CN106557083A - The DTC recording method of vehicle electrically controlling unit and vehicle electrically controlling unit - Google Patents
The DTC recording method of vehicle electrically controlling unit and vehicle electrically controlling unit Download PDFInfo
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- CN106557083A CN106557083A CN201510633966.3A CN201510633966A CN106557083A CN 106557083 A CN106557083 A CN 106557083A CN 201510633966 A CN201510633966 A CN 201510633966A CN 106557083 A CN106557083 A CN 106557083A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
A kind of DTC recording method of vehicle electrically controlling unit, comprises the steps：S1：ECU carries out fault detect；S2：ECU is judged to the failure for detecting according to the corresponding relation between failure；S3：If it is determined that while there is major error and from failure, ECU only records the DTC of the major error, the DTC from failure is not recorded, wherein major error and there is implicated relationship from failure, when there is major error, can involve initiation simultaneously from failure.Further, the DTC recording method also includes step S4：If it is determined that there is the sub- failure below female failure, ECU records the DTC of female failure and does not record the DTC of the sub- failure, wherein female failure and sub- failure have inclusion relation, female failure is included below many sub- failures.Above-mentioned DTC recording method, it is contemplated that the necessity that the relatedness and failure between failure is arranged, solves the problems, such as that DTC repeats report more.
Description
Technical field
The present invention relates to the technical field of automotive electronics and vehicle diagnosis, particularly a kind of vehicle electrically controlling unit
And its DTC recording method.
Background technology
Vehicle diagnosis is ECU (Electronic Control Unit, ECU, or the referred to as control of vehicle
Device, node) real-time monitoring itself working condition in normal work, controller input/output port is detected,
Once it was found that failure can be by DTC (Diagnostic Trouble Code, diagnostic trouble code) and other failures
Diagnostic message is stored in the internal memory that controller is carried, while deciding whether to light according to the weight grade of failure
Trouble lamp.Alarm lamp is lighted if desired, then signal is issued by instrumental panel by network, light report
Warning lamp, points out driver's on-call maintenance with maintenance.
At present, main engine plants' later stage malfunction elimination for convenience, by the very detailed of car fault diagnosis information definition
Carefully, network failure is divided into into CAN Bus off failures, message dropping failure etc. such as；Event inside ECU
Barrier is divided into EEPROM failures, ROM fault, AD/DA failures etc.；Message dropping failure is divided into again
One frame message dropping, the second frame message dropping, the 3rd frame message dropping etc..
However, the definition method of above-mentioned car fault diagnosis information, the reasonability arranged for failure with must
The property wanted check on it is not in place, do not account for failure setting particularity and failure arrange necessity, can cause
One failure cause will cause multiple DTCs to occur, and bring puzzlement to human pilot and maintainer.
The content of the invention
It is an object of the invention to provide a kind of vehicle electrically controlling unit and its DTC recording method, to solve
DTC in the presence of prior art repeats the problem of many reports.
The embodiment of the present invention provides a kind of DTC recording method of vehicle electrically controlling unit, including following step
Suddenly：
S1：ECU carries out fault detect；
S2：ECU is judged to the failure for detecting according to the corresponding relation between failure；
S3：If it is determined that while there is major error and from failure, ECU only records the failure of the major error
Code, does not record the DTC from failure, wherein major error and has implicated relationship from failure, works as generation
During major error, initiation can be involved simultaneously from failure.
Further, the DTC recording method also includes step：
S4：If it is determined that there is the sub- failure below female failure, ECU records the DTC of female failure
And the DTC of the sub- failure is not recorded, wherein female failure and sub- failure have inclusion relation, under female failure
Bread is containing many sub- failures.
Further, the DTC recording method also includes step：
S5：If it is determined that the failure for occurring belongs to other failure situations, ECU record is broken down
DTC.
Further, step S5 includes：If occurring from failure without there is major error, ECU note
Record the DTC from failure.
