WO2017194680A1 - Dispositif d'entraînement d'un battant - Google Patents

Dispositif d'entraînement d'un battant Download PDF

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Publication number
WO2017194680A1
WO2017194680A1 PCT/EP2017/061340 EP2017061340W WO2017194680A1 WO 2017194680 A1 WO2017194680 A1 WO 2017194680A1 EP 2017061340 W EP2017061340 W EP 2017061340W WO 2017194680 A1 WO2017194680 A1 WO 2017194680A1
Authority
WO
WIPO (PCT)
Prior art keywords
flap
sensor
detection
drive unit
control device
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/EP2017/061340
Other languages
German (de)
English (en)
Inventor
Reinaldo Mensch
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.)
Witte Automotive GmbH
Original Assignee
Witte Automotive GmbH
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 Witte Automotive GmbH filed Critical Witte Automotive GmbH
Publication of WO2017194680A1 publication Critical patent/WO2017194680A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F2015/483—Detection using safety edges for detection during opening
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/763—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using acoustical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/531—Doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/548—Trunk lids

Definitions

  • the present invention relates to a device for selectively driving a flap, in particular a motor vehicle, with a control device for driving a drive unit, by means of which the flap can be driven, braked or locked.
  • Such devices are basically known and serve, in particular, to facilitate the user of a motor vehicle access to the vehicle trunk by a corresponding trunk lid, for example by pressing a remote control key, automatically opened or closed by the electric drive unit.
  • a problem with such automatic damper actuators is that the user so far only limited possibilities are available to flexibly influence the flap between a closed and open position with respect to their drive unit, especially during a drive operation. For example, the possibilities to stop the flap in the short term are relatively limited.
  • the user can only by pressing a button on a switch cause the control device to stop the drive unit briefly or to control a reverse drive movement, for example, when the pivoting range of the flap is limited by an obstacle.
  • a switch for example, on an inside section of the flap, so that the switch can be operated directly in an emergency or for reasons of comfort and for this purpose the remote key is not required.
  • a switch is not equally accessible in every open position of the flap - sometimes an operation of the switch is not possible.
  • the damper actuators are usually designed so weak that the damper can be stopped manually in an emergency. This is done by However, some users found it difficult, for example due to a certain reluctance, to intervene manually in the operation of a running machine.
  • Swivel range of the flaps on reinforced so that a flexible and easy control option for the user in such cases is particularly desirable.
  • the swiveling range of such a flap can only be insufficiently surveyed by some users, especially before opening.
  • the object is achieved by a device having the features of claim 1 and in particular by the fact that the device has a sensor for monitoring at least one detection range and the control device is designed to control the drive unit in dependence on the state of the monitored detection range.
  • the monitoring of the detection area can serve to detect obstacles in the swiveling range of the flap in order to avoid collisions between the flap and the obstacles.
  • the detection area is expediently formed at least partially overlapping with the pivoting range of the flap.
  • the detection area can also steer possess functions, that is, the detection range can be monitored so that the control of the drive unit of the flap can be actively influenced by events in the detection area.
  • the sensor system comprises at least one sensor which is designed in particular as a capacitive sensor and / or an ultrasonic sensor. Alternatively or additionally, optical sensors, in particular a camera, may also be provided for monitoring the detection area.
  • All sensors are connected to the control device, wherein the control device is designed to operate the sensors for monitoring a coherent detection area or a plurality of spatially separated detection areas. It is understood that, depending on the arrangement of the sensors, a detection area can be shaped differently and that, depending on the flap geometry, a respectively adapted arrangement of the sensors can be required in order to achieve a desired detection area or detection space.
  • the sensor system may include at least one touch sensor beyond the said "non-contact sensors", which sensor is designed in particular as a force sensor.
  • capacitive or inductive sensors are possible, e.g. respond to touches of a hand or a finger of a user.
  • Such a touch sensor may be provided in addition to monitoring the detection area, e.g. in such a way that a flap is stopped directly by contact if there is no obstacle within the detection area or if such an error could not be detected without contact.
  • a detection surface for controlling the flap or its drive unit can be formed by the touch sensor.
  • the control device is designed to prevent the penetration of an object, in particular a hand of a user of the device, into the detection area and / or the removal of the object to detect the detection area and depending on the drive unit to control.
  • an object in particular a hand of a user of the device
  • the user can stop the flap in a particularly simple manner, in particular in the event of an imminent collision of the flap with an obstacle.
