CN106163900B - For the barrier of rolling stock and the detection device of derailing - Google Patents
For the barrier of rolling stock and the detection device of derailing Download PDFInfo
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- CN106163900B CN106163900B CN201480077887.2A CN201480077887A CN106163900B CN 106163900 B CN106163900 B CN 106163900B CN 201480077887 A CN201480077887 A CN 201480077887A CN 106163900 B CN106163900 B CN 106163900B
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- detection
- unit
- crossbeam
- sensor
- barrier
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- 238000001514 detection method Methods 0.000 title claims abstract description 101
- 230000004888 barrier function Effects 0.000 title claims abstract description 26
- 238000005096 rolling process Methods 0.000 title claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000012546 transfer Methods 0.000 claims abstract description 3
- 230000001939 inductive effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 9
- 238000000034 method Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/124—Brakes for railway vehicles coming into operation in case of accident, derailment or damage of rolling stock or superstructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/128—Self-acting brakes of different types for railway vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
- B61F9/005—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels by use of non-mechanical means, e.g. acoustic or electromagnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0081—On-board diagnosis or maintenance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention relates to a kind of barrier for rolling stock and/or the detection devices (10) of derailing, comprising: crossbeam (20) is intended to receive the impact extended transverse to railroad track；At least one is used to detect the component (22) of impact, support beam (20), the movement with spring and detection crossbeam (20) and the unit (30) including at least one sensor；Control unit (24), can collect the data from detection unit (30), and transfer the instructions to the brake unit (11) of rolling stock.The device is characterized in that detection unit (30) includes at least two detection sensors for detecting movement of the crossbeam (20) along at least two angle offset directions.
Description
The present invention relates to the detection devices of a kind of barrier for rolling stock and derailing comprising:
Crossbeam is intended to receive the impact extended transverse to railroad track；
At least one impulse detection component, support beam, and with spring with the movement for detecting crossbeam and including at least
The detection unit of one sensor；
Control unit can collect the data from detection unit, and transfer the instructions to the braking of rolling stock
Unit.
The device be intended to detect on the railroad track can be any kind of barrier that may not be derailing source,
And alert management person, and stop rolling stock.
Traditionally, it breaks the barriers and detects inductor and independent derailing inductor and ensure the safety of rolling stock, induction
Device is disposed in different scheduled positions.
A kind of obstacle is described in order to simplify their integrating on rolling stock and arrangement, file KR20100082162
Object and Derail detector comprising when now can be around the single cross of rotary shaft movement with impacting for barrier or rail
Beam.Rotation is detected by single inductor, the signal of single inductor firing order railway vehicle brake.
However, the detection device is not entirely satisfactory.The device with two functions of combining
Detection method cannot distinguish as caused by barrier in orbit impact and be attributed to the impact of the derailing of train.
It is an object of the invention to obtain be capable of detection based on barrier and/or derailing detection execute it is different tight
The detection device that jerking movement is made, is easily integrated and is arranged on rolling stock.
For this purpose, the present invention relates to the devices of the above-mentioned type, wherein detection unit includes the edge at least two for detecting crossbeam
At least two detection sensors of the movement in a angle offset direction.
Specific embodiment according to the present invention, the apparatus according to the invention include being considered separately or according to possible
One or more following features of technical combinations:
Spring is leaf spring；
Plate portion is intended to precompressed leaf spring；
Leaf spring includes at least two branches, and Liang Ge branch is oriented along at least two angle offset directions, and sensor
It is applied on at least two angle offsets direction；
At least two faces of leaf spring are placed as in face of the detection sensor for detecting movement；
Sensor is inductive pick-up；
Sensor is electric switch；
Sensor is connected to control unit by independent electrical connector.
The invention further relates to the methods of detection barrier and/or derailing for rolling stock comprising the following steps:
The detection device of any one according to preceding claims is provided；
It is collided on crossbeam with barrier and/or with rail during derailing；
The deformation of the spring of response impact and detection components, crossbeam movement；
The movement of detection spring, and control unit is sent at least one detection signal by detection unit；
Activate emergency braking scheme.