The embodiment of the present invention also provides a kind of vehicle electrically controlling unit, including：
Fault detection module, for carrying out fault detect；
Fault relationship setup module, for arranging the corresponding relation between failure；
Fault determination module, for being judged to the failure for detecting according to the corresponding relation between failure；
Fault logging module, for when judging simultaneously major error occur and from failure, only record this it is main therefore
The DTC of barrier, does not record the DTC from failure, wherein major error and has implicated relationship from failure,
When there is major error, initiation can be involved simultaneously from failure.
Further, the fault logging module is additionally operable to, when judging to occur the sub- failure below female failure,
Record the DTC of female failure and do not record the DTC of the sub- failure, wherein female failure and sub- failure tool
There is inclusion relation, female failure is included below many sub- failures.
Further, the fault logging module is additionally operable to, and when judging other failures occur, record is gone out
The DTC of existing failure.
Further, the fault logging module is specifically for judging to occur from failure without there is master
During failure, the DTC from failure is recorded.
The DTC recording method of vehicle electrically controlling unit provided in an embodiment of the present invention, each ECU exist
When carrying out fault diagnosis, the above-mentioned master with implicated relationship need to be added in original fault judgment method only
Failure and from failure and the judgement step of above-mentioned female failure with inclusion relation and sub- failure, the event
Barrier code recording method considers the necessity that relatedness and failure between failure are arranged, and can avoid one
Failure cause causes multiple DTCs to occur, and solves the problems, such as that DTC repeats many reports, can not only protect
Card maintainer quickly investigates failure, also reduces and puzzlement is brought to human pilot.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the skill of the present invention
Art means, and being practiced according to the content of description, and in order to allow the above and other of the present invention
Objects, features and advantages can become apparent, and below especially exemplified by preferred embodiment, and coordinate accompanying drawing, in detail
Carefully it is described as follows.
Description of the drawings
Fig. 1 is the decision flow chart of the DTC recording method of vehicle electrically controlling unit in the embodiment of the present invention.
Fig. 2 is the function structure chart of vehicle electrically controlling unit in the embodiment of the present invention.
Specific embodiment
Further to illustrate the present invention to reach technological means and effect that predetermined goal of the invention is taken,
Below in conjunction with accompanying drawing and preferred embodiment, it is as follows that the present invention is described in detail.
In order to strengthen automobile competitiveness, after-sale service quality is improved, car fault diagnosis are believed by automobile vendor
It is more and more detailed that breath is defined so that after-sales service personnel can fast and accurately carry out malfunction elimination, from
And find failure cause.But, in order to will be failure diagnosis information definition comprehensive, tend to ignorance and fall certain
A little design details, causing trouble code repeat many reports, and a failure cause will cause multiple DTCs to occur,
Puzzlement is brought to human pilot and maintainer.The embodiment of the present invention provide a kind of vehicle electrically controlling unit and its
DTC recording method, to solve the problems, such as that above-mentioned DTC repeats report more.
Fig. 1 is the decision flow chart of the DTC recording method of vehicle electrically controlling unit in the embodiment of the present invention,
Please join Fig. 1, the DTC recording method includes：
S1：ECU carries out fault detect.
Specifically, ECU can be the various ECU (controller) in vehicle, such as electromotor control
Device processed, clutch controller, gearbox control etc..Each controller real-time monitoring in normal work
Itself working condition, detects the input/output port of controller, to carry out fault detect.ECU exists
When carrying out fault detect, can periodically carry out by default time interval, for example at set intervals
Carry out primary fault detection, it is also possible to carry out according to other setting means, here is not limited.Here,
The step of fault detect, can be identical with existing, will not be described here.When failure is detected, into step S2.
S2：ECU is judged to the failure for detecting according to the corresponding relation between failure.
In the present invention, for the major error with implicated relationship and from failure and with inclusion relation
Female failure and sub- failure establish corresponding relation respectively, and are preset in ECU.Work as ECU
When detecting failure, according to the corresponding relation between failure, then the record storage of DTC is carried out, reached
Avoid DTC from repeating report more.Wherein, major error and there is implicated relationship from failure, refers to when leading
During failure, initiation will necessarily be involved simultaneously from failure；Female failure and sub- failure have inclusion relation, refer to
Female failure is included below many sub- failures.
