CN107656535A - Unmanned plane and unmanned plane avoidance obstacle method - Google Patents
Unmanned plane and unmanned plane avoidance obstacle method Download PDFInfo
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- CN107656535A CN107656535A CN201610582980.XA CN201610582980A CN107656535A CN 107656535 A CN107656535 A CN 107656535A CN 201610582980 A CN201610582980 A CN 201610582980A CN 107656535 A CN107656535 A CN 107656535A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of unmanned plane and unmanned plane avoidance obstacle method, the unmanned plane includes the first infrared light emission module and the first infrared light receiver module；Get the first launch time of the first infrared light of transmitting and receive the first reception time that the first infrared light reflection is returned, the first range information between the unmanned plane and top barrier is calculated according to the time difference of the first launch time and the first reception time；When the first range information is less than the first predetermined threshold, adjusting the unmanned plane reduces its flying height, collision free to barrier.For the present invention using infrared signal come avoidance, due to infrared light emission module and receiving module can be made more compact and infrared light spot is small, it is not easy to is absorbed by object, precision is higher, response is fast, could be used that in the place of dark；It is meanwhile cheap.
Description
Technical field
The present invention relates to unmanned vehicle technical field, more particularly to a kind of avoidance flight control method of unmanned vehicle.
Background technology
Unmanned plane is a kind of not manned vehicle based on wireless remotecontrol or itself programme-control.At present, unmanned plane is general
To obstacle avoidance system before being all only equipped with, the avoidance design in seldom upward direction, such unmanned plane is easy for touching in uphill process
Barrier is hit, the SUAV particularly to fly indoors, the avoidance of no upward direction is easy to encounter ceiling, and gets over
Indoor flight will be used in the most of the time come more miniaturization unmanned planes, and therefore, upward direction avoidance just shows particularly heavy
Will.
For at present, avoiding obstacles by supersonic wave is widely used, but it still has some defects, mainly ultrasonic wave
Corresponding speed it is slow, easily by unmanned plane in itself it is electric it is mechanical, electrical the high-frequency component such as adjust to disturb, also easily by environmental factor
Such as influence of the angle of sound-absorbing material, reflecting surface, ambient noise, temperature, performance can not ensure that measurement accuracy is in different rings
Border lower deviation is bigger；In addition, ultrasonic wave transmitting and reception device volume are also bigger, measurement distance and ratio of precision are poor.It is based on
Above drawback, make avoiding obstacles by supersonic wave more and more inadaptable on miniaturization amusement unmanned plane, for miniaturization unmanned plane, find
The avoidance scheme that a kind of small volume, small power consumption, precision are high, cost is cheap is very urgent.
The content of the invention
The technical problem to be solved in the present invention is overcome the deficiencies in the prior art, there is provided a kind of avoidance design volume is small, power consumption
Unmanned plane small, precision is high and cost is cheap.
The technical solution adopted for the present invention to solve the technical problems is：A kind of unmanned plane, including：First infrared light emission
Module, for launching the first infrared light upwards along the unmanned plane vertical direction；First infrared light receiver module, for receiving
The first infrared light for stating the transmitting of the first infrared light emission module touches the first infrared light that top barrier reflects；Processing
Module, it is connected with the first infrared light emission module and the first infrared light receiver module, controls the first infrared light emission module along institute
Stating unmanned plane vertical direction, the first infrared light of transmitting and the first infrared light receiver module receive the barrier reflection of contact top upwards
The first infrared light returned, and obtain the first launch time and that first infrared light emission module launches the first infrared light
One infrared light receiver module receives first that the first infrared light contact top barrier reflects and receives the time, according to the first hair
The time difference for penetrating time and the first reception time calculates the unmanned plane vertically upwards between the barrier of top
First range information；Judge module, it is connected with the processing module, for judging whether first range information is less than first
Predetermined threshold；Control module, reduced for when the first range information is less than first predetermined threshold, adjusting the unmanned plane
Its flying height, so that first range information after flying height adjustment is no less than first predetermined threshold.
