EP3953210A1 - Methods for operating electrical drive units of seat components in a motor vehicle, preferably in a pre-crash case, and system for performing the method - Google Patents
Methods for operating electrical drive units of seat components in a motor vehicle, preferably in a pre-crash case, and system for performing the methodInfo
- Publication number
- EP3953210A1 EP3953210A1 EP20720377.9A EP20720377A EP3953210A1 EP 3953210 A1 EP3953210 A1 EP 3953210A1 EP 20720377 A EP20720377 A EP 20720377A EP 3953210 A1 EP3953210 A1 EP 3953210A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- adjustment
- seat
- control strategy
- seat components
- drive units
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000011217 control strategy Methods 0.000 claims description 46
- 230000001133 acceleration Effects 0.000 claims description 17
- 230000006870 function Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
- B60N2/0252—Non-manual adjustments, e.g. with electrical operation with logic circuits with relations between different adjustments, e.g. height of headrest following longitudinal position of seat
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
- B60N2/0276—Non-manual adjustments, e.g. with electrical operation with logic circuits reaction to emergency situations, e.g. crash
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/002—Seats provided with an occupancy detection means mounted therein or thereon
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/02246—Electric motors therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
- B60N2/0268—Non-manual adjustments, e.g. with electrical operation with logic circuits using sensors or detectors for adapting the seat or seat part, e.g. to the position of an occupant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
- B60N2/16—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable height-adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/22—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the back-rest being adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/80—Head-rests
- B60N2/806—Head-rests movable or adjustable
- B60N2/809—Head-rests movable or adjustable vertically slidable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/90—Details or parts not otherwise provided for
- B60N2/995—Lower-leg-rests, e.g. calf-rests
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
- B60R21/01512—Passenger detection systems
- B60R21/01552—Passenger detection systems detecting position of specific human body parts, e.g. face, eyes or hands
Definitions
- the invention relates to a method for operating electrical drive units of seat components in the motor vehicle, preferably in a pre-crash case, and a system for performing the method according to the independent claims.
- DE 103 09 083 A1 has disclosed a device for the rapid adjustment of a seat actuator which, when an impending crash event is detected, moves the backrest into a crash-optimized position by means of a rapid run. Furthermore, such a high-speed run is used as an entry aid for the adjustment of an unloaded backrest.
- the inventive method for operating a drive unit of a motor vehicle component preferably a side window, a sliding roof or Wegkom components
- the drive unit for executing the method with the features of the independent claims have the advantage that by implementing a control strategy for the time sequence different drive units of the different seat components, the maximum power required by the drives can be reduced.
- the drive units can be made much smaller and lighter than if the individual drive units adjust the various seat components completely independently of one another.
- the idea here is that for the coordination of the drive units, on the one hand, the external acceleration of the vehicle and, on the other hand, the dynamics of one adjustment plane can be used to actuate another adjustment plane.
- passengers in the motor vehicle can be moved from a resting position to a seating position optimized for a crash in the shortest possible time, so that the restraint systems - such as belt tensioners or airbags - can optimally protect the passenger in the event of a collision.
- the restraint systems - such as belt tensioners or airbags - can optimally protect the passenger in the event of a collision.
- passengers in the second row of seats or when driving autonomously can be adjusted from any rest position to the optimal target position for an impending crash.
- the measures listed in the dependent claims enable advantageous developments and improvements of the embodiments given in the dependent claims.
- the determination of a control strategy for the various seat adjustment planes is preferably initiated by a sensor signal from a pre-crash sensor system.
- the time still available until the crash and also the acceleration forces acting on the vehicle in this period are used as the basis for determining the control strategy.
- the position data of the seat components are continuously determined by the position detection of the electric drives, preferably by incremental Hall sensor systems or by sensorless systems that evaluate the current ripple of the adjustment motor.
- the individual characteristic values of the passenger are also used to determine the control strategy.
- These individual parameters of the passenger can be read into a memory beforehand, for example, or they can be determined currently in the vehicle using suitable sensors. It is particularly favorable if the weight and body dimensions, in particular the height of the passenger, can be used as a basis for working out the control strategy.
- the maximum performance of the individual drive units is also taken into account for the control strategy.
- the current status of the available energy can be used to determine the control strategy.
- the dynamics of the individual adjustment planes of the seat components are taken into account to save energy in the adjustment movements.
- the braking of a first adjustment movement can be used to accelerate a seat component of a second adjustment movement.
- it can be useful, for example, not to start different adjustment movements exactly at the same time, but rather offset one after the other.
- a maximum load on the individual body parts with a maximum acceleration is taken into account for the control strategy. For example, it is preferred to ensure that the head or neck area is exposed to lower accelerations than other body parts.
- the maximum acceleration values for the individual body parts are determined, for example, in the pre-crash system and stored in a control unit for generating the control strategy.
- the control strategy preferably controls at least two different adjustment movements of different seat components, the longitudinal seat adjustment and the seat inclination adjustment and the shutter inclination adjustment being regarded as the most relevant for achieving an optimal target position in the event of a crash. At least two of these adjustment levels, preferably all three adjustment levels, are matched to one another by the control strategy.
