EP2717599B1 - Procédé de traitement d'un signal audio avec modélisation de la réponse globale du haut-parleur électrodynamique - Google Patents

Procédé de traitement d'un signal audio avec modélisation de la réponse globale du haut-parleur électrodynamique Download PDF

Info

Publication number
EP2717599B1
EP2717599B1 EP13174690.1A EP13174690A EP2717599B1 EP 2717599 B1 EP2717599 B1 EP 2717599B1 EP 13174690 A EP13174690 A EP 13174690A EP 2717599 B1 EP2717599 B1 EP 2717599B1
Authority
EP
European Patent Office
Prior art keywords
loudspeaker
audio signal
state vector
parameters
response
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP13174690.1A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2717599A1 (fr
Inventor
Vu Hoang Co Thuy
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Parrot Drones SAS
Original Assignee
Parrot SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Parrot SA filed Critical Parrot SA
Publication of EP2717599A1 publication Critical patent/EP2717599A1/fr
Application granted granted Critical
Publication of EP2717599B1 publication Critical patent/EP2717599B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R3/00—Circuits for transducers, loudspeakers or microphones
    • H04R3/04—Circuits for transducers, loudspeakers or microphones for correcting frequency response
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R29/00—Monitoring arrangements; Testing arrangements
    • H04R29/001—Monitoring arrangements; Testing arrangements for loudspeakers
    • H04R29/003—Monitoring arrangements; Testing arrangements for loudspeakers of the moving-coil type

