CN106550449B - Positioning device, positioning method and image display device - Google Patents
Positioning device, positioning method and image display device Download PDFInfo
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- CN106550449B CN106550449B CN201610650096.5A CN201610650096A CN106550449B CN 106550449 B CN106550449 B CN 106550449B CN 201610650096 A CN201610650096 A CN 201610650096A CN 106550449 B CN106550449 B CN 106550449B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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Abstract
The invention provides a positioning device, a positioning method and an image display device, in particular to a positioning device which can improve the positioning precision of a region overlapped with a base station cell by a simple structure and an image display device using the positioning device. A projector (110) is provided with a positioning device (100), an image signal processing unit (111), an image display unit (112), a light source control unit (113), and a light source unit (114). A positioning device (100) obtains a base station identification code and a reception likelihood included in a notification channel (BCCH) from a radio wave received by a receiving unit (102). A determination unit (103) performs positioning of a reception point on the basis of the intensity of reception power and the number of times of reception for each country or region, on the basis of the list of valid base station identifiers and the list of reception likelihoods created by the reception unit (102).
Description
Technical Field
The present invention relates to a positioning device and a positioning method for receiving radio waves transmitted from a base station of a mobile phone to estimate a reception position, and a video display device using the same.
Background
In the GPS (Global Positioning System), Positioning information of latitude and longitude is obtained by receiving radio waves from a plurality of satellites, and Positioning is possible by comparing the information with map data.
In addition, in a mobile phone system, a country number to which a terminal belongs, a P L MN (Public L and Mobile Network) number composed of a business code, and a location registration area are obtained by registering location information of the terminal in a Network of the mobile phone system.
Prior art documents
Patent document
Patent document 1: JP 2005-210591A
Disclosure of Invention
In the positioning method using GPS, there is a problem that map data is required to convert positioning information of latitude and longitude into an area, and the system becomes complicated. Further, there is a problem that positioning cannot be performed in a place where GPS radio waves cannot be received.
Radio waves of a mobile phone system are often received even in buildings for the purpose of being widely used in a living area. In the positioning method using the mobile phone system, it is necessary to provide a USIM (Universal Subscriber identity Module) that provides unique information to each terminal in order to register a position.
Here, it is described that, when a plurality of pieces of country information included in a beacon of AN existing access point are received at a newly-installed access point, information extracted from a beacon having the highest beacon radio wave intensity can be determined as the country information to be set at the newly-installed access point in a majority manner or determined as the country information to be set at the newly-installed access point.
However, when cell-based positioning is performed using the base station identification code of the mobile phone system, there is a problem that accurate positioning cannot be performed by using a majority of determination methods or a method based on radio wave intensity because a plurality of base station cells having the same level (level) of radio wave intensity exist in a region where national boundaries are mixed.
The present invention aims to improve positioning accuracy in a region where base station cells overlap with a simple configuration without requiring communication between a USIM and a base station for position registration.
Further, when a device for a certain country is brought into a neighboring country, since necessary security authentication is not obtained for the neighboring country, there is a problem that the operational life of the device is affected if the user continues to use the device as it is. Further, the present application aims to control the optimum light source power of the image display device based on the result of positioning, and to allow the image display device to be used in a virtual country accurately.
The positioning device of the present application is provided with: a reception unit for acquiring a base station identifier included in radio wave notification information transmitted from a base station of a mobile phone and a reception likelihood of the base station identifier; and a determination unit that estimates a reception position based on the base station identifier and the reception likelihood obtained from the reception unit.
(effect of the invention)
The positioning device in the present application can improve the determination accuracy of positioning in a national region without using a USIM and without registering the position of a core network.
Drawings
Fig. 1 is a diagram showing a system configuration according to embodiment 1 and embodiment 2.
Fig. 2 is a schematic block diagram of a projector according to embodiment 1.
Fig. 3 is a flowchart showing the operation of the judgment unit according to embodiment 1.
Fig. 4 is a schematic diagram showing an example of the structure of a base station identifier.
Fig. 5 is a frequency distribution diagram showing the number of times of reception of a valid sample.
Fig. 6 is a diagram showing a final decision matrix.
Fig. 7 is a diagram showing the control level of the light source.
