Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
  • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• • 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
  • B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
  • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
  • H04N23/50—Constructional details
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
  • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
  • H04N23/50—Constructional details
  • H04N23/51—Housings
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
  • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
  • H04N23/80—Camera processing pipelines; Components thereof
  • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
  • H04N23/811—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation by dust removal, e.g. from surfaces of the image sensor or processing of the image signal output by the electronic image sensor
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
  • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
  • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
  • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
  • B60R2011/008—Adjustable or movable supports
  • B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
  • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
  • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking

Definitions

• the present invention relates to the field of driving assistance and especially to driver assistance systems, installed on certain vehicles, the driving assistance system may include an optical sensor, such as a camera comprising a lens. More particularly, the invention relates to a vision device comprising such an optical sensor. The invention also relates to a method for maintaining the visibility of an optical sensor of such a vision device.
• front, rear, or side vision cameras equip a large number of motor vehicles to improve the vision of the environment of the vehicle by the user.
• driver assistance systems such as parking assistance systems to facilitate vehicle maneuvers, or line crossing detection systems.
• Cameras are known which are installed inside the passenger compartment of a vehicle against the rear window / window looking towards the rear from the rear window of the vehicle. These cameras are well protected from external climatic influences and dirt caused by organic or mineral pollutants. These cameras can for example benefit from the defrosting and cleaning systems of the rear window, such as a heating wire integrated in the glass of the rear window.
• the viewing angle for such cameras is not optimal, especially for a parking aid, because they do not allow to see the obstacles located near the rear of the vehicle for example.
• the camera be arranged outside the vehicles at different locations according to the desired use, for example at the rear or front bumper, or at the rear registration plate or front of the vehicle.
• the camera is highly exposed to the projections of dirt that can be deposited on its optics and thus reduce its effectiveness, or even make it inoperative.
• a device for cleaning the optics of the camera usually a nozzle of cleaning fluid, close to it, to remove the polluting elements that are deposited over time.
• the invention relates to a vision device for a motor vehicle comprising:
• an optical sensor configured to capture at least one image of a road scene
• the optical sensor is rotatably mounted on the support, and
• said device further comprises an actuator configured to rotate the optical sensor.
• any dirt that would have been deposited on the optics of the optical sensor are ejected by centrifugal effect.
• "Dirt” is understood to mean both drops of water and organic or inorganic pollutants.
• the rotation of the optical sensor therefore allows evacuation of pollutants and / or water under the effect of centrifugal force.
• Said device may further comprise one or more of the following features, taken separately or in combination:
• said device further comprises means for supplying the optical sensor according to a technology for transmitting energy at least partly without wires,
• the energy transmission is done at least partly by induction
• the supply means comprises a fixed connector configured to be electrically powered, and a movable connector configured to be electromagnetically coupled with the fixed connector and configured to supply the optical sensor with the induced current;
• the fixed connector is configured to be connected to the network of said vehicle
• the mobile connector is rotatably coupled with the optical sensor
• the fixed connector and the movable connector are substantially annular in shape; the mobile connector is arranged inside the fixed connector;
• the axis of rotation of the optical sensor coincides with the optical axis of the optical sensor
• the actuator comprises a motor with a fixed stator and a rotor movable with respect to the stator;
• the motor is a brushless motor
• the fixed connector is fixed to the stator and the movable connector is fixed to the rotor;
• the motor is hollow and the optical sensor is arranged at least partly inside the engine;
• the optical sensor is centered in the engine
• the support is fixed to the stator
• the fixed connector is arranged on the stator on the opposite side to the optical sensor support;
• the support has a through-housing for at least partially receiving the optical sensor
• the support is of substantially annular shape
• the optical sensor comprises optics configured to be arranged flush with the bodywork of a motor vehicle
• the optics of the optical sensor has at least one property chosen from the following list: infra-red filter for example photocatalytic, hydrophobic, super hydrophobic, oleophobic, hydrophilic, superhydrophilic, gravel resistance.
• the invention also relates to a driving assistance system comprising at least one vision device as defined above.
• the invention also relates to a method for maintaining the visibility of a vision device as defined above, said method comprising at least one step of driving in rotation of the optical sensor.
• the method comprises at least two steps with a different optical sensor rotation speed for each step.