Definitions

  • the invention relates to a technique for processing an audio signal based on the estimation of the overall response of a loudspeaker intended to reproduce this audio signal, that is to say taking into account all the parameters electrical, mechanical and acoustic characteristics characterizing this response.
  • the excursion of the loudspeaker diaphragm that is, the amplitude of its displacement by relative to its equilibrium position, quickly becomes too important, with the risk of damage to the loudspeaker and, at the very least, the introduction of excessive distortion, clipping and saturation values which rapidly degrade rapidly. the quality of playback of the audio signal.
  • Another type of treatment that can be envisaged consists in applying to the audio signal a specific compensation filtering of the non-linearities introduced by the loudspeaker, in order to reduce the audio distortions and to provide a better quality of listening.
  • T / S "Thiele and Small”
  • T / S "Thiele and Small”
  • the response of the loudspeaker, especially in the low frequencies, can be described by a set of parameters, referenced uniformly by the loudspeaker manufacturers.
  • the EP 1 799 013 A1 describes a technique for predicting the behavior of a loudspeaker, based on the T / S parameters, to compensate for non-linearities of the loudspeaker and to reduce the audio distortions introduced into the acoustic signal delivered to the user.
  • T / S parameters are, however, considered as invariants, known a priori, so that the modeling of the response is fixed and can not take into account either the slow evolution of the parameters, due for example to their drift over time because of the aging of the components.
  • the US 2003/0142832 A1 describes a technique for adaptively estimating the parameters of a loudspeaker, including non-linear parameters, from the measurement of the current flowing through this loudspeaker, with implementation of a gradient descent algorithm.
  • This method requires a pre-determination of the parameters during a static calibration phase: during this calibration, the T / S parameters are calculated for different values of the position of the membrane (offset or offset with respect to the equilibrium position). ), with measurement of the impedance. Then, a measurement of the current is compared to an estimate of the same current (squared and filtered by a low-pass filter) to calculate the derivative of the error with respect to each parameter.
  • the technique also implements a gradient descent algorithm of the least mean square type (LMS).
  • LMS least mean square type
  • this method has the disadvantage of requiring a prior calibration phase with impedance measurements and application of a predetermined signal, which excludes a re-estimation of subsequent parameters, at least by a consumer user.
  • the simple gradient descent LMS algorithms do not take into account the measurement noises, which are inevitable, which makes the estimator rather inefficient in real cases of use.
  • the US 2008/0189087 A1 describes another technique for estimating the parameters of a loudspeaker, also of LMS type by gradient descent. More particularly, the method processes separately the estimation of the linear part and that of the nonlinear part. For this, the error signal used by the LMS algorithm (difference between the measured signal and the predicted signal) is processed in order to decorrelate the linear part and the nonlinear part.
  • This document also proposes to implement the estimator by applying as input a particular audio signal, modified by a comb filter selectively eliminating certain selected frequencies.
  • This technique has the same drawbacks as the previous one, in particular the need for a calibration from a modified input signal likely to alter the listening comfort of the user, which does not allow the user to operate. estimate during a musical listening, transparently for the user.
  • the processing applied to the audio signal may in particular be a compensation processing of the non-linearities of the loudspeaker response, as determined from the state vector delivered by the predictive filter estimator.
  • the processing applied to the audio signal may comprise: c1) calculating a current value of the loudspeaker excursion as a function of i) an amplification gain of the audio signal and ii) the loudspeaker response as determined from the state vector outputted by the predictive filter estimator; c2) comparing the current excursion value thus calculated with a maximum excursion value; and c3) calculating a possible attenuation of the amplification gain in case the current excursion value exceeds the maximum excursion value.
  • the state vector components may include additional acoustic parameter values representative of the loudspeaker response associated with a rear cavity provided with a decompression vent.
  • step b) the determination of the state vector of step b) and carried out on the fly from the current audio signal object of the treatment of step c) and reproduced by the loudspeaker, by collecting the electrical parameters at speaker terminals while playing this audio signal.
  • the method may then comprise the following steps: storing a sequence of samples of the audio signal for a predetermined duration; analyzing the sequence to calculate an energy parameter of the stored audio signal; if the calculated energy parameter is greater than a predetermined threshold, enabling the estimation by the predictive filter; if not, inhibit prediction filter estimation and retain the previously estimated state vector values.
  • the left half schematizes the electrical part of the loudspeaker, to which is applied a measurable excitation voltage, Umes, from an amplifier producing a current i, also measurable, passing through the coil of the loudspeaker.
  • the first report transformer BI schematizes the electrical conversion into mechanical force applied to the coil.
  • the report gyrator Sd schematizes the mechanical conversion (displacement of the speaker membrane) in acoustic pressure.
  • the first three parameters (R e , M ms and R eq ) are linear parameters, the equivalent mass M ms being even an invariant, assumed to be known according to the manufacturer's specifications.
  • R e and R eq which can be considered constant over a short period (the time of their estimation) are parameters that can drift progressively over time as a function of the rise in temperature of the voice coil. aging of components, etc. and they must therefore be re-evaluated at regular intervals.
