US20230140507A1 - Method for operating a washing machine, and washing machine - Google Patents

Method for operating a washing machine, and washing machine Download PDF

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Publication number
US20230140507A1
US20230140507A1 US17/915,413 US202117915413A US2023140507A1 US 20230140507 A1 US20230140507 A1 US 20230140507A1 US 202117915413 A US202117915413 A US 202117915413A US 2023140507 A1 US2023140507 A1 US 2023140507A1
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United States
Prior art keywords
drum
laundry
rolling
sliding
rotational speed
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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.)
Pending
Application number
US17/915,413
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English (en)
Inventor
Markus Drücker
Magnus Kortenjann
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.)
Miele und Cie KG
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Miele und Cie KG
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Filing date
Publication date
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Assigned to MIELE & CIE. KG reassignment MIELE & CIE. KG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Drücker, Markus, KORTENJANN, MAGNUS
Publication of US20230140507A1 publication Critical patent/US20230140507A1/en
Pending legal-status Critical Current

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/14—Arrangements for detecting or measuring specific parameters
    • D06F34/18—Condition of the laundry, e.g. nature or weight
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F21/00—Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement 
    • D06F21/12—Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement  the receptacle having a wobbling motion
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D06F33/36—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of washing
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/44—Control of the operating time, e.g. reduction of overall operating time
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/47—Responding to irregular working conditions, e.g. malfunctioning of pumps 
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/06—Timing arrangements
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/30—Driving arrangements 
    • D06F37/304—Arrangements or adaptations of electric motors
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/02—Characteristics of laundry or load
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/24—Spin speed; Drum movements
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/38—Time, e.g. duration
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/44—Current or voltage
    • D06F2103/46—Current or voltage of the motor driving the drum
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/54—Changing between normal operation mode and special operation modes, e.g. service mode, component cleaning mode or stand-by mode
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/62—Stopping or disabling machine operation
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D06F33/34—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of water filling

