EP3481986A1 - Wäschepflegegerät mit einer steuerung - Google Patents
Wäschepflegegerät mit einer steuerungInfo
- Publication number
- EP3481986A1 EP3481986A1 EP17731883.9A EP17731883A EP3481986A1 EP 3481986 A1 EP3481986 A1 EP 3481986A1 EP 17731883 A EP17731883 A EP 17731883A EP 3481986 A1 EP3481986 A1 EP 3481986A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- laundry
- torque
- drum
- rotational speed
- controller
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000005406 washing Methods 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 26
- 239000007788 liquid Substances 0.000 claims description 19
- 230000004044 response Effects 0.000 claims description 13
- 230000008901 benefit Effects 0.000 description 16
- 230000001276 controlling effect Effects 0.000 description 14
- 230000008859 change Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 6
- 230000001419 dependent effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000004753 textile Substances 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
- D06F33/30—Control of washing machines characterised by the purpose or target of the control
- D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
- D06F33/36—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of washing
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/02—Characteristics of laundry or load
- D06F2103/04—Quantity, e.g. weight or variation of weight
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/18—Washing liquid level
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/24—Spin speed; Drum movements
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/28—Air properties
- D06F2103/34—Humidity
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
- D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
- D06F2105/48—Drum speed
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
- D06F37/30—Driving arrangements
- D06F37/304—Arrangements or adaptations of electric motors
Definitions
- the present invention relates to a laundry care device with a controller.
- the laundry drum is rotated during a washing operation by a drum drive at a maximum rotational speed.
- the maximum rotational speed of the laundry drum can be controlled by a control of the laundry care appliance, for example, depending on the weight of the laundry or the selected laundry care program of the laundry care appliance.
- a control of the maximum rotational speed of the laundry drum does not necessarily allow a gentle laundry care for the laundry. For example, if laundry has jammed in the laundry drum, the drum drive will try to reach the maximum rotational speed, thereby increasing the torque of the laundry drum loaded with laundry and possibly damaging the laundry.
- DE 43 10 595 A1 discloses a washing machine with a laundry drum is disclosed, which is accelerated in a rotational direction to a first speed below a system speed and in another direction to a second speed above the system speed.
- a washing machine with a washing drum is disclosed, which is rotated in response to the weight of the laundry in the washing drum.
- the object according to the invention is achieved by a laundry care device having a laundry drum for receiving laundry, a drum drive for rotating the laundry drum, with a torque detector for detecting a torque of the laundry drum and a controller for controlling the drum drive, wherein the controller is designed Drum drive to drive during a rotation time interval to rotate the laundry drum at a first rotational speed when the detected torque falls below a torque threshold, wherein the controller is adapted to drive the drum drive during the rotation time interval to rotate the laundry drum at a second rotational speed, if the detected Torque exceeds the torque threshold, wherein the second rotational speed is less than the first rotational speed, and wherein the controller is formed, the e second rotational speed in response to the detected torque of the laundry drum to control to prevent damage to the laundry in the laundry drum.
- the rotation of the laundry drum increases the torque and the laundry in the laundry drum may be damaged.
- the laundry drum may be rotated by the drum drive at a maximum first rotational speed during rotational speed control of the control to ensure advantageous laundry care of the laundry during the laundry care operation.
- the controller controls the second Rotational speed as a function of the detected torque of the laundry drum loaded with laundry.
- the controller on the one hand an effective and efficient laundry care with a rotation of the laundry drum with the maximum first rotational speed and on the other hand a very gentle laundry care during a rotation of the laundry drum with a reduced second rotational speed by the laundry care device can be ensured.
- the forces acting on the laundry are reduced to prevent damage to the laundry during the washing process.
- a laundry care appliance is understood to mean a device which is used for laundry care, such as e.g. a washing machine or a tumble dryer.
- a laundry care appliance is understood as a household laundry care appliance. So a laundry care device, which is used in the context of household management, and is treated with the laundry in normal household quantities.
- the controller is configured to increase the second rotational speed to the first rotational speed during the rotational time interval when the detected torque is less than the torque threshold, and the controller is configured to reduce the first rotational speed to the second rotational speed during the rotational time interval the detected torque exceeds the torque threshold.
