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EP3667031A1 - Gasturbine mit einer reinigungsvorrichtung umfassend besondere einspritzdüsen - Google Patents

Gasturbine mit einer reinigungsvorrichtung umfassend besondere einspritzdüsen Download PDF

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Publication number
EP3667031A1
EP3667031A1 EP18212563.3A EP18212563A EP3667031A1 EP 3667031 A1 EP3667031 A1 EP 3667031A1 EP 18212563 A EP18212563 A EP 18212563A EP 3667031 A1 EP3667031 A1 EP 3667031A1
Authority
EP
European Patent Office
Prior art keywords
cleaning device
flow channels
flow
turbine
flow channel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18212563.3A
Other languages
English (en)
French (fr)
Inventor
Magnus Fischer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Schweiz AG
Original Assignee
ABB Turbo Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Turbo Systems AG filed Critical ABB Turbo Systems AG
Priority to EP18212563.3A priority Critical patent/EP3667031A1/de
Priority to PCT/EP2019/084231 priority patent/WO2020120399A1/en
Priority to EP19817285.0A priority patent/EP3894667A1/de
Priority to JP2021533716A priority patent/JP2022515363A/ja
Priority to CN201980081199.6A priority patent/CN113167130A/zh
Priority to KR1020217021564A priority patent/KR20210102940A/ko
Publication of EP3667031A1 publication Critical patent/EP3667031A1/de
Withdrawn legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
    • F01D25/00—Component parts, details, or accessories, not provided for in, or of interest apart from, other groups
    • F01D25/002—Cleaning of turbomachines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2220/00—Application
    • F05D2220/40—Application in turbochargers

