EP3816334A1 - Appareil d'entretien de linge doté d'une commande - Google Patents

Appareil d'entretien de linge doté d'une commande Download PDF

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Publication number
EP3816334A1
EP3816334A1 EP20199499.3A EP20199499A EP3816334A1 EP 3816334 A1 EP3816334 A1 EP 3816334A1 EP 20199499 A EP20199499 A EP 20199499A EP 3816334 A1 EP3816334 A1 EP 3816334A1
Authority
EP
European Patent Office
Prior art keywords
laundry
drum
speed
laundry drum
weight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20199499.3A
Other languages
German (de)
English (en)
Other versions
EP3816334B1 (fr
Inventor
Alexander Dobrusin
Yi-chun SHI
Zaza Kilasonia
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BSH Hausgeraete GmbH
Original Assignee
BSH Hausgeraete GmbH
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 BSH Hausgeraete GmbH filed Critical BSH Hausgeraete GmbH
Publication of EP3816334A1 publication Critical patent/EP3816334A1/fr
Application granted granted Critical
Publication of EP3816334B1 publication Critical patent/EP3816334B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D06F33/36—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of washing
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/46—Control of the energy or water consumption
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/50—Control of washer-dryers characterised by the purpose or target of the control
    • D06F33/52—Control of the operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D06F33/56—Control of the operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of washing
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/50—Control of washer-dryers characterised by the purpose or target of the control
    • D06F33/72—Control of the energy or water consumption
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/14—Arrangements for detecting or measuring specific parameters
    • D06F34/18—Condition of the laundry, e.g. nature or weight
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/02—Characteristics of laundry or load
    • D06F2103/04—Quantity, e.g. weight or variation of weight
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/18—Washing liquid level
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
    • D06F2105/48—Drum speed