Fig. 8 is a schematic block diagram of a projector according to embodiment 2.
Fig. 9 is a flowchart of the operation of the judgment unit in embodiment 2.
Fig. 10 is a diagram showing values obtained by the determination processing in embodiment 2.
Detailed Description
Hereinafter, embodiments will be described in detail with reference to the accompanying drawings as appropriate. However, the above detailed description may be omitted. For example, detailed descriptions of known matters and repeated descriptions of substantially the same structures may be omitted in order to avoid unnecessarily obscuring the descriptions below and to enable those skilled in the art to readily understand the descriptions.
The drawings and the following description are provided to enable those skilled in the art to fully understand the present application, and are not intended to limit the subject matter described in the claims.
(embodiment mode 1)
[1-1. Structure ]
[1-1-1. System Structure ]
Fig. 1 is a schematic diagram of a system using a positioning device according to embodiment 1. In fig. 1, a base station 510 of a mobile phone in country X is installed in a region on the side of country X with country B as a boundary, and a projector 110 as an image display device including the positioning device 100 of embodiment 1 is installed in the region. On the other hand, in the neighborhood of country X, i.e., the country Y side region, the base station 520 of the mobile phone of country Y is located. As will be described in detail later, the positioning device 100 mounted on the projector 110 receives radio waves transmitted from a base station to obtain a positioning result. Although fig. 1 shows a system configuration diagram in the case where there is one base station 520 in a neighboring country, the present embodiment is not affected by the number of base stations disposed in each country.
[1-1-2. Structure of projector ]
Fig. 2 is a schematic block diagram of the projector 110 provided with the positioning apparatus 100. The projector 110 is an example of a video display device, and as another example of the video display device, there is a flat panel display device using a liquid crystal monitor or the like. The projector 110 includes an image signal processing unit 111, an image display unit 112, a light source control unit 113, and a light source unit 114 in addition to the pointing device 100. The image display section 112 is constituted by a DMD (digital micromirror device), for example. The light source section 114 is configured by, for example, a lamp light source such as an ultrahigh pressure mercury lamp, a solid-state light source configured by a laser diode, or the like.
The light source section 114 controls the luminance by the light source control section 113, and the image display section 112 is illuminated by the illumination light obtained from the light source section 114. The image display unit 112 modulates the illumination light based on the image signal from the image signal processing unit 111, and emits the modulated illumination light as image light.
The positioning device 100 includes: an antenna 101; a reception unit 102 for demodulating and decoding a radio wave of a Broadcast Control CHannel (BCCH) received from a base station to obtain a list of base station identification codes and a list of reception likelihoods; a determination unit 103 for obtaining a positioning result based on the list of base station identifiers and the list of reception likelihoods; and a database 104 with base station identification information. The database 104 holds base station identification information including a country code to be positioned, a code of a communication carrier, a code of a region area, an identification code of a base station cell, and the like. The determination unit 103 is constituted by a microcomputer, and the database 104 is constituted by a semiconductor memory. In the present embodiment, the light source control unit 113 is provided separately from the determination unit 103, but the determination unit 103 and the light source control unit 113 may be configured as one microcomputer.
[1-2. actions ]
The operation of the projector 110 including the positioning device 100 configured as described above will be described with reference to fig. 3 to 7.
Further, the positioning device 100 repeats the processing of obtaining the base station identification code and the reception likelihood of another broadcast channel (BCCH) in the entire target frequency band by scanning the reception frequency.
After the scanning of the target frequency band is completed, the reception unit 102 creates a list of the base station identifiers by tabulating the obtained base station identifiers, and creates a list of reception likelihoods by summarizing the reception power (intensity of radio wave) and the reception error rate for each of the base station identifiers. Each time reception is performed, the list of base station identifiers and the list of reception likelihoods from the reception unit 102 are sent to the determination unit 103, and reception by the reception unit 102 and the determination operation by the determination unit 103 are periodically performed. Fig. 3 is a flowchart showing a processing operation of the determination unit 103. After the processing up to steps S11 to S41 shown in the flowchart, the positioning apparatus 100 obtains the positioning result, but positioning is performed by the following method in each step.
