EP4000053A1 - Verfahren zur konfigurierung der kommunikation zwischen mindestens einem aktuator und einer fernbedienung - Google Patents

Verfahren zur konfigurierung der kommunikation zwischen mindestens einem aktuator und einer fernbedienung

Info

Publication number
EP4000053A1
EP4000053A1 EP20747061.8A EP20747061A EP4000053A1 EP 4000053 A1 EP4000053 A1 EP 4000053A1 EP 20747061 A EP20747061 A EP 20747061A EP 4000053 A1 EP4000053 A1 EP 4000053A1
Authority
EP
European Patent Office
Prior art keywords
actuator
protocol
remote control
mobile terminal
router
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
Application number
EP20747061.8A
Other languages
English (en)
French (fr)
Other versions
EP4000053B1 (de
Inventor
Thibaut DESBRUGÈRES
Rémi VICENTE
Emmanuel PAUCHARD
Stéphane BIGONNEAU
Maxime SALSINI
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.)
Somfy Activites SA
Original Assignee
Somfy Activites SA
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 Somfy Activites SA filed Critical Somfy Activites SA
Publication of EP4000053A1 publication Critical patent/EP4000053A1/de
Application granted granted Critical
Publication of EP4000053B1 publication Critical patent/EP4000053B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47HFURNISHINGS FOR WINDOWS OR DOORS
    • A47H5/00Devices for drawing draperies, curtains, or the like
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00Transmission systems of control signals via wireless link
    • G08C2201/20Binding and programming of remote control devices
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00Transmission systems of control signals via wireless link
    • G08C2201/40Remote control systems using repeaters, converters, gateways
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00Transmission systems of control signals via wireless link
    • G08C2201/40Remote control systems using repeaters, converters, gateways
    • G08C2201/42Transmitting or receiving remote control signals via a network
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00Transmission systems of control signals via wireless link
    • G08C2201/60Security, fault tolerance
    • G08C2201/63Redundant transmissions
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00Transmission systems of control signals via wireless link
    • G08C2201/90Additional features
    • G08C2201/93Remote control using other portable devices, e.g. mobile phone, PDA, laptop

Definitions

  • TITLE Method for configuring communication between at least one actuator and a remote control
  • the present invention relates to a device for the remote control of an actuator for mobile building equipment such as a roller shutter, blind or curtain.
  • a control device comprising a transmitter using a radio frequency to transmit a control signal, and a receiver of said frequency configured to receive said control signal, and to process the data of the received signal to control an actuator. and / or adjust a parameter of an actuator as a function of the signal data.
  • Such a known control device makes it possible in particular to carry out the remote control, wireless, and / or the remote adjustment, wireless, of operating parameters, of an actuator of a mobile building equipment, in particular to open or close a door, a gate, a window, a blind, a multimedia projection screen or a ventilation hatch.
  • Certain known wireless remote control devices for example based on the ZIGBEE® protocol, require the presence of a box, permanently supplied, for example from the mains, which provides a routing function.
  • a box permanently supplied, for example from the mains, which provides a routing function.
  • an autonomous actuator simply powered by battery, and its remote control cannot use a wireless communication device.
  • a router permanently powered, for example on the sector.
  • BLE wireless remote control devices
  • a protocol such as BLE, for example, or the proprietary Homecontrol protocol, compatible with an autonomous power supply, for example by batteries, of the system. remote control and actuators.
  • BLE-based control devices have lower performance and only have limited autonomy, which must therefore be saved.
  • the technical problem to be solved is therefore to adapt to the constraints of the protocols and to the energy saving needs for autonomous actuators.
  • the aim of the invention is therefore to propose a solution to all or part of these problems, by proposing a wireless control which adapts according to the presence or the absence of a router permanently supplied to the sector.