  • X [R e , R eq , Bl 0 , Bl 1 , Bl 2 , K eq0 , K eq1 , K eq2 , L e0 , L e1 , L e2 , L e3 , L e4 ] T.
  • the displacement x which is an unmeasured parameter, will be a hidden variable of the estimator.
  • the present invention implements a Kalman filtering, and more precisely an extended Kalman filtering (EKF), of which we will re-outline the main lines below.
  • EKF extended Kalman filtering
  • the "Kalman filter” which is based on a widely known algorithm, is a state estimator comprising an infinite impulse response (IIR) filter that estimates the states of a dynamic system from a set of equations describing the behavior of the system and a series of observed measures.
  • IIR infinite impulse response
  • Such a filter makes it possible in particular to determine a "hidden state", which is a parameter not observed but essential for the estimation.
  • the first step is the prediction of the model at time k, from the state at time k-1, given by the following equations: Prediction ( a priori ) of the estimated state x k
  • k -1 F k x k -1
  • k - 1 F k ⁇ P k - 1
  • k -1 Covariance of innovation S k H k ⁇ P k
  • k x k
  • k ( I - K k H k ) P k
  • the Kalman estimate is optimal in the least squares sense of the hidden model.
  • Extended Kalman filtering consists of approximating these functions f and h by their partial derivatives during the computation of the covariance matrices (prediction matrix and update matrix), in order to locally linearize the model and to apply to it in each point the systems of Kalman filter prediction and update equations discussed above.
  • k - 1 , u k - 1 H k ⁇ h ⁇ x
  • a digitized audio signal E coming from a media player is reproduced acoustically by a loudspeaker 10 after digital / analog conversion (block 12) and amplification (block 14).
  • the response of the loudspeaker 10 is simulated by an extended Kalman filter algorithm (estimator of the block 16) using as input the signals 18 collected on the loudspeaker 10, these signals comprising the voltage Umes applied to the terminals of the loudspeaker by the amplifier 14 and the current i flowing in the voice coil of the loudspeaker.
  • block 20 schematizes the estimator of the Kalman filter based on the modeling of the response of the loudspeaker, block 22 the function h of the measurement equation and block 24 the comparison between estimated state and measured state, to derive an error signal for updating the dynamic model.
  • the measurement of the voltage across the loudspeaker constitutes the only component of the observation vector Umes n-1 .
  • the algorithm then calculates the derivative of the function h with respect to each of the components of the vector X: dh (X) / dBl0, dh (X) / dKeq0, ... which corresponds to the partial derivative of the estimated voltage, relative to each of the parameters of the model.
  • the estimate of the parameters of the loudspeaker model at time n is given by the state vector X n
  • n thus obtained can be used for various purposes.
  • the knowledge of the response of the loudspeaker, and in particular of the excursion x of the membrane may notably be used as input data to a limiter stage 26 ( Figure 2 ): the instantaneous value x of the excursion is compared to a determined threshold x max beyond which this excursion is considered too important, with the risk of damaging the loudspeaker, the appearance of distortions, etc. If the threshold is exceeded, the The limiter determines an attenuation gain, less than unity, that will be applied to the incident signal E to reduce its amplitude, so that the excursion remains within the allowed range.
  • Another treatment that can be applied to the audio signal is compensation for non-linearities (block 28). Indeed, insofar as the speaker response is modeled, it is possible to predict the nonlinearities of this response and to compensate for them by an appropriate inverse processing applied to the signal. Such treatment is in itself known, and for this reason it will not be described in more detail.
  • the extended Kalman estimator operates on the fly, directly from the current audio signal reproduced by the loudspeaker, by collecting the electrical parameters on this loudspeaker (voltage, current) during the reproduction of this audio signal.
  • the system can thus be used with a high-fidelity consumer installation, operating in a manner that is transparent to the user: there is no need to ask the user to reproduce a particular type of calibration signal (white noise, succession of tones, etc.) so that the algorithm can estimate the parameters of the loudspeaker, the latter can operate continuously while the music is played.
  • a particular type of calibration signal white noise, succession of tones, etc.
  • the algorithm can estimate the parameters of the loudspeaker, the latter can operate continuously while the music is played.
  • the signal played move this membrane sufficiently so that the estimate is the best possible.
  • the displacement of the membrane is calculated continuously by applying Equations (1) and (2) of the estimator (block 32), with speaker parameters which are fixed and correspond to the results of the last estimation made by the Kalman filter.
  • this effective value is greater than a given threshold x_seuil (block 34) for a number of consecutive times corresponding to the time T, then it is considered that the T last seconds of signal played are valid and the filter update is activated. Kalman so that it can use these last T seconds of signal to re-estimate the parameters of the response of the speaker.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Otolaryngology (AREA)
  • Circuit For Audible Band Transducer (AREA)
  • Stereophonic System (AREA)
  • Audible-Bandwidth Dynamoelectric Transducers Other Than Pickups (AREA)
  • Details Of Audible-Bandwidth Transducers (AREA)
  • Obtaining Desirable Characteristics In Audible-Bandwidth Transducers (AREA)
EP13174690.1A 2012-08-30 2013-07-02 Procédé de traitement d'un signal audio avec modélisation de la réponse globale du haut-parleur électrodynamique Not-in-force EP2717599B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1258116A FR2995167B1 (fr) 2012-08-30 2012-08-30 Procede de traitement d'un signal audio avec modelisation de la reponse globale du haut-parleur electrodynamique