Definitions

  • the disclosure relates to a method for operating a washing machine and to a washing machine.
  • the disclosure relates to a method for operating a washing machine and to a washing machine having a non-ribbed drum.
  • washing machine drums have ribs inside.
  • a rib which is also referred to as an entraining element, is a part of the drum which, when the drum is moved, also causes the laundry inside the drum to execute a motion, i.e. it entrains the laundry.
  • the rib is usually a plate in the drum on which the laundry located in the drum hangs up to a specific height when the drum rotates and then falls down again and in this way is swirled around and rearranged.
  • there are a plurality of ribs in the drum which are arranged at predetermined distances from one another. The ribs are substantial for the laundry to be rearranged while executing a washing program. However, the ribs are additional components that add cost. Therefore, a non-ribbed drum would be desirable.
  • the disclosure therefore provides a method for operating a washing machine and of providing a washing machine having a non-ribbed drum in which the occurrence of rolling and/or sliding laundry when the drum is rotating can be detected, in particular at a rotational speed in the subcritical rotational speed range.
  • the advantages that can be achieved with the disclosure are that it offers an important prerequisite for the reliable operation of a washing machine having a non-ribbed drum. It protects the washing machine from destruction by detecting imbalances caused by rolling and/or sliding laundry, and thus also protects a user of the washing machine from getting hurt and protects the laundry washed in the washing machine from being damaged.
  • the method therefore makes it possible to protect the washing machine and the laundry from damage.
  • appropriate actions can be executed that are stored in the washing machine to prevent or at least reduce damage.
  • the disclosure relates to a method for operating a washing machine having a suds container for holding washing liquid, a non-ribbed drum rotatably mounted in the suds container for holding laundry, a motor for driving the drum, and a control device, wherein the method comprises a step for detecting when laundry is sliding and/or rolling, comprising, while rotating the drum,
  • the inventors have discovered that laundry rolling and/or sliding in the drum differs from laundry lying in contact with the drum in that rolling and sliding laundry exerts impulses on the drum casing. These impulses cause a braking of the peripheral speed of the drum and thus cause a deviation or difference between the target and actual rotational speed of the drum.
  • the control device preferably has a controller of the motor for driving the drum, which is designed such that the torque is increased when the actual rotational speed of the drum is less than the target rotational speed of the drum and is reduced when the actual rotational speed is greater than the target rotational speed.
  • the above variable can therefore be used to determine whether the laundry is sliding and/or rolling in the drum.
  • a non-ribbed drum is a drum that does not have a rib or entraining element inside it. However, it can have other elevations and/or depressions that do not have the shape of the plate-shaped rib or entraining element.
  • the drum preferably the drum casing, preferably has depressions and/or elevations other than a rib. It preferably has stamped portions, each of which is designed as an elevation or depression.
  • the sampling preferably takes place at a predetermined frequency.
  • the predetermined frequency for sampling is preferably high and is, for example, 100 Hz.
  • variable relating to the torque of the motor or the rotational speed of the drum is the torque, a signal fluctuation correlating with the torque, the rotational speed, or a signal fluctuation correlating with the rotational speed. More preferably, the variable is the torque of the motor or the rotational speed of the drum. More preferably, the variable is the torque.
  • the determination of whether the laundry is sliding and/or rolling in the drum based on the variable sampled over the period of time preferably includes a frequency analysis, with which frequency components of the variable are determined in a predetermined frequency range.
  • Frequency analysis can be used to determine in a simple manner which frequency components or portions are represented to what extent in the signal of the determined variable at different frequencies.
  • the frequency analysis is preferably a Fast Fourier Transform (FTT).
  • determining whether the laundry is rolling and/or sliding in the drum also includes a summation and/or an effective value formation of the determined frequency components of the variable that are in the predetermined frequency range. This makes it easy to calculate a single value that is comparable to another value.
  • the predetermined frequency range can be segmented.
  • the predetermined frequency range preferably comprises higher and lower frequencies than the rotational frequency of the drum, i.e., the predetermined frequency range excludes the rotational frequency of the drum and includes frequencies unequal to the rotational frequency of the drum.
  • a fixed imbalance that occurs in practice and is applied to the drum at rotational speeds greater than the contact rotational speed at which a fixed imbalance is applied on the drum causes a difference between the actual and target rotational speeds, which is compensated by the controller of the motor by increasing and decreasing the torque.
  • This embodiment is therefore based on the idea that the regulation of the variable as well as the torque to compensate for the fixed imbalance formed due to rotation at a speed greater than the contact rotational speed causes an oscillation of the torque at the rotational frequency of the drum, while the impulses of the rolling and sliding laundry cause oscillations of the torque that occur at higher or lower frequencies than the rotational frequency of the drum.
  • the frequency analysis is used to determine a value which is compared to a limit value stored in the washing machine, wherein it is determined that the laundry is sliding and/or rolling when the determined value is greater than the limit value. If the determined value is greater than the limit value, then there is a loading situation where laundry is sliding and/or rolling, i.e., laundry is located in the drum and is sliding and/or rolling. If the determined value is less than or equal to the limit value, then there is a loading situation where laundry is not sliding and/or rolling, i.e., there is no sliding and/or rolling laundry located in the drum.
  • a plurality of limit values can also be stored in the washing machine, which depend, for example, on the rotational speed of the drum at which the variable is sampled over the predetermined period of time and/or depend on the load amount. The larger the load amount, the greater the problems described above where the laundry is sliding and/or rolling. Furthermore, a plurality of limit values can also be stored in the washing machine, which depend, for example, on the textile type to be subjected to the washing program, which is defined by the user adjusting the washing program when the washing program is started. Sliding and/or rolling is much more problematic for delicate laundry such as silk or wool than for less delicate laundry such as cotton laundry because the risk of damage due to friction between the textile and the drum casing is greater for delicate laundry.
  • predetermined actions that are stored in the washing machine are preferably executed to prevent or at least reduce the sliding and/or rolling of the laundry.
  • the rotation of the drum is stopped if, when determining whether the laundry is sliding and/or rolling in the drum based on the variable sampled over the period of time, it is determined that the laundry is sliding and/or rolling.