Definitions

  • the present invention relates to a laundry care device with a controller.
  • WO 2009/112222 A1 discloses a method for caring for laundry in a laundry care appliance.
  • the object on which the invention is based is to provide a laundry care appliance, whereby an advantageous wetting of the laundry received in the laundry drum with washing liquid is ensured and wherein the energy consumption of the laundry care appliance can advantageously be reduced.
  • the object according to the invention is achieved by a laundry care device with a tub for receiving washing liquid, a laundry drum for receiving laundry, the laundry drum being arranged in the tub, the laundry drum having a plurality of projections which are designed to move the laundry received in the laundry drum when the laundry drum rotates, a drum drive for rotating the laundry drum, a Weight detection device, which is designed to detect a weight of laundry received in the laundry drum, and a controller for controlling the drum drive, the controller being designed to activate the drum drive during a first operating mode in order to rotate the laundry drum at a first speed, when the weight of the laundry detected by the weight detection device falls below a weight limit value, the first speed being less than a system speed of the laundry drum at which the laundry received in the laundry drum is in contact with the rotating laundry drum, and the controller exc e is formed to activate the drum drive during a second operating mode in order to rotate the laundry drum at a second speed when the weight of the laundry detected by the weight detection device exceeds the weight limit value, the second speed being greater
  • the optimum operating mode can be selected by the control in order to ensure effective wetting of the laundry with washing liquid while the laundry care appliance consumes little energy at the same time.
  • the control system selects the first operating mode in which the laundry drum is rotated at the first speed, which is lower than the system speed, so that the laundry does not lie against the laundry drum during the first operating mode, but can fall off the laundry drum and can thereby be effectively wetted by the washing liquid.
  • a small laundry load includes a weight of 2 kg, particularly in the case of a laundry drum with a radius of 25 cm.
  • the first speed is between 30 U / min and 40 U / min and the system speed is in particular 60 U / min.
  • the control system selects the second operating mode in which the laundry drum is rotated at the second speed, which is greater than the system speed, so that the laundry rests against the laundry drum during the second operating mode.
  • the rotation of the laundry drum at the second speed generates turbulence in the washing liquid, which ensures effective wetting of the laundry lying against the laundry drum.
  • a heavy load of laundry includes a weight of more than 2 kg, particularly in the case of a laundry drum with a radius of 25 cm.
  • the second speed is between 70 rpm and 80 rpm.
  • the washing liquid distribution and wetting of the laundry with washing liquid can be optimized through the first or second operating mode, and at the same time the energy consumption of rotating the laundry drum by up to 40% compared to conventional laundry care devices and at the same time the energy consumption of heating the washing liquid by up to 50% compared to conventional laundry care devices.
  • a laundry care device is understood to mean a device that is used for laundry care, such as a washing machine or a tumble dryer.
  • a laundry care device is understood to mean a household laundry care device. So a laundry care device, which is used in the context of housekeeping, and with which laundry is treated in household quantities.
  • a weight detection device is a device for detecting a measured value from which the weight of the laundry can be inferred.
  • the weight can thus be recorded directly or indirectly.
  • the volume of the load can also be a detection variable representing the weight.
  • the weight detection device can therefore also be understood as a load detection device.
  • control is designed to activate the drum drive during the second operating mode to drive the laundry drum with a to rotate third speed, which is lower than the system speed of the laundry drum, wherein the controller is designed to activate the drum drive during the second operating mode to rotate the laundry drum at least in sections at the second speed and at least in sections at the third speed.
  • the additional rotation of the laundry drum at the third speed which is lower than the second speed, during the second operating mode enables the laundry and washing liquid to be distributed in the laundry drum or in the tub due to the speed variation changed, whereby a particularly effective wetting of the laundry can be ensured.
  • the third speed is between 35 rpm and 40 rpm.
  • the controller is designed to activate the drum drive during the second operating mode in order to reduce the second speed to the third speed, in particular to reduce it linearly, and / or to increase the third speed to the second speed, in particular linearly to increase.
  • the corresponding gradient between the second and third speed and / or between the third and second speed is less than 20 rpm per second in order to minimize the energy consumption of the laundry care device and an unpleasant noise development.
  • the controller is designed to activate the drum drive during the second operating mode in order to rotate the laundry drum several times at the second speed and several times at the third speed.
