CN209897158U - Monocular panoramic camera - Google Patents
Monocular panoramic camera Download PDFInfo
- Publication number
- CN209897158U CN209897158U CN201921172398.1U CN201921172398U CN209897158U CN 209897158 U CN209897158 U CN 209897158U CN 201921172398 U CN201921172398 U CN 201921172398U CN 209897158 U CN209897158 U CN 209897158U
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- main board
- lens module
- panoramic camera
- rotating mechanism
- module
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Exposure Control For Cameras (AREA)
Abstract
The utility model discloses a monocular panoramic camera, which comprises a lens module, a mainboard and a rotating mechanism; the lens module is connected with the main board, and the main board is connected with the rotating mechanism; the rotating mechanism comprises a stator part and a rotor part, the stator part is fixedly arranged on the shooting supporting platform, and the rotor part, the lens module and the main board form a whole; the lens module and the rotating mechanism are respectively in communication connection with the main board, the main board controls the rotating mechanism to rotate, the lens module and a rotor part of the rotating mechanism rotate synchronously, and images are collected at a plurality of angles under the control of the main board. The utility model discloses in be connected camera lens module and rotary mechanism's rotor part as a whole, when taking panoramic picture, camera lens module, mainboard and rotary mechanism's main part synchronous revolution solves the problem that the steering wheel was dragged to the rotatory in-process of steering wheel and mainboard connecting wire to and the problem that the steering wheel sheltered from the camera lens light, realize the autogiration and the collection of camera lens module.
Description
Technical Field
The utility model belongs to the technical field of the technique of making a video recording technique and specifically relates to a technical field that panoramic picture shot and generated is related to.
Background
The panoramic view represents the surrounding environment as much as possible by means of wide-angle representation and forms such as painting, photos, videos and three-dimensional models. The 360-degree panorama is to capture image information of the whole scene by a professional camera or use a picture rendered by modeling software, use the software to split the picture, use a special player to play, namely change a plane photo or a computer modeling picture into a 360-degree full view for virtual reality browsing, simulate a two-dimensional plane picture into a real three-dimensional space, and present the real three-dimensional space to an observer. The information in 360 degrees spaces of panoramic image record, accessible hand dragging image picture browses during the panoramic image show, 360 degrees characteristics and the unique experience of watching of taking notes entirely for the panoramic image is in a plurality of fields, like hotel show, house property show, car show etc. obtain wide application, and the actual conditions such as hotel can be known to the viewer not enough to go out, and the panoramic show has greatly made things convenient for people's life.
The 720-degree panoramic image means that the angles of view of the panoramic image in the horizontal direction and the vertical direction are both 360 degrees, so that the 720-degree panoramic image can completely record information of a three-dimensional space without dead angles. Two modes of shooting 720-degree panoramic images are available, one mode is shooting by using a panoramic all-in-one machine, but the all-in-one machine for shooting panoramic images is expensive in image quality and high in entrance threshold; the other mode is that through the single anti-formula fisheye lens of cooperating, the single anti-formula is erect on the tripod, and the user rotates the single anti-formula through manual and carries out image acquisition, and the later stage is synthesized through third party concatenation software and is obtained panoramic image, but the imaging effect of manual shooting is poor, and the operation is complicated.
Disclosure of Invention
The purpose of the invention is as follows: the utility model aims to provide a monocular panoramic camera to prior art not enough, utilize rotary mechanism to realize the rotation of single-lens to thereby gather the image automatically and splice to panoramic picture.
The technical scheme is as follows: the utility model discloses a monocular panoramic camera, which comprises a lens module, a mainboard and a rotating mechanism;
the lens module is connected with the main board, and the main board is connected with the rotating mechanism;
the rotating mechanism comprises a stator part and a rotor part, the stator part is fixedly arranged on the shooting supporting platform, and the rotor part, the lens module and the main board form a whole;
the lens module and the rotating mechanism are respectively in communication connection with the main board, the main board controls the rotating mechanism to rotate, the lens module and a rotor part of the rotating mechanism rotate synchronously, and images are collected at a plurality of angles under the control of the main board.
The utility model discloses preferred technical scheme does, rotary mechanism is the steering wheel, and the output shaft of steering wheel is as stator part, and the steering wheel main part is as rotor part.
