WO2022268570A1 - Method for improved cleaning of a spatially delimited region - Google Patents
Method for improved cleaning of a spatially delimited region Download PDFInfo
- Publication number
- WO2022268570A1 WO2022268570A1 PCT/EP2022/066140 EP2022066140W WO2022268570A1 WO 2022268570 A1 WO2022268570 A1 WO 2022268570A1 EP 2022066140 W EP2022066140 W EP 2022066140W WO 2022268570 A1 WO2022268570 A1 WO 2022268570A1
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- WO
- WIPO (PCT)
- Prior art keywords
- speed
- brush
- area
- fan
- vacuum robot
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000004140 cleaning Methods 0.000 title claims abstract description 38
- 238000013459 approach Methods 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 241001474791 Proboscis Species 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2842—Suction motors or blowers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2847—Surface treating elements
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Definitions
- the present invention relates to a method for improved cleaning of a spatially limited area using a robotic vacuum cleaner with a fan.
- the invention also relates to such a vacuum robot for carrying out this method.
- Robotic vacuum cleaners generally have the task of removing dust from a floor and, for this purpose, driving over the entire floor surface as autonomously as possible. Not only central areas that are easy to drive on should be cleaned reliably, but also corner areas or areas close to walls where it should be avoided that, for example, an uncleaned edge area remains. However, since vacuum robots usually only have a limited suction power, they usually do not meet this requirement or at least not satisfactorily.
- vacuum robots with side brushes are known from DE 102007060750 A1, EP 2 891 442 A2 and DE 102015 114 775 A1, but they also have a reliable cleaning, especially of a corner area, not or only insufficiently allow.
- a vacuum robot is also known from DE 10 2017 100 299 A1, which has a rotating brush for cleaning surfaces and a vertically aligned brush for cleaning a skirting board.
- DE 10 2017 100 301 A1 discloses a robotic vacuum cleaner with a rotating brush for floor cleaning and a floor cleaning device with a nozzle, which can be used, for example, to clean the top side of a skirting board.
- DE 10 139 213 A1 discloses a robotic vacuum cleaner with cleaning brushes subjected to lateral vacuum for cleaning baseboards.
- DE 102016 110817 A1 discloses a robotic vacuum cleaner with a lateral suction nozzle or cleaning brush, by means of which corner areas are also intended to be better cleaned.
- DE 69 204 702 T2 discloses a vacuum cleaner with a main body and a floor nozzle and a rotary brush driven by a rotary brush motor, with an additional electrical current detection device being provided for detecting a motor current flowing through the rotary brush motor.
- the device itself is designed to evaluate a period of variation of the rotary brush motor current based on the measured output signal of the electric current detection device, a control device for performing a predetermined arithmetic operation on the evaluated period and for controlling the supply of electric power to the electric blower on the basis of this Implementation result is formed. This should make it possible to automatically control an electric fan at least in accordance with usage conditions of a floor nozzle.
- DE 102007 021 299 A1 discloses a method for controlling a speed of at least one electric motor of a rotating brush as a function of a surface condition.
- a suction device is moved over a surface area and Depending on its respective surface properties, corresponding detection signals are correlated by current values of a current drawn by the at least one electric motor with a movement of the suction device in the respective surface area.
- a parameter is then evaluated using at least one desired current value corresponding to a specific surface condition, whereupon the electric motor is operated at a definable speed corresponding to an evaluation result between the current value determined in each case and the at least one desired current value.
- DE 10 2008 010 068 A1 discloses a device for automatically controlling the suction power of a vacuum cleaner, which supplies only as much electrical power to a motor/blower unit as is required for optimal cleaning of the existing floor surface. This is intended to enable a constant cleaning effect over the service life of the vacuum cleaner.
- the present invention is therefore concerned with the problem of specifying a method by means of which, in particular, improved cleaning of a spatially limited area using a vacuum robot is independent of its external shape, brushes or other properties.
