EP3853945B1 - Antenne de toit avec antenne à ondes millimétriques intégrée - Google Patents

Antenne de toit avec antenne à ondes millimétriques intégrée Download PDF

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Publication number
EP3853945B1
EP3853945B1 EP20743685.8A EP20743685A EP3853945B1 EP 3853945 B1 EP3853945 B1 EP 3853945B1 EP 20743685 A EP20743685 A EP 20743685A EP 3853945 B1 EP3853945 B1 EP 3853945B1
Authority
EP
European Patent Office
Prior art keywords
antenna
mmwave
slot
antennas
main body
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.)
Active
Application number
EP20743685.8A
Other languages
German (de)
English (en)
Other versions
EP3853945A1 (fr
Inventor
Amir Cenanovic
Lars Reichardt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
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Audi AG
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Filing date
Publication date
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Publication of EP3853945A1 publication Critical patent/EP3853945A1/fr
Application granted granted Critical
Publication of EP3853945B1 publication Critical patent/EP3853945B1/fr
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Anticipated expiration legal-status Critical

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
    • H01Q1/3275—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle mounted on a horizontal surface of the vehicle, e.g. on roof, hood, trunk
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/002—Protection against seismic waves, thermal radiation or other disturbances, e.g. nuclear explosion; Arrangements for improving the power handling capability of an antenna
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/52—Means for reducing coupling between antennas; Means for reducing coupling between an antenna and another structure
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q13/00—Waveguide horns or mouths; Slot antennas; Leaky-waveguide antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/10—Resonant slot antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0006—Particular feeding systems
    • H01Q21/0037—Particular feeding systems linear waveguide fed arrays
    • H01Q21/0043—Slotted waveguides
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0006—Particular feeding systems
    • H01Q21/0037—Particular feeding systems linear waveguide fed arrays
    • H01Q21/0043—Slotted waveguides
    • H01Q21/005—Slotted waveguides arrays
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/28—Combinations of substantially independent non-interacting antenna units or systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q5/00—Arrangements for simultaneous operation of antennas on two or more different wavebands, e.g. dual-band or multi-band arrangements
    • H01Q5/40—Imbricated or interleaved structures; Combined or electromagnetically coupled arrangements, e.g. comprising two or more non-connected fed radiating elements