- the technical advantage is achieved that a dynamic control of the rotational speed of the laundry drum loaded with laundry in dependence on the detected torque is made possible by the controller.
- the laundry drum can be operated at the maximum first rotational speed to allow a particularly advantageous laundry care.
- the controller reduces the maximum first rotational speed to the second reduction speed in order to achieve a particularly gentle laundry care. If the detected torque decreases again below the torque threshold in the further course of the wash cycle, the rotational speed of the laundry drum can be increased again to the maximum first rotational speed. As a result, both a particularly effective and a gentle laundry care can be ensured.
- the controller is configured to increase the second rotational speed to the first rotational speed or to reduce the first rotational speed to the second rotational speed when the detected torque falls below the torque threshold value by a torque difference value or when the detected torque exceeds the torque threshold value exceeds the torque difference value.
- the laundry care device has a weight detection device for detecting a weight of laundry in the laundry drum
- the laundry care device has a tub for receiving washing liquid and a level sensor for detecting a level of washing liquid in the tub
- the laundry care apparatus comprises an air humidity sensor for detecting a humidity value within the laundry care appliance, wherein the controller is configured, the second rotational speed in dependence on the detected torque of the laundry drum, and the detected weight of the laundry, the to control the detected level of washing liquid in the tub and / or the detected humidity value.
- the laundry care appliance has a program selection device for selecting a plurality of selectable laundry care programs, and the controller is configured to control the first rotation speed in dependence on the selected laundry care program, and / or the control is configured, the second rotation speed depending on the detected torque of the laundry drum and the selected laundry care program to control.
- the torque threshold value is a predetermined torque threshold value.
- the technical advantage is achieved that can be detected easily and quickly by the controller, whether the detected torque exceeds or exceeds the predetermined torque threshold.
- the predetermined torque threshold value can be determined, for example, by various reference measurements with a specific type of laundry care appliance.
- the laundry care device has a weight detection device for detecting a weight of laundry in the laundry drum, and / or the laundry care device has a tub for receiving washing liquid and a temperature sensor for detecting a temperature of washing liquid in the tub the controller is configured to determine the torque threshold as a function of the detected weight of the laundry or the detected temperature of the washing liquid.
- the first driving of the drum drive during the rotation time interval comprises reducing the first rotation speed to the second rotation speed when the detected one Torque exceeds the torque threshold, and comprising the second driving the drum drive during the rotation time interval comprises increasing the second rotation speed to the first rotation speed when the detected torque falls below the torque threshold.
- Fig. 1 is a schematic view of a laundry care device
- FIG. 3 is a graphic representation of a rotation process of a laundry drum in a laundry care appliance
- Fig. 1 shows a schematic view of a general laundry care device 100, such as e.g. a washing machine.
- the laundry care appliance 100 comprises an induction bowl 101, into which wash-care substance, such as e.g. Detergent, can be filled.
- the laundry care appliance 100 comprises a door 103 for loading the laundry care appliance 100 with laundry.
- 2 shows a schematic view of a laundry care appliance with a controller for controlling a drum drive of the laundry care appliance.
- the laundry care device 100 comprises a suds container 105 for holding washing liquid and a laundry drum 107 arranged in the suds container 105 for receiving laundry 109.
- the tub 105 has a drain opening 1 1 1, which is arranged on an underside of the tub 105.
- the discharge opening 1 1 1 is connected to a line 1 13.
- a pump 1 15 for pumping washing liquid through the line 1 13 is arranged.
- the pump 1 15 is designed to pump washing liquid from the discharge port 1 1 1 from the tub 105 and pump out the pumped washing liquid through the line 1 13 and through a Ausnaturalö réelle 1 17 from the laundry care device 100.
- the pump 1 15 is connected by a pump connection 1 19 with a controller 121 of the laundry care device 100.
- the controller 121 is configured to control the pump 15.
- the laundry care device 100 further has a drum drive 123 for rotating the laundry drum 107, which is designed to rotate the laundry drum 107 at different rotational speeds.