Specific embodiment according to the present invention includes being considered separately or according to possible according to the method for the present invention
One or more following features of technical combinations:
Send at least one detection of the component of first sensor of the identification during impact and the component of second sensor
Signal, each electrical connector are respectively facing at least one detection letter of each sensor of the control unit transmission from detection unit
Number.
Once reading following description and referring to attached drawing, the present invention be will be better understood when, be provided only as example,
In:
Fig. 1 is the schematical front view for being equipped with the rolling stock of detection device according to the present invention；
Fig. 2 is the three-dimensional view of the detection device of the barrier and derailing according to the present invention for rolling stock, and
Fig. 3 is the cross-sectional view across the detection device of detection components according to the present invention.
Rolling stock 1 is the vehicle travelled on railroad track.It particularly includes car body 2 and two bogies 4, each
Multiple axles 5 are integrated on pedestal 6 by bogie 4.
As shown in Figure 1, barrier and/or Derail detector 10 are fastened onto before the pedestal 6 of bogie, it is considered
Driving direction along rolling stock 1 is placed on before rolling stock 1.
Detection device 10 is intended to detect the form of ownership of the obstacle of the movement of rolling stock 1, and according to the type of obstacle,
It is barrier or derailing, when needed, crash program is taken to the brake unit 11 of rolling stock 1.
With reference to Fig. 2, detection device 10 includes the crossbeam 20 supported by pedestal 6 and is fixed on the two sides of pedestal 6
Two detection components 22.Crossbeam 20 laterally extends to another rail from a rail along the entire bogie 4 of rolling stock 1.
Detection device 10 further comprises the control unit 24 of brake unit 11, and control unit 24 is connected to control unit
11。
Crossbeam 20, which has, to be suitable for intercepting the profile with the impact of barrier or track.Crossbeam 20 has round or polygon
Solid or hollow part.Crossbeam 20 also has straight outline or curvilinear profile.
As shown in figure 3, crossbeam 20 includes horizontal lower face 26, vertical front face 27 and the connecting cross beam in face of railroad track
With the upper surface of each detection components 22 portion 28.
The each detection components 22 being inserted between crossbeam 20 and pedestal 6 are adapted to adjustment crossbeam 20 relative to railway
The height of track.
Each detection components 22 include single along the deformable leg 29 of both direction of angle offset each other and detection
Member 30, detection unit 30 includes the first standalone sensor 31 for detecting the deformation in both directions of deformable leg 29
With the second standalone sensor 32.
Both direction is valuably perpendicular to one another, and corresponding with the direction of advance of vehicle and vertical direction.
Deformable leg 29 includes spring 33 and the supporting element 34 being inserted between crossbeam 20 and spring 33.
Supporting element 34 includes the shoe-shaped portion fixed to crossbeam 20, is equipped with the rack that can be cooperated with complementary rack.
The shoe-shaped portion through bolt by being fixed in the position on spring 33.
Spring 33 is rigidly connected to an end of pedestal 6, and is extended through supporting element 34 in the other end.
Spring 33 is the mechanical part that can be returned to original state after it experienced relatively significant deformation.
As shown in Fig. 3 in an illustrative manner, spring 33 is leaf spring.Leaf spring 33 is inverted U, wherein three continuous
Branch is directed to vertically: being fixed to the first branch 35 of pedestal 6；The second horizontal branch 36；And it is parallel to
The third branch 37 of one branch 35.
Optionally, spring 33 is the leaf spring at least two branches, and angle of the branch between 1 ° and 180 ° is continuous
Ground orientation, and one of end of spring is fixed to pedestal 6.
For the arrangement of optimizing detection device 10, detection unit 30 is valuably placed on the space limited by leaf spring 33
In.
Detection components 22 include plate portion 38, and plate portion 38 is intended to precompressed leaf spring 33 and forms the rigidity branch for detection unit 30
Support.
