EP3665117B1 - Système de télécommande et procédé pour l'operation du système de télécommande - Google Patents

Système de télécommande et procédé pour l'operation du système de télécommande Download PDF

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Publication number
EP3665117B1
EP3665117B1 EP18746147.0A EP18746147A EP3665117B1 EP 3665117 B1 EP3665117 B1 EP 3665117B1 EP 18746147 A EP18746147 A EP 18746147A EP 3665117 B1 EP3665117 B1 EP 3665117B1
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Prior art keywords
control
remote
computer
security
connection
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EP18746147.0A
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German (de)
English (en)
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EP3665117A1 (fr
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Thomas Haug
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/60—Security, fault tolerance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/90—Additional features
    • G08C2201/91—Remote control based on location and proximity
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/90—Additional features
    • G08C2201/93—Remote control using other portable devices, e.g. mobile phone, PDA, laptop

Definitions

  • the invention relates to a remote control arrangement according to the preamble of claim 1 and a method for operating the remote control arrangement.
  • the remote control arrangement has a portable computer, such as in particular a tablet computer or a smartphone with a touch-sensitive display for entering control commands, with a computer program product being stored and executable on the computer, by means of which control signals are generated from the control commands entered and by means of the computer provided transmission means can be sent out.
  • the remote control arrangement has a remote-controlled object, such as a vehicle or a lifting device, on which receiving means for receiving the control signals and control means for controlling the object as a function of the received control signals are provided.
  • the remote control arrangement also has a safety device that is separate from the computer and has a mechanically actuated operating element, which is formed, for example, by a push button that can be adjusted by applying force or by another manually operable handle, such as a switch, a lever or a control panel.
  • a safety control connection can be established between the safety device and the portable computer, depending on the existence of which a movement of the remote-controlled object can be blocked or aborted. The object in question can only be set in motion if this safety control connection is established. This ensures that an object that is remotely controlled by means of a commercially available portable computer only moves out of the starting position by transmitted control signals if a safety device is activated at the same time.
  • the safety control connection includes an electronic signal connection between the safety device and the Computer.
  • the existence or separation of the safety-control connection can be identified particularly reliably and easily and can be signaled to the computer.
  • the control signals can only be transmitted from the computer to the remote-controlled object after it has been established that the electronic safety control connection has been established.
  • the computer program product preferably only activates the transmission of the control signals if there is an electronic signal connection that is sufficiently stable according to specified criteria or if the safety-control connection exists for a specified period of time and only for as long as the electronic There is a signal connection between the computer and the safety device.
  • the object can only be remotely controlled using the portable computer and only as long as the security device is connected to the computer via a sufficiently stable connection. In this way, particularly secure operation of the remote control arrangement can be ensured.
  • Remote-controlled objects such as model cars, robots or drones are currently available on the market and can be controlled using standard laptops, tablet computers or smartphones.
  • computer program products are offered that can be uploaded to the portable computer in question in order to convert the control commands entered into control signals that are sent to the remote-controlled objects in order to carry out desired movements.
  • a disadvantage of these known remote control arrangements is that, for safety reasons, they can only be used to control relatively small objects, such as in particular in the model area or for small flying drones.
  • U.S. 2017/0111487 A1 describes an arrangement for remote control of a vehicle using a tablet computer.
  • the tablet computer To transmit control signals to the vehicle, the tablet computer must be connected to a key device that sends an identification code and a dead man's switch having. If there is no signal from the dead man's switch, a running remote control process is terminated immediately.
  • WO 2012/091227 A1 discloses a lifting platform with a wireless first remote control, for example, a second remote control that is also wireless with an emergency stop button, and a third remote control that is hardwired, for example.
  • the lifting platform can be controlled with either the first or third remote control.
  • the second remote control has priority over the first and third remote controls and allows a control command to be stopped immediately by pressing the emergency stop button.
  • WO 2009/120958 A2 describes a control arrangement for a rail vehicle. This has a remote control for controlling a control module of the rail vehicle and a portable safety switch, by means of which a stop signal can be sent to the control module.
