EP3111258A1 - Dispositif d'inspection comprenant une lentille pelliculaire inverse - Google Patents

Dispositif d'inspection comprenant une lentille pelliculaire inverse

Info

Publication number
EP3111258A1
EP3111258A1 EP15706012.0A EP15706012A EP3111258A1 EP 3111258 A1 EP3111258 A1 EP 3111258A1 EP 15706012 A EP15706012 A EP 15706012A EP 3111258 A1 EP3111258 A1 EP 3111258A1
Authority
EP
European Patent Office
Prior art keywords
container
lens
light
bottle
inspection device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP15706012.0A
Other languages
German (de)
English (en)
Inventor
Carsten Buchwald
Jürgen-Peter HERRMANN
Marius Michael Herrmann
Wolfgang Schorn
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.)
KHS GmbH
Original Assignee
KHS GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KHS GmbH filed Critical KHS GmbH
Publication of EP3111258A1 publication Critical patent/EP3111258A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/02—Diffusing elements; Afocal elements
    • G02B5/0273—Diffusing elements; Afocal elements characterized by the use
    • G02B5/0278—Diffusing elements; Afocal elements characterized by the use used in transmission
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/02—Diffusing elements; Afocal elements
    • G02B5/0205—Diffusing elements; Afocal elements characterised by the diffusing properties
    • G02B5/021—Diffusing elements; Afocal elements characterised by the diffusing properties the diffusion taking place at the element's surface, e.g. by means of surface roughening or microprismatic structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G01N21/9054—Inspection of sealing surface and container finish
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems
    • G02B27/12—Beam splitting or combining systems operating by refraction only
    • G02B27/123—The splitting element being a lens or a system of lenses, including arrays and surfaces with refractive power
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems
    • G02B27/12—Beam splitting or combining systems operating by refraction only
    • G02B27/126—The splitting element being a prism or prismatic array, including systems based on total internal reflection
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/02—Diffusing elements; Afocal elements
    • G02B5/0205—Diffusing elements; Afocal elements characterised by the diffusing properties
    • G02B5/0257—Diffusing elements; Afocal elements characterised by the diffusing properties creating an anisotropic diffusion characteristic, i.e. distributing output differently in two perpendicular axes
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/0001—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings specially adapted for lighting devices or systems
    • G02B6/0011—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings specially adapted for lighting devices or systems the light guides being planar or of plate-like form
    • G02B6/0033—Means for improving the coupling-out of light from the light guide
    • G02B6/005—Means for improving the coupling-out of light from the light guide provided by one optical element, or plurality thereof, placed on the light output side of the light guide
    • G02B6/0053—Prismatic sheet or layer; Brightness enhancement element, sheet or layer
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/845—Objects on a conveyor
    • G01N2021/8455—Objects on a conveyor and using position detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/061—Sources
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/062—LED's
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/063—Illuminating optical parts
    • G01N2201/0638—Refractive parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Definitions

  • the invention relates to a transmitted-light inspection device for detecting structures of a container, such as a bottle.
  • Inspection devices for detecting structures are known, for example, from DE 10 2004 040 164 A1 or also from DE 10 2008 053 876 A1. Both documents disclose curved trained, elaborately designed lighting elements that illuminate the bottle body. The light rays reflected by the bottle are detected by a camera and an evaluation of the light rays reflected by the camera takes place via a control unit.
  • the reflection patterns of, for example, embossed container wall regions deviate significantly from the usual reflection patterns of the unembossed container wall.
  • the curved formed lighting element requires a large space and thus complicates the use of the device, for example in the region of a transport star, with which the bottles are transported on a circular path.
  • centrifugal forces occur, by which the container is not held completely perpendicular to its central axis during transport in the transport star, but is deflected from its vertical position.
  • the interpretation of the reflected light rays detected by the camera is therefore often inaccurate, since there is no information about the exact position of the bottle at the moment of recording.
  • the invention is therefore based on the object to provide an improved inspection device for detecting structures of a container during its movement on a transport path.
