EP3871066A1 - Module d'utilisation pour un appareil de terrain de la technique d'automatisation, et appareil de terrain lui-même - Google Patents

Module d'utilisation pour un appareil de terrain de la technique d'automatisation, et appareil de terrain lui-même

Info

Publication number
EP3871066A1
EP3871066A1 EP19769478.9A EP19769478A EP3871066A1 EP 3871066 A1 EP3871066 A1 EP 3871066A1 EP 19769478 A EP19769478 A EP 19769478A EP 3871066 A1 EP3871066 A1 EP 3871066A1
Authority
EP
European Patent Office
Prior art keywords
field device
feedback
operating
elements
control
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.)
Pending
Application number
EP19769478.9A
Other languages
German (de)
English (en)
Inventor
Junaid Ali SHAH
Mathieu Weibel
Mike Frank
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.)
Endress and Hauser SE and Co KG
Original Assignee
Endress and Hauser SE and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Endress and Hauser SE and Co KG filed Critical Endress and Hauser SE and Co KG
Publication of EP3871066A1 publication Critical patent/EP3871066A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25428—Field device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31368—MAP manufacturing automation protocol
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/0482—Interaction with lists of selectable items, e.g. menus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/0485—Scrolling or panning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04886—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures by partitioning the display area of the touch-screen or the surface of the digitising tablet into independently controllable areas, e.g. virtual keyboards or menus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G06F3/167—Audio in a user interface, e.g. using voice commands for navigating, audio feedback

