CN106323221B - Device and method for measuring the alignment of vehicle wheels - Google Patents
Device and method for measuring the alignment of vehicle wheels Download PDFInfo
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- CN106323221B CN106323221B CN201510686662.3A CN201510686662A CN106323221B CN 106323221 B CN106323221 B CN 106323221B CN 201510686662 A CN201510686662 A CN 201510686662A CN 106323221 B CN106323221 B CN 106323221B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
- G01B21/26—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
- G01B2210/10—Wheel alignment
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Abstract
The invention discloses a device for measuring the alignment of a vehicle wheel, comprising: a sensor; a calculator configured to calculate a wheel alignment adjustment value by comparing the wheel alignment measurement value measured by the sensor with a pre-stored wheel alignment reference value; a compensator configured to prestore wheel alignment compensation data that depends on changes in the camber and caster values when toe is adjusted, and to calculate camber and caster compensation values by comparing the camber and caster adjustment values of the wheel alignment adjustment values calculated by the calculator with the wheel alignment compensation data; and an image processor configured to display the wheel alignment values of the camber adjustment value, the caster adjustment value, and the toe adjustment value calculated by the compensator.
Description
Technical Field
The present invention relates to an apparatus and method for measuring the wheel alignment of a vehicle that enables camber and caster to be adjusted quickly and accurately while adjusting the wheel alignment.
Background
Wheel alignment (wheel alignment) indicates whether each component configuring the suspension system and the steering system is attached to the wheel and the vehicle body at a specific angle.
Here, the angles between the respective components are set for ensuring straightness (cornering), turning (cornering) performance, and turnability (turnability) of the wheel, which indicates the ability to return the wheel to a straight state after the wheel turns, and for ensuring grip (ground) ability between the tire and the road surface, reduction in steering force, and tire life by appropriately dividing the weight of the vehicle into the operating portions of the suspension system and the steering system.
Meanwhile, measuring the wheel alignment is to measure the wheel alignment state of the vehicle. Typically, wheel alignment is measured to ensure drivability and steering performance of a vehicle based on camber (camber angle), caster angle (caster angle), and toe-in (toe in) conditions. Therefore, it is desirable for a vehicle to maintain the camber, caster and toe (toe) angles as originally designed for the vehicle. However, the inclination angle of the set wheel alignment is easily changed due to the occurrence of an accident depending on driving conditions, road impact, and the like, which may cause several problems such as a reduction in drivability and steering performance, uneven wear of tires, a reduction in turnability of steering, and the like. Measuring the angle of the wheel to adjust the camber, caster and toe to the initial settings is referred to as a measurement of wheel alignment.
Specifically, the operator adjusts the vehicle adjustment mechanism so as to adjust the angle of the wheels to a set value in accordance with the toe (toe), camber (camber), and caster (caster) angles measured by the wheel alignment apparatus. Typically, the camber and the caster with a wide setting range are adjusted first and the toe with a minimum setting range is adjusted last. In this case, since the camber and the caster adjusted to the setting range are changed according to the change of the toe when the toe is adjusted, there is a problem in that an operation of adjusting the changed camber and caster again to the setting range needs to be performed again.
In this way, since the camber and caster angles adjusted previously deviate from the setting range again at the time of adjusting the toe-in, the operator needs to readjust the camber and caster angles, and thus the working time is excessively consumed and it is difficult to accurately perform the adjustment of the wheel alignment.
The above description of the prior art is provided merely as background for aiding understanding of the present invention and should not be taken as corresponding to the related art known to those skilled in the art.
[ related art documents ]
[ patent document ]
(patent document 1) KR 20-2002-
Disclosure of Invention
An object of the present invention is to provide an apparatus and method for measuring wheel alignment of a vehicle, which can quickly and accurately adjust camber and caster by compensating for changes in camber and caster in advance in the case of adjusting camber and caster and then adjusting toe when adjusting wheel alignment.
