WO2021038776A1 - エンジンの冷却装置 - Google Patents

エンジンの冷却装置 Download PDF

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Publication number
WO2021038776A1
WO2021038776A1 PCT/JP2019/033823 JP2019033823W WO2021038776A1 WO 2021038776 A1 WO2021038776 A1 WO 2021038776A1 JP 2019033823 W JP2019033823 W JP 2019033823W WO 2021038776 A1 WO2021038776 A1 WO 2021038776A1
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WO
WIPO (PCT)
Prior art keywords
water temperature
unit
target
temperature deviation
opening degree
Prior art date
Application number
PCT/JP2019/033823
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
秀幸 菅原
Original Assignee
株式会社ミクニ
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 株式会社ミクニ filed Critical 株式会社ミクニ
Priority to PCT/JP2019/033823 priority Critical patent/WO2021038776A1/ja
Priority to JP2021541887A priority patent/JP7259054B2/ja
Priority to DE112019007670.1T priority patent/DE112019007670T5/de
Priority to CN201980099679.5A priority patent/CN114270022B/zh
Publication of WO2021038776A1 publication Critical patent/WO2021038776A1/ja

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P3/00—Liquid cooling
    • F01P3/20—Cooling circuits not specific to a single part of engine or machine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P7/00—Controlling of coolant flow
    • F01P7/14—Controlling of coolant flow the coolant being liquid
    • F01P7/16—Controlling of coolant flow the coolant being liquid by thermostatic control
    • F01P7/165—Controlling of coolant flow the coolant being liquid by thermostatic control characterised by systems with two or more loops
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P2025/00—Measuring
    • F01P2025/08—Temperature
    • F01P2025/32—Engine outcoming fluid temperature
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P2025/00—Measuring
    • F01P2025/08—Temperature
    • F01P2025/36—Heat exchanger mixed fluid temperature
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P2025/00—Measuring
    • F01P2025/08—Temperature
    • F01P2025/50—Temperature using two or more temperature sensors