Step S11: efficient reception sample extraction
As described above, the list of reception likelihoods is constituted by the reception power and the reception error rate associated with each reception sample (each received base station identifier) of the list of base station identifiers. The reception power and the reception error rate associated with each reception sample are compared with a reception power threshold value TH _ a and a reception error rate threshold value TH _ B set in advance, respectively, to extract effective reception samples.
In the present embodiment, the valid received samples are determined such that the received power of the received samples is equal to or higher than the received power threshold TH _ a and the received error rate is equal to or lower than the received error rate threshold TH _ B, and the base station identifiers and the reception likelihoods of the valid received samples are extracted as a list.
Step S21: decisions based on maximum received power
The base station identifier having the largest received power is searched for from the list of base station identifiers of valid received samples extracted in step S11 and the list of reception likelihoods. In the present embodiment, a country code (MCC) obtained from a base station identifier having the highest received power is set as a first candidate value for determination.
Fig. 4 is a diagram showing a configuration of a GSM (registered trademark) base station identifier (global cell identification information) shown in 3GPP TS23.003, the base station identifier being composed of a country Code MCC (mobile count Code), a telecommunications carrier Code mnc (mobile Network Code), a region Area Code L AC (L registration Area Code), and a cell identification Code ci (cell identity), and the determination unit 103 obtaining the country Code (MCC) from the base station identifier.
Step S31: determination based on frequency distribution
A frequency distribution of reception areas is created from the base station identifier list of the valid reception samples extracted in step S11 and the list of reception likelihoods. In the present embodiment, the number distribution is created from an overview of country codes (MCCs) contained in the list of base station identities. Fig. 5 is an example of a frequency distribution diagram showing the number of times of reception N per valid reception sample (country code). The number of receptions N means the number of base stations representing the same country code.
A plurality of country codes ("MCC _ 1" and "MCC _ 2") are extracted in order from a few to many in the number of receptions. In the example of fig. 5, N1 represents the number of receptions in the first country (MCC _1), and N2 represents the number of receptions in the second country (MCC _ 2).
In the present embodiment, regarding the following relational expression (1),
N1×(TH_C)＞N2···(1)
when the relational expression (1) is true (when true), the first country (MCC _1) is set as the second determination candidate value, but when not true (when false), the second country (MCC _2) is set as the second determination candidate value. In the above relational expression (1), (TH _ C) is a determination coefficient having a value between 0 and 1, which is used for the purpose of preventing erroneous detection in the first country. The determination coefficient is stored as a predetermined value in a memory of a microcomputer constituting the determination unit 103.
Fig. 5 shows a case where the relational expression (1) is satisfied and the first country (MCC _1) of the number of receptions N1 is determined as the second determination candidate value.
Step S41: final determination
In step S41, a final determination is made based on the first determination candidate value obtained in step S21 and the second determination candidate value obtained in step S31. In the present embodiment, the country is determined with reference to the final determination matrix shown in fig. 6.
In the present embodiment, when the first determination candidate value obtained in step S21 and the second determination candidate value obtained in step S31 are different, the determination candidate value in step S31 is preferentially adopted. When the radio wave cannot be received and is outside the service range, it is determined to be invalid. In the examples shown in steps S11 to S41, the country is estimated from the country code (MCC) as the location of the projector 110, but the region may be estimated using other identification information. The location of the projector 110 can be determined by estimating the country or region, which is the reception position of the radio wave, by the positioning device 100.
Step S51: light source setting
Fig. 7 is a table showing light source control levels defined by a certain country and a region in the country. The projector 110 performs comparison between the determination result of step S41 and the device setting value shown in fig. 7 stored in advance, and sets the upper limit level of the light source control.
In the present embodiment, the upper limit level of the light source output is switched based on the country data determined in step S41. For example, if it is determined in step S41 that the projector 110 is installed in the area B of country a, the maximum level value of the power supplied to the light source unit 114 is controlled to be the power B (powerb). As described above, the light emission upper limit level of the light source unit 114 is controlled by the light source control unit 113 so as to be a light source output level set in advance.
[1-3. Effect, etc. ]
According to the present embodiment, since transmission from a terminal for location registration having a USIM is not required, the positioning accuracy of the area where the base station cells overlap can be improved with a simple configuration.
(embodiment mode 2)
[2-1. Structure ]
[2-1-1. System Structure ]
The system configuration is the same as that of embodiment 1 except for the configuration of the projector.