According to an exemplary embodiment of the present invention, there is provided an apparatus for measuring wheel alignment of a vehicle, including: a sensor configured to measure camber, caster and toe wheel alignment values; a calculator configured to pre-store a wheel alignment reference value depending on vehicle specifications of each vehicle type, and calculate a wheel alignment adjustment value by comparing a wheel alignment measurement value measured by the sensor with the pre-stored wheel alignment reference value; a compensator configured to prestore wheel alignment compensation data that depends on changes in the camber value and the caster value when toe is adjusted, and to calculate a camber compensation value and a caster compensation value by comparing the camber adjustment value and the caster adjustment value of the wheel alignment adjustment value calculated by the calculator with the wheel alignment compensation data; and an image processor configured to display wheel positioning values of the camber adjustment value, the caster adjustment value, and the toe adjustment value compensated by the camber compensation value and the caster compensation value calculated by the compensator.
The sensors may use wheel sensing sensors provided at each wheel of the vehicle to measure camber, caster and toe values.
The camber compensation value prestored in the wheel alignment compensation data of the compensator may be calculated based on the following equation.
Camber compensation value-camber adjustment value/toe adjustment value
The compensator may calculate the camber display value based on the following equation.
Camber display value ═ camber measurement value- (camber offset value · toe measurement value)
The caster compensation value prestored in the wheel alignment compensation data of the compensator may be calculated based on the following equation.
Back-tilt compensation value (back-tilt adjustment value/toe-in adjustment value)
The compensator may calculate the recline display value based on the following equation.
Retroversion display value (retroversion compensation value) retroversion measurement value (retroversion compensation value) toe measurement value)
The image processor may display the camber adjustment value and the caster adjustment value compensated by the camber compensation value and the caster compensation value calculated by the compensator and the toe adjustment value calculated by the calculator to prevent a change in a camber measurement value and a caster measurement value displayed when the toe is adjusted based on the toe adjustment value after the camber and the caster are adjusted based on the camber adjustment value and the caster adjustment value.
According to another exemplary embodiment of the present invention, a method for measuring the alignment of a wheel of a vehicle is provided, comprising the steps of: measuring camber, caster and toe wheel alignment values; calculating a wheel alignment adjustment value by comparing the wheel alignment measurement value measured in the measuring step with a pre-stored wheel alignment reference value; performing compensation to calculate a camber compensation value and a caster compensation value by comparing the camber adjustment value and the caster adjustment value of the wheel alignment adjustment values calculated in the calculating step with pre-stored wheel alignment compensation data; and displaying a camber adjustment value, a caster adjustment value, and a toe adjustment value compensated based on the camber compensation value and the caster compensation value calculated in the calculating and compensating step.
In the compensation step, a camber compensation value prestored in the wheel alignment compensation data may be calculated based on the following equation.
Camber compensation value-camber adjustment value/toe adjustment value
In the compensating step, the camber display value may be calculated based on the following equation.
Camber display value ═ camber measurement value- (camber offset value · toe measurement value)
In the compensation step, a caster compensation value prestored in the wheel alignment compensation data may be calculated based on the following equation.
Back-tilt compensation value (back-tilt adjustment value/toe-in adjustment value)
In the compensating step, the retroversion-display value may be calculated based on the following equation.
Retroversion display value (retroversion compensation value) retroversion measurement value (retroversion compensation value) toe measurement value)
In the displaying step, the camber adjustment value and the caster adjustment value compensated by the camber compensation value and the caster compensation value calculated in the compensating step and the toe adjustment value calculated in the calculating step may be displayed to prevent a change in the camber measurement value and the caster measurement value displayed when the toe is adjusted based on the toe adjustment value after the camber and the caster are adjusted based on the camber adjustment value and the caster adjustment value.
Drawings
Fig. 1 is a schematic configuration diagram illustrating an apparatus for measuring wheel alignment of a vehicle according to an exemplary embodiment of the present invention.
FIG. 2 is a flowchart illustrating a method for measuring vehicle wheel alignment according to an exemplary embodiment of the present invention.
Fig. 3 and 4 are schematic views for describing compensation and operation in measuring vehicle wheel alignment according to an exemplary embodiment of the present invention.