Definitions

  • the present invention relates to an engine cooling device.
  • a thermostat is provided in the cooling water channel connecting the engine and the radiator, and the thermostat utilizes the thermal expansion of wax to be fully opened and fully closed in a temperature range of, for example, about 80 to 90 ° C. It is set to a characteristic that gradually opens and closes between.
  • the flow state of the cooling water between the engine and the radiator is adjusted according to the opening and closing of the thermostat, and the engine is maintained in a predetermined temperature range.
  • the cooling water temperature flowing through the engine greatly deviates from the target water temperature in the following situations.
  • the opening degree of the flow path switching valve is controlled based on the water temperature deviation. For example, when the water temperature> the target water temperature, the temperature is lowered by controlling the opening side of the flow path switching valve, while when the water temperature ⁇ the target water temperature, the flow path is controlled. The switching valve is closed. At this time, the cooling water circulates in the water jacket of the engine without being cooled by the radiator, and as shown by A in FIG. 4, the water temperature T gradually rises due to the heat received from the engine. Further, at this time, the cooling water stays in the radiator and is cooled by the running wind, and the temperature gradually decreases.
  • the flow path switching valve is controlled to open.
  • the opening side control at this time is also performed gently as shown by C in FIG.
  • the water temperature T changes from rising to falling and drops sharply as shown by D in FIG.
  • the flow path switching valve is closed again in response to the reduction of the water temperature deviation due to this temperature decrease, but the closing side control at this time is also performed gently as shown by the broken line Ea in FIG. 4, so that the cooling water temperature decreases.
  • the water temperature T deviates significantly from the target water temperature tgtT to the low temperature side.
  • Such an inappropriate decrease in the cooling water temperature occurs every time the flow path switching valve is switched, causing a problem that the fuel consumption and the exhaust gas characteristics are deteriorated due to an increase in the oil viscosity of the engine and poor vaporization of the fuel.
  • the present invention has been made to solve such a problem, and an object of the present invention is to avoid a sudden drop in the cooling water temperature when the flow path switching valve is controlled from the closed valve to the open side. It is an object of the present invention to provide an engine cooling device capable of keeping the engine in a good temperature range.
  • the engine cooling device of the present invention includes a flow rate adjusting unit that adjusts the flow rate of cooling water circulating between the engine and the radiator, and a water temperature that detects the temperature of the cooling water flowing through the engine. Deviation that calculates the water temperature deviation based on the detection unit, the water temperature detection unit that calculates the target water temperature of the cooling water based on the operating state of the engine, the water temperature detected by the water temperature detection unit, and the target water temperature calculated by the water temperature detection unit.
  • the target opening calculation unit that calculates the target opening of the flow rate adjustment unit to achieve the target water temperature based on the water temperature deviation calculated by the calculation unit and the deviation calculation unit, and the target calculated by the target opening calculation unit.
  • the control speed of the flow rate adjustment unit is calculated based on the opening / closing direction determination unit that determines the opening / closing direction of the flow rate adjustment unit based on the change state of the opening degree and the water temperature deviation calculated by the deviation calculation unit, and is determined by the opening / closing direction determination unit.
  • the control speed calculation unit which calculates a higher control speed as compared with the case where the determined opening / closing direction is the open side, and the target opening degree calculated by the target opening degree calculation unit. It is characterized in that it is provided with a valve control unit that controls the opening degree of the flow rate adjusting unit based on the control speed calculated by the control speed calculation unit.
  • a first storage unit for storing the relationship between the preset water temperature deviation and the target opening degree is further provided, and the target opening degree calculation unit has the water temperature based on the relationship stored in the first storage unit.
  • the target opening degree may be calculated from the deviation.
  • the water temperature deviation is set as the basic water temperature deviation, and a water temperature deviation correction unit for calculating the corrected water temperature deviation based on at least the proportional term and the integration term of the basic water temperature deviation is further provided, and the first storage unit is the corrected water temperature.
  • the relationship between the deviation and the target opening degree is memorized, the target opening degree calculation unit calculates the target opening degree based on the corrected water temperature deviation, and the opening / closing direction determination unit calculates the target opening degree based on the corrected water temperature deviation.
  • the opening / closing direction is determined based on, the control speed calculation unit calculates the control speed based on the basic water temperature deviation, and the valve control unit calculates the opening degree of the flow rate adjustment unit based on the target opening degree calculated based on the corrected water temperature deviation. May be controlled.
  • a second storage unit that stores a relationship between a preset water temperature deviation and a control speed on the open side of the flow rate adjusting unit, and an unrestricted value that is a control speed equal to or higher than the response speed of the flow rate adjusting unit.
  • the control speed calculation unit calculates the control speed from the water temperature deviation based on the relationship stored in the second storage unit and determines the control speed.
  • the control speed may be an unrestricted value stored in the second storage unit regardless of the water temperature deviation.
  • the engine cooling device of the present invention it is possible to avoid a sudden drop in the cooling water temperature when the flow path switching valve is controlled from the closed valve to the open side, and the engine can be kept in a good temperature range.
  • the engine 1 of the present embodiment is mounted on a passenger car as a power source for traveling, and is cooled by a water-cooled cooling device 2.
  • the cooling water discharged from the water pump 4 flows through the water jacket 3 formed in the engine 1, and then the outflow path 5 connected from the water jacket 3 to one side of the engine 1. It is supposed to flow out inside.
  • One ends of the main water channel 6, the sub water channel 7, and the bypass water channel 8 are connected to the outflow channel 5, and the other end of the bypass water channel 8 is connected to the suction side of the water pump 4.
