EP3976315A1 - Method for determining state information relating to a belt grinder by means of a machine learning system - Google Patents
Method for determining state information relating to a belt grinder by means of a machine learning systemInfo
- Publication number
- EP3976315A1 EP3976315A1 EP20727934.0A EP20727934A EP3976315A1 EP 3976315 A1 EP3976315 A1 EP 3976315A1 EP 20727934 A EP20727934 A EP 20727934A EP 3976315 A1 EP3976315 A1 EP 3976315A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- belt
- grinding
- sensors
- measurement data
- grinding machine
- 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.)
- Pending
Links
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/003—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving acoustic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/04—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces
- B24B21/06—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces involving members with limited contact area pressing the belt against the work, e.g. shoes sweeping across the whole area to be ground
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/044—Recurrent networks, e.g. Hopfield networks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/04—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces
- B24B21/06—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces involving members with limited contact area pressing the belt against the work, e.g. shoes sweeping across the whole area to be ground
- B24B21/08—Pressure shoes; Pressure members, e.g. backing belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/18—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the presence of dressing tools
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/182—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
- G06N3/084—Backpropagation, e.g. using gradient descent
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/14—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the temperature during grinding
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32335—Use of ann, neural network
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/045—Combinations of networks
Definitions
- the invention relates to a method for determining status information be relevant to a belt grinding machine by means of a machine learning system. Fer ner the invention relates to the machine learning system and a method for teaching the machine learning system. The invention further relates to a computer program, a computer-readable storage medium and a computer device, each of which is provided and set up to carry out the proposed method. The invention also relates to a belt grinding machine for carrying out the method and a grinding shoe for use in a belt grinding machine.
- the invention is based on a belt grinding machine having at least one grinding belt for grinding a workpiece.
- belt grinding machines are known from the prior art, for example from EP 2 576 137 A1.
- the properties and the condition of the grinding belt used for grinding significantly determine the quality of the grinding result achieved.
- the invention is based on a belt grinding machine having at least one grinding belt for grinding a workpiece.
- the invention relates to a, in particular computer-implemented, method for determining status information relating to the belt grinding machine, the method comprising at least the following method steps:
- the method for determining the status information can be implemented exclusively in hardware in one embodiment of the method.
- the method can also be implemented in the form of software or in a mixture of software and hardware.
- the method can represent a computer-implemented method that is carried out by means of a computer device.
- the computer device can have at least one processor device and furthermore at least one memory device in which the method is stored as a computer program.
- a belt grinder is to be understood as a tool for the grinding processing of a workpiece, in which the grinding means is implemented in the form of a rotating grinding belt.
- the term “belt grinder” includes in the fol lowing a grinding belt used in the belt grinder and a grinding shoe and the like used in the belt grinder.
- the belt grinder can, for example, be implemented in the form of a hand-held belt grinder ("belt grinder") or in the form of a large industrial-scale belt grinder.
- Such industrial belt grinders who are used, for example, for large-area grinding of workpieces such as panels made of raw material (such as chipboard, MDF, HDF and OSB panels).
- the grinding belt is moved, in particular continuously, relative to the surface of the workpiece to be machined and an abrasive effect is exerted on the workpiece in this way.
- the sanding belt is typically driven by rollers in a belt circumferential direction and pressed against the surface of the workpiece to be machined in a pressing direction by means of a sanding shoe.
- the length of the sanding belt in the direction of the belt circulation can be, for example, between 1.5 and 5 meters in an industrial belt sanding machine.
- a width of the sanding belt, ie perpendicular to the direction of rotation of the belt, can for example be between 0.3 and 5.0 meters in such a belt sander.
- the sanding belts can have a length in the direction of belt rotation that is typically between 0.35 and 1 meter.
- a width of the sanding belt of a hand-held belt sander can typically be between 7.5 cm and 15 cm. Other lengths and widths are also possible.
- Providing measurement data is to be understood in particular to mean that a device performing the method, in particular a processor device or a computer device or a processor device comprising the computer device, the corresponding measurement data - relating to the belt grinding machine - are provided or transferred or signaled.
- the corresponding measurement data can be provided by reading in the measurement data from a file.
- measurement data can be provided by reading in data stored on a data server or in a storage device on the belt grinding machine.
- measurement data can be determined or measured using sensors, in particular sensors of the belt grinding machine, and then made available. Sensors are to be understood here as measuring devices by means of which measurement data relating to the belt grinding machine can be recorded.
- the measurement data are measured and provided using at least one sound sensor, in particular an airborne sound sensor and / or a structure-borne sound sensor and / or a vibration sensor.
- Sound sensors make it possible to detect mechanical vibrations (sound waves) emanating from the belt grinding machine and / or the grinding belt.
- the measurement data recorded and provided by means of a sound sensor relate to the belt grinding machine and in particular allow analyzes and conclusions to be drawn regarding mechanical properties of the grinding belt and / or the belt grinding machine during a grinding process.
- the mechanical properties can provide information on defects in the grinding belt, for example, or on clogging or wear on the grinding belt.
- Clogging refers to the filling of gaps between abrasive grains on the sanding belt with sanding chips or sanding dust.
- features of an abrasive belt such as, for example, specifically applied elevations on the abrasive belt - for example in the form of a bar code - can be used to derive information about a used abrasive belt.