Definitions

  • the invention relates to an operating module for a field device of automation technology. Furthermore, the invention relates to a field device of automation technology which has the operating module according to the invention.
  • Field devices which are used in industrial systems have already become known from the prior art. Field devices are widely used in process automation as well as in manufacturing automation. In principle, field devices are all devices that are used close to the process and that supply or process process-relevant information. Field devices are used to record and / or influence process variables. Measuring devices or sensors are used to record process variables. These are used for example for pressure and temperature measurement, conductivity measurement, flow measurement, pH measurement, level measurement, etc. and record the corresponding process variables pressure, temperature, conductivity, pH value, level, flow etc. Actuators are used to influence process variables. These are, for example, pumps or valves that can influence the flow of a liquid in a pipe or the level in a container. In addition to the measuring devices and actuators mentioned above, field devices are also understood to mean remote I / Os, radio adapters or generally devices which are arranged at the field level.
  • the Endress + Hauser Group produces and sells a large number of such field devices.
  • the higher-level units are control units, such as a PLC (programmable logic controller) or a PLC (programmable logic controller).
  • the higher-level units are used, among other things, for process control and for commissioning the field devices.
  • the measured values recorded by the field devices, in particular sensors are transmitted via the respective bus system to one (or possibly several) higher-level unit (s), which process the measured values if necessary and forward them to the control center of the system.
  • the control center is used for process visualization,
  • Process monitoring and process control via the higher-level units are required, in particular for the configuration and parameterization of field devices and for the control of actuators.
  • “Operation” is understood to mean, among other things, parameterizing the field device, updating the field device and / or querying and visualizing process data and / or diagnostic data of the field device.
  • control units in the sense of the “Field Xpert,” which is produced and distributed by the applicant, as well as mobile devices such as smartphones or tablets, which are specifically designed for this purpose
  • Application applications are executable, such as that of the applicant
  • SmartBlue application provided.
  • the connection to the field device is usually wired (Field Xpert) or wireless, for example via Bluetooth (mobile devices).
  • Button element receives.
  • control modules of modern field device types have optoelectronic controls. These serve as a replacement for mechanically operated button elements and enable the construction of hermetically encapsulated field devices. The functioning of such optoelectronic
  • feedback-free control elements is that an operator receives no immediate confirmation as to whether the control element was actuated via an operating action or not.
  • complex operating processes which require the actuation of several such operating elements or require a long holding of an operating element, may have to be carried out several times in order to carry out the operating action correctly.
  • the invention has for its object the ease of use for a field device of automation technology, which is haptically feedback-free
  • the object is achieved by an operating module according to claim 1 and by a field device of automation technology according to claim 6.
  • ii. to cause a first feedback for an operator in the event that an actuation is detected by one of the operating elements, which actuation in particular lasts longer than a first predetermined time period
  • iii. to cause a second feedback for the operator in the event that an actuation is detected by one of the control elements, which actuation lasts longer than a second predetermined period of time, the second period of time being greater than the first period of time.
  • the control module according to the invention has the advantage that an operator receives immediate feedback for two different control actions: the conventional, short pressing of the control element and holding the control element.
  • a short period of time for example 50 milliseconds, is waited to determine whether it is actually an intended operating action. Then the first feedback is issued.
  • control element is an optoelectronic control element.
  • optoelectronic control element Such an optoelectronic
  • Control element usually has a transparent control panel, which is arranged on the outside of the housing of the control module and which represents a contact surface for actuation by the operator.
  • Such an optoelectronic control element is usually based on the principle of the “open light barrier”, in which infrared light is emitted by a pair of transmitters / receivers, this light is reflected or scattered on a finger or other scattering object and is transmitted via a receiver, for example a photodiode, Will be received.
  • control element is an element visualized on a touch-sensitive display element.
  • the touch-sensitive display element is in particular a
  • the control element is a radar-based control element.
  • the control element is designed to emit radar waves.
  • the operator places his finger or hand at a predetermined distance in front of the control element, as a result of which the radar waves on the finger or hand are reflected back to the control element.
  • This is recognized as actuation of the control element.
  • An example of such a control element is the “Soli” product, which was developed by Google and Infineon.
  • control element in the event that actuations are detected by more than one of the control elements, distinguishable feedback signals which can be traced back to the respective actuated control element are initiated. This gives the operator feedback on which of the controls is being operated. In addition, the operator also receives feedback as to which of the "press” or “hold” operating actions is currently being carried out by which control element.
  • the field device of automation technology is designed to detect at least one physical variable of a measuring medium or to influence at least one size of a process engineering process and has the inventive Operating module on. Examples of such field devices have already been described in the introductory part of the description.