  • U.S. 2013/0200997 A1 describes a dead man's system in which the operation of a device can be made dependent on the transmission of biometric identification data in addition to the transmission of signals from a dead man's circuit.
  • WO 2014/127822 A1 shows an arrangement with a robot that can be operated via a control unit.
  • the control data can be sent to the control unit using a portable computer.
  • the robot is operated depending on the additional reception of signals that are sent to the control unit by a dead man's switch.
  • a disadvantage of the known remote control arrangements with a safety device formed by a dead man's switch is that here the remote control can only be terminated by the operator by releasing the dead man's switch.
  • simply ending the transmission of control signals cannot ensure that the remote-controlled object is reliably fixed in a position that is inappropriate for the people in the working area of the object is safe or cheap.
  • the spatial distance within which the remote-controlled object can be controlled or stopped by means of the portable computer and the safety device is relatively small in the known arrangements.
  • the known remote control arrangements with a portable computer are therefore not suitable for many, in particular industrial, applications.
  • the object of the invention is to provide a generic remote control arrangement which avoids the disadvantages mentioned and enables a larger range of applications for portable computers for remote control of objects in the professional or industrial sector.
  • the safety device itself has safety transmission means, by means of which a signal preventing the movement of the object can be sent directly to the object when the safety control connection is disconnected, independently of the portable computer.
  • an abort signal can also be sent independently of the portable computer in order to prevent movement of the remote-controlled object if the safety control connection is missing or interrupted or if the operating element, such as a commercially available emergency stop button, is actuated, abort or block it.
  • the remote control process or a movement of the remote-controlled object generated thereby can be abruptly terminated in an emergency by actuating the mechanical operating element, for example in the manner of an emergency stop device.
  • the object to be controlled can be moved to a safe and, for example, predefined position and fixed in this position by means of the abort signal that is actively transmitted.
  • the portable computer in question can also be used for remote control of large objects, such as cranes or industrial lifting or transport equipment, with the movement of the object being prevented or stopped at any time by actuating the control element in the event of danger.
  • the operating element can be actuated both by the user himself and by other people. In this way, the possible use of a site available portable computer to be used as a remote control for additional, especially industrial or commercial applications, which also saves the cost of an additional remote control.
  • the safety transmission means can be deactivated or deactivated when the safety control connection is established, in order to enable undisturbed remote control operation when the safety function is in place.
  • a blocking control signal that can be sent out by the portable computer can be provided, which prevents movement of the remote-controlled object when the safety control connection is disconnected and can only be deactivated or deactivated when the safety control connection is established. In this way it can be ensured that the portable computer, when switched on, actively blocks a movement of the remote-controlled object until the safety control connection has been established.
  • the blocking control signal can be activated by actuating the operating element.
  • the blocking control signal can be activated via the safety device even if the safety control connection exists, in order to be able to interrupt or prevent a movement of the object, particularly in the event of danger.
  • the existence of the security control connection between the computer and the security device can be indicated, for example, on a display of the computer or by an optical signal.
  • the user of the remote control arrangement can be informed at any time as to whether the security device is available and whether remote control of the object in question is therefore possible or not.
  • a working area of the remote-controlled object can advantageously also be shown on a display of the computer.
  • This allows the portable Computers are also used to display a work area to the user, for example by means of at least one camera, to which he has no direct insight.
  • the electronic signal connection can be established by a physical plug connection. In this way, a particularly stable exchange of data between the security device and the portable computer is guaranteed.
  • the physical plug-in connection can be made on a receptacle into which the portable computer can be inserted and on which the safety device is provided or integrated.
  • a plug connection which is formed on an additional housing, for example, thus enables a direct connection of the portable computer to the safety device, so that the operating element is available directly on the portable computer and can be actuated while control commands are being input.
  • the physical plug-in connection between the security device and the portable computer can be established via a connecting cable.
  • a connecting cable such as a USB cable.