- sound sensors which are specially set up and / or restricted with regard to the detectable frequency range.
- infrasonic sensors typically below 16 Hz
- audible sound sensors typically from 16 Hz to 20 kHz
- ultrasonic sensors typically from 20 kHz to 1.6 GHz
- hypersonic sensors typically above 1 GHz
- structure-borne noise sensors and vibration sensors make it possible to detect shocks, vibrations, resonances or the like that are barely or barely perceptible to humans in measurement data and thus provide the method according to the invention for determining the status information relating to the belt grinding machine.
- the at least one sound sensor can, for example, be a MEMS microphone sensor and / or be implemented by a laser microphone sensor and / or by a piezo sensor or the like. Such sensors are known to the person skilled in the art.
- the evaluation of the measurement data acquired by means of the at least one sound sensor and provided includes in particular the finding of characteristic frequency components and / or sound amplitudes.
- the measurement data are acquired (measured) and provided using at least one further sensor, the at least one further sensor being selected from a list of sensors which includes:
- Sensors for power consumption of the belt grinding machine, in particular the drive device of the grinding belt of the belt grinding machine For example, a coil can be provided as a sensor by means of which the power consumption of a drive motor is inductively detected.
- the measurement data provided in this way relate to the belt grinder in that they allow in particular analyzes and conclusions to be drawn with regard to the condition of the grinding belt (too much, wear or the like) and / or the belt grinder (wear of the bearings, wear of the drive motor or the like).
- the power consumption correlates with friction between the grinding belt and workpiece, the friction being significantly influenced by clogging of the grinding belt;
- Air temperature sensors relate to the belt grinder to the extent that they allow, in particular, analyzes and conclusions to be drawn with regard to heating during a grinding process, which in turn is associated with clogging or wear or the like of the grinding belt and / or with wear and tear on the belt grinder (wear the bearings, wear of the drive motor or the like) correlates;
- Humidity sensors and / or humidity sensors relate to the belt grinding machine in that they allow in particular analyzes and conclusions to be drawn regarding the material properties of the workpiece, which in turn relate to the grinding behavior and / o the cutting behavior of the grinding belt, a service life of the grinding belt, a surface quality of the grinding result achieved, a clogging of the grinding belt (for example, sticking in higher humidity) or the like is corrected;
- Distance sensors and / or distance sensors, in particular laser distance sensors or laser distance sensors The measurement data provided in this way relate to the belt grinder, for example, to the extent that they allow analyzes and conclusions to be drawn regarding vibration of the grinding belt ("belt flutter") and thus correlate with a voltage of the sanding belt ("tension");
- the measurement data provided in this way relate to the belt grinding machine, that they allow in particular analyzes and conclusions regarding the optical properties of the grinding belt and / or the belt grinding machine during a grinding process.
- the optical properties can provide information on defects in the grinding belt, for example, or on clogging or wear and tear on the grinding belt.
- features of an abrasive belt such as a specifically applied bar code or QR code, can be incorporated and such statements can be derived about a used abrasive belt;
- Temperature sensors, especially IR sensors, especially heat image sensors relate to the belt grinder in that they allow in particular analyzes and conclusions to be drawn regarding a temperature and / or temperature distribution of the grinding belt and / or the belt grinder during a grinding process .
- the thermal properties can, for example, allow statements to be made about defects in the grinding belt or also about clogging or wear of the grinding belt. For example, a clogging of the abrasive belt correlates with an increase in friction and thus causes an increase in the abrasive belt temperature.
- the measurement data can relate to a temperature and / or a temperature distribution of a workpiece (for example before, during and after the grinding process) and also enable analyzes and conclusions to be drawn with regard to the belt grinding machine;
- Thickness measurement sensors The measurement data made available in this way relate to the belt grinder in that they can in particular analyze and return Conclusions regarding material removal from the workpiece and / or a clogging of the abrasive belt or the like allow and thus correlate with, for example, wear of the abrasive belt;
- Torque sensors The measurement data provided by means of torque sensors relate to the belt grinder in that they allow special analyzes and conclusions to be drawn regarding the drive of the grinding belt and can, for example, correlate with the friction between the grinding belt and the workpiece, the friction, for example, from clogging of the grinding belt being affected;
- Dust quantity measuring sensors relate to the belt grinder in that they allow in particular analyzes and conclusions regarding material removal from the workpiece and / or clogging of the grinding belt or the like and thus correlate with wear and tear of the grinding belt. Dust quantity measuring sensors can be arranged, for example, in an exhaust pipe of the belt grinder and detect an amount and / or a particle size distribution of the grinding dust produced;
- the measurement data provided in this way relate to the belt grinding machine to the extent that they allow, in particular, analyzes and conclusions with regard to the mechanical movement of the grinding belt and / or the grinding belt machine.
- the measurement data can relate to components within the grinding belt machine or relate to the workpiece (e.g. feed speed during a grinding process).
- the measurement data correlate in particular with operating parameters and / or deviations from the desired operating parameters of the belt grinding machine and thus also enable statements to be made about wear of the grinding belt and / or the belt grinding machine;
- the measurement data provided in this way relate to the belt grinding machine to the extent that they can in particular analyze and draw conclusions with regard to objects introduced into the belt grinder and / or into the workpiece - such as metallic objects (e.g. nails) - and / or with regard to the grinding belt objects brought in - such as metal chips - during a grinding process.