Table one is the major error with implicated relationship and the mapping table from failure of citing below.
One major error of table and from the mapping table between failure
| Major error | From failure | |
| 1 | CAN Bus off failures | Message dropping failure |
| 2 | Message dropping failure | Invalid data failure |
| 3 | …… | …… |
In Table 1, CAN Bus off failures and message dropping failure constitute major error and involving from failure
Relation, CAN Bus off failures are major error, and message dropping failure is from failure, when there are CAN Bus
During off failures, also can involve initiation message dropping failure simultaneously；Message dropping failure and invalid data failure
Constitute major error and the implicated relationship from failure, message dropping failure is major error, invalid data failure is
From failure, when message dropping failure failure occur, also can involve initiation invalid data failure simultaneously.
Table two is the mapping table of the female failure with inclusion relation and sub- failure of citing below.
Mapping table between two female failure of table and sub- failure
In table two, ECU internal faults are female failures, and ECU internal faults EEPROM included below
The many sub- failures such as failure, ROM fault, AD/DA failures；Message dropping failure is female failure, and
Message dropping failure is included below the first frame message dropping failure, the second frame message dropping failure, the 3rd frame
The many sub- failures such as message dropping failure.
Corresponding relation between the failure set up in above-mentioned table one and table two, can be preset in ECU,
So that ECU is when failure is detected, according to the corresponding relation between the failure set up, to detection
To failure judged, then DTC recording strategy (joining in detail following) of the invention carry out therefore
The record of barrier code.
For each failure of ECU, either major error, from failure, female failure, sub- failure or
Other failures, are assigned with a corresponding DTC.That is, for above-mentioned CAN Bus
Off failures, message dropping failure, invalid data failure, ECU internal faults, EEPROM failures,
ROM fault, AD/DA failures, the first frame message dropping failure, the second frame message dropping failure and
3rd frame message dropping failure, is respectively assigned a corresponding DTC.
S3：If it is determined that while there is major error and from failure, ECU only records the failure of the major error
Code, does not record the DTC from failure.
When ECU is judged in the failure that detects while there is major error and during from failure, ECU
The DTC of the major error is only recorded, the DTC from failure is not recorded.
As described above, CAN Bus off failures and message dropping failure have implicated relationship, when there is CAN
During Bus off failures, also can involve initiation message dropping failure simultaneously.I.e. when a node (A nodes)
During by bus (CAN Bus) to another node (B node) transmission message, when event occurs in the bus
During barrier, communication abnormality in bus will necessarily cause B node normally receive the message of A nodes transmission,
The message dropping of A nodes, B node will be detected simultaneously by CAN Bus off failures and message dropping failure (A
Node message is lost), but basic reason is that CAN Bus off failures occur, as long as solving CAN Bus
Off failures solve message dropping failure simultaneously.In the present invention, ECU is if it is determined that while occur
When CAN Bus off failures and message dropping failure, it is (main that ECU only records CAN Bus off failures
Failure) DTC, no longer recorded message lose failure (from failure) DTC, with avoid repeat
Many report DTCs.
As described above, message dropping failure also has implicated relationship with invalid data failure, loses when there is message
When losing failure failure, also can involve initiation invalid data failure simultaneously.Such as C nodes go wrong and cause
After message dropping, D nodes will can't see the message of C nodes in network, and have a plan in network design
Slightly, when a node does not receive the message of another node, virtual value will be substituted with default value, i.e.,
Now D nodes substitute the C node messages that should be received originally with a default value, and default value is probably
One invalid packet, so as to cause D nodes obtain message dropping failure (C node messages while detecting
Lose) and invalid data DTC (D node data failures), but basic reason is to occur in that message is lost
Failure is lost, as long as message dropping failure is solved i.e. while solving invalid data failure.In the present invention,
ECU is if it is determined that while when there is message dropping failure and invalid data failure, ECU is only recorded
The event of the DTC of message dropping failure (major error), no longer protocol failure data fault (from failure)
Barrier code, to avoid repeating many report DTCs.
