EP3921543A1 - Kompressorsystem und verfahren zum betreiben eines kompressorsystems in abhängigkeit des druckluftbedarfs eines betriebszustands des fahrzeugs - Google Patents
Kompressorsystem und verfahren zum betreiben eines kompressorsystems in abhängigkeit des druckluftbedarfs eines betriebszustands des fahrzeugsInfo
- Publication number
- EP3921543A1 EP3921543A1 EP20839357.9A EP20839357A EP3921543A1 EP 3921543 A1 EP3921543 A1 EP 3921543A1 EP 20839357 A EP20839357 A EP 20839357A EP 3921543 A1 EP3921543 A1 EP 3921543A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- compressor
- compressed air
- compressor system
- speed
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B41/00—Pumping installations or systems specially adapted for elastic fluids
- F04B41/02—Pumping installations or systems specially adapted for elastic fluids having reservoirs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/08—Regulating by delivery pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
- F04B49/103—Responsive to speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
Definitions
- the invention relates to a compressor system and a method for operating a compressor system as a function of the compressed air requirement of an operating state of a vehicle.
- the method relates in particular to the operation of a compressor system in an operating state in which there is such a high demand for compressed air that there is a risk of an undersupply of the compressed air system.
- Such a high demand is referred to below as borderline high compressed air demand.
- Compressors in rail vehicles are subject to diverse, sometimes contrary requirements, such as high delivery performance, sufficient duty cycles, low noise emissions, low energy consumption, small installation space, flexible operating strategies and low acquisition and life cycle costs.
- high delivery performance sufficient duty cycles
- low noise emissions low energy consumption
- small installation space small installation space
- flexible operating strategies low acquisition and life cycle costs.
- compressors that are electrically driven are used in rail vehicles.
- the compressors are operated in on / off mode between a lower cut-in pressure and an upper cut-out pressure at a constant speed, the so-called nominal speed, or a variable speed.
- the compressor is dimensioned in such a way that a specified filling time of the compressed air tank is achieved and a minimum on-time is not exceeded during operation.
- the size and thus the maximum output of the compressor are usually selected so that the minimum switch-on time is not exceeded and the maximum filling time of the compressed air tank is not exceeded in route operation, i.e. when the vehicle is driven regularly.
- other factors play a role, such as efficiency and power consumption at the rated speed or The shell emissions at different speeds play a role in the dimensioning of the compressor.
- the compressor In line operation, the compressor is operated intermittently. The compressor is started when the pressure in the compressed air tank has dropped to the switch-on pressure. When the switch-off pressure is reached, the compressor is switched off and only restarted after a pressure drop to the switch-on pressure.
- the station when the rail vehicle stops at the station, the compressor is operated intermittently just as it is during the journey.
- the intermittent operation described above has been further developed in such a way that the compressor is operated in such a way that the air pressure in the compressed air tank is in a range just above the switch-on pressure while the vehicle is in motion.
- the delivery rate of the compressor is only increased when compressed air is consumed. In this way, air pressure losses due to leakage can be minimized and unnecessary switching on of the compressor and the associated energy consumption can be prevented.
- a compressor system for a rail vehicle has at least one compressor for generating compressed air for at least one compressed air tank, the delivery rate of the at least one compressor being adjustable at least indirectly via at least one control device.
- at least one pressure sensor is optionally arranged in a line carrying compressed air which is arranged downstream of the at least one compressor, the at least one regulating device regulating the at least one compressor on the basis of the pressure measured therewith.
- the at least one regulating device of the at least one compressor is further configured in such a way that it can increase the delivery capacity of the at least one compressor beyond a specified maximum operating power in a special case, even if this means exceeding the limit values specified in normal operation with regard to noise or power consumption. This increase in the delivery rate is preferably only carried out for a short time in order not to endanger safe operation.
- the maximum operating power is understood to mean that power with which the at least one compressor is operated at a maximum in normal operation (that is, no particular need). This does not necessarily have to represent the maximum output or the nominal output (maximum output that can be achieved in continuous operation) of the at least one compressor. It is conceivable, for example, that only 80% of the nominal output of the compressor are set as the maximum operating output of the compressor in order to operate the at least one compressor in a particularly economical and wear-optimized manner.