Definitions

  • Embodiments of the present disclosure relate to cleaning devices for turbines, particularly exhaust gas turbines or power turbines. Additionally, embodiments of the present disclosure relate to turbines, e.g. exhaust gas turbines or power turbines with such a cleaning device. Further embodiments of the present disclosure relate to exhaust gas turbochargers with an exhaust gas turbine with such a cleaning device.
  • Exhaust gas turbines are used in exhaust gas turbochargers for charging internal combustion engines or as power turbines for converting the energy contained in the exhaust gases of internal combustion engines into mechanical or electrical energy.
  • fouling of the turbine stage i.e. the turbine blades on the impeller and the guide vanes of the nozzle ring, as well as of the various turbine housing parts, occur in the exhaust gas turbine.
  • fouling includes deposition of exhaust gas particles.
  • dirt deposits can lead to a decrease in turbine efficiency in the region of the nozzle ring.
  • there may be an increase in the exhaust gas temperatures in the combustion chamber whereby both the internal combustion engine and the turbocharger can be thermally overstressed. In particular, damage or even destruction of the outlet valves can occur in the internal combustion engine.
  • the nozzle ring, turbine blades and affected areas of the turbine housing must be regularly cleaned during operation.
  • a cleaning device for a turbine includes an injector main body for injecting cleaning liquid into a flow channel of the turbine.
  • the injector main body includes a main flow channel.
  • the main flow channel is connected to one or more first flow channels of respective one or more first injectors. At least one of the one or more first flow channels includes a curved channel portion.
  • the cleaning device of the present disclosure is improved compared to conventional cleaning devices.
  • the cleaning device of the present disclosure beneficially provides for an improved cleaning liquid distribution resulting in a better cleaning performance.
  • the cleaning device of the present disclosure is improved with respect to homogenously spreading the cleaning liquid, e.g. water, on a nozzle ring of a turbine.
  • a turbine including a cleaning device according to any of the embodiments described herein is provided.
  • the turbine can be an exhaust gas turbine or a power turbine.
  • an improved turbine particularly an improved exhaust gas turbine or a power turbine, can be provided.
  • an exhaust gas turbocharger including an exhaust gas turbine with a cleaning device according to any of the embodiments described herein is provided. Accordingly, an improved exhaust gas turbocharger can be provided.
  • a cleaning device 50 according to the prior art is described.
  • FIG. 1 shows a schematic sectional view along the turbine axis of a section of an axial turbine according to the prior art.
  • the gas inlet casing 1 includes an outer and an inner housing wall, wherein the inner housing wall is configured in a calotte shape with a hollow interior space and which serves as a cover of the hub body 42 of the turbine wheel 4 opposite the flow channel.
  • the turbine wheel is provided in the gas outlet housing 2.
  • the hot exhaust gas discharged from the internal combustion engine is first directed into the gas inlet casing 1 of the exhaust gas turbine providing an exhaust gas flow having an approximately circular cross section.
  • the effect of the inner housing wall is a conversion into an annular exhaust gas flow with a stagnation point streamline impinging the inner housing wall in a substantially perpendicular direction.
  • the annular exhaust gas flow is guided to the turbine blades 41.
  • the nozzle ring 3 arranged upstream of the turbine blades 41 has the task of optimally aligning the exhaust gases with the turbine blades 41 of the turbine wheel 4.
  • the cleaning device 50 Upstream of the nozzle ring 3, the cleaning device 50 extending from the inner housing wall of the gas inlet housing into the flow channel 21 is provided.
  • the cleaning device 50 includes a nozzle body 5 which projects in the region of the stagnation point streamline from the inner housing wall into the flow channel 21.
  • the nozzle body includes a plurality of nozzle openings 51, 52 for injecting a cleaning liquid into the flow channel 21.
  • the nozzle openings 51 and 52 are subdivided into two groups of nozzle openings.
  • the first group of the nozzle openings 52 is arranged downstream of a throttle point 53.
  • the second group of the nozzle openings 51 is arranged upstream of the throttle point 53. Due to the throttle point 53, two different pressure levels may be realized for the cleaning fluid.
  • the first group of the nozzle openings 52 can be configured for injecting the cleaning liquid at lower pressure than the second group of the nozzle openings 51 upstream from the throttle 53.
  • the different pressure conditions at the first and second nozzle openings 52 have the effect that different amounts of cleaning fluid with different injection velocities can be injected into the flow channel 21 through the nozzle openings 51, 52.
  • the cleaning device 10 includes an injector main body 11 for injecting cleaning liquid into a flow channel of the turbine.
  • the injector main body 11 includes a main flow channel 12.
  • the injector main body 11 can be mounted to the inlet casing 1 (calotte) of the turbine.
  • the main flow channel 12 is connected to one or more first flow channels 121 of respective one or more first injectors 13.
  • the one or more first injectors 13 can be low pressure injectors.
  • At least one of the one or more first flow channels 121 includes a curved channel portion 125, as exemplarily shown in Fig. 4 .
  • the curved channel portion 125 can include a bending in one, two or three dimensions. In other words, the curved channel portion 125 can be bent in the x-direction and/or the y-direction and/or the z-direction. Further, in the case that two or more first injectors 13 are provided, the respective curved channel portions 125 of the respective first flow channels 121 can be different. Accordingly, it is to be understood that the one or more first flow channels 121 can be individually bent in one, two or three dimensions, e.g. by respective curved channel portions. Although not explicitly shown, it is to be understood that the one or more first flow channels 121 may include two or more curved channel portions.
  • the cleaning device of the present disclosure beneficially provides for a cleaning device design with an improved cleaning liquid distribution resulting in a better cleaning performance.
  • the cleaning device according to embodiments described herein is improved with respect to homogenously spreading the cleaning liquid.