S4：If it is determined that there is the sub- failure below female failure, ECU records the DTC of female failure
And do not record the DTC of the sub- failure.
When ECU judges to occur the sub- failure below female failure in the failure for detecting, ECU
The DTC of the sub- failure is not recorded, and directly records the DTC of female failure.
As described above, ECU internal faults be divided in detail below EEPROM failures, ROM fault,
The many sub- failures such as AD/DA failures.When there is any one sub- failure below ECU internal faults,
Either EEPROM failures, ROM fault or AD/DA failures, main engine plants and maintenance store are all
ECU process can not be taken apart, can only change exemplar.In the present invention, ECU is if it is determined that go out
It is when showing one or more the sub- failures in EEPROM failures, ROM fault, AD/DA failures, automatically controlled
Unit does not record the corresponding event of the sub- failures such as EEPROM failures, ROM fault, AD/DA failures one by one
Barrier code, but only record one represents female DTC that failure is occurred in that inside ECU (i.e. inside ECU
The DTC of failure), to avoid repeating many report DTCs.
As described above, message dropping failure is divided into the first frame message dropping failure, the second frame report in detail below
Text loses many sub- failures such as failure, the 3rd frame message dropping failure.When detecting under message dropping failure
During the sub- failure of one or more of face, without being divided into the first frame message dropping failure, the second frame message dropping
The many sub- DTCs such as failure, the 3rd frame message dropping failure are recorded one by one, only need to record a generation
Female DTC of table message dropping.For example with EMS, (Engine Manegement System send out
Motivation Management Controller) as a example by, a frame message is generally maximum to only have 8 bytes, and EMS nodes may
The message of tens bytes can be sent, needs to be divided into EMS1, EMS2, EMS3 etc..Regardless of whether being
EMS1 loses, EMS2 loses, or EMS3 loses, and all sums up this controller for EMS and occurs
Problem, only need to go to investigate failure from EMS in itself.In the present invention, when detect EMS1 lose,
EMS2 lose, EMS3 lose in one or more sub- failures when, be not to record EMS1 one by one respectively
DTC (the Lost communication with of the sub- failures such as loss, EMS2 lose, EMS3 loss
EMS1message、Lost communication with EMS2message、Lost communication
With EMS3message), but only record a female DTC (Lost for representing message dropping
Communication with EMS), to avoid repeating many report DTCs.
Event of the ECU for the female failure with inclusion relation and sub- failure is illustrated with table three below
Barrier code recording mode.
Table three has the DTC record of female failure and sub- failure of inclusion relation
That is, in the prior art, when one below ECU detects ECU internal faults
Or during many sub- failure (EEPROM failures, ROM fault, AD/DA failures), ECU point
The DTC of this little failure is not recorded one by one；As below ECU detects message dropping failure
Individual or many sub- failure (the first frame message dropping failure, the second frame message dropping failure, the 3rd frame message
Lose failure) when, ECU is also the DTC for recording this little failure respectively one by one.But at this
It is in invention, when ECU detects the sub- failure of ECU internal fault one or more of, automatically controlled
Unit record be ECU internal faults (female failure) DTC, i.e., only record a DTC, no
It is the DTC for recording this little failure one by one again；In the same manner, when ECU detects message dropping failure
During the sub- failure of one or more of, ECU record is message dropping failure (female failure)
DTC, i.e., only record a DTC, be no longer the DTC for recording this little failure one by one.
S5：If it is determined that the failure for occurring belongs to other failure situations, ECU record is broken down
DTC.
When ECU judges that the failure for detecting belongs to other failure situations and (is not belonging to step S3, S4
In situation), ECU then records broken down corresponding DTC.For example, if ECU is sentenced
It is fixed (to occur from failure without there is major error) when individually occurring from failure, ECU then record this from
The DTC of failure.
