CN102806856B - Hybrid braking system integrated with electromechanical brake and hub retarder and brake method - Google Patents
Hybrid braking system integrated with electromechanical brake and hub retarder and brake method Download PDFInfo
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- CN102806856B CN102806856B CN201210269667.2A CN201210269667A CN102806856B CN 102806856 B CN102806856 B CN 102806856B CN 201210269667 A CN201210269667 A CN 201210269667A CN 102806856 B CN102806856 B CN 102806856B
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Abstract
The invention discloses a hybrid braking system integrated with an electromechanical brake and a hub retarder and a brake method. The hybrid braking system comprises electromagnetic hybrid brakes, a signal wire, a storage battery, a power line, a brake pedal, a brake pedal stimulator, an electronic control unit, a retarder controller, a brake motor controller and various sensors; the electromagnetic hybrid brake is distributed on each wheel; each electromagnetic hybrid brake is integrated with the electromechanical brake and the hub retarder, the hub retarder is preferentially utilized to brake; the electromechanical brake is not started to work when braking parking is not needed; the use of the electronic mechanical brake system is reduced due to the fact that the electronic mechanical brake system consumes energy of the storage battery, and the improvement of the utilization rate of energy is facilitated; and the hub retarder is immediately started to brake in heavy-intensity braking while the electronic mechanical brake system slowly loads current to start, so that the protection to the performance of the storage battery is facilitated.
Description
Technical field
The present invention relates to use the brake system on electronlmobil, specifically electromagnetism composite braking system.
Background technology
At present, use the mechanical type brake system electric (i.e. " EMB system ") on electronlmobil to be formed by electronic control unit, sensor, between brake pedal and car side brake, do not exist any hydraulic tubing to connect, adopt the braking of sensor senses chaufeur be intended to and import in electronic control unit (i.e. " ECU "), control corresponding EMB actuating unit motion and produce required brake-pressure.The advantage of EMB system is not need the parts such as vacuum booster and hydraulic braking pipeline, makes arrangement convenient, and speed of response is faster, control more accurate, and can be integrated other control functions as ABS, ASR, VSC, ESP etc.But there is the restriction of many application in EMB system itself: the restriction that is first motor reliability: in braking procedure, need to start frequently, stop and reverse motors, this requires very high to motor performance; Each wheel is equipped with an EMB actr and implements braking, and single circuit braking reliability is not high, does not consider the braking requirement under the extreme case such as machinery or electrical failure; Next is the restriction that energy utilization rate is not high, and the actuating motor of EMB system will be operated in certain optimum working efficiency interval as far as possible could effectively improve energy utilization rate; And in braking procedure, start frequently, stop and very consumed energy of reverse motors.Be finally accumulator property restriction: EMB system is in the time obtaining the signal that larger rate of braking need to be provided, and ECU sends instruction to cell energy management system and actuating motor controller, and storage battery provides larger step current and drives actuating motor; In the time of end of braking, eliminate the time in order to reduce braking force, also need storage battery to send larger step current and make motor reversal to eliminate braking force.
At present, use the friction brake on electronlmobil to there is this intrinsic defect of character of heat-fading, affect the brake safe performance of automobile.On friction brake, mounting wheel limit retarder can make up the defect of friction brake.Wheel limit retarder has advantages of following: first, can carry most of brake load in automotive operation, the temperature rise of wheel friction brake is greatly reduced, alleviate or avoid running out the way, traditional brake failure and the potential safety hazard such as blow out.Secondly, adopt electric current directly to drive, without intermediate link, its control response time is very short, only 40 milliseconds; The lock torque size of the current control wheel limit retarder output that can drive by control, responds rapidly, controls accurately.But wheel limit retarder also has its intrinsic shortcoming, drops to certain value at rotor disk rotating speed and just can not work again, if therefore independent use cannot make automobile brake parking can only serve as complemental brake system.
Summary of the invention
In order further to improve the brake safe performance of automobile; the invention provides electromagnetism composite braking system and the braking method of a kind of integrated dynamo-electric brake and wheel limit retarder; realize electromechanical brake and contactless the independent of limit retarder of taking turns are controlled; make its control more accurate; respond rapider, improving the effect of playing protection storage battery in energy utilization rate.