• Said method comprises a step of adapting the speed of rotation of the optical sensor as a function of the speed of the motor vehicle equipped with the vision device.
• FIG. 1 schematically represents a motor vehicle equipped with a driving assistance system comprising a vision device according to the invention
• FIG. 2a is a rear perspective view of the viewing device of FIG. 1,
• FIG. 2b is a front perspective view of the vision device of FIG. 2a
• FIG. 3a is a perspective view showing a mobile assembly of the vision device of FIGS. 2a and 2b in a first angular position
• Figure 3b is a perspective view showing the movable assembly of the viewing device of Figures 2a and 2b in a second angular position.
• FIG. 1 shows a motor vehicle 100 equipped with at least one driving assistance system 1 according to the invention.
• the driver assistance system 1 comprises in particular at least one vision device 3.
• the vision device 3 is intended to be installed for example at a bodywork element or an external element such as a rearview mirror to observe the environment of the motor vehicle 100.
• the vision device 3 is positioned at the rear of the vehicle 100, at the level of the trunk, to allow rearward vision of the vehicle during the retreat of the vehicle 100, in particular to detect the obstacles positioned behind the vehicle 100 and facilitate parking maneuvers.
• the vision device 3 may also be disposed at the rear bumper 102.
• the vision device 3 can be positioned at the front of the vehicle 100 for example at the front grille or bumper or the license plate to improve the vision forward.
• the vision device 3 can be positioned on one side of the vehicle 100, in particular in place of or in addition to the exterior mirror.
• the vision device 3 can be installed on the driver's side as well as the passenger's side or both.
• the vision device 3 thus allows a lateral view and towards the rear of the vehicle 100 in particular to detect a vehicle arriving from the rear on an adjacent lane. Other locations may also be considered.
• the vision device 3 can be fixed according to any known technique on the vehicle 100.
• the vision device 3 comprises at least one optical sensor 5 and a support 7 of this optical sensor 5.
• the optical sensor 5 is made for example by a camera or any other type of camera for detecting one or more images in the field of vision V, shown schematically in FIG. 1, of the vision device 3. .
• the optical sensor 5 is, for example, an optical sensor 5 such as a camera. It may be a CCD ("coupled coupled device") or a CMOS sensor comprising a matrix of miniature photodiodes. According to another variant, it may be a sensor for remote sensing laser called LIDAR sensor, acronym English of "light detection and ranging”.
• the optical sensor 5 may comprise a sensor in the visible range.
• the optical sensor 5 may include an infrared sensor for night vision.
• the vision device 3 is for example associated with an operating system
• the operating system for example embedded in the motor vehicle 100 ( Figure 1), may include a display device (not shown) for displaying images detected by the optical sensor 5 ( Figures 2a and 2b).
• the display device may be a display screen disposed at the dashboard or the center console of the motor vehicle 100 ( Figure 1).
• the display can also be done by projection on an element, in particular a transparent element, for example at the level of the windshield or a window of the motor vehicle 100.
• the images taken by the optical sensor 5 can be transmitted to the display device (not shown) or beforehand to an image processing means (not shown) of the vehicle operating system 100, by a communication without wire, for example by Wi-Fi or Bluetooth, or any other means known to those skilled in the art.
• the image processing means can be configured to apply one or more processing operations. images before display on the display device.
• an image processing may make it possible to obtain an image according to the desired orientation.
• the optical sensor 5 comprises an optic 51 of optical axis A.
• the optic 51 is for example a lens.
• This optic 51 is for example convex (convex) of convexity oriented towards the outside of the optical sensor 5, such as a so-called fish-eye optics ("fish-eye" in English).
• the optical sensor 5 may comprise a housing 53 supporting the optics 51.
• the optical sensor 51 is arranged at the front of the housing 53.
• the front of the housing 53 refers to the portion of the housing 53 intended to face the road scene whose optical sensor 5 participates in the shooting, when the vision device 3 is mounted on the vehicle 100 ( Figure 1).
• the back of the housing 53 refers to the portion of the housing 53 opposite the front of the housing 53; the rear of the housing 53 is the furthest part of the road scene whose optical sensor 5 participates in the shooting.
• the optic 51 is arranged centered on the case 53.