Preferably, the main body of the steering engine is mounted on a support, the support is wrapped by a shell, and a power supply is further arranged in the shell and used for supplying power to the main board; the support is provided with a counterweight part, and the power supply is matched with the support, so that the gravity center of the monocular panoramic camera falls on the central line of the output shaft of the steering engine. The support is used for fixed steering wheel on the one hand, and on the other hand is used for the counter weight for monocular panoramic camera's focus falls on the rotation axis central line. The support is asymmetric structure, and the surface mounting position is used for installing and fixed steering wheel, and the weight of support mainly concentrates on the counter weight, and counter weight and power can set up in the both sides of steering wheel output shaft, finally make whole monocular panoramic camera's focus fall on the steering wheel output shaft, avoid off-centre to cause the wearing and tearing of steering wheel and the deformation of steering wheel pivot.
Preferably, still be provided with keypad and switch module in the shell, the keypad is connected with the mainboard for control mainboard, and switch module is connected with the keypad and stretches out the shell is as the operating button of keypad.
Preferably, the lens module comprises a lens and an image sensor, the lens is a fisheye lens, and the field angle is greater than 180 degrees.
Preferably, the distance between the node of the lens and the extension line of the center of the output shaft of the steering engine is less than or equal to 3 cm.
Preferably, because the angle of field of the camera lens is greater than 180 degrees, for avoiding the organism of steering wheel to shelter from light, the optical axis of camera lens is parallel with the minor face of steering wheel to, because the camera lens module is fixed with the organism relative position of steering wheel, the two synchronous revolution during rotatory, consequently also avoided the long limit of steering wheel to appear in the camera lens picture.
Preferably, the shooting support platform is a tripod head or a tripod. Preferably, the output shaft of the steering engine is connected with the shooting supporting platform through a switching piece. One end of the adapter is connected with an output shaft of the steering engine, and the other end of the adapter is connected with the supporting platform. No matter whether the steering wheel is in the on state, as long as the steering wheel is out of work, then be set up to be in the free state, when being in the free state, can twist the output shaft of steering wheel at will, consequently when being connected monocular panoramic camera and tripod, because the steering wheel does not have torsion to exist under the free state, can appear monocular panoramic camera and tripod can not be connected tight the condition, and is same, when monocular panoramic camera unloads from the tripod, can appear skidding the phenomenon and lead to unable monocular panoramic camera and tripod separation. One end of the adapter is connected with an output shaft of the steering engine through a spline and is fixed with the output shaft through a screw, and when the monocular panoramic camera is installed on a tripod, the steering engine can be prevented from being twisted by holding the adapter and connecting the adapter with the tripod.
Preferably, the mainboard is integrated with an MCU control module, a communication module, a storage module and a power management module, the MCU control module is used for controlling the lens module to collect images and controlling the motor to work, the communication module is used for connecting the panorama generating device with other hardware devices in a communication manner, receiving control signals or transmitting image data, and the power management module is used for managing battery charging and counting the battery electric quantity state.
Has the advantages that: (1) the utility model discloses in connect the camera lens module with rotary mechanism's rotor part as an organic whole, the stator part is fixed on shooting platform, when shooing panoramic picture, camera lens module, mainboard and rotary mechanism's main part synchronous revolution solves the problem of dragging steering wheel and mainboard connecting wire in the steering wheel rotation process to and the steering wheel shelters from the problem of camera lens light, realizes the automatic rotation and the collection of camera lens module;
(2) the utility model discloses in adopt the steering wheel as rotary mechanism, set up the output shaft of steering wheel as the stator, the steering wheel organism becomes the rotor, the steering wheel organism is fixed with the support promptly, the support is fixed with the shell, camera lens module and mainboard are also fixed with the shell, consequently, the steering wheel organism is fixed as a whole with camera lens module and mainboard, become the rotor back when the steering wheel organism, the steering wheel organism is rotatory and drive camera lens module and mainboard and rotate to a plurality of angle positions together, structural design is reasonable, it is ingenious, optimize the user mode of steering wheel and the position of steering wheel in the camera structure, effectively solve the problem of the rotatory conflict of steering wheel and image acquisition part.
Drawings
Fig. 1 is a schematic structural view of a monocular panoramic camera according to the present invention;
in the figure, 1-a lens module, 2-a main board, 3-a switch component, 4-a power supply, 5-a bracket and 6-a steering engine.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example (b): a monocular panoramic camera comprises a lens module 1, a mainboard 2, a key board, a switch component 3, a power supply 4, a support 5, a shell and a steering engine 6.
The lens module 1 comprises a lens and an image sensor, the lens module 1 is connected with the mainboard 2, the mainboard 2 receives and processes pictures shot by the lens module 1, the key board is connected with the mainboard 2 and used for controlling the startup and shutdown and shooting of the monocular panoramic camera, and the switch component 3 is a physical decoration and is matched with the key board for use.