- the measurement data can thus provide information on possible (foreseeable) defects in the Allow sanding belt or allow for possible dangers when operating the belt sanding machine.
- Exemplary location sensors can include magnetic field sensors, radar sensors, inductive sensors, capacitive sensors, nuclear magnetic resonance sensors or the like;
- Touch-sensitive sensors relate to the belt grinding machine in that they allow analyzes and conclusions to be drawn regarding the haptic surface properties of the workpiece and / or the grinding belt (for example, roughness) and can, for example, correlate with friction between the grinding belt and workpiece . Furthermore, touch-sensitive sensors can be used to determine "belt flutter" (vibrations on the grinding belt);
- Reflectance sensors relate to the belt grinding machine in that they allow analyzes and conclusions to be drawn regarding surface properties of the workpiece and / or the grinding belt (e.g. roughness) and can, for example, correlate with friction between the grinding belt and workpiece.
- Typical reflectance sensors can be implemented, for example, using laser radiation, the laser radiation being reflected on a surface to be examined and a reflected laser intensity being detected;
- Measurement data from sensors in the list mentioned are well suited for determining the status information according to the inventive method.
- Measurement data from sensors in the list mentioned are well suited for determining the status information according to the inventive method.
- a particularly precise and reliable determination of status information relating to the belt grinding machine can be carried out.
- measurement data adapted to a belt grinding machine to be analyzed can be provided in this way for carrying out the method.
- partially redundant measurement data can make it possible to avoid incorrect analyzes and thus enable status information to be determined more precisely.
- different and / or complementary and / or redundant status information can be determined on the basis of measurement data that are acquired by means of a plurality, in particular different, sensors.
- the measurement data are selectively or selectively made available or called up, in particular made available or called up selectively or selectively by the belt grinder.
- a storage device in particular a network storage device (a server) or a storage device of the belt grinding machine, the measurement data being selectively retrieved from the storage device and then from the computer device performing the method, for example a server in a cloud. It can thus be achieved in particular that a data volume to be transmitted to carry out the method is variable and, in particular, can be selectively provided as a function of status information to be determined.
- the measurement data are kept ready in a database or as in a database.
- status information that is of interest to a user can be selected by an input or selection by the user, for example by means of an input device or by means of a menu selection or the like.
- the measurement data are filtered before being made available.
- parts of the voice especially human speech
- other interfering influences for example a background signal component
- interfering influences in the measurement data which impair reliable determination of status information can be removed.
- disruptive influences for which the machine learning system is not trained and / or for which the machine learning system can only be trained with great effort are removed from the measurement data.
- voice components in the measurement signals represent a particularly large interference factor.
- State information relating to the belt grinding machine is to be understood as meaning information that provides information on the state of the belt grinding machine - such as progress of wear, need for maintenance - and / or the condition of the grinding belt - such as progress of wear, need for replacement - and / or the operation of the belt grinding machine - such as process parameters, proposals for changing a process parameter.
- the determination of status information makes it possible to increase machine, process and / or operating efficiency, for example through an early indication of problems, errors, necessary activities (such as maintenance) and the associated reduction in machine downtimes and rejects (consistently high Quality in the grinding process) and training requirements for users who operate the belt grinding machine.
- status information is defined or selected in such a way that it relates to at least one of the following properties:
- a property that characterizes a workpiece to be machined for example a material type such as “wood”, “metal” or a material property such as “high hardness”, “medium hardness” or the like;
- a property that characterizes a load distribution of the belt grinding machine for example uneven wear of the grinding belt across the width of the grinding belt and / or uneven wear of the individual grinding belts that occurs when several grinding belts are used in parallel;
- abrasive belt used in the belt sander for example a type of abrasive belt such as "P120" or settings to be used for optimum use of the abrasive belt (number of belt revolutions, belt tension, etc.);
- Status information is determined from the measurement data provided by means of a machine learning system, the machine learning system being set up to determine the corresponding status information based on the measurement data provided, in particular to also output it.
- the machine learning system is to be understood in particular as a technical implementation of a self-learning system that learns from given examples - the so-called training data - and can generalize the learned behavior after the end of the learning phase by identifying and retrieving patterns and regularities in the training data power.
- Such machine learning systems are known in principle, for example from DE 10 2005 050 577 A1. It is proposed that, in one embodiment of the method for determining status information, the machine learning system comprises an, in particular an artificial, neural network.
- the neural network consists of a chain neural layers, the topology of the network being set up and adapted, in particular parameterized, to carry out the method.
- the machine learning system in particular the neural network, is initially provided with measurement data as an input variable (training input data), the training input data then being propagated by the machine learning system, in particular by the neural network.
- each (hidden) layer of the neural network accordingly calculates an output variable, which in turn is used as the input variable of a subsequent layer of the network.
- the last layer of the network allows reading of the corresponding status information, which was estimated based on the inputted measurement data.
- a machine learning system in particular a neural network such as a Bayesian network, has the advantage that compared to existing statistical approaches - such as are known from the prior art in DE 10 2017 120 260 A1 - a more reliable and precise determination status information relating to the belt grinder (including the grinding belt and workpiece) is possible. In particular, meaningful results can be obtained when determining the corresponding status information even with large amounts of measurement data and different influencing factors on status information.
- the neural network is implemented as a recurrent neural network or as a folding neural network. It is also conceivable that the machine learning system carries out a regression, that is, predicts a course of state information.