Definitions

  • the present invention relates to a roof antenna for a vehicle, comprising a base body, a covering device and a printed circuit board (PCB level).
  • PCB level printed circuit board
  • the new 5G standard should enable faster data transmission, for example in the mobile network.
  • Frequencies up to 5 GHz are currently used. However, as the frequency increases, the range of the wavelengths decreases. However, the higher frequency ranges offer the advantage that higher bandwidths are available, which are necessary for fast data transmission. For example, a 5 GHz network with a data transmission rate of 10 or 20 Gbit is only possible with a frequency band of 100 MHz. However, such frequency ranges require a dense network of radio masts.
  • Bandwidths of up to 400 MHz and downlink transmission rates of > 2 Gbps are possible with mmWave technology.
  • the mmW technology in the 5G mobile radio standard is best suited to achieve good coverage in inner cities, for example.
  • the free space attenuation is proportional to 1/f 2 , ie the signals are significantly more attenuated in the mmW frequency range (28GHz/39GHz).
  • a signal at 30 GHz is attenuated 20 dB (factor 100) more than a signal at 3 GHz.
  • the signal attenuation between Sender and receiver reduces the reception level at the receiver input and accordingly reduces the data transmission rate.
  • Antenna modules are already known in the prior art.
  • a scalable multiband antenna module with several antenna elements is known, which are arranged within a metallic or a non-conductive cavity.
  • a multifunction antenna for a vehicle which comprises at least four antennas, a first antenna being set up to receive a satellite signal, a further antenna being set up to receive a terrestrial signal, a further antenna being set up for the mobile radio range and a further antenna is set up to determine a geoposition.
  • An antenna module for a vehicle which includes an antenna device with a plurality of antennas arranged on the vehicle exterior on a first carrier plate.
  • the antenna arrangement comprises a first antenna module adapted for communication in a first higher frequency range.
  • the object of the present invention is to provide an antenna device for high frequencies which is set up to compensate for free space attenuation and at the same time has a small installation space requirement.
  • the subject matter of the present invention is a roof antenna for a vehicle, comprising a base body, a covering device and a printed circuit board (PCB level), the base body being metallic, with at least one mmWave antenna being arranged between the metallic base body and the printed circuit board, with at least two mmWave antennas are arranged in the base body, with the mmWave antennas being designed as slot antennas, with the slot antennas being designed as waveguides with at least one slot, and with a waveguide being able to be coupled with a mmW signal of a mmW antenna, with at least one of the slots of the slot antennas can be excited to radiate by the mmW signal, the base body having a base plane which is formed centrally on the base body, the base plane being formed as an elevation of the base body, the at least one mmWave antenna in the base plane is integrated.
  • PCB level printed circuit board
  • the base body is set up as a carrier for the printed circuit board.
  • the covering device is usually designed as an antenna cap that covers the printed circuit board.
  • the covering device closes the roof antenna and protects it from external influences.
  • the covering device is designed to end with the base body or with a roof plane of the vehicle.
  • the base body is metallic, with at least one mmWave antenna being arranged between the metallic base body and the printed circuit board.
  • the term mmWave antenna stands for millimeter wave spectrum antenna. This type of antenna is suitable, among other things, for 5G use in the frequency range below 6Ghz. Placing the mmWave antenna in the roof antenna offers the great advantage that the mmWave antenna has an uninterrupted view around the car (Bluetooth, LTE, telephone, parking heater) and in the sky (satellite services).
  • the arrangement of the mmWave antenna between the metallic base body and the printed circuit board also means that no space is required between the printed circuit board and the covering device for placing the mmWave antenna. By placing the mmWave antenna between the main body and the PCB, the mmWave antenna is not placed directly on the lossy circuit board PCB substrate, which does not affect the efficiency of the mmWave antenna.
  • the at least one mmWave antenna is integrated into the metallic base body.
  • the metallic base body is designed as a die-cast zinc body and the waveguides are designed to be able to be coupled to a coaxial line or a microstrip line, with a distance between a first mmWave antenna and a second mmWave antenna in the base body of the roof antenna of between 25 mm and 30 mm, in particular between 28 mm and 29 mm, the first mmWave antenna being arranged in the direction of travel and the second mmWave antenna being arranged transversely to the direction of travel or transversely to the first mmWave antenna.
  • the basic level is usually designed as an elevation of the base body.
  • the base plane can be oval, round or square in shape.
  • the mmWave antenna Due to the integrated arrangement of the mmWave antenna in the metal base, no additional physical space is required to place the mmWave antenna. By placing the mmWave antenna in the base body, both weight and costs can be saved. Another advantage is that the placement of the mmWave antenna allows for very good galvanic decoupling of the mmWave antenna from the printed circuit board.
  • the metallic base body is designed as a die-cast zinc body. Designing the base body from zinc offers the advantage that zinc is not magnetic.
  • At least two mmWave antennas are arranged in the base body.
  • at least two, in particular at least three mmWave antennas are integrated in the roof antenna, in particular in the base body.
  • a first mmWave antenna is arranged in the direction of travel and a second mmWave antenna is arranged transversely to the direction of travel or transversely to the first mmWave antenna.
  • the at least two mmWave antennas are arranged separately from one another in the base body.
  • at least one mmWave antenna is arranged on one side of the base body, while another mmWave antenna is arranged on an opposite side of the base body.
  • the mmWave antennas generally have a different design, in particular the mmWave antennas are generally designed for different frequency ranges.
  • a distance between a first mmWave antenna and a second mmWave antenna in the base body of the roof antenna is between 25 mm and 30 mm, in particular between 28 mm and 29 mm.
  • the mmWave antennas are designed as slot antennas.
  • the use of slot antennas offers the advantage that these are set up in particular for high frequencies.
  • these set up to convert high-frequency alternating current and electromagnetic waves into one another, so that the slot antennas can be used for both transmitting and receiving.
  • the manufacturing effort of the roof antenna is limited to the coupling of the slot antenna or the slot antennas and the processing of the die-cast zinc body.
  • a first slot antenna is designed for a frequency of 28 GHz and a second slot antenna is designed for a frequency of 39 GHz.
  • Various frequency bands are available when using high frequencies above 6 GHz, for example for use in the 5G mobile radio standard.