  • multiple rotation of the laundry drum at the second speed and multiple rotation of the laundry drum at the third speed also means multiple changes between the second and third Speed, or between the third and second speed of the laundry drum, so that a particularly advantageous wetting of the laundry can be ensured.
  • the controller is designed to activate the drum drive during the second operating mode in order to rotate the laundry drum at a fourth speed, the fourth speed being greater than the system speed and greater than the second speed of the laundry drum, the controller being designed is to activate the drum drive during the second operating mode in order to rotate the laundry drum at least in sections at the second speed and at least in sections at the fourth speed.
  • the fourth speed is between 90 rpm and 120 rpm.
  • the controller is designed to activate the drum drive during the second operating mode in order to reduce the fourth speed to the second speed, in particular to reduce it linearly, and / or to increase the second speed to the fourth speed, in particular linearly to increase.
  • the controller is designed to activate the drum drive during the second operating mode in order to increase the speed of the laundry drum several times between the second, third and / or fourth speed depending on the weight detected by the weight detection device and / or depending on the amount of to vary the washing liquid received in the tub.
  • the contact speed of the laundry drum is dependent on the radius of the laundry drum, the contact speed being in particular between 60 rpm and 90 rpm.
  • the optimal system speed can be selected in a targeted manner in order to ensure that the laundry rests effectively on the laundry drum rotating at the system speed.
  • the system speed is 62 rpm, or with a laundry drum radius of 24.5 cm, the system speed is 85 rpm.
  • the weight detection device comprises a power detection element for detecting an electrical power value of the drum drive in order to detect the weight of laundry received in the laundry drum, and / or the weight detection device comprises an element for detecting a lowering of a vibration system of the laundry care device by the weight of to detect laundry received in the laundry drum, and / or the weight detection device comprises a level sensor for detecting a level of washing liquid in a tub of the laundry care device in order to detect the weight of laundry received in the laundry drum.
  • the plurality of projections each have at least one depression which is designed to move the washing liquid received in the washing drum when the washing drum is rotating.
  • the at least one depression in the projections ensures that washing liquid is advantageously carried along with a rotating laundry drum.
  • the projections in the laundry drum are arranged rotationally symmetrically with respect to an axis of rotation of the laundry drum, the majority of the projections in particular comprising three, four, five or six projections.
  • control is designed to activate a washing liquid supply device of the laundry care device in order to supply the amount of washing liquid to the tub that is sufficient for a projection positioned at the lowest position of the washing drum to be completely absorbed in the tub for a non-rotating laundry drum Washing liquid is covered.
  • the object of the invention is achieved by a method for caring for laundry in a laundry care device, the laundry care device having a tub for holding washing liquid, a washing drum for holding laundry, the washing drum being arranged in the tub, the washing drum being a Has a plurality of projections which are designed to move the laundry received in the laundry drum upon rotation of the laundry drum, a drum drive for rotating the laundry drum, a weight detection device which is designed to detect a weight of laundry received in the laundry drum, and a controller for controlling the drum drive, the method comprising the following method steps comprises activating a first operating mode of the drum drive by the controller when the weight of the laundry detected by the weight detection device falls below a weight limit value in order to rotate the laundry drum at a first speed, the first speed being less than a system speed of the laundry drum at which the Laundry received in the laundry drum rests against the rotating laundry drum, and activation of a second operating mode of the drum drive by the controller when the weight of the laundry detected by the weight detection device exceeds the weight limit
  • the method also has the following method step, activating the drum drive by the controller in the second operating mode in order to rotate the laundry drum at least in sections at a third speed, which is lower than the system speed of the laundry drum.
  • the method also has the following method step, activating the drum drive by the controller in the second operating mode in order to rotate the laundry drum at least in sections at a fourth speed, which is greater than the system speed and greater than the second speed of the laundry drum .
  • All of the above-mentioned preferred rotational speeds of the individual operating modes can be stored in the control, it being possible for different sets of rotational speeds to be stored in the control depending on a recorded weight of the laundry. Depending on the recorded weight of the laundry, a specific set of speeds can then be selected for the respective operating mode.
  • FIG. 11 shows a schematic view of a general laundry care device 100, such as a washing machine.
  • the laundry care device 100 comprises a dispenser 101, in which detergents or other liquid substances can be filled.
  • the laundry care device 100 has a device housing 102.
  • the laundry care device 100 comprises an appliance door 103 for loading the laundry care device 100 with laundry.