  • the main flow channel 12 can be connected to one or more second flow channels 122 of respective one or more second injectors 14.
  • the one or more second injectors 13 can be high pressure injectors.
  • the one or more second injectors can be directly connected to the main flow channel, such that the one or more second injectors can be directly fed through a plenum.
  • the cleaning liquid e.g. water
  • the cleaning liquid enters the cleaning device at the entrance of the main flow channel of the of the injector main body, in particular at a high pressure level.
  • the cleaning liquid is further distributed by the one or more first injectors 13 and/or the one or more second injectors 14 to the respective injection openings from which the cleaning liquid is injected into the flow channel 21 of the turbine.
  • Fig. 3 shows a design of the cleaning device having six low pressure injectors 13 and five high pressure injectors 14, of which three high pressure injectors 14 can be seen in the perspective of Fig. 3 .
  • the cleaning device may include various numbers low pressure injectors and/or high pressure injectors.
  • the cleaning device as described herein can be configured for providing cleaning liquid jets of different pressure levels.
  • the cleaning device as described herein in order to ensure the required high cleaning liquid penetration for cleaning the nozzle ring, e.g. in certain areas of the gas stream upstream of the nozzle ring, the cleaning device as described herein is beneficially configured for providing high pressure jets of cleaning liquid to the nozzle ring.
  • the cleaning device is configured for providing low pressure jets of cleaning liquid to areas where low pressure injection is beneficial for obtaining good cleaning results.
  • the one or more first flow channels 121 end in respective one or more first injection openings 131.
  • At least one of the respective one or more first injection openings 131 provide for an injection direction 102 deviating from a main flow direction 101 in the main flow channel 12 by an deviation angle ⁇ of ⁇ ⁇ 15°.
  • the deviation angle ⁇ can be selected from the group consisting of ⁇ ⁇ 25°, ⁇ ⁇ 35°, ⁇ ⁇ 45°, ⁇ ⁇ 45°, ⁇ ⁇ 55°, ⁇ ⁇ 65°, ⁇ ⁇ 75°, ⁇ ⁇ 85°, ⁇ ⁇ 95°, ⁇ ⁇ 105°; ⁇ ⁇ 115°, and ⁇ ⁇ 125°.
  • two or more of the first injection openings 131 may provide for different, i.e. individual, injection directions.
  • at least one first injection opening 131 may be configured for providing an injection direction deviating from the main flow direction in the main flow channel 12 by a deviation angle ⁇ 1 while at least one other first injection opening 131 may be configured for providing a different deviation angle ⁇ 2 .
  • two or more first injection openings may be configured for providing individual injection directions.
  • the flow cross-section of the first injection openings 131 may individually be designed. In other words, at least two flow cross-sections of the respective first injection openings 131 may have a different flow cross-section, respectively.
  • the cross-section of the one or more first flow channels 121 can be circular or elliptical or completely free.
  • at least one of the one or more first flow channels 121 includes an interior freeform surface.
  • a freeform surface can be understood as a surface which does not have radial dimensions, unlike regular surfaces such as planes, cylinders or conic surfaces.
  • freeform surfaces can be given by an array of control point and a mathematical model defining the way the surface is created.
  • free form surfaces can be divided in interpolation free form surfaces and approximation free form surfaces.
  • interpolation free form surfaces the surface is passing through predefined control points.
  • Approximation free form surfaces can include (non) rational bézier surfaces, and (non) rational (non) uniform b-spline surfaces.
  • At least one of the one or more first flow channels 121 is connected with the main flow channel 12 via an orifice 15.
  • the cross-section of the orifice 15 is smaller than a flow cross-section of the at least one first flow channel 121.
  • the respective orifice 15 at the entrance of the one or more first flow channels 121 can be configured to reduce the cleaning liquid pressure level to an intended level.
  • the respective orifices can individually be designed with respect to the flow cross-sectional area and/or with respect to the cross-sectional shape, e.g. circular, elliptical, free form or any other suitable shape.
  • At least one of the one or more first flow channels 121 includes a guide vane 16.
  • the guide vane 16 may be provided in the curved channel portion 125 of the one or more first flow channels 121.
  • Providing guide vanes in the one or more first flow channels can be beneficial for improving flow guidance or even ensuring optimal flow guidance in the first flow channels.
  • other flow features such as ribs or dimples can be provided in at least one of the one or more first flow channels 121 for flow guidance optimization.
  • At least one of the one or more second flow channels 122 includes a conical section 123 having an enlarged flow cross-section at the connection with the main flow channel 12. Accordingly, flow guidance into the one or more second flow channels 122 can be improved.
  • At least one of the one or more second flow channels includes a cylindrical section 124 ending in a second injection opening 132.
  • the one or more second flow channels 122 end in respective one or more second injection openings 132.
  • the one or more second pressure injection openings 132 may also be referred to a as high pressure injection openings.
  • At least one inlet section of the one or more second flow channels 122 may include a guide vane 16.
  • the guide vane 16 may be provided at an inlet section of the conical section 123 of the one or more second flow channels 122.
  • Providing guide vanes at the inlet section of the one or more second flow channels 122 can be beneficial for improving flow guidance or even ensuring optimal flow guidance at the entrance of the second flow channels.
  • other flow features such as ribs or dimples can be provided at the entrance of or inside at least one of the one or more second flow channels 122 for flow guidance optimization.
  • At least one of the one or more second flow channels 122 may include an interior freeform surface.
  • the respective one or more second injection openings 132 provide for an injection direction 103 deviating from a main flow direction 101 in the main flow channel 12 by a deviation angle ⁇ of ⁇ ⁇ 15°.
  • the deviation angle ⁇ can be selected from the group consisting of ⁇ ⁇ 25°, ⁇ ⁇ 35°, ⁇ ⁇ 45°, ⁇ ⁇ 45°, ⁇ ⁇ 55°, ⁇ ⁇ 65°, ⁇ ⁇ 75°, ⁇ ⁇ 85°, ⁇ ⁇ 95°, ⁇ ⁇ 105°; ⁇ ⁇ 115°, and ⁇ ⁇ 125°.