ECU is illustrated for the major error with implicated relationship and the event from failure with table four below
Barrier code recording mode.
There is table four major error of implicated relationship and the DTC from failure to record
That is, in the prior art, when ECU be detected simultaneously by CAN Bus off failures and
During message dropping failure, ECU records the DTC and message dropping of CAN Bus off failures respectively
The DTC of failure.But in the present invention, when ECU is detected simultaneously by with implicated relationship
When CAN Bus off failures and message dropping failure, ECU only records major error i.e. CAN Bus off
The DTC of failure, does not re-record from the failure i.e. DTC of message dropping failure.
In the prior art, when ECU is detected simultaneously by message dropping failure and invalid data failure,
ECU difference recorded message loses the DTC of the DTC and invalid data failure of failure.But
In the present invention, when ECU is detected simultaneously by message dropping failure and invalid data with implicated relationship
During failure, ECU only records the major error i.e. DTC of message dropping failure, does not re-record from failure
That is the DTC of invalid data failure.
In addition, in the present invention, if ECU detects invalid data failure (i.e. from failure) individually
Occur (message dropping failure not occurring, i.e., major error does not occur), ECU still can record this
From the DTC of failure (invalid data failure).
In the present invention, each ECU, only need to be in original breakdown judge side when fault diagnosis is carried out
The above-mentioned major error with implicated relationship is added in method and from failure and above-mentioned female failure with inclusion relation
With the judgement step of sub- failure, the DTC recording method consider the relatedness between failure and therefore
The necessity that barrier is arranged, can avoid a failure cause from causing multiple DTCs to occur, solve failure
Code repeats the problem of many reports, can not only ensure that maintainer quickly investigates failure, also reduces to driving
Personnel bring puzzlement.
Fig. 2 is the function structure chart of vehicle electrically controlling unit in the embodiment of the present invention, please join Fig. 2, the vehicle
ECU includes：
Fault detection module 11, for carrying out fault detect；
Fault relationship setup module 12, for arranging the corresponding relation between failure；
Fault determination module 13, for being sentenced to the failure for detecting according to the corresponding relation between failure
It is fixed；
Fault logging module 14, for when judging simultaneously major error occur and from failure, only recording the master
The DTC of failure, does not record the DTC from failure, wherein major error and has from failure and involves pass
System, when there is major error, can involve initiation simultaneously from failure.
Further, the fault logging module 14 is additionally operable to, in the sub- failure for judging to occur below female failure
When, record the DTC of female failure and do not record the DTC of the sub- failure, wherein female failure and son event
With inclusion relation, female failure is included below many sub- failures to barrier.
Further, the fault logging module 14 is additionally operable to, and when judging other failures occur, records institute
The DTC for breaking down.
Further, the fault logging module 14 is specifically for judging to occur from failure without occurring
During major error, the DTC from failure is recorded.
The vehicle electrically controlling unit that the embodiment is provided belongs to same structure with above-mentioned DTC recording method embodiment
Think, which implements process and refer to embodiment of the method, repeats no more here.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can be led to
Cross hardware to complete, it is also possible to instruct the hardware of correlation to complete by program, described program can be deposited
It is stored in computer-readable recording medium, storage medium mentioned above can be read only memory, disk
Or CD etc..
The above, is only presently preferred embodiments of the present invention, not makees any formal to the present invention
Restriction, although the present invention is disclosed above with preferred embodiment, but is not limited to the present invention,
Any those skilled in the art, in the range of without departing from technical solution of the present invention, when using upper
The technology contents for stating announcement are made a little change or are modified to the Equivalent embodiments of equivalent variations, as long as being not
Depart from technical solution of the present invention content, it is any that foundation technical spirit of the invention is made to above example
Simple modification, equivalent variations and modification, still fall within the range of technical solution of the present invention.