  • the removal of the hand can be detected, for example, to continue an interrupted drive movement of the flap.
  • the control device can be designed to distinguish certain objects, in particular a user's hand, from obstacles in the detection area.
  • the control device can have, for example, an object detection module which statistically and / or evaluates the detection area by means of image processing on the basis of detected sensor signals.
  • the control device is designed to determine a position of the object relative to the sensor system and to control the drive unit as a function of the specific position. For example, the user may position his hand in a particular position relative to the sensor to communicate an open, close or stop command for the door to the controller.
  • a respective position of a respective object can be assigned to a respective command, wherein a respective position can be determined relative to a common reference sensor or relative to an associated sensor.
  • a "trigger position" of the object corresponding to a particular command need not be limited to an exact position. Rather, you can specify ranges of positions in which the object is positionable and yet associated with the same command.
  • a target position of the flap is predetermined by the position of the object. This is particularly advantageous if the flap, for example due to a low ceiling height in a parking garage has only a limited pivoting range and the user wants to manually specify how far the flap should be opened. Such functionality can be desirable even if the user, for example, due to small obstacles that may not be reliably detected by the sensor can not rely on a fully automatic control of the door and instead prefer to manually set the swivel range itself.
  • a user-specified target position does not have to correspond to the actual target position of the flap. Rather, the target position of the flap can be defined on the basis of predetermined or learned characteristic values or due to a mapping function, so that the user can position the hand in a comfortable area even if an end position of the flap is to be specified.
  • control device can be designed to determine a distance of the object relative to the sensor system, in particular relative to the flap, and to control the drive unit as a function of the specific distance for tracking the flap. This allows the user to control the flap directly in response to the distance to his hand. The control of the flap is thereby particularly intuitive for the user.
  • the relative distance to the flap can be linked with opening and closing commands in order to realize a distance-dependent control of the flap.
  • a control in an operating mode of the control unit, a control can be provided such that the flap is always tracked up to a predetermined distance of the user's hand.
  • the control device is designed to monitor the detection area at predetermined time intervals.
  • a dynamic monitoring of the detection area which can serve to reliably detect obstacles in the detection area even if they penetrate into the detection area for a short time or are only temporarily in the detection area.
  • movements of the object within the detection area can be detected by the control device.
  • the control device may be designed to determine a movement speed of the hand and to control the drive unit in, for example, a proportional dependence on the determined movement speed to open or close the flap.
  • the user guides the flap "in real time” by his hand movement, ie the flap is tracked by the user's hand.
  • the opening position of the flap is controlled in dependence on the position of the hand or the distance between the flap and the hand such that the distance between the hand and the flap substantially corresponds to a desired value.
  • a highly controlled opening and closing of the flap is possible, which makes sense in particular in the case of several persons who are at the same time in the vicinity of the flap, for example children.
  • a controlled guiding of the flap is also helpful when the flap is for example particularly large and the opening of the flap requires a withdrawal of the user away from the vehicle during the opening process. For example, due to age, immobilized persons may prefer a slower opening speed of the flap and pretend it intuitively by their movement of the hand.
  • the temporally predetermined distances of the monitoring of the detection area need not be constant but may be variable depending on suitable criteria. For example, it is conceivable to set the predetermined distances as a function of an open position of the flap. Thus, for example, a monitoring interval can be shorter, the more the flap is able to deflect dangerously starting from a current open position. Further, the monitoring interval may be proportional to a driving speed of the Be flap so that the detection area is always monitored only as often as required for a safe driving the flap at a certain speed of the flap. Furthermore, it may be useful to set the monitoring interval as a function of a monitoring result. If, for example, an obstacle has been detected, the monitoring interval can be shortened for safety reasons. Here, several previous monitoring results can be taken into account.
  • the size of the detection area can also be taken into account in that the monitoring interval is, for example, the shorter the smaller the current detection area in the relevant opening position of the flap. This makes sense if the sensors can not "survey" or monitor the swivel range equally well in every opening position of the flap.
  • the drive unit comprises an electric drive.
  • This can be designed in particular as an electric motor and / or an electrical braking device and / or an electrical locking device.
