CN108398588B - A current sensor - Google Patents
A current sensor Download PDFInfo
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- CN108398588B CN108398588B CN201810391926.6A CN201810391926A CN108398588B CN 108398588 B CN108398588 B CN 108398588B CN 201810391926 A CN201810391926 A CN 201810391926A CN 108398588 B CN108398588 B CN 108398588B
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- 230000035945 sensitivity Effects 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 abstract description 6
- 230000000149 penetrating effect Effects 0.000 abstract description 6
- 230000006698 induction Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 8
- 238000004088 simulation Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035699 permeability Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R15/00—Details of measuring arrangements of the types provided for in groups G01R17/00 - G01R29/00, G01R33/00 - G01R33/26 or G01R35/00
- G01R15/14—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks
- G01R15/20—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using galvano-magnetic devices, e.g. Hall-effect devices, i.e. measuring a magnetic field via the interaction between a current and a magnetic field, e.g. magneto resistive or Hall effect devices
- G01R15/205—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using galvano-magnetic devices, e.g. Hall-effect devices, i.e. measuring a magnetic field via the interaction between a current and a magnetic field, e.g. magneto resistive or Hall effect devices using magneto-resistance devices, e.g. field plates
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Abstract
The invention discloses a current sensor which comprises at least three magnetic sensor units, wherein the magnetic sensor units are circumferentially arranged around a region to be detected, the region to be detected is used for penetrating a wire to be detected, each magnetic sensor unit comprises a first magnetic resistor, a second magnetic resistor and a power supply, the two ends of each magnetic sensor unit are connected with the first magnetic resistor in series, the two ends of each magnetic sensor unit are respectively connected with the two ends of the power supply after the serial connection, the second magnetic resistor is opposite to the magnetic sensitivity direction of the first magnetic resistor, the output end of each magnetic sensor unit is arranged between the first magnetic resistor and the second magnetic resistor, and the output end of each magnetic sensor unit is connected with the output end of at least one of the other magnetic sensor units. In the current sensor provided by the embodiment of the invention, the magneto resistors in the magnetic sensor units are actually in parallel connection, and even if one magnetic sensor unit is damaged, the rest magnetic sensors can still work normally and output a measurement result.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a current sensor.
Background
The current sensor is widely applied to the fields of new energy, intelligent transportation, industrial control, intelligent household appliances, intelligent power grids and the like.
As shown in fig. 1, the prior art discloses a current sensor, a plurality of magnetic sensor units are circumferentially arranged around a wire to be measured, each magnetic sensor unit comprises a first magnetic resistor and a second magnetic resistor with opposite magnetic sensitivity directions, adjacent magnetic resistors are connected end to form a sensor chain arranged in series, and two ends of the sensor chain are used as output ends of the current sensor.
However, in the sensor chain formed by series connection, once one magnetic resistor is damaged, the whole current sensor cannot output a measurement result.
Disclosure of Invention
Therefore, the embodiment of the invention provides a current sensor to solve the problem that the whole current sensor cannot output a measurement result due to damage of one magnetic resistor in the existing current sensor.
The embodiment of the invention provides a current sensor, which comprises at least three magnetic sensor units, wherein the magnetic sensor units are circumferentially arranged around a region to be detected, the region to be detected is used for penetrating a wire to be detected, each magnetic sensor unit comprises a first magnetic resistor, a second magnetic resistor and a power supply, the second magnetic resistor is connected with the first magnetic resistor in series, the two ends of the serial are respectively connected with the two ends of the power supply, the second magnetic resistor is opposite to the magnetic sensitivity direction of the first magnetic resistor, the output end of each magnetic sensor unit is arranged between the first magnetic resistor and the second magnetic resistor, and the output end of each magnetic sensor unit is connected with the output end of at least one of other magnetic sensor units.
Optionally, the outputs of the at least three sensor units are connected.