Detailed Description
Hereinafter, an apparatus and method for measuring wheel alignment of a vehicle according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a schematic configuration diagram illustrating an apparatus for measuring wheel alignment of a vehicle according to an exemplary embodiment of the present invention. FIG. 2 is a flowchart illustrating a method for measuring vehicle wheel alignment according to an exemplary embodiment of the present invention. Fig. 3 and 4 are schematic views for describing compensation and operation in measuring vehicle wheel alignment according to an exemplary embodiment of the present invention.
As shown in fig. 1, an apparatus for measuring wheel alignment of a vehicle may include a sensor 100 configured to measure camber, caster and toe wheel alignment values; a calculator 200 configured to pre-store wheel alignment reference values depending on vehicle specifications of various vehicle types, and to calculate a wheel alignment adjustment value by comparing a wheel alignment measurement value measured by the sensor 100 with the pre-stored wheel alignment reference values; a compensator 300 configured to prestore wheel alignment compensation data depending on changes in the camber value and the caster value when toe is adjusted, and calculate a camber compensation value and a caster compensation value by comparing the camber adjustment value and the caster adjustment value of the wheel alignment adjustment values calculated by the calculator 200 with the wheel alignment compensation data; and an image processor 400 configured to display wheel alignment values of the camber adjustment value and the caster adjustment value compensated by the camber compensation value and the caster compensation value calculated by the compensator 300, and wheel alignment values of the toe adjustment value.
That is, according to an exemplary embodiment of the present invention, the sensor 100 obtains camber, caster and toe wheel alignment measurements and transmits the measured wheel alignment measurements to the calculator 200. Here, the sensor 100 may measure a camber value, a caster value, and a toe value using a wheel sensing sensor provided at each wheel of the vehicle. The inductive sensors may be configured with optical sensors and may sense the wheel alignment of each wheel and send the measurements to the calculator 200. Various sensing devices other than optical sensors may also be applied for this purpose.
The calculator 200 compares and determines the wheel alignment measurement values measured by the sensors 100 with the pre-stored wheel alignment reference values to calculate the camber adjustment value, the caster adjustment value, and the toe adjustment value. Here, the wheel alignment reference values are initially defined values of camber, caster and toe, which depend on the initial wheel alignment state of the vehicle in the case where the vehicle is initially designed, which may be set differently according to the vehicle specifications.
The calculator 200 may calculate a camber adjustment value, a caster adjustment value, and a toe adjustment value to adjust the wheel alignment of the vehicle based on the wheel alignment adjustment value.
However, according to the exemplary embodiment of the present invention, for the adjustment of the wheel alignment, camber and caster with a wide setting range are adjusted first, and then toe with a narrow setting range is adjusted again. Therefore, the camber and the caster may deviate from the setting range. In adjusting the toe-in, the change in camber and heel at the time of adjusting the toe-in is obtained in advance for correction. As a result, even if the toe is controlled in a state where the camber and the caster are adjusted, the camber and the caster follow the wheel alignment reference value.
For this purpose, the compensator 300 that receives the wheel alignment adjustment value calculated by the calculator 200 is prepared, and the compensator 300 prestores wheel alignment compensation data that depends on changes in the camber value and the caster value at the time of adjusting toe-in. Here, the wheel alignment compensation data is a value obtained by performing experiments on changes in camber and caster values at the time of toe adjustment after the vehicle is designed, and the changes in camber and caster values depending on changes in toe in a state where the positions of camber and caster are adjusted are databased a plurality of times through the experiments.
The compensator, in which the wheel alignment compensation data is pre-stored, applies the wheel alignment compensation data to the camber and caster measurements received by the sensor 100 and the camber and caster adjustments of the wheel alignment adjustments received by the calculator 200 to calculate camber and caster compensation values. That is, the problem to be solved by the exemplary embodiments of the present invention is that, after camber and caster are adjusted, camber and caster change while toe is adjusted. For this purpose, only the camber adjustment value and the caster adjustment value are compensated in advance, and the camber and the caster are adjusted by the compensated values, so that the camber and the caster are substantially controlled based on the reference value of the wheel alignment even if the camber and the caster change at the time of the toe adjustment, so that the camber and the caster can be positioned at the prescribed positions.