- the belt grinding machine is controlled at least partially based on the determined status information and / or information is output at least partially based on the determined status information by means of an output device.
- the determined status information is output to a control device of the belt grinding machine, in particular transmitted.
- a control variable for controlling a physical actuator of the belt grinding machine can thus be determined using the status information.
- a control device is used to control, in particular to operate, a physical actuator, for example by using control routines and / or control routines.
- the control device is provided at least to carry out further processing at least partially on the basis of the determined status information and in this way to translate the corresponding status information into a control variable for controlling the actuator.
- an automatic setting of process parameters such as the belt speed is carried out as a function of the ascertained status information.
- a particularly efficient monitoring method for monitoring and controlling the belt grinding machine, in particular for automatically adjusting the belt grinding machine can be specified.
- the belt grinder can be functionalized in this way into an at least partially autonomous belt grinder.
- the belt grinding machine automatically starts a grinding process, ends it automatically and / or automatically selects and / or influences at least one parameter relating to the implementation of the grinding process.
- the output device can be an output device of the computer device performing the method and / or an output device of the belt grinder and / or a separately constructed output device.
- a separately designed output device can be implemented, for example, by a computer, a mobile data device such as a tablet, or the like.
- a tactile, acoustic or visual output device For example, output can take place in graphic form using a screen.
- output can be made to an external device using a data communication device. It should be noted that using the method according to the invention for determining status information, in particular in combination with the output of the information based at least partially on the determined status information, the determined status information relating to the belt grinding machine is advantageously accessible to the human perception of the user.
- the information denotes information that is prepared for output by means of an output device, in particular prepared in a user-friendly manner, and based at least in part on the status information determined.
- the information on the output can also correspond to the status information.
- the information in the form of a traffic light signal - which signals the point in time of a grinding belt change - is output directly to a user of the belt grinding machine on a belt grinding machine.
- a method, in particular computer-implemented, for teaching a machine learning system, in particular a neural network is proposed.
- the method can be processor-based.
- the method for teaching has the effect that the machine learning system is set up to carry out the method described above for determining status information relating to a belt grinding machine, i.e. is specially trained and / or parameterized.
- the learning procedure has at least the following steps:
- training data consisting of training input data and training output data, the training input data comprising measurement data relating to a belt grinding machine for a variety of status information and the training output data each comprising at least one associated status information relating to the belt grinding machine,
- the learned machine learning system is added to a computer device, in particular a control device of a belt grinding machine that is to be monitored in particular (i.e. a belt grinding machine).
- the machine learning system determines a first output value from this data.
- This output value is fed to a training system (for example a computer device) in the learning process, the training system using this to determine a rule for adapting the parameters, which specifies which or which parameters of the machine learning system are to be adapted in which way, to enable a more precise determination of the given training output data.
- this adaptation can take place by specifying expected or desired values for the output value and subsequent backward propagation.
- the training input data are selected from a list that includes at least measurement data as provided by a sensor from the following list: sensors for power consumption, air temperature sensors, air humidity sensors and / or humidity sensors, distance sensors and / or Distance sensors, imaging, especially visual sensors, temperature sensors, especially special IR sensors, especially thermal imaging sensors, thickness measurement sensors, torque sensors, dust quantity sensors, acceleration sensors, distance sensors, inertial sensors, location sensors, contact-sensitive sensors, reflectance sensors or a combination of sensors.
- the training output data be selected from a list of status information items which at least relate to the following properties: a property which characterizes a workpiece to be machined; a property that characterizes manufacturing defects on the workpiece; a property which characterizes an operating mode or operating parameters of the belt grinding machine; a property that characterizes incorrect settings of the belt grinder; a property that characterizes a load distribution of the belt grinder; a property that characterizes a degree of use or wear of the belt grinder; a property which characterizes a grinding belt used in the belt grinding machine; a property that characterizes clogging and / or dulling of the abrasive belt; a property that characterizes a defect in the grinding belt or a combination of these.
- a particularly targeted method for teaching can be specified that is adapted to provided measurement data to be used advantageously in a method for determining status information relating to a belt grinding machine, since it uses the same information sources as the basis for teaching.
- further measurement data relating to a belt grinding machine, in particular to be monitored are provided in a further method step, with the further measurement data being assigned to at least one, in particular predetermined, status information relating to the belt grinding machine, in particular by an expert, and in such a way that the machine learning system is learned further with the further measurement data.
- Continuous learning is to be understood in particular as the fact that the machine learning system is repeatedly learned using the additional training data now provided by the belt grinding machine, in particular to be monitored.
- the machine learning system is first pre-trained using “general measurement data”, then assigned to a computer device, in particular a control device, in particular a control device of a belt grinding machine to be monitored, and then with others to the one to be monitored Belt grinder coordinated training data is trained further or further learned.
- machine learning systems that are particularly well trained on a respective belt grinding machine can be implemented, which also enable particularly reliable determination of status information relating to the respective belt grinding machine.
- the training input data comprise measurement data and further measurement data for a large number of status information items
- the training output data each include at least one associated status information item, the measurement data and the further measurement data on each other
- At least two belt grinding machines of the same type with different uses i.e. with differing grinding processes, in particular with regard to processed materials, process parameters or the like.
- a first belt grinding machine is one from which the general training data are provided.
