CN111615474B - Method for operating a scraping system and scraping system - Google Patents
Method for operating a scraping system and scraping system Download PDFInfo
- Publication number
- CN111615474B CN111615474B CN201880082818.9A CN201880082818A CN111615474B CN 111615474 B CN111615474 B CN 111615474B CN 201880082818 A CN201880082818 A CN 201880082818A CN 111615474 B CN111615474 B CN 111615474B
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- Prior art keywords
- frequency
- scraping
- wiping
- vehicle speed
- speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0896—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to a vehicle driving condition, e.g. speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Control Of Direct Current Motors (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a method for operating a wiping system (100) for cleaning a vehicle window (1), wherein the wiping system (100) has a wiper blade (13, 14) which is moved along the vehicle window (1) at least indirectly by means of a wiper motor (20) between two reversal points (UT, OT), wherein the movement between the two reversal points (UT, OT) forms a wiping cycle, and wherein the number of wiping cycles during a predetermined period of time defines a wiping frequency (f). According to the invention, it is provided that, based on the vehicle speed (v), the vehicle speed is determined according to a predetermined function (g 1 、g 2 、g 3 、g 4 ) The scraping frequency (f) is changed from the first scraping frequency (f 1 ) Changing to a second scraping frequency (f 2 )。
Description
Technical Field
The present invention relates to a method for operating a scraping system. Furthermore, the invention relates to a scraping system for performing the method according to the invention.
Background
Methods for operating a wiping system are already known from practice. This known method is used for cleaning vehicle front windows, wherein a commonly used window wiper drive has three speed steps, which are individually triggered by the driver as a function of the wetting of the vehicle window by water. Typically, the three states include a space state and two scraping stages, each with a different speed. The different wiping stages are characterized in that the window wipers that are moved back and forth between the two reversal points are usually swept differently over the window in a defined period of time, that is to say have different wiping frequencies. For this purpose, for example, provision is made for the window wiper motor to be assigned a higher rotational speed in the wiping stage with a higher wiping frequency than in the wiping stage with a lower wiping frequency.
The area of the vehicle front window of the current vehicle is frequently optimized not only in view of the lowest possible fuel consumption, but also in view of the driving safety. For this purpose, it is important or desirable that the precipitation falling onto the vehicle in the region of the front window during travel does not pass beyond the a-pillar laterally into the region of the side window, but rather should flow onto the roof or away in the direction of the front hood. Thus, the a-pillars of today's vehicles are often designed with strip-like flow guiding elements for water in order to prevent overflow from the front window in the direction of the side window. It has been found that, depending on the vehicle, in a wiping stage, i.e. at a wiping frequency, the window wiper moves between the reversal points at this wiping frequency, water can accumulate in the region of the a-pillar within the height of the vehicle front window in the event of a uniform rain level but an increased speed of travel. This critical speed range is characterized in that water can no longer flow away in the direction of the hood due to air resistance, but on the other hand the forces exerted by the air resistance or the incoming flow on the water located in the a-pillar region are still insufficient to cause the water to flow onto the roof and be guided away from the a-pillar region. This results in water from the a-pillar area into the driver's view in the front window area, especially during a reverse movement of the window wiper from the a-pillar (that is, in a direction from the upper reversal point to the lower reversal point). For example, the driver can only address this possibly safety-relevant state by selecting a higher wiper speed or wiping frequency. However, this is associated with additional effort on the part of the driver.
Disclosure of Invention
The method according to the invention for operating a wiping system has the advantage that the aforementioned visual disturbances (in particular in critical vehicle speed ranges) can be at least reduced, and generally completely avoided in the corresponding application, even without manual intervention by the driver. To this end, the invention proposes to change the wiping frequency of the wiper blade for cleaning the window from a first value to a second value according to a predetermined function, based on the vehicle speed.
In other words, this means that the scraping frequency will (automatically) vary depending on the speed. For this reason, no corresponding manual intervention by the driver is required. Instead, by taking into account the vehicle speed of the control device fed as an input variable to the wiper drive accordingly, the respective wiping frequency is selected and set as a function dependent on the speed.