- control strategy can include at least two of the total seat adjustment levels, or also three, or four or more adjustment levels.
- electrical-specific drive units are preferably operated with a voltage that is significantly greater than the usual 12 volt electrical system.
- a voltage of about 24 volts, 36 volts, 48 volts or 60 volts is preferably applied to the drive motors, since, for example, all necessary seat components can be adjusted in a pre-crash period of about 0.1 to 0.3 seconds. During this period, movements of the seat components of up to 20 cm length adjustment or 15 ° inclination angle can then be achieved using the control strategy.
- a particularly efficient control strategy results from the coordination of the longitudinal seat adjustment with the backrest inclination adjustment.
- the moment of inertia of the braking process of the longitudinal adjustment of the seat is used to reduce the energy requirement when raising the seat back.
- the drive of the seat back is started later to drive the seat length adjustment, so that in particular the greatest possible overlap of the braking process of the seat length adjustment with the adjustment of the backrest is used.
- Another favorable control strategy consists in the advantageous coordination of the seat inclination distribution with the backrest inclination adjustment. It is preferred when raising the seat back, the seat inclination is adjusted in the opposite direction.
- the external accelerations that act on the motor vehicle can also be taken into account.
- the initiated braking of the vehicle can be used for a more efficient backrest inclination position, in which the passenger is appropriately uprighted in the event of a crash.
- the pre-crash sensors provide the expected acceleration values for deriving the control strategy of the electric drive.
- the electric drives in particular have the highest possible efficiency.
- their gears and bearings are designed in such a way that they have as little self-locking as possible.
- the drive units it is necessary that the drive units then have a locking mechanism that allows the seat components to remain in their bearing when the target position is reached.
- the system according to the invention for determining and executing the control strategy for adjusting the different seat components advantageously uses the existing pre-crash sensors that detect a crash that may be imminent. Furthermore, the existing position sensors of the drive motors of the seat components are used to record the current position of the seat components. The system has a control unit into which these existing output data are entered. The control strategy for the control of the drive motors is determined in the control unit on the basis of the time span still available until the crash and the current positions of the seat components. In addition, previously determined data, such as certain characteristic values of the passenger, for example height or weight, can be stored in the control unit. The maximum performance of the electric drives can also be stored in the control unit.
- control strategy is derived from all of this data, with the aim of finding the optimal position of the passenger in the given time span with the given electrical see drives to be realized. Care is taken to ensure that the passenger is not exposed to excessive acceleration and that the vehicle's electrical system is loaded as little as possible.
- Fig. 1 schematically shows the process steps for operating electrical drive units (10) of seat components in the motor vehicle in the event of a crash
- a method for operating electrical drive units of seat components in the motor vehicle is shown schematically as an example.
- the pre-crash sensor system detects the risk of an imminent crash.
- the pre-crash sensor system includes acceleration and / or rotation rate sensors, but can be combined with any other environment sensors, such as radar, ultrasound and video sensors.
- the pre-crash sensor supplies the necessary time span and the accelerations acting on the vehicle until then.
- step S2 the current position of the individual Wegkom components is recorded. Since the drive units each have a position detection function for moving to predetermined positions, their current values can be used to determine a control strategy.
- passenger-specific characteristic data can optionally be recorded, which are either stored earlier or are currently detected by a corresponding interior sensor system (e.g. camera, seat occupancy sensor). For example, the weight and body dimensions of the passenger are made available for determining the control strategy.
- a corresponding interior sensor system e.g. camera, seat occupancy sensor
- a step S4 the current energy reserves of the electric drive units to be controlled - in particular the charge level of a battery or a rechargeable battery or a supercaps - can be recorded.
- the construction-related maximum performance of the individual electric drives is also stored in the system for determining the control strategy.
- a step S5 the optimal control strategy for actuating the electrical drive units of the seat components is generated, taking into account all of these input data made available.
- the aim of the control strategy is to move to an optimal seating position for the passenger for the specific crash case in the time still available. Due to the targeted determination of the optimal chronological sequence of the movements of the individual adjustment levels, the necessary maximum power - and thus the size - of the built-in electric drives can be reduced.
- the control strategy also takes into account, in particular, that certain parts of the body such as the head and neck are not exposed to excessive acceleration loads.
- the control strategy is determined in a processor of a control device, preferably by means of algorithms implemented for this purpose.
- the electrical drives are then operated via the control unit.
- step S6 the individual electric drives of the various adjustment levels are now controlled.
- the time sequence and the power requirements of the drives are coordinated with one another in such a way that a synergy effect of the various movements is used to reduce the maximum power of the drives and the energy consumption.
- This control strategy also allows large adjustment distances and angles of adjustment of the seat components to be made in a short time, so that passengers can also be moved from a comfort position - for example when driving autonomously - to a safe target position in good time in the event of an impending crash, so that the restraint systems function optionally .