  • the rotational speed of the drum is set to 0 rpm, and after setting the rotation speed of the drum to 0 rpm, the drum can then be rotated again. For example, after the rotation of the drum has stopped, the rotational speed is subsequently increased to a rotational speed below the contact rotational speed at which the centrifugal force acting on the laundry is greater than the force of gravity.
  • the predetermined period of time comprises one complete revolution of the drum or an integer multiple of the complete revolution of the drum.
  • the predetermined period of time is preferably an integer multiple of the complete revolution. This allows errors to be minimized.
  • the integer multiple is in the range of from 2 to 20, more preferably from 3 to 10.
  • the predetermined period of time may be, for example, 3 seconds, such that it comprises six complete revolutions of the drum.
  • the method can also be carried out at any rotational speed, wherein the predetermined period of time is adapted accordingly and is stored accordingly in the washing machine. The longer an item of laundry is sliding and/or rolling on the drum casing, the greater the risk that the textile will be damaged due to the friction between the textile and the drum casing.
  • the predetermined period of time is therefore preferably in the period of time of a few seconds.
  • the rotational speed at which the drum is rotated in the method is above the contact rotational speed.
  • the rotational speed is in the subcritical range, i.e., a range of from 70 to 149 rpm. More preferably, the rotational speed of the drum at which the drum is rotated in the method is in the range of from 120 to 149 rpm. In this range, the problem of sliding and/or rolling laundry occurs particularly frequently. It occurs just as often at lower rotational speeds. The reason for this speed range of 120-149 rpm is that the method works more reliably in this rotational speed range; the signals that can be evaluated are better (keyword: signal-to-noise ratio).
  • the disclosure further relates to a washing machine having a suds container for holding washing liquid, a non-ribbed drum rotatably mounted in the suds container for holding laundry, a motor for driving the drum, and a control device that is designed and set up to execute a method according to one or more of the embodiments described above.
  • Embodiments and advantages described for the method apply correspondingly to the washing machine and vice versa.
  • the washing machine can be a front loader or a top loader.
  • the term “washing machine” also comprises a combination device such as a washer-dryer.
  • the drum is preferably mounted in the suds container so that it can rotate horizontally.
  • the control device can be designed in one or more parts. In addition to regulating the rotational speed of the motor for driving the drum, it has other open or closed loop control means that are required to execute the washing program.
  • FIG. 1 shows a curve of a torque of the motor over a predetermined period of time in a method according to the disclosure where laundry is or is not sliding and/or rolling;
  • FIG. 2 shows the torque of the motor shown in FIG. 1 as a function of frequency sampled over the predetermined period of time where laundry is or is not sliding and/or rolling.
  • FIG. 1 shows a curve of a torque of the motor over a predetermined period of time in a method according to the disclosure where laundry is or is not sliding and/or rolling.
  • the method according to the disclosure is a method for operating a washing machine having a suds container for holding washing liquid, a non-ribbed drum rotatably mounted in the suds container for holding laundry, a motor for driving the drum, and a control device, wherein the method comprises a step for detecting when laundry is sliding and/or rolling, comprising, while rotating the drum,
  • FIG. 1 shows the time signal curve of the torque at a rotational speed of the drum of 120 rpm.
  • the predetermined period of time is 3 seconds during which the drum completes six revolutions at two revolutions per second.
  • the laundry lies completely in contact with the drum casing, so that the drum is free of rolling and/or sliding laundry, and a fixed imbalance has developed.
  • This fixed imbalance causes the control of the motor per drum revolution to increase the torque relative to an average value when increasing the fixed imbalance causes a braking of the rotational speed and to decrease it relative to a mean value when decreasing the fixed imbalance causes an acceleration of the rotational speed.
  • the torque waveform for the drum with fixed imbalance and where laundry is sliding and/or rolling in the drum, and where it does not completely contact the drum casing, as shown by the dashed line differs from the torque waveform for the drum where laundry is not rolling and/or sliding in the drum.
  • FIG. 1 substantially reproduces the signal curve of the sampled torque over the predetermined period of time. The determination of whether the laundry is sliding and/or rolling in the drum based on the torque sampled over the period of time is explained in more detail in connection with FIG. 2 .
  • FIG. 2 shows the torque of the motor shown in FIG. 1 as a function of frequency sampled over the predetermined period of time where laundry is or is not sliding and/or rolling.
  • the torques sampled over the predetermined period of time shown in FIG. 1 have been subjected to an FFT, resulting in the spectrum shown in FIG. 2 .
  • the oscillation on the time signal of the torque caused by the fixed imbalance takes place at the rotational frequency of the drum as shown by the solid line.
  • the signal of the torque having fixed imbalance and sliding and/or rolling laundry as represented by the dashed line, also has frequency components or oscillation components which are different from the rotational frequency of the drum in comparison with the signal of the solid line.
  • frequency components or portions are visible in FIG. 2 in the frequency range of between approximately 0.5 and 1.5 Hz marked with the reference sign 1 and in the frequency range of from approximately 2.5 Hz marked with the reference sign 2 .
  • Both loading situations i.e., loading where laundry is or is not sliding and/or rolling, have a constant component at 0 Hz, which corresponds to the average torque for overcoming the friction in the overall system.
  • the position of the frequency range marked with the reference sign 2 can depend on the geometric shape of the drum and the geometric shape of the sliding and/or rolling laundry.
  • Determining whether the laundry is sliding and/or rolling is executed in the method according to the disclosure explained with reference to FIGS. 1 and 2 in that all frequency components of the torque at frequencies between, for example, 0.5 and 1.5 Hz and above 2.5 Hz are summed up, so that a value is determined, wherein, for example, a calculation method of effective value formation, in which all frequency components in the specified frequency ranges are squared and summed up and then their square root is formed, is equivalent.
  • a limit value is predetermined for each of these calculation methods and stored in the washing machine. If the determined value is greater than the limit value, then this is a loading situation where laundry is rolling and/or sliding. If the determined value is less than or equal to the limit value, this is a loading situation where laundry is not rolling and/or sliding.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
US17/915,413 2020-03-30 2021-03-22 Method for operating a washing machine, and washing machine Pending US20230140507A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102020108688.1A DE102020108688A1 (de) 2020-03-30 2020-03-30 Verfahren zum Betreiben eines Waschautomaten und Waschautomat
DE102020108688.1 2020-03-30
PCT/EP2021/057237 WO2021197886A1 (de) 2020-03-30 2021-03-22 Verfahren zum betreiben eines waschautomaten und waschautomat