Advantageous refinements of the method according to the invention for operating a wiping system for cleaning vehicle windows are given in the dependent claims. The scope of the invention encompasses all combinations of at least two of the features disclosed in the claims, the description and/or the drawings.
In view of the facts stated in the "prior art" section, it is provided in particular that the scraping frequency has a first value until a first vehicle speed is reached, wherein the first vehicle speed is preferably between 60km/h and 80 km/h.
It may also be provided that starting from a first scraping frequency at a first vehicle speed, the scraping frequency is increased to a second scraping frequency when increasing to a second vehicle speed, wherein the first vehicle speed is preferably between 60km/h and 80km/h and/or the second vehicle speed is between 70km/h and 120 km/h.
In the development of the previous proposal, it is provided that after reaching the second scraping frequency, the scraping frequency is again reduced if the vehicle speed (v) increases further beyond the second vehicle speed.
Another variant of the method provides that the scraping frequency is reduced from the second scraping frequency to a third scraping frequency if the speed increases from the second vehicle speed to the third vehicle speed, wherein the third vehicle speed is preferably between 80km/h and 140 km/h. This takes into account the following facts: from a certain speed, the water accumulated in the area of the a-pillar is guided away by the increased travel or air resistance to the roof and thus no longer causes visual disturbances in the area of the front window of the vehicle.
It may also be provided that after the third scraping frequency is reached, the scraping frequency is kept constant if the vehicle speed is higher than the third vehicle speed.
Since the visual impairment effects in question are often effects that increase continuously or linearly with the speed of travel, it is also provided that the scraping frequency is continuously variable in the case of changes. This also enables, in particular, a relatively low mechanical load on the wiping system and a relatively simple actuation of the wiper motor, the rotational speed of which increases continuously (i.e. not in stages) for example with increasing speed.
It is very particularly preferred here if the scraping frequency varies on the basis of a linear function. The linear function here not only relates to an increase in the scraping frequency up to a certain vehicle speed, but also to a decrease in the scraping frequency to the original value with a further increase in the driving speed.
The method according to the invention described so far can be implemented in a particularly simple manner by changing the scraping frequency by changing the rotational speed of the wiper motor. For this purpose, it is only necessary that the wiper motor has a corresponding rotational speed regulator, which enables a continuous change in the rotational speed of the wiper motor.
Another particularly preferred method provides for the scraping frequency to be additionally varied as a function of the amount of water detected by the rain sensor on the vehicle window. Thereby enabling a further optimization of the suitability of the scraping operation upon a change of the environmental conditions.
The invention also includes a scraping system designed to operate according to the method of the invention. The scraping system is characterized in that: at least one wiper blade movable along the window between two reversal points at a predetermined wiping frequency at least indirectly by means of a wiper motor; and a control device for changing the scraping frequency in accordance with the speed.
Particularly preferred are window wiping systems in which the control device is designed to vary the rotational speed of the wiper motor in order to thereby adapt the wiping frequency to the speed.
Drawings
Further advantages, features and details of the invention emerge from the following description of a preferred embodiment and from the drawing. Wherein:
figure 1 shows a simplified illustration of a wiping system for cleaning a front window of a vehicle,
FIG. 2 shows a schematic diagram for illustrating a speed-dependent variation of the wiping frequency of a wiper blade moving along a front window of a vehicle, and
fig. 3 shows by way of example, in the form of a diagram of fig. 2, other possible speed-dependent adaptations of the scraping frequency.
Detailed Description
In the drawings, the same elements or elements having the same function are provided with the same reference numerals.
Fig. 1 shows in highly simplified form a wiping system 100 for cleaning a vehicle window 1 in the form of a vehicle front window. The window 1 is delimited laterally by two a-pillars 2, 3, which are designed in particular such that water or rainwater located on the window 1 does not flow into the region of the vehicle side window shown in fig. 1, and may cause a visual impairment to the driver, but rather can flow away in the direction of the lower edge 4 of the window 1 or onto the roof, which is also not shown, in the direction of the upper edge 5 of the window 1. For this purpose, the a-pillars 2, 3 are, for example, designed in the form of deflector strips or the like in the direction of the vehicle window 1.