  • the field device or the operating module has a display unit, in particular an LCD display, which is designed to visualize a first symbol as first feedback and to visualize a second symbol as second feedback.
  • a display unit in particular an LCD display
  • the outline of a symbol for example a circle, a rectangle or any other shape, is visualized as the first feedback and that the filled symbol is visualized as the second feedback.
  • the control element is in particular arranged next to or above or below the display, so that the symbol is visualized on the display at the level of the control element. In the event that several operating elements are provided, these are arranged accordingly next to one another, one above the other or one below the other.
  • the visualized symbols are then arranged side by side, one above the other or one below the other, so that a
  • Operation can be clearly assigned to one of the controls. It can also be provided to provide different symbol shapes for each of the operating elements in order to be able to clearly assign an operation to an operating element.
  • the field device or the operating module has a light-emitting component, in particular an LED, which is designed to provide, as first feedback, a first light signal with a first color, a first flashing frequency and / or a first amplitude to output and to output a second light signal with a second color, a second flashing frequency and / or a second amplitude as second feedback.
  • a light-emitting component in particular an LED, which is designed to provide, as first feedback, a first light signal with a first color, a first flashing frequency and / or a first amplitude to output and to output a second light signal with a second color, a second flashing frequency and / or a second amplitude as second feedback.
  • a light-emitting component in particular an LED, which is designed to provide, as first feedback, a first light signal with a first color, a first flashing frequency and / or a first amplitude to output and to output a second light signal with a second color, a second
  • the field device or the operating module has an acoustic reproduction means, in particular a loudspeaker, which is designed to output a first audio signal as the first feedback and as the second feedback a second audio signal which is different from the first Audio signal is to output.
  • the field device or the operating module has a vibration element, in particular a vibration motor, which is designed to output a first vibration signal with a first time duration and / or a first vibration level as first feedback and as a second one Feedback on Output second vibration signal with a second time period and / or a second vibration level.
  • a vibration element is preferably arranged directly next to or under an operating element in order to intensify the vibration effect.
  • the vibration elements are advantageously decoupled from one another, so that the vibrations are only perceptible in the operating element that is currently being actuated, in order in particular to be able to clearly assign actuations of several operating elements.
  • the electronic unit after exclusively initiating the first feedback and then ending the actuation of the operating element, is designed to carry out a first operating action on the field device.
  • the first operator action is one of the following:
  • the electronic unit is configured to carry out a second operating action after initiating the second feedback and then ending the actuation of the operating element.
  • the second operator action is one of the following:
  • FIG. 2 Time profiles for examples of operating options using the operating module
  • Fig. 3 Exemplary embodiments for the output of feedback for various operator actions
  • FIG. 5 shows a third exemplary embodiment of a field device according to the invention.
  • FIG. 1 shows a first exemplary embodiment of a field device FG of automation technology.
  • BM operating module This consists of a display unit AE and three haptically
  • the BM operating module has an electronic unit EE. This controls the operation of the components AE, BE1, BE2, BE3 of the operating module BM and is designed to forward operating commands issued by the operating module to the electronics of the field device FG.
  • FIG 2 shows the schematic sequence of several operating actions which can be carried out on the operating module.
  • the operating mode “press” of one of the operating elements BE1, BE2, BE3 is outlined in FIG. 2a.
  • the operator BD carries out an actuation BT 1 of the control element BE1 of the control module BM.
  • the control element BE1 is covered by the operator, for example by means of a finger or an object, for Example a pen.
  • the operating element BE1 has to be actuated longer than a predetermined first time period Ati in order to trigger a first operating action BA1.
  • the time period Ati is, for example, 50 milliseconds.
  • the display element visualizes a first symbol SY1 i in the form of a circular outline, which is essentially arranged above the position of the control element BE1.
  • 3a schematically shows the actuation BT1 of the first operating element BE1 by the operator BD and the arrangement of the first symbol SY1 i then visualized on the display unit AE of the operating module BM.
  • the operator BD1 then lifts the finger or the object from the control element BE1 and thereby ends the actuation BT1.
  • the visualization of the first symbol SYl i on the display unit AE is also ended. This is shown in Fig. 3b.
  • a signal is sent to the electronics of the field device FG, which carries out a first operating action BA1.
  • the electronics unit EE of the BM operating module itself carries the first
  • the operating mode “hold” of one of the operating elements BE1, BE2, BE3 is outlined in FIG. 2b.
  • the operator BD carries out an actuation BT2 of the control element BE1 of the control module BM.
  • the first symbol SY1 i is visualized on the display unit AE of the operating module BM after the first time period Ati.
  • a second time period At 2 is now waited for, which
  • the first symbol SY11 changes to a second symbol SY2i, here a filled circle.
  • 3c schematically shows the actuation BT2 of the first operating element BE1 by the operator BD and the arrangement of the first symbol SY2i which is then visualized on the display unit AE of the operating module BM.