Claims (8)
1. a kind of DTC recording method of vehicle electrically controlling unit, it is characterised in that comprise the steps：
S1：ECU carries out fault detect；
S2：ECU is judged to the failure for detecting according to the corresponding relation between failure；
S3：If it is determined that while there is major error and from failure, ECU only records the failure of the major error
Code, does not record the DTC from failure, wherein major error and has implicated relationship from failure, works as generation
During major error, initiation can be involved simultaneously from failure.
2. DTC recording method as claimed in claim 1, it is characterised in that the DTC is recorded
Method also includes step：
S4：If it is determined that there is the sub- failure below female failure, ECU records the DTC of female failure
And the DTC of the sub- failure is not recorded, wherein female failure and sub- failure have inclusion relation, under female failure
Bread is containing many sub- failures.
3. DTC recording method as claimed in claim 2, it is characterised in that the DTC is recorded
Method also includes step：
S5：If it is determined that the failure for occurring belongs to other failure situations, ECU record is broken down
DTC.
4. DTC recording method as claimed in claim 1, it is characterised in that step S5 includes：
If appearance records the DTC from failure without there is major error, ECU from failure.
5. a kind of vehicle electrically controlling unit, it is characterised in that include：
Fault detection module (11), for carrying out fault detect；
Fault relationship setup module (12), for arranging the corresponding relation between failure；
Fault determination module (13), for being carried out to the failure for detecting according to the corresponding relation between failure
Judge；
Fault logging module (14), for when judging simultaneously major error occur and from failure, only record should
The DTC of major error, does not record the DTC from failure, and wherein major error and having from failure involves
Relation, when there is major error, can involve initiation simultaneously from failure.
6. vehicle electrically controlling unit as claimed in claim 5, it is characterised in that the fault logging module
(14) it is additionally operable to, when judging to occur the sub- failure below female failure, records the DTC of female failure
And the DTC of the sub- failure is not recorded, wherein female failure and sub- failure have inclusion relation, under female failure
Bread is containing many sub- failures.
7. vehicle electrically controlling unit as claimed in claim 6, it is characterised in that the fault logging module
(14) it is additionally operable to, when judging other failures occur, records broken down DTC.
8. vehicle electrically controlling unit as claimed in claim 7, it is characterised in that the fault logging module
(14) specifically for, judge occur from failure without there is major error when, record this from failure
DTC.
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| CN201510633966.3A CN106557083B (en) | 2015-09-26 | 2015-09-26 | The error code recording method of vehicle electrically controlling unit and vehicle electrically controlling unit |
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| CN201510633966.3A CN106557083B (en) | 2015-09-26 | 2015-09-26 | The error code recording method of vehicle electrically controlling unit and vehicle electrically controlling unit |
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| CN109445421A (en) * | 2018-12-11 | 2019-03-08 | 北京长城华冠汽车技术开发有限公司 | A kind of electronic control unit for vehicles general fault diagnostic method |
| US10467889B2 (en) | 2017-02-16 | 2019-11-05 | Infineon Technologies Ag | Alarm handling circuitry and method of handling an alarm |
| CN110826716A (en) * | 2019-11-06 | 2020-02-21 | 北京明略软件***有限公司 | Fault processing rule generation method and device |
| CN111240871A (en) * | 2019-12-30 | 2020-06-05 | 潍柴动力股份有限公司 | Engine fault reporting method and device |
| CN113703415A (en) * | 2020-05-20 | 2021-11-26 | 广州汽车集团股份有限公司 | Detection method and device for vehicle electronic control unit, storage medium and terminal equipment |
| CN113847939A (en) * | 2021-09-30 | 2021-12-28 | 东风越野车有限公司 | Offline fault diagnosis system and method applied to vehicle instrument |
| CN113867319A (en) * | 2021-09-29 | 2021-12-31 | 安徽江淮汽车集团股份有限公司 | LabVIEW-based fault diagnosis automatic testing method and system |
| CN114305187A (en) * | 2022-01-06 | 2022-04-12 | 中山东菱威力电器有限公司 | Sharing intelligent closestool lid system based on thing networking |
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