Optionally, the current sensor further comprises a first operational amplifier, wherein the output ends of the at least three magnetic sensor units are connected to the first input end of the first operational amplifier after being connected, and the second input end of the first operational amplifier is connected with a reference voltage.
Optionally, the at least three magnetic sensor units comprise a first magnetic sensor unit and a second magnetic sensor unit, wherein the magnetic sensitivity directions of the magneto resistors connected to the same potential source in the first magnetic sensor unit and the second magnetic sensor unit are opposite, the first magnetic sensor unit and the second magnetic sensor unit are mutually staggered and circumferentially arranged around the area to be detected, the output ends of the first magnetic sensor are connected, and the output ends of the second magnetic sensor are connected.
Optionally, the current sensor further comprises a second operational amplifier, wherein the output end of the first magnetic sensor unit is connected with the first input end of the second operational amplifier after being connected, and the second input end of the second operational amplifier is connected between the first magnetic resistor and the second magnetic resistor in each second magnetic sensor unit.
Optionally, each magnetic sensor unit further comprises a third magnetic resistor, a fourth magnetic resistor connected in series with the third magnetic resistor, wherein two ends of the fourth magnetic resistor after being connected in series are respectively connected with two ends of a power supply, the magnetic sensitivity directions of the fourth magnetic resistor and the third magnetic resistor are opposite, the magnetic sensitivity directions of the magnetic resistors connected with the same potential source in each magnetic sensor unit are opposite, a first output end of each magnetic sensor unit is arranged between the first magnetic resistor and the second magnetic resistor, a second output end of each magnetic sensor unit is arranged between the third magnetic resistor and the fourth magnetic resistor, and the first output end of each magnetic sensor unit is connected with each other, and the second output end of each magnetic sensor unit is connected with each other.
Optionally, the current sensor further comprises a third operational amplifier, wherein the first output end of each magnetic sensor unit is connected to the first input end of the third operational amplifier after being connected, and the second output end of each magnetic sensor unit is connected to the second input end of the third operational amplifier after being connected.
Optionally, the at least three magnetic sensor units are uniformly arranged around the area to be detected according to a predetermined geometric figure, wherein the predetermined geometric figure comprises a circle, an ellipse or a polygon with central symmetry.
According to the current sensor provided by the embodiment of the invention, each magnetic sensor unit is respectively connected to two ends of a power supply, and the output ends of the magnetic sensor units are arranged between the first magnetic resistor and the second magnetic resistor, so that the magnetic resistors in the magnetic sensor units are actually in parallel connection, and even if one magnetic sensor unit is damaged, the other magnetic sensors can still work normally and output a measurement result.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 shows a schematic diagram of a prior art current sensor;
FIG. 2 shows a schematic diagram of a current sensor according to an embodiment of the invention;
FIG. 3 shows a schematic diagram of another current sensor according to an embodiment of the invention;
FIG. 4 shows a schematic diagram of a signal processing module according to an embodiment of the invention;
FIG. 5 shows a schematic simulation;
FIG. 6 shows the results of a simulation performed in accordance with the manner shown in FIG. 5;
FIG. 7 shows another simulation schematic;
FIG. 8 shows the results of a simulation performed in accordance with the manner shown in FIG. 7;
FIG. 9 shows a schematic diagram of another current sensor according to an embodiment of the invention;
FIG. 10 shows a schematic diagram of another signal processing module according to an embodiment of the invention;
FIG. 11 shows a schematic diagram of another current sensor according to an embodiment of the invention;
fig. 12 shows a schematic diagram of another signal processing module according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
According to the current sensor provided by the embodiment of the invention, each magnetic sensor unit is respectively connected to two ends of a power supply, and the output ends of the magnetic sensor units are arranged between the first magnetic resistor and the second magnetic resistor, so that the magnetic resistors in the magnetic sensor units are actually in parallel connection, and even if one magnetic sensor unit is damaged, the other magnetic sensors can still work normally and output a measurement result.