- a delivery rate can be made available that allows the compressed air requirements to be met in this case, so that an undersupply of the system can be prevented, or the compressed air tank when entering a bus stop can be fully filled, although there is an increased consumption of compressed air.
- the compressor can be prevented from starting while in the train station or during a standstill, and noise pollution can be reduced.
- At least one pressure sensor on the basis of which the air pressure or the air pressure gradient is determined, is arranged in a line carrying compressed air that is arranged downstream of the at least one compressor.
- the particular case of need is given when there is a marginally high consumption of compressed air.
- the compressed air consumption exceeds a certain limit value, the delivery capacity of the at least one compressor is increased beyond the specified maximum operating capacity.
- the at least one regulating device is configured to set the delivery rate of the at least one compressor, in particular via the speed of the compressor.
- the compressor system has at least one sensor that is configured to record a measured value that is suitable for the compressor system in the event that the delivery capacity of the at least one compressor is above the specified maximum operating capacity of the compressor monitor. In this way it can be ensured that the at least one compressor is not damaged in the event of an increased delivery rate, in order to prevent superfluous and cost-intensive maintenance work.
- the compressor system has a human-machine interface. This is arranged in the cockpit of the vehicle driver and can be operated by him. If this is the case, the particular case of need is transmitted directly to the at least one regulating device (5), so that it increases the delivery capacity of the at least one compressor beyond the specified maximum operating capacity.
- the at least one regulating device is configured to suppress the switching on of the compressor system in a further special case of need, taking into account defined operating parameters.
- operating parameters can be, for example, the position of the vehicle in connection with the current time and date or the pressure in the compressed air tank.
- the at least one compressor is operated at a speed that is greater than a certain speed, which leads to a specified maximum operating power of the compressor in special cases of need, in particular when compressed air consumption is marginally high.
- the particular case of need is reported by the vehicle driver and / or the vehicle control to the at least one control device.
- the embodiment is particularly advantageous if the need is only reported by the vehicle control when it is confirmed by the train driver, since it can thus be ensured in the best possible way that the excessive conveying capacity can actually be considered necessary.
- the vehicle control alone can pass the requirement on to the control device.
- Fig. 1 shows a schematic arrangement of a compressor system according to the invention
- Fig. 2 shows two diagrams which show on the one hand the speed of the compressor and on the other hand the air pressure in the compressed air tank over time
- a compressor system for a rail vehicle has a compressor 3 for generating compressed air.
- the compressed air generated by the compressor 3 is passed via a compressed air line 6 to a cooler unit 9 with a cooler fan 14. Downstream of the cooler unit 9, a pressure sensor 7 and a temperature sensor 13b are arranged in the line 6 carrying compressed air.
- the compressed air line 6 opens into a pre-separator 11, which is followed by an air treatment system 12.
- the dried compressed air which has been cleaned of particles, is then fed into a compressed air tank 4.
- a temperature sensor 13a which is arranged on the compressor 3, as well as the temperature sensor 13b and the pressure sensor 7 all send the measured temperatures and the measured pressure to a control device 5.
- control device 5 also receives signals from a vehicle controller 2 and the vehicle driver 1.
- control device 5 is suitable for controlling both the speed of the cooler unit 9 and the compressor 3 itself.
- an electrical supply 15 is provided which supplies the compressor 3 with power via the control unit 3.
- the regulating device is thus able to regulate the power supply to the compressor, usually by means of a frequency converter.
- the air pressure in the compressed air tank 4 can be adjusted via the speed of the compressor 3.
- the upper diagram illustrates the course of the speed over time, while the lower diagram shows the course of the air pressure in the compressed air tank 4 over time.
- the compressor 3 is operated in a filling operation A of the rail vehicle at a speed m required for a maximum operating power of the compressor until the air pressure in the compressed air tank 4 reaches the cut-off pressure a.
- a subsequent route operation N in which the rail vehicle travels on a route in normal operation, the compressor 3 is initially switched off as soon as the compressed air tank is filled. After a considerable part of the compressed air has been consumed while driving, it is then operated at a variable speed, slightly above the minimum speed i.