Publications (2)

Publication Number Publication Date
EP2717599A1 EP2717599A1 (fr) 2014-04-09
EP2717599B1 true EP2717599B1 (fr) 2015-09-16

Family

ID=47427379

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13174690.1A Not-in-force EP2717599B1 (fr) 2012-08-30 2013-07-02 Procédé de traitement d'un signal audio avec modélisation de la réponse globale du haut-parleur électrodynamique

Country Status (5)

Country Link
US (1) US9232311B2 (ja)
EP (1) EP2717599B1 (ja)
JP (1) JP2014050106A (ja)
CN (1) CN103686530A (ja)
FR (1) FR2995167B1 (ja)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3018024B1 (fr) * 2014-02-26 2016-03-18 Devialet Dispositif de commande d'un haut-parleur
EP3010251B1 (en) * 2014-10-15 2019-11-13 Nxp B.V. Audio system
DK3207719T3 (en) * 2014-10-15 2019-03-11 Widex As PROCEDURE TO OPERATE A HEARING SYSTEM AND HEARING SYSTEM
EP3207720B1 (en) * 2014-10-15 2019-01-09 Widex A/S Method of operating a hearing aid system and a hearing aid system
US20160134982A1 (en) * 2014-11-12 2016-05-12 Harman International Industries, Inc. System and method for estimating the displacement of a speaker cone
US9813812B2 (en) * 2014-12-12 2017-11-07 Analog Devices Global Method of controlling diaphragm excursion of electrodynamic loudspeakers
US10708690B2 (en) 2015-09-10 2020-07-07 Yayuma Audio Sp. Z.O.O. Method of an audio signal correction
TWI587711B (zh) * 2016-03-15 2017-06-11 瑞昱半導體股份有限公司 揚聲器之振膜偏移量的計算裝置、計算方法及揚聲器的控制方法
CN105916079B (zh) * 2016-06-07 2019-09-13 瑞声科技(新加坡)有限公司 一种扬声器非线性补偿方法及装置
CN106341763B (zh) * 2016-11-17 2019-07-30 矽力杰半导体技术(杭州)有限公司 扬声器驱动装置和扬声器驱动方法
CN106454679B (zh) 2016-11-17 2019-05-21 矽力杰半导体技术(杭州)有限公司 扬声器振膜状态估计方法及应用其的扬声器驱动电路
US10341767B2 (en) * 2016-12-06 2019-07-02 Cirrus Logic, Inc. Speaker protection excursion oversight
US10462565B2 (en) * 2017-01-04 2019-10-29 Samsung Electronics Co., Ltd. Displacement limiter for loudspeaker mechanical protection
DE102017010048A1 (de) * 2017-10-27 2019-05-02 Paragon Ag Verfahren zur Auslegung und Herstellung von Lautsprechern für insbesondere in Kraftfahrzeuginnenräumen eingesetzte Beschallungsanlagen
US10701485B2 (en) * 2018-03-08 2020-06-30 Samsung Electronics Co., Ltd. Energy limiter for loudspeaker protection
WO2020143472A1 (en) * 2019-01-11 2020-07-16 Goertek Inc. Method for correcting acoustic properties of a loudspeaker, an audio device and an electronics device
CN112533115B (zh) * 2019-09-18 2022-03-08 华为技术有限公司 一种提升扬声器的音质的方法及装置
US11399247B2 (en) 2019-12-30 2022-07-26 Harman International Industries, Incorporated System and method for providing advanced loudspeaker protection with over-excursion, frequency compensation and non-linear correction
US11425476B2 (en) 2019-12-30 2022-08-23 Harman Becker Automotive Systems Gmbh System and method for adaptive control of online extraction of loudspeaker parameters
CN111741408A (zh) * 2020-06-12 2020-10-02 瑞声科技(新加坡)有限公司 一种扬声器的非线性补偿方法、系统、设备和存储介质
CN114137032B (zh) * 2021-09-07 2024-07-12 北京联合大学 一种大动态范围砂岩模型电阻率测量装置及测量方法
CN116055951B (zh) * 2022-07-20 2023-10-20 荣耀终端有限公司 信号处理方法和电子设备

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6128541A (en) * 1997-10-15 2000-10-03 Fisher Controls International, Inc. Optimal auto-tuner for use in a process control network
US6058195A (en) * 1998-03-30 2000-05-02 Klippel; Wolfgang J. Adaptive controller for actuator systems
DE19960979A1 (de) 1999-12-17 2001-07-05 Bosch Gmbh Robert Adaptives Verfahren zur Bestimmung von Lautsprecherparametern
US6940981B2 (en) * 2003-03-12 2005-09-06 Qsc Audio Products, Inc. Apparatus and method of limiting power applied to a loudspeaker
US20060104451A1 (en) * 2003-08-07 2006-05-18 Tymphany Corporation Audio reproduction system
WO2006090371A2 (en) * 2005-02-22 2006-08-31 Health-Smart Limited Methods and systems for physiological and psycho-physiological monitoring and uses thereof
ATE458362T1 (de) 2005-12-14 2010-03-15 Harman Becker Automotive Sys Verfahren und vorrichtung zum vorhersehen des verhaltens eines wandlers
US7312654B2 (en) * 2005-12-20 2007-12-25 Freescale Semiconductor, Inc. Quiet power up and power down of a digital audio amplifier
DE102007005070B4 (de) 2007-02-01 2010-05-27 Klippel, Wolfgang, Dr. Anordnung und Verfahren zur optimalen Schätzung der linearen Parameter und der nichtlinearen Parameter eines Modells, das einen Wandler beschreibt

Also Published As

Publication number Publication date
JP2014050106A (ja) 2014-03-17
US20140064502A1 (en) 2014-03-06
EP2717599A1 (fr) 2014-04-09
FR2995167B1 (fr) 2014-11-14
US9232311B2 (en) 2016-01-05
CN103686530A (zh) 2014-03-26
FR2995167A1 (fr) 2014-03-07

