WO2016112903A1 - Procédé et unité de traitement de signaux de mesure pour la génération d'un signal de mesure multicanal pour une mesure de vitesse de rotation, ainsi qu'unité capteur - Google Patents

Procédé et unité de traitement de signaux de mesure pour la génération d'un signal de mesure multicanal pour une mesure de vitesse de rotation, ainsi qu'unité capteur Download PDF

Info

Publication number
WO2016112903A1
WO2016112903A1 PCT/DE2016/200005 DE2016200005W WO2016112903A1 WO 2016112903 A1 WO2016112903 A1 WO 2016112903A1 DE 2016200005 W DE2016200005 W DE 2016200005W WO 2016112903 A1 WO2016112903 A1 WO 2016112903A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
channel
machine element
rotation angle
magnetic field
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.)
Ceased
Application number
PCT/DE2016/200005
Other languages
German (de)
English (en)
Inventor
Rupert Stitzinger
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.)
Schaeffler Technologies AG and Co KG
Original Assignee
Schaeffler Technologies AG and Co KG
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 Schaeffler Technologies AG and Co KG filed Critical Schaeffler Technologies AG and Co KG
Publication of WO2016112903A1 publication Critical patent/WO2016112903A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement

Definitions

  • Method and measuring signal processing unit for generating a multichannel measuring signal for a rotational speed measurement and sensor unit
  • the present invention initially relates to a method for generating a multi-channel measuring signal for measuring the rotational speed of a rotating machine element.
  • the multichannel measurement signal is a so-called AB signal which comprises two signal components which are phase-shifted by 90 ° and was originally obtained by means of two offset magnetic field sensors facing a magnetic multipole on the rotating machine element.
  • the invention relates to a measurement signal processing unit for generating said multichannel measurement signal and to a sensor unit which is equipped with the measurement signal processing unit according to the invention.
  • Fig. 2 illustrates a prior art solution for measuring the rotational speed of a rotating machine element.
  • a magnetic multipole also referred to as multipole encoder, rotatably connected to the machine element.
  • this magnetic multiple pole two magnetic field sensors 01, 02 are arranged offset, wherein the offset must be equal to 90 ° of the determined magnetic poles 03 period of the Mehrfachpoles, which is illustrated in the upper part of Fig. 2.
  • curves 04, 06 of the magnetic field strength acting on the two magnetic field sensors 01, 02 are shown.
  • the two curves 04, 06 are phase-shifted by 90 °.
  • two signals 07, 08 are obtained, which are shown in the lower part of FIG.
  • FIG. 3 illustrates another prior art solution for measuring the rotational speed of a rotating machine element.
  • a magnetic Mehrfachpol is rotatably connected to the machine element. Opposite this magnetic multiple pole becomes a magnetic field sensor (not shown) arranged, which allows the measurement of a rotation angle of the machine element.
  • a rotation angle signal 11 of the angle of rotation measuring magnetic field sensor is shown. With this magnetic field sensor, the rotation angle between 0 ° and 180 ° can be clearly measured. From the rotation angle signal 11, in turn, a square wave signal 12 is obtained, which is shown in the lower part of FIG. The square wave signal 12 is comparable to the first signal 07 of the AB signal 09 (shown in FIG. 2).
  • the object of the present invention starting from the prior art is to reduce the effort for obtaining an AB signal for the measurement of the rotational speed of a rotating machine element.
  • the above object is achieved by a method according to the appended claim 1 and by a measuring signal processing unit according to the appended independent claim 9.
  • the object is achieved by a sensor unit according to the appended independent claim 10.
  • the inventive method is used to generate a multi-channel measurement signal for the measurement of the rotational speed of a rotating machine element.
  • the machine element may be, for example, a shaft or a
  • the machine element is a ring of a rotary bearing; in particular about one of the two rings of a so-called speed bearing, which is designed for example as a bottom bracket.
  • a rotation angle signal is first provided, which the
  • Rotation angle of the machine element represents.
  • the rotation angle signal changes functionally unambiguously upon rotation of the machine element and preferably bijectively. It can be repeated several times over a revolution of the machine element.
  • the rotation angle signal can be provided directly as an output signal of a sensor, which allows a measurement of the rotation angle.
  • the rotation angle signal may be provided by determining the rotation angle signal from the signals of mutually offset sensors.
  • a multi-channel measurement signal from the provided rotation angle signal is determined.
  • the multi-channel measuring signal comprises at least a first channel and a second channel, ie at least two independent sub-signals.