- the second belt grinding machine represents a belt grinding machine to be monitored, to whose computer device, in particular to whose control device the machine learning system has been added.
- the first belt grinder can be identical to the second belt grinder or, alternatively, it can also be different from the second belt grinder.
- the second belt grinder represents a further belt grinder.
- the first of the three alternatives enables a particularly general machine learning system specify that can determine status information on a large number of belt grinding machines.
- the second alternative makes it possible to specify a machine learning system that is particularly valid for a belt grinding machine and that can determine status information relating to the belt grinding machine for a large number of grinding processes - in particular using a large number of materials, process parameters, etc.
- the third alternative makes it possible to specify a machine learning system that is particularly specific for a belt grinding machine, which can determine status information relating to the belt grinding machine for a relatively small number of grinding processes - in particular using a large number of materials, process parameters, etc.
- a particularly high level of reliability and robustness in determining the status information can be achieved here.
- the machine learning system in particular the neural network, is proposed for carrying out the method according to the invention for determining status information.
- the machine learning system is obtained in particular by executing the method according to the invention for teaching the machine learning system.
- a computer program is proposed.
- the computer program is set up to execute one of the aforementioned methods.
- the computer program comprises instructions which when executed on a computer device, i. especially when executed by a processor device of a computer device, cause one of the described methods with all of its steps to be executed.
- a computer device in particular a control device of a belt grinding machine, which is set up to carry out one of the methods described.
- a computer device for determining status information relating to a belt grinding machine is provided at least one processor device and a memory device are proposed, wherein commands are stored on the memory device which, when they are executed by the processor device, cause the computer device to execute the method.
- a “processor device” is to be understood as meaning, in particular, a device which has at least one information input, an information processing unit for processing and an information output for forwarding the processed and / or evaluated information.
- the processor device comprises at least one processor.
- a “storage device” is used to hold ready a computer program for the processor device that is necessary to carry out one of the described methods.
- the computer device is set up to determine a control variable for controlling a physical actuator, in particular a control variable for controlling the belt grinding machine, and / or a control variable for controlling an output device, and / or a function, using the determined status information respectively.
- the physical actuator can be implemented as an automatic goods storage system, by means of which the required sanding belts, sanding shoes or the like are automatically output.
- a function can be implemented, for example, by changing the system settings or process settings of the belt grinding machine depending on the status information determined.
- a belt grinder comprising a grinding belt for grinding processing of a workpiece
- the at least one sound sensor for acquiring and providing measurement data for performing one of the methods according to the invention.
- the at least one sound sensor in particular an airborne sound sensor and / or a structure-borne sound sensor and / or a vibration sensor, is arranged on or in a grinding shoe of the belt grinding machine.
- a sanding shoe typically consists of a carrier device and a sanding shoe covering, the sanding shoe covering typically being pushed into the carrier device or on / in it in some other way. tig is arranged.
- the sanding pad and the sanding pad are provided to support a sanding belt moving in the direction of rotation of the belt relative to the sanding pad with low friction and at the same time to press it against the workpiece (or to act as a resistance against a workpiece pressed against the sanding pad).
- the at least one sound sensor is preferably arranged or integrated on or in the carrier device of the grinding shoe. Alternatively or additionally, the at least one sound sensor is arranged on or in the grinding shoe covering. In this way it can be realized that the sound sensor is located particularly close to the location of the grinding process and measurement data can be recorded particularly effectively and, in particular, with little interference.
- the at least one sound sensor is essentially centrally located on the grinding shoe and / or in the belt grinding machine, based on a width of the grinding belt perpendicular to the direction of belt circulation and / or based on a width of the grinding shoe perpendicular to the direction of belt rotation. In this way, it can be realized that particularly good signal acquisition is possible within the belt grinding machine.
- a plurality of sound sensors can be distributed over a width of the grinding belt and / or over a width of the grinding shoe and / or distributed over a width of the grinding shoe on the grinding shoe and / or in the belt grinding machine.
- the at least one sound sensor in particular a further sound sensor, in particular an airborne sound sensor and / or a structure-borne sound sensor and / or a vibration sensor, is arranged assigned to a roller of the belt grinding machine.
- a roller can be selected as a contact roller, deflection roller, tension roller, drive roller or the like. “Allocated” to the roller means that the sound sensor is located in or on or directly on the roller.
- the at least one sound sensor can be arranged on a roller suspension of a roller of the belt grinding machine.
- the at least one sound sensor can also be implemented integrated into a roller.
- the sound sensor is arranged particularly close to the place where the grinding belt feed is generated Measurement data can be recorded particularly effectively and in particular with little interference.
- status information can be determined particularly reliably, which characterizes a property of the belt grinding machine and / or a property of the grinding process.
- At least two sound sensors are arranged on both sides - based on a width of the grinding belt and / or based on a width of the grinding shoe - on the grinding shoe and / or in the belt grinding machine and / or a roller.
- an arrangement of two sound sensors on both sides, in particular on a roller has proven advantageous with regard to signal detection in the belt grinding machine.
- the at least one sound sensor in particular using a gateway, is or can be connected to the computer device, in particular the control device of the belt grinder and / or to a computer device external to the belt grinder.
- the connection can be wired or wireless.
- the connection can be realized using an Ethernet connection, a fiber optic connection, an Internet connection, a radio connection or a direct connection.