  • the transmitted-light inspection device for detecting structures of a container, such as a beverage bottle, has an illumination unit arranged on one side of a transport path for the container for illuminating at least one container section and an optical unit arranged on a second side of the transport path for capturing a transmitted-light image of the container section. wherein a lens for aligning the outgoing light from the illumination unit is arranged on the illumination unit.
  • a structural shadow of the container is detected.
  • the light thrown from the illumination unit onto the container is absorbed to a significantly lesser extent by light-transmissive regions of the container than by regions of the container which are more opaque to light.
  • the outer edges of the container are perceived (captured) as a dark shadow with particular precision.
  • the bottleneck and in particular the mouth region of the bottle can be detected particularly clearly by the optical unit.
  • a possible tilt i. a deflection of the container from a vertical position, detectable.
  • the lens supports the optical unit in such a way that the light hits the container in a particularly aligned manner. In this way, for example, reflections can be avoided and the edge structures of the shadow image can be displayed particularly clearly (with a high sharpness), whereby the detection accuracy of the optical unit is markedly improved.
  • Under lenses are conventional lenses for aligning light beams or lens systems, ie to understand several individual lenses, which are connected in series.
  • the lens is a foil lens.
  • Such optical films serve for improved light scattering or brightness utilization (brightness enhancement film).
  • the film lens allows a particularly small installation space of the transmitted light inspection device, which also makes it possible, for example, to arrange the transmitted light inspection device integrally at a container treatment station, for example a filling installation, a labeling device or a bottle seam detection system.
  • the transmitted-light inspection device can alternatively also be arranged as a separate station in the course of the transport path of the container.
  • the orientation of the light beams is usually formed such that the light beams enter at different angles and all emerge perpendicularly (parallel) out of the lens surface, so that a body (eg container) is struck, for example, by exclusively vertically incident light beams and, if necessary, transilluminated.
  • the lens aligns the light beams in such a way that they emerge from the lens surface in two different spatial directions.
  • the angle between the light beams can thus be, for example, between 10 ° and 170 °, preferably 90 °.
  • the light rays are uniformly refracted by the lens so that the angle ⁇ between the lens surface and all light rays (regardless of the spatial direction) is equal in magnitude.
  • the film lens can be used in inverse orientation, so that the light beams do not emerge in parallel, but in the intended operation, as also in the examples, the light in two
  • the inverse arrangement of the foil lens thus ensures that the light is deflected in a spatial direction which is not perpendicular to the transport direction / distance and results in a dark field in front of the foil lens.
  • a film lens is used, which breaks or deflects the light in such a way that the beams are not deflected parallel to one another and not perpendicular to the transport path.
  • the transmitted-light inspection device is arranged in a container treatment device in such a way that the container or the container region is illuminated by light rays which emit in both different spatial directions, so that two transmitted-light images of the container are produced, which can be detected by the optical unit.
  • the transmitted-light images are identical in position.
  • D. h. That, for example, a perpendicular to the center axis of the container horizontally aligned (estuary) edge of the container in both transmitted light images also appears horizontally.
  • the container is deflected from its vertical position, also have the transmitted light images of the container on an inclination.
  • edges of the container arranged horizontally to the mid-perpendicular of the container in the transmitted-light image can also appear with an inclination.
  • an end edge of the orifice region in each transmitted light image appears inclined.
  • the inclination angle can be aligned, for example, mirror images of each other. Due to the inclination angle, which appears inclined in the two transmitted light images mouth areas of the container, the deflection of the container from its vertical position can be determined particularly easily.
  • the detection of the two transmitted light images of a container can take place via separately arranged optical units. For this purpose, any optical detection unit, such as a camera, have.
  • the optical unit has a detection unit, in particular a camera, and at least two beam deflection elements deflecting the light beams. This makes it possible to detect even light rays that emit in two different spatial directions by means of an optical unit.
  • the beam deflection elements are particularly preferably designed as deflection mirrors and / or deflection prisms.