In addition, in the current sensor provided by the embodiment of the invention, the magnetic sensor units are circumferentially arranged around a region to be detected, and the region to be detected is used for penetrating a wire to be detected. According to the ampere loop theorem of magnetic fields, the line integral of the magnetic induction B along any closed path is equal to the algebraic sum of the individual currents enclosed by the closed path times the permeability, i.e.. Phib·dl=μi. The current sensor provided by the embodiment of the invention measures the magnetic induction intensity at the position of the current sensor through the magnetic sensors circumferentially distributed around the wire to be measured, and obtains the line integral of the magnetic induction intensity along the closed path around the wire to be measured in a discretization mode, so that the current value of the wire to be measured surrounded by the closed path can be obtained, and the measured value of the current sensor is not influenced by the position error of the wire to be measured and is not influenced by the external magnetic field (the measured value is only related to the current value in the closed graph).
Example 1
The embodiment of the invention provides a current sensor, as shown in fig. 2 and 3, which comprises at least three magnetic sensor units, wherein the magnetic sensor units are circumferentially arranged around a region to be detected, and the region to be detected is used for penetrating a wire to be detected. Each magnetic sensor unit comprises a first magnetic resistor and a second magnetic resistor, the first magnetic resistor is connected with the second magnetic resistor in series, two ends of the first magnetic resistor after being connected with two ends of a power supply respectively, and the second magnetic resistor is opposite to the first magnetic resistor in magnetic sensitivity direction. The output end of each magnetic sensor unit is arranged between the first magnetic resistor and the second magnetic resistor. The outputs of these magnetic sensor units are connected.
As shown in fig. 2 and 3, the magnetic sensor units 10a to 10h are circumferentially arranged around the wire a to be measured in a closed pattern, which may be a circle, an ellipse, a centrally symmetrical polygon, or the like. The magnetic sensor unit 10a includes a first magnetic resistor 11a and a second magnetic resistor 12a, the resistance value of the first magnetic resistor 11a increases with the increase of the magnetic induction intensity at the position thereof (i.e., positive sensitive direction), the resistance value of the second magnetic resistor 12a decreases with the increase of the magnetic induction intensity at the position thereof (i.e., negative sensitive direction), or the resistance value of the first magnetic resistor 11a decreases with the increase of the magnetic induction intensity at the position thereof (i.e., negative sensitive direction), and the resistance value of the second magnetic resistor 12a increases with the increase of the magnetic induction intensity at the position thereof (i.e., positive sensitive direction). The remaining magnetic sensor units 10b-10h are also arranged. The outputs Vo of the magnetic sensors 10a-10h are connected together.
The output ends of the current sensor provided by the embodiment of the invention are connected, and errors caused by the position deviation of the wire to be tested or an external uniform magnetic field can be well restrained. The reason is as follows:
Taking a magnetic sensor unit as a circle center, arranging the magnetic sensor unit around a wire to be detected into a circular array, and assuming that the resistance value of a first magnetic resistor is R 1＝R0+k·Bi, wherein R 0 is the resistance value of the first magnetic resistor when the magnetic induction intensity is zero, B i is the magnetic induction intensity of the first magnetic resistor, k is the change rate of the first magnetic resistor, the resistance value of a second magnetic resistor is R 2＝R0-k·Bj, wherein R 0 is the resistance value of the second magnetic resistor when the magnetic induction intensity is zero (the resistance values of the first magnetic resistor and the second magnetic resistor are equal when the magnetic induction intensity is zero), B j is the magnetic induction intensity of the second magnetic resistor, and k is the change rate of the second magnetic resistor. The signals output after the output ends of all the magnetic sensor units are connected are
Wherein Vcc is the power supply voltage (i.e., vcc in the drawing of the present application), and n is the number of magnetic sensor units.