Further improved as of the invention, the unmanned plane also includes：Second infrared light emission module, for along the nothing
Man-machine vertical direction launches downwards the second infrared light；Second infrared light receiver module, for receiving second infrared light emission
Second infrared light of module transmitting touches the second infrared light that lower section barrier reflects；The second infrared light emission mould
Block and the second infrared light receiver module are connected with the processing module, and processing module is controlled described in the second infrared light emission module
The second infrared light of transmitting and the second infrared light receiver module reception contact lower section barrier are reflected back unmanned plane vertical direction downwards
The second infrared light come, and obtain the second launch time and second that second infrared light emission module launches the second infrared light
Infrared light receiver module receives second that the second infrared light contact lower section barrier reflects and receives the time, according to the second transmitting
The time difference of time and the second reception time calculate the of the unmanned plane vertically downwards between the barrier of lower section
Two range informations；Judge module judges whether the second distance information is less than the second predetermined threshold；Control module is when second
When range information is less than second predetermined threshold, the unmanned plane is controlled to lift its flying height, so that flying height adjusts
The second distance information afterwards is no less than second predetermined threshold.
Further improved as of the invention, the processing module controls the first infrared light emission module edge within a period of time
The first infrared light of transmitting and the first infrared light receiver module reception contact top barrier are anti-upwards for the unmanned plane vertical direction
The first infrared light come is emitted back towards, the time is received to get multiple first launch times and first, calculates the first range information
Average value.
Further improved as of the invention, the processing module controls the second infrared light emission module edge within a period of time
The second infrared light of transmitting and the second infrared light receiver module reception contact lower section barrier are anti-downwards for the unmanned plane vertical direction
The second infrared light come is emitted back towards, the time is received to get multiple second launch times and second, calculates second distance information
Average value.
Further improved as of the invention, the first infrared signal and second that the processing module reflects to reception
Red signal light is filtered compensation deals.
Present invention also offers a kind of unmanned plane avoidance obstacle method, comprise the following steps：
Along the unmanned plane vertical direction the first infrared light of transmitting, and receive contact top barrier reflects the upwards
One infrared light；
Obtain what barrier above the first launch time and first infrared light contact of the first infrared light emission reflected
First receives the time；
According to the first launch time and first receive the time time difference, be calculated the unmanned plane vertically upwards with
The first range information between the barrier of top；
Judge whether first range information is less than the first predetermined threshold；
If first range information is less than the first predetermined threshold, control unmanned plane reduces its flying height, so that described the
One range information is no less than first predetermined threshold.
Further improved as of the invention, in addition to launch the second infrared light downwards along the unmanned plane vertical direction, with
And receive the second infrared light that contact lower section barrier reflects；
Obtain what barrier below the second launch time and second infrared light contact of the second infrared light emission reflected
Second receives the time；
According to the second launch time and second receive the time time difference, be calculated the unmanned plane vertically downwards with
Second distance information between the barrier of lower section；
Judge whether the second distance information is less than the second predetermined threshold；
If the second distance information is less than the second predetermined threshold, control unmanned plane lifts its flying height, so that described the
Two range informations are no less than second predetermined threshold.
Further improved as of the invention, obtain multiple first launch times and the first reception time in a period of time, with
The average value of the first range information is calculated.
Further improved as of the invention, obtain multiple second launch times and the second reception time in a period of time, with
The average value of second distance information is calculated.
Further improved as of the invention, in addition to the first infrared signal reflected to reception and the second feux rouges are believed
Number it is filtered compensation deals.
Compared with prior art, avoidance of the present invention design using infrared signal come avoidance, due to infrared light emission module
Can be made more compact with receiving module and infrared light spot is small, it is not easy to absorbed by object, precision is higher, response is fast,
It could be used that in the place of dark；Meanwhile it is cheap, so, the present invention is very suitable for SUAV, can also use
Taken photo by plane and dedicated unmanned machine in medium-and-large-sized, in the case of to the increase seldom of unmanned plane overall volume size, weight and cost, greatly
The big flexibility for improving unmanned plane and security.The invention enables unmanned plane can avoidance in an upward direction, such unmanned plane
Easily it can just fly indoors, it might even be possible to pass through corridor, bridge opening etc., make some stunt or complete particular task.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the structured flowchart of unmanned plane of the present invention；
Fig. 2 is the flow chart of unmanned plane avoidance obstacle method of the present invention.