• the optic 51 in particular its external surface, may have one or more of the following properties: hydrophobic, infra-red, photocatalytic, super hydrophobic, oleophobic, hydrophilic, or else superhydrophilic, gravel-resistant, or else any other surface treatment to reduce the adhesion of possible soiling.
• any drops of water run off onto the outer surface without leaving any traces because the water can not adhere to this external surface.
• the layers or coatings on optics 51 make it possible to limit the possibilities of adhesion of organic or inorganic pollutants as well as the presence of traces of water on optics 51 that may be detrimental to the proper functioning of the assistance system.
• a liquid solution such as a Rain-X® type solution, may be deposited on the outer surface of optics 51 to form a hydrophobic film.
• the optical sensor 5 is mounted on the support 7, being rotatable about an axis of rotation.
• the axis of rotation of the optical sensor 5 coincides with the optical axis A of the optical sensor 5.
• the rotation of the optical sensor 5 makes it possible to evacuate or eject, by centrifugal effect, the possible stains placed on the latter, and particular on optics 51.
• the optical sensor 5 being rotatable, various configurations can be envisaged for taking pictures.
• the images can be synchronized with the rotation speed of the optical sensor 5.
• the optical sensor 5 can be configured to take an image each time it is in a predetermined angular position.
• the optical sensor 5 can take images continuously regardless of the angular position of the optical sensor 5.
• at least one image processing in particular an image recovery, can be applied. to the images captured by the optical sensor 5 before being displayed on the display device (not shown) of the vehicle 100.
• the support 7 of the optical sensor 5 is intended to be fixedly mounted on the motor vehicle 100 ( Figure 1).
• the support 7 comprises a through-housing 71 configured to receive at least part of the optical sensor 5. More precisely, the housing 53 of the optical sensor 5 is mounted so as to pass through the support 7, the optical 51 being projecting relative to the support 7.
• the support 7 has a generally annular general shape.
• this annular shape is centered around the optical axis A of the optical sensor 5.
• the optic 51 may be flush with the body of the vehicle 100 (see Figure 1).
• the vision device 3 furthermore comprises an actuator 9.
• the actuator 9 can be arranged at the rear of the vision device 3.
• the rear of the vision device 3 is the part opposite the optic 51 of the optical sensor 5.
• the rear of the vision device 3 is the furthest part of the road scene whose optical sensor 5 participates in the shooting.
• the actuator 9 is for example electrically powered by a power supply 1 1 connected to the general electrical circuit of the vehicle 100 ( Figure 1).
• the actuator 9 comprises, for example, an electric motor.
• an electric motor By way of non-limiting example, it may be more particularly a brushless motor, also known under the name "brushless motor" in English.
• the motor 9 is arranged so that its axis of rotation coincides with the optical axis A of the optical sensor 5.
• the motor 9 may have a rotation speed of between 1000 and 50000 revolutions / minute, preferably between 8000 and 20000 revolutions / minute, and more preferably of the order of 15000 revolutions / minute. Such rotational speeds allow the removal of any soil that would have deposited on the optical sensor by centrifugal effect to ensure optimized operation of the driver assistance system 1.
• the motor 9 comprises a stator 91 which is stationary and a rotor 93 movable in rotation with respect to the stator 91. According to the illustrated embodiment, the stator 91 is disposed around the rotor 93.
• the motor 9 is hollow and the optical sensor 5 is arranged at less in part inside the motor 9.
• the rear portion of the housing 53 of the optical sensor 5 is received in the hollow portion of the motor 9.
• the optical sensor 5 is centered in the motor 9.
• the support 7 of the optical sensor 5 can be fixed to the stator 91 by any appropriate fastening means.
• the support 7 of the optical sensor 5 is integrated with the stator 91.
• the vision device 3 further comprises a power supply means 13 of the optical sensor 5, better visible in FIG. 2a.
• This supply means 13 must be adapted to the rotary movement of the optical sensor 5.
• the power supply means 13 is configured to feed the optical sensor 5 according to an energy transmission technology at least partly without wires. The transmission of energy can be done by induction.
• the supply means 13 comprises a fixed connector 131 and a movable connector 133 also called rotating connector.
• the fixed connector 131 and the mobile connector 133 are for example of substantially annular shape.
• the mobile connector 133 can be arranged inside the fixed connector 131.
• the fixed connector 131 is configured to be electrically powered, for example via a power cable 15 which can be connected to the vehicle network 100.
