-03-15 |
US10422295B2 (en) | 2019-09-24 |
CN108350778A (zh) | 2018-07-31 |
JP6256421B2 (ja) | 2018-01-10 |
CN108350778B (zh) | 2020-06-26 |
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