  • the first channel and the second channel each contain a periodic signal which is synchronous to the rotation angle of the machine element and thus also synchronous to the rotation angle signal.
  • the periodic signal of the first channel and the periodic signal of the second channel have a phase shift relative to each other. It is therefore a
  • the AB signal which was determined in contrast to the prior art from a rotational angle signal.
  • the speed of the machine element can be determined with little effort from the AB signal.
  • the AB signal also allows the direction of rotation to be determined and can be quadrupled by applying an exclusive OR operation to the A signal and to the B signal.
  • the multi-channel measurement signal is preferably a digital signal.
  • a particular advantage of the method according to the invention is that the generation of the AB signal does not require the arrangement of two magnetic field sensors which must have such an offset to each other, which is equal to 90 ° of the period of the magnetic poles of a multipole encoder.
  • magnetic field-sensitive sensors are used to provide the rotational angle signal, which requires magnetization of the machine element. Therefore, at least one magnetic field sensor, which faces a magnetization region on the rotating machine element, is preferably used for providing the rotational angle signal.
  • the rotating magnetization region is an encoder which is scanned or read by the at least one magnetic field sensor.
  • the magnetization region is preferably formed by a permanent magnet having a plurality of magnetic poles.
  • the permanent magnet preferably has at least four of the magnetic poles.
  • the permanent magnet may preferably also be a multipole.
  • the permanent magnet is preferably ring-shaped and arranged coaxially with the axis of rotation of the rotating machine element.
  • exactly one magnetic field sensor is used for providing the rotational angle signal, which faces the magnetization region on the rotating machine element and outputs the rotational angle signal directly.
  • the magnetic field sensor is preferably formed by an AMR bridge circuit having four individual AMR resistors.
  • two of the magnetic field sensors are used for providing the rotational angle signal. The two magnetic field sensors are spatially spaced from each other with respect to the magnetization region.
  • the step of providing the rotation angle signal comprises a sub-step in which the rotation angle signal is determined from the signals of the two magnetic field sensors.
  • the two magnetic field sensors preferably have an offset with respect to the revolution of the machine element, which is preferably not 90 ° of the period formed by the magnetic poles. It is namely a particular advantage of the method according to the invention that the offset between the two magnetic field sensors can be selected independently of the period formed by the magnetic poles. However, the offset must be known in order to be able to determine the rotational angle signal from the signals.
  • the two magnetic field sensors are preferably each formed by a Hall sensor with which a directional component of the magnetic field can be measured.
  • the magnetic field sensors to be used are preferably AMR measuring bridges or Hall sensors. Basically, those to be used Magnetic sensors but also be formed by other sensors with which magnetic properties can be detected.
  • the two magnetic field sensors preferably output a periodic signal in each case. Because of the staggered arrangement of the two magnetic field sensors, the periodic signal of the first magnetic field sensor and the periodic signal of the second magnetic field sensor have a phase shift. This phase shift is preferably not equal to 90 °.
  • the periodic signal of the first magnetic field sensor and the periodic signal of the second magnetic field sensor are preferably each sinusoidal. Consequently, these signals can be considered as a sine / cosine signal.
  • the rotation angle signal preferably has a period which corresponds to half a rotation of the machine element. Consequently, the rotation angle signal represents a rotation angle interval of 0 ° to 180 °. Alternatively, preferably, the rotation angle signal has a period corresponding to a complete revolution of the machine element. In this case, the rotation angle signal represents a rotation angle interval of 0 ° to 360 °. Alternatively, preferably, the rotation angle signal has a period corresponding to an n-th fraction of a whole rotation of the machine element, where n is equal to 64, for example. In this case, the rotation angle signal represents a rotation angle interval of the machine element from 0 ° to 360 ° / n
  • the rotation angle signal is preferably linear to the rotation angle. This linearity is preferably formed between 0 ° and 360 ° or at least in a whole fraction of 360 °. Particularly preferably, the rotation angle signal between 0 ° and 180 ° is linear to the rotation angle.
  • the rotational angle signal is preferably formed by a sawtooth signal, wherein the ramps of the sawtooth signal preferably each represent a rotational angle between 0 ° and 180 ° or a period thereof.
  • the rotation angle signal can also be formed by other unambiguously reversible signal forms.
