WO2018233828A1 - Faisceau de bobines de chauffage à plusieurs niveaux - Google Patents

Faisceau de bobines de chauffage à plusieurs niveaux Download PDF

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Publication number
WO2018233828A1
WO2018233828A1 PCT/EP2017/065323 EP2017065323W WO2018233828A1 WO 2018233828 A1 WO2018233828 A1 WO 2018233828A1 EP 2017065323 W EP2017065323 W EP 2017065323W WO 2018233828 A1 WO2018233828 A1 WO 2018233828A1
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WO
WIPO (PCT)
Prior art keywords
heating
heating coil
tube
coil bundle
tank
Prior art date
Application number
PCT/EP2017/065323
Other languages
English (en)
Inventor
Gojko MAGAZINOVIC
Original Assignee
Cadea D.O.O.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Cadea D.O.O. filed Critical Cadea D.O.O.
Priority to PCT/EP2017/065323 priority Critical patent/WO2018233828A1/fr
Priority to PCT/EP2018/066423 priority patent/WO2018234380A1/fr
Priority to KR1020197023224A priority patent/KR102188806B1/ko
Priority to JP2020516961A priority patent/JP6931258B2/ja
Priority to CN201880010787.6A priority patent/CN110325437B/zh
Publication of WO2018233828A1 publication Critical patent/WO2018233828A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63J—AUXILIARIES ON VESSELS
    • B63J2/00—Arrangements of ventilation, heating, cooling, or air-conditioning
    • B63J2/12—Heating; Cooling
    • B63J2/14—Heating; Cooling of liquid-freight-carrying tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
    • B63B73/40—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by joining methods
    • B63B73/49—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by joining methods by means of threaded members, e.g. screws, threaded bolts or nuts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28—HEAT EXCHANGE IN GENERAL
    • F28D—HEAT-EXCHANGE APPARATUS, NOT PROVIDED FOR IN ANOTHER SUBCLASS, IN WHICH THE HEAT-EXCHANGE MEDIA DO NOT COME INTO DIRECT CONTACT
    • F28D1/00—Heat-exchange apparatus having stationary conduit assemblies for one heat-exchange medium only, the media being in contact with different sides of the conduit wall, in which the other heat-exchange medium is a large body of fluid, e.g. domestic or motor car radiators
    • F28D1/02—Heat-exchange apparatus having stationary conduit assemblies for one heat-exchange medium only, the media being in contact with different sides of the conduit wall, in which the other heat-exchange medium is a large body of fluid, e.g. domestic or motor car radiators with heat-exchange conduits immersed in the body of fluid
    • F28D1/04—Heat-exchange apparatus having stationary conduit assemblies for one heat-exchange medium only, the media being in contact with different sides of the conduit wall, in which the other heat-exchange medium is a large body of fluid, e.g. domestic or motor car radiators with heat-exchange conduits immersed in the body of fluid with tubular conduits
    • F28D1/047—Heat-exchange apparatus having stationary conduit assemblies for one heat-exchange medium only, the media being in contact with different sides of the conduit wall, in which the other heat-exchange medium is a large body of fluid, e.g. domestic or motor car radiators with heat-exchange conduits immersed in the body of fluid with tubular conduits the conduits being bent, e.g. in a serpentine or zig-zag
    • F28D1/0477—Heat-exchange apparatus having stationary conduit assemblies for one heat-exchange medium only, the media being in contact with different sides of the conduit wall, in which the other heat-exchange medium is a large body of fluid, e.g. domestic or motor car radiators with heat-exchange conduits immersed in the body of fluid with tubular conduits the conduits being bent, e.g. in a serpentine or zig-zag the conduits being bent in a serpentine or zig-zag