  • the slot antennas are optionally set up for a frequency between 4 GHz and 50 GHz, in particular between 6 GHz and 40 GHz, with the use frequencies being adjustable by adjusting the waveguide dimensions (height and width).
  • both antennas can be operated in the same frequency range. This offers the advantage that a better omnidirectional characteristic can be achieved.
  • both antennas are optionally set up for a frequency range of 28 GHz.
  • a first slot antenna is designed for a frequency of 34 GHz and a second slot antenna is designed for a frequency of 38 GHz. This usually corresponds to a frequency band for Europe.
  • a first slot antenna is designed for a frequency of 25 GHz and a second slot antenna is designed for a frequency of 28 GHz.
  • a first slot antenna is designed for a frequency of 31 GHz and a second antenna is designed for a frequency of 33 GHz.
  • the slot antennas are designed as waveguides with at least one slot, with a waveguide each having a mmW signal of the mmW antenna can be coupled, with at least one of the slots of the Slot antennas can be excited by the mmW signal to radiate.
  • a waveguide with a low frequency is made larger than a waveguide with a higher frequency.
  • the waveguides are designed to be able to be coupled to a coaxial line or a microstrip line.
  • the waveguides are designed to be able to be coupled to a coaxial line or a microstrip line.
  • At least two slots of a slot antenna can be combined to form a slot array.
  • the roof antenna is scalable.
  • a scalable antenna concept can thus be implemented by using slot arrays. The interconnection of several individual slot radiators to form a slot array increases the antenna gain (directivity and efficiency of the antenna).
  • FIG 1 shows a side view of an embodiment of a roof antenna 10 according to the invention with a base body 11 according to the invention.
  • the roof antenna 10 is on a roof plane 20 of a vehicle--not shown.
  • the roof antenna 10 is formed from a base body 11, a printed circuit board 13 resting on the base body, and a covering device 12.
  • the covering device 12 is set up to accommodate the printed circuit board 13 and the base body 11 and to close them off from the roof plane 20 .
  • the circuit board 13 is formed between the base body 11 and the cover device 12 .
  • FIG 2a shows a plan view of the - in 1 shown - base body 11.
  • the base body 11 is designed as a die-cast zinc body.
  • the base body 11 has a base plane 19 , with two mmWave antennas 14 being arranged in an integrated manner in the base plane 19 of the base body 11 .
  • the two mmWave antennas 14a and 14b are arranged separately from one another, with the mmWave antennas 14 being integrated into the base body 11 .
  • the mmWave antennas 14a, 14b are designed as slot antennas 15a, 15b and each have a slot 17 in the present embodiment.
  • the slit 17 is designed for blasting.
  • a mmWave antenna 14a, 14b extends in the direction of travel.
  • Another mmWave antenna 14a, 14b is arranged transversely to the direction of travel.
  • the first mmWave antenna 14a is designed for a frequency range of 28 GHz, while the second mmWave antenna 14b is designed for a frequency range of 39 GHz.
  • the first and the second mmWave antenna 14a, 14b are in the form of slot antennas 15a, 15b, with the slot antennas 15a, 15b being in the form of waveguides 16 in each case.
  • FIG 2b shows a perspective top view of the - in the Figures 1 and 2a - Main body 11 shown.
  • the two mmwave antennas 14a, 14b designed as slot antennas 15a, 15b are emphasized.
  • the slot antenna 15a is formed as a waveguide 16, the waveguide 16 being rectangular in the present embodiment.
  • the waveguide 16 of the first slot antenna 15a for the 28 GHz frequency range has a height of 5 mm on the outside and 4 mm on the inside.
  • the waveguide 16 of the first slot antenna 15a has a wall thickness of 0.5 mm in height.
  • the waveguide 16 of the first slot antenna 15a has a width of 8 mm on the outside and 7 mm on the inside.
  • the waveguide 16 of the first slot antenna 15a has a wall thickness of 0.5 mm in width.
  • the waveguide 16 of the second slot antenna 15b for the 39 GHz frequency range has a height of 3.30 mm on the outside and 2.30 mm on the inside.
  • the waveguide 16 of the second slot antenna 15b has a wall thickness of 0.5 mm in height.
  • the waveguide 16 of the second slot antenna 15b has a width of 5.20 mm on the outside and 4.20 mm on the inside.
  • the waveguide 16 of the second slot antenna 15b has a wall thickness of 0.5 mm in width.
  • the dimensions of the respective waveguides 16 can be varied, as can the respective wall thickness.
  • Figure 3a shows a curve diagram of matching and directivity characteristics of a 28 Ghz mmWave antenna. It is shown that a magnitude of -14 db prevails at a frequency of 28 Ghz.
  • Figure 3b shows a curve diagram of matching and directivity characteristics of a 39 Ghz mmWave antenna. It is shown that a magnitude of -90 db prevails at a frequency of 39Ghz.
  • Figure 4a shows a simulation of a matching and directional characteristics of a 28 Ghz mmWave antenna. Shown is the base body 11 with the ground plane 19, as well as a three-dimensional simulation of an exit of the mmWave signal that through the - not shown - slots of the slot antennas is emitted.
  • the simulation shows different strengths of the mmWave signal in dBi, graphically represented using point clouds. The relevant dBi values for each point cloud are given in a legend.
  • Figure 4b shows a simulation of a matching and directional characteristics of a 39 Ghz mmWave antenna. Shown is the base body 11 with the ground plane 19, as well as a three-dimensional simulation of the emergence of the mmWave signal, which is emitted through the slots of the slot antennas (not shown). The simulation shows different strengths of the mmWave signal in dBi, graphically represented using point clouds. The relevant dBi values for each point cloud are given in a legend.
  • figure 5 shows a coupling of a designed as a waveguide 16 slot array 21 to a coaxial line 18.
  • the waveguide 16 is in accordance with the embodiment of the above-described - in the Figures 2a and 2b shown - waveguide 16 formed.
  • the slot array 21 has at least four slots 17 which are offset in relation to one another in the waveguide 16 are. It shows that the coaxial line 18 is connected or coupled to the slot array 21 via a lower side of the rectangular waveguide 16 . By coupling the waveguide 16 with the mmW signal, the slots 17 are excited to radiate.
  • FIG 6 shows a top view of an embodiment of a base body 11 according to the invention with two slot arrays 21.
  • two slot arrays 21 are arranged separately from one another in the base body, in particular the base plane 19 of the base body 11 or are integrated.
  • a slit array 21 has a length of 50 mm and has at least five slits 17 which are arranged offset to one another in two rows.
  • the slot arrays 21 are formed in the base plane 19 at a distance of at least 28.50 mm from one another.
  • the present embodiment of the arrangement of the slot arrays 21 is suitable both for slot antennas for frequencies of 28 GHz and for slot antennas for frequencies of 39 GHz.
  • figure 7 shows two simulations of directional characteristics of a slot array 21.
  • the base body 11 with the base plane 19 is shown in each of the simulations.
  • the mmWave signal that is emitted through the slots extends from the slot arrays 21 in each case.
  • the simulations show different strengths of the mmWave signal in dBi, which are graphically represented using point clouds.
  • the relevant dBi values for a point cloud are given in a respective legend.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Waveguide Aerials (AREA)