If the wire to be measured is positioned at the center of the circle of the circular array without deviation, the magnetic induction intensity of each magnetic sensor unit is equal, and the output can be simplified as
If the wire to be measured deviates from the center position or is influenced by an external uniform magnetic field
The δb i is the magnetic induction intensity variation when the ith magnetic sensor unit is not offset from the wire to be measured. Since R 0 is much larger than the resistance change k.B, the first order approximation of equation (3) is
Wherein, The average value of the variation of the magnetic induction intensity is obtained at the positions where the n magnetic sensor units are positioned. Here the number of the elements is the number,Thus can obtainNamely, the output ends of the current sensor provided by the embodiment of the invention are connected, so that the position deviation of the wire to be detected or errors caused by an external uniform magnetic field can be well restrained.
In addition, in terms of experimental data, according to the above formula (1), the magnetic sensor units are arranged in a circle with a radius of 25cm, and the positions of the wires to be measured are deviated from a certain position of the circle center (as shown in fig. 5) for simulation, so that the relationship between the position deviation and the measurement error of the current sensor is shown in fig. 6. As can be seen from fig. 6, the output ends of the magnetic sensor units are connected in parallel, so that the error caused by the position deviation of the wire to be measured can be well suppressed, and the greater the number of the magnetic sensor units, the better the effect of suppressing the error.
In addition, according to the above formula (1), a simulation is performed by using a wire through which the same current flows next to the wire to be tested, and two wires are separated by 50mm (as shown in fig. 7), and the error generated by the external wire is shown in fig. 8. As can be seen from fig. 8, the output ends of the magnetic sensor units are connected in parallel, so that the error caused by the magnetic field generated by the external current can be well suppressed, and the greater the number of the magnetic sensor units, the better the error suppressing effect.
It should be noted that the output ends Vo of the magnetic sensors 10a to 10h may be directly connected to each other. Or as an alternative implementation of this embodiment, as shown in fig. 4, the output terminal Vo is connected to the first input terminal of the first operational amplifier, and the second input terminal of the first operational amplifier is connected to the reference voltage Vref. Amplifying the output signal Vo by means of an operational amplifier makes it easier to obtain its value.
Example two
The embodiment of the invention provides a current sensor, as shown in fig. 9, which comprises at least three magnetic sensor units, wherein the magnetic sensor units are circumferentially arranged around a region to be detected, and the region to be detected is used for penetrating a wire to be detected. Each magnetic sensor unit comprises a first magnetic resistor and a second magnetic resistor, the first magnetic resistor is connected with the second magnetic resistor in series, two ends of the first magnetic resistor after being connected with two ends of a power supply respectively, and the second magnetic resistor is opposite to the first magnetic resistor in magnetic sensitivity direction. The output end of each magnetic sensor unit is arranged between the first magnetic resistor and the second magnetic resistor.
The at least three magnetic sensor units include a first magnetic sensor unit and a second magnetic sensor unit, wherein the magneto-resistances connected to the same potential source in the first magnetic sensor unit and the second magnetic sensor unit are opposite in magneto-sensitivity direction. The first magnetic sensor unit and the second magnetic sensor unit are mutually staggered and circumferentially arranged around the region to be detected. The output ends of the first magnetic sensor are connected, and the output ends of the second magnetic sensor are connected.
As shown in fig. 9, 11x in 10x is a first magnetic resistance, and 12x is a second magnetic resistance, where x is any one of a-h. Of the magnetic sensor cells 10a-10h, 10a, 10c, 10e, 10g are first magnetic sensor cells whose first magnetic resistance is in the positive magnetic sensitivity direction and each is connected to VCC (i.e., first potential source), and second magnetic resistances are in the negative magnetic sensitivity direction and each is connected to GND (i.e., second potential source), and 10b, 10d, 10f, 10h are second magnetic sensor cells whose first magnetic resistance is in the negative magnetic sensitivity direction and each is connected to VCC (i.e., first potential source), and second magnetic resistances are in the positive magnetic sensitivity direction and each is connected to GND (i.e., second potential source), opposite to the first magnetic sensor cells.