  • a controller 104 of the laundry care device 100 is only shown schematically.
  • Fig. 2 shows a schematic representation of a laundry drum of a laundry care device.
  • the laundry care device 100 has a tub 105 for receiving washing liquid 109 and a laundry drum 107 arranged in the tub 105 for receiving laundry 111.
  • the laundry drum 107 has a plurality of, in particular three, projections 113, which are designed to move the laundry 111 received in the laundry drum 107 when the laundry drum 107 rotates.
  • the amount of washing liquid must be supplied to the tub 105 by a washing liquid supply device of the laundry care device 100, so that with a projection height 115 of the projections 113 and with a non-rotating laundry drum 107, a projection 113 positioned at the lowest position of the laundry drum 107 is completely penetrated in the washing liquid 109 received in the tub 105 is covered.
  • the projections 113 can advantageously move the washing liquid 109, in particular can take it with them.
  • the projections 113 each have at least one depression which is designed to move the washing liquid 109 received in the laundry drum 107 particularly effectively when the laundry drum 107 is rotating.
  • n 30 * (g) 1/2 / ⁇ * (r) 1/2 , where g corresponds to the constant of gravity and where r corresponds to the radius of the laundry drum 107.
  • the system speed n is therefore dependent on the radius r of the laundry drum 107.
  • the system speed is, for example, between 57 rpm and 62 rpm.
  • FIGS. 3A, 3B show schematic representations of a rotation of a laundry drum in a first operating mode according to an embodiment, the direction of rotation 119 of the laundry drum 107 being directed counterclockwise.
  • the Figure 3A the distribution of the washing liquid 109 during the first operating mode and showed the Figure 3B the distribution of the laundry 111 during the first mode of operation.
  • the laundry drum 107 is rotated at a first speed which is lower than the system speed.
  • the system speed is in particular approximately 60 rpm and the first speed is in particular between 40 rpm and 50 rpm.
  • the projections 113 of the washing drum 107 rotating at the first speed take the washing liquid 109 with them and raise it to the maximum height 117 of the washing drum 107 so that the washing liquid 109 can wet the washing 111 from above.
  • the level of the washing liquid 109 in the tub 105 drops and the washing liquid 109 is raised at least in sections at the edge of the tub 105.
  • Figure 3B shows the laundry 111 received in the laundry drum 107 during the first operating mode, with a low load of the laundry drum 107 being shown so that in particular a weight of the laundry 111 detected by a weight detection device is below a weight limit value.
  • the weight limit here separates an area with a low load of laundry from an area with a large load of laundry.
  • the laundry drum 107 is rotated at the first speed, which is in particular between 40 rpm and 50 rpm, the first speed being lower than the system speed, which is in particular approx. 60 rpm.
  • the laundry 111 does not lie against the laundry drum 107, can detach itself from the laundry drum 107 and fall into the free washing liquid 109 and thereby advantageously be wetted.
  • An effective heat and mass exchange between the washing liquid 109 and the laundry 111 is thus ensured with a low laundry load.
  • FIGS. 4A and 4B show schematic representations of a rotation of a laundry drum in a second operating mode according to a further embodiment.
  • the system speed is in particular approximately 60 rpm and the second speed is in particular between 70 rpm and 80 rpm.
  • the projections 113 of the rotating laundry drum 107 take the washing liquid 109 with them. Due to the higher centrifugal force caused by the higher second speed, the projections 113 cannot take the washing liquid 109 with them up to the maximum height 117 of the laundry drum 107, but only up to a reduced height 121 As the washing drum 107 rotates, the washing liquid 109 received in the tub 105 is raised further at the edge of the tub 105 and turbulence is generated.
  • a weight of the laundry 111 detected by a weight detection device is above a weight limit value.
  • the Figures 5A and 5B show schematic representations of a rotation of a laundry drum in a second operating mode according to a further embodiment.
  • the ones in the Figures 5A and 5B The laundry drum 107 shown corresponds to that in FIG Figures 4A and 4B laundry drum 107 shown, wherein the in the Figures 5A and 5B shown However, the laundry drum 107 is not rotated at the second speed, but at a fourth speed, which in particular comprises 100 rpm.
  • the fourth speed is thus greater than the system speed and is also greater than the second speed, so that the entire laundry 111 is pressed against the laundry drum 107 due to the high centrifugal force and forms a laundry ring.
  • the washing liquid 109 taken up in the laundry 111 is spun free and taken up in the area between the laundry drum 107 and the tub 105.
  • it is particularly advantageous if the volume of the washing liquid received in the tub 105 is greater than the volume between the laundry drum 107 and the tub 105.
  • Fig. 6 shows a graphical representation of rotational speeds of a laundry drum in a second operating mode according to a further embodiment.
  • the first curve 123-1 shown is the time profile of the rotational speed of the laundry drum 107, the time being plotted along the abscissa axis 125 and the rotational speed of the washing drum 107 being arranged along the ordinate axis 127.
  • the second operating mode here comprises a high loading of the laundry drum 107, in which in particular a weight of the laundry 111 detected by a weight detection device is above a weight limit value.