The main part of steering wheel 6 is installed on support 5, and support 5 is wrapped up by the shell, still is provided with power 4 in the shell for 2 power supplies of mainboard. The support is provided with a counterweight part, and the power supply is matched with the support, so that the gravity center of the monocular panoramic camera falls on the central line of the output shaft of the steering engine. The support 5 is used for fixing the steering engine 6 on the one hand, and is used for balancing weight on the other hand, so that the center of gravity of the monocular panoramic camera falls on the center line of the rotating shaft. Support 5 is asymmetric structure, and the surface mounting position is used for installing and fixed steering wheel 6, and the weight of support 5 mainly concentrates on the counter weight, and counter weight and power 4 can set up in the both sides of 6 output shafts of steering wheel, finally makes the focus of whole monocular panoramic camera fall on 6 output shafts of steering wheel, avoids off-centre to cause the wearing and tearing of steering wheel 6 and the deformation of 6 pivots of steering wheel.
When the monocular panoramic camera is not in a working state, the steering engine 6 is set to be in a free state, namely, the torque of an output shaft of the steering engine 6 is set to be 0, and the phenomenon that the mainboard 2 connected with the steering engine 6 is burnt out due to overlarge instantaneous current caused by artificial twisting of the steering engine 6 is avoided.
The lens in the lens module 1 is a fisheye lens, and the field angle is larger than 180 degrees. The distance from the node of the lens to the extension line of the center of the output shaft of the steering engine 6 is less than or equal to 3 cm. The optical axis that sets up the camera lens in the camera lens module 1 is parallel with steering wheel 6's minor face, because the angle of view of camera lens is greater than 180 degrees, consequently shelters from light for the organism of avoiding steering wheel 6, sets up the camera lens orientation parallel with steering wheel 6's minor face. In addition, the relative positions of the lens module 1 and the steering engine 6 are fixed, and the lens module and the steering engine are synchronously rotated during rotation, so that the long edge of the steering engine 6 is prevented from appearing in a lens picture.
An adapter is arranged, one end of the adapter is connected with an output shaft of the steering engine 6, and the other end of the adapter is connected with a tripod. No matter the steering wheel 6 is in the on state, as long as the steering wheel 6 is out of work, then be set up to be in the free state, when being in the free state, can twist the output shaft of steering wheel 6 at will, consequently when the monocular panoramic camera is connected with the tripod, because steering wheel 6 does not have torsion to exist under the free state, can appear monocular panoramic camera and tripod and can not be connected tight condition, and is same, when the monocular panoramic camera is unloaded from the tripod, can appear skidding the phenomenon and lead to unable monocular panoramic camera and tripod separation. One end of the adapter is connected with the output shaft of the steering engine 6 through a spline and is fixed with the output shaft through a screw, and when the monocular panoramic camera is installed on a tripod, the steering engine 6 can be prevented from being twisted by holding the adapter and connecting the adapter with the tripod.
The mainboard 2 is integrated with an MCU control module, a communication module, a storage module and a power management module, the MCU control module is used for controlling the lens module 1 to collect images and control the motor to work, the communication module is used for connecting the panorama generating device with other hardware devices in a communication manner, receiving control signals or transmitting image data, and the power management module is used for managing battery charging and counting the battery electric quantity state.
When in use:
the method comprises the following steps: an output shaft of the steering engine 6 is connected with a tripod through a switching piece;
step two: pressing a switch key to start the monocular panoramic camera;
step three: pressing a photographing button, or connecting other hardware equipment with the monocular panoramic camera through WIFI and sending a photographing signal to the monocular panoramic camera;
step four: the monocular panoramic camera performs photometry according to a preset rotation angle and rotation times and fuses a plurality of groups of exposure parameters to obtain fused exposure parameters;
step five: setting exposure parameters of the monocular panoramic camera as fusion exposure parameters, and controlling the monocular panoramic camera to rotate to different angle positions and collecting images according to preset rotation angles and rotation times;
step six: the MCU processing module arranged in the mainboard 2 synthesizes a plurality of groups of images into a panoramic photo, or sends a plurality of original images to other hardware equipment ends for synthesis to obtain the panoramic photo.
As mentioned above, although the present invention has been shown and described with reference to certain preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A monocular panoramic camera is characterized by comprising a lens module, a main board and a rotating mechanism;
the lens module is connected with the main board, and the main board is connected with the rotating mechanism;
the rotating mechanism comprises a stator part and a rotor part, the stator part is fixedly arranged on the shooting supporting platform, and the rotor part, the lens module and the main board form a whole;
the lens module and the rotating mechanism are respectively in communication connection with the main board, the main board controls the rotating mechanism to rotate, the lens module and a rotor part of the rotating mechanism rotate synchronously, and images are collected at a plurality of angles under the control of the main board.