- the air pressure in the compressed air tank 4 is kept in a range that is set slightly above the switch-on pressure e. In this way it can be achieved that only as much compressed air is generated as is actually consumed and that an economical operation can thus be ensured, since the pressure loss at high pressure due to leakage is higher than at lower pressure. In addition, the energy losses are also lower at a lower pressure level.
- a briefly high compressed air requirement can lead to an undersupply of the compressed air system. If this occurs, a "boost mode operation" BM is activated in order to fill the pressure accumulator as quickly as possible.
- the speed is briefly operated above the speed m set for example due to noise emissions or power consumption of the compressor, which leads to the maximum operating power of the compressor, in a "boost mode speed range" bm to avoid an undersupply of compressed air.
- the "boost mode operation" BM can be triggered by the driver of the vehicle or automatically by the train control system.
- a short-term high demand for compressed air can be necessary, for example, due to a necessary abrupt braking when the train is under high load.
- normal braking operation B is continued after the "boost mode operation" BM in FIG.
- the compressor 3 continues to operate at the maximum speed m and the compressed air tank 4 is fed up to a maximum overpressure x, the compressor 3 at a variable speed between after reaching the maximum overpressure x Nominal speed n and minimum speed i, is operated slightly above the minimum speed i.
- the compressor 3 is switched off and is only set to the minimum speed i when the switch-on pressure e is reached. The rail vehicle is thus back in line operation N.
- the control device 5 Before a station operation S, the control device 5 receives a signal from the vehicle controller 10 about the impending station operation S, the speed of the compressor 3 normally being set to the maximum speed m in order to feed the at least one compressed air tank 4 up to the maximum overpressure x. If the time until the train comes to a standstill is not sufficient to raise the air pressure in the compressed air tank 4 to the maximum air pressure x, or if an unexpectedly high air pressure requirement occurs during the braking process, the "boost mode" BM is also activated and the speed is increased of the compressor is raised above the specified maximum speed m in order to completely fill the compressed air tank 4.
- the compressor 3 is switched off as long as possible for the entire stay in the stop in order to cause the lowest possible noise emissions at the stop. For this reason, it is important, especially when the compressed air consumption is high when the vehicle is stationary, for example due to large load changes of the vehicle due to passengers getting on and off, that the compressed air tank is filled to the maximum when entering the stop.
- the switch-on pressure e is reached, the compressor 3 is set to the minimum speed i.
- the rail vehicle is again in route operation N.
- the compressor 3 is intermittently between the minimum speed i when the pressure drops to the switch-on pressure e and when the compressor 3 is switched off when the Cut-off pressure a operated.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102020100296.3A DE102020100296A1 (de) | 2020-01-09 | 2020-01-09 | Kompressorsystem und Verfahren zum Betreiben eines Kompressorsystems in Abhängigkeit des Druckluftbedarfs eines Betriebszustands des Fahrzeugs |