  • two or more of the second injection openings 132 may provide for different, i.e. individual, injection directions.
  • at least one second injection opening 132 may be configured for providing an injection direction deviating from the main flow direction in the main flow channel 12 by a deviation angle ⁇ 1 while at least one other second injection opening 132 may be configured for providing a different deviation angle ⁇ 2 .
  • two or more second injection openings may be configured for providing individual injection directions.
  • the flow cross-section of the second injection openings 132 may individually be designed. In other words, at least two flow cross-sections of the respective second injection openings 132 may have a different flow cross-section, respectively.
  • the one or more first flow channels 121 include a number N 1 ⁇ 2 of first flow channels 121.
  • the number N1 of first flow channels can be selected from the group consisting of: N 1 ⁇ 2, N 1 ⁇ 3, N 1 ⁇ 4, N 1 ⁇ 5, N 1 ⁇ 6, N 1 ⁇ 7, N 1 ⁇ 8, N 1 ⁇ 9, and N 1 ⁇ 10.
  • the number N 1 of first flow channels 121 can include individually designed interior freeform surfaces.
  • the number N 1 of first flow channels 121 are connected with the main flow channel 12 via a respective number of orifices 15.
  • at least two of the orifices 15 have a different flow cross-section.
  • the orifices 15 may be designed individually to provide for an individual pressure drop and an individual water flow rate.
  • the one or more second flow channels 122 can be shorter than the one or more first flow channels 121.
  • the one or more second flow channels 122 can be longer than the one or more first flow channels 121 or of equal length.
  • the cleaning device is at least partially produced by additive manufacturing.
  • employing additive manufacturing has the advantage that complex or extraordinary design features, e.g. free form shapes and surfaces, can be produced in an easy and cost-efficient manner.
  • additive manufacturing can be beneficial for producing the cleaning device with individually designed injectors, e.g. injectors having individually designed flow channels including individual free form geometries, particularly individual interior freeform surfaces.
  • the cleaning device as described herein can be designed and manufactured by combining enhanced methodologies in CFD (computational fluid dynamics) design with the benefits of additive manufacturing.
  • Free form shapes of the individual channels which distribute the cleaning liquid to the injection openings allow for optimal flow guidance, reduce recirculation zones and provide for an intact and optimal flow profile at the injection openings of the jet of cleaning liquid in the turbine casing.
  • the cleaning device as described herein can be designed with a closed-loop process between CFD simulation and CAD (computer-aided design) tools, which helps to optimize the flow- and injections characteristics of the cleaning device.
  • CFD simulation the cleaning liquid distribution on the turbine casing and nozzle ring can be assessed and the pressure drop of the individual channels inside the cleaning device can be calculated.
  • the geometry can be changed and then re-assessed with CFD. Accordingly, after several design loops an optimal geometry of the cleaning device can be determined.
  • At least one element of the cleaning device selected form the group consisting of: at least one of the one or more first injectors 13, particularly the one or more first flow channels 121; at least one of the one or more second injectors 14, particularly the one or more second flow channels 122; and the injector main body 11, particularly the main flow channel 12; can be produced by additive manufacturing.
  • the cleaning device may also at least partially be produced by conventional machining techniques, such as drilling, milling, welding or others.
  • the cleaning device may include at least one element or component produced by additive manufacturing, e.g. the one or more first flow channels 121, whereas the remaining elements or components of the cleaning device can be produced by conventional machining techniques.
  • an improved cleaning device for turbines particularly for exhaust gas turbines or a power turbines
  • embodiments of the present disclosure beneficially provide for an improved cleaning liquid distribution resulting in a better cleaning performance.
  • embodiments of the present disclosure are improved with respect to homogenously spreading the cleaning liquid, e.g. water, on a nozzle ring of a turbine.
  • embodiments of the present disclosure are beneficially configured for providing cleaning liquid jets of different pressure levels. In particular, in order to ensure the required high cleaning liquid penetration for cleaning the nozzle ring, e.g.
  • embodiments of the present disclosure are beneficially configured for providing high pressure jets of cleaning liquid to the nozzle ring. Additionally, embodiments of the present disclosure are beneficially configured for providing low pressure jets of cleaning liquid to areas where low pressure injection is beneficial for obtaining good cleaning results.
  • a turbine is provided.
  • the turbine of the present disclosure e.g. an exhaust gas turbine or a power turbine, includes a cleaning device according to any of the embodiments described herein is provided. Accordingly, compared to conventional turbines, the embodiments of the turbine as described herein provide for a turbine which can be cleaned more effectively.
  • exhaust gas turbocharger of the present disclosure includes an exhaust gas turbine with a cleaning device according to any of the embodiments described herein is provided. Accordingly, compared to conventional, exhaust gas turbochargers, the embodiments of the exhaust gas turbine as described herein can be cleaned more effectively.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Supercharger (AREA)
EP18212563.3A 2018-12-14 2018-12-14 Gasturbine mit einer reinigungsvorrichtung umfassend besondere einspritzdüsen Withdrawn EP3667031A1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP18212563.3A EP3667031A1 (de) 2018-12-14 2018-12-14 Gasturbine mit einer reinigungsvorrichtung umfassend besondere einspritzdüsen
PCT/EP2019/084231 WO2020120399A1 (en) 2018-12-14 2019-12-09 Exhaust gas turbine with a cleaning device having particular injectors
EP19817285.0A EP3894667A1 (de) 2018-12-14 2019-12-09 Abgasturbine mit einer reinigungsvorrichtung mit bestimmten injektoren
JP2021533716A JP2022515363A (ja) 2018-12-14 2019-12-09 特殊なインジェクタを有する洗浄装置を備えた排ガスタービン
CN201980081199.6A CN113167130A (zh) 2018-12-14 2019-12-09 具有带特别注射器的清洁设备的废气涡轮
KR1020217021564A KR20210102940A (ko) 2018-12-14 2019-12-09 터빈용 세척 장치, 세척 장치를 포함하는 터빈, 및 세척 장치를 갖는 배기 가스 터빈을 포함하는 배기 가스 터보차저