Definitions

  • the present invention relates to tanker cargo heating equipment.
  • Tankers transport various types of high viscosity fluids that require significant effort during their off-loading. Therefore, the tankers are equipped with a means for cargo heating that, by increasing the fluid temperature, reduce their viscosity and enhance the fluid off- loading .
  • the equipment for tanker cargo heating is traditionally executed as steam-driven heating coils, evenly distributed all over the tank bottom, with heating tubes arranged along a single or two levels, that transfer the heat from steam to the fluid by a natural convection mechanism.
  • the cumulative length of tanker heating coils is above few thousand meters and hence the tanker cargo heating equipment is an important item in the tanker building cost.
  • Application of the more effective heating coils enables the reduction of the required heating coils length and hence the reduction of the tanker overall building costs .
  • the Japanese utility model JP 345014626Y1 (-, 1970) discloses an oil tank heater located in a recess below the tank bottom.
  • the heater is characterized by a plurality of flow smoothing devices, intended to enhance the heated fluid outflow from the heater in a vertically upward direction.
  • the proposed heater is
  • the embodiment of the present invention is nearly free of oil remnants and easy to clean by the already installed tank cleaning equipment.
  • a kind of cooling or heating equipment in the form of so-called immersion lances is provided in a patent application DE 10308756 (Hans Loth, 2003) .
  • the lances are characterized by a cover and cooling or heating tubes arranged in a plurality of levels.
  • due to the restricting effect of the cover only the vertical fluid flow is possible within the lances, driven by the natural convection only.
  • the British patent GB 1318299 (Algoship International Ltd., 1970) provides a plurality of the tank heating apparatus embodiments.
  • a motor-driven impeller is provided serving to increase circulation of cargo oil upwards through the conduit.
  • the embodiment of the present invention naturally generates the oil circulation, consuming no additional energy for the fluid flow .
  • a heating coil bundle for a tank heating comprising at least one heating body comprising a plurality of straight tubes and a plurality of U-shaped tubes, a plurality of fastening means, and at least one support to form a compact and rigid structure that is extended horizontally, close above the bottom of the tank.
  • the heating body is built of straight tubes and U-shaped tubes that are leak-proof serially joined at their open ends, wherein joining sequence starts by joining the straight tube and the U-shaped tube, then proceeds by a series of consecutive joining, on the U-shaped tube open-end side, of tube pairs comprising the straight tube and the U- shaped tube, respectively, and finally completes by joining yet another straight tube.
  • the outcome is a single heating body with one fluid inlet and one fluid outlet, arranged in a plurality of parallel and spaced apart heating coil tube levels, fixed for the support by using the plurality of fastening means.
  • the heating coil bundle cross-section perpendicular to a straight tube axis, has a binary-matrix-like tube pattern of M rows and N columns, wherein a row count M is a total number of the heating coil tube levels the heating coil bundle is arranged and a column count N is the greatest number of the straight tubes arranged in any of M heating coil tube levels.
  • the heating coil tube level is characterized by comprising at least one straight tube of a unique distance between the straight tube axis and the bottom of the tank.
  • the tube pattern of Figure 2 is characterized by six rows and three columns, while the tube pattern of a bundle depicted in Figure 3 is characterized by 20 rows and one column only.
  • the number of heating tubes arranged at the tube level may vary. If any tube level comprises less than N tubes, the remaining elements of the pattern row are left empty, see, for example, Figure 2.
  • the tube pattern depicts the bundle tube arrangement disregarding tube pitches, i.e. the vertical pitch between the levels may vary, as well as the horizontal pitch between the tubes of the same level.
  • the heating fluid inlet is always situated in the uppermost level of the heating body, Figure 3, to suppress the possible water-hammer difficulties.
  • the heating fluid outlet is always situated at the down-most level of the heating body. Considering the heating fluid temperature is the highest at the fluid inlet, and lowest at the fluid outlet, the higher tube levels are thermally more effective than the lower ones.
  • the binary-matrix-like tube pattern enables layouts with more straight tubes arranged in the thermally more effective higher levels, and less straight tubes arranged in the thermally less effective lower levels, as depicted in Figure 2.