  • a radiator 9 is interposed in the main water channel 6, and the other end of the main water channel 6 is connected to the suction side of the water pump 4.
  • the sub water channel 7 is bifurcated and is interposed with an EGR valve 10 for circulating exhaust gas to the intake side and a throttle device 11 for adjusting the intake air amount, and the other end of each sub water channel 7 is connected to the radiator 9 of the main water channel 6. Is also connected to the location on the water pump 4 side.
  • the cooling water guided from the outflow channel 5 to the main channel 6 is cooled by the running wind when flowing through the radiator 9, the temperature is lowered, and the cooling water is returned to the water pump 4.
  • the cooling water guided from the outflow passage 5 to the sub water passage 7 flows through the EGR valve 10 and the throttle device 11, and by cooling these devices 9 and 10, the temperature rises and is returned to the water pump 4. Further, the cooling water guided from the outflow channel 5 to the bypass channel 8 is returned to the water pump 4 at the same temperature.
  • a flow path switching valve 12 is arranged in the outflow passage 5, and the flow path of the cooling water is continuously adjusted by the flow path switching valve 12. Specifically, the inlet port of the flow path switching valve 12 communicates with the inside of the outflow passage 5, and the outlet port of the flow path switching valve 12 communicates with the main water channel 6 and the sub water channel 7, respectively.
  • the flow path switching valve 12 is configured as a rotary type in which the built-in rotor is rotated by driving the motor 13. The opening ratio on the main channel 6 side and the sub channel 7 side is continuously adjusted according to the angle ⁇ of the rotor, whereby the flow rate of the cooling water guided from the outflow channel 5 to the main channel 6 and the sub channel 7 changes. ..
  • the opening area on the main water channel 6 side in other words, the opening A of the radiator 9 is mainly used, and the opening ratio is adjusted by the flow path switching valve 12.
  • the flow path switching valve 12 Functions as the flow rate adjusting unit of the present invention.
  • the operating state of the cooling device 2 is controlled by the ECU 15 (electronic control device), and the ECU 15 includes an input / output interface 15a, a storage device 15b (ROM, RAM, etc.) incorporating a large number of control programs, a central processing unit 15c (CPU), and the like. It is composed of a timer counter 15d and the like.
  • a position sensor 16 that detects the rotor angle of the flow path switching valve 12
  • a first water temperature sensor 17 that detects the temperature of the cooling water flowing out from the engine 1 into the outflow path 5 as the engine temperature T
  • Various sensors such as a second water temperature sensor 18 that detects the temperature of the cooling water after passing through the radiator 9 are connected.
  • the engine temperature T corresponds to the temperature of the cooling water flowing through the engine 1 of the present invention
  • the first water temperature sensor 17 for detecting the engine temperature T functions as the water temperature detecting unit of the present invention.
  • the target water temperature calculation unit 21 of the ECU 15 calculates the target water temperature tgtT of the cooling water based on the operating state of the engine 1, and inputs it to the deviation calculation unit 22 together with the engine temperature T detected by the first water temperature sensor 17.
  • the deviation calculation unit 22 calculates the basic water temperature deviation ⁇ Tbase as the difference between the target water temperature tgtT and the engine temperature T, and inputs it to the PI control unit 23. Based on the basic water temperature deviation ⁇ Tbase, the P term setting unit 23a of the PI control unit 23 is set with a proportional term, the I term setting unit 23b is set with an integral term, and these feedback terms are added by the addition unit 23c for PI control. The corrected water temperature deviation ⁇ T based on is calculated.
  • the PI control unit 23 functions as the water temperature deviation correction unit of the present invention.
  • PD control or PID control may be used instead of PI control, or the PI control unit 23 may be omitted and the basic water temperature deviation ⁇ Tbase may be treated as the corrected water temperature deviation ⁇ T.
  • the corrected water temperature deviation ⁇ T is input to the target opening degree calculation unit 24, and the target radiator opening degree tgtA is calculated based on the corrected water temperature deviation ⁇ T.
  • the storage device 15b of the ECU 15 stores a control map that defines the relationship between the corrected water temperature deviation ⁇ T and the target radiator opening degree tgtA in advance. Table 1 below shows an example of the control map, and is set to the characteristic of increasing the target radiator opening degree tgtA as the corrected water temperature deviation ⁇ T increases as a whole.
  • the storage device 15b that stores the control map in Table 1 functions as the first storage unit of the present invention.
  • the target radiator opening tgtA is input to the opening / closing direction determination unit 25, and the opening / closing direction determination unit 25 changes the target radiator opening tgtA based on the deviation of the target radiator opening tgtA calculated in the current and previous control cycles. In other words, the opening / closing direction of the flow path switching valve 12 is determined.
  • the deviation between the current value and the previous value of the target radiator opening tgtA corresponds to the changed state of the target opening of the present invention.
  • the determination result of the opening / closing direction determination unit 25 is input to the switching unit 26a of the control speed calculation unit 26 together with the basic water temperature deviation ⁇ Tbase calculated by the deviation calculation unit 22.
  • the switching unit 26a is switched to the open side speed calculation unit 26b when the determination result of the opening / closing direction determination unit 25 is on the open side, and is switched to the closed side speed calculation unit 26c when the determination result is on the closed side.
  • the basic water temperature deviation ⁇ Tbase is input to the speed calculation units 26b and 26c on the switched side, and the control speed ⁇ spd of the flow path switching valve 12 is calculated based on the basic water temperature deviation ⁇ Tbase.
  • the storage device 15b of the ECU 15 stores a control map in which the relationship between the basic water temperature deviation ⁇ Tbase and the control speed ⁇ spd is stored in advance corresponding to the speed calculation units 26b and 26c, respectively.
  • Table 2 below shows an example of a control map applied to the open side speed calculation unit 26b
  • Table 3 below shows an example of a control map applied to the closed side speed calculation unit 26c.
  • the storage device 15b that stores the control maps of Table 2 and Table 2 functions as the second storage unit of the present invention.
  • the target radiator opening tgtA obtained from the corrected water temperature deviation ⁇ T is applied to the determination process of the opening / closing direction of the flow path switching valve 12 and the control of the radiator opening A described later, whereas the control speed ⁇ spd is calculated.