- the sound sensor is also connected or can be connected to other signaling components of the belt grinding machine via the gateway, for example to further sensors.
- the sound sensor is implemented by a MEMS microphone sensor and / or by a piezo sensor and / or by a laser microphone sensor.
- a sanding shoe for use in a belt sanding machine comprising at least one sound sensor, in particular an airborne sound sensor and / or a structure-borne sound sensor and / or a vibration sensor, for providing measurement data for performing one of the proposed methods.
- the at least one sound sensor is arranged in particular in a carrier device of the grinding shoe.
- the at least one sound sensor can be arranged essentially centrally with respect to a width of the sanding shoe (ie perpendicular to the direction of rotation of the sanding belt).
- a plurality of sound sensors can be distributed over a width of the grinding shoe on or in the grinding shoe.
- a frequency range of a sound sensor disclosed in connection with the method for determining status information can be transmitted directly to a sound sensor which operates in the corresponding frequency range.
- Figure 1 is a schematic representation of an embodiment of a belt grinding machine in sectional view
- Figure 2 is a schematic representation of an embodiment of a
- Sanding shoe including sanding belt in perspective view
- Figure 3 is a schematic representation of an embodiment of a new ronal network
- FIG. 4 shows a schematic representation of an embodiment of a method for teaching a machine learning system
- FIG. 5 shows a schematic representation of an embodiment of a method for determining status information.
- Figure 1 shows a schematic representation of an embodiment of a belt grinding machine 10 with a grinding shoe 12 in section.
- a workpiece 14 is ground on a grinding table 16 under a rotating grinding belt 18 during a grinding process.
- the sanding belt 18 is driven by three rollers 20, here drive rollers, in a direction of belt rotation 22 and is pressed against the workpiece 14 by the sanding shoe 12.
- FIG. 2 shows the grinding shoe 12 in an enlarged perspective view.
- the sanding shoe 12 comprises a carrier device 26 and a sanding shoe covering 28.
- the sanding shoe covering 28 has a lining carrier 30 made of MDF (alternatively also plastic or cardboard or fiber or metallic materials), to which a cushion layer is glued as a support layer 32 made of solid foam.
- Glued to the support lining 32 is a sliding lining 34 made from a graphite-coated fabric.
- the carrier device 26 is hen with recesses 36 verses, in which the lining carrier 30 of the sanding shoe lining 28 in an insertion direction 38 can be inserted.
- the lining carrier 30 has a dovetail-shaped cross-sectional profile corresponding to the recesses 36.
- the lining carrier 30 has an elongated shape with a length of 3000 mm in the insertion direction 38, the length here extending in the direction of the width 40 of the grinding belt 18.
- the width of the lining carrier 30 perpendicular to the insertion direction 38 and perpendicular to the pressing direction 42 has a width of 75 mm.
- the belt grinding machine 10 comprises four sound sensors 44, of which three body sound sensors 44a, b, c (sound sensor 44c is located on the rear side in FIG. 1 and is therefore not separately visible) and an airborne sound sensor 44d for recording and providing measurement data relating to the Belt grinding machine 10.
- the measurement data recorded by the sound sensors 44 are sound measurement data.
- a first structure-borne noise sensor 44a is screwed to a surface 46 of the carrier device 26 of the sanding pad 12 facing the sanding belt 18 in the center with respect to the width 40 of the sanding belt 18 and detects structure-borne noise there that is transmitted through the sanding pad 12. In this way, the first structure-borne noise sensor 44a is arranged in the immediate vicinity of the grinding belt 18.
- a second structure-borne sound sensor 44b and a third structure-borne sound sensor 44c are screwed on both sides of a roller 20 of the belt grinder 10 (see FIG. 1), so that the two structure-borne sound sensors 44b, c are arranged on both sides of the width 40 of the grinding belt 18 on the roller 20 .
- the structure-borne sound sensors 44a, b, c are implemented as structure-borne sound sensors from Dittel / Marposs (“AE-Sensor-S”), which detect sound signals in a frequency range of 250-300 kHz.
- the air sound sensor 44d is arranged in the center of the belt grinder 10, here attached to a frame element of the belt grinder 10, not shown in detail.
- the airborne sound sensor 44d is obtained here, for example, from Mars Sensor and is a silicon MEMS microphone sensor.
- the detected frequency range is 55 Hz to 20 kHz.
- a voice analyzer serves to filter out voice components in the measurement data provided by the airborne sound sensor 44d.
- further sensors 50 are provided in the belt grinding machine, which are used to acquire additional measurement data relating to the belt grinding machine 10.
- the further sensors 50 include a sensor, not shown here, for power consumption and two thermal image sensors 52, which are each aligned with the inner side of the circumferential grinding belt 18.
- a thermal image sensor 52 is located in front of the sanding shoe 12, seen in the belt circulation direction 22, a thermal image sensor 52 behind the sanding shoe 12.
- the sound sensors 44 and the other sensors 50 are using a gateway 48 with a control device 54 of the belt grinding machine 10 and further with an external Com puter device 56 connected.
- the connection is wireless, like through small radio symbols (three lines) indicated.
- measurement data are recorded and forwarded to the control device 54, where they are stored in a storage device not shown here. They can be called up selectively and selectively from the storage device during the execution of the method for determining status information by the computer device 56 executing the method.