- the present invention is based on the general idea of increasing an individual suction power of a vacuum robot in areas that are particularly difficult to clean, for example corner areas, and thereby achieving an improved cleaning result there without changing a hardware configuration.
- the vacuum robot At a According to the method according to the invention for improved cleaning of a spatially limited area, for example a room corner, by means of a vacuum robot with a fan, the vacuum robot first moves to the spatially limited area, for example the corner area, automatically and with a first fan speed, i.e. a first suction power.
- a sensor device detects the approach of the vacuum robot to the spatially limited area and transmits this to a computer device of the vacuum robot.
- the computer device monitors the start-up process and increases the fan speed to a second, higher fan speed before reaching the spatially limited area, so that the fan has the second, higher fan speed and thus the increased suction power when the vacuum robot enters the spatially limited area, for example the corner area. reached.
- the sensor device now also monitors further movement of the vacuum robot into and out of the spatially limited area and transmits this to the computer device.
- the computer device After leaving the spatially limited area, the computer device reduces the fan speed to the first fan speed and thus the second suction power to the first suction power.
- the fan speed represents the speed of a fan wheel.
- the blower power for example the blower speed
- the computer device increases the fan speed a certain distance, for example a few centimetres, before reaching the spatially limited area, for example the corner, so that the increased second suction power is actually available in the corner of the room.
- the fan speed can be reduced or it will be reduced. The second, higher fan speed then slowly and steadily approaches the first fan speed again, while the vacuum robot continues its cleaning journey.
- Both a run-up phase and a run-down phase can each take a few seconds, which is taken into account by the computer device.
- a position can be calculated via a detected current speed of the vacuum robot, from which the fan speed must be ramped up in order to To be able to have higher blower power available in the corner of the room.
- the advantage of an increased blower output that is only temporary and short-term also lies in reduced noise pollution for a user, who is therefore significantly less disturbed than by a continuously high blower output with a persistently loud blower noise.
- Corner cleaning can be improved by temporarily increasing the suction power (blower speed) without requiring further changes to the hardware of the vacuum robot.
- suction power blower speed
- it is not intended to replace an existing fan of the vacuum robot with existing suction power or existing fan speed with a fan of higher power or to bundle the existing suction power mechanically or by nozzles.
- the power of the blower set for a cleaning process or a blower speed is increased when the spatially limited area, for example the corner, is reached, for example by increasing a control voltage, a control current or a control frequency for the blower by control electronics, for example the computer device will.
- the vacuum robot Shortly before the vacuum robot is in the last few centimeters in front of, for example, a corner of the room and thus the spatially limited area, its fan speed is increased. For a limited period of time, the vacuum robot has more suction power available, which can automatically improve corner cleaning. As soon as the robot vacuum moves out of the corner or out of the spatially limited area, the fan output or fan speed is reset again.
- the spatially limited area can of course not only be a corner area, but also a wall or a table or chair leg.
- the higher noise level that occurs when the fan speed is increased is only of short duration and is therefore significantly less annoying for a user than a consistently loud fan noise.
- An additional positive side effect is that a user hears when the vacuum robot is cleaning corners.
- this method can also be implemented for common vacuum robots using a pure software solution and can also be combined with any shape of vacuum robot, for example with a D-shape, with a side brush, or with an extendable suction arm.
- the vacuum robot has a rotating brush and moves to the spatially limited area at a first brush speed.
- the computer device monitors the start-up process and increases the brush speed to a second, higher brush speed before reaching the spatially limited area, so that the brush has the second, higher brush speed when the vacuum robot reaches the spatially limited area, for example the corner.
- the sensor device now detects that the vacuum robot continues to travel in the area or out of it and transmits this to the computer device.
- the latter After leaving the spatially limited area, the latter reduces the brush speed from the second, higher brush speed to the first, lower brush speed.
- a higher mechanical cleaning effect can also be easily implemented. For this, too, usually only a software adaptation and no adaptation of the hardware of the vacuum robot is required.