  • the periodic signal of the first channel and the periodic signal of the second channel preferably have the same period.
  • the periodic signal of the first channel and the periodic signal of the second channel preferably have a same maximum amplitude. Consequently, the periodic signal of the first channel and the periodic signal of the second channel differ only in their phase.
  • the periodic signal of the first channel and the periodic signal of the second channel preferably each have a period corresponding to one revolution or a whole fraction of a revolution of the machine element. [Preferably, the periodic signal of the first channel and the periodic signal of the second channel each have a period corresponding to one-half revolution of the machine element.
  • the multi-channel measurement signal to be generated is multiplied.
  • the periodic signal of the first channel and the periodic signal of the second channel each have a period corresponding to an n-th fraction of a revolution of the machine element, where n is a natural number which is at least four and preferably greater than 10.
  • phase shift between the periodic signal of the first channel and the periodic signal of the second channel is particularly preferably equal to 90 °, as is the case with known AB signals. In principle, however, other phase shifts can be realized.
  • the periodic signal of the first channel and the periodic signal of the second channel are preferably each formed by a square wave signal.
  • the speed of the machine element can be determined with little effort from the square-wave signals.
  • the determination of the multi-channel measurement signal is preferably carried out by applying a calculation rule to the rotation angle signal.
  • the calculation rule is formed, in particular, by one or more formulas, which are based on the current measured angle of rotation can be applied and deliver in the result the two current values of the multi-channel measuring signal.
  • the determination of the multi-channel measurement signal is preferably carried out by reading out an assignment table for the rotation angle signal.
  • the allocation table which can also be referred to as a look-up table, comprises value triplets, each with one value for the rotation angle and two values for the multichannel measurement signal.
  • mapping tables requires little computing power.
  • the measuring signal processing unit according to the invention serves to generate a multi-channel measuring signal for measuring the rotational speed of a rotating machine element.
  • the measuring signal processing unit is configured to carry out the method according to the invention.
  • the measuring signal processing unit is preferably configured to carry out preferred embodiments of the method according to the invention. Otherwise, the measurement signal processing unit preferably also has such features that are designed in conjunction with the method according to the invention.
  • the measurement signal processing unit preferably comprises a microprocessor or an ASIC which is configured for the step of determining the multi-channel measurement signal in accordance with the method according to the invention.
  • the microprocessor or the ASIC can also be configured for sub-steps of the step for providing the rotational-angle signal in accordance with the method according to the invention.
  • the sensor unit according to the invention is used to measure the rotational speed of a machine element and initially comprises at least one magnetic field sensor, which faces a magnetization region of the rotating machine element. Furthermore, the sensor unit comprises the measuring signal processing unit according to the invention.
  • the sensor unit preferably comprises preferred embodiments of the measurement signal processing unit according to the invention. Moreover, the sensor unit preferably also has such features which are described in connection with the method according to the invention. Further details, advantages and developments of the invention will become apparent from the following description of a preferred embodiment of the invention, with reference to the drawing. Show it:
  • Fig. 2 shows a magnetic multipole and signals generated according to a solution of the prior art
  • Fig. 3 shows a magnetic multipole and signals according to another
  • a magnetic multipole which has a plurality of magnetic poles 21, which on an annular
  • Magnetization of a rotating machine element (not shown) are arranged. This multipole is inventively used to measure the
  • a rotation angle signal 22 (not shown) of a rotation angle sensor (not shown) provided according to the invention is shown, which faces the magnetic multiple pole.
  • the rotation angle signal 22 is
  • a sawtooth signal whose period corresponds to a rotation angle of 180 °.
  • Measuring signal 23 shown which can also be referred to as AB signal 23.
  • the multi-channel measurement signal 23 was calculated directly from the rotation angle signal 22. It comprises a first channel 24 and a second channel 26.
  • the two channels 24, 26 are each formed by a rectangular signal which is synchronous to the rotational angle signal 22.
  • the two channels 24, 26 have a phase shift of 90 °. LIST OF REFERENCE NUMBERS