- the computer device 56 provided for executing the method for determining status information be relevant to the belt grinding machine 10 is implemented as a server separate from the belt grinding machine 10. In a further exemplary embodiment, the computer device 56 can also be integrated in the control device 54 of the belt grinding machine 10 or implemented by this. The computer device 56 serves to determine status information relating to the belt grinding machine 10. To this end, the computer device 56 executes a computer-implemented method (compare FIG. 5), which comprises the method steps of providing measurement data relating to the belt grinding machine 10 and determining the status information from the measurement data provided by means of a machine learning system 58. In this exemplary embodiment, the method makes it possible to determine status information that can be selected or predefined by a user of the belt grinding machine 10, cf. FIG. 5.
- the user can select a desired item of status information by means of an input device that can be connected to the computer device 56 - implemented here as input and output device 60 of the belt grinding machine 10. He can choose between nine items of status information, each of which relates to different aspects and properties of the belt grinding machine 10, the grinding belt 18 used and / or the grinding process.
- the input and output device 60 the user can view or query the result of the evaluation, ie the ascertained status information.
- the computer device 56 is connected or can be connected to the control device 54 of the belt grinding machine 10 via a data communication device (radio link) in such a way that a control variable determined using the status information for controlling a physical actuator (here for example a drive motor of one of the rollers 20) the control device 54 can be output and thus directly into a Activity on the belt grinder 10 can be implemented.
- a control variable determined using the status information for controlling a physical actuator here for example a drive motor of one of the rollers 20
- the control device 54 can be output and thus directly into a Activity on the belt grinder 10 can be implemented.
- the belt grinding machine 10 can be controlled at least partially based on the determined state information.
- information can be output to a user at least partially based on the ascertained status information by means of the input and output device 60 of the belt grinding machine 10.
- computer device 56 When executing method 200 for determining status information relating to a belt grinding machine 10, computer device 56 implements a machine learning system 58 which is set up to determine the status information based on the measurement data provided.
- the sound sensors 44 and the further sensors 50 are connected or can be connected to the computer device 56 for signaling purposes.
- the measurement data provided are provided to the machine learning system 58 as input variables.
- the machine learning system 58 determines an output variable, in particular the corresponding status information relating to the belt grinding machine 10 (as explained above, the term belt grinding machine 10 here also includes the components of the belt grinding machine 10 contained during a grinding process, in particular grinding belt 18, workpiece 14, a).
- FIG. 3 shows a schematic representation of the machine learning system 58, which in this exemplary embodiment is provided by a neural network 58a.
- the neural network 58a comprises a plurality of layers 62 which are each linked to one another by means of connections 64 and which each comprise a plurality of neurons 66. At least measurement data is provided to the neural network 58a as an input variable 68, the measurement data then being propagated through the neural network 58a.
- the neural network 58a determines an output variable 70 in layers depending on the input variable 68. For this purpose, each layer 62 determines an output variable 70 depending on the input variable 68 provided to it and depending on the parameters of this layer. The output variable 70 is then transmitted through the connections 64 to the further layers 62 forwarded.
- FIG. 4 shows a method diagram of an exemplary embodiment of the computer-implemented method 100 for processor-supported training of the machine learning system 58, in particular of the neural network 58a.
- the method 100 is carried out by a training system (not shown in detail here) which the machine learning system 58 learns.
- training data are provided to the machine learning system 58.
- the training data include training input data and training output data, the training input data comprising measurement data relating to a belt grinding machine 10 for a variety of status information items and the training output data each comprising at least one associated status information item relating to the belt grinding machine 10.
- the training input data are measurement data from the sound sensors 44 and the further sensors 50.
- the training output data relate to nine status information items, each of which has different properties of the belt grinding machine 10, the grinding belt 18 used, a workpiece 14 and / or the grinding process relate to: a property that characterizes a workpiece 14 to be machined; a property that characterizes manufacturing defects on workpiece 14; a property which characterizes an operating mode or operating parameters of the belt grinder 10; a property which characterizes incorrect settings of the belt grinder 10; a property that characterizes a load distribution of the belt grinder 10; a property which characterizes a degree of wear and tear of the belt grinding machine 10; a property which characterizes a grinding belt 18 used in the belt grinding machine 10; a property that characterizes a setting and / or blunting of the grinding belt 18; a property that characterizes a defect in the grinding belt 18.
- the machine learning system 58 in particular the neural network 58a, is trained.
- the parameters of the respective layers 62 are adapted in such a way that the machine learning system 58 determines the respectively assigned training output data as a function of the training input data provided.
- the machine learning system 58 can be taught using a difference function (cost function), which in particular characterizes a difference between the calculated output variables 70 and the training output data, wherein the difference function is optimized with respect to the parameters by means of a gradient descent method.
- a gradient descent method is known to the person skilled in the art from the prior art.
- a further method step 108 (shown here with dashed lines) can follow, in which the machine learning system 58 is learned and thus refined using further measurement data and status information relating to a belt grinding machine 10.
- the further measurement data can relate to a different belt grinding machine 10, the belt grinding machine 10 being different in type from the belt grinding machine 10.
- FIG. 5 shows a method 200 for determining status information relating to a belt grinding machine 10.
- the method 200 is carried out by the computer device 56.
- the computer device 56 is provided with measurement data relating to the belt grinding machine 10 using the sound sensors 44 and the further sensors 50.