- the drum drive 123 is connected to the controller 121 through a drum connection 125.
- the controller 121 is configured to control the drum drive 123.
- the laundry care apparatus 100 further comprises a torque detecting device 127 for detecting a torque of the laundry drum 107.
- the Torque detecting means 127 is connected to the controller 121 through a device connection 129 and is connected to the drum drive 123 through a drum drive connection 130.
- the rotational speed of the laundry drum 107 is controlled in response to specific inputs.
- the most important inputs are, in particular, the type of textile of the laundry 109 and the type of the selected laundry care program.
- the laundry drum 107 is rotated during a laundry maintenance program at a maximum rotational speed.
- the maximum rotation speed can be either predetermined or dynamically regulated.
- the maximum rotational speed may depend on the weight of the laundry 109 in the laundry drum 107, the temperature of washing liquid in the tub 105, the humidity or a manual input by the user.
- the disadvantage of controlling the maximum rotational speed in conventional laundry care appliances 100 is that a reduction in the rotational speed of the laundry drum 107 does not necessarily mean that the laundry care process for the laundry 109 is performed gently. For example, if laundry 109 has been jammed in laundry drum 107, drum drive 123 will try to reach the maximum rotational speed, thereby increasing the torque of laundry drum 107 loaded with laundry 109 and possibly causing damage to laundry 109.
- the controller 121 is designed to control the drum drive 123 during a rotation time interval in the course of a rotational speed control in order to rotate the laundry drum 107 at a maximum first rotational speed, if that caused by the Torque detection means 127 detected torque of the laundry drum 107 loaded laundry drum 107 falls below a torque threshold.
- the controller 120 reduces the maximum first rotational speed of the laundry drum 107 to a second rotational speed, which is less than the first rotational speed, as part of a torque control.
- the controller 121 is configured to control the second rotational speed in response to the detected torque of the laundry drum 107 loaded with laundry 109 to avoid damaging the laundry 109 in the laundry drum 107.
- the controller 121 may switch from the torque control to the rotational speed control to again drive the laundry drum 107 at the maximum first rotational speed, but with the control 121 ensuring that during rotational speed control the detected torque does not exceed the torque threshold. However, if the detected torque should again exceed the torque threshold, the controller 121 reverts from the rotational speed control to the torque control, and the first rotational speed is again reduced to the second rotational speed.
- the torque threshold may include a predetermined or a dynamic torque threshold.
- the controller 121 may determine the torque threshold value, for example, in dependence on the weight of the laundry 109 detected by a weight detection device and / or in dependence on a temperature of the washing liquid detected by a temperature sensor.
- the controller 121 may further consider the laundry maintenance program selected by the user by means of a program selector 131.
- the torque threshold value may also change during a laundry care operation, and may have different values for dry and damp laundry 109 in the laundry drum 107, for example.
- the controller 121 may be configured to detect the rotational speed of the laundry drum 107 and to deactivate the drum drive 123 or to drive the drum drive 123 to drive the laundry drum 107 in an opposite rotational direction when the detected rotational speed is less than a rotational speed threshold. This ensures that, in the case of a sharp drop in the rotational speed below the rotational speed threshold, it is ensured that washing 109, possibly jammed on the laundry drum 107, can reliably be released again by deactivating the drum drive 123 or by changing the direction of rotation of the laundry drum 107, thereby damaging the Laundry 109 can be avoided.
- the advantage of the laundry care device 100 according to the invention is, in particular, that a corresponding control of the rotational speed of the laundry drum 107 enables a particularly effective and at the same time gentle laundry care process which avoids or at least reduces damage to sensitive laundry items.
- a slow change of the rotational speed of the laundry drum 107 can be ensured, whereby the laundry 109 can be turned particularly gently in the laundry drum 107.
- the torque detecting means 127 includes a power detecting element for detecting an electric power of the drum drive 123, a further sensor may be omitted.
- the torque-dependent control of the rotational speed can be activated or deactivated as required by the user of the laundry care device 100 in order to achieve particularly gentle laundry care of the laundry 109.