  • the tank heating process starts by heating fluid filling the void spaces of the heating coil bundle tubes. Heating fluid rises the temperature of the heating tubes that transfer the heat to the surrounding heated fluid by a natural convection heat transfer mechanism.
  • the heated fluid close to the heating tubes, due to buoyancy effect, starts to move upwards, generating a dominantly vertical flow of the higher temperature fluid, and a plurality of small fluid whirls caused by friction between higher-temperature and lower-temperature fluid particles.
  • the plume of the heated fluid reaches the tank top, gradually starts a process of whirl concentration, wherein the majority of small whirls ends in one large whirl, also known as the large-scale circulation.
  • the result is a dominantly circular motion of the heated fluid, wherein the fluid streamlines take a form of concentric circles, Figure 7.
  • the heated fluid large-scale circulation is generated by a convective energy inflow from the asymmetrically positioned heating coil bundle, Figure 1, and further enhanced by convective energy outflows through the tank walls, wherein sufficient heating duration is required to develop said large-scale circulation fully.
  • the heating coil bundle enables a nearly horizontal cross-flow of the large-scale circulation through a void space surrounding the straight tubes and U-shaped tubes, Figure 1 and 7. It is an important feature due to the two reasons. Firstly, the horizontal cross-flow makes the shortest cross-flow path through the bundle, hence incurring the least pressure loss for the fluid flow. Secondly, the horizontal cross-flow resembles the large-scale circulation path in the bundle's region, generating a least detrimental effect on the heated fluid flow structure .
  • Figure 1 is a transverse section of a tank in which a heating coil bundle and a heated fluid large-scale circulation outlines have been drawn in dashed lines;
  • Figure 2 shows a general heating coil bundle binary-matrix-like tube pattern
  • Figure 3 shows a preferred embodiment of the heating coil bundle
  • Figure 4 shows a heating fluid transfer tube
  • Figure 5 shows a heating fluid transfer tube with an expansion bend as a thermal expansion compensation device
  • Figure 6 shows a preferred embodiment of a tank heating system, wherein the heating fluid supply and discharge lines are omitted for the sake of clarity;
  • Figure 7 shows numerical simulation results indicating a heated fluid large-scale circulation.
  • a tank (10) filled with a liquid cargo (50), Figure 1 is equipped with a heating coil bundle (20); extended in parallel and spaced-apart relationship to a tanker longitudinal symmetry plane (2) and a tank inner side wall (18), slightly closer to the tank inner side wall (18) than a tank outer side wall (14); that is joined to a tank bottom (12) by utilizing a plurality of supports (40) .
  • the tank bottom (12) is a planar surface, mostly free of any structure or equipment that may obstruct the fluid flow.
  • the tank (10) is capped by a deck (16) .
  • the heating coil bundle (20), Figure 3 is pre-manufactured in a workshop and erected into the tank (10), wherein the supports (40) are joined to the tank bottom (12), and the heating fluid inlet (31) and heating fluid outlet (39) are leak-proof joined to the corresponding heating fluid supply and discharge lines.
  • Heating tubes (32) and (34), Figure 3 are made of carbon steel;
  • the tubes are joined to each other by welding if the tubes are steel-based, or brazing, if the tubes are made of copper alloys.
  • the heating tubes (32) are fixed to the support (40), by using fastening means (42), usually U-shaped bolts and nuts.
  • the heating coil bundle (20) is driven by steam, a heating fluid, generated in a boiler situated in a tanker engine room.
  • the steam is distributed by steam header along the tanker deck, wherein a steam manifolds branch the steam intended to each heating body. From the deck (16) level steam do ncoraers, extended along tanker transverse bulkheads, guide the steam to the tank bottom (12) level, wherein horizontal transfer tubes are utilized to supply the steam to each heating body inlet (31) .
  • the heating coil heats the surrounding liquid by a heat transfer from the steam to cargo liquid. Due to heat energy outflow, the steam gradually condenses.
  • the tube length of the heating body has to be sufficient to condense the steam completely.
  • a condensate, after leaving the heating body outlet (39) is guided through the horizontal transfer tubes up to the transverse bulkhead, wherein a condensate lift; a riser; and a steam trap; are used to connect the heating body outlet (39) to the condensate manifold at the deck (16) level.
  • the condensate manifolds guide the condensate further to a condensate header that returns the condensate to the engine room and the boiler.
  • the heating coil bundle (20) cross-section has a binary-matrix-like tube pattern (22) of 20 rows, and one column as each tube level (24) comprises one straight tube (32) only.