  • the present invention relates to a method of configuring the communication between at least one actuator and a remote control, to allow control of the at least one actuator from the remote control, the at least one actuator being configured to communicate with the remote control, the communication between the at least one actuator and the remote control being established according to a first protocol or according to a second protocol, the communication according to the second protocol being implemented via a connection to a router connected to the sector, the method being implemented by a mobile terminal, the mobile terminal being configured to communicate according to the first protocol with the at least one actuator, and with the remote control, the mobile terminal being configured to communicate with the router according to the first protocol or according to a third protocol, the method comprising the following steps:
  • the invention comprises one or more of the following characteristics, alone or in a technically acceptable combination.
  • the at least one actuator is autonomous.
  • the method comprises, if the presence of the router is detected, a step of transmitting to at least one actuator a request for activation of the second protocol.
  • the method comprises, if the presence of the router is detected, a step of transmitting to the remote control a request for activation of the second protocol.
  • the first protocol is a protocol of the Bluetooth® or Bluetooth® Low Energy (BLE) type.
  • the second protocol is a ZIGBEE® type protocol.
  • the second protocol is implemented by the at least one actuator and the remote control to communicate, making it possible to limit the duration of the communication according to the first protocol, in particular when the communication according to the first protocol consumes more energy than communication according to the second protocol, or when communication according to the second protocol, for example of the ZIGBEE ® type, is more efficient or secure than communication according to the first protocol, for example of Bluetooth® or Bluetooth® Low Energy (BLE) type.
  • the wireless control adapts dynamically depending on the presence or absence of a router permanently supplied to the mains.
  • the second protocol is automatically deactivated on the at least one actuator and / or on the remote control after a determined period, preferably of the order of a few. seconds, or more preferably a few minutes, from the receipt respectively by the actuator ⁇ and the remote control 2, of the request to activate the first protocol R ⁇ transmitted by the mobile terminal 8.
  • the first protocol of the Bluetooth® or Bluetooth® Low Energy (BLE) type, is implemented by default by the at least one actuator and the remote control to communicate.
  • BLE Bluetooth® Low Energy
  • the step of transmitting to the remote control the request for activating the second protocol comprises a reinitialization of the remote control.
  • the mobile terminal comprises a sensor configured to perform an optical reading of a code, for example a Qrcode, and the step of identifying the identifier of the at least one actuator comprises the optical code reading.
  • the method comprises creating and recording on a user account an association of the identifier of the at least one actuator and of the identifier of the remote control;
  • the step of identifying an identifier of the at least one actuator, and the step of identifying an identifier of the remote control comprise reading the association recorded on the user account.
  • the invention also relates to a method of configuring the communication between at least one actuator and a remote control, to allow control of the at least one actuator from the remote control, the at least one actuator being configured. to communicate with the remote control, the communication between the at least one actuator and the remote control being established according to a first protocol or according to a second protocol, the communication according to the second protocol being implemented via a connection to a router, the method comprising the following steps implemented by the at least one actuator:
  • the method implemented by the actuator comprises, after the step of receiving a request for activating the second protocol sent by the mobile terminal, a step of sending according to the first protocol of the actuator to the remote control of a request to activate the second protocol.
  • the invention also relates to a method of configuring the communication between at least one actuator and a remote control, to allow control of the at least one actuator from the remote control, the at least one actuator being configured to communicate with the remote control, the communication between the at least one actuator and the remote control being established according to a first protocol or according to a second protocol, the communication according to the second protocol being implemented via a connection to a router, the method comprising the following steps implemented by the remote control:
  • the step of receiving by the remote control the request for activating the second protocol comprises a reinitialization of the remote control.
  • the invention also relates to a home automation device or actuator of a home automation device comprising an electronic component, the electronic component comprising:
  • a first communication module configured to implement a first protocol
  • a second communication module configured to implement a second protocol
  • a management module configured to implement one of the methods according to one of the implementation modes described above.
  • FIG. ⁇ is a simplified representation of an actuator of a roller blind, of a remote control, and of a mobile terminal, each capable of implementing the method according to one aspect of the invention.