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

La présente invention concerne d'abord un procédé de génération d'un signal de mesure (23) multicanal pour la mesure de la vitesse de rotation d'un élément de machine tournant. Ledit signal de mesure (23) multicanal est en particulier un signal appelé AB qui comporte deux composantes de signal décalées en phase de 90° et qui a été initialement produit à l'aide de deux capteurs de champ magnétique décalés qui font face à un pôle magnétique multiple situé sur l'élément de machine tournant. La présente invention concerne en outre une unité de traitement de signaux de mesure pour la génération du signal de mesure (23) multicanal mentionné, ainsi qu'une unité capteur équipée de l'unité de traitement de signaux de mesure selon la présente invention. Selon l'invention, un signal d'angle de rotation (22) qui représente l'angle de rotation de l'élément de machine est d'abord produit. Lors d'une autre étape du procédé selon la présente invention, le signal de mesure (23) multicanal est déterminé à partir du signal d'angle de rotation (22) produit. Le signal de mesure (23) multicanal comporte au moins un premier canal (24) et un deuxième canal (26). Le premier canal (24) et le deuxième canal (26) contiennent chacun un signal périodique qui est synchrone avec l'angle de rotation de l'élément de machine. Le signal périodique du premier canal (24) et le signal périodique du deuxième canal (26) comportent un décalage de phase l'un par rapport à l'autre qui est de préférence de 90 degrés. Le signal d'angle de rotation peut être produit par plusieurs capteurs de champ magnétique dont les signaux ne doivent cependant pas présenter un décalage de phase de 90 degrés.
PCT/DE2016/200005 2015-01-14 2016-01-11 Procédé et unité de traitement de signaux de mesure pour la génération d'un signal de mesure multicanal pour une mesure de vitesse de rotation, ainsi qu'unité capteur Ceased WO2016112903A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015200475.9 2015-01-14
DE102015200475.9A DE102015200475A1 (de) 2015-01-14 2015-01-14 Verfahren und Messsignalverarbeitungseinheit zur Generierung eines mehrkanaligen Messsignals für eine Drehzahlmessung sowie Sensoreinheit

Publications (1)

Publication Number Publication Date
WO2016112903A1 true WO2016112903A1 (fr) 2016-07-21

Family

ID=55442607

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2016/200005 Ceased WO2016112903A1 (fr) 2015-01-14 2016-01-11 Procédé et unité de traitement de signaux de mesure pour la génération d'un signal de mesure multicanal pour une mesure de vitesse de rotation, ainsi qu'unité capteur

Country Status (2)

Country Link
DE (1) DE102015200475A1 (fr)
WO (1) WO2016112903A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017100570A1 (de) 2017-01-13 2018-07-19 Schaeffler Technologies AG & Co. KG Sensormodul zum Einbau in ein Lager sowie Lageranordnung
CN112665531B (zh) * 2020-11-30 2023-07-14 天津津航技术物理研究所 一种多对级旋变坐标变换解角方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10052035A1 (de) * 2000-04-22 2001-10-31 Secatec Electronic Gmbh Drehgeber-Sensorelement zum berührungslosen detektieren der Winkelgeschwindigkeit einer rotierenden Achse
DE102006055305A1 (de) * 2005-12-01 2007-06-14 Ebm-Papst St. Georgen Gmbh & Co. Kg Elektromotor
US20080180090A1 (en) * 2007-01-29 2008-07-31 Stolfus Joel D Magnetic speed, direction, and/or movement extent sensor
US20100085038A1 (en) * 2003-06-25 2010-04-08 Michael Hinz Arrangement comprising a magnetic-field-dependent angle sensor
US20100097051A1 (en) * 2008-10-22 2010-04-22 Honeywell International Inc. Incremental position, speed and direction detection apparatus and method for rotating targets utilizing magnetoresistive sensor