The form of the presentation of plate portion 38 bracket comprising shape neighbouring branch 39 at right angle and opposite branch 40, plate portion 38 exists
Intersection between Liang Ge branch has fillet design.Spine 42 is arranged between neighbouring branch 39 and opposite branch 40.
First branch 35 of the leaf spring 33 of pedestal 6 of the opposite branch 40 in plate portion 38 in face of keeping being fixed in vehicle.
The neighbouring branch 39 in plate portion 38 defines the hole 44 with shoulder 46, and shoulder 46 has bearing surface 48, leaf spring 33
Third branch 37 is supported on bearing surface 48.Be inserted into third branch 37 in hole 44 to by bearing surface 48 by precompressed,
It positions leaf spring 33 relative to detection unit 30.
First sensor 31 is oriented vertically to be opposite with the second branch 36 of leaf spring 33, and 32 quilt of second sensor
It is horizontally oriented as the third branch 37 with leaf spring 33 relatively.
Sensor 31,32 is preferably inductive pick-up or electric switch.Sensor 31, which can emit, represents leaf spring 33
The first detection signal of vertical movement.Sensor 32 can emit the second detection signal of the horizontal movement for representing leaf spring 33.
Further, as shown in Fig. 2, using corresponding electrical connector 64,65, each sensor 31,32 is connected to control
Unit 24 processed, electrical connector 64,65 are specific for sensor 31,32.
Control unit 24 includes processor 66, portable memory 68, database 70, is associated with the process and reception prerecorded
To detection signal program 72 and control unit 24 is connected to the second electrical connector 74 of brake unit 11.
Each detection signal is collected, and then passes through processor 66 and the data being recorded in portable memory 68 in advance
Compare in library 70.The database 70 includes the relevant program of each impact condition on crossbeam 20, to inform that administrator goes over
Event.During the comparison period, if the detection signal received is related to the impact of emergency braking is needed, relevant control command
It is sent to brake unit 11, to trigger emergency braking.
The detection method for hindering object and/or derailing for rolling stock barrier will now be described, using according to the present invention
Device 10 is implemented.
Firstly, the shock of rolling stock 1 to move forward is placed barrier in orbit, or hit after derailing
Track itself.It is in contact at crossbeam 20.
Leaf spring 33 is directionally deformed according to the angle of attack of barrier or track.
The movement of spring 33 is detected by the sensor 31,32 of detection unit 30.It is opposite with the branch of the orientation of leaf spring 33
Detection sensor 31,32 measure the independently moving of the horizontal and vertical component along spring respectively, and each of send and represent
The relevant detection signal of the movement of leaf spring 33.Each detection signal is sent to control by independent electrical connections 64,65
Unit 24 processed.
According to the database 70 being pre-mounted in portable memory 68, control unit 42 is handled and is analyzed and each measurement
The relevant data collected of signal.
For example, the only detection with the vertical motion component from sensor 31 from least one detection unit 30 is believed
It number is sent.Control unit 24 is associated with derailing by the detection signal.Control unit 24 then takes the braking for derailing
Scheme.For, only with the detection signal of the horizontal component from sensor 32, being detected from least one detection unit 30
Barrier, the association of control unit 24 are used for the braking scheme of barrier.
Once the processing of signal controlled unit 24 and association, relative to 11 instruction scheme of brake unit.
By analyzing the component motion as caused by the impact on detection crossbeam 20, detection device 10 valuably detects barrier
Hinder object or the rail during derailing.
Because only two motion detection sensors 31,32 are disposed at least two angle offset directions, detection dress
10 are set to be suitable for measuring and distinguish the impact from barrier and/or the impact from derailing.Valuably, detection device 10 makes
Emergency braking scheme is adapted with the signal collected by detection unit 30.
Optionally, detection device 10 includes that can send the detection unit of wireless signal, such as pass through electric wave.
Optionally, detection device 10 is connected to remote control network program, manages entire railway network.The information is real
When transmit, and so as to expectedly deviate, around the region being damaged.