  • the operator BD1 then lifts the finger or the object from the control element BE1 and thereby ends the actuation BT2.
  • the visualization of the second symbol SY1 i on the display unit AE is also ended.
  • a signal is sent to the electronics of the field device FG, which carries out a second operating action BA2.
  • the electronic unit EE of the operating module BM itself carries out the second operating action BA2.
  • control elements BE1, BE2, BE3 different symbol shapes are visualized for each of the control elements BE1, BE2, BE3.
  • the operating modes can be carried out independently of one another in order to carry out special operating actions. For example, it can be provided that the "hold" operating mode is carried out with the control element BE1. While the control element BE1 is held, a special menu, which is visualized on the display unit AE, or a temporary blocking of the control module BM can be opened by “pressing” control elements BE2 and BE3, for example.
  • the shape of the symbols SY11, SYI 2, SY2i can be freely selected and is not limited to circular shapes.
  • the number of control elements BE1, BE2, BE3, the arrangement of the control elements BE1, BE2, BE3 on the control module BM, and the arrangement and size of the symbols SY11, SYI 2, SY2i on the display unit AE can be freely selected and not on the limited to the embodiments shown in Figures 1 to 3.
  • the operating module BM additionally has three light-emitting components LB1, LB2, LB3 in the form of LEDs, one light-emitting component LB1, LB2, LB3 being assigned to one operating element BE1, BE2, BE3.
  • the light-emitting components LB1, LB2, LB3 can be designed to light up in the course of triggering the “press” operating mode of the corresponding operating element BE1, BE2, BE3.
  • the light-emitting components LB1, LB2, LB3 flash in the “press” operating mode at a first frequency or emit light of a specific color.
  • the light-emitting components LB1, LB2, LB3 flash in a second frequency or shine in a different color.
  • the operating module BM additionally has an acoustic reproduction means AW, for example in the form of a
  • the acoustic reproduction means can be designed to generate an acoustic signal in the course of triggering the operating mode “pressing” an operating element BE1, BE2, BE3.
  • the acoustic playback device AW outputs the acoustic signal in the “press” operating mode at a first pitch or for a specific period of time.
  • the acoustic playback device AW emits the acoustic signal in one different pitch and / or for a longer period of time.
  • FIG. 6 A fourth, final exemplary embodiment of the field device is shown in FIG. 6.
  • the operating module BM also has three vibration elements VE1, VE2, VE3 in the form of
  • Vibration motors wherein a vibration element VE 1, VE2, VE3 is assigned to an operating element BE1, BE2, BE3 and in particular is attached directly below this.
  • Vibration elements VE1, VE2, VE3 advantageously decoupled from one another, so that the
  • Vibrations can only be perceived with the currently actuated control element BE1, BE2, BE3, in order in particular to be able to clearly assign actuations of several control elements BE1, BE2, BE3.
  • the vibration elements VE1, VE2, VE3 can be designed to vibrate in the course of triggering the operating mode “pressing” of the corresponding control element BE1, BE2, BE3 in such a way that the operator BD perceives the vibration directly, in particular via the one used for the actuation Finger or object.
  • the vibrating elements VE1, VE2, VE3 vibrate in the “press” operating mode with a first vibration level or for a certain period of time.
  • the vibrating elements VE1, VE2, VE3 vibrate with a different vibration level or for a longer period of time.
  • Embodiment are outlined, can be transferred analogously to the other embodiments.
  • control elements BE1, BE2, BE3 can be used which do not have haptic feedback.
  • radar-based controls can be used.
  • a touchscreen is used that visualizes the controls.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un module d'utilisation (BM) pour un appareil de terrain (FG) de la technique d'automatisation. Le module d'utilisation comprend : au moins des éléments d'utilisation (BE1, BE2, BE3) sans retour sur le plan haptique ; une unité électronique (EE), laquelle est configurée pour i. détecter des actionnements (BT1, BT2) des éléments d'utilisation (BE1, BE2, BE3), ii. pour entraîner un premier retour pour un utilisateur (BD) quand un actionnement (BT1) est détecté par un des éléments d'utilisation (BE1, BE2, BE3), lequel actionnement (BT1) dure en particulier plus longtemps qu'une première durée (At i) spécifiée, et iii. pour entraîner une deuxième réponse pour l'utilisateur (BD) quand un actionnement (BT2) est détecté par un des éléments d'utilisation (BE1, BE2, BE3), lequel actionnement (BT2) dure plus longtemps qu'une deuxième durée (At 2) spécifiée. La deuxième durée (At 2) est plus longue que la première durée (At i). L'invention concerne également un appareil de terrain (FG) de la technique d'automatisation, laquelle comporte le module d'utilisation (BM) selon l'invention.
EP19769478.9A 2018-10-22 2019-09-16 Module d'utilisation pour un appareil de terrain de la technique d'automatisation, et appareil de terrain lui-même Pending EP3871066A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018126231.0A DE102018126231A1 (de) 2018-10-22 2018-10-22 Bedienmodul für ein Feldgerät der Automatisierungstechnik und selbiges Feldgerät
PCT/EP2019/074705 WO2020083567A1 (fr) 2018-10-22 2019-09-16 Module d'utilisation pour un appareil de terrain de la technique d'automatisation, et appareil de terrain lui-même

Publications (1)

Publication Number Publication Date
EP3871066A1 true EP3871066A1 (fr) 2021-09-01

Family

ID=67982080

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19769478.9A Pending EP3871066A1 (fr) 2018-10-22 2019-09-16 Module d'utilisation pour un appareil de terrain de la technique d'automatisation, et appareil de terrain lui-même

Country Status (5)

Country Link
US (1) US20210333780A1 (fr)
EP (1) EP3871066A1 (fr)
CN (1) CN112840298A (fr)
DE (1) DE102018126231A1 (fr)
WO (1) WO2020083567A1 (fr)

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DE102022201008A1 (de) 2022-01-31 2023-08-03 Vega Grieshaber Kg Feldgerät mit bedienbarer Leuchtanzeige

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US20210333780A1 (en) 2021-10-28
WO2020083567A1 (fr) 2020-04-30
DE102018126231A1 (de) 2020-04-23

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