Technical scheme provided by the invention is: the composite braking system of the integrated dynamo-electric brake of the present invention and wheel limit retarder is by electromagnetism composite brakig device, signal wire (SW), storage battery, power lead, brake pedal, brake pedal simulator, electronic control unit, buffer controller, braking motor controller and various sensor composition, on each wheel, is furnished with an electromagnetism composite brakig device, each electromagnetism composite brakig device is integrated with electromechanical brake and wheel limit retarder, wheel limit retarder has inside brake dish, outer brake disc, coil and iron core, rotor shaft, stator support, inside brake dish and outer brake disc are solidly set on respectively on rotor shaft, electromechanical brake comprises braking motor, transmission speed reducer structure and acts on the brake clamp of inside brake dish, electronic control unit is connected with various sensors, braking motor controller, buffer controller by signal wire (SW), storage battery connects respectively buffer controller and braking motor controller by power lead, buffer controller connecting coil, braking motor controller connects braking motor.
The technical scheme that the braking method of above-mentioned composite braking system provides is to have following steps: 1) in vehicle traveling process, electronic control unit is collected the various information of vehicle condition by various sensors; In the time that automobile need to slow down, chaufeur is stepped on brake pedal, and brake pedal simulator is collected the size of brake pedal force, and electronic control unit calculates the size of the rate of braking of chaufeur needs; 2) when the maximum rate of braking providing when wheel limit retarder is greater than the rate of braking of described chaufeur needs, the coil electricity of wheel limit retarder, braking motor is not worked; 3) when the maximum rate of braking providing when wheel limit retarder is less than the rate of braking of described chaufeur needs, the coil electricity in the retarder of wheel limit, braking motor work; 4) in the time that the wheel limit retarder on one of them wheel lost efficacy, electronic control unit calculates and detects other one coaxial vehicle wheel limit retarder provides the size of lock torque, make this braking motor controller control braking motor of control wheel limit retarder inefficacy wheel obtain size and the time length of relevant voltage from storage battery, make braking motor act on the lock torque that wheel limit retarder that the lock torque on inside brake dish equals to lose efficacy provides; 5) in the time of the braking motor on a wheel and the inefficacy of transmission speed reducer structure, buffer controller on corresponding coaxial two wheels of electronic control unit control, electric current is flowed into the coil of corresponding two wheel limit retarders from storage battery, make inside and outside brake disc braking; When car deceleration is during to the minimum work speed of wheel limit retarder, electronic control unit control buffer controller makes storage battery no longer provide electric current to coil, and two wheel limit retarders quit work.
The contactless limit retarder of taking turns of the preferential use of composite braking system in technique scheme is braked, in the time not needing stopping-down, just not start electromechanical brake work, can make full use of and utilize the high-revolving interval of wheel, because mechanical type brake system electric has consumed the energy of storage battery, therefore reduce the degree of utilization that uses mechanical type brake system electric to contribute to improve the energy; When large intensity braking, open immediately retarder braking, and electromechanical brake Slow loading electric current starts, and is conducive to like this protect the performance of storage battery; Adopt electromechanical brake and contactlessly take turns the electromagnetism composite brakig device that limit retarder integrates and no longer need hydraulic brake system, system has been saved hydraulic brake system parts, make to arrange that convenient control is more accurate, be adapted at using on electronlmobil; Each wheel is furnished with an electromechanical brake and a contactless limit retarder of taking turns, and forms two cover brake circuits, and brake safe reliability improves.
Brief description of the drawings
Fig. 1 is electromagnetism composite brakig device structural representation;
Fig. 2 is the integrated dynamo-electric brake of the present invention and the scheme of installation of the composite braking system of taking turns limit retarder on electronlmobil;
Fig. 3 is wheel limit retarder lock torque-speed curves;
In figure: 1. stator support; 2. bolt; 3. inside brake dish; 4. braking motor; 5. transmission speed reducer structure; 6. brake clamp; 7. coil and iron core; 8. outer brake disc; 9. rotor shaft; 10. storage battery; 11. electronic control units; 12. buffer controllers; 13. sensors; 14. power leads; 15. brake pedals; 16. brake pedal simulators; 17. signal wire (SW)s; 18. braking motor controllers.
Detailed description of the invention
Structure and the brake mode of electromagnetism composite braking system of the present invention are described below in conjunction with the drawings and specific embodiments.