Embodiment
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, now compares accompanying drawing and describe this hair in detail
Bright embodiment.
As shown in figure 1, unmanned plane of the present invention include the first infrared light emission module 10, the first infrared light receiver module 11,
The processing module 20 that is connected with the first infrared light emission module 10 and the first infrared light receiver module 11, it is connected with processing module 20
Judge module 30, and the control module 40 being connected with judge module 30.The infrared light emission module of unmanned plane first of the present invention
10 and first infrared light receiver module 11 be used for upward direction on avoidance, more optimizedly, unmanned plane of the present invention may also include second
The infrared light receiver module 51 of infrared light emission module 50 and second, for upper avoidance in downward direction, the second infrared light emission module
50 and second infrared light receiver module 51 be also connected with processing module.
First infrared light emission module 10 is used to launch the first infrared light upwards along the unmanned plane vertical direction, and first is red
The first infrared light that outer Optical Receivers 11 is used to receive the first infrared light emission module transmitting touches top barrier
The first infrared light reflected.Second infrared light emission module 50 is used for along unmanned plane vertical direction transmitting second downwards
Infrared light, the second infrared light receiver module 51 are used for the second infrared light contact for receiving the second infrared light emission module transmitting
The second infrared light reflected to lower section barrier.First infrared light emission module 10 launches the first infrared light and first infrared
Optical Receivers 11 receives the first infrared light reflected and driven by processing module 20, similarly, the second infrared light emission
Module 50 launches the second infrared light and the second infrared light receiver module 51 receives the second infrared light reflected also by processing
Module 20 drives.
Of the invention first infrared light emission module 10 and the first infrared light receiver module 11 are respectively infrared transmitting tube and red
Outer reception pipe, it can be made very compact, the infrared spot of transmitting is small, is not easy to be absorbed by object.Likewise, the second infrared light is sent out
Penetrating the infrared light receiver module 51 of module 50 and second has same feature.
Processing module 20 is an application specific processor chip, the first infrared light emission module of application specific processor chip drives edge
The unmanned plane vertical direction the first infrared light of transmitting, and driving the first infrared light receiver module reception contact top obstacle upwards
The first infrared light that thing reflects, also, obtain the first launch time and the first reception time.More optimizedly, present invention tool
In body embodiment, processing module drives the first infrared light emission module and the first infrared light receiver module work in a period of time
Make, receive the time so as to obtain multiple first launch times and first, i.e., within a period of time, repeatedly measurement, calculate, seek the
The average value of one range information, so, ensure that the first range information is more accurate.
Meanwhile the application specific processor chip can also drive the second infrared light emission module along the unmanned plane vertical direction to
Barrier reflects below the second infrared light of lower transmitting, and driving the second infrared light receiver module reception contact second is infrared
Light, also, obtain the second launch time and the second reception time.More optimizedly, in the specific embodiment of the invention, processing module exists
The second infrared light emission module of driving and the work of the second infrared light receiver module in one period, so as to obtain multiple second hairs
Time and the second reception time are penetrated, i.e., within a period of time, repeatedly measurement, calculates, seeks the average value of second distance information, this
Sample, ensure that second distance information is more accurate.
In embodiments of the present invention, processing module 20 drives the first infrared light emission module 10 and the second infrared light emission mould
Block 50 launches the infrared light of different frequency, and the frequency range of infrared light is chosen as：800~900nm.In embodiments of the present invention,
The first infrared signal and the second red signal light that processing module reflects to reception are filtered compensation deals, to ensure essence
Exactness.
