BR112018011827A2 - doca autônoma - Google Patents
doca autônomaInfo
- Publication number
- BR112018011827A2 BR112018011827A2 BR112018011827A BR112018011827A BR112018011827A2 BR 112018011827 A2 BR112018011827 A2 BR 112018011827A2 BR 112018011827 A BR112018011827 A BR 112018011827A BR 112018011827 A BR112018011827 A BR 112018011827A BR 112018011827 A2 BR112018011827 A2 BR 112018011827A2
- Authority
- BR
- Brazil
- Prior art keywords
- vehicle speed
- standalone
- detected
- clutch
- commanded
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
- B60D1/015—Fifth wheel couplings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
- B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
- B60W2710/1005—Transmission ratio engaged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
- B60Y2200/147—Trailers, e.g. full trailers or caravans
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Business, Economics & Management (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
trata-se de um sistema de doca autônima para um veículo que compreende um sistema de controle com instruções que compreendem etapas para receber uma solicitação para implantar uma rotina de doca autônoma. uma velocidade de veículo e uma posição de embreagem são calculada. um controlador de posição de embreagem é comandado a manter a posição de embreagem calculada. uma quantidade de toque real é iterativamente detectada como transferida através da embreagem. um mecanismo de controle de velocidade de veículo é comandado a manter a velocidade de veículo calculada, e a velocidade de veículo real é iterativamente detectada. quando a comparação da velocidade de veículo comandada à velocidade de veículo real detectada indicar que a velocidade de veículo real detectada está abaixo de um limite de velocidade e quando a quantidade de torque real transferida através da embreagem exceder um limite de torque, o sistema de controle comanda um aumento em velocidade de veículo.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562266220P | 2015-12-11 | 2015-12-11 | |
US62/266,220 | 2015-12-11 | ||
PCT/US2016/066027 WO2017100716A1 (en) | 2015-12-11 | 2016-12-09 | Autonomous dock |
Publications (2)
Publication Number | Publication Date |
---|---|
BR112018011827A2 true BR112018011827A2 (pt) | 2018-12-04 |
BR112018011827B1 BR112018011827B1 (pt) | 2022-08-09 |
Family
ID=59013650
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112018011827-3A BR112018011827B1 (pt) | 2015-12-11 | 2016-12-09 | Sistema de doca autônoma e sistema de doca autônoma para um veículo |
Country Status (4)
Country | Link |
---|---|
US (2) | US11014416B2 (pt) |
CN (2) | CN114715112A (pt) |
BR (1) | BR112018011827B1 (pt) |
WO (1) | WO2017100716A1 (pt) |
Families Citing this family (35)
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NL2015843B1 (en) * | 2015-11-23 | 2017-06-07 | Daf Trucks Nv | Auto docking method for application in heavy trucks. |
US11225824B2 (en) | 2016-05-03 | 2022-01-18 | Assa Abloy Entrance Systems Ab | Control systems for operation of loading dock equipment, and associated methods of manufacture and use |
US11305953B2 (en) | 2016-05-03 | 2022-04-19 | Assa Abloy Entrance Systems Ab | Control systems for operation of loading dock equipment, and associated methods of manufacture and use |
US10857896B2 (en) * | 2017-06-14 | 2020-12-08 | Samuel Rutt Bridges | Roadway transportation system |
US11048251B2 (en) | 2017-08-16 | 2021-06-29 | Uatc, Llc | Configuring motion planning for a self-driving tractor unit |
US20190064828A1 (en) * | 2017-08-29 | 2019-02-28 | Walmart Apollo, Llc | Autonomous yard vehicle system |
US11256264B2 (en) * | 2017-08-30 | 2022-02-22 | Assa Abloy Entrance Systems Ab | Vehicle guidance systems and associated methods of use at logistics yards and other locations |
DE102017119970B4 (de) * | 2017-08-31 | 2020-12-17 | Saf-Holland Gmbh | Anhänger mit einer montierten Anhänger-Steuervorrichtung und System zum Auffinden eines Anhängers |
DE102017119969B4 (de) * | 2017-08-31 | 2023-01-05 | Saf-Holland Gmbh | Anhänger mit einer Anhänger-Steuervorrichtung, Ankupplungssystem und Verfahren zur Durchführung eines Kupplungsprozesses |
FR3072334B1 (fr) * | 2017-10-16 | 2019-11-01 | Innovaction Technologies | Systeme et procede de commande d'un vehicule automobile muni d'au moins une couverture amovible. |
DE102018103537B4 (de) * | 2018-02-16 | 2022-11-10 | Saf-Holland Gmbh | Mobile Sensorvorrichtung für einen Anhänger, Anordnung von mobilen Sensorvorrichtungen an einem Sattelauflieger, Verfahren zum Erfassen von Informationen für einen Sattelzug, Zentraleinrichtung und Sattelzugmaschine |