- the robotic vacuum cleaner has a blower motor and a brush drive motor, the robotic vacuum cleaner moving to the area with a first electrical output from the blower motor and/or the brush drive motor, and the computer device monitoring the starting process and before reaching the area increases the first electrical power to a second, higher electrical power, so that the blower motor and/or the brush drive motor have/have the second, higher electrical power when the robotic vacuum cleaner reaches the area.
- the sensor device also detects a further movement of the vacuum robot into and out of the area and transmits this to the computer device, with the computer device reducing the second electrical power to the first electrical power after leaving the area.
- the increased electrical second power can of course be accompanied by a higher second brush speed and/or a higher second fan speed.
- the second, higher electrical output of the blower motor and/or the brush drive motor can be above a recommended or maximum permissible continuous output of the blower motor or the brush drive motor.
- One short-term increase in the electrical power of the fan motor or the brush drive motor above the recommended or maximum permissible continuous power of the fan motor or the brush drive motor can be done without risk and at the same time with the advantage of improved corner cleaning.
- the sensor device expediently detects movement of the vacuum robot via at least one distance sensor and/or an impact sensor. For example, a contact of the vacuum robot with a baseboard of a wall can be detected via an impact sensor, while a distance to the spatially limited area, for example to a wall, can be detected via a distance sensor and thereby transmitted to the computer device.
- the robotic vacuum cleaner can expediently be operated in a so-called silent mode, in which the first fan speed is 50% of a maximum permissible continuous fan speed and the second, higher fan speed is 100% of the maximum permissible continuous fan speed. Additionally or alternatively, if the robotic vacuum cleaner has a rotating brush, the first brush speed can be 50% of a maximum permissible continuous brush speed and the second, higher brush speed can be 100% of the maximum permissible brush continuous speed in the silent mode. In the so-called silent mode, a usually low-noise cleaning of a floor is thus possible, with the fan speed and/or the brush speed being increased there and only there for thorough cleaning of, for example, corner areas.
- the computer device reduces the fan speed or the brush speed, which means that the vacuum robot can continue to run in its low-noise silent mode.
- the fan speed is understood to mean, for example, the speed of a fan, while a brush speed is understood to mean a speed of a respective brush.
- the vacuum robot can be operated in an eco mode in which the first fan speed is 80% of a maximum permissible continuous fan speed and the second fan speed is 140% of the maximum permissible continuous fan speed. Additionally or alternatively, if the vacuum robot has a rotating brush, the first, lower brush speed is 80% of a maximum permissible brush continuous speed and the second, higher brush speed compared to the first brush speed can be 140% of the maximum permissible continuous brush speed.
- Such an eco mode can be set, for example, if the vacuum robot is to be operated in a power-saving manner, but the degree of soiling of the floor and in particular also the corner areas or the spatially limited areas requires a higher cleaning performance compared to the silent mode.
- the robotic vacuum cleaner can also be operated in a so-called power mode, in which the first fan speed is 100% of a maximum permissible continuous fan speed and the second fan speed is 200% of the maximum permissible continuous fan speed. Additionally or alternatively, if a rotating brush is also provided, the first brush speed can be 100% of a maximum permissible continuous brush speed and the second brush speed can be 200% of the maximum permissible brush continuous speed.
- a power mode is used in particular when the floor to be cleaned is very dirty and the higher level of noise pollution in the power mode is not perceived as a nuisance by a user.
- electronic and mechanical components such as a fan and upstream electronics, are designed for a continuous output that is not exceeded in normal operation.
- a blower output or blower speed of 100% usually corresponds to this continuous output, with both a rotating brush or its drive and a blower being designed for at least short-term higher loads.
- the vacuum robot can also control its fan with an increased power value without damaging it.
- the present invention is also based on the general idea of specifying a robotic vacuum cleaner with a sensor device, a blower and a computer device for carrying out the method described in the previous paragraphs, with such a robotic vacuum cleaner having almost any configuration, its dimensions or its individual brushes can be designed, since the method according to the invention is possible through a pure software adaptation.