- Fig. 3 is a graph showing a rotation process of a laundry drum in a laundry care apparatus. 3 shows a time diagram of the rotational speed of the laundry drum 107, and the torque of the laundry drum 107, which are plotted along the ordinate axis 135 as a function of time, which is indicated along the abscissa axis 137.
- the first curve 139 shows the progression of the rotational speed of the laundry drum 107.
- the second curve 141 shows the progression of the torque of the laundry drum 107.
- different time sections 143, 145, 147, 149, 151, 153 are a rotation time interval shown.
- the controller 121 controls the drum drive 123 according to the rotation speed control to rotate the laundry drum 107 at a first maximum rotation speed 155, wherein the torque does not exceed the torque threshold value 157.
- the torque exceeds the torque threshold 157.
- the controller 121 changes from the Rotation speed control on the torque control.
- the controller 121 in this case controls the drum drive 123 to rotate the laundry drum 107 at a second rotational speed, which is less than the maximum, first rotational speed 155.
- the torque control is active and the controller 121 controls the second rotational speed in response to the detected torque of the laundry drum 107 loaded with laundry 109.
- the torque threshold 157 is not exceeded, thereby preventing damage to the laundry 109 can be.
- the controller 121 again changes from the torque control to the rotational speed control and the second rotational speed of the laundry drum 107 is increased again to the first maximum rotational speed 155.
- the controller 121 can ensure a compensation of the fluctuations by taking into account a feedback control or by the use of reference values.
- Fig. 4 is a graph showing a torque change during a rotation operation of a laundry drum 107 in a laundry care apparatus. 4 shows, in particular, a time representation of the supply current of the drum drive 123 of the laundry care device 100, which is plotted along the ordinate axis 135 as a function of the time which is indicated along the abscissa axis 137.
- the torque of the laundry drum 107 is proportional to the supply current of the drum drive 123
- the torque detecting means 127 includes a power detecting means for detecting an electric power value of the drum drive 123.
- the laundry drum 107 has a laundry load of 5 kg and by the drum drive 123 corresponding to the Rotation speed control of the controller 121 driven at a first rotational speed 155 of 50 revolutions per minute.
- the third curve 159 shows the course of the supply current of the drum drive 123. As shown in the third curve 159, the supply current of the drum drive 123 changes significantly during the wash cycle. The torque proportional to the supply current of the drum drive 123 of the laundry drum 107 loaded with laundry 109 thus also changes significantly. The significant change in the torque results from the different compression of the laundry 109 between the laundry drum 107 the housing of the laundry care device 100 and the door 103rd
- Second method step second activation of the drum drive
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL17731883T PL3481986T3 (pl) | 2016-07-08 | 2017-06-21 | Urządzenie do przetwarzania prania ze sterownikiem |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016212525.7A DE102016212525A1 (de) | 2016-07-08 | 2016-07-08 | Wäschepflegegerät mit einer Steuerung |
PCT/EP2017/065235 WO2018007146A1 (de) | 2016-07-08 | 2017-06-21 | Wäschepflegegerät mit einer steuerung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3481986A1 true EP3481986A1 (de) | 2019-05-15 |