Claims (5)

  1. Antenne de toit (10) pour un véhicule, comprenant un corps de base (11), un dispositif de recouvrement (12) et une carte de circuit imprimé, plan PCB (13), dans laquelle le corps de base (11) est métallique, dans laquelle au moins une antenne mmWave (14) est disposée entre le corps de base métallique (11) et la carte de circuit imprimé (13), dans laquelle au moins deux antennes mmWave (14a, 14b) sont disposées dans le corps de base (11), dans laquelle les antennes mmWave (14a, 14b) sont conçues sous forme d'antennes à fentes (15a, 15b), dans laquelle les antennes à fentes (15a, 15b) sont conçues sous forme de guides d'ondes (16) avec au moins une fente (17), et dans laquelle un guide d'ondes (16) peut être couplé respectivement à un signal mmW d'une antenne mMW (14), dans laquelle au moins une des fentes (17) des antennes à fentes (15a, 15b) peut être excitée par le signal mmW pour rayonner, dans laquelle le corps de base (11) présente un plan de base (19), qui est conçu de manière centrale sur le corps de base (11), dans laquelle le plan de base (19) est réalisé en tant qu'élévation du corps de base (11), dans laquelle l'au moins une antenne mmWave (14a, 14b) est conçue de manière intégrée dans le plan de base (19), caractérisée en ce que le corps de base métallique (11) est réalisé en tant que corps moulé sous pression en zinc et les guides d'ondes (16) sont configurés pour pouvoir être couplés à une ligne coaxiale (18) ou une ligne microruban, dans laquelle une distance entre une première antenne mmWave (14a) et une seconde antenne mmWave (14b) dans le corps de base (11) de l'antenne de toit est comprise entre 25 mm et 30 mm, en particulier entre 28 mm et 29 mm, dans laquelle la première antenne mmWave (14a) est disposée dans le sens de la marche et la seconde antenne mmWave (14b) est disposée transversalement au sens de la marche ou transversalement à la première antenne mmWave (14a).
  2. Antenne de toit (10) selon la revendication 1, caractérisée en ce que l'au moins une antenne mmWave (14) est conçue de manière intégrée dans le corps de base métallique (11).
  3. Antenne de toit (10) selon la revendication 1, caractérisée en ce que les au moins deux antennes mmWave (14a, 14b) sont disposées séparément l'une de l'autre dans le corps de base (11).
  4. Antenne de toit (10) selon la revendication 1 ou 3, caractérisée en ce qu'une première antenne à fentes (15a) est conçue pour une fréquence de 28 GHz et une seconde antenne à fentes (15b) est conçue pour une fréquence de 39 GHz.
  5. Antenne de toit (10) selon l'une quelconque des revendications précédentes, caractérisée en ce qu'au moins deux fentes (17) ou antennes à fentes peuvent être combinées en un réseau de fentes.
EP20743685.8A 2019-09-02 2020-07-21 Antenne de toit avec antenne à ondes millimétriques intégrée Active EP3853945B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019213208.1A DE102019213208B3 (de) 2019-09-02 2019-09-02 Dachantenne mit eingebetteter mmWave-Antenne
PCT/EP2020/070537 WO2021043494A1 (fr) 2019-09-02 2020-07-21 Antenne de toit avec antenne à ondes millimétriques intégrée