  • the electric motor may be configured to cause the flap to brake and / or lock. However, this may not be sufficient in certain cases. In particular, in the case of heavy flaps additional facilities may be required to ensure rapid braking or reliable detection of the flap can.
  • the sensor system can detect a sensor which determines the swivel angle of the flap relative to the body and / or the current drive speed of the sensor Have flap detecting sensor.
  • the sensor determining the swivel angle and / or the drive speed can in particular be encompassed by the electric drive unit.
  • a respective sensor may be integrated in the drive unit, so that it is possible to dispense with separate sensors for measuring the swivel angle and / or the drive speed.
  • the sensor system can be provided at least for measuring the swivel angle and / or the drive speed by the drive unit.
  • the detection area may be designed differently depending on the sensor technology and / or depending on the intended object-based control options.
  • the detection area is formed at least in sections as a detection surface on the surface of the flap and / or a body component adjoining the flap.
  • the detection area may be formed as a detection space in an environment of the flap and / or a body component adjoining the flap.
  • the sensor system may comprise sensors which are arranged not only on the flap itself but also suitably on the body in order to achieve a desired detection range.
  • the detection area may, for example, extend outside the pivoting range of the flap in order to form a special control-sensitive area. In this area, the user may position or move his hand regardless of the opening position of the flap to communicate a corresponding flap control command to the controller.
  • FIG. 1 shows a schematic side view of a motor vehicle with a device according to the invention for driving a tailgate of the motor vehicle.
  • the motor vehicle 10 shown schematically in Fig. 1 has a tailgate 12, which in a known manner between a closed position in which the tailgate is flush with the rear of the motor vehicle 10, and an open position is pivotable in the tailgate 12 substantially parallel is aligned with the roof part of the motor vehicle 10.
  • the tailgate 12 is shown exaggeratedly thick for illustrative purposes.
  • the motor vehicle 10 has a drive device 14 which comprises a control device 16 on the vehicle side and a drive unit 18 connected to the control device 16.
  • the drive unit 18 is coupled via a connecting element 20 with the tailgate 12, wherein the connecting element 20 by means of an electric motor, not shown, the drive unit 18 and a spindle drive mechanism, not shown, with respect to its length is adjustable to pivot the tailgate 12 between the closed position and the open position ,
  • the control device 16 may not necessarily be arranged in the motor vehicle 10 but alternatively wholly or partially in the tailgate 12.
  • a plurality of sensors 22 are arranged, which are each connected by wire to the control device 16.
  • the sensors 22 are exemplified as ultrasonic sensors to monitor a first detection space 24 around the tailgate 12. But there are also other types of sensors conceivable. In particular, different types of sensor be provided to form the first detection space 24 in terms of its shape and extent in a desired manner.
  • the control device 16 is furthermore connected to sensors 26a and 26b, which are arranged on the side of the motor vehicle 10, for example, and span a second detection space 28, which is monitored by the control device 16.
  • the lateral arrangement of the sensors 26 a and 26 b has the advantage that the user can comfortably and safely stay outside the pivoting range of the tailgate 12 during a control operation.
  • the sensors 26, like the sensors 22 of the tailgate 12, may be formed as ultrasonic sensors. However, other sensor types come into question, in particular capacitive sensors. It will be appreciated that the sensors 26a and 26b may, in principle, be located at any convenient location on the motor vehicle 10, i. not necessarily laterally on the motor vehicle 10. Rather, the possibility of a second detection space 28 will be shown by way of example, by the controllability of the tailgate in space terms can be made even more flexible.
  • the tailgate 12 is initially in the closed position.
  • the user (not shown) of the motor vehicle 10 places his hand (not shown) near the sensor 26a with the hand completely into the detection space 28 of the sensors 26a and 26b penetrates.
  • the control device 16 receives an opening signal and then controls the drive unit 18 for opening the tailgate 12.
  • the control device 16 detects the sudden penetration of the hand or an obstacle into the detection space 24, as a result of which the drive unit 18 is stopped immediately in order, for example, to avoid a collision. If the hand or the obstacle is removed again from the detection space 24, the control device 16 triggers a continuation of the drive travel of the tailgate 12.
  • the control device 16 is switched to a tracking mode.
  • the drive unit 18 is controlled by the control device 16 in such a way that the tailgate 12 is tracked by the hand, i. the user moves his hand within the detection space 24 and the opening position of the tailgate 12 is automatically readjusted to a predetermined distance to the hand.
  • the user can control the tailgate 12 in both the opening and closing direction in a particularly controlled.
  • the tracking mode is deactivated again and the movement of the tailgate 12 is stopped.
  • the tailgate 12 can be opened or closed again by reinserting the hand in the detection space 28 and bringing the hand closer to the sensor 26b.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)