The embodiment of the present invention, judge module 30 are connected with processing module 20, for judging whether the first range information is less than
Whether the first predetermined threshold and second distance information are less than the second predetermined threshold.When the first range information is pre- less than described first
When determining threshold value, control module, which adjusts the unmanned plane, reduces its flying height so that described first after flying height adjustment away from
First predetermined threshold is no less than from information.When second distance information is less than second predetermined threshold, control module control
Make the unmanned plane and lift its flying height, so that the second distance information after flying height adjustment is no less than described second
Predetermined threshold.Specific embodiment is：During unmanned plane flight indoors, the first predetermined threshold is arranged to 50cm, works as unmanned plane
When being less than 50cm apart from roof, unmanned plane of the present invention can reduce flying height automatically, so as to avoid unmanned plane from colliding roof.With
And second predetermined threshold be arranged to 60cm, ensure during unmanned plane during flying, when being less than 60cm apart from barrier below ground etc., to carry
The flying height of fleet-footed runner's machine is risen, so as to avoid unmanned plane from colliding lower section barrier.Can be upward the invention enables unmanned plane
Direction and in downward direction upper avoidance, such unmanned plane easily can just fly indoors, it might even be possible to pass through corridor, bridge opening etc..
As shown in Fig. 2 unmanned plane avoidance obstacle method of the present invention, comprises the following steps：
Launch the first infrared light and the second infrared light both down and up along unmanned plane vertical direction, and receive contact top and hinder
Hinder the first infrared light that thing reflects and the second infrared light that contact lower section barrier reflects.The present invention uses two red chromatographys
Outer transmitting tube and infrared receiving tube are launched and receive the first infrared light and the second infrared light.
The first launch time and first infrared light contact top barrier for obtaining the first infrared light emission are reflected back
First come receives the time；And under the second launch time and second infrared light contact for obtaining the second infrared light emission
The second reception time that square barrier reflects；
According to the first launch time and first receive the time time difference, be calculated the unmanned plane vertically upwards with
The first range information between the barrier of top；The time difference of time is received according to the second launch time and second, is calculated
The unmanned plane second distance information between the barrier of lower section vertically downwards.More optimizedly, the present invention can be one
Multiple first launch times and the first reception time are obtained in the section time, and when multiple second launch times and the second reception
Between, so that the average value of the average value of the first range information and second distance information is calculated.So, unmanned plane and top are ensured
The distance between barrier or lower section barrier information are more accurate.
Judge whether the first range information is less than the first predetermined threshold, and whether the second distance information is less than second
Predetermined threshold；
When the distance of unmanned plane and top barrier is less than the first predetermined threshold, i.e., touches top barrier soon, nothing is adjusted
Its flying height of man-machine reduction, first range information after flying height adjustment is set to be no less than first predetermined threshold,
Ensure that unmanned plane flies in safety zone, collision free to top barrier.
When the distance of unmanned plane and lower section barrier is less than the second predetermined threshold, i.e., touches lower section barrier soon, adjust
Whole unmanned plane raises its flying height, the second distance information after flying height adjustment is no less than the described second predetermined threshold
Value, ensure that unmanned plane flies in safety zone, collision free to lower section barrier.
The invention enables unmanned plane can in an upward direction and in downward direction go up avoidance, and such unmanned plane just can easily exist
Indoor flight, it might even be possible to pass through corridor, bridge opening etc., make some stunt or complete particular task.
Avoidance of the present invention design using infrared signal come avoidance, because infrared light emission module and receiving module can
It is made more compact and infrared light spot is small, it is not easy to is absorbed by object, precision is higher, response is fast, in the place of dark
It can use；Meanwhile it is cheap, so, the present invention is very suitable for SUAV, can be used for medium-and-large-sized take photo by plane and specially
With unmanned plane, in the case of to the increase seldom of unmanned plane overall volume size, weight and cost, the spirit of unmanned plane is greatly improved
Activity and security.
The present invention is illustrated by preferred embodiment, it will be appreciated by those skilled in the art that, do not departing from this
In the case of invention scope, various conversion and equivalent substitute can also be carried out to the present invention.In addition, for particular condition or specific
Situation, various modifications can be made to the present invention, without departing from the scope of the present invention.Therefore, the present invention is not limited to disclosed
Specific embodiment, and the whole embodiments fallen within the scope of the appended claims should be included.