- the sensor device of the vacuum robot expediently has at least one distance sensor and/or one impact sensor. About such a distance sensor or impact sensor, an exact position of the vacuum robot can be detected and the method according to the invention can be carried out reliably as a result.
- Fig. 1 is a plan view of a vacuum robot according to the invention
- a vacuum robot 1 moves to a spatially limited area 2, here a corner area 3, with its fan having a first fan speed.
- the fan speed correlates with a fan power.
- a sensor device 4 detects that the robotic vacuum cleaner 1 is approaching the area 2 , this being transmitted to a computer device 5 of the robotic vacuum cleaner 1 at the same time.
- the computer device 5 monitors the starting process and increases the first fan speed to a second, higher fan speed so that the fan reaches the second, higher fan speed and thus also has a second, higher suction power when the robotic vacuum cleaner 1 reaches the area 2 or enters it. Due to the increased suction power in the area 2, for example in the corner area 3, improved cleaning can take place there.
- the sensor device 4 also continues to record the onward journey of the robotic vacuum cleaner 1 in and out of the area 2 and transmits this to the computer device 5. According to FIG counterclockwise and exits to the left. After leaving the spatially limited area 2, the computer 5 reduces the second, higher fan speed back to the first, lower fan speed, so that the second, higher fan speed is only available in the corner area 3 that requires this increased fan output, which has an advantageous effect on the Battery life and noise pollution from the vacuum robot 1 affects.
- the robotic vacuum cleaner 1 can also have a rotating brush (not designated in more detail), in which case the robotic vacuum cleaner 1 approaches the area 2 with a first brush speed.
- the computer device 5 monitors the start-up process and increases the first brush speed to a second, higher brush speed before reaching the spatially limited area 2, so that the brush already has the second, higher brush speed when the vacuum robot 1 enters the area 2.
- the sensor device 4 Since it takes a few seconds to ramp up the suction power or the brush power, the sensor device 4, which has a distance sensor or an impact sensor, for example, can be used to estimate when the area 2 has been reached using, for example, a driving speed of the vacuum robot 1, and the fan speed or The brush speed can be raised in good time beforehand, so that the increased second blower speed or the increased second brush speed is already available when entering area 2.
- the sensor device 4 also detects the continuation of the vacuum robot 1 in the area 2 or also out of this area 2 and transmits this to the computer device 5. After leaving the area 2, the latter reduces the second, higher brush speed to the first, lower brush speed, which can also take a few seconds. Then the vacuum robot 1 moves with the first fan speed and if necessary, continue with the first brush speed and clean a floor 6 in an energy-saving manner.
- Robotic vacuum cleaner 1 has a fan motor to drive the fan and a brush drive motor to drive the brush, robotic vacuum cleaner moving to area 2 with a first electrical output from the fan motor and/or the brush drive motor, and computer device 5 monitoring the starting process.
- the computing device 5 increases the first electrical power to a second, higher electrical power, so that the blower motor and/or the brush drive motor have/have the second, higher electrical power when the robotic vacuum cleaner 1 reaches area 2.
- the sensor device 4 also detects a further movement of the vacuum robot 1 into and out of the area 2 and transmits this to the computer device 5. After leaving the area 2, the second electrical power is reduced to the first electrical power.
- the second electrical output of the blower motor and/or the brush drive motor can be above a recommended or maximum permissible continuous output of the blower motor or the brush drive motor.
- a short-term increase in the electrical output of the blower motor or the brush drive motor above the recommended or maximum permissible continuous output of the blower motor or the brush drive motor can take place without risk and at the same time with the advantage of improved corner cleaning.
- some operating modes of the vacuum robot 1 are shown, for example a silent mode, an eco mode and a power mode.
- the floor 6 should be cleaned by the vacuum robot 1 with little noise, so that in this case the first fan speed corresponds to approximately 50% of a maximum permissible continuous fan speed and the second fan speed corresponds to 100% of the maximum permissible continuous fan speed.