US11707955B2 (en) | 2018-02-21 | 2023-07-25 | Outrider Technologies, Inc. | Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby |
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AU2018425455A1 (en) * | 2018-06-01 | 2020-12-24 | Paccar Inc | Autonomous detection of and backing to trailer kingpin |
WO2019231473A1 (en) | 2018-06-01 | 2019-12-05 | Paccar Inc | Systems and methods for automatically updating a model of vehicle turning dynamics |
CN110171416B (zh) * | 2018-09-28 | 2021-11-12 | 腾讯科技(深圳)有限公司 | 车辆行驶控制方法、装置、计算机可读介质及电子设备 |
US11858491B2 (en) | 2018-10-30 | 2024-01-02 | Outrider Technologies, Inc. | System and method for controlling braking functions in an autonomous vehicle |
US10494205B1 (en) | 2018-12-06 | 2019-12-03 | Assa Abloy Entrance Systems Ab | Remote loading dock authorization systems and methods |
US11142413B2 (en) | 2019-01-28 | 2021-10-12 | Assa Abloy Entrance Systems Ab | Systems and methods for automated loading and unloading at a dock station |
EP3918432A2 (en) * | 2019-01-30 | 2021-12-08 | ASSA ABLOY Entrance Systems AB | Dock leveler and apparatus, methods, computer program product, safety arrangement and control unit therefor |
US11669098B2 (en) * | 2019-02-07 | 2023-06-06 | GM Global Technology Operations LLC | Method and apparatus for longitudinal motion control of a vehicle |
JP7132866B2 (ja) * | 2019-02-15 | 2022-09-07 | 株式会社豊田中央研究所 | 軌道生成装置 |
KR102603040B1 (ko) * | 2019-05-07 | 2023-11-15 | 현대자동차주식회사 | 차량의 발진 제어방법 |
US11262747B2 (en) | 2019-06-11 | 2022-03-01 | Assa Abloy Entrance Systems Ab | Vehicle identification and guidance systems and associated methods |
US11370507B2 (en) * | 2019-06-29 | 2022-06-28 | Chun-Jong Chang | Continuously variable reciprocating prime mover and vehicle comprising the same |
JP7367603B2 (ja) * | 2020-04-27 | 2023-10-24 | トヨタ自動車株式会社 | 制御装置、情報処理装置、および情報処理方法 |
KR20220060594A (ko) * | 2020-11-04 | 2022-05-12 | 현대자동차주식회사 | 자율주행 차량용 통합조작장치 |
DE102021101787A1 (de) | 2021-01-27 | 2022-07-28 | Zf Cv Systems Global Gmbh | Verfahren zum Annähern eines Fahrzeuges an eine Laderampe, Steuereinrichtung sowie Fahrzeug |
WO2022173457A1 (en) * | 2021-02-10 | 2022-08-18 | Stoneridge Electronics Ab | Camera assisted docking system for commercial shipping assets in a dynamic information discovery protocol environment |
CN113079827B (zh) * | 2021-03-03 | 2022-07-01 | 重庆家户农机有限公司 | 一种小型收割机换向操控机构 |
DE102021110564A1 (de) * | 2021-04-26 | 2022-10-27 | Zf Cv Systems Global Gmbh | Verfahren und Vorrichtung zum assistierten oder automatischen Ankoppeln eines Anhängerfahrzeuges an ein Zugfahrzeug sowie Zugfahrzeug, elektronische Verarbeitungseinheit und Computerprogramm |
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EP4359878A2 (en) * | 2021-06-23 | 2024-05-01 | Outrider Technologies, Inc. | Motor stall and trailer lift |
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US10081504B2 (en) * | 2014-05-02 | 2018-09-25 | Assa Abloy Entrance Systems Ab | Systems and methods for automatically controlling loading dock equipment |
CN105082910B (zh) * | 2014-05-07 | 2018-01-26 | 通用汽车环球科技运作有限责任公司 | 辅助将运载工具联接至拖车的系统和方法 |
NL2015843B1 (en) * | 2015-11-23 | 2017-06-07 | Daf Trucks Nv | Auto docking method for application in heavy trucks. |
US11256264B2 (en) * | 2017-08-30 | 2022-02-22 | Assa Abloy Entrance Systems Ab | Vehicle guidance systems and associated methods of use at logistics yards and other locations |
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2016
- 2016-12-09 US US16/061,332 patent/US11014416B2/en active Active
- 2016-12-09 CN CN202210386484.2A patent/CN114715112A/zh active Pending
- 2016-12-09 BR BR112018011827-3A patent/BR112018011827B1/pt active IP Right Grant
- 2016-12-09 WO PCT/US2016/066027 patent/WO2017100716A1/en active Application Filing
- 2016-12-09 CN CN201680079815.0A patent/CN108473012B/zh active Active
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2021
- 2021-05-24 US US17/327,956 patent/US11691467B2/en active Active
Also Published As
Publication number | Publication date |
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US11691467B2 (en) | 2023-07-04 |
US20210276379A1 (en) | 2021-09-09 |
CN108473012A (zh) | 2018-08-31 |
US11014416B2 (en) | 2021-05-25 |
CN114715112A (zh) | 2022-07-08 |
US20190039425A1 (en) | 2019-02-07 |
CN108473012B (zh) | 2022-05-03 |
WO2017100716A1 (en) | 2017-06-15 |
BR112018011827B1 (pt) | 2022-08-09 |
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