Claims (10)
- A kind of 1. unmanned plane, it is characterised in that including：First infrared light emission module, for launching the first infrared light upwards along the unmanned plane vertical direction；First infrared light receiver module, the first infrared light for receiving the first infrared light emission module transmitting touch The first infrared light that square barrier reflects；Processing module, it is connected with the first infrared light emission module and the first infrared light receiver module, controls the first infrared light emission Along the unmanned plane vertical direction, the first infrared light of transmitting and the first infrared light receiver module reception contact top hinder module upwards Hinder the first infrared light that thing reflects, and obtain the first transmitting that first infrared light emission module launches the first infrared light Time and the first infrared light receiver module receive first that the first infrared light contact top barrier reflects and receive time, root According to the first launch time and first reception the time time difference calculate the unmanned plane vertically upwards with top obstacle The first range information between thing；Judge module, it is connected with the processing module, for judging whether first range information is less than the first predetermined threshold；Control module, for when the first range information is less than first predetermined threshold, adjust the unmanned plane reduce its fly Row height, so that first range information after flying height adjustment is no less than first predetermined threshold.
- 2. unmanned plane according to claim 1, it is characterised in that also include：Second infrared light emission module, for launching the second infrared light downwards along the unmanned plane vertical direction；Second infrared light receiver module, the second infrared light for receiving the second infrared light emission module transmitting touch down The second infrared light that square barrier reflects；Second infrared light emission module and the second infrared light receiver module are connected with the processing module, processing module control Make unmanned plane vertical direction described in the second infrared light emission module the second infrared light of transmitting and the second infrared light receiver module downwards The second infrared light that contact lower section barrier reflects is received, and it is red to obtain the second infrared light emission module transmitting second Second launch time of outer light and the second infrared light receiver module receive what the second infrared light contact lower section barrier reflected Second receives the time, and the unmanned plane is calculated vertically according to the time difference of the second launch time and the second reception time Second distance information between the barrier of lower section downwards；Judge module judges whether the second distance information is less than the second predetermined threshold；Control module is when second distance information is less than second predetermined threshold, to control the unmanned plane to lift its flight high Degree, so that the second distance information after flying height adjustment is no less than second predetermined threshold.
- 3. unmanned plane according to claim 1, it is characterised in that the processing module controls first red within a period of time Along the unmanned plane vertical direction, the first infrared light of transmitting and the first infrared light receiver module connect outer light emission module upwards The first infrared light that top barrier reflects is touched, the time is received to get multiple first launch times and first, calculates Go out the average value of the first range information.
- 4. unmanned plane according to claim 2, it is characterised in that the processing module controls second red within a period of time Along the unmanned plane vertical direction, the second infrared light of transmitting and the second infrared light receiver module connect outer light emission module downwards The second infrared light that the side's of touching down barrier reflects, the time is received to get multiple second launch times and second, is calculated Go out the average value of second distance information.
- 5. unmanned plane according to claim 2, it is characterised in that the processing module is red to receiving reflect first Outer optical signal and the second red signal light are filtered compensation deals.
- A kind of 6. unmanned plane avoidance obstacle method, it is characterised in that comprise the following steps：Along the unmanned plane vertical direction the first infrared light of transmitting, and receive contact top barrier reflects the upwards One infrared light；Obtain what barrier above the first launch time and first infrared light contact of the first infrared light emission reflected First receives the time；According to the first launch time and first receive the time time difference, be calculated the unmanned plane vertically upwards with The first range information between the barrier of top；Judge whether first range information is less than the first predetermined threshold；If first range information is less than the first predetermined threshold, control unmanned plane reduces its flying height, so that described the One range information is no less than first predetermined threshold.