EP3481986B1 EP3481986B1 (de) | 2020-08-05 |
Family
ID=59093562
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17731883.9A Active EP3481986B1 (de) | 2016-07-08 | 2017-06-21 | Wäschepflegegerät mit einer steuerung |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP3481986B1 (de) |
CN (1) | CN109415863B (de) |
DE (1) | DE102016212525A1 (de) |
PL (1) | PL3481986T3 (de) |
RU (1) | RU2704905C1 (de) |
WO (1) | WO2018007146A1 (de) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018208242A1 (de) * | 2018-05-25 | 2019-11-28 | BSH Hausgeräte GmbH | Verfahren zur Erkennung eingeklemmter Wäsche in einem Wäschebehandlungsgerät sowie hierfür geeignetes Wäschebehandlungsgerät |
DE102019216697A1 (de) * | 2019-10-30 | 2021-05-06 | BSH Hausgeräte GmbH | Wäschepflegegerät mit einer Steuerung |
CN113215793A (zh) * | 2020-01-21 | 2021-08-06 | 青岛海尔洗衣机有限公司 | 对象护理方法、装置、电子设备及可读存储介质 |
CN113550114B (zh) * | 2020-04-24 | 2024-08-23 | 青岛海尔洗涤电器有限公司 | 一种衣物处理设备控制方法 |
US11725323B2 (en) | 2021-04-22 | 2023-08-15 | Electrolux Home Products, Inc. | Wash article entrapment detection for laundry washing machines |
US11959215B2 (en) | 2021-04-22 | 2024-04-16 | Electrolux Home Products, Inc. | Wash article entrapment detection for laundry washing machines |
EP4148177A1 (de) * | 2021-09-14 | 2023-03-15 | Miele & Cie. KG | Verfahren zur erkennung einer trommelblockierung in einem wäschepflegegerät sowie wäschepflegegerät |
BE1029754B1 (de) * | 2021-09-14 | 2023-04-11 | Miele & Cie | Verfahren zur Erkennung einer Trommelblockierung in einem Wäschepflegegerät sowie Wäschepflegegerät |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3736809A1 (de) * | 1987-10-30 | 1989-05-11 | Licentia Gmbh | Verfahren und vorrichtung zur trommelbeladungsmessung, insbesondere bei haushaltwaschmaschinen und waescheschleudern |
FR2655363B1 (fr) | 1989-12-05 | 1994-08-26 | Ciapem | Lave-linge dont la vitesse de rotation du tambour varie en fonction de la charge. |
DE4310595A1 (de) | 1993-03-31 | 1994-10-06 | Bosch Siemens Hausgeraete | Waschmaschine mit einer reversierend betriebenen Wäschetrommel |
KR100216126B1 (ko) * | 1995-03-29 | 1999-08-16 | 다카노 야스아키 | 원심탈수장치 |
US6737828B2 (en) * | 2001-07-19 | 2004-05-18 | Matsushita Electric Industrial Co., Ltd. | Washing machine motor drive device |
KR100548274B1 (ko) * | 2003-07-23 | 2006-02-02 | 엘지전자 주식회사 | 세탁기의 포량 검출방법 |
US20050102766A1 (en) * | 2003-11-17 | 2005-05-19 | Maytag Corporation | Method and apparatus for spinning fabrics |
KR100634801B1 (ko) * | 2004-05-12 | 2006-10-16 | 엘지전자 주식회사 | 세탁기 제어방법 |
JP4501980B2 (ja) * | 2007-09-25 | 2010-07-14 | パナソニック株式会社 | 洗濯機 |
WO2010093185A2 (ko) * | 2009-02-11 | 2010-08-19 | 엘지전자 주식회사 | 세탁 방법 및 세탁기 |
KR20110048345A (ko) * | 2009-11-02 | 2011-05-11 | 엘지전자 주식회사 | 세탁 방법 및 세탁기 |
TWI429803B (zh) * | 2009-08-11 | 2014-03-11 | Lg Electronics Inc | 洗衣機之控制方法 |
-
2016
- 2016-07-08 DE DE102016212525.7A patent/DE102016212525A1/de not_active Ceased
-
2017
- 2017-06-21 WO PCT/EP2017/065235 patent/WO2018007146A1/de active Search and Examination
- 2017-06-21 CN CN201780042301.2A patent/CN109415863B/zh active Active
- 2017-06-21 EP EP17731883.9A patent/EP3481986B1/de active Active
- 2017-06-21 RU RU2018144710A patent/RU2704905C1/ru active
- 2017-06-21 PL PL17731883T patent/PL3481986T3/pl unknown
Also Published As
Publication number | Publication date |
---|---|
CN109415863B (zh) | 2021-09-14 |
WO2018007146A1 (de) | 2018-01-11 |
RU2704905C1 (ru) | 2019-10-31 |
EP3481986B1 (de) | 2020-08-05 |
DE102016212525A1 (de) | 2018-01-11 |
PL3481986T3 (pl) | 2021-02-08 |
CN109415863A (zh) | 2019-03-01 |
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