  • the electronic signal connection can be established via a wireless connection.
  • the wireless connection can be established via optical signal transmission means. This makes it possible, for example, to use an optical signal generator that interacts with an optical signal detector, and to provide coding via the optical signals that ensures that the electronic signal connection is made exclusively between specific devices.
  • the wireless connection can be established via a radio link, such as a Bluetooth or WLAN connection, whereby the electronic signal connection can be established without interference, for example even when there is no optical connection between the devices and also outdoors.
  • the safety device has a signal converter device, by means of which the control signals emitted by the computer can be changed and then transmitted by the safety device.
  • the security device it is possible to use the security device to send out the transmitted control signals in a different format or with a higher transmission power than is possible with the transmission means of the computer.
  • the signal converter device has amplification means, by means of which the signals received by the computer can be amplified. In this way, the control signals sent out by the computer can also be sent out by the signal converter device of the security device in the same format with a higher transmission power in order to enable a greater range.
  • the signal converter device advantageously has conversion means, by means of which the control signals received from the computer in a first format can be converted into a second format in which the control signals can be transmitted by the safety device.
  • WLAN signals sent out by the computer for example, can be received by the security device and sent out in the form of radio signals at a different frequency in order to ensure a greater range or greater stability of the control signals.
  • the stated object is achieved by a method for operating a remote control arrangement in one of the above-mentioned embodiments with the features of claim 12. Accordingly, after activation of the computer program product on the portable computer in a first step prevents movement of the remote-controlled object in a second step.
  • a subsequent third step it is then repeatedly checked whether there is a security control connection between the security device and the computer. If the computer program product determines that the safety control connection exists, for example through the receipt of corresponding signals from the safety device over a predetermined period of time, the transmission of control signals to the remote-controlled object is activated in a subsequent fourth step. These control signals are generated by the computer program product as a function of the control commands entered on the computer.
  • the computer program product detects a break in the safety control connection in a fifth step, for example due to the missing or insufficient input of corresponding signals from the safety device, or if a break signal is received from the safety device as a result of the operating element being actuated, this is the case the movement of the remote-controlled object is prevented again.
  • the object in question can only be remotely controlled by means of the portable computer if there is a stable connection to the security device.
  • the control of the object is aborted for safety reasons.
  • the movement of the remote-controlled object is prevented by the safety device sending stop signals directly to the object.
  • the safety device sending stop signals directly to the object.
  • the movement of the remote-controlled object can be prevented by the portable computer sending out stop signals, which are sent out, for example, in parallel with or instead of the control signals.
  • stop signals which are sent out, for example, in parallel with or instead of the control signals.
  • a display is additionally activated, which signals the active state of the safety device and thus the possible transmission of control signals for remote control of the object.
  • the Safety device 8 which is designed in the form of an emergency stop device, for example, has an operating element 10 in the form of a commercially available emergency stop button, which can be mechanically actuated to generate a termination signal.
  • the operating element 10 is formed, for example, by a push button or switch that can be displaced by applying force.
  • the computer 4 has electronics 12 in which a computer program product 14 is stored and can be executed.
  • the computer program product 14 serves to generate control signals S and/or blocking control signals BS and to send them to the remote-controlled object 6 .
  • the computer 4 has an arrangement 15 of virtual and/or physical input elements for entering control commands, as well as transmission means 16, which include a computer-side transceiver 18, for example.
  • the remote-controlled object 6 in turn has receiving means 20 for receiving the control signals S and/or the blocking control signals BS, which include, for example, a transceiver 22 on the object.
  • the signals received via this transceiver 22 or the control commands resulting therefrom are passed on to the control means 24 of the object 6, via which the remote-controlled object 6 can be correspondingly controlled or set in motion.
  • a safety control connection 26 can also be established between the portable computer 4 and the safety device 8 .
  • the wireless connection 30 can in particular be embodied as a radio, WLAN, infrared and/or Bluetooth connection.
