EP4041588A1 - Method for monitoring at least one y-capacitor of an onboard electrical system of a vehicle, and onboard electrical system - Google Patents
Method for monitoring at least one y-capacitor of an onboard electrical system of a vehicle, and onboard electrical systemInfo
- Publication number
- EP4041588A1 EP4041588A1 EP20781358.5A EP20781358A EP4041588A1 EP 4041588 A1 EP4041588 A1 EP 4041588A1 EP 20781358 A EP20781358 A EP 20781358A EP 4041588 A1 EP4041588 A1 EP 4041588A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- electrical system
- capacitance
- voltage
- vehicle
- current
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 title claims abstract description 10
- 239000003990 capacitor Substances 0.000 title abstract description 13
- 238000011156 evaluation Methods 0.000 claims description 11
- 238000009413 insulation Methods 0.000 description 6
- 230000001629 suppression Effects 0.000 description 3
- 239000004020 conductor Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0069—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to the isolation, e.g. ground fault or leak current
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/005—Testing of electric installations on transport means
- G01R31/006—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks
- G01R31/007—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks using microprocessors or computers
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/04—Cutting off the power supply under fault conditions
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/16—Measuring impedance of element or network through which a current is passing from another source, e.g. cable, power line
- G01R27/18—Measuring resistance to earth, i.e. line to ground
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/26—Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants ; Measuring impedance or related variables
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
-
- 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
- B60L2250/00—Driver interactions
- B60L2250/10—Driver interactions by alarm
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/005—Testing of electric installations on transport means
- G01R31/006—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Definitions
- the invention relates to a method for monitoring at least one Y-capacitance of an on-board electrical system of a vehicle.
- the invention also relates to an on-board electrical system of a vehicle with at least one Y capacitance.
- insulation faults in the electrical system can lead to increased currents.
- these Y capacities are designed so that they can only have a maximum energy.
- DE 102018002 926 A1 discloses an on-board electrical system for a motor vehicle, with at least a first and a second electrical potential line, the on-board network being designed to be acted upon with an electrical direct voltage between the potential lines during normal operation.
- the vehicle electrical system has at least one Y-capacitor, which is electrically coupled with a first connection to a first potential line and with a second connection to an electrical reference potential, a shift lever being connected in series with the at least one Y-capacitor.
- DE 102017008840 A1 discloses an on-board electrical system for a motor vehicle that can be driven with at least one electrical machine, with a vehicle battery, a clocked energy converter for applying an electrical machine voltage to the electrical machine in an intended ferry operation of the motor vehicle.
- the clocked energy converter has a
- DC voltage intermediate circuit which is electrically coupled to the vehicle battery and which has at least one Y- Has capacitor.
- An AC voltage charging unit connected to a vehicle battery is designed to be connected to a charging station external to the vehicle and to have an AC voltage applied to it on the charging station side.
- the DC voltage intermediate circuit is electrically coupled to a vehicle battery by means of a switching unit, the switching unit being designed to electrically disconnect the DC voltage intermediate circuit from the vehicle battery when the vehicle battery is being charged by means of the AC voltage charging unit.
- the object of the present invention is to provide a method and an on-board electrical system with which increased voltage security can be established in HV systems, in particular in vehicles with voltages of 800 volts.
- One aspect of the invention relates to a method for monitoring at least one Y capacitance of an on-board electrical system of a vehicle.
- a current capacity value of the at least one Y-capacity and a current on-board network voltage of the on-board electrical system are determined, with a currently stored energy in the at least one Y-capacity depending on the current on-board network voltage of the electrical on-board network and the current capacity value of the at least one Y-capacity of the electrical system is determined.
- the currently stored energy in the at least one Y-capacitance is compared with a predefined limit value, and if the predefined limit value is exceeded, a corresponding control signal is generated.
- the proposed method makes it possible, in particular, to achieve increased security, in particular voltage security, in high-voltage systems in vehicles.
- the proposed method can be used for monitoring the at least one Y capacitance in electrically operated vehicles with voltage levels of 800 volts.
- the monitoring of the at least one Y-capacitance can be implemented with simple means and, for example, can be functionally expanded with the aid of existing insulation monitors of electrically operated vehicles.
- the determination of the stored energy in the at least one Y-capacitance can be implemented inexpensively and easily with the aid of an integrated software function in the electrical system or in a control unit of the electrical system.
- the specified limit value for the currently stored energy with at least one Y capacity is specified based on the following exemplary standards, ISO 6469-3, SAE J 1772 or ISO 17409.
- the maximum energy content per HV potential can be set at 200 mJ. This can protect a user from an electric shock.