- 7. unmanned plane avoidance obstacle method according to claim 6, it is characterised in that it is vertical along the unmanned plane also to include Direction the second infrared light of transmitting, and receive the second infrared light that contact lower section barrier reflects downwards；Obtain what barrier below the second launch time and second infrared light contact of the second infrared light emission reflected Second receives the time；According to the second launch time and second receive the time time difference, be calculated the unmanned plane vertically downwards with Second distance information between the barrier of lower section；Judge whether the second distance information is less than the second predetermined threshold；If the second distance information is less than the second predetermined threshold, control unmanned plane lifts its flying height, so that described the Two range informations are no less than second predetermined threshold.
- 8. unmanned plane avoidance obstacle method according to claim 6, it is characterised in that obtain multiple first in a period of time Launch time and first receives the time, so that the average value of the first range information is calculated.
- 9. unmanned plane avoidance obstacle method according to claim 7, it is characterised in that obtain multiple second in a period of time Launch time and second receives the time, so that the average value of second distance information is calculated.
- 10. unmanned plane avoidance obstacle method according to claim 7, it is characterised in that also include reflecting reception The first infrared signal and the second red signal light be filtered compensation deals.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610582980.XA CN107656535A (en) | 2016-07-23 | 2016-07-23 | Unmanned plane and unmanned plane avoidance obstacle method |
| PCT/CN2016/098437 WO2018018711A1 (en) | 2016-07-23 | 2016-09-08 | Unmanned aerial vehicle and collision avoidance control method utilized in unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610582980.XA CN107656535A (en) | 2016-07-23 | 2016-07-23 | Unmanned plane and unmanned plane avoidance obstacle method |
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| CN107656535A true CN107656535A (en) | 2018-02-02 |
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| CN201610582980.XA Pending CN107656535A (en) | 2016-07-23 | 2016-07-23 | Unmanned plane and unmanned plane avoidance obstacle method |
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| WO (1) | WO2018018711A1 (en) |
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| CN109061663A (en) * | 2018-06-29 | 2018-12-21 | 深圳臻迪信息技术有限公司 | Unmanned plane distance measuring method, device and unmanned plane |
| CN110045742A (en) * | 2019-04-18 | 2019-07-23 | 南京理工大学 | A kind of quadrotor drone obstacle avoidance apparatus and barrier-avoiding method based on infrared ligh-ranging |
| CN111897361A (en) * | 2020-08-05 | 2020-11-06 | 广州市赛皓达智能科技有限公司 | Unmanned aerial vehicle autonomous route planning method and system |
| CN112486208A (en) * | 2020-12-22 | 2021-03-12 | 安徽配隆天环保科技有限公司 | Ultrasonic infrared obstacle avoidance system for unmanned aerial vehicle |
| CN114115351A (en) * | 2021-12-06 | 2022-03-01 | 歌尔科技有限公司 | Obstacle avoidance method for aircraft, aircraft and computer-readable storage medium |
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| CN109061663A (en) * | 2018-06-29 | 2018-12-21 | 深圳臻迪信息技术有限公司 | Unmanned plane distance measuring method, device and unmanned plane |
| CN110045742A (en) * | 2019-04-18 | 2019-07-23 | 南京理工大学 | A kind of quadrotor drone obstacle avoidance apparatus and barrier-avoiding method based on infrared ligh-ranging |
| CN110045742B (en) * | 2019-04-18 | 2022-02-18 | 南京理工大学 | Obstacle avoidance device and method for quad-rotor unmanned aerial vehicle based on infrared optical ranging |
| CN111897361A (en) * | 2020-08-05 | 2020-11-06 | 广州市赛皓达智能科技有限公司 | Unmanned aerial vehicle autonomous route planning method and system |
| CN111897361B (en) * | 2020-08-05 | 2023-08-22 | 广州市赛皓达智能科技有限公司 | Unmanned aerial vehicle autonomous route planning method and system |
| CN112486208A (en) * | 2020-12-22 | 2021-03-12 | 安徽配隆天环保科技有限公司 | Ultrasonic infrared obstacle avoidance system for unmanned aerial vehicle |
| CN114115351A (en) * | 2021-12-06 | 2022-03-01 | 歌尔科技有限公司 | Obstacle avoidance method for aircraft, aircraft and computer-readable storage medium |
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| WO2018018711A1 (en) | 2018-02-01 |
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