Electromagnetism composite brakig device as shown in Figure 1, it is integrated electromechanical brake and the contactless limit retarder of taking turns, on each wheel, is furnished with an electromagnetism composite brakig device, each electromagnetism composite brakig device has been equipped with an EMB controller and buffer controller, realize electromechanical brake and contactless the independent of limit retarder of taking turns are controlled, two cover brake circuits work alone and do not interfere with each other.
The contactless limit retarder of taking turns is made up of inside brake dish 3, outer brake disc 8, coil and iron core 7, rotor shaft 9, stator support 1 etc.Inside brake dish 3 is enclosed within respectively on rotor shaft 9 with outer brake disc 8, and inside brake dish 3 is fixedly connected with rotor shaft 9 by screw 2 respectively with outer brake disc 8, and rotor shaft 9 and electric automobile hub are fixed together.Contactless stationary part of taking turns limit retarder by eight groups of coils and unshakable in one's determination 7 and stator support 1 form, coil and unshakable in one's determination 7 is fixed on stator support 1, stator support 1 is fixed together with steering swivel or suspension.Electromechanical brake integrates brake clamp 6 and EMB actr, EMB actr comprises braking motor 4 and transmission speed reducer structure 5, the Braking of electromechanical brake is on inside brake dish 3, brake-caliper support and steering swivel are fixed together, and play a part to support electromechanical brake.
The layout of electromagnetism composite brakig device as shown in Figure 2 on electronlmobil, electromagnetism composite brakig device, various sensor 13, signal wire (SW) 17, storage battery 10, power lead 14, brake pedal 15 and brake pedal simulator 16, electronic control unit 11, buffer controller 12, braking motor controller 18 have formed automobile electromagnetic composite braking system.Brake pedal 15 and brake pedal simulator 16 are used for the braking intention of perception chaufeur, and the braking requirement of chaufeur is transformed to electric signal sends to electronic control unit 11.
Storage battery 10 connects respectively buffer controller 12 and braking motor controller 18 by power lead 14, between the coil of buffer controller 12 and wheel limit retarder, be connected with power lead 14, between braking motor controller 18 and braking motor 4, be connected with power lead 14, storage battery 10 can be powered to coil and the braking motor 4 of wheel limit retarder like this.Buffer controller 12 is controlled storage battery 10 and is provided electric current to coil, buffer controller 12 flows through the size of electric current in coil to control the lock torque being applied on inside and outside brake disc 3 and 8 by control, when electric current flows through coil, just under the effect of iron core, produce magnetic field, surface at the inside and outside brake disc 3 and 8 rotating forms eddy current, reaches the object of the inside and outside brake disc 3 and 8 of braking.Braking motor controller 18 obtains size and the time length of voltage by controlling braking motor 4, reach the object of controlling lock torque size.
Electronic control unit 11 is also connected with various sensors 13, braking motor controller 18, buffer controller 12 by signal wire (SW) 17, reaches the object of controlling the lock torque size of braking motor 4 and wheel limit retarder according to various signals.
The present invention proposes in normal brake application situation, the braking strategy of braking force between wheel limit retarder and electromechanical brake, specific as follows:
In the time that automobile need to slow down, chaufeur is stepped on brake pedal 15, and brake pedal simulator 16 is collected the size of brake pedal force, and the information such as acceleration/accel and pedal stroke are imported in electronic control unit 11 in the lump.Electronic control unit 11 judges whether to enter emergency braking pattern according to the information of the braking force of input, simultaneously according to brake-pedal travel---the rate of braking curve that is built in electronic control unit 11, calculate the size of the rate of braking of chaufeur needs, according to the chaufeur calculating, required rate of braking size judgement should enter any braking mode to ECU.
In vehicle traveling process, electronic control unit 11 is collected the various information of vehicle condition by various sensors 13, comprise automobile momentary velocity
, ground attaching coefficient
, storage battery 10 SOC state etc.
Under non-emergent brake condition, in the time that the rate of braking of chaufeur needs is z,
The ground method adverse effect power that front-wheel is subject to
,
The ground method adverse effect power that trailing wheel is subject to
,
Wherein,
for automobile gravity, a is the distance of automobile barycenter to front axle center line, and b is the distance of automobile barycenter to rear shaft center's line,
for vehicle wheel base,
for automobile height of center of mass.