  • a weight of the laundry 111 detected by a weight detection device is above a weight limit value.
  • the laundry drum 107 is accelerated from the rest position to a second speed 129-2, which is greater than the system speed 131 of the laundry drum 107, the second speed 129-2 being in particular between 70 rpm and 80 rpm.
  • the turbulence of the washing liquid 109 is used to ensure an effective heat and mass exchange between the washing liquid 109 and the laundry 111.
  • the second speed 129-2 of the laundry drum 107 is then reduced to a third speed 129-3, in particular reduced linearly, the third speed 129-3 is less than the system speed 131.
  • the third speed 129-3 is in particular between 35 rpm and 40 rpm.
  • the washing liquid 109 is conveyed up to the maximum height 117 of the washing drum 107 in order to ensure that the washing 111 is wetted.
  • the speed of the laundry drum 107 is then varied several times between the second and third speeds 129-2 and 129-3 before the laundry drum 107 is rotated at a fourth speed 129-4, the fourth speed being greater than the system speed 131 and greater than that second speed 129-2 of the laundry drum 107 is.
  • the fourth speed 129-4 is in particular between 90 rpm and 100 rpm.
  • the laundry 111 By rotating the laundry drum 107 at the fourth speed 129-4, the laundry 111 in particular is completely pressed against the laundry drum 107 and the washing liquid 109 absorbed in the laundry 111 is completely expelled from the laundry 111 and collects between the laundry drum 107 and the tub 105.
  • the duration and sequence of the rotations of the laundry drum 107 at the second, third and / or fourth speed 129-2, 129-3, 129-4 can be varied here.
  • Fig. 7 shows a graphic representation of rotational speeds of a laundry drum in a first operating mode according to a further embodiment.
  • the second curve 123-2 shown is the time profile of the rotational speed of the laundry drum 107, the time being plotted along the abscissa axis 125 and the rotational speed of the washing drum 107 being arranged along the ordinate axis 127.
  • the first operating mode here comprises a low load of the laundry drum 107, in which in particular a weight of the laundry 111 detected by a weight detection device is below a weight limit value.
  • a weight of the laundry 111 detected by a weight detection device is below a weight limit value.
  • the laundry drum 107 is rotated according to the first operating mode at a first speed 129-1, which is lower than a system speed 131, since with a low load of laundry an effective wetting of the laundry 111 is already achieved at the first speed 129-1.
  • first speed 129-1 a speed range.
  • the first speed 129-1 is in particular between 40 rpm and 60 rpm.
  • the Figures 8A to 8C show graphical representations of rotations of a laundry drum in a second operating mode according to further embodiments.
  • the third, fourth and fifth curves 123-3, 123-4, 123-5 shown are the time course of the speed of the laundry drum 107, the time being plotted along the abscissa axis 125 and the speed of the laundry drum 107 being arranged along the ordinate axis 127 is.
  • the laundry drum 107 is initially rotated at the maximum fourth speed 129-4 for a certain period of time, the laundry drum 107 then being rotated at the second speed 129-2, which is lower than the system speed 131. Then the speed increased from the third speed 129-3 at intervals up to the second speed 129-2.
  • the third speed 129-3 is approx. 40 rpm
  • the second speed 129-2 is approx. 70 rpm
  • the fourth speed 129-4 is approx. 120 rpm
  • the system speed 131 is approx 60 rpm.
  • Fig. 9 shows a schematic representation of a method for caring for laundry in a laundry care device.
  • the method 200 comprises, as a first method step, the activation 201 of a first operating mode of the drum drive by the controller 104 when the weight of the laundry 111 detected by the weight detection device falls below a weight limit value in order to rotate the laundry drum 107 at a first speed 129-1, the The first speed 129-1 is less than a contact speed 131 of the laundry drum 107, at which the laundry 111 received in the laundry drum 107 is in contact with the rotating laundry drum 107.
  • the method 200 comprises, as a second method step, the activation 203 of a second operating mode of the drum drive by the controller 104, the weight of the laundry 111 detected by the weight detection device exceeds the weight limit value in order to rotate the laundry drum 107 at a second speed 129-2, the second Speed 129-2 is greater than the system speed 131 of the laundry drum 107.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
EP20199499.3A 2019-10-30 2020-10-01 Appareil d'entretien de linge doté d'une commande Active EP3816334B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019216697.0A DE102019216697A1 (de) 2019-10-30 2019-10-30 Wäschepflegegerät mit einer Steuerung

Publications (2)

Publication Number Publication Date
EP3816334A1 true EP3816334A1 (fr) 2021-05-05
EP3816334B1 EP3816334B1 (fr) 2023-12-06

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EP (1) EP3816334B1 (fr)
CN (1) CN112746439B (fr)
DE (1) DE102019216697A1 (fr)
PL (1) PL3816334T3 (fr)

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DE102023211567A1 (de) 2023-11-21 2025-05-22 BSH Hausgeräte GmbH Wäschepflegegerät mit einer Steuerung

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EP3305962A1 (fr) * 2016-10-07 2018-04-11 LG Electronics Inc. Machine à laver et son procédé de commande

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DE102019216697A1 (de) 2021-05-06
EP3816334B1 (fr) 2023-12-06
CN112746439B (zh) 2024-02-02
CN112746439A (zh) 2021-05-04

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