  • the safety device 8 can have safety transmission means 31, by means of which abort signals NAS can be sent directly to the object 6 when the operating element 10 is actuated or if the safety control connection 26 is disconnected, in order to stop or block its movement.
  • a display 34 is provided on which it can be signaled whether the safety control connection 26 exists or not.
  • the display 32 of the computer 4 can be used to display images of a working area of the remote controlled object 6 within a surveillance display 36 .
  • the images can be recorded continuously, for example, by means of a camera 38 provided on the object 6 and sent to the computer 4 .
  • FIG 2 shows an alternative embodiment of the remote control arrangement 2, in which the computer 4 is accommodated in a receptacle 40 of an additional housing 42.
  • the safety device 8 is integrated into the additional housing 42 or held on it.
  • the additional housing 42 has a contact plug 44 which is positioned in such a way that when the computer 4 is inserted into the receptacle 40 it can be connected to a socket 46 of the computer 4, such as in particular a USB socket, comes into contact.
  • This contact plug 44 is like this figure 2 can be seen is connected to the safety device 8, so that when the contact is made between the contact plug 44 and the socket 46, the safety control connection 26 is also made at the same time.
  • FIG. 3 Another embodiment of the remote control arrangement 2 is in figure 3 shown.
  • This has a security device 8 separate from the computer 4 with an additional signal converter device 48 .
  • a transceiver 50 for example, is provided on this signal converter device 48, by means of which the control signals S transmitted by the computer 4 can both be received and transmitted.
  • the signal converter device 48 has conversion means 52, by means of which the control signals S sent out by the computer 4 in a first format F1 can be converted into a second format F2.
  • the control signals S can be converted from a WLAN or Bluetooth format used by the computer 4 into a radio format with a different frequency, which is a larger one range or a more stable radio connection with the remote-controlled object is guaranteed.
  • the signal converter device 48 can have amplification means 54, by means of which the control signals S received from the computer 4 are amplified when forwarded by the security device 8, in order to thereby increase the range.
  • a first step S1 the remote control of the object 6 is started by switching on the computer 4.
  • the computer 4 is set by the computer program product 14 in a second step S2 to a default setting in which movement control is suppressed in order to prevent the remote-controlled object 6 from moving unintentionally.
  • the movement control is suppressed either by the control signals S not being sent, by the active blocking control signals BS, which are sent from the computer 4 to the object 6, or by the active abort signals NAS, which are sent by safety transmission means 31 of the safety device 8 to the Object 6 to be sent.
  • a third step S3 it is then checked whether the safety control connection 26 to the safety device 8 has been established. If not, the computer program product 14 leaves the computer 4 in the default setting.
  • the computer program product 14 enables the remote control operation of the computer 4 in a fourth step S4, so that when control commands are entered on the computer 4, corresponding control signals S are generated and transmitted. If necessary, the transmission of the blocking control signals from the computer 4 or the abort signals from the safety device 8 is simultaneously aborted.
  • a fifth step S5 repeatedly checks whether the safety control connection 26 is disconnected or whether a termination signal has been generated at the safety device 8 . As long as these two conditions are not met, remote control operation continues.
  • the computer program product 14 resets the computer 4 to the default setting according to the second step S2.