| PCT/EP2020/087998 WO2021140049A1 (de) | 2020-01-09 | 2020-12-29 | Kompressorsystem und verfahren zum betreiben eines kompressorsystems in abhängigkeit des druckluftbedarfs eines betriebszustands des fahrzeugs |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP3921543A1 true EP3921543A1 (de) | 2021-12-15 |
| EP3921543C0 EP3921543C0 (de) | 2023-07-12 |
| EP3921543B1 EP3921543B1 (de) | 2023-07-12 |
Family
ID=74181171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP20839357.9A Active EP3921543B1 (de) | 2020-01-09 | 2020-12-29 | Kompressorsystem und verfahren zum betreiben eines kompressorsystems in abhängigkeit des druckluftbedarfs eines betriebszustands des fahrzeugs |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US12305634B2 (de) |
| EP (1) | EP3921543B1 (de) |
| JP (1) | JP2023511051A (de) |
| KR (1) | KR102762107B1 (de) |
| CN (1) | CN114930025B (de) |
| DE (1) | DE102020100296A1 (de) |
| WO (1) | WO2021140049A1 (de) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115447552B (zh) * | 2022-09-02 | 2025-08-15 | 三一汽车起重机械有限公司 | 一种控制气泵的方法、装置、电子设备、车辆及存储介质 |
| DE102023101412A1 (de) * | 2023-01-20 | 2024-07-25 | Zf Cv Systems Europe Bv | Druckluftversorgung, Fahrzeug-Luftfedersystem, Fahrzeug und Verfahren zum Steuern einer Druckluftversorgung eines Fahrzeuges |
| DE102023134010A1 (de) * | 2023-12-05 | 2025-06-05 | Zf Cv Systems Europe Bv | Steuerungsverfahren, Steuereinheit, Druckluftversorgungseinheit, Luftfederungssystem und Fahrzeug |
Family Cites Families (33)
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| US2704631A (en) | 1955-03-22 | bancel | ||
| GB996001A (en) * | 1960-10-25 | 1965-06-23 | Plessey Co Ltd | Improvements in or relating to fuel delivery control systems for gas turbine, engines, more particularly for turbojet engines |
| IT1071428B (it) * | 1976-09-01 | 1985-04-10 | Wabco Westinghouse Spa | Sistema di climatizzazione per veicoli ferroviari |
| JPS6338693A (ja) | 1986-07-31 | 1988-02-19 | Nippon Air Brake Co Ltd | 鉄道車両用調圧方法 |
| JP2617330B2 (ja) * | 1988-04-11 | 1997-06-04 | 西芝電機株式会社 | 圧縮機の運転制御方法 |
| EP0704784A1 (de) * | 1994-09-30 | 1996-04-03 | F.I.A.C. S.r.l. | Verfahren und Vorrichtung zur Erzeugung und zur Zuführ komprimierter Luft |
| JP2000062389A (ja) | 1998-08-25 | 2000-02-29 | Pentel Kk | 棒状体繰り出し容器 |
| JP4415340B2 (ja) * | 2000-06-02 | 2010-02-17 | 株式会社日立産機システム | スクリュー圧縮装置とその運転制御方法 |
| FR2835787B1 (fr) * | 2002-02-14 | 2004-10-22 | Renault Vehicules Ind | Procede de pilotage d'un compresseur entraine par le moteur d'un vehicule |
| DE10240162A1 (de) * | 2002-08-30 | 2004-03-18 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Luftbedarfsgesteuerte Kompressoranordnung, insbesondere für Nutzfahrzeuge |
| DE10240600A1 (de) * | 2002-09-03 | 2004-03-18 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren zur Erzeugung von Druckluft und Kompressoranordnung zur Durchführung des Verfahrens |
| JP2004354017A (ja) * | 2003-05-30 | 2004-12-16 | Sanyo Electric Co Ltd | 冷却装置 |
| JP4069450B2 (ja) | 2003-06-24 | 2008-04-02 | 日立工機株式会社 | 空気圧縮機及びその制御方法 |
| DE102004059835A1 (de) * | 2004-12-10 | 2006-06-14 | Voith Turbo Gmbh & Co. Kg | Verfahren zum Regeln eines Druckluftversorgungssystems eines Kraftfahrzeugs |
| JP5108477B2 (ja) * | 2007-11-22 | 2012-12-26 | デンヨー株式会社 | エンジン駆動圧縮機 |
| DE102012223996A1 (de) | 2012-12-20 | 2014-06-26 | Siemens Aktiengesellschaft | Luftdruckerzeugungsvorrichtung für ein Schienenfahrzeug |