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10138640C1 (de) * 2001-06-27 2003-01-09 Fraunhofer Ges Forschung Verfahren und Vorrichtung zum Vorbereiten eines analogen Sensorsignals eines Positionsensors für eine Übertragung zu einer Auswerteeinheit
DE10313518A1 (de) * 2003-03-25 2004-10-14 Hübner Elektromaschinen AG Positionsmessverfahren und Positionsmesssystem zur Signalperioden-Vervielfachung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10052035A1 (de) * 2000-04-22 2001-10-31 Secatec Electronic Gmbh Drehgeber-Sensorelement zum berührungslosen detektieren der Winkelgeschwindigkeit einer rotierenden Achse
US20100085038A1 (en) * 2003-06-25 2010-04-08 Michael Hinz Arrangement comprising a magnetic-field-dependent angle sensor
DE102006055305A1 (de) * 2005-12-01 2007-06-14 Ebm-Papst St. Georgen Gmbh & Co. Kg Elektromotor
US20080180090A1 (en) * 2007-01-29 2008-07-31 Stolfus Joel D Magnetic speed, direction, and/or movement extent sensor
US20100097051A1 (en) * 2008-10-22 2010-04-22 Honeywell International Inc. Incremental position, speed and direction detection apparatus and method for rotating targets utilizing magnetoresistive sensor

Also Published As

Publication number Publication date
DE102015200475A1 (de) 2016-07-14

Similar Documents

Publication Publication Date Title
DE112008003911B4 (de) Magnetischer Encoder und Aktuator
DE102005014509B4 (de) Sensoranordnung und Verfahren zur Bestimmung eines Drehwinkels
DE112007003469B4 (de) Magnetischer Geber und Verfahren des Erfassens einer absoluten Rotationsposition
EP0740776B1 (fr) Systeme de determination sans contact de l'angle de rotation d'un element rotatif
DE102016113207B4 (de) Rotationserkennungsvorrichtung
DE102010040584B4 (de) Verfahren und Vorrichtung zur Störfeldkompensation von magnetischen Winkelsensoren
WO2010060607A2 (fr) Puce à semi-conducteur et procédé permettant de produire des flancs d'impulsion qui sont associés de manière synchrone au mouvement d'une pièce mécanique
EP2225142A1 (fr) Arrangement de détection de l'angle de direction à mesure absolue
DE102010045952A1 (de) Sensorsystem und Verfahren zur inkrementellen Drehzahlmessung
DE102017111979A1 (de) Winkelsensor, Korrekturverfahren zur Verwendung mit dem Winkelsensor und Winkelsensorsystem
EP3207337A1 (fr) Capteur pour déterminer au moins une propriété de rotation d'un élément en rotation
DE4021105A1 (de) Verfahren und vorrichtung zur lagemessung
DE112012005322B4 (de) Drehwinkel-Detektiervorrichtung
DE19800774B4 (de) Verfahren und magnetische Maßverkörperung zur Generierung eines Referenzsignals sowie Herstellungsverfahren für eine solche magnetische Maßverkörperung
WO2016112903A1 (fr) Procédé et unité de traitement de signaux de mesure pour la génération d'un signal de mesure multicanal pour une mesure de vitesse de rotation, ainsi qu'unité capteur
EP3320613B1 (fr) Faire tourner une machine electrique avec deux capteurs de position
DE10058623A1 (de) Verfahren zur Ermittlung der Winkellage einer drehbaren Welle und Vorrichtung zur Durchführung des Verfahrens
DE102016214497A1 (de) Steuerungseinheit und Verfahren zum Steuern einer elektrischen Maschine
WO2017148625A1 (fr) Procédé et dispositif de diagnostic de position de rotor dans un entraînement à moteur électrique
DE102009047633B4 (de) Verfahren und Vorrichtungen zur Störfeldkompensation von Sensorsignalen in einer elektrischen Hilfskraftlenkung
DE10306127B4 (de) Verfahren und Schaltungsanordnung zur Festellung der Richtung eines Magnetfeldes
EP3679329B1 (fr) Procédé de détermination de la position, notamment de la position angulaire et dispositif pour la mise en oeuvre du procédé
DE4211430C1 (de) Schaltungsanordnung zur Erzeugung eines zeitvariablen Ausgangssignals
DE102016223938A1 (de) Verfahren zur Demodulation von Signalen eines Sinus-Cosinus-Rotationssensors
DE102010000521A1 (de) Resolvereinheit

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16706518

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 16706518

Country of ref document: EP

Kind code of ref document: A1