- the Y capacitance of the vehicle's electrical system can be, for example, an interference suppression capacitor, radio interference suppression capacitor or a safety capacitor. These conduct high-frequency interference signals, which were caused by the operation of electrical or electronic equipment, to the ground or the neutral conductor or short-circuit them, thereby reducing the electromagnetic interference.
- the on-board electrical system is, in particular, a high-voltage system of an electrically operated vehicle or a hybrid vehicle.
- the current capacitance value of the at least one Y-capacitance can be determined with an evaluation unit and the current vehicle electrical system voltage of the electrical vehicle electrical system can be determined with a voltage measurement.
- the currently stored energy in the at least one Y-capacitance can be determined or determined as a function of the determined current on-board network voltage of the electrical on-board network and the current capacitance value of the at least one Y-capacitance of the electrical on-board network.
- the currently stored energy is a maximum energy content of the at least one Y-capacitance.
- the current vehicle electrical system voltage can be a current HV intermediate circuit voltage.
- the evaluation unit and the voltage measuring unit can be integrated in an HV control device, as a result of which a compact unit can be provided for monitoring the at least one Y capacitance.
- the HV control device can be an insulation monitor or an HV component with a voltage detection unit.
- the corresponding control signal can be generated by the HV control device when the specified limit value is exceeded by the currently stored energy in the at least one Y-capacitance and transmitted to a safety component of the vehicle's electrical system.
- a warning signal can be output to the user of the vehicle and / or the electrical system can be deactivated and / or the at least one Y-capacitance can be discharged. This results in the best possible protection for the user of the vehicle in the event of a fault in the insulation, for example.
- the on-board electrical system comprises a control unit for determining a current capacitance value of the at least one Y-capacitance and a current on-board network voltage of the on-board electrical system.
- the on-board electrical system also includes an evaluation unit for determining a currently stored energy in the at least one Y-capacitance of the on-board electrical system as a function of the current capacitance value of the at least one Y-capacitance and the current on-board network voltage of the on-board electrical system.
- a method according to the aspect described above or an embodiment thereof can be carried out with the on-board electrical system.
- the method is carried out with the proposed on-board electrical system.
- the figure shows a schematic representation of an on-board electrical system.
- the figure shows a schematic representation of an on-board electrical system 1 of a vehicle.
- the on-board electrical system 1 is, for example, an HV system of an electrically operated vehicle.
- the electrical system 1 has at least one Y-capacitance 2.
- the on-board electrical system 1 can have a further Y capacitance 3.
- the Y capacitance 2, 3 can be an interference suppression capacitor, for example.
- the on-board electrical system comprises a control unit 4 with which a current capacitance value of the at least one Y-capacitance 2 and the current on-board network voltage UB of the on-board electrical system 1 can be determined.
- the control unit 4 can in particular be an HV control device which has a voltage detection unit, for example.
- control device 4 is an insulation monitor or an HV component of the vehicle.
- the insulation monitor can be integrated as a control unit 4 with a function or functional software with which the at least one Y-capacitance 2 of the electrical system 1 of the vehicle can be monitored.
- the control unit 4 has, in particular, an evaluation unit 5 or is integrated with the evaluation unit 5. With the help of the evaluation unit 5, a currently stored energy in the at least one Y-capacitance 2 can be determined as a function of the current on-board system voltage UB of the on-board electrical system 1 and the current capacitance value of the at least one Y-capacitance 2 of the on-board electrical system 1.
- the currently stored energy in the at least one Y-capacitance 2 can be calculated using the following formula:
- the current on-board electrical system voltage UB and the current capacitance value of the Y-capacitance 2,3 are used in the formula just shown in order to be able to calculate the current energy content.
- the energy content of the Y capacitance 2 it must be taken into account that with an increased HV voltage of the vehicle, the energy content in the Y capacitance increases with the square of the voltage 2.3. This can in particular be defined in the evaluation unit 5 of the control unit 4.
- the currently stored energy in the at least one Y-capacitance 2 can be compared with a predetermined limit value. This can be done in particular with the aid of the evaluation unit 5 of the control unit 4.
- a corresponding control signal can be generated by the control unit 4.
- the generated control signal can be sent to a safety device in the vehicle, for example.
- a warning signal can be output in the vehicle. In this way, a user of the vehicle can in particular be warned of a possible electric shock.
- the on-board electrical system 1 can be deactivated or disconnected from a battery using the generated control signal. A discharging process of the at least one Y capacitance 2, 3 can also be carried out with the aid of the generated transmitted control signal.
- a first voltage between a first or a second potential line 6, 7 of the electrical system 1 and a reference potential 8 can be determined.
- the determined first voltage can be taken into account when determining the currently stored energy in the at least one Y-capacitance 2.
- the first voltage can be determined with the control unit 4.