[2-1-2. Structure of projector ]
Fig. 8 is a block diagram showing the structure of the projector 110a according to embodiment 2, and the same components as those in embodiment 1 are given the same reference numerals, and the description thereof will be omitted. The projector 110a includes a positioning device 100a, an image signal processing unit 111, an image display unit 112, a light source control unit 113, and a light source unit 114. The positioning device 100a includes an antenna 101, a receiving unit 102a, a determining unit 103a, and a database 104.
In embodiment 2, the receiving unit 102a of the positioning device 100a demodulates and decodes the radio wave of the notification channel (BCCH) received from the base station, and obtains a list of base station identification codes, a list of reception likelihoods, and further a list of transmission power levels (transmission power information) of the base station. The determination unit 103a, which is configured by a microcomputer, performs positioning processing based on the list of base station identification codes, the list of reception likelihoods, and the list of transmission power levels of the base stations.
[2-2. actions ]
The following description deals with the operation of the projector 110a according to embodiment 2 configured as described above.
Positioning device 100a of projector 110a receives a radio wave of notification information from a base station using antenna 101. Next, the receiving unit 102a demodulates and decodes the received radio wave. As a result, a base station identification code, reception likelihood, and transmission power level of a base station of a certain notification channel (BCCH) are obtained. The reception likelihood is the same as that in embodiment 1, that is, the intensity (reception power) and the reception error rate of the radio wave received by the receiving unit 102 a. The transmission power level of the base station indicates the transmission maximum power of the base station, and is transmitted from the base station as one of the notification information.
The receiving unit 102a scans the notification channels and sequentially receives the notification channels transmitted from the base stations around the receiving point. After the scanning of the frequency is completed, the obtained base station identification codes are tabulated as a list of base station identification codes. In addition, a value obtained by summing up the reception power and the reception error rate for each base station identifier is set as a reception likelihood list. Similarly, the transmission power levels of the base stations are also tabulated for each base station identifier. The scanning operation of the notification channel is performed periodically. Each time the scanning operation is completed, the list of base station identification codes, the list of reception likelihoods, and the list of transmission power levels of the base stations from the reception unit 102a are transmitted to the determination unit 103 a.
Fig. 9 shows a flowchart of the determination unit 103 a. The positioning result is obtained through the processing of steps S61 to S81, but in each step, positioning is performed by the following method.
Step S61: efficient reception sample extraction
The valid received sample is extracted by the same processing operation as in step S11 of embodiment 1. Thus, the list of base station identifiers and the list of reception likelihoods of valid reception samples are extracted, but further, the transmission power levels of the base stations are also tabulated so as to correspond to the respective valid samples of the list of base station identifiers.
Step S71: path loss based decision
From the list of effective reception likelihoods extracted in step S61 and the list of transmission power levels of the base stations, a base station identification code is searched for which the loss (path loss) in the radio wave transmission, that is, the difference (path loss) between the transmission power level and the reception power level is the smallest. The path loss is an index indicating a distance because it indicates an attenuation amount of a radio wave between the transmission base station and the terminal. When the transmission power level of the base station n is tx (n) and the reception value of the reception power level (reception power) from the base station n is rx (n), the path loss can be obtained by "tx (n) -rx (n)".
Next, the calculated path loss is assigned to the sum of the base station identifiers, and the integrated value Si of the reciprocal of the path loss is calculated. As a result, the country code whose integrated value Si becomes the maximum is set as the determination value. If this is expressed by the following equation (2).
Si＝Σ(1/(Tx(n)-Rx(n)))，n＝1～i···(2)
Here, i denotes an index number of a received country code, tx (n) denotes a transmission power level of the base station n, and rx (n) denotes a reception value of a reception power level from the base station n. This equation (2) is based on the idea that the result obtained in a situation where the path loss is small and the number of base stations around the terminal is large is used as the judgment country. Fig. 10 shows the integrated value Si of the reciprocal of the path loss for each country code obtained by this calculation, and it is known that the integrated value S1 is the highest when the country code is "MCC _ 1". Therefore, in this case, it is presumed that the projector 110a is set in the country whose country code is "MMC _ 1".