  • FIG. 2 is a simplified representation of an actuator of a roller blind, of a remote control, of a mobile terminal, and of a router, each capable of implementing the method according to one aspect of the invention.
  • FIG. 3 is a schematic representation of the different steps of the method according to the invention, according to an embodiment implemented respectively by an actuator, a roller blind, a remote control, a mobile terminal, and a router.
  • FIG. 4 is a schematic representation of the principle of the signaling frequencies according to a first protocol, of the polling frequencies according to a second protocol, and a schematic representation of a waking up of a remote control and the transmission of a control message according to the first or second protocol.
  • Automations are the sets of rules that govern the control of electrical equipment by a programmable supervision system, in order to ensure better comfort for building occupants or to optimize energy consumption.
  • the building can be a set of offices, or a building for residential use, or a building for commercial or industrial use, or any combination of these uses. It may in particular be a building or a detached house.
  • automations are more often referred to by the term “home automation”. For simplicity, hereafter, the term home automation will be used to designate both residential and tertiary applications.
  • An example of controllable home automation equipment or device 6 is shown in Figures ⁇ and 2.
  • a home automation installation can include a first category of home automation device or device, which we will call a controllable home automation device.
  • An example of a controllable home automation device 6 is illustrated on Figures ⁇ and 2.
  • each controllable home automation device 6 of a home automation installation comprises an actuator ⁇ controllable by means of at least one control signal.
  • the various controllable home automation devices 6 of a home automation system may have differences between them and perform different functions within the home automation system.
  • the actuator of the device 6 of Figures ⁇ and 2 can be an electromechanical actuator for moving or winding a blind or a blackout shutter, such as a panel, a blind or an opaque curtain. , associated with at least one opening of the building, such as a window or a bay window.
  • the actuator ⁇ of the controllable home automation device 6 comprises an electric motor, arranged to move the blind by winding it or by winding cords around an axis driven in rotation by the motor.
  • the movement of this blackout shutter makes it possible to regulate the amount of sunlight received by the building through this opening.
  • the apparatus may be a compressor suitable for implementing an expansion-compression cycle of a heat transfer fluid within a building refrigeration system, such as an air conditioner or a heat pump. , in order to regulate the temperature inside the building.
  • the controllable home automation device can also be lighting, for example, interior or exterior lighting or a lighting control system, an alarm system, or even a video camera, in particular a camera. video surveillance.
  • Each controllable home automation device 6 receives control signals emitted by a second category of home automation devices, that of remote controls 2; the remote control 2 is configured to transmit control instructions to the actuator ⁇ of the controllable home automation device 6.
  • the remote control can be a nomadic or wall remote control, fitted with a wireless transmitter.
  • the remote control includes a man-machine interface, with which a user can interact.
  • the remote control can also include sensors, such as an internal clock, which makes it allows the issuance of programmed control orders at predefined times, for the attention of a controllable home automation device.
  • a home automation installation can include one or more sensors, not shown in the figures.
  • a sensor by definition, is intended to convert one or more physical quantities relating to the state of the building or its environment into one or more signals proportional to this physical quantity.
  • This signal is, for example, an electrical signal, a light signal or a radiofrequency signal.
  • This signal can be transmitted by the sensor to at least one home automation device, controllable 6 or not, such as for example a remote control 2.
  • Sensors are home automation devices that we will classify, by convention, in a third category, called automatisms. However, the sensors can be integrated into a controllable home automation device 6, or into a remote control 2, or even be independent of these elements.
  • the physical quantities measured by the sensors are, without limitation, a temperature, for example a temperature of a wall or of the ambient air, a humidity level, a luminosity value, or a pressure of the ambient air, a consumption value for example of water, gas or electricity, the opening state of a roller shutter, the position of an opening such as a window, motorized or not or the presence or absence of a user.
  • a home automation installation can also include a fourth category of home automation devices, called routers, dedicated to managing communications of home automation devices 2, 6 of the home automation system, with each other and / or with any devices external to the installation. , via an extended communication network, the Internet for example.