Similar Documents

Publication Publication Date Title
EP2717599B1 (fr) Procédé de traitement d'un signal audio avec modélisation de la réponse globale du haut-parleur électrodynamique
EP3111668B1 (fr) Dispositif de commande d'un haut-parleur
US10015593B2 (en) Digital signal processor for audio extensions and correction of nonlinear distortions in loudspeakers
JP5362894B2 (ja) 音声変換器の線形及び非線形歪みを補償するためのニューラル・ネットワーク・フィルタリング技術
EP1001652A2 (en) Automatic loudspeaker equalizer
JP7064489B2 (ja) 非対称なトランスオーラルオーディオ再生のための利得位相等化（ｇｐｅｑ）フィルタおよびチューニング方法
JP2008197284A (ja) フィルタ係数算出装置、フィルタ係数算出方法、制御プログラム、コンピュータ読み取り可能な記録媒体、および、音声信号処理装置
US9838783B2 (en) Adaptive phase-distortionless magnitude response equalization (MRE) for beamforming applications
JP2018531555A6 (ja) ビーム形成用途のための適応的位相歪曲のない振幅応答等化
EP3844981A1 (fr) Procédé pour une restitution sonore spatialisée d'un champ sonore audible en une position d'un auditeur se déplaçant et système mettant en ouvre un tel procédé
US9992573B1 (en) Phase inversion filter for correcting low frequency phase distortion in a loudspeaker system
EP3637792B1 (fr) Dispositif de commande d'un haut-parleur et installation de restitution sonore associée
JP5762797B2 (ja) 信号処理装置及び信号処理方法
FR3112017A1 (fr) Equipement électronique comprenant un simulateur de distorsion
JP2010181448A (ja) 音響調整装置及び音響調整方法
FR3030963A1 (fr) Egalisateur aveugle de canal
JP2005286712A (ja) 収音装置
US11558705B2 (en) System and method for a digital calibration filter device
JP2012048134A (ja) 残響除去方法とその装置とプログラム
FR3106030A1 (fr) Procédé et dispositif associé pour transformer des caractéristiques d’un signal audio
EP3520443B1 (en) Method and apparatus for controlling acoustic signals to be recorded and/or reproduced by an electro-acoustical sound system
FR3131972A1 (fr) Procédé de gestion des basses fréquences d’un haut-parleur et dispositif pour la mise en œuvre dudit procédé
FR3015847A1 (fr) Procede et dispositif d'estimation de parametres caracterisant un ensemble acoutisque
JP4156428B2 (ja) 反響消去方法、反響消去装置、反響消去プログラム
EP4226650A1 (fr) Dispositif de traitement d'un signal, systeme audio, enceintes acoustiques, resonateur acoustique, et porte sonorisee de vehicule associes

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20130702

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RIC1 Information provided on ipc code assigned before grant

Ipc: H04R 29/00 20060101AFI20150205BHEP

Ipc: H04R 3/04 20060101ALN20150205BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RIC1 Information provided on ipc code assigned before grant

Ipc: H04R 29/00 20060101AFI20150226BHEP

Ipc: H04R 3/04 20060101ALN20150226BHEP

INTG Intention to grant announced

Effective date: 20150316

RIC1 Information provided on ipc code assigned before grant

Ipc: H04R 3/04 20060101ALN20150306BHEP

Ipc: H04R 29/00 20060101AFI20150306BHEP

Ipc: H04R 9/02 20060101ALI20150306BHEP

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 750613

Country of ref document: AT

Kind code of ref document: T

Effective date: 20151015

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602013003036

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151216

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151217

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

Ref country code: NL

Ref legal event code: FP

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 750613

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150916

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160116

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160118

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602013003036

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 4

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: PARROT DRONES

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 602013003036

Country of ref document: DE

Owner name: PARROT DRONES, FR

Free format text: FORMER OWNER: PARROT, PARIS, FR

26N No opposition filed

Effective date: 20160617

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

REG Reference to a national code

Ref country code: GB

Ref legal event code: 732E

Free format text: REGISTERED BETWEEN 20160811 AND 20160817

REG Reference to a national code

Ref country code: NL

Ref legal event code: PD

Owner name: PARROT DRONES; FR

Free format text: DETAILS ASSIGNMENT: VERANDERING VAN EIGENAAR(S), OVERDRACHT; FORMER OWNER NAME: PARROT

Effective date: 20160804

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: GEVERS SA, CH

Ref country code: CH

Ref legal event code: PUE

Owner name: PARROT DRONES, FR

Free format text: FORMER OWNER: PARROT, FR

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20160726

Year of fee payment: 4

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160702

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160702

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20170720

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20170724

Year of fee payment: 5

Ref country code: DE

Payment date: 20170724

Year of fee payment: 5

Ref country code: IT

Payment date: 20170721

Year of fee payment: 5

Ref country code: GB

Payment date: 20170724

Year of fee payment: 5

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20180330

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20130702

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150916

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602013003036

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: NL

Ref legal event code: MM

Effective date: 20180801

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20180702

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180702

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180731

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180731

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190201

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180801

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180702