  • the transmission of the control signals S is aborted or the transmission of the blocking control signals or the abort signals is reactivated, thereby preventing further movement or displacement of the remote-controlled object 6, in particular to prevent persons from being endangered or damage to property.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Selective Calling Equipment (AREA)

Claims (14)

  1. Ensemble de télécommande (2)
    avec un ordinateur (4) portable, sur lequel un programme informatique pour générer et envoyer des signaux de commande (S, BS) à l'aide de moyens d'émission (16) prévus sur l'ordinateur (4) est mis en mémoire,
    et un objet (6) télécommandé, sur lequel sont prévus des moyens de réception (20) pour la réception des signaux de commande (S, BS) et des moyens de commande (24) pour la commande de l'objet (6) en fonction des signaux (S, BS) reçus,
    dans lequel l'ensemble de télécommande (2) présente en outre un dispositif de sécurité (8) avec un élément de commande (10) pouvant être actionné mécaniquement, dans lequel une liaison de commande de sécurité (26) peut être établie entre le dispositif de sécurité (8) et l'ordinateur (4) portable et une commande de l'objet (6) ne peut être libérée que lorsque la liaison de commande de sécurité (26) est établie
    et la liaison de commande de sécurité (26) comprend une liaison par signaux électronique entre le dispositif de sécurité (8) et l'ordinateur (4), dans lequel les signaux de commande (S) pour le mouvement de l'objet (6) ne peuvent être envoyés que lorsqu'une liaison par signaux électronique est existante,
    caractérisé en ce que le dispositif de sécurité (8) présente lui-même des moyens d'émission de sécurité (31), à l'aide desquels lorsque la liaison de commande de sécurité (26) est rompue, un signal d'interruption (NAS) empêchant le mouvement de l'objet (6) peut être envoyé directement à l'objet (6) indépendamment de l'ordinateur (4) portable.
  2. Ensemble de télécommande selon la revendication 1, caractérisé en ce que les moyens d'émission de sécurité (31) peuvent être désactivés lorsque la liaison de commande de sécurité (26) est établie.
  3. Ensemble de télécommande selon la revendication 1 ou 2, caractérisé en ce qu'un signal de commande de blocage (BS) empêchant le mouvement de l'objet (6), qui peut être désactivé lorsque la liaison de commande de sécurité (26) est établie et peut être activé par actionnement de l'élément de commande (10), peut être envoyé à partir de l'ordinateur (4) portable.
  4. Ensemble de télécommande selon l'une quelconque des revendications 1 à 3, caractérisé en ce que l'existence de la liaison de commande de sécurité (26) de l'ordinateur (4) avec le dispositif de sécurité (8) peut être signalée sur l'ordinateur (4).
  5. Ensemble de télécommande selon l'une quelconque des revendications 1 à 4, caractérisé en ce qu'une zone de travail de l'objet (6) télécommandé peut en outre être affichée sur un écran (32) de l'ordinateur (4).
  6. Ensemble de télécommande selon l'une quelconque des revendications 1 à 5, caractérisé en ce que la liaison de commande de sécurité (26) peut être établie par l'intermédiaire d'une liaison enfichable physique.
  7. Ensemble de télécommande selon la revendication 6, caractérisé en ce que la liaison enfichable physique peut être établie sur un logement (40), dans lequel l'ordinateur (4) portable peut être inséré et sur lequel le dispositif de sécurité (8) est prévu.
  8. Ensemble de télécommande selon la revendication 6, caractérisé en ce que la liaison enfichable physique entre le dispositif de sécurité (8) et l'ordinateur (4) peut être établie par l'intermédiaire d'un câble de liaison (28).
  9. Ensemble de télécommande selon l'une quelconque des revendications 1 à 8, caractérisé en ce que la liaison de commande de sécurité (26) peut être établie par l'intermédiaire d'une liaison sans contact/sans fil, tel que par l'intermédiaire de moyens de transmission de signaux optiques ou par l'intermédiaire d'une liaison radio.
  10. Ensemble de télécommande selon l'une quelconque des revendications 1 à 9, caractérisé en ce que le dispositif de sécurité (8) présente un dispositif de convertisseur de signaux (48), au moyen duquel les signaux de commande (S) partant de l'ordinateur (4) peuvent être modifiés et peuvent être envoyés du côté du dispositif de sécurité (8), dans lequel le dispositif de convertisseur de signaux (48) présente des moyens d'amplification (54), à l'aide desquels les signaux de commande (S) reçus par l'ordinateur (4) peuvent être émis par le dispositif de sécurité (8) avec une puissance d'émission plus élevée.