It should be noted that, in the current sensor provided in the embodiment of the present invention, after the output end of the first magnetic sensor unit is connected and the output end of the second magnetic sensor unit is connected, the output end of the first magnetic sensor unit may be connected to a module such as a digital signal processor, an embedded processor, or connected to an operational amplifier, and the difference signal obtained by processing the output signal of the first magnetic sensor and the output signal of the second magnetic sensor is used as the output value of the current sensor.
When connected to the operational amplifier, as shown in fig. 10, the output terminal of the first magnetic sensor unit is connected to the first input terminal of the second operational amplifier (Vo 1 in fig. 9), the output terminal of the second magnetic sensor unit is connected to the second input terminal of the second operational amplifier (Vo 2 in fig. 9), and the operational amplifier is configured as a differential amplifier, and can amplify and output the difference between the signals of the first input terminal and the second input terminal.
The output ends of the current sensor provided by the embodiment of the invention are connected, so that errors caused by the position deviation of the wire to be tested or an external uniform magnetic field can be well restrained. In particular, referring to the first embodiment, the difference is that the output voltages Vo 2-vo1=2 (Vo-Vcc/2) of the current sensor according to the embodiment of the present invention.
Example III
The embodiment of the invention provides a current sensor, as shown in fig. 11, which comprises at least three magnetic sensor units, wherein the magnetic sensor units are circumferentially arranged around a region to be detected, and the region to be detected is used for penetrating a wire to be detected. Each magnetic sensor unit comprises a first magnetic resistor and a second magnetic resistor, the first magnetic resistor is connected with the second magnetic resistor in series, two ends of the first magnetic resistor after being connected with two ends of a power supply respectively, and the second magnetic resistor is opposite to the first magnetic resistor in magnetic sensitivity direction. The output end of each magnetic sensor unit is arranged between the first magnetic resistor and the second magnetic resistor.
Each magnetic sensor unit further comprises a third magnetic resistor and a fourth magnetic resistor, the third magnetic resistor and the fourth magnetic resistor are connected in series, and two ends of the series connection are respectively connected with two ends of a power supply. Wherein the fourth magnetic resistance is opposite to the magnetic sensitivity direction of the third magnetic resistance. In each magnetic sensor unit, the magnetic sensitivity directions of the magnetic resistors connected with the same potential source are opposite. The first output end of the magnetic sensor unit is arranged between the first magnetic resistor and the second magnetic resistor, and the second output end of the magnetic sensor unit is arranged between the third magnetic resistor and the fourth magnetic resistor. The first output ends of the magnetic sensor units are connected, and the second output ends of the magnetic sensor units are connected.
As shown in fig. 11, the magnetic sensor units 20a to 20d are circumferentially arranged around the region to be detected, and for the magnetic sensor unit 20y (where y may be a, b, c, or d), it includes a first magnetic resistor 21y, a second magnetic resistor 22y, a third magnetic resistor 23y, and a fourth magnetic resistor 24y. The first magnetic resistor 21y and the fourth magnetic resistor 24y are both in a positive magnetic sensitive direction, and the second magnetic resistor 22y and the third magnetic resistor 23y are both in a negative magnetic sensitive direction. The first and third magnetoresistors 21y and 23y are connected to the same potential source (VCC), and the second and fourth magnetoresistors 22y and 24y are connected to the same potential source (GND). The first output terminal is provided between the first magnetic resistor 21y and the second magnetic resistor 22y, and the second output terminal is provided between the third magnetic resistor 23y and the fourth magnetic resistor 24y. The first output of each magnetic sensor unit is connected (v+ in fig. 11), and the second output of each magnetic sensor unit is connected (v+ in fig. 11).
It should be noted that, in the current sensor provided in the embodiment of the present invention, after the first output end and the second output end of the magnetic sensor unit are connected, the first output end and the second output end of the magnetic sensor unit may be connected to a module such as a digital signal processor, an embedded processor, or connected to an operational amplifier, and a difference signal is obtained by processing signals of the first output end and the second output end of the magnetic sensor unit as an output value of the current sensor.