Claims (8)
1. a kind of for the barrier of rolling stock and/or the detection device (10) of derailing comprising:
Crossbeam (20) is intended to receive the impact extended transverse to railroad track；
At least one impulse detection component (22), support beam (20), and there is spring (33) and detection unit (30), the inspection
Survey the movement of unit (30) detection crossbeam (20) and including at least one detection sensor；
Control unit (24), can collect the data from detection unit (30), and transfer the instructions to rolling stock (1)
Brake unit (11),
It is characterized in that, the detection unit (30) includes at least two detection sensors (31,32), which is passed
Sensor (31,32) is used to detect the movement along at least two angle offset directions of crossbeam (20),
The spring (33) is leaf spring, and the leaf spring includes at least two branches along at least two angle offset directions orientation,
And detection sensor (31,32) is applied on at least two angle offsets direction.
2. detection device according to claim 1, wherein plate portion (38) are intended to leaf spring described in precompressed.
3. detection device according to claim 1, wherein at least two faces of leaf spring are placed as in face of for detecting fortune
Dynamic detection sensor (31,32).
4. detection device according to claim 1 or 2, wherein the detection sensor (31,32) is inductive pick-up.
5. detection device according to claim 1 or 2, wherein the detection sensor (31,32) is electric switch.
6. detection device according to claim 1 or 2, wherein the detection sensor (31,32) passes through independent electrical connection
Part (64,65) is connected to control unit (24).
7. a kind of for the barrier of rolling stock and/or the detection method of derailing comprising the following steps:
Detection device according to claim 1 or 2 (10) are provided；
It is collided on crossbeam (20) with barrier and/or with rail during derailing；
Crossbeam (20) responds the deformation of the spring of impact and detection components (22) and moves；
The movement of detection spring (33), and control unit is sent at least one detection signal by detection unit (30)
(24)；
Activate emergency braking scheme.
8. barrier according to claim 7 and/or the detection method of derailing comprising:
At least one detection signal is sent, point of at least one first detection sensor of the detection signal identification during impact
The component of amount and the second detection sensor, each electrical connector (64,65) are respectively facing control unit (24) transmission and carry out self-test
At least one detection signal of each detection sensor (31,32) of unit (30).
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/FR2014/050828 WO2015155420A1 (en) | 2014-04-07 | 2014-04-07 | Obstacle and derailment detection device for a railway vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106163900A CN106163900A (en) | 2016-11-23 |
| CN106163900B true CN106163900B (en) | 2019-02-19 |
Family
ID=50639792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480077887.2A Active CN106163900B (en) | 2014-04-07 | 2014-04-07 | For the barrier of rolling stock and the detection device of derailing |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR102143677B1 (en) |
| CN (1) | CN106163900B (en) |
| WO (1) | WO2015155420A1 (en) |
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| SG11201800479TA (en) * | 2015-07-23 | 2018-02-27 | Kawasaki Heavy Ind Ltd | Obstacle deflector of railcar |
| AT518142B1 (en) * | 2015-12-16 | 2021-04-15 | Siemens Mobility Austria Gmbh | Rail clearer for a rail vehicle |
| CN106004927B (en) * | 2016-06-17 | 2018-03-27 | 吉林瑞电科技有限公司 | Rail vehicle obstacle detector |