2. The monocular panoramic camera of claim 1, wherein the rotating mechanism is a steering engine, an output shaft of the steering engine is used as a stator part, and a steering engine main body is used as a rotor part.
3. The monocular panoramic camera of claim 2, wherein the main body of the steering engine is mounted on a bracket, the bracket is wrapped by a housing, and a power supply is further arranged in the housing and used for supplying power to the main board; the support is provided with a counterweight part, and the power supply is matched with the support, so that the gravity center of the monocular panoramic camera falls on the central line of the output shaft of the steering engine.
4. The monocular panoramic camera of claim 2, wherein a key board and a switch assembly are further disposed in the housing, the key board is connected to the main board for controlling the main board, and the switch assembly is connected to the key board and extends out of the housing to serve as an operation button of the key board.
5. The monocular panoramic camera of claim 2, wherein the lens module comprises a lens and an image sensor, the lens is a fisheye lens, and the field angle is greater than 180 degrees.
6. The monocular panoramic camera of claim 5, wherein the distance from the node of the lens to the extension line of the output shaft center of the steering engine is less than or equal to 3 cm.
7. The monocular panoramic camera of claim 5, wherein the optical axis of the lens is parallel to the short side of the steering engine.
8. The monocular panoramic camera of claim 2, wherein the filming support platform is a pan or tripod head.
9. The monocular panoramic camera of claim 8, wherein an output shaft of the steering engine is connected with the photographing support platform through a transfer piece.
10. The monocular panoramic camera according to claim 1, wherein an MCU control module, a communication module, a storage module and a power management module are integrated on the motherboard, the MCU control module is used to control the lens module to collect images and control the motor to work, the communication module is used for the panoramic generation device to communicate with hardware devices, receive control signals or transmit image data, and the power management module is used to manage battery charging and count the battery power status.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910114591.8A CN109743489A (en) | 2019-02-14 | 2019-02-14 | A kind of rotary camera and big visual angle method, photo taking |
| CN2019101145918 | 2019-02-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209897158U true CN209897158U (en) | 2020-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910114591.8A Pending CN109743489A (en) | 2019-02-14 | 2019-02-14 | A kind of rotary camera and big visual angle method, photo taking |
| CN201910672949.9A Pending CN110248079A (en) | 2019-02-14 | 2019-07-24 | A kind of full view image generating system and panorama image generation method |
| CN201910672923.4A Pending CN110213475A (en) | 2019-02-14 | 2019-07-24 | A kind of image pickup method of panoramic picture |
| CN201910672098.8A Pending CN110248078A (en) | 2019-02-14 | 2019-07-24 | A kind of exposure parameter acquisition methods of panoramic picture |
| CN201921172398.1U Active CN209897158U (en) | 2019-02-14 | 2019-07-24 | Monocular panoramic camera |
Family Applications Before (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910114591.8A Pending CN109743489A (en) | 2019-02-14 | 2019-02-14 | A kind of rotary camera and big visual angle method, photo taking |
| CN201910672949.9A Pending CN110248079A (en) | 2019-02-14 | 2019-07-24 | A kind of full view image generating system and panorama image generation method |
| CN201910672923.4A Pending CN110213475A (en) | 2019-02-14 | 2019-07-24 | A kind of image pickup method of panoramic picture |
| CN201910672098.8A Pending CN110248078A (en) | 2019-02-14 | 2019-07-24 | A kind of exposure parameter acquisition methods of panoramic picture |
Country Status (2)
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| CN (5) | CN109743489A (en) |
| WO (3) | WO2021012855A1 (en) |
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| CN110111333B (en) * | 2019-05-29 | 2024-06-11 | 武汉华正空间软件技术有限公司 | Stereoscopic image acquisition system and method |