  • the arrangement of the radiation deflection elements can be such that the light beams emitting in two spatial directions, starting from the illumination unit, illuminate the container, strike the deflection mirrors, then deflect them onto a deflection prism and into the camera from the deflection prism.
  • an evaluation unit is arranged according to a development of the invention, which compares a desired position and / or a nominal mark of the container with the actual position and / or actual marking detected by the optical unit.
  • the orientation of the container to its vertical central axis can be determined.
  • the positions of markings or a label on the container can be determined by the transmitted image of the mark and / or the label, possibly taking into account the deflection of the container from its vertical position, compared with a desired position / target mark.
  • the evaluation unit is advantageously supplemented by a control unit which moves the container into its desired position or also discharges the container from the container stream.
  • a bottle seam detection system is arranged with a second optical system for detecting a (container - /) bottle seam.
  • the second optical system can be designed as a camera and vertically above or placed under the bottle so that it can create a picture of the bottom of the bottle.
  • the inventive transmitted light inspection device can be arranged with a foil lens on a container transport system or directly on or integral with a processing station of the container treatment system.
  • the transmitted light inspection device can be arranged in the region of a transport star, since the foil lens allows a particularly small installation space of the transmitted light inspection device.
  • FIG. 1 and 2 schematically a perspective view of a possible Embodiment of the transmitted light inspection device
  • FIG. 3 is a schematic plan view of the transmitted light inspection device of FIGS. 1 and 2; FIG.
  • FIGS. 1-3 are schematic cross-sectional views of a detail of the illumination unit and a foil lens of FIGS. 1-3.
  • the Englishanderinspektionsvor- device 1 has a lighting unit 2, which is provided as a light-emitting element and here consists of numerous fluorescent lamps (not shown). Ideally, a plurality of LEDs (LED panel or plate) or the like may alternatively be provided,
  • the fluorescent lamps are covered with a transparent disk or plate, such as a glass or plastic disk, on the outside of which a lens 10 designed as a film lens is arranged.
  • a transparent disk or plate such as a glass or plastic disk
  • a lens 10 designed as a film lens is arranged.
  • the foil lens is designed in such a way that it aligns the light rays 11 which emanate from the fluorescent lamps and penetrate into the foil lens such that the light beams 12 emerge from the foil lens at an angle of 45 ° to the lens surface in two spatial directions A, B.
  • a container 3 here a transparent bottle, is arranged in a detection position.
  • the bottle is arranged in the transport star and is transported by the latter on a circular transport path (see FIG. 3) through the processing station.
  • the lighting unit 2 is arranged on a first side 13 of the transport path C, D, E.
  • the optical unit 4 has a detector 9 designed as a camera 9. sung unit and three beam deflection elements. As Strahlumlenkungs- elements are two, on a support body 5 spaced flat deflecting mirror 6 and a centrally disposed between the deflecting mirrors 6 deflecting prism 8 is arranged.
  • the deflecting prism 8 is arranged vertically above the camera 9.
  • the support body 5 of the optical unit 4 is arranged parallel to the illumination unit 2, wherein the deflection prism 8 and arranged in the detection position bottle 3 are aligned perpendicular to the foil lens. That is, the deflecting prism 8 and the bottle 3 in the detection position are arranged along a straight line perpendicular to the film lens.
  • the deflection mirrors 6 are also fastened to the support body 5 so as to be adjustably arranged support elements 12.
  • the support elements 12 are arranged slidably adjustable along a longitudinal axis of the support body 5 and can thus, depending on the angle ⁇ of the light beams 1 1, are adjusted.
  • the deflection mirror 6 are attached.
  • the support members 12 may further form the storage for the deflection mirror 6 and the carrier of the deflection mirror. In this storage, which is not shown here, the deflection mirror 6 are rotatable about its vertical longitudinal axis.
  • the camera 9 can also be slidably mounted or arranged so as to be displaceable vertically, so that overall an extremely fast and versatile adjustable inspection system is provided which ensures short changeover and adjustment times.