In the example shown in step S71, the country is estimated by the country code as the location where the projector 110a is located, but the region may be estimated by using other identification information. The location of the projector 110 can be determined by estimating the country or region, which is the reception position of the radio wave, by the positioning device 100 a.
Step S81: light source setting
Similarly to embodiment 1, the upper limit level of the light source control is set by comparing the determination result of step S71 with the device constant value shown in fig. 7 stored in advance. In the present embodiment, the upper limit level of the light source output is switched based on the country data determined in step S71. In this way, the light emission upper limit level of the light source unit 114 is controlled by the light source control unit 113 so as to be a predetermined light source level.
[2-3. Effect 1
According to the present embodiment, since transmission from a terminal for location registration having a USIM is not required, positioning accuracy in a region where base station cells overlap can be improved with a simple configuration.
(other embodiments)
As described above, embodiments 1 to 2 have been described as an example of the technique disclosed in the present application. However, the technique in the present application is not limited to this, and can be applied to embodiments in which changes, substitutions, additions, omissions, and the like are made. In addition, a new embodiment can be also provided by combining the respective constituent elements described in embodiments 1 to 2.
Further, it is effective in suppressing temporal variation in the reception level of the radio wave and improving the accuracy of the determination by repeating the processing of steps S11 to S31 of embodiment 1 and steps S61 and S71 of embodiment 2 and averaging the results while the positioning devices 100 and 100a are powered on.
In embodiment 1, the determination based on the maximum power (step S21) and the determination based on the frequency distribution (step S31) are performed, and in embodiment 2, the determination based on the path loss (step S71) is performed, but by combining these determinations and performing the final determination in a comprehensive manner, it is also possible to estimate the country or region in which the device provided with the positioning device is installed.
Embodiments 1 and 2 show examples in which the light source setting (power supply to the light source unit 114) is controlled based on the country or region estimated by the positioning device 100 or 100 a. The target of control is not limited to the supply of power to the light source unit 114, and may be the processing level or screen display in the video signal processing unit 111, the wavelength of light output from the light source unit 114, and the on/off of the power supply of the entire apparatus such as a projector.
Instead of a semiconductor memory in which information on each element of the base station identifier (country code, carrier code, area code, and cell identifier) is stored in advance, the database 104 may obtain base station identification data from L AN (L cal area network).
(availability in industry)
By positioning according to the present application, various services can be provided for each country or region of the country. Specifically, the present application is applicable to a video device such as a personal computer or a projector, or a remote monitoring device, which includes a module capable of receiving radio waves of a mobile phone system.
Description of the symbols
100. 100a positioning device
101 antenna
102. 102a receiving part
103. 103a determination unit
104 database
110. 110a projector
111 video signal processing part
112 image display part
113 light source control unit
114 light source unit
510. 520 base station
Claims (6)
1. A positioning device is provided with:
a reception unit that acquires a base station identifier included in radio wave notification information transmitted from a base station of a mobile phone, and a reception likelihood of the base station identifier; and
a determination unit that estimates a reception position based on the base station identifier obtained from the reception unit and the reception likelihood,
the reception likelihood includes a reception power and a reception error rate of the electric wave,
the determination unit extracts, from the base station identifiers, effective reception samples having a reception power equal to or higher than a reception power threshold and a reception error rate equal to or lower than a reception error rate threshold, based on the reception likelihood obtained from the reception unit,
the determination unit estimates the reception position based on the reception power of the reception sample and the number of times of reception obtained from the reception sample, the number of times of reception being the number of the base stations for each country code, communications carrier code, or region area code included in the base station identification code.
2. A positioning device is provided with:
a reception unit that acquires a base station identifier included in radio wave notification information transmitted from a base station of a mobile phone, and a reception likelihood of the base station identifier; and
a determination unit that estimates a reception position based on the base station identifier obtained from the reception unit and the reception likelihood,
the reception likelihood includes a reception power and a reception error rate of the electric wave,
the determination unit extracts, from the base station identifiers, effective reception samples having a reception power equal to or higher than a reception power threshold and a reception error rate equal to or lower than a reception error rate threshold, based on the reception likelihood obtained from the reception unit,
the determination unit determines a path loss of the radio wave of the notification information corresponding to each of the base station identifiers from transmission power information of the base station included in the notification information of the reception sample, and estimates the reception position from an integrated value of the path loss for each country code, carrier code, or area code included in the base station identifier.