As such, the wheel positioning values of the camber adjustment value and the caster adjustment value compensated by the camber compensation value and the caster compensation value calculated by the compensator 300 and the wheel positioning values of the toe adjustment value calculated by the calculator 200 are displayed by the image processor 400, and the operator adjusts the wheel positioning based on the compensated camber adjustment value and caster adjustment value and then positions the camber and caster at the prescribed positions even though the camber and caster change when the toe is adjusted based on the toe adjustment value so that the camber and caster do not change on the display. Therefore, when the operator adjusts the wheel alignment, the operation speed can be increased and the adjustment accuracy can be improved, thereby increasing the operation efficiency of the wheel alignment.
Describing the compensator 300 compensating for the camber adjustment value and the caster adjustment value in detail, the camber compensation value prestored in the wheel alignment compensation data of the compensator 300 may be calculated based on the equation (camber compensation value ═ camber adjustment value/toe adjustment value).
That is, the wheel alignment compensation data has a camber compensation value, and the camber compensation value can be calculated by dividing the camber adjustment value by the toe adjustment value. Here, the camber adjustment value and the toe adjustment value are variables required to match the specific camber value and the toe value with the camber reference value and the toe reference value by comparing the specific camber value and the toe value with the wheel alignment reference value. Based on this, the camber adjustment value and the toe adjustment value are calculated from the variables so as to match various camber values and toe values with the camber reference value and the toe reference value through experiments, and the camber compensation value is calculated based on the above equation so that the wheel alignment compensation data is prestored.
Thus, the compensator 300 may calculate the camber display value based on the equation (camber display value ═ camber measure- (camber compensation value ×) toe measure). That is, the compensator 300 calculates a camber compensation value using the wheel alignment compensation data, and calculates the camber compensation value by substituting the camber measurement value and the toe measurement value measured by the sensor 100 and the camber compensation value prestored in the wheel alignment compensation data into the above equation.
In this way, the camber adjustment value calculated by the calculator 200 is compensated by the camber compensation value calculated by the compensator 300, and thus the camber can be positioned at a prescribed position even if the camber position changes at the time of toe adjustment after the camber is adjusted.
Meanwhile, the caster compensation value stored in advance in the wheel alignment compensation data of the compensator 300 may be calculated by an equation (caster compensation value ═ caster adjustment value/toe adjustment value).
That is, the wheel alignment compensation data has a caster compensation value, and the caster compensation value can be calculated by dividing the camber adjustment value by the toe adjustment value. This is the same as the method for calculating the camber compensation value described above, and the caster adjustment value is used to calculate the caster compensation value based on experiments and the calculated caster compensation value is prestored in the compensation data.
Accordingly, the compensator 300 may calculate the recline display value based on the equation (recline display value ═ recline measurement value- (recline compensation value ×) toe measurement value). That is, the compensator 300 calculates a caster compensation value using the wheel alignment compensation data, and calculates the caster compensation value by substituting the caster measurement value and the toe measurement value measured by the sensor 100 and the caster compensation value prestored in the wheel alignment compensation data into the above equation.
In this way, the caster adjustment value calculated by the calculator 200 is compensated by the caster compensation value calculated by the compensator 300, and thus caster can be positioned at a prescribed position even if the caster position changes at the time of toe adjustment after caster adjustment is adjusted.
As described above, the compensator 300 compensates the camber adjustment value and the caster adjustment value using the calculated camber compensation value and caster compensation value, and the image processor 400 displays the compensated camber adjustment value and caster adjustment value and toe adjustment value calculated by the calculator 200, so that after the operator adjusts the camber and caster using the camber adjustment value and caster adjustment value, even if the positions of the camber and caster change while the toe is adjusted using the toe adjustment value, the positions of the camber and caster substantially follow the wheel alignment reference value, so that the displayed camber measurement value and caster measurement value do not change.
Accordingly, exemplary embodiments of the present invention solve the problem that the camber and caster positions change at the time of toe-in adjustment after the operator adjusts the camber and caster, thereby quickly and accurately performing an adjustment operation of the wheel positioning.