When connected to the operational amplifier, as shown in fig. 12, the first output terminal of the magnetic sensor unit is connected to the first input terminal of the third operational amplifier (v+ in fig. 11), the second output terminal of the magnetic sensor unit is connected to the second input terminal of the third operational amplifier (V-) in fig. 11), and the operational amplifier is configured as a differential amplifier, and can amplify and output the difference between the signals of the first input terminal and the second input terminal.
The output ends of the current sensor provided by the embodiment of the invention are connected, so that errors caused by the position deviation of the wire to be tested or an external uniform magnetic field can be well restrained. Referring to the first embodiment, the difference is that the output voltage v+ -V- =2 (Vo-Vcc/2) of the current sensor according to the embodiment of the present invention.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (7)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810391926.6A CN108398588B (en) | 2018-04-27 | 2018-04-27 | A current sensor |
| PCT/CN2019/075178 WO2019205775A1 (en) | 2018-04-27 | 2019-02-15 | Current sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810391926.6A CN108398588B (en) | 2018-04-27 | 2018-04-27 | A current sensor |
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| CN108398588B true CN108398588B (en) | 2024-12-27 |
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| CN108398588B (en) * | 2018-04-27 | 2024-12-27 | 宁波希磁电子科技有限公司 | A current sensor |
| CN112083211A (en) * | 2020-09-17 | 2020-12-15 | 上海矽睿科技有限公司 | Current sensor |
| CN112611911B (en) * | 2020-12-28 | 2024-12-03 | 宁波希磁电子科技有限公司 | Method, system and sensor for determining position of magnetic field detection component of current sensor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103238079A (en) * | 2010-12-02 | 2013-08-07 | 阿尔卑斯绿色器件株式会社 | Current sensor |
| CN208172078U (en) * | 2018-04-27 | 2018-11-30 | 宁波希磁电子科技有限公司 | A kind of current sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4224483B2 (en) * | 2005-10-14 | 2009-02-12 | Ｔｄｋ株式会社 | Current sensor |
| JP5411285B2 (en) * | 2009-10-05 | 2014-02-12 | アルプス・グリーンデバイス株式会社 | Magnetic balanced current sensor |
| CN102812367B (en) * | 2010-03-12 | 2014-10-29 | 阿尔卑斯绿色器件株式会社 | Current measurement device |
| CN102419393B (en) * | 2011-12-30 | 2013-09-04 | 江苏多维科技有限公司 | Current sensor |
| CN103645369B (en) * | 2013-11-15 | 2017-03-01 | 无锡乐尔科技有限公司 | A kind of current sensor device |
| JPWO2015107948A1 (en) * | 2014-01-15 | 2017-03-23 | 株式会社村田製作所 | Magnetic sensor |
| JP5924503B2 (en) * | 2014-01-31 | 2016-05-25 | 愛知製鋼株式会社 | Magnetic detector |
| CN105353192A (en) * | 2015-11-19 | 2016-02-24 | 无锡乐尔科技有限公司 | Current sensor |
| CN206114749U (en) * | 2016-08-31 | 2017-04-19 | 无锡乐尔科技有限公司 | Current sensor |
| CN107462758B (en) * | 2017-08-31 | 2023-10-20 | 宁波希磁电子科技有限公司 | Closed loop current sensor |
| CN108398588B (en) * | 2018-04-27 | 2024-12-27 | 宁波希磁电子科技有限公司 | A current sensor |
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- 2018-04-27 CN CN201810391926.6A patent/CN108398588B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103238079A (en) * | 2010-12-02 | 2013-08-07 | 阿尔卑斯绿色器件株式会社 | Current sensor |
| CN208172078U (en) * | 2018-04-27 | 2018-11-30 | 宁波希磁电子科技有限公司 | A kind of current sensor |
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| WO2019205775A1 (en) | 2019-10-31 |
| CN108398588A (en) | 2018-08-14 |
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