- the coordination of the adjustment plane of the backrest inclination adjustment with the longitudinal adjustment of the seat is shown in the diagrams of FIGS.
- the entire seat with the passenger is accelerated, for example, at 1.3 m / s 2 in the direction of travel.
- a 0 m / s 2
- the case without seat length adjustment is shown as a dashed line.
- the necessary power is recorded as the necessary torque m on the Ge joint of the backrest angle adjustment over time t.
- a maximum torque of approximately 1000 Nm is required for the backrest adjustment, which is shown as a dashed line.
- the drive for the backrest inclination adjustment is only started at 0.06 s. Before this, the drive must apply a holding torque of around 300 Nm for the backrest if the seat is not accelerated in the longitudinal direction.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019205103.0A DE102019205103A1 (en) | 2019-04-10 | 2019-04-10 | Method for operating electric drive units of seat components in the motor vehicle, preferably in a pre-crash case, and a system for carrying out the method |
PCT/EP2020/059985 WO2020208061A1 (en) | 2019-04-10 | 2020-04-08 | Methods for operating electrical drive units of seat components in a motor vehicle, preferably in a pre-crash case, and system for performing the method |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3953210A1 true EP3953210A1 (en) | 2022-02-16 |
Family
ID=70333922
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20720377.9A Withdrawn EP3953210A1 (en) | 2019-04-10 | 2020-04-08 | Methods for operating electrical drive units of seat components in a motor vehicle, preferably in a pre-crash case, and system for performing the method |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220234475A1 (en) |
EP (1) | EP3953210A1 (en) |
CN (1) | CN113631419A (en) |
DE (1) | DE102019205103A1 (en) |
WO (1) | WO2020208061A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021116552A1 (en) | 2021-06-25 | 2022-12-29 | Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg | Method for operating an adjustment system for an interior of a motor vehicle |
DE102021210544A1 (en) | 2021-09-22 | 2023-03-23 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for actuating an occupant receiving device of a vehicle |
CN114043908B (en) * | 2021-12-15 | 2023-03-24 | 东风汽车集团股份有限公司 | Protection system and protection method for dealing with automobile rear-end collision |
DE102022205736A1 (en) | 2022-06-07 | 2023-12-07 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for operating electric drive units of seat components in a motor vehicle with an additional energy storage device, and a system for carrying out the method |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10309083A1 (en) * | 2003-03-03 | 2004-09-16 | Robert Bosch Gmbh | Device for adjusting seat parts |
JP4170892B2 (en) * | 2003-12-16 | 2008-10-22 | 本田技研工業株式会社 | Vehicle occupant protection device |
DE102004020049A1 (en) * | 2004-04-23 | 2005-11-17 | Daimlerchrysler Ag | Safety device for a motor vehicle |
JP2006008026A (en) * | 2004-06-28 | 2006-01-12 | Aisin Seiki Co Ltd | Occupant protection device for vehicle |
EP1893436B1 (en) * | 2005-06-14 | 2013-01-09 | Renault Trucks | Method of controlling a vehicle seat |
WO2008060144A1 (en) * | 2006-11-14 | 2008-05-22 | Chard Safety B.V. | A deceleration responsive vehicle seat |
JP4678424B2 (en) * | 2008-06-09 | 2011-04-27 | トヨタ自動車株式会社 | Crew protection device |
DE102009027402B4 (en) * | 2009-07-01 | 2019-10-10 | Robert Bosch Gmbh | Method and control unit for controlling occupant protection means of a vehicle in a multiple collision |
US9193359B2 (en) * | 2013-08-12 | 2015-11-24 | GM Global Technology Operations LLC | Vehicle systems and methods for identifying a driver |
CN104029617A (en) * | 2014-06-18 | 2014-09-10 | 上海大学 | Automobile seat for actively and synergistically regulating cushion angle and backrest angle |
DE102015002114A1 (en) * | 2015-02-23 | 2016-08-25 | GM Global Technology Operations LLC | Method and system for controlling an actuator for a load-bearing surface adjustably mounted on a motor vehicle body |
JP6364436B2 (en) * | 2016-03-22 | 2018-07-25 | 株式会社Subaru | Vehicle occupant protection device |
US11712983B2 (en) * | 2018-09-13 | 2023-08-01 | Volvo Truck Corporation | Dynamic backward seat sliding before impact in a commercial vehicle |
-
2019
- 2019-04-10 DE DE102019205103.0A patent/DE102019205103A1/en active Pending
-
2020
- 2020-04-08 CN CN202080027130.8A patent/CN113631419A/en active Pending
- 2020-04-08 WO PCT/EP2020/059985 patent/WO2020208061A1/en unknown
- 2020-04-08 EP EP20720377.9A patent/EP3953210A1/en not_active Withdrawn
- 2020-04-08 US US17/602,462 patent/US20220234475A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
DE102019205103A1 (en) | 2020-10-15 |
CN113631419A (en) | 2021-11-09 |
US20220234475A1 (en) | 2022-07-28 |
WO2020208061A1 (en) | 2020-10-15 |
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