Needed ground braking force when braking
,
=
，
Wherein
for front axle ground braking force,
for rear axle ground braking force.
The braking force of wheel limit retarder and electromechanical brake all can independently be controlled, so the in the situation that of not locking of wheel, needed ground braking force when the braking force that meeting drg provides equals to brake.The ground attaching coefficient obtaining by road surface recognition system is
, try to achieve the antero posterior axis maximum braking force that ground can provide,
Ground offers the maximum braking force of front axle
,
Ground offers the maximum braking force of rear axle
.
Be wheel limit retarder lock torque-speed curves as shown in Figure 3, abscissa is the rotating speed of the rotor shaft 9 of wheel limit retarder, the lock torque that ordinate provides for wheel limit retarder.When the maximum rate of braking that can provide when wheel limit retarder is greater than the rate of braking of chaufeur needs, buffer controller 12 and braking motor controller 18 are accepted the instruction from electronic control unit 11, the coil electricity of wheel limit retarder, braking motor 4 is not worked, i.e. starter cup limit retarder and do not start electromechanical brake.If vehicle wheel rotational speed
reduce to the rated speed of rotation of wheel limit retarder
just stop slowing down, break line loop current, closes wheel limit retarder before; If vehicle wheel rotational speed
reduce to
time still need to be decelerated to parking, have the coil current of the reduction wheel limit retarder of gradient size (suppose by
reduce to
), simultaneously, electronic control unit 11 is controlled braking motor controller 18 works braking motor 4, it is unlocking electronic mechanical brake, correspondingly there is the size of the drive current of braking motor 4 in the increase electromechanical brake of gradient, the lock torque that electromechanical brake increases is equated with the lock torque of wheel limit retarder minimizing.When vehicle wheel rotational speed is reduced to the minimum work speed of retarder
time, just in time disconnect the electric current of taking turns limit retarder coil, close wheel limit retarder, realize stopping brake safely.
As shown in Figure 3, when the maximum rate of braking that can provide when wheel limit retarder is less than the rate of braking of chaufeur needs, buffer controller 12 and braking motor controller 18 are accepted the instruction from electronic control unit 11, coil electricity in the retarder of wheel limit, braking motor 4 is worked, and in the retarder of starter cup limit, also needs to start electromechanical brake.When automotive wheel rotating speed
reduce to
time still need to be decelerated to parking, there is the size of the reduction wheel limit retarder coil electric current of gradient, there is the size of the drive current of braking motor 4 in the increase EMB actr of gradient simultaneously, the lock torque that electromechanical brake increases is equated, to keep wheel braking moment constant with the lock torque that wheel limit retarder reduces.When vehicle wheel rotational speed is reduced to
time, just in time break line loop current, closes wheel limit retarder.
The present invention proposes the method for braking under the extreme case such as machinery or electrical failure.This electromagnetism composite braking system has formed two independently brake circuits, takes turns limit retarder brake circuit and electronic mechanical brake circuit.Each on wheel limit retarder brake circuit takes turns the independence that limit retarder can carry out braking force by corresponding buffer controller and accurately controls, and the independence that each EMB actr on electronic mechanical brake circuit also can carry out braking force by corresponding EMB controller is accurately controlled.Specific as follows:
In the time that the wheel limit of electromagnetism composite brakig device on one of them wheel retarder lost efficacy, electronic control unit 11 sends retarder inefficacy warning signal, but now automobile still can carry out normal stopping-down, the EMB actr on this wheel is provided in the deboost phase that a part of lock torque that larger electric current provides with compensation wheel limit retarder.On this wheel, EMB actr is in the time of the deboost phase, the calculating that electronic control unit 11 is real-time and detect coaxial wheel wheel limit retarder the size of lock torque is provided, control the braking motor controller 18 of retarder inefficacy wheel, size and the time length of voltage controlled braking motor 4 and obtain from storage battery 10 by braking motor controller 18, make braking motor 4 act on that a part of lock torque that wheel limit retarder that lock torque on inside brake dish 3 equals to lose efficacy provides, that a part of lock torque that the wheel limit retarder that compensation was lost efficacy provides.For another one coaxial wheel, electronic control unit 11 sends control signal to the buffer controller 12 of this wheel, and electric current flows into coil from storage battery 10, just under the effect of iron core, produces magnetic field, surface at the inside and outside brake disc 3 and 8 rotating forms eddy current, makes inside and outside brake disc 3 and 8 brakings.In the braking starting stage, the lock torque on the wheel that wheel limit retarder lost efficacy is independently provided by electromechanical brake, and the lock torque providing with the wheel limit retarder of coaxial wheel keeps the identical sideslip that prevents; And after the control policy of electronic control unit 11 determines that wheel limit retarder quits work, the electromechanical brake on this wheel equates with electronic mechanical brake braking force square on coaxial wheel.