  • the application of the basic water temperature deviation ⁇ Tbase to the treatment is based on the following findings.
  • the actual radiator opening degree A, and thus the rotor angle ⁇ of the flow path switching valve 12 is feedback-controlled based on the target radiator opening degree tgtA. Therefore, by applying the target radiator opening tgtA based on the corrected water temperature deviation ⁇ T reflecting the PI control, it is possible to accurately control the radiator opening A and the flow is controlled based on the rotor angle ⁇ .
  • the opening / closing direction of the path switching valve 12 can also be accurately determined.
  • control speed ⁇ spd needs to be controlled according to the deviation state of the engine temperature T from the target water temperature tgtT at that time as described above. Therefore, it is desirable to set based on the basic water temperature deviation ⁇ Tbase, which is the deviation between the actual target water temperature tgtT and the engine temperature T, rather than the corrected water temperature deviation ⁇ T including the delay element due to I control.
  • the flow path switching valve 12 can be driven at a speed of ⁇ spd.
  • the control speed ⁇ spd calculated by the open side or closed side speed calculation units 26b and 26c of the control speed calculation unit 26 is input to the valve control unit 27 together with the target radiator opening degree tgtA calculated by the target opening degree calculation unit 24. ..
  • the storage device 15b of the ECU 15 stores a control map that defines the relationship between the radiator opening degree A and the rotor angle ⁇ of the flow path switching valve 12, and valve control is performed with reference to this map.
  • the unit 27 calculates the target rotor angle tgt ⁇ from the target radiator opening degree tgtA.
  • the detection information is read from each sensor in step 1, the basic water temperature deviation ⁇ Tbase is calculated in the following step 2, and the corrected water temperature deviation ⁇ T is calculated in step 3.
  • the process of step 2 is executed by the deviation calculation unit 22, and the process of step 3 is executed by the PI control unit 23.
  • the target radiator opening tgtA is calculated based on the control map in Table 1, and in step 5, the changing direction of the target radiator opening tgtA is determined.
  • the process of step 4 is executed by the target opening degree calculation unit 24, and the process of step 5 is executed by the opening / closing direction determination unit 25.
  • step 6 When the change direction determined in step 5 is the open side, the process proceeds from step 6 to step 7, and the control speed ⁇ spd on the open side is calculated based on the control map in Table 2. Further, when the change direction is the closed side, the process proceeds from step 6 to step 8, and the control speed ⁇ spd on the closed side is calculated based on the control map in Table 3. After that, in step 9, the flow path switching valve 12 is feedback-controlled based on the target radiator opening degree tgtA and the control speed ⁇ spd.
  • step 6 is executed by the switching unit 26a of the control speed calculation unit 26
  • the process of step 7 is executed by the open side speed calculation unit 26b
  • the process of step 8 is executed by the closed side speed calculation unit 26c
  • step 10 Is executed by the valve control unit 27.
  • the figure shows a case where the target water temperature tgtT is kept constant for easy understanding.
  • the target radiator opening tgtA 0 based on Table 1. % Is calculated, and the main water channel 6 side is fully closed by the flow path switching valve 12. Therefore, the cooling water circulates in the water jacket 3 of the engine 1 through the bypass water channel 8 or the sub water channel 7 without being cooled by the radiator 9, and as shown by A in FIG. 4, the engine temperature is generated by the heat received from the engine 1. T gradually rises. Further, at this time, the cooling water stays in the radiator 9 and is cooled by the running wind, and the temperature gradually decreases.
  • the flow path switching valve 12 is controlled to open based on the target radiator opening tgtA calculated from Table 1.
  • the control speed ⁇ spd of the flow path switching valve 12 at this time is set based on Table 2, and the flow path switching valve 12 is controlled on the open side relatively gently as shown by C in FIG.
  • the engine temperature T changes from rising to falling and drops sharply as shown by D in FIG.
  • the flow path switching valve 12 is controlled on the closed side based on the target radiator opening degree tgtA calculated from Table 1 in response to the reduction of the corrected water temperature deviation ⁇ T due to this temperature decrease.
  • the control speed ⁇ spd of the flow path switching valve 12 at this time is set based on Table 3, and the flow path switching valve 12 is quickly controlled to close as shown by the solid line Eb in FIG. Therefore, the decrease in the engine temperature T is quickly suppressed, and as shown by the solid line Fb in FIG. 4, the engine temperature T starts to increase without deviating so much from the target water temperature tgtT to the low temperature side.
  • cooling control that prioritizes the prevention of supercooling of the engine 1 is required from the viewpoints of both the characteristics inherent in the engine 1 and the requirements regarding fuel consumption and exhaust gas characteristics. Then, such a requirement can be achieved by cooling control in which the control speed ⁇ spd at the time of closing the valve is increased as compared with the time when the flow path switching valve 12 is opened as in the present embodiment, and as a result, the above-mentioned effects can be achieved. It is.
  • the target opening degree calculation unit 24 calculates the target radiator opening degree tgtA from the corrected water temperature deviation ⁇ T based on the control map of Table 1 stored in the storage device 15b. Therefore, not only the PI control based on the corrected water temperature deviation ⁇ T but also the rotor angle ⁇ of the flow path switching valve 12 is feedback-controlled by reflecting the characteristics of the control map.
  • the control map in Table 1 has a characteristic that the target radiator opening tgtA rapidly increases with respect to the increase in the corrected water temperature deviation ⁇ T, so that the increase in the engine temperature T can be reliably suppressed. Since the content of the feedback control can be arbitrarily changed based on the setting of the map characteristics in this way, the engine 1 can be kept in a better temperature range.
  • the aspect of the present invention is not limited to this embodiment.
  • it is embodied as a cooling device 2 for an engine 1 mounted on a passenger car, but the present invention is not limited to this.
  • it may be embodied in a cooling device for an engine mounted on a motorcycle or an ATV (All Terrain Vehicle).
  • the configuration of the water channel of the cooling device 2 shown in FIG. 1 is not limited to this, and can be arbitrarily changed.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Temperature-Responsive Valves (AREA)
PCT/JP2019/033823 2019-08-29 2019-08-29 エンジンの冷却装置 WO2021038776A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/JP2019/033823 WO2021038776A1 (ja) 2019-08-29 2019-08-29 エンジンの冷却装置
JP2021541887A JP7259054B2 (ja) 2019-08-29 2019-08-29 エンジンの冷却装置
DE112019007670.1T DE112019007670T5 (de) 2019-08-29 2019-08-29 Motorkühlvorrichtung
CN201980099679.5A CN114270022B (zh) 2019-08-29 2019-08-29 发动机的冷却装置