  • a router 9, when it is present as illustrated in FIG. 2, is thus configured in particular to transmit control instructions emitted by a remote control 6 to destination of the actuator ⁇ of the associated controllable home automation device 6.
  • the router 9 is configured to transmit control instructions from an external server to the building in which the installation is physically located, to the actuator ⁇ of the controllable home automation device 6 of the installation.
  • Each home automation device 2, 6, 9 of a home automation installation is supplied with electrical energy.
  • the electrical energy supply to a home automation device 2, 6, 9 can be provided by an independent source associated with the home automation device 2, 6, 9; in this case the home automation device 2, 6, 9 will be said to be autonomous.
  • Said autonomous source of electrical power may for example be one or more batteries, said batteries possibly being rechargeable or not; said autonomous source of electrical power can also be, for example, a set of rechargeable batteries and a photovoltaic solar panel, intended to recharge the batteries.
  • the home automation device 6 is not autonomous, its electrical energy supply is made via a connection of the home automation device 6 to the mains or to a continuous electrical supply bus.
  • router 9 is never autonomous, and is therefore always connected to the sector, the communication needs with other devices in the installation and outside the installation, for example a server, being frequent and requiring an external power supply.
  • Communication between the remote control 2 and an actuator ⁇ takes place according to one or more given communication protocols R ⁇ , P2, P3.
  • Communication is carried out by exchange of messages, for example in the form of packets, these messages each containing at least one header, which includes a source and / or a destination message, and payload, such as an order.
  • a first R ⁇ protocol is a Bluetooth® Low Energy (BLE) type protocol
  • a second P2 protocol is a ZIGBEE® type protocol
  • a third P3 protocol is another protocol, for example of the WIFI type. Yes P.
  • the home automation devices of the first category, ie controllable 6, or of the second category, ie of the remote control type 2, or of the third category, ie of the sensor type, or of the fourth category, ie of the type router 9, are configured to implement the first protocol R ⁇ and / or the second protocol P2.
  • the devices of the fourth category are also configured to implement the third protocol P3.
  • An identifier makes it possible to identify the different characteristics of the actuator ⁇ of a home automation device 6 or the different features of a remote control 2 of a home automation system; this identifier may for example contain in particular the following information on the actuator ⁇ :
  • a type of device or home automation device for example remote control, actuator, stand-alone actuator, sensor, router ...
  • the identifier can for example be of the QR code type, affixed to a housing of the device, which is then accessible via a mobile terminal 8 equipped with a software application configured to scan said identifier via a camera, said camera being integrated by example said mobile terminal 8.
  • a mobile terminal 8 equipped with a software application configured to scan said identifier via a camera, said camera being integrated by example said mobile terminal 8.
  • the home automation devices of the first or second or third categories ie actuators ⁇ , 6, sensors, remote controls 2 are equipped with an electronic component program ; this component integrates the transport software layers, and the application software layers, sometimes called in English terminology “Cluster Library”, of these two protocols; according to a preferred architecture of said electronic component, a single unified application software layer, or intermediate module, is configured to implement the two protocols, with a separate transport layer for each of the two protocols. Alternatively, this unified software layer only concerns part of the application software layers of the two protocols.
  • This preferred architecture makes it possible to use the application software layers linked to the first protocol as a gateway, sometimes called a proxy, to introduce the mobile terminal 8 into a network of communicating devices according to the second protocol P2.
  • the mobile terminal 8 is an intelligent telephone, often called a “smartphone” according to the terminology of Anglo-Saxon origin.
  • an additional management module said management module also being called a “BLE commissioning” module according to the usual terminology of Anglo-Saxon origin; said management module interfaces with the intermediate module to manage the communication with the autonomous actuators.
  • This management module makes it possible to add functionalities not provided for in the unified software application layer, while using the operating principles of the intermediate module, or proxy, so as to manage exchanges between home automation devices 2, 6 using the first protocol R ⁇ , and the home automation devices 2, 6 using the second P2 protocol, at least some of the home automation devices being autonomous.