Publications (2)

Publication Number Publication Date
EP3853945A1 EP3853945A1 (fr) 2021-07-28
EP3853945B1 true EP3853945B1 (fr) 2022-04-20

Family

ID=71738156

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20743685.8A Active EP3853945B1 (fr) 2019-09-02 2020-07-21 Antenne de toit avec antenne à ondes millimétriques intégrée

Country Status (5)

Country Link
US (1) US11984651B2 (fr)
EP (1) EP3853945B1 (fr)
CN (1) CN114258613A (fr)
DE (1) DE102019213208B3 (fr)
WO (1) WO2021043494A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202200002453A1 (it) * 2022-02-10 2023-08-10 Ask Ind Spa Antenna per autoveicoli

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3364295B2 (ja) 1993-10-08 2003-01-08 株式会社日立国際電気 衛星放送受信用平面アレーアンテナ
DE10330087B3 (de) 2003-07-03 2005-01-20 Kathrein-Werke Kg Multifunktionsantenne
DE102006025176C5 (de) 2006-05-30 2023-02-23 Continental Automotive Technologies GmbH Antennenmodul für ein Fahrzeug
US7492318B2 (en) * 2007-02-15 2009-02-17 Laird Technologies, Inc. Mobile wideband antennas
DE102009038150B4 (de) 2009-08-20 2013-11-07 Continental Automotive Gmbh Multiband-Antennenmodul für ein Fahrzeug
DE102009051605B4 (de) 2009-11-02 2022-08-18 Continental Automotive Gmbh Hochintegrierte Multiband-Finnenantenne für ein Fahrzeug
US9685708B2 (en) * 2012-08-23 2017-06-20 Ntn Corporation Waveguide tube slot antenna and wireless device provided therewith
US10256548B2 (en) * 2014-01-31 2019-04-09 Kymeta Corporation Ridged waveguide feed structures for reconfigurable antenna
US9851436B2 (en) * 2015-01-05 2017-12-26 Delphi Technologies, Inc. Radar antenna assembly with panoramic detection
DE102016006975B3 (de) * 2016-06-07 2017-09-07 Audi Ag Kraftfahrzeug mit Antennenanordnung
WO2018051288A1 (fr) * 2016-09-16 2018-03-22 Uhnder, Inc. Configuration de radar virtuel pour réseau 2d
DE102016219164B4 (de) * 2016-10-04 2024-05-29 Bayerische Motoren Werke Aktiengesellschaft Antennenanordnung für ein Fahrzeug und Fahrzeug
CN106876901A (zh) * 2017-03-28 2017-06-20 南京大学（苏州）高新技术研究院 一种77GHz毫米波汽车防撞雷达天线
US11495877B2 (en) * 2018-08-17 2022-11-08 Metawave Corporation Multi-layer, multi-steering antenna system for autonomous vehicles

Also Published As

Publication number Publication date
EP3853945A1 (fr) 2021-07-28
US20220294102A1 (en) 2022-09-15
DE102019213208B3 (de) 2020-09-24
CN114258613A (zh) 2022-03-29
US11984651B2 (en) 2024-05-14
WO2021043494A1 (fr) 2021-03-11

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