JP7266427B2 - 作業車両 - Google Patents
作業車両 Download PDFInfo
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- JP7266427B2 JP7266427B2 JP2019040293A JP2019040293A JP7266427B2 JP 7266427 B2 JP7266427 B2 JP 7266427B2 JP 2019040293 A JP2019040293 A JP 2019040293A JP 2019040293 A JP2019040293 A JP 2019040293A JP 7266427 B2 JP7266427 B2 JP 7266427B2
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- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/14—Preventing excessive discharging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K15/00—Arrangement in connection with fuel supply of combustion engines or other fuel consuming energy converters, e.g. fuel cells; Mounting or construction of fuel tanks
- B60K15/03—Fuel tanks
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/13—Maintaining the SoC within a determined range
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K15/00—Arrangement in connection with fuel supply of combustion engines or other fuel consuming energy converters, e.g. fuel cells; Mounting or construction of fuel tanks
- B60K15/03—Fuel tanks
- B60K2015/0321—Fuel tanks characterised by special sensors, the mounting thereof
- B60K2015/03217—Fuel level sensors
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/15—Agricultural vehicles
- B60W2300/156—Ridable lawn mowers
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- 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
- Y02T10/62—Hybrid vehicles
-
- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
-
- 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
- Y02T10/72—Electric energy management in electromobility
Description
前記規制部によって規制される前記最高速度は、前記機体が前記エネルギー源の補給地まで走行するのに必要な前記エネルギー源を確保できる速度であり、かつ
前記規制部によって規制される前記最高速度は、運転者に違和感を与える強制低減速度以下である点にある。
上記実施形態では、作業車両1として電動芝刈機を例に挙げて説明したが、作業車両1は、例えば圃場において耕耘作業を行うトラクタであっても良いし、田植機であっても良い。また、圃場において穀稈の刈り取り作業を行うコンバインであっても良いし、播種を行う直播機であっても良いし、薬剤散布等を行う乗用管理機であっても良い。すなわち、作業車両1には、芝刈機、トラクタ、田植機、コンバイン、直播機、乗用管理機が含まれる。もちろん、圃場においてこれらとは異なる作業を行う作業車両1に本発明を適用することも可能である。更には、乗用の作業車両1だけでなく、遠隔操作が可能な作業車両1に適用することも可能である。
車速上限変化量=V1-(V1-V2)/(T1-T2)×(T1-現在のSOC)
ただし、V1、V2、T1、T2は図3により示される値である。
2:走行制御装置(出力指令取得部)
3:駆動輪
4:機体
6:走行制御ユニット
8:操縦レバー(操作入力ユニット)
13:モーアユニット(作業ユニット)
20:モータ(動力源)
23:バッテリ(貯留部)
52:残量検出部
53:規制部
54:停止部
T1:第1閾値
T2:第2閾値
T3:第3閾値
Claims (6)
- 作業を行いながら圃場を走行する作業車両であって、
機体に設けられる駆動輪と、
前記駆動輪に回転力を入力する動力源と、
操作入力ユニットの操作に応じた前記動力源の出力指令を取得する出力指令取得部と、
前記出力指令に応じて前記動力源の駆動を制御する走行制御ユニットと、
前記動力源を駆動させるエネルギー源を貯留する貯留部と、
前記貯留部における前記エネルギー源の残量を検出する残量検出部と、
前記エネルギー源の残量が予め設定された第1閾値以下である場合に、前記出力指令に拘らず、前記機体の最高速度を予め設定された速度であって、前記機体が少なくとも走行可能な速度に規制する規制部と、を備え、
前記規制部によって規制される前記最高速度は、前記機体が前記エネルギー源の補給地まで走行するのに必要な前記エネルギー源を確保できる速度であり、かつ
前記規制部によって規制される前記最高速度は、運転者に違和感を与える強制低減速度以下である作業車両。 - 前記規制部は、前記エネルギー源の残量が前記第1閾値以下である場合に、前記エネルギー源の残量の減少に応じて、前記最高速度が次第に小さくなるように規制する請求項1に記載の作業車両。
- 前記規制部は、前記エネルギー源の残量が前記第1閾値よりも小さい第2閾値以下である場合に、前記最高速度を予め設定された一定値に規制する請求項1又は2に記載の作業車両。
- 前記エネルギー源を用いて駆動され、前記作業を行う作業ユニットと、
前記エネルギー源の残量が予め設定された第3閾値以下である場合に、前記作業ユニットの駆動を停止させる停止部と、を備える請求項1から3のいずれか一項に記載の作業車両。 - 前記動力源がモータであって、前記貯留部がバッテリである請求項1から4のいずれか一項に記載の作業車両。
- 前記規制部は、前記バッテリの蓄電量に応じて前記モータに流れる電流を制限する請求項5に記載の作業車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019040293A JP7266427B2 (ja) | 2019-03-06 | 2019-03-06 | 作業車両 |