The wiping system 100 illustratively comprises two window wipers 11, 12, each having a wiper blade 13, 14, respectively. The window wipers 11, 12 or their wiper arms are connected to a wiper motor 20 via a wiper link 18, which is only schematically shown. The wiper motor 20 or its drive shaft is designed to rotate at a rotational speed n. By coupling with the wiper link 18, rotation of the drive shaft of the wiper motor 20 causes the two window wipers 11, 12 or their wiper blades 13, 14 to move back and forth between the two reversal points UT and OT in a manner known per se. This constitutes a scraping cycle. Here, the wiping frequency f, and thus the number of wiping cycles, of the two wiper blades 13, 14 moving back and forth along the vehicle window 1 per unit time depends on the rotational speed n of the wiper motor 20; in particular, there is the following ratio relation: in the case of doubling of the rotational speed n of the wiper motor 20, the wiping frequency f is likewise doubled.
Additionally, a rain sensor 22 is optionally located in the region of the upper edge 5 of the vehicle window 1 and is designed to detect the water quantity Q in the region of its detection field, not shown, on the region of the vehicle window 1. The detected water quantity Q is supplied as an input variable to the control device 50 of the scraping system 100. Likewise, the vehicle speed v detected by means of a sensor not shown or otherwise (for example, via the wheel revolutions) is supplied as an input variable to the control device 50. The control device 50 is designed to control the wiper motor 20, in particular to influence its rotational speed n.
Fig. 2 shows the control of the wiper motor 20 by means of the control device 50 and thus its rotational speed n and the associated wiping frequency f relative to the vehicle speed v. In particular, it can be seen that up to a determined vehicle speed v 1 (e.g., 50 km/h), curve g of scratch frequency f 1 Are all constant and f 1 . From vehicle speed v 1 The scraping frequency f increases linearly up to a vehicle speed v of, for example, 75km/h 2 The value f is as follows 2 . The scraping frequency f is at the vehicle speed v 2 Reaching its maximum value. At a further increase of the vehicle speed v, at a vehicle speed of for example 100km/h 3 Curve g 1 Is reduced to the original scraping frequency f 1 . From vehicle speed v 3 The scratch frequency f remains constant.
By a speed-dependent actuation of the wiper motor 20, which causes a linear change in the rotational speed n or the wiping frequency f of the wiper motor, in which case the window 1 is cleaned by means of the wiper blades 13, 14, the effect is achieved that, in v 1 To v 3 In a particularly critical speed range between, in particular, v 2 In the vicinity, water flowing from the a-pillars 2, 3 in the direction of the driver's field of view is returned to the area of the a-pillars 2, 3 again quickly, so that the driver's visual impairment is minimized or eliminated.
It goes without saying that the speed-dependent adaptation to the rotational speed n of the wiper motor 20 or to the wiping frequency f must be adapted to the respective vehicle type and is not limited to the curve g of the function f, which is limited in fig. 2 1 . Thus, fig. 3 shows, by way of example only, three further curves g of a speed-dependent change in the scraping frequency f 2 To g 4 . Thus, curve g 2 At two vehicle speeds v 1 And v 3 With a step-like or stepped course in which the scraping frequency f increases stepwise until the vehicle speed is at the vehicle speed v 2 At a scraping frequency f in a nearby area 2 Reaching its maximum. In contrast, curve g 3 At vehicle speed v 1 And v 3 The two are not linear, but have a curved, but continuous, curve. And curve g corresponding to FIG. 2 1 Likewise, curve g 2 And curve g 3 Both are designed in relation to the vehicle speed v 2 Mirror symmetry, although this need not necessarily be the case. Thus, curve g is additionally shown in FIG. 3 4 Therein, by way of example only, the scraping frequency f is at the vehicle speed v 1 And v 2 Is increased in a similar manner to fig. 2 in order to increase the vehicle speed v 2 Is reached at its maximum. From vehicle speed v 2 The scratch frequency f is the same as the other curve g 1 To g 3 Similarly reduced again, however not to the original value f of the scratch frequency 1 But is reduced to be at two values f 1 And f 2 A value f between 3 。
Curve g described so far 1 To g 4 The control device 50 via the rain sensor 22 modifies this in the following manner: as the detected rainwater amount Q increases, for example, the corresponding curve trend is linearly raised or shifted toward the direction of the Y axis (scraping frequency f).