Meanwhile, as shown in fig. 2, a method for measuring wheel alignment of a vehicle according to an exemplary embodiment of the present invention includes: measuring camber, caster and toe wheel alignment values (S100); calculating a wheel alignment adjustment value by comparing the wheel alignment measurement value measured in the measuring step (S100) with a pre-stored wheel alignment reference value (S200); performing compensation to calculate a camber compensation value and a caster compensation value by comparing the camber adjustment value and the caster adjustment value of the wheel alignment adjustment values calculated in the calculating step (S200) with pre-stored wheel alignment compensation data (S300); and displaying a camber adjustment value, a caster adjustment value, and a toe adjustment value, which are compensated based on the camber compensation value and the caster compensation value calculated in the calculating step (S200) and the compensating step (S300) (S400).
Here, the camber compensation value prestored in the wheel alignment compensation data in the compensation step (S300) may be calculated based on an equation (camber compensation value ═ (camber adjustment value/toe adjustment value)), and in the compensation step (S300), the camber display value may be calculated based on an equation (camber display value ═ (camber measurement value- (camber compensation value × (toe measurement value)) using the wheel alignment compensation data.
Further, the caster compensation value prestored in the wheel alignment compensation data in the compensation step (S300) may be calculated based on an equation (caster compensation value ═ (caster adjustment value/toe adjustment value)), and the caster display value may be calculated based on an equation (caster display value ═ (caster measurement value- (caster compensation value) × toe measurement value)) using the wheel alignment compensation data in the compensation step (S300).
As described above, the camber adjustment value and the caster adjustment value are compensated using the camber compensation value and the caster compensation value calculated in the compensation step (S300), and the camber adjustment value and the caster adjustment value compensated in the display step (S400) and the toe adjustment value calculated in the calculation step (S200) are displayed by the image processor, so that after the operator adjusts the camber and the caster using the camber adjustment value and the caster adjustment value, even if the positions of the camber and the caster change while adjusting the toe using the toe adjustment value, the positions of the camber and the caster substantially follow the wheel-alignment reference value, so that the displayed camber measurement value and the caster measurement value do not change.
According to the apparatus and method for measuring wheel alignment of a vehicle having the above-described structure, in the case where camber and camber are adjusted at the time of adjusting wheel alignment and then toe is adjusted, the positions of camber and caster that were previously adjusted change, but according to the present invention, the changes in camber and caster at the time of toe is adjusted are compensated in advance so as to adjust camber and caster based on the compensated values, thereby positioning the positions of camber and caster at prescribed positions even if camber and caster are adjusted and then toe is adjusted. Therefore, the wheel alignment adjustment operation can be adjusted quickly and accurately.
According to the apparatus and method for measuring wheel alignment of a vehicle having the above-described structure, when adjusting wheel alignment, camber and caster can be adjusted and then toe can be adjusted quickly and accurately by compensating for changes in camber and caster in advance when adjusting camber and caster.
While the invention has been shown and described with respect to specific exemplary embodiments, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined in the following claims.
Claims (13)
1. An apparatus for measuring vehicle wheel alignment, comprising:
a sensor configured to measure camber, caster and toe wheel alignment values;
a calculator configured to pre-store a wheel alignment reference value depending on vehicle specifications of each vehicle type, and calculate a wheel alignment adjustment value by comparing a wheel alignment measurement value measured by the sensor with the pre-stored wheel alignment reference value;
a compensator configured to prestore wheel alignment compensation data that depends on changes in the camber and caster values when the toe is adjusted, and to calculate camber and caster compensation values by comparing the camber and caster adjustment values of the wheel alignment adjustment values calculated by the calculator with the wheel alignment compensation data; and
an image processor configured to display wheel positioning values for the camber adjustment value, the caster adjustment value, and the toe adjustment value compensated by the camber compensation value and the caster compensation value calculated by the compensator.
2. The apparatus of claim 1, wherein the sensor uses a wheel-sensing sensor provided at each wheel of the vehicle to measure a camber value, a caster value, and a toe value.