  • the tube pattern (22) is characterized by one pattern column
  • the heating coil bundle (20) is executed by the heating tubes (32) arranged in two physical columns, each column occupying one of the opposite sides of the supports (40), Figure 3.
  • the supports (40) might be executed in different ways, from the simple single-part standard profiles, as depicted in Figure 3, to more complex built multi-part structures capable of securely holding the heating coil bundle (20) .
  • the built multi-part supports are
  • said heating tubes (32) may be arranged in as low as at least 3 levels (24); preferably at least 6 levels (24); the heating coil bundles (20) arranged in the higher number of the tube levels (24) are thermally more effective than the ones arranged in the lower number of the tube levels (24) . Consequently, the heating coil bundle (20) of Figure 3 is characterized by a high thermal effectiveness and low manufacturing costs, due to a simple and compact design.
  • a distance between the inner side wall (18) and heating coil bundle (20) closest straight tube (32) centerline ranges from 0.3 to 0.7; preferably from 0.4 to 0.45; times the tank (10) width.
  • the bundle (20) is situated in a central part of the tank (10), Figure 1, wherein the large-scale circulation (52) velocity profile is the most powerful with respect to the intended cross-flow through a void space surrounding the straight tubes (32) and the U-shaped tubes (34) .
  • a slight deviation from the ideal midpoint is a preferable feature of the provided embodiment as an exact midpoint position generates a less stable large-scale circulation, prone to changes in the circulation (52) direction.
  • the vertical pitch i.e. a vertical distance between two consecutive tube levels (24) of the tube pattern (22), should be sufficiently large to enable an easy cross-flow of the heated fluid (50) through a void space surrounding said straight tubes (32) and said U-shaped tubes (34); wherein a tube pattern (22) vertical pitch to said straight tube (32) outer diameter ratio is at least 1.25; preferably at least 3.
  • Another embodiment of the present invention further comprises at least one heating fluid transfer tube (36), Figure 4; characterized in that: said heating fluid transfer tube (36) is a single body with one fluid inlet and one fluid outlet; said heating fluid transfer tube (36) is extended in parallel and spaced-apart relationship to said straight tubes (32); and said heating fluid transfer tube (36) is fixed to said support (40) by using said plurality of fastening means (42) .
  • Yet another embodiment of the present invention further comprises at least one tube thermal expansion compensation device (38);
  • heating fluid transfer tube (36) and said tube thermal expansion compensation device (38) are leak-proof serially joined at their open ends, providing a single body with one fluid inlet and one fluid outlet.
  • Figure 5 depicts such a heating fluid transfer tube (36) , wherein said tube thermal expansion
  • compensation device (38) is executed in the form of an expansion bend.
  • a plurality of said heating coil bundles (20) should be arranged within the tank (10) , aligned in a row, in a spaced-apart relationship to each other, Figure 6.
  • Each said heating coil bundle (20) heating body possesses its heating fluid supply line and its heating fluid discharge line, wherein said heating fluid supply line and said heating fluid discharge line hydraulically connect said heating body inlet (31) and said heating body outlet (39) with the corresponding headers on the deck (16) level .
  • the heating coil bundles (20) situated closer to the bulkhead may assist the heating fluid transfer to, and from, the bundles (20) situated farther in a row.
  • said heating fluid transfer tubes (36) ; parts of the respective heating coil bundles (20) are conveniently utilized as sections of the supply lines and sections of the discharge lines.
  • OpenFOAM® 3.0 toolbox a finite volume method software; see, for example, F. Moukalled et al., The Finite Volume Method in
  • pre-LSC column refers to a pre-circulation fluid flow phase, during the initial 2700 seconds of heating; while an LSC column refers to a developed large-scale circulation fluid flow phase, during the remaining 8100 seconds of heating.
  • Peak cross-flow velocity m/ s 0.067 0.184
  • Richardson number is a measure of the relative strength of the buoyancy induced current with respect to the imposed flow.
  • the reported fall of an average Richardson number from 95.2 to 7.3 indicates that said large- scale circulation (52) enhances, for an order of magnitude, the influence of said bundle (20) forced convection heat transfer with respect to said bundle (20) natural convection heat transfer.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Heat-Exchange Devices With Radiators And Conduit Assemblies (AREA)
  • Filling Or Discharging Of Gas Storage Vessels (AREA)