| FR3056177B1 (en) * | 2016-09-21 | 2020-03-13 | Alstom Transport Technologies | OBSTACLE DETECTION DEVICE FOR A RAIL VEHICLE |
| CN107512288B (en) * | 2017-08-03 | 2018-10-30 | 南京富岛信息工程有限公司 | Rectilinear intelligence derailer and its derailer smart box inclination data acquisition method |
| CN107628066A (en) * | 2017-09-22 | 2018-01-26 | 江苏必得科技股份有限公司 | Barrier and derailing monitoring device for rail vehicle |
| CN108860205B (en) * | 2018-08-03 | 2023-11-07 | 中车株洲电力机车有限公司 | Derailment detection method and device for railway vehicle |
| SG10201908225YA (en) * | 2018-09-13 | 2020-04-29 | Alstom Transp Tech | Derailment detection device and associated railway vehicle and method |
| CN109827686B (en) * | 2019-01-31 | 2024-07-09 | 浙江众合科技股份有限公司 | Train obstacle detection device with fault prediction function and train |
| CN109827687B (en) * | 2019-01-31 | 2024-07-09 | 浙江众合科技股份有限公司 | Contact type train obstacle detection device and train |
| CN109767652A (en) * | 2019-02-27 | 2019-05-17 | 株洲太昌电子信息技术股份有限公司 | A kind of the security system and control method of railway locomotive rescue |
| CN110356428A (en) * | 2019-07-26 | 2019-10-22 | 中车株洲电力机车有限公司 | A kind of rail vehicle, bogie and Derail detector |
| CN110386166A (en) * | 2019-08-07 | 2019-10-29 | 中车青岛四方车辆研究所有限公司 | A kind of track train obstacle detector |
| CN112441076B (en) * | 2019-08-28 | 2022-07-15 | 比亚迪股份有限公司 | Rail vehicle and control method and control system thereof |
| ES2923657T3 (en) * | 2019-09-11 | 2022-09-29 | Alstom Transp Tech | A detection device for a railway vehicle |
| CN110606105B (en) * | 2019-09-23 | 2020-08-25 | 西南交通大学 | Safety monitoring system for walking part of unmanned subway vehicle |
| CN112622986A (en) * | 2020-12-25 | 2021-04-09 | 辽宁业升轨道驱动装备技术有限公司 | Urban rail train obstacle and derailment detection system |
| FR3123290B1 (en) * | 2021-05-26 | 2023-04-21 | SNCF Voyageurs | Sensor protection device for motor railway rolling stock |
| CN113562028B (en) * | 2021-07-08 | 2023-06-30 | 中车南京浦镇车辆有限公司 | Rail vehicle contact type obstacle detection circuit and obstacle detection method |
| CN113954793A (en) * | 2021-10-26 | 2022-01-21 | 湘潭市恒欣实业有限公司 | Endless rope continuous tractor and derailing protection device thereof |
| CN115892113A (en) * | 2022-11-18 | 2023-04-04 | 中车青岛四方机车车辆股份有限公司 | Adjustable trigger threshold's barrier detection device, bogie and rail vehicle |
| DE102022131912A1 (en) * | 2022-12-01 | 2024-06-06 | Deutsche Bahn Aktiengesellschaft | METHOD FOR OPERATING A RAIL VEHICLE ON A TRACK SYSTEM |
| AT527202B1 (en) * | 2023-09-21 | 2024-12-15 | Siemens Mobility Austria Gmbh | Method and device for derailment detection for rail vehicles and rail vehicle |
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2014
- 2014-04-07 CN CN201480077887.2A patent/CN106163900B/en active Active
- 2014-04-07 WO PCT/FR2014/050828 patent/WO2015155420A1/en active Application Filing
- 2014-04-07 KR KR1020167027944A patent/KR102143677B1/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1671584A (en) * | 2002-10-04 | 2005-09-21 | 株式会社爱德克斯 | Emergency braking apparatus for vehicle |
| ES2288404A1 (en) * | 2006-04-06 | 2008-01-01 | Ferrocarriles De Via Estrecha Feve | AUTOMATIC TRAIN BRAKING SYSTEM BY DETECTION OF DEARRILATION WITH INDUCTIVE POSITION DETECTION DEVICE. |
| SG187359A1 (en) * | 2011-07-22 | 2013-02-28 | Bombardier Transp Gmbh | Collision detection in a vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106163900A (en) | 2016-11-23 |
| WO2015155420A1 (en) | 2015-10-15 |
| KR102143677B1 (en) | 2020-08-11 |
| KR20170041169A (en) | 2017-04-14 |
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