• the fixed connector 131 can be fixed to the stator 91.
• any suitable means of attachment may be provided.
• the attachment lugs can be assembled, for example by screwing.
• any other attachment may be considered.
• the fixed connector 131 is arranged on the stator 91 on the side opposite to the support 7 of the optical sensor 5.
• the mobile connector 133 is configured to be rotated. More precisely, the mobile connector 133 can be coupled in rotation with the optical sensor 5.
• the mobile connector 133 is for example configured to be rotated by the actuator 9, namely by the rotor 93 of the motor 9 in the example described.
• the mobile connector 133 may in particular be fixed to the rotor 93 by any means appropriate.
• the optical sensor 5, the rotary connector 133 and the rotor 93 form a moving assembly of the vision device 3.
• the fixed connector 131 and the stator 91 form a fixed assembly of the vision device 3.
• the moving assembly of the vision device 3 is in a first angular position relative to the fixed assembly.
• the movable assembly is in a second angular position, different from the first position, relative to the fixed assembly.
• the mobile connector 133 is configured to be powered by the fixed connector 131 according to a wireless power transmission technology, in this example by induction.
• the fixed connector 131 may comprise a primary circuit connected to a power supply for example from the network of the vehicle 100 via the power cable 15 and the mobile connector 133 may comprise a secondary circuit for electromagnetic coupling with the primary circuit.
• the optical sensor 5 can itself be powered by the current induced in the mobile connector 133, for example via another power cable 17.
• the rotating collector (not shown) between the optical sensor 5 and the network of the motor vehicle 100 and the operating system (not shown).
• a rotating commutator (not shown) makes it possible to pass the current for the supply of the optical sensor 5.
• the rotating commutator also provides a connection by cables, for example of the coaxial type, between the optical sensor 5 and the operating system (not shown) of the motor vehicle 100, for the transmission of signals, including video, while allowing the rotation of the optical sensor 5.
• the images taken by the optical sensor 5 can be transmitted to the display device (not shown) or previously to an image processing means (not shown) of the vehicle operating system 100, by such cables.
• nozzle for spraying a cleaning fluid on the optic 51.
• This nozzle may be located on the body of the vehicle 100 ( Figure 1) near the optic 51, for example above the optic 51.
• the cleaning fluid may be compressed air and or a cleaning liquid.
• the vision device 3 can be permanently activated during the use of the vehicle 100.
• the vision device 3 is activated when the vehicle 100 is started and the images from the optical sensor 5 can be displayed permanently or on demand.
• the vision device 3 can be activated only when the user actuates a predetermined command, for example a dedicated command or when the reverse gear is engaged in the case of a rear vision device 3 to allow the parking aid .
• a predetermined command for example a dedicated command or when the reverse gear is engaged in the case of a rear vision device 3 to allow the parking aid .
• the vision device 3 is for example coupled to a device for engaging the reverse gear of the motor vehicle 100, for example a gearbox.
• a protection method or method for maintaining the visibility can be implemented. This method comprises at least one step of rotating the optical sensor 5 in order to obtain an evacuation of any soil by centrifugal effect.
• the driver assistance system 1 may comprise an electronic control unit, not shown in the figures, in particular configured to activate the actuator 9 to rotate the optical sensor 5.
• the optical sensor 5 is rotated with a non-zero speed of rotation.
• the optical sensor 5 can be rotated permanently during the operation of the vehicle 100, that is to say during the driving phases. or at a standstill with the contact.
• the optical sensor 5 can be rotated intermittently during operation of the vehicle 100, for example when the vehicle user uses a vehicle functionality requiring the implementation of the optical sensor 5, as for example when he goes backwards.
• the method may comprise at least two steps with a different optical sensor rotation speed for each step.
• the method may include a step of changing the direction of rotation of the optical sensor 5.
• the direction of rotation of the optical sensor 5 can be changed several times over a predefined period of time, relatively fast. This change in the direction of rotation promotes the occurrence of phenomena of acceleration and effectively eliminates any small drops of water that would be substantially in the center of the optical 51 for example.
• the variation of the direction of rotation of the optical 51 submits the soils to an acceleration in the opposite direction to their displacement which facilitates their loss of adhesion to the optical 51 is therefore their ejection.
• the method may also comprise at least one step of spraying at least one cleaning fluid onto the optic 51.