Abstract

L'invention concerne, dans un mode de réalisation, un faisceau de bobines de chauffage (20) pour le chauffage d'un réservoir (10) comprenant au moins un corps de bobine de chauffage et au moins un support (40). Le faisceau (20) comprend une pluralité de tubes droits (32) et une pluralité de tubes en forme de U (34) qui sont reliés en série de manière étanche aux fuites au niveau de leurs extrémités ouvertes et s'étendent en relation parallèle et espacée les uns par rapport aux autres et sont disposés en une pluralité de niveaux (24). La section transversale du faisceau (20) est caractérisée par un motif de tubes de type matrice binaire (22) formé par M rangées (24) et N colonnes (26). Le faisceau de bobines de chauffage (20) décrit génère une circulation à grande échelle (52) de fluide chauffé (50) et superpose ladite convection forcée entraînée par la circulation à grande échelle (52) sur une convection naturelle entraînée par la flottabilité, ce qui permet d'obtenir un mécanisme de transfert de chaleur plus efficace.
PCT/EP2017/065323 2017-06-21 2017-06-21 Faisceau de bobines de chauffage à plusieurs niveaux WO2018233828A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PCT/EP2017/065323 WO2018233828A1 (fr) 2017-06-21 2017-06-21 Faisceau de bobines de chauffage à plusieurs niveaux
PCT/EP2018/066423 WO2018234380A1 (fr) 2017-06-21 2018-06-20 Faisceau de serpentins de de chauffage à plusieurs niveaux
KR1020197023224A KR102188806B1 (ko) 2017-06-21 2018-06-20 멀티레벨 가열용 코일 번들
JP2020516961A JP6931258B2 (ja) 2017-06-21 2018-06-20 マルチレベル加熱コイルバンドル
CN201880010787.6A CN110325437B (zh) 2017-06-21 2018-06-20 多层加热盘管束

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2017/065323 WO2018233828A1 (fr) 2017-06-21 2017-06-21 Faisceau de bobines de chauffage à plusieurs niveaux

Publications (1)

Publication Number Publication Date
WO2018233828A1 true WO2018233828A1 (fr) 2018-12-27

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Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/EP2017/065323 WO2018233828A1 (fr) 2017-06-21 2017-06-21 Faisceau de bobines de chauffage à plusieurs niveaux
PCT/EP2018/066423 WO2018234380A1 (fr) 2017-06-21 2018-06-20 Faisceau de serpentins de de chauffage à plusieurs niveaux

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/066423 WO2018234380A1 (fr) 2017-06-21 2018-06-20 Faisceau de serpentins de de chauffage à plusieurs niveaux