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US20230140507A1 true US20230140507A1 (en) 2023-05-04

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US17/915,413 Pending US20230140507A1 (en) 2020-03-30 2021-03-22 Method for operating a washing machine, and washing machine

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US (1) US20230140507A1 (de)
EP (1) EP4127291A1 (de)
KR (1) KR20220151710A (de)
CN (1) CN115516153A (de)
DE (1) DE102020108688A1 (de)
WO (1) WO2021197886A1 (de)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1067230A2 (de) * 1999-06-24 2001-01-10 Ipso-Usa Kontrollsystem zum Messen der Unwucht und zur Optimierung der Schleudergeschwindigkeit in einer Waschmaschine
US20130160216A1 (en) * 2011-12-21 2013-06-27 Whirlpool Corporation Laundry treating appliance and method of control

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2050856B1 (de) * 2007-10-18 2016-03-30 Electrolux Home Products Corporation N.V. Waschmaschine mit elektronischer Vorrichtung zur Erfassung der Bewegung der Waschanordnung aufgrund von dynamischem Ungleichgewicht der Waschtrommelanordnung und entsprechendes Betriebsverfahren
KR102270515B1 (ko) * 2014-09-16 2021-06-29 삼성전자주식회사 세탁기 및 그 제어 방법
KR102590137B1 (ko) * 2016-07-18 2023-10-18 삼성전자주식회사 세탁기
AU2019329626A1 (en) * 2018-08-30 2021-05-06 Lg Electronics Inc. Washing machine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1067230A2 (de) * 1999-06-24 2001-01-10 Ipso-Usa Kontrollsystem zum Messen der Unwucht und zur Optimierung der Schleudergeschwindigkeit in einer Waschmaschine
US20130160216A1 (en) * 2011-12-21 2013-06-27 Whirlpool Corporation Laundry treating appliance and method of control

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WO2021197886A1 (de) 2021-10-07
EP4127291A1 (de) 2023-02-08
DE102020108688A1 (de) 2021-09-30
KR20220151710A (ko) 2022-11-15
CN115516153A (zh) 2022-12-23

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