The presently described scraping system 100 or its mode of operation may be altered or modified in a number of ways without departing from the concept of the invention. It is thus particularly mentioned that the lower reversal point UT in the rest position of the window wipers 11, 12 may be different from the reversal point UT during the wiping operation. If necessary, the upper reversal point OT can also be adapted in a speed-dependent manner.
List of reference numerals
1 vehicle window
2. 3A column
4. Lower edge of
5. Upper edge
11. 12 window wiper
13. 14 wiper blade
18. Wiper connecting rod
20. Wiper motor
22. Rain sensor
50. Control apparatus
100. Scraping system
n rotational speed
f、f 1 、f 2 、f 3 Scraping frequency
v、v 1 、v 2 、v 3 Vehicle speed
Q water quantity
g 1 、g 2 、g 3 、g 4 Curve
Claims (16)
1. Method for operating a wiping system (100) for cleaning a vehicle window (1), wherein the wiping system (100) has a wiper blade (2) which is moved along the vehicle window (1) at least indirectly by means of a wiper motor (10) between two reversal points (UT, OT), wherein the movement between the two reversal points (UT, OT) constitutes a wiping cycle, and wherein the number of wiping cycles during a predetermined period of time defines a wiping frequency (f), characterized in that the wiping frequency (f) is changed from a first wiping frequency (f 1) to a second wiping frequency (f 2) according to a predetermined function (g 1, g2, g3, g 4) on the basis of a vehicle speed (V); starting from a first scraping frequency (f 1) at a first vehicle speed (v 1), increasing said scraping frequency (f) to a second scraping frequency (f 2) upon increasing to a second vehicle speed (v 2),
-if the speed increases from the second vehicle speed (v 2) to the third vehicle speed (v 3), reducing said scraping frequency (f) from the second scraping frequency (f 2) to the third scraping frequency (f 3);
after reaching the third scraping frequency (f 3), if the vehicle speed (v) is higher than the third vehicle speed (v 3), the scraping frequency (f) is kept constant.
2. A method as claimed in claim 1, characterized in that the scraping frequency (f) has a first value (f 1) until the first vehicle speed (v 1) is reached.
3. A method as claimed in claim 1, wherein said third scraping frequency (f 3) corresponds to said first scraping frequency (f 1).
4. A method according to any one of claims 1 to 3, wherein the first scraping frequency (f 1) comprises at least 10 scraping cycles per minute.
5. A method according to any one of claims 1 to 3, wherein the second scraping frequency (f 2) comprises at most 55 scraping cycles per minute.
6. A method according to one of claims 1 to 3, characterized in that the scraping frequency (f) is continuously varied in the event of a variation of the vehicle speed (v).
7. A method according to one of claims 1 to 3, characterized in that the scraping frequency (f) is additionally varied as a function of the amount of water (Q) on the vehicle window (1) detected by a rain sensor (20).
8. A wiping system (100) for cleaning a vehicle window (1), wherein the wiping system (100) has: a wiper blade (2) which is movable along the vehicle window (1) at least indirectly by means of a wiper motor (10) between two reversal points (UT, OT), wherein the movement between the two reversal points (UT, OT) constitutes a wiping cycle, and wherein the number of wiping cycles during a predetermined period of time defines a wiping frequency (f); and a control device (50) for varying the scraping frequency (f) as a function of speed, wherein the scraping frequency (f) is varied by a method according to one of claims 1 to 7.
9. A scraping system as claimed in claim 8, characterized in that the control device (50) is designed to vary the rotational speed (n) of the wiper motor (10).