3. The positioning device of claim 2,
the path loss is a difference between a transmission power level of the transmission power information and a reception power of the radio wave,
and calculating the accumulated value by summing up reciprocals of the path loss corresponding to each of the base stations for each of the country code, the carrier code, or the region code.
4. An image display device includes:
the positioning device of any one of claims 1 to 3;
an image display unit for displaying the image signal inputted from the image signal processing unit;
a light source unit for illuminating the image display unit; and
and a light source control unit that controls a light emission upper limit level of the light source unit so as to be a predetermined light source level, based on a determination result of the determination unit of the positioning device.
5. A method of positioning, wherein,
acquiring a base station identification code included in a radio wave of notification information transmitted from a base station of a mobile phone, and a reception likelihood of the base station identification code, the reception likelihood including a reception power and a reception error rate of the radio wave,
extracting, from the base station identifiers, effective reception samples having a reception power equal to or higher than a reception power threshold and a reception error rate equal to or lower than a reception error rate threshold based on the obtained reception likelihood,
estimating a reception position based on the reception power of the reception sample and the number of times of reception found from the reception sample, the number of times of reception being the number of the base stations per each country code, communications carrier code, or region area code included in the base station identification code.
6. A method of positioning, wherein,
acquiring a base station identification code included in a radio wave of notification information transmitted from a base station of a mobile phone, and a reception likelihood of the base station identification code, the reception likelihood including a reception power and a reception error rate of the radio wave,
extracting, from the base station identifiers, effective reception samples having a reception power equal to or higher than a reception power threshold and a reception error rate equal to or lower than a reception error rate threshold based on the obtained reception likelihood,
obtaining a path loss of the radio wave of the notification information corresponding to each of the reception samples from transmission power information of the base station included in the notification information,
estimating a reception position from an integrated value of the path loss based on each country code, communications carrier code, or region area code included in the base station identification code.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-183962 | 2015-09-17 | ||
| JP2015183962A JP6704108B2 (en) | 2015-09-17 | 2015-09-17 | Positioning device, positioning method, video display device |
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| Publication Number | Publication Date |
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| CN106550449A CN106550449A (en) | 2017-03-29 |
| CN106550449B true CN106550449B (en) | 2020-07-28 |
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| CN1729406A (en) * | 2002-10-23 | 2006-02-01 | 索尼爱立信移动通讯股份有限公司 | Methods and systems for determining the position of a mobile terminal using digital television signals |
| CN1852591A (en) * | 2005-10-31 | 2006-10-25 | 华为技术有限公司 | Method for positioning mobile terminal |
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| EP2469292B1 (en) * | 2010-12-21 | 2017-02-08 | u-blox AG | Location estimation by observing wireless signals |
| CN101426263B (en) * | 2008-11-28 | 2010-08-11 | 华为终端有限公司 | Terminal device positioning method, apparatus and terminal equipement |
| WO2013136125A1 (en) * | 2012-03-15 | 2013-09-19 | Nokia Corporation | Determining an identification of a cell |
| JP6087693B2 (en) * | 2013-03-28 | 2017-03-01 | Kddi株式会社 | Terminal, method, and program for detecting specific position based on radio wave reception intensity for each channel |
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- 2015-09-17 JP JP2015183962A patent/JP6704108B2/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1729406A (en) * | 2002-10-23 | 2006-02-01 | 索尼爱立信移动通讯股份有限公司 | Methods and systems for determining the position of a mobile terminal using digital television signals |
| CN1852591A (en) * | 2005-10-31 | 2006-10-25 | 华为技术有限公司 | Method for positioning mobile terminal |
| CN102932737A (en) * | 2012-10-24 | 2013-02-13 | 广州中道电子科技有限公司 | Method, device and system for acquiring location information |
| CN104168365A (en) * | 2013-05-20 | 2014-11-26 | 中兴通讯股份有限公司 | Screen display method, screen display device, and mobile terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106550449A (en) | 2017-03-29 |
| JP2017058277A (en) | 2017-03-23 |
| JP6704108B2 (en) | 2020-06-03 |
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