In the time having the EMB Actuators Failures of a wheel, electronic control unit 11 sends EMB Actuators Failures warning signal and reminds chaufeur to stop nearby.If chaufeur is inconvenient to stop, two wheels of this axle just only use the retarder braking of wheel limit to ensure that the braking force of left and right wheels is identical.Now, electronic control unit 11 sends control signal to two buffer controllers 12 of two wheels of this axle, two buffer controllers 12 are controlled electric current and are flowed into the coil of corresponding two wheel limit retarders from storage battery 10, just under the effect of iron core, produce magnetic field, surface at the inside and outside brake disc 3 and 8 rotating forms eddy current, makes inside and outside brake disc 3 and 8 brakings.When car deceleration is during to the minimum work speed of wheel limit retarder, electronic control unit 11 sends signal, control buffer controller 12, make storage battery 10 no longer provide electric current to corresponding two coils of taking turns in the retarders of limit, two wheel limit retarders of this axle quit work, no longer provide lock torque to this axle wheel, in the situation that ensureing not locking, braking force is all assigned to other axletree and realizes stopping brake.
Claims (5)
1. the composite braking system of an integrated dynamo-electric brake and wheel limit retarder, it is characterized in that: this composite braking system is by electromagnetism composite brakig device, signal wire (SW) (17), storage battery (10), power lead (14), brake pedal (15), brake pedal simulator (16), electronic control unit (11), buffer controller (12), braking motor controller (18) and sensor (13) composition, on each wheel, is furnished with an electromagnetism composite brakig device, each electromagnetism composite brakig device is integrated with electromechanical brake and wheel limit retarder, wheel limit retarder has inside brake dish (3), outer brake disc (8), coil and iron core (7), rotor shaft (9), stator support (1), inside brake dish (3) is solidly set on respectively on rotor shaft (9) with outer brake disc (8), electromechanical brake comprises braking motor (4), transmission speed reducer structure (5) and acts on the brake clamp (6) of inside brake dish (3), electronic control unit (11) is connected with sensor (13), braking motor controller (18), buffer controller (12) by signal wire (SW) (17), storage battery (10) connects respectively buffer controller (12) and braking motor controller (18) by power lead (14), buffer controller (12) connecting coil, braking motor controller (18) connects braking motor (4).
2. a braking method for composite braking system as claimed in claim 1, is characterized in that having following steps:
1), in vehicle traveling process, electronic control unit (11) is collected the information of vehicle condition by sensor (13); In the time that automobile need to slow down, chaufeur is stepped on brake pedal (15), and brake pedal simulator (16) is collected the size of brake pedal force, and electronic control unit (11) calculates the size of the rate of braking of chaufeur needs;
2) when the maximum rate of braking providing when wheel limit retarder is greater than the rate of braking of described chaufeur needs, the coil electricity of wheel limit retarder, braking motor (4) is not worked;
3) when the maximum rate of braking providing when wheel limit retarder is less than the rate of braking of described chaufeur needs, the coil electricity in the retarder of wheel limit, braking motor (4) work;
4) in the time that the wheel limit retarder on one of them wheel lost efficacy, electronic control unit (11) calculates and detect other one coaxial vehicle wheel limit retarder provides the size of lock torque, make this braking motor controller (18) of control wheel limit retarder inefficacy wheel control braking motor (4) to obtain from storage battery (10) size and the time length of relevant voltage, make braking motor (4) act on the lock torque that wheel limit retarder that the lock torque on inside brake dish (3) equals to lose efficacy provides;
5) in the time of the braking motor (4) on a wheel and transmission speed reducer structure (5) inefficacy, electronic control unit (11) is controlled the buffer controller (12) on corresponding coaxial two wheels, electric current is flowed into the coil of corresponding two wheel limit retarders from storage battery (10), make inside and outside brake disc (3,8) braking; When car deceleration is during to the minimum work speed of wheel limit retarder, electronic control unit (11) is controlled buffer controller (12) makes storage battery (10) no longer provide electric current to coil, and two wheel limit retarders quit work.