  • the integrated electronic component 7 comprises a first communication module 3, corresponding to the transport software layer and to the application software layer configured for the management of communications according to the first R ⁇ protocol, and a second communication module 4, corresponding to the transport software layer and to the application software layer configured for the management of communications according to the second protocol P2, an intermediate module 10 comprising at least part of the software application layers of the two protocols R ⁇ and P2 and a management module 5, called “BLE commissioning”, configured to interface with the intermediate module and to manage the exchange of messages between home automation devices 2, 6 according to the two protocols R ⁇ , P2, on the one hand, and on the other hand to manage the exchanges of messages between the mobile terminal 8 and these domo devices ticks 2, 6.
  • an identifier of at least one actuator 1 is identified 801
  • an identifier of a remote control 2 is identified 802, for example via the QR codes scanned with the mobile terminal 8.
  • the configuration method 800 can then go on to the next step 803 of analyzing the identifiers.
  • This step comprises an analysis 803 of the characteristic information associated with the identifiers identified in the preceding steps. This analysis then makes it possible to detect 803 the absence or presence of a device supplied by the mains.
  • the analysis step 803 it is advantageously possible to distinguish not only the absence or the presence of a device powered by the mains, but also in the case where a device powered by the mains is present, if the device is a device. router 9, or an actuator ⁇ or another device powered by the mains and which is not a router 9.
  • the mobile terminal 8 proceeds to a transmission step 804, to the remote control 2, of the identifier of the at least one actuator ⁇ , and / or in a step of transmission 804bis, to the actuator ⁇ , of the identifier of the remote control 2, followed by a step of transmission 805 to the actuator ⁇ of a request for activation of the first protocol R ⁇ on the actuator ⁇ , and transmission 806 to the remote control 2 of a request to activate the first protocol R ⁇ on the remote control 2.
  • the device on mains is defined as a “letterbox” element, ie configured for the reception of messages intended for an autonomous ⁇ actuator on standby and the reproduction of the message during the phases of activity. of said autonomous actuator; it is therefore imperative that it is within radio range.
  • the electronic component configured to implement the first protocol R ⁇ and the second protocol P2, activates by default and together the first protocol R ⁇ and the second protocol P2, during the initialization of the actuator ⁇ and the remote control 2, and automatically deactivates the second protocol P2 at the end of a predetermined period of the order of a few seconds, or even a few minutes, when no device powered by the mains or no router 9 is detected at the during the analysis step 803, that is to say after the actuator ⁇ and the remote control 2 have received the request to activate the first of the first protocol R ⁇ transmitted 805, 806 by the mobile terminal 8, respectively to actuator ⁇ , and to remote control 2.
  • a transmission step 808 by the mobile terminal 8 to at least one actuator 1, and a transmission step are respectively implemented.
  • 809 by the mobile terminal 8 to the remote control 2 a request for activation of the second protocol P2.
  • This activation request corresponds to maintaining the activation of the P2 protocol at the level of the actuator ⁇ and of the remote control 2, if the latter is temporarily activated.
  • the step of transmission 808 to an actuator ⁇ of a request to activate the second protocol P2 is implemented.
  • the mobile terminal 8 it is the actuator ⁇ which then transmits a request to activate the second protocol P2 intended for the remote control 2; the transmission of said request, by the actuator ⁇ to the remote control 2, is then carried out according to the first protocol R ⁇ , which is implemented on the actuator ⁇ simultaneously with the second protocol P2, for a certain period of time, called latency, until the P2 protocol is activated on the remote control 2.
  • This step then uses the proxy functionality of the intermediate module and the functions of the management module, to manage the transmission of a request to activate the second protocol P2 to the remote control 2 using the first protocol R ⁇ .
  • the first protocol can be deactivated at actuator ⁇ as for remote control 2. This deactivation is again managed by the management module.