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Country Link
JP (1) JP6931258B2 (fr)
KR (1) KR102188806B1 (fr)
CN (1) CN110325437B (fr)
WO (2) WO2018233828A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1054066A (en) * 1964-09-02 1965-08-20 Steels Engineering Installatio Removable heating installation for tank compartments of ships
JPS4514626Y1 (fr) 1967-08-07 1970-06-19
GB1318299A (en) 1970-08-21 1973-05-23 Algoship Int Oil tank heating apparatus
JPS5353786U (fr) * 1976-10-08 1978-05-09
JPH0569893A (ja) * 1991-09-13 1993-03-23 Shinkurushima Dock:Kk 荷油槽内の加熱管取付方法
JP3048878U (ja) * 1997-11-14 1998-05-29 株式会社新来島どっく 液体貨物輸送船の起倒式加熱管
DE10308756A1 (de) 2003-02-28 2004-09-09 Hans Loth Sicherer Rohöltransport durch Kühlung
JP2007238054A (ja) * 2006-03-13 2007-09-20 Sumitomo Heavy Industries Marine & Engineering Co Ltd 船舶における油槽内加熱管の配置構造
CN101362509A (zh) * 2008-09-04 2009-02-11 广州文冲船厂有限责任公司 船用油舱蒸汽加热盘管安装方法
KR101243172B1 (ko) 2012-01-20 2013-03-13 주식회사 연일엔지니어링 선박용 유류탱크의 히터 구조

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200336146Y1 (ko) * 2003-09-09 2003-12-12 주식회사 태건 선박의 오일탱크 히팅장치
KR101506538B1 (ko) * 2013-10-04 2015-03-27 대우조선해양 주식회사 저장 탱크의 가열 장치

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1054066A (en) * 1964-09-02 1965-08-20 Steels Engineering Installatio Removable heating installation for tank compartments of ships
JPS4514626Y1 (fr) 1967-08-07 1970-06-19
GB1318299A (en) 1970-08-21 1973-05-23 Algoship Int Oil tank heating apparatus
JPS5353786U (fr) * 1976-10-08 1978-05-09
JPH0569893A (ja) * 1991-09-13 1993-03-23 Shinkurushima Dock:Kk 荷油槽内の加熱管取付方法
JP3048878U (ja) * 1997-11-14 1998-05-29 株式会社新来島どっく 液体貨物輸送船の起倒式加熱管
DE10308756A1 (de) 2003-02-28 2004-09-09 Hans Loth Sicherer Rohöltransport durch Kühlung
JP2007238054A (ja) * 2006-03-13 2007-09-20 Sumitomo Heavy Industries Marine & Engineering Co Ltd 船舶における油槽内加熱管の配置構造
CN101362509A (zh) * 2008-09-04 2009-02-11 广州文冲船厂有限责任公司 船用油舱蒸汽加热盘管安装方法
KR101243172B1 (ko) 2012-01-20 2013-03-13 주식회사 연일엔지니어링 선박용 유류탱크의 히터 구조

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
"VDI Heat Atlas, 2nd ed.", 2010, SPRINGER-VERLAG, pages: 684
C. GUEDES SOARES, ET AL.: "Towards Green Marine Technology and Transport", 2015, CRC PRESS, article I. PIVAC; G. MAGAZINOVIC ET AL.: "Numerical analysis of tank heating coil heating process", pages: 603 - 608
F. MOUKALLED ET AL.: "The Finite Volume Method in Computational Fluid Dynamics: An Advanced Introduction with OpenFOAM@ and Matlab@", 2016, SPRINGER-VERLAG, pages: 103 - 135,561-690
R. KRISHNAMURTI; L. N. HOWARD: "Large-scale flow generation in turbulent convection", PROC. NATL. ACAD. SCI. USA, vol. 78, no. 4, April 1981 (1981-04-01), pages 1981 - 1985
Y. I. CHO; G. A. GREENE: "Advances in Heat Transfer", vol. 43, 2011, ACADEMIC PRESS, pages: 298

Also Published As

Publication number Publication date
WO2018234380A1 (fr) 2018-12-27
KR20190103334A (ko) 2019-09-04
KR102188806B1 (ko) 2020-12-09
CN110325437B (zh) 2021-09-10
JP6931258B2 (ja) 2021-09-01
CN110325437A (zh) 2019-10-11
JP2020521676A (ja) 2020-07-27

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