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PCT/JP2019/033823 WO2021038776A1 (ja) 2019-08-29 2019-08-29 エンジンの冷却装置

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CN (1) CN114270022B (enrdf_load_stackoverflow)
DE (1) DE112019007670T5 (enrdf_load_stackoverflow)
WO (1) WO2021038776A1 (enrdf_load_stackoverflow)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN113266457A (zh) * 2021-04-29 2021-08-17 广西玉柴机器股份有限公司 一种发动机过热保护的方法及装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116336532A (zh) * 2023-03-21 2023-06-27 广东万和新电气股份有限公司 供暖设备进行供暖的方法、装置及供暖设备

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JPS60169623A (ja) * 1984-02-14 1985-09-03 Mazda Motor Corp 水冷式エンジンの冷却装置
JP2003003846A (ja) * 2001-06-21 2003-01-08 Aisan Ind Co Ltd エンジン冷却装置
JP2016003578A (ja) * 2014-06-13 2016-01-12 トヨタ自動車株式会社 エンジン冷却装置

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US4616599A (en) * 1984-02-09 1986-10-14 Mazda Motor Corporation Cooling arrangement for water-cooled internal combustion engine
JP2012031800A (ja) * 2010-07-30 2012-02-16 Honda Motor Co Ltd エンジンの冷却装置
JP5925456B2 (ja) * 2011-09-22 2016-05-25 株式会社ミクニ 冷却水制御バルブ装置
JP6154159B2 (ja) 2013-03-04 2017-06-28 株式会社ミクニ 流量制御装置、流量制御方法
KR102518247B1 (ko) * 2016-07-18 2023-04-07 현대자동차주식회사 유량제어밸브의 제어방법

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Publication number Priority date Publication date Assignee Title
JPS60169623A (ja) * 1984-02-14 1985-09-03 Mazda Motor Corp 水冷式エンジンの冷却装置
JP2003003846A (ja) * 2001-06-21 2003-01-08 Aisan Ind Co Ltd エンジン冷却装置
JP2016003578A (ja) * 2014-06-13 2016-01-12 トヨタ自動車株式会社 エンジン冷却装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113266457A (zh) * 2021-04-29 2021-08-17 广西玉柴机器股份有限公司 一种发动机过热保护的方法及装置

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JPWO2021038776A1 (enrdf_load_stackoverflow) 2021-03-04
DE112019007670T5 (de) 2022-05-12
JP7259054B2 (ja) 2023-04-17
CN114270022B (zh) 2023-11-21

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