Abstract

L'invention concerne un dispositif d'entraînement sélectif d'un battant, notamment d'un véhicule à moteur, comprenant un dispositif de commande destiné à la commande d'une unité d'entraînement qui permet l'entraînement, le freinage ou l'immobilisation du battant, comprenant un système de capteurs destiné à la surveillance d'au moins une zone de détection, le dispositif de commande étant conçu pour commander l'unité d'entraînement en fonction de l'état de la zone de détection surveillée.
PCT/EP2017/061340 2016-05-13 2017-05-11 Dispositif d'entraînement d'un battant Ceased WO2017194680A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016108935.4 2016-05-13
DE102016108935.4A DE102016108935B4 (de) 2016-05-13 2016-05-13 Vorrichtung zum Antreiben einer Klappe

Publications (1)

Publication Number Publication Date
WO2017194680A1 true WO2017194680A1 (fr) 2017-11-16

Family

ID=58701633

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/061340 Ceased WO2017194680A1 (fr) 2016-05-13 2017-05-11 Dispositif d'entraînement d'un battant

Country Status (2)

Country Link
DE (1) DE102016108935B4 (fr)
WO (1) WO2017194680A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018104980A1 (de) * 2018-03-05 2019-09-05 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Verfahren zur Ansteuerung einer motorischen Klappenanordnung eines Kraftfahrzeugs
CN110965893B (zh) * 2019-11-25 2021-09-03 广州小鹏汽车科技有限公司 车辆及其控制方法与装置
CN116255071A (zh) * 2023-03-21 2023-06-13 北京新能源汽车股份有限公司 车辆尾门的控制方法、装置和设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040140782A1 (en) * 2002-07-09 2004-07-22 Junichiro Okabe Door sensor and door equipped with such door sensor
DE202010013204U1 (de) * 2010-12-23 2011-02-24 Kögel, Bastian Tür für ein Kraftfahrzeug mit Sensorelement sowie Kraftfahrzeug mit einer derartigen Tür
GB2515099A (en) * 2013-06-14 2014-12-17 Jaguar Land Rover Ltd Door protection system
WO2016041738A1 (fr) * 2014-09-19 2016-03-24 Valeo Schalter Und Sensoren Gmbh Procédé et dispositif d'ouverture d'un vantail d'un véhicule automobile et véhicule automobile

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DE19816736C2 (de) * 1998-04-15 2001-11-08 Bosch Gmbh Robert Betätigungsvorrichtung für Kraftfahrzeugtüren
DE10340592B4 (de) * 2003-09-01 2005-06-30 Cts Fahrzeug-Dachsysteme Gmbh Kollisionsschutzeinrichtung für ein verstellbares Deckelement in einem Fahrzeug
DE102004010210A1 (de) * 2004-03-02 2005-09-15 Volkswagen Ag Verfahren und Vorrichtung zum Überwachen eines beweglichen Schließelements eines Kraftfahrzeugs
DE102005017250A1 (de) * 2005-04-14 2006-06-14 Daimlerchrysler Ag Betätigungsvorrichtung für eine Fahrzeugtür
DE102006010070B4 (de) * 2005-04-16 2012-11-29 Volkswagen Ag Fahrzeug mit einer Fahrzeugstauraumdeckung und einer Sensoreinrichtung
DE102014012193A1 (de) * 2014-08-16 2016-02-18 Audi Ag Berührungslose Kraftfahrzeugbedienung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040140782A1 (en) * 2002-07-09 2004-07-22 Junichiro Okabe Door sensor and door equipped with such door sensor
DE202010013204U1 (de) * 2010-12-23 2011-02-24 Kögel, Bastian Tür für ein Kraftfahrzeug mit Sensorelement sowie Kraftfahrzeug mit einer derartigen Tür
GB2515099A (en) * 2013-06-14 2014-12-17 Jaguar Land Rover Ltd Door protection system
WO2016041738A1 (fr) * 2014-09-19 2016-03-24 Valeo Schalter Und Sensoren Gmbh Procédé et dispositif d'ouverture d'un vantail d'un véhicule automobile et véhicule automobile

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DE102016108935A1 (de) 2017-11-16
DE102016108935B4 (de) 2025-07-31

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