- the blower power correlates with a suction power of the vacuum robot 1. If the vacuum robot 1 reaches the spatially limited area 2, for example a room corner or a corner area 3, the blower power or blower speed is doubled. After leaving the corner area 3 or generally the spatially limited area 2 and after cleaning it, the vacuum robot 1 reduces its second, higher The blower speed is reduced to half, so that when you continue driving it is only 50% of the maximum permissible continuous blower output or continuous blower speed. It can behave analogously with the brush speed or the brush power.
- the first fan speed is 80% of a maximum permissible continuous fan speed
- the second fan speed is 140% of the maximum permissible continuous fan speed.
- the corner area 3 can be cleaned particularly effectively and thoroughly.
- the fan speed is reduced again to 80% of the maximum permissible continuous fan speed.
- the robotic vacuum cleaner 1 cleans particularly thoroughly and thus also during normal driving on the floor 6 outside of the area 2 with 100% of the maximum permissible continuous fan speed or continuous fan output.
- the first blower speed or the first number of brushes is thus 100% of the maximum permissible continuous blower speed or the maximum permissible brush continuous speed. If the robotic vacuum cleaner 1 reaches area 2, the first fan speed is raised to twice the second fan speed shortly before, so that the robotic vacuum cleaner 1 cleans in area 2 with 200% of the maximum permissible continuous fan speed or suction power or continuous brush speed.
- the computer device After leaving area 2, the computer device reduces the fan speed or, if there are brushes, the brush speed to 100% of the maximum permissible continuous speed, so that the robotic vacuum cleaner 1 then returns to the first fan speed, which in this case corresponds to the maximum permissible continuous fan speed. further cleans.
- a short-term increase in the fan speed or the brush speed itself to 200% of the maximum permissible continuous fan speed or continuous brush speed is not a problem, even in the long term.
- areas 2 that could not be cleaned or could not be cleaned sufficiently well for example corner areas 3, but also areas around pieces of furniture, surrounds, obstacles such as table or chair legs, can be cleaned particularly effectively without the need for this advantageously a change or adjustment of the hardware of the vacuum robot 1 is required. All that is required for this is an adaptation of the software, which is advantageous not only in terms of cost, but can also be transferred to all common suction robots 1 .
- the method according to the invention can advantageously be transferred to vacuum robots 1 with a D shape, with side brushes or with extendable suction arms etc. as desired. By keeping the hardware the same, a cost-effective yet highly effective method can be created.
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- Electric Vacuum Cleaner (AREA)
Abstract
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Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22733091.7A EP4358814A1 (en) | 2021-06-25 | 2022-06-14 | Method for improved cleaning of a spatially delimited region |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102021206579.1 | 2021-06-25 | ||
DE102021206579.1A DE102021206579B4 (en) | 2021-06-25 | 2021-06-25 | METHOD FOR IMPROVED CLEANING OF A RESTRICTED AREA |
Publications (1)
Publication Number | Publication Date |
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WO2022268570A1 true WO2022268570A1 (en) | 2022-12-29 |
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PCT/EP2022/066140 WO2022268570A1 (en) | 2021-06-25 | 2022-06-14 | Method for improved cleaning of a spatially delimited region |
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EP (1) | EP4358814A1 (en) |
DE (1) | DE102021206579B4 (en) |
WO (1) | WO2022268570A1 (en) |
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2021
- 2021-06-25 DE DE102021206579.1A patent/DE102021206579B4/en active Active
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2022
- 2022-06-14 WO PCT/EP2022/066140 patent/WO2022268570A1/en active Application Filing
- 2022-06-14 EP EP22733091.7A patent/EP4358814A1/en active Pending
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DE102021206579A1 (en) | 2022-12-29 |
DE102021206579B4 (en) | 2024-05-02 |
EP4358814A1 (en) | 2024-05-01 |
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