| CN110568448B (en) * | 2019-07-29 | 2021-04-27 | 浙江大学 | Device and method for identifying accumulated slag at bottom of tunnel of hard rock tunnel boring machine |
| WO2021079455A1 (en) * | 2019-10-24 | 2021-04-29 | 三菱電機株式会社 | Image generation system, image processing apparatus, program, and recording medium |
| CN111093020B (en) * | 2019-12-31 | 2022-03-25 | 联想(北京)有限公司 | Information processing method, camera module and electronic equipment |
| CN111432119B (en) * | 2020-03-27 | 2021-03-23 | 北京房江湖科技有限公司 | Image shooting method and device, computer readable storage medium and electronic equipment |
| CN111784586B (en) * | 2020-05-25 | 2022-10-18 | 清华大学 | Self-supervision learning panoramic image horizontal correction method and system |
| CN111741223B (en) * | 2020-07-17 | 2022-04-26 | 北京搜房科技发展有限公司 | Panoramic image shooting method, device and system |
| CN112261303B (en) * | 2020-11-19 | 2021-08-20 | 贝壳技术有限公司 | Three-dimensional color panoramic model generation device and method, storage medium and processor |
| CN112637585A (en) * | 2020-12-15 | 2021-04-09 | 上海交通建设总承包有限公司 | Correction method for perspective dislocation phenomenon in panoramic shooting process of single lens reflex camera |
| CN113099111A (en) * | 2021-03-30 | 2021-07-09 | 广东拓斯达科技股份有限公司 | Dispensing track generation method and device, electronic equipment and storage medium |
| CN113744339B (en) * | 2021-11-05 | 2022-02-08 | 贝壳技术有限公司 | Method and device for generating panoramic image, electronic equipment and storage medium |
| CN114554176A (en) * | 2022-01-24 | 2022-05-27 | 北京有竹居网络技术有限公司 | Depth camera |
| CN114979505A (en) * | 2022-05-27 | 2022-08-30 | 众趣（北京）科技有限公司 | Method and device for rotatably shooting panorama |
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| US20070081081A1 (en) * | 2005-10-07 | 2007-04-12 | Cheng Brett A | Automated multi-frame image capture for panorama stitching using motion sensor |
| CN100517061C (en) * | 2006-01-24 | 2009-07-22 | 鸿富锦精密工业（深圳）有限公司 | Device for producing panorama image and method thereof |
| CN101963751B (en) * | 2010-08-19 | 2011-11-30 | 西北工业大学 | Device and method for acquiring high-resolution full-scene image in high dynamic range in real time |
| CN105635551B (en) * | 2014-10-29 | 2019-03-26 | 浙江大华技术股份有限公司 | A kind of ball-shaped camera generates the method and ball-shaped camera of panoramic picture |
| CN105046643B (en) * | 2015-07-06 | 2017-12-15 | 电子科技大学 | A kind of image split-joint method based on brightness auto-registration |
| WO2018035764A1 (en) * | 2016-08-24 | 2018-03-01 | 深圳市大疆灵眸科技有限公司 | Method for taking wide-angle pictures, device, cradle heads, unmanned aerial vehicle and robot |
| WO2018035811A1 (en) * | 2016-08-25 | 2018-03-01 | 北京小米移动软件有限公司 | Panoramic photographing method, terminal, rotating assembly and panoramic photographing device |
| CN106357966A (en) * | 2016-11-01 | 2017-01-25 | 乐视控股（北京）有限公司 | Panoramic image photographing device and panoramic image acquiring method |
| CN109327656A (en) * | 2017-08-01 | 2019-02-12 | 上海同繁勘测工程科技有限公司 | The image-pickup method and system of full-view image |
| CN110019886A (en) * | 2017-08-28 | 2019-07-16 | 富泰华工业（深圳）有限公司 | Full-view image generating means and method |
| CN108737738B (en) * | 2018-04-20 | 2021-03-12 | 影石创新科技股份有限公司 | Panoramic camera and exposure method and device thereof |
| CN109660734A (en) * | 2019-02-14 | 2019-04-19 | 南京泓众电子科技有限公司 | A kind of distant view photograph image pickup method and device |
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2019
- 2019-02-14 CN CN201910114591.8A patent/CN109743489A/en active Pending
- 2019-07-24 CN CN201910672949.9A patent/CN110248079A/en active Pending
- 2019-07-24 CN CN201910672923.4A patent/CN110213475A/en active Pending
- 2019-07-24 CN CN201910672098.8A patent/CN110248078A/en active Pending
- 2019-07-24 CN CN201921172398.1U patent/CN209897158U/en active Active
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2020
- 2020-06-22 WO PCT/CN2020/097400 patent/WO2021012855A1/en active Application Filing
- 2020-06-22 WO PCT/CN2020/097363 patent/WO2021012854A1/en active Application Filing
- 2020-06-22 WO PCT/CN2020/097404 patent/WO2021012856A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN110213475A (en) | 2019-09-06 |
| WO2021012856A1 (en) | 2021-01-28 |
| CN110248078A (en) | 2019-09-17 |
| CN109743489A (en) | 2019-05-10 |
| CN110248079A (en) | 2019-09-17 |
| WO2021012855A1 (en) | 2021-01-28 |
| WO2021012854A1 (en) | 2021-01-28 |
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