10. Method for operating a wiping system (100) for cleaning a vehicle window (1), wherein the wiping system (100) has a wiper blade (2) which is moved along the vehicle window (1) at least indirectly by means of a wiper motor (10) between two reversal points (UT, OT), wherein the movement between the two reversal points (UT, OT) constitutes a wiping cycle, and wherein the number of wiping cycles during a predetermined period of time defines a wiping frequency (f), characterized in that the wiping frequency (f) is changed from a first wiping frequency (f 1) to a second wiping frequency (f 2) according to a predetermined function (g 1, g2, g3, g 4) on the basis of the vehicle speed (v); starting from a first scraping frequency (f 1) at a first vehicle speed (v 1), increasing said scraping frequency (f) to a second scraping frequency (f 2) upon increasing to a second vehicle speed (v 2),
-if the speed increases from the second vehicle speed (v 2) to the third vehicle speed (v 3), reducing said scraping frequency (f) from the second scraping frequency (f 2) to the third scraping frequency (f 3);
wherein the third scraping frequency (f 3) corresponds to the first scraping frequency (f 1).
11. The method according to claim 10, wherein the first scraping frequency (f 1) comprises at least 10 scraping cycles per minute.
12. The method according to claim 10, wherein the second scraping frequency (f 2) comprises at most 55 scraping cycles per minute.
13. Method according to one of claims 10 to 12, characterized in that the scraping frequency (f) is continuously varied in the event of a variation of the vehicle speed (v).
14. A method according to one of the claims 10 to 12, characterized in that the scraping frequency (f) is additionally varied as a function of the amount of water (Q) on the vehicle window (1) detected by a rain sensor (20).
15. A wiping system (100) for cleaning a vehicle window (1), wherein the wiping system (100) has: a wiper blade (2) which is movable along the vehicle window (1) at least indirectly by means of a wiper motor (10) between two reversal points (UT, OT), wherein the movement between the two reversal points (UT, OT) constitutes a wiping cycle, and wherein the number of wiping cycles during a predetermined period of time defines a wiping frequency (f); and a control device (50) for varying the scraping frequency (f) as a function of speed, wherein the scraping frequency (f) is varied by a method according to one of claims 10 to 14.
16. A scraping system as claimed in claim 15, characterized in that the control device (50) is designed to vary the rotational speed (n) of the wiper motor (10).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017131071.1A DE102017131071A1 (en) | 2017-12-22 | 2017-12-22 | Method for operating a wiper system and wiper system |
| DE102017131071.1 | 2017-12-22 | ||
| PCT/EP2018/082769 WO2019120907A1 (en) | 2017-12-22 | 2018-11-28 | Method for operating a wiping system, and wiping system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111615474A CN111615474A (en) | 2020-09-01 |
| CN111615474B true CN111615474B (en) | 2023-08-15 |
Family
ID=64556908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880082818.9A Active CN111615474B (en) | 2017-12-22 | 2018-11-28 | Method for operating a scraping system and scraping system |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6992186B2 (en) |
| CN (1) | CN111615474B (en) |
| DE (1) | DE102017131071A1 (en) |
| WO (1) | WO2019120907A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102022205339A1 (en) | 2022-05-30 | 2023-11-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | Windshield wiper device, windshield wiper system and method for operating a windshield wiper device |