US16/704,248 US11872979B2 (en) | 2019-03-06 | 2019-12-05 | Work vehicle |
EP19215011.8A EP3705341B1 (en) | 2019-03-06 | 2019-12-10 | Work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019040293A JP7266427B2 (ja) | 2019-03-06 | 2019-03-06 | 作業車両 |
Publications (2)
Publication Number | Publication Date |
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JP2020142618A JP2020142618A (ja) | 2020-09-10 |
JP7266427B2 true JP7266427B2 (ja) | 2023-04-28 |
Family
ID=68848152
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2019040293A Active JP7266427B2 (ja) | 2019-03-06 | 2019-03-06 | 作業車両 |
Country Status (3)
Country | Link |
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US (1) | US11872979B2 (ja) |
EP (1) | EP3705341B1 (ja) |
JP (1) | JP7266427B2 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021040603A (ja) * | 2019-09-13 | 2021-03-18 | 株式会社 神崎高級工機製作所 | 自動走行機能付き芝刈車両 |
JP7428164B2 (ja) | 2021-06-09 | 2024-02-06 | トヨタ自動車株式会社 | トラクタ |
US20230066635A1 (en) * | 2021-08-26 | 2023-03-02 | Motional Ad Llc | Controlling vehicle performance based on data associated with an atmospheric condition |
USD1015381S1 (en) | 2022-02-14 | 2024-02-20 | Techtronic Cordless Gp | Lawn mower |
USD1014568S1 (en) | 2022-02-14 | 2024-02-13 | Techtronic Cordless Gp | Lawn mower |
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JP5212427B2 (ja) | 2010-07-01 | 2013-06-19 | 株式会社デンソー | 運転支援装置 |
DE102013013623B4 (de) | 2012-08-29 | 2022-06-30 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Motorsteuersystem für ein mit elektrischem Motor angetriebenes Fahrzeug |
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2019
- 2019-03-06 JP JP2019040293A patent/JP7266427B2/ja active Active
- 2019-12-05 US US16/704,248 patent/US11872979B2/en active Active
- 2019-12-10 EP EP19215011.8A patent/EP3705341B1/en active Active
Patent Citations (11)
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JP2006166693A (ja) | 2004-10-28 | 2006-06-22 | Textron Inc | 電動乗物用のac駆動システム |
JP2011046287A (ja) | 2009-08-27 | 2011-03-10 | Toyota Motor Corp | 同軸二輪車及びその制御方法 |
JP2011189768A (ja) | 2010-03-12 | 2011-09-29 | Hitachi Ltd | ハイブリッド車両の制御装置 |
WO2011161814A1 (ja) | 2010-06-25 | 2011-12-29 | トヨタ自動車株式会社 | 電動車両およびその制御方法 |
JP2012147592A (ja) | 2011-01-13 | 2012-08-02 | Toyota Motor Corp | 電気自動車 |
JP2012217225A (ja) | 2011-03-31 | 2012-11-08 | Yutaka Ota | 農業用電動車両システム |
JP2012222896A (ja) | 2011-04-06 | 2012-11-12 | Mitsubishi Electric Corp | 回転電機の制御装置 |
JP2013027202A (ja) | 2011-07-22 | 2013-02-04 | Yanmar Co Ltd | 電動乗用機 |
JP2014045637A (ja) | 2012-08-29 | 2014-03-13 | Kanzaki Kokyukoki Mfg Co Ltd | モータ制御システム |
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JP2018085949A (ja) | 2016-11-28 | 2018-06-07 | 本田技研工業株式会社 | 電動作業機 |
Also Published As
Publication number | Publication date |
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EP3705341B1 (en) | 2023-12-20 |
US11872979B2 (en) | 2024-01-16 |
EP3705341A1 (en) | 2020-09-09 |
JP2020142618A (ja) | 2020-09-10 |
US20200282972A1 (en) | 2020-09-10 |
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