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18212563.3A EP3667031A1 (de) 2018-12-14 2018-12-14 Gasturbine mit einer reinigungsvorrichtung umfassend besondere einspritzdüsen

Publications (1)

Publication Number Publication Date
EP3667031A1 true EP3667031A1 (de) 2020-06-17

Family

ID=64665551

Family Applications (2)

Application Number Title Priority Date Filing Date
EP18212563.3A Withdrawn EP3667031A1 (de) 2018-12-14 2018-12-14 Gasturbine mit einer reinigungsvorrichtung umfassend besondere einspritzdüsen
EP19817285.0A Withdrawn EP3894667A1 (de) 2018-12-14 2019-12-09 Abgasturbine mit einer reinigungsvorrichtung mit bestimmten injektoren

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP19817285.0A Withdrawn EP3894667A1 (de) 2018-12-14 2019-12-09 Abgasturbine mit einer reinigungsvorrichtung mit bestimmten injektoren

Country Status (5)

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EP (2) EP3667031A1 (de)
JP (1) JP2022515363A (de)
KR (1) KR20210102940A (de)
CN (1) CN113167130A (de)
WO (1) WO2020120399A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115623869A (zh) * 2021-05-13 2023-01-17 三菱重工船用机械株式会社 排气涡轮、增压器以及排气涡轮的清洗方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2689456A (en) * 1951-06-22 1954-09-21 Bituminous Coal Research Open cycle gas turbine and cleaning means therefor
EP1627993A1 (de) * 2004-08-16 2006-02-22 ABB Turbo Systems AG Reinigungsvorrichtung für eine Abgasturbine
US20100206966A1 (en) * 2009-02-17 2010-08-19 Mcdermott Peter Spray nozzle
EP2565391A1 (de) * 2011-09-02 2013-03-06 ABB Turbo Systems AG Reinigunsvorrichtung einer Abgasturbine und zugehörige Abgasturbine, Nutzturbine und Abgasturbolader

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2343409T3 (es) * 2004-06-14 2010-07-30 Gas Turbine Efficiency Ab Sistema y dispositivos para recoger y tratar las aguas residuales de lavados de motores.
CN103252323A (zh) * 2012-02-21 2013-08-21 艾纶锐祈清洁设备（上海）有限公司 一种高压清洗系统
US9957066B2 (en) * 2015-02-13 2018-05-01 General Electric Company Detergent delivery methods and systems for turbine engines

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2689456A (en) * 1951-06-22 1954-09-21 Bituminous Coal Research Open cycle gas turbine and cleaning means therefor
EP1627993A1 (de) * 2004-08-16 2006-02-22 ABB Turbo Systems AG Reinigungsvorrichtung für eine Abgasturbine
US20100206966A1 (en) * 2009-02-17 2010-08-19 Mcdermott Peter Spray nozzle
EP2565391A1 (de) * 2011-09-02 2013-03-06 ABB Turbo Systems AG Reinigunsvorrichtung einer Abgasturbine und zugehörige Abgasturbine, Nutzturbine und Abgasturbolader

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115623869A (zh) * 2021-05-13 2023-01-17 三菱重工船用机械株式会社 排气涡轮、增压器以及排气涡轮的清洗方法

Also Published As

Publication number Publication date
KR20210102940A (ko) 2021-08-20
JP2022515363A (ja) 2022-02-18
WO2020120399A1 (en) 2020-06-18
EP3894667A1 (de) 2021-10-20
CN113167130A (zh) 2021-07-23

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