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| DE19516507A1 (en) * | 1994-05-14 | 1995-11-30 | Volkswagen Ag | Windscreen wiper unit with rain sensor, for motor vehicle |
| JPH08282447A (en) * | 1995-04-20 | 1996-10-29 | Nissan Motor Co Ltd | Wiper device |
| DE10118173A1 (en) * | 2001-04-11 | 2002-10-17 | Volkswagen Ag | Controller for vehicle wiper has two operational modes for low and high vehicle speeds, |
| CN101311042A (en) * | 2007-05-23 | 2008-11-26 | 阿斯莫株式会社 | Wiper stripe, wiper sheet and design method of wiper sheet |
| DE102010064154A1 (en) * | 2010-12-27 | 2012-06-28 | Robert Bosch Gmbh | Method for operating wiper drive with motor for windshield wiper in motor vehicle, involves detecting value correlating to wiper load, and detecting velocity of motor vehicle |
| JP2015160598A (en) * | 2014-02-28 | 2015-09-07 | アスモ株式会社 | Wiper device |
| CA2952183A1 (en) * | 2015-12-18 | 2017-06-18 | Goodrich Aerospace Services Private Limited | Variable sweep angle motor drive |
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| JPS5940155U (en) * | 1982-09-10 | 1984-03-14 | 三菱自動車工業株式会社 | Vehicle wiper speed semi-automatic control device |
| JPS6056654A (en) * | 1983-09-05 | 1985-04-02 | Daihatsu Motor Co Ltd | Wiper control device |
| JPH0299448A (en) * | 1988-10-05 | 1990-04-11 | Asmo Co Ltd | Wiper control device |
| DE4109318A1 (en) * | 1991-03-21 | 1992-09-24 | Man Nutzfahrzeuge Ag | CONTROL DEVICE FOR WINDOW WIPER OPERATION OF A MOTOR VEHICLE |
| DE4330112C2 (en) * | 1993-09-06 | 1998-01-29 | Bayerische Motoren Werke Ag | Circuit arrangement for controlling the speed of a windshield wiper in motor vehicles |
| US20030173923A1 (en) | 2002-03-13 | 2003-09-18 | Nazione Joseph F. | Windshield wiper system having vehicle speed-sensitive wiper delay |
| DE102008011229A1 (en) * | 2007-05-15 | 2008-11-20 | Robert Bosch Gmbh | control device |
| DE102009047211A1 (en) * | 2009-11-27 | 2011-06-01 | Robert Bosch Gmbh | Control device and control method for the drive unit of a windscreen wiper system |
| DE102017011459A1 (en) * | 2017-12-12 | 2018-06-28 | Daimler Ag | Method for operating a windshield wiper system for a windshield of a motor vehicle |
-
2017
- 2017-12-22 DE DE102017131071.1A patent/DE102017131071A1/en active Pending
-
2018
- 2018-11-28 JP JP2020534350A patent/JP6992186B2/en active Active
- 2018-11-28 CN CN201880082818.9A patent/CN111615474B/en active Active
- 2018-11-28 WO PCT/EP2018/082769 patent/WO2019120907A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2388784A (en) * | 1983-01-28 | 1984-08-02 | Jidosha Denki Kogyo K.K. | Rain sensor and automatic wiper system |
| DE19516507A1 (en) * | 1994-05-14 | 1995-11-30 | Volkswagen Ag | Windscreen wiper unit with rain sensor, for motor vehicle |
| JPH08282447A (en) * | 1995-04-20 | 1996-10-29 | Nissan Motor Co Ltd | Wiper device |
| DE10118173A1 (en) * | 2001-04-11 | 2002-10-17 | Volkswagen Ag | Controller for vehicle wiper has two operational modes for low and high vehicle speeds, |
| CN101311042A (en) * | 2007-05-23 | 2008-11-26 | 阿斯莫株式会社 | Wiper stripe, wiper sheet and design method of wiper sheet |
| DE102010064154A1 (en) * | 2010-12-27 | 2012-06-28 | Robert Bosch Gmbh | Method for operating wiper drive with motor for windshield wiper in motor vehicle, involves detecting value correlating to wiper load, and detecting velocity of motor vehicle |
| JP2015160598A (en) * | 2014-02-28 | 2015-09-07 | アスモ株式会社 | Wiper device |
| CA2952183A1 (en) * | 2015-12-18 | 2017-06-18 | Goodrich Aerospace Services Private Limited | Variable sweep angle motor drive |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102017131071A1 (en) | 2019-06-27 |
| CN111615474A (en) | 2020-09-01 |
| JP2021506672A (en) | 2021-02-22 |
| JP6992186B2 (en) | 2022-01-13 |
| WO2019120907A1 (en) | 2019-06-27 |
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