  11. Ensemble de télécommande selon la revendication 10, caractérisé en ce que le dispositif de convertisseur de signaux (48) présente des moyens de conversion (52), à l'aide desquels les signaux de commande (S) reçus par l'ordinateur (4) dans un premier format (F1) peuvent être convertis dans un deuxième format (F2), dans lequel les signaux de commande (S) peuvent être envoyés du côté du dispositif de sécurité (8).
  12. Procédé pour faire fonctionner un ensemble de télécommande selon l'une quelconque des revendications 1 à 11, dans lequel après activation du programme informatique sur l'ordinateur (4) portable dans une première étape (S1), le mouvement de l'objet (6) télécommandé est empêché dans une deuxième étape (S2),
    dans une troisième étape (S3) suivante une existence de la liaison de commande de sécurité (26) est contrôlée,
    lorsque la liaison de commande de sécurité (26) est existante, dans une quatrième étape (S4) suivante, la libération d'un mode télécommande de l'ordinateur portable s'effectue, de sorte que l'envoi de signaux de commande (S) est activé en fonction d'instructions de commande entrées sur l'ordinateur (4), dans lequel lorsque la liaison de commande de sécurité (26) est interrompue ou lors de l'entrée d'un signal d'interruption (NAS) à partir du dispositif de sécurité (8), dans une cinquième étape (S5) suivante, le mouvement de l'objet (6) télécommandé est à nouveau empêché par l'envoi de signaux d'interruption (NAS) du côté du dispositif de sécurité (8) directement à l'objet (6), et
    tant qu'il n'y a pas d'interruption de la liaison de commande de sécurité (26) et pas d'entrée d'un signal d'interruption (NAS) à partir du dispositif de sécurité (8), le mode télécommande est poursuivi.
  13. Procédé selon la revendication 12, caractérisé en ce que le mouvement de l'objet (6) télécommandé est empêché par l'envoi de signaux d'interruption (NAS) du côté de l'ordinateur (4) portable.
  14. Procédé selon l'une quelconque des revendications 12 ou 13, caractérisé en ce que dans la troisième étape (S3), un affichage (34) est activé en plus sur l'écran (32), à l'aide duquel l'existence de la liaison de commande de sécurité (26) et avec elle l'envoi possible de signaux de commande (S) est affiché.
EP18746147.0A 2017-08-09 2018-07-24 Système de télécommande et procédé pour l'operation du système de télécommande Active EP3665117B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202017104769.5U DE202017104769U1 (de) 2017-08-09 2017-08-09 Fernsteuerungsanordnung
PCT/EP2018/069995 WO2019029983A1 (fr) 2017-08-09 2018-07-24 Système de télécommande

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Publication Number Publication Date
EP3665117A1 EP3665117A1 (fr) 2020-06-17
EP3665117B1 true EP3665117B1 (fr) 2022-06-29

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US (1) US11250692B2 (fr)
EP (1) EP3665117B1 (fr)
AU (1) AU2018314391A1 (fr)
CA (1) CA3070517A1 (fr)
DE (1) DE202017104769U1 (fr)
WO (1) WO2019029983A1 (fr)

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JP7004162B2 (ja) * 2018-03-23 2022-01-21 株式会社豊田自動織機 産業車両用遠隔操作システム、遠隔操作装置、産業車両、産業車両用遠隔操作プログラム、及び産業車両用遠隔操作方法
DE102018118135A1 (de) * 2018-07-26 2020-01-30 Thomas Haug Fernsteuerungsanordnung und Verfahren zum Betrieb der Fernsteuerungsanordnung
DE102020102210A1 (de) 2020-01-30 2021-08-05 Stetter Gesellschaft mit beschränkter Haftung Mobile Baumaschine und Verfahren zur Steuerung einer mobilen Baumaschine
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EP3665117A1 (fr) 2020-06-17
CA3070517A1 (fr) 2019-02-14
US20200211365A1 (en) 2020-07-02
AU2018314391A1 (en) 2020-02-13
DE202017104769U1 (de) 2017-10-06
WO2019029983A1 (fr) 2019-02-14
US11250692B2 (en) 2022-02-15

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