• the electronic control unit (not shown) of the vehicle 100 may be configured to trigger the projection of at least one cleaning fluid, such as compressed air or cleaning liquid, onto the optic 51.
• This projection step can be triggered for example after detecting contamination in the field of view V of the optical sensor 5 (see FIG. 1).
• the projection of at least one cleaning fluid can be triggered depending on the speed of the vehicle 100, for example when the vehicle 100 is at a standstill or when traveling at low speed, that is to say, especially at a speed below 15 km / h.
• the aerodynamic forces may not be sufficient to be effectively coupled to the centrifugal force of the rotation of the optical sensor 5 in order to eliminate drops of water and / or dirt that may occur. deposit on optics 51.
• the small drops of water located in the center or near the center of the optics 51 can be difficult to eliminate.
• the fluid projection may also be according to a time delay, for example after a certain period of travel of the vehicle 100, or even on command of the user of the vehicle 100.
• a step of stopping the actuator 9 can be provided in order to stop the rotation of the optical sensor 5 followed by a step of projecting one or more fluids, then a step of reactivation of the actuator 9 to rotate the optical sensor 5 again.
• the method may comprise at least two steps, each with a different speed of rotation of the optical sensor.
• a second drying step during which the optical sensor 5 is rotated at a second rotation speed different from the first rotational speed.
• the first rotational speed is advantageously lower than the second rotational speed.
• the first rotational speed can be relatively low, or even slowed down if the casing 4 was already rotated. This facilitates the spreading of the cleaning fluid.
• the triggering of the second drying step can be delayed.
• the speed of rotation can be accelerated, allowing to dry the outer surface of the optic 51, promoting the removal of wet soils by the cleaning liquid.
• the amount of cleaning fluid for cleaning is significantly lower than a conventional cleaning system of the prior art without rotation.
• the rotational speed of the optical sensor 5 can be adapted during the implementation of the method of maintaining visibility.
• the speed of rotation can be adapted according to the speed of movement of the vehicle 100.
• the dirt is removed from the optic 51 by the action of the centrifugal force related to the rotation of the optical sensor 5, and possibly combined with the friction associated with the movement of the vehicle 100, in particular when the driver assistance system 1 is at the front of the vehicle 100.
• the electronic control unit can be configured to act on the actuator 9 in order to to decrease the speed of rotation of the optical sensor 5 when the speed of the vehicle 100 increases, especially when the optical 51 is installed at the front of the vehicle.
• the electronic control unit can be configured to act on the actuator 9 in order to increase the speed of rotation of the optical sensor 5 when the speed of the vehicle 100 decreases.
• the optic 51 is protected from possible projections of soiling such as organic or inorganic pollutants, water or a combination of these various elements, which may damage it.
• the centrifugal force that the possible soils are subjected to is greater than the adhesion of these soils to the optics 51. Any dirt deposited on the outer surface of the optics 51 are then ejected and do not disturb the field of vision V of the optical sensor 5 which remains clear and clean.
• Maintaining the visibility of the optical sensor 5 is then "transparent" for the user, that is to say without impact on the quality of vision and allows to maintain a similar image quality regardless of the environmental conditions or climatic conditions and in particular during the rotation of the optical sensor 5.
• the protection or the maintenance of the visibility of the optical sensor 5 by rotation of the latter dispenses with having a large amount of cleaning liquid as in the solutions of the prior art proposing a cleaning of the optical sensor 5 with a cleaning fluid nozzle without rotation of the optical sensor 5.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Multimedia (AREA)
• Signal Processing (AREA)
• Studio Devices (AREA)

Applications Claiming Priority (2)

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• 2017
  • 2017-02-08 FR FR1751025A patent/FR3062764B1/fr not_active Expired - Fee Related
• 2018
  • 2018-02-06 JP JP2019542733A patent/JP2020507508A/ja active Pending
  • 2018-02-06 CN CN201880010861.4A patent/CN110267855A/zh active Pending
  • 2018-02-06 WO PCT/EP2018/052857 patent/WO2018146058A1/fr unknown
  • 2018-02-06 US US16/483,894 patent/US20200017035A1/en not_active Abandoned
  • 2018-02-06 EP EP18702512.7A patent/EP3580100A1/de not_active Withdrawn

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