  • the first protocol can be kept active in a usage mode, outside the latency time. It may then optionally be provided to adjust the reporting frequencies, sometimes called “advertising” frequencies according to the terminology of Anglo-Saxon origin, of the first R ⁇ protocol, and / or the polling frequency of the second P2 protocol, to keep an advertising frequency, for example of the order of ⁇ to 10s between “advertising” frames. This offers a means of “recovering” the communication between the devices of the installation in the event of a breakdown in exchanges according to the second protocol P2.
  • polling frequencies 12 according to the second protocol P2 in which a wake-up message is sent periodically before a request for a possible message stored on hold, as may be the case for the ZIGBEE® protocol;
  • waking up of the remote control is for example linked to pressing a button on the interface man-machine and precedes the transmission of a command frame.
  • provision can be made for a temporary duplication of the first and second protocol, temporarily or in use, with an adapted frequency of transmissions in the two protocols.
  • the invention also relates to a method 100 for configuring the communication between at least one actuator 1 and a remote control 2, to allow control of at least one actuator ⁇ from remote control 2, at least one actuator ⁇ being configured to communicate with remote control 2, communication between at least one actuator ⁇ and remote control 2 being established according to a first protocol R ⁇ or according to a second protocol P2, the communication according to the second protocol P2 being implemented via a connection to a router 9, the method comprising the following steps implemented by the at least one actuator ⁇ :
  • deactivation 106 of the second PI protocol At the end of a predetermined period from the reception 105, deactivation 106 of the second PI protocol;
  • the method 100 implemented by the actuator comprises after the step of receiving a request for activating the second protocol P2 sent by the mobile terminal 8, a step of sending according to the first protocol PI from actuator 1 to remote control 2 for a request to activate the second protocol P2.
  • the invention also relates to a method 200 for configuring the communication between at least one actuator 1 and a remote control 2, to allow control of at least one actuator 1 from the remote control 2, the at least one actuator 1 being configured to communicate with the remote control 2, the communication between the at least one actuator ⁇ and the remote control 2 being established according to a first protocol R ⁇ or according to a second protocol P2, the communication according to the second protocol P2 being implemented via a connection to a router 9, the method comprising the steps implemented by remote control 2:
  • deactivation 207 of the second protocol R ⁇ At the end of a predetermined period from reception 206, deactivation 207 of the second protocol R ⁇ ;
  • the step of receiving by the remote control the request for activating the second protocol comprises a reinitialization of the remote control.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Selective Calling Equipment (AREA)
  • Telephonic Communication Services (AREA)
  • Mobile Radio Communication Systems (AREA)
EP20747061.8A 2019-07-15 2020-07-01 Verfahren zur konfigurierung der kommunikation zwischen mindestens einem aktuator und einer fernbedienung Active EP4000053B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1907983A FR3099014B1 (fr) 2019-07-15 2019-07-15 Procédé de configuration de la communication entre au moins un actionneur et une télécommande
PCT/FR2020/051154 WO2021009429A1 (fr) 2019-07-15 2020-07-01 Procédé de configuration de la communication entre au moins un actionneur et une télécommande

Publications (2)

Publication Number Publication Date
EP4000053A1 true EP4000053A1 (de) 2022-05-25
EP4000053B1 EP4000053B1 (de) 2023-11-29

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US (1) US11790768B2 (de)
EP (1) EP4000053B1 (de)
CN (1) CN114127819B (de)
FR (1) FR3099014B1 (de)
WO (1) WO2021009429A1 (de)

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WO2021009429A1 (fr) 2021-01-21
FR3099014B1 (fr) 2021-07-09
CN114127819B (zh) 2024-05-31
EP4000053B1 (de) 2023-11-29
US11790768B2 (en) 2023-10-17
CN114127819A (zh) 2022-03-01
US20220277645A1 (en) 2022-09-01
FR3099014A1 (fr) 2021-01-22

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