3. braking method according to claim 2, is characterized in that: step 2) in, if reducing to the rated speed of rotation of wheel limit retarder, vehicle wheel rotational speed just stops before slowing down, break line loop current; If vehicle wheel rotational speed still needs to be decelerated to parking while reducing to the rated speed of rotation of taking turns limit retarder, there is the size of the reduction coil current of gradient, control braking motor controller (18) by electronic control unit (11) simultaneously and make braking motor (4) work, correspondingly there is the size of the drive current of the increase braking motor (4) of gradient, the lock torque that electromechanical brake increases is equated with the lock torque that wheel limit retarder reduces, in the time that vehicle wheel rotational speed is reduced to the minimum work speed of wheel limit retarder, disconnect the electric current of coil.
4. braking method according to claim 2, it is characterized in that: in step 3), in the time that reducing to the rated speed of rotation of wheel limit retarder, automotive wheel rotating speed still needs to be decelerated to parking, there is the size of the reduction coil current of gradient, there is the size of the drive current of the increase braking motor (4) of gradient simultaneously, the lock torque that electromechanical brake increases is equated with the lock torque that wheel limit retarder reduces; In the time that vehicle wheel rotational speed is reduced to the minimum work speed of wheel limit retarder, break line loop current.
5. braking method according to claim 2, it is characterized in that: in step 4), for an other coaxial wheel, electronic control unit (11) is controlled electric current by the buffer controller (12) of this wheel and is flowed into coil from storage battery (10), makes inside and outside brake disc (3,8) braking.
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|---|---|---|---|
| CN201210269667.2A CN102806856B (en) | 2012-08-01 | 2012-08-01 | Hybrid braking system integrated with electromechanical brake and hub retarder and brake method |
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|---|---|---|---|
| CN201210269667.2A CN102806856B (en) | 2012-08-01 | 2012-08-01 | Hybrid braking system integrated with electromechanical brake and hub retarder and brake method |
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| CN102806856B true CN102806856B (en) | 2014-11-05 |
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| CN104494423A (en) * | 2014-12-19 | 2015-04-08 | 苏州大方特种车股份有限公司 | Drive system of electric-drive shovel vehicle |
| CN105480217A (en) * | 2015-11-30 | 2016-04-13 | 宁波华盛汽车部件有限公司 | Control system and control method for hydraulic retarder of vehicle |
| CN108248582B (en) * | 2018-02-13 | 2023-10-27 | 隆中控股集团股份有限公司 | Electric control braking method for automobile and computer storage medium |
| CN114454857B (en) * | 2021-12-23 | 2023-01-06 | 陕西法士特齿轮有限责任公司 | Retarder control method and system responding to braking request of electronic braking system |
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|---|---|---|---|---|
| JP3089958B2 (en) * | 1994-12-06 | 2000-09-18 | 三菱自動車工業株式会社 | Electric vehicle braking control device |
| CN2698638Y (en) * | 2004-05-10 | 2005-05-11 | 佛山市安吉路运输科技有限公司 | Exciting coil wiring structure for electromagnetic retarder |
| JP2006054982A (en) * | 2004-08-16 | 2006-02-23 | Sugai Sogyo:Kk | Electric motor type cart |
| KR100819978B1 (en) * | 2006-08-01 | 2008-04-07 | 현대자동차주식회사 | Brake system for hybrid and electric vehicle and control method thereof |
| CN101049804B (en) * | 2007-05-11 | 2011-03-30 | 江苏大学 | Joint controller of service brake of auto car and relaxed speed device, and controlling method |
| CN102287460B (en) * | 2011-07-01 | 2013-05-08 | 江苏大学 | Magnetic brake and friction brake combined mixed brake and operating mode switching method thereof |
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Effective date of registration: 20201214 Address after: No. 159, Chengjiang Middle Road, Jiangyin City, Wuxi City, Jiangsu Province Patentee after: Jiangyin Intellectual Property Operation Co., Ltd Address before: Room 303, building 12, sijijingdian, dingmaoqiao Road, Zhenjiang City, Jiangsu Province, 212009 Patentee before: He Ren |
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