| DE102013003513A1 (de) | 2013-03-04 | 2014-09-04 | Wabco Gmbh | Verdichteranordnung zum Betreiben einer Druckluftversorgungsanlage, Druckluftversorgungsanlage und Druckluftversorgungssystem sowie Fahrzeug mit einer solchen Druckluftversorgungsanlage |
| DE102013003512B4 (de) | 2013-03-04 | 2020-12-10 | Wabco Gmbh | Spannungsversorgung in einem Bordnetz für einen Verdichter einer Luftversorgungsanlage |
| CN203472743U (zh) * | 2013-07-12 | 2014-03-12 | 祥天控股(集团)有限公司 | 压缩空气动力汽车 |
| DE102013113556A1 (de) | 2013-12-05 | 2015-06-11 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Kompressorsystem und Verfahren zum Betrieb des Kompressorsystems in Abhängigkeit der aktuellen Situation des Schienenfahrzeugs |
| DE102013113557A1 (de) | 2013-12-05 | 2015-06-11 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Kompressorsystem für ein Schienenfahrzeugs und Verfahren zum Betrieb des Kompressorsystems mit einem sicheren Notlaufbetrieb |
| DE102013113555A1 (de) * | 2013-12-05 | 2015-06-11 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Kompressorsystem und Verfahren zum Betrieb des Kompressorsystems in Abhängigkeit vom Betriebszustand des Schienenfahrzeugs |
| US10371426B2 (en) | 2014-04-01 | 2019-08-06 | Emerson Climate Technologies, Inc. | System and method of controlling a variable-capacity compressor |
| DE102014213653A1 (de) * | 2014-07-14 | 2016-01-14 | Siemens Aktiengesellschaft | Wasserverteilungssystem für ein Schienenfahrzeug |
| US11193482B2 (en) | 2014-12-17 | 2021-12-07 | Hitachi Industrial Equipment Systems Co., Ltd. | Air compressing apparatus and control method |
| JP6404169B2 (ja) * | 2015-04-02 | 2018-10-10 | 株式会社神戸製鋼所 | 圧縮機ユニットおよびガス供給装置 |
| JP6656821B2 (ja) * | 2015-05-22 | 2020-03-04 | 株式会社荏原製作所 | 真空ポンプ装置 |
| AT518199B1 (de) * | 2016-01-18 | 2017-11-15 | Secop Gmbh | Verfahren zur Detektion eines blockierten Ventils eines Kältemittelkompressors und ein Steuerungssystem für einen Kältemittelkompressor |
| JP6744023B2 (ja) * | 2016-02-26 | 2020-08-19 | 尼寺空圧工業株式会社 | エアーコンプレッサ、エアーコンプレッサの情報表示方法 |
| JP6827334B2 (ja) * | 2017-02-06 | 2021-02-10 | 北越工業株式会社 | エンジン駆動型圧縮機の制御方法及びエンジン駆動型圧縮機 |
| DE102017001914A1 (de) * | 2017-02-27 | 2018-08-30 | Liebherr-Transportation Systems Gmbh & Co. Kg | Klimaanlage für ein Fahrzeug |
| DE102017010772B4 (de) | 2017-11-21 | 2025-01-02 | Zf Cv Systems Europe Bv | Druckluftversorgungsanlage zum Betreiben einer Pneumatikanlage eines Fahrzeugs und Verfahren zum Betrieb einer Druckluftversorgungsanlage |
| JP6964545B2 (ja) * | 2018-03-26 | 2021-11-10 | 株式会社日立産機システム | 気体圧縮機 |
-
2020
- 2020-01-09 DE DE102020100296.3A patent/DE102020100296A1/de active Pending
- 2020-12-29 US US17/758,628 patent/US12305634B2/en active Active
- 2020-12-29 EP EP20839357.9A patent/EP3921543B1/de active Active
- 2020-12-29 KR KR1020227024762A patent/KR102762107B1/ko active Active
- 2020-12-29 CN CN202080092392.2A patent/CN114930025B/zh active Active
- 2020-12-29 WO PCT/EP2020/087998 patent/WO2021140049A1/de not_active Ceased
- 2020-12-29 JP JP2022542228A patent/JP2023511051A/ja active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| DE102020100296A1 (de) | 2021-07-15 |
| EP3921543C0 (de) | 2023-07-12 |
| KR102762107B1 (ko) | 2025-02-03 |
| JP2023511051A (ja) | 2023-03-16 |
| WO2021140049A1 (de) | 2021-07-15 |
| CN114930025A (zh) | 2022-08-19 |
| CN114930025B (zh) | 2024-06-07 |
| US12305634B2 (en) | 2025-05-20 |
| US20230045392A1 (en) | 2023-02-09 |
| EP3921543B1 (de) | 2023-07-12 |
| KR20220108187A (ko) | 2022-08-02 |
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