- the provision can be further subdivided into method steps 202a - measuring the measurement data, 202b - temporarily storing the measurement data (for example in the storage device of the belt grinder 10) and 202c - selective retrieval of the measurement data from the storage device by the computer device 56 state information is determined from the measurement data by means of the machine learning system 58, in particular by means of the neural network 58a, depending on the measurement data provided or retrieved.
- the status information relates to the belt grinding machine 10 (and / or the grinding belt 18 and / or the workpiece 14 and / or the grinding process).
- the method in this exemplary embodiment allows status information that can be selected or predefined by a user of the belt grinding machine to be determined.
- the user can select one of the desired status information using the input and output device 60 of the belt grinding machine 10, which can be connected to the computer device 56 (the method step of the selection is here implicitly contained in method step 202c - selective retrieval of the measurement data).
- the result of the evaluation ie information based at least partially on the ascertained status information, is then output to the user by means of the input and output device 60.
- the computer device 56 can output a control variable to the control device 54 of the belt grinding machine 10. The control variable is based at least partially on the status information determined.
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Abstract
Description
Claims
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DE102019207746.3A DE102019207746A1 (en) | 2019-05-27 | 2019-05-27 | Method for determining status information relating to a belt grinding machine by means of a machine learning system |
PCT/EP2020/062997 WO2020239412A1 (en) | 2019-05-27 | 2020-05-11 | Method for determining state information relating to a belt grinder by means of a machine learning system |
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EP (1) | EP3976315A1 (en) |
CN (1) | CN113841163A (en) |
DE (1) | DE102019207746A1 (en) |
WO (1) | WO2020239412A1 (en) |
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WO2022232290A1 (en) * | 2021-04-30 | 2022-11-03 | Applied Materials, Inc. | Monitor chemical mechanical polishing process using machine learning based processing of heat images |
CN113290429B (en) * | 2021-06-25 | 2022-03-29 | 湘潭大学 | Industrial robot compliant force control grinding method based on machine learning |
IT202100022463A1 (en) * | 2021-08-27 | 2023-02-27 | Biesse Spa | METHOD FOR CHECKING THE PROCESSING OF PANELS OF SUBSTANTIALLY PARALLELEPIPED SHAPE AND MACHINE FOR PROCESSING OF PANELS OF SUBSTANTIALLY PARALLELEPIPED SHAPE, IN PARTICULAR SANDING MACHINE FOR SANDING/GLOSSY OF PANELS OF WOOD, METAL, OR SIMILAR |
CN114083358B (en) * | 2022-01-19 | 2022-04-12 | 河北工业大学 | Industrial robot polishing process optimization method |
CN117067042B (en) * | 2023-10-17 | 2024-01-30 | 杭州泓芯微半导体有限公司 | Grinder and control method thereof |
Family Cites Families (14)
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US4590573A (en) * | 1982-09-17 | 1986-05-20 | Robert Hahn | Computer-controlled grinding machine |
KR920002268A (en) * | 1990-07-17 | 1992-02-28 | 유끼노리 가까즈 | Intelligent Processing Equipment |
EP0684107A3 (en) * | 1994-05-24 | 1996-04-10 | Timesavers Inc | Automatically securable travel limiting stops for pressure shoes used in an abrasive finishing machine. |
DE19833881C1 (en) * | 1998-07-28 | 1999-10-21 | Juergen Heesemann | Belt grinding machine with endless grinding band running over deflector rollers |
WO2000059678A1 (en) * | 1999-04-06 | 2000-10-12 | Siemens Aktiengesellschaft | Method and device for grinding a rolled metal band |
US6290573B1 (en) * | 1999-08-23 | 2001-09-18 | Komag, Incorporated | Tape burnish with monitoring device |
DE102005050577A1 (en) * | 2005-10-21 | 2007-05-03 | Robert Bosch Gmbh | Neuronal network testing method for person motor vehicle, involves outputting positive overall-test signal after each test signal-combination is created, where no partial-signal is stored for given set of test signal-combinations |
EP2390054A1 (en) | 2010-05-27 | 2011-11-30 | sia Abrasives Industries AG | Skate lining holder with recesses |
JP6114421B1 (en) * | 2016-02-19 | 2017-04-12 | ファナック株式会社 | Machine learning device, industrial machine cell, manufacturing system and machine learning method for learning work sharing of a plurality of industrial machines |
GB201614685D0 (en) * | 2016-08-31 | 2016-10-12 | Rolls Royce Plc | Method and apparatus for monitoring abrasive machining |
DE102016116622A1 (en) * | 2016-09-06 | 2018-03-08 | Steinemann Technology Ag | Method for monitoring a grinding process |
DE202017105160U1 (en) * | 2017-05-18 | 2018-08-22 | Steinemann Technology Ag | Belt grinding device for monitoring an abrasive belt |
DE102017208498A1 (en) * | 2017-05-19 | 2018-12-06 | Homag Bohrsysteme Gmbh | Method for determining a state of an abrasive and grinding device |
CN109410208A (en) * | 2018-11-14 | 2019-03-01 | 成都极致智造科技有限公司 | The machine learning identification of Wear Mechanism of Abrasive Belt and process parameter optimizing method |
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2020
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- 2020-05-11 EP EP20727934.0A patent/EP3976315A1/en active Pending
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DE102019207746A1 (en) | 2020-12-03 |
CN113841163A (en) | 2021-12-24 |
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