- a second voltage between the first potential line 6 and the reference potential 8 and a third voltage between the second potential line 7 of the electrical system 1 and the reference potential 8 can be determined.
- the reference potential 8 is, in particular, a protective conductor (PE).
- PE protective conductor
- This ascertained second and third voltage can also be taken into account when determining the currently stored energy of the at least one Y-capacitance 2. It is also conceivable that instead of the vehicle electrical system voltage UB, the first, second or third voltage can be used to determine the currently stored energy of the at least one Y capacitance 2.
- a predefined value can be predefined for the current capacitance value. For example, 500 nF per potential can be specified here.
- an asymmetry or asymmetry in a potential distribution of the on-board electrical system 2 can be checked with the determined currently stored energy of the at least one Y-capacitance 2.
- this can be taken into account and taken into account when monitoring the at least one Y-capacitance.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Direct Current Feeding And Distribution (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019006969.2A DE102019006969A1 (en) | 2019-10-07 | 2019-10-07 | Method for monitoring at least one Y-capacitance of an on-board electrical system of a vehicle, as well as the on-board electrical system |
PCT/EP2020/077023 WO2021069240A1 (en) | 2019-10-07 | 2020-09-28 | Method for monitoring at least one y-capacitor of an onboard electrical system of a vehicle, and onboard electrical system |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4041588A1 true EP4041588A1 (en) | 2022-08-17 |
Family
ID=72665265
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20781358.5A Pending EP4041588A1 (en) | 2019-10-07 | 2020-09-28 | Method for monitoring at least one y-capacitor of an onboard electrical system of a vehicle, and onboard electrical system |
Country Status (6)
Country | Link |
---|---|
US (1) | US11933831B2 (en) |
EP (1) | EP4041588A1 (en) |
JP (1) | JP7330374B2 (en) |
CN (1) | CN114450186A (en) |
DE (1) | DE102019006969A1 (en) |
WO (1) | WO2021069240A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022002953A1 (en) | 2022-08-12 | 2024-02-15 | Mercedes-Benz Group AG | Device and method for operating an electrical on-board network |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6139878B2 (en) * | 2012-12-25 | 2017-05-31 | 矢崎総業株式会社 | Insulation state detector |
DE102015016000A1 (en) | 2015-12-10 | 2016-08-11 | Daimler Ag | Circuit arrangement for a motor vehicle and method for discharging Y capacities in vehicles with high-voltage on-board electrical system |
CN107238758B (en) * | 2017-05-08 | 2020-03-27 | 北京长城华冠汽车科技股份有限公司 | New energy automobile high-voltage system Y capacitance detection system and method and new energy automobile |
DE102017008840A1 (en) | 2017-09-21 | 2018-03-01 | Daimler Ag | Electric vehicle electrical system |
DE102017220982A1 (en) * | 2017-10-09 | 2019-04-11 | Volkswagen Aktiengesellschaft | traction power |
DE102018202010A1 (en) * | 2018-02-08 | 2019-08-08 | Volkswagen Aktiengesellschaft | A method for predicting impending damage to a joint between two electrical conductors in a motor vehicle electrical system, apparatus and motor vehicle |
DE102018002926A1 (en) * | 2018-04-11 | 2018-09-27 | Daimler Ag | Electric vehicle electrical system |
DE102018212767A1 (en) * | 2018-07-31 | 2020-02-06 | Zf Friedrichshafen Ag | Vehicle electrical system with insulation monitoring to supply an environmental sensor system |
CN109342823B (en) * | 2018-09-29 | 2020-12-01 | 北京长城华冠汽车科技股份有限公司 | Measuring circuit and control method of Y capacitor and electric automobile |
US11833910B2 (en) * | 2021-03-12 | 2023-12-05 | Analog Devices International Unlimited Company | Dynamic isolation monitoring with low sensitivity to noise |
-
2019
- 2019-10-07 DE DE102019006969.2A patent/DE102019006969A1/en active Pending
-
2020
- 2020-09-28 JP JP2022518853A patent/JP7330374B2/en active Active
- 2020-09-28 CN CN202080064786.7A patent/CN114450186A/en active Pending
- 2020-09-28 WO PCT/EP2020/077023 patent/WO2021069240A1/en unknown
- 2020-09-28 US US17/766,993 patent/US11933831B2/en active Active
- 2020-09-28 EP EP20781358.5A patent/EP4041588A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
US11933831B2 (en) | 2024-03-19 |
CN114450186A (en) | 2022-05-06 |
WO2021069240A1 (en) | 2021-04-15 |
JP7330374B2 (en) | 2023-08-21 |
US20230280385A1 (en) | 2023-09-07 |
DE102019006969A1 (en) | 2021-04-08 |
JP2022549460A (en) | 2022-11-25 |
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