3. The apparatus of claim 1, wherein a camber compensation value pre-stored in wheel alignment compensation data of the compensator is calculated based on the following equation:
camber compensation value-camber adjustment value/toe adjustment value.
4. The device of claim 3, wherein the compensator calculates a camber display value based on the equation:
camber display value ═ camber measure- (camber compensation value × (toe measure)).
5. The apparatus of claim 1, wherein a caster compensation value pre-stored in the wheel alignment compensation data of the compensator is calculated based on the following equation:
the caster compensation value (caster adjustment value/toe adjustment value).
6. The apparatus of claim 5, wherein the compensator calculates a recline display value based on the equation:
back tilt display value is back tilt measurement- (back tilt compensation value toe measurement).
7. The apparatus of claim 1, wherein the image processor displays the camber adjustment value and the caster adjustment value compensated by the camber compensation value and the caster compensation value calculated by the compensator and the toe adjustment value calculated by the calculator to prevent a change in the camber measurement value and the caster measurement value displayed when the toe is adjusted based on the toe adjustment value after the camber and the caster are adjusted based on the camber adjustment value and the caster adjustment value.
8. A method for measuring vehicle wheel alignment, comprising the steps of:
measuring camber, caster and toe wheel alignment values;
calculating a wheel alignment adjustment value by comparing the wheel alignment measurement value measured in the measuring step with a pre-stored wheel alignment reference value;
performing compensation to calculate a camber compensation value and a caster compensation value by comparing the camber adjustment value and the caster adjustment value of the wheel alignment adjustment values calculated in the calculating step with pre-stored wheel alignment compensation data; and
the camber adjustment value, the caster adjustment value, and the toe adjustment value, which are compensated based on the camber compensation value and the caster compensation value calculated in the calculating step and the compensating step, are displayed.
9. The method of claim 8, wherein in the compensating step, a camber compensation value pre-stored in the wheel alignment compensation data is calculated based on the following equation:
camber compensation value-camber adjustment value/toe adjustment value.
10. The method according to claim 9, wherein in the compensating step, the camber display value is calculated based on the following equation:
camber display value ═ camber measure- (camber compensation value × (toe measure)).
11. The method according to claim 8, wherein in the compensating step, the caster compensation value pre-stored in the wheel alignment compensation data is calculated based on the following equation:
the back tilt compensation value is equal to the back tilt adjustment value/toe adjustment value.
12. The method of claim 11, wherein in the compensating step, the retroversion-display value is calculated based on the following equation
Back tilt display value is back tilt measurement- (back tilt compensation value toe measurement).
13. The method according to claim 8, wherein in the displaying step, the camber adjustment value and the caster adjustment value compensated by the camber compensation value and the caster compensation value calculated in the compensating step and the toe adjustment value calculated in the calculating step are displayed to prevent a change in the camber measurement value and the caster measurement value displayed when the toe is adjusted based on the toe adjustment value after the camber and the caster are adjusted based on the camber adjustment value and the caster adjustment value.
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| KR1020150094088A KR101611135B1 (en) | 2015-07-01 | 2015-07-01 | Vehicle wheel alignment measuring apparatus and measuring method |
| KR10-2015-0094088 | 2015-07-01 |
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| CN106352840B (en) * | 2016-09-30 | 2019-08-27 | 北京科基中意软件开发有限公司 | A kind of 3D four-wheel position finder ROC positioning compensating mechanism |
| CN108917661B (en) * | 2018-05-25 | 2020-10-09 | 深圳市沃特沃德股份有限公司 | Wheel alignment detection method and system and automobile |
| KR102139489B1 (en) * | 2019-01-30 | 2020-07-30 | 쌍용자동차 주식회사 | Rear camber and tow adjustment method for wheel alignment |
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| CN101813470A (en) * | 2010-02-11 | 2010-08-25 | 深圳市元征软件开发有限公司 | System and method for measuring angle of main pin of automobile |
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| Publication number | Publication date |
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| CN106323221A (en) | 2017-01-11 |
| KR101611135B1 (en) | 2016-04-08 |
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