  • one or more motor drives can be provided in order in particular to cause the horizontal adjustment of the support elements 12 (if necessary).
  • FIG. 3 shows the transmitted-light inspection device 1 from FIGS. 1 and 2.
  • the lighting body 2 is shown with the lens 10 embodied as a film lens.
  • the light rays 1 1 are emitted obliquely at an angle ⁇ of approximately 45 ° to the lens surface 10a in the direction of the deflection mirror 6 and thus in two different spatial directions A, B.
  • the light rays 1 1 the container 3, in this case the mouth region 3 a of the container 3.
  • the container 3 is located at the time of transillumination in a detection position on a transport path C, D, E. Here it is located on the circular transport path C, which leads around the optical unit 4. Alternatively, the container 3 can also be located on the circular transport path D around the illumination unit 2 or on the linearly extending transport path E.
  • the lens 10 shows a cross section through the lighting body 2 and the lens 10.
  • the lens 10 and the lighting body 2 are here shown at a distance from one another.
  • the lens 10 may also be arranged directly adjacent to the lighting fixture 2.
  • the lens 10 is designed as a foil lens and constructed in two layers.
  • the light beams 1 1 emitting from the illumination unit 2 have a diffuse distribution. They penetrate into the film lens and, as they pass through the two lens layers, are aligned such that they emerge exclusively in an angle of 45 ° to the lens surface 10a in two different spatial directions A, B. The exiting, radiating in the different spatial directions light rays 1 1 thus have an angle of 90 ° to each other.
  • the bottle 3 is transported for example by the transport star on the circular transport path C.
  • a transmitted light image is produced by the camera 9 from the mouth region 3 a.
  • the camera 9 detects the light rays 1 1, which emit from the lighting fixture 2 through the film lens 10 in two oblique spatial directions A, B at an angle of 45 ° to the deflecting mirrors 6. They examine the mouth region 3a of the bottle 3 and become different depending on, for example, the thickness of the container material strongly absorbed. For example, the shadow images of the mouth region 3a imaged on the deflection mirror 6 appear particularly dark and with clear outlines.
  • the camera 9 captures both shadow images and forwards them, for example, in the form of a data signal to an evaluation unit (not shown here), with which a sol st adjustment can be carried out.
  • the orientation of the film lens 2 in an advantageous embodiment is such that the beam path takes place without vertical deflection at least up to the deflecting mirrors 6.
  • Idealerwiese the deflection mirror 6 and the deflecting prism 8 are arranged such that the beam path between the film lens 2, deflection mirror 6 and deflecting prism 8 undergoes no vertical deflection.
  • the container 3 Since the container 3 is located on a circular path, it is slightly deflected relative to its vertical longitudinal axis. Because of this deflection of the longitudinal axis to a large extent horizontally arranged mouth region 3a of the bottle 3 and the oblique illumination of the mouth region 3a with radiating in two different directions A, B light rays 1 1, the two transmitted light images of the mouth region 3a have an inclination.
  • the evaluation unit evaluates the transmitted light images transmitted by the camera 9 and determines the degree of deflection of the bottle 3 by means of the two angles of inclination of the mouth region 3a.
  • the transmitted light image can also be used to determine their position on the bottle 3.
  • these transmitted light images can also be used to determine the deflection of the bottle 3.
  • a bottle-seam recognition system which determines the position of the bottle seam on the bottle and determines the exact actual position of the bottle seam on the bottle 3 by means of balancing with the deflection of the bottle 3 determined by the transmitted-light inspection device.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Quality & Reliability (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Details Of Rigid Or Semi-Rigid Containers (AREA)
  • Stroboscope Apparatuses (AREA)

Abstract

L'invention concerne un dispositif d'inspection à lumière transmise servant à détecter des structures d'un récipient, tel qu'une bouteille. Ledit dispositif comprend une unité d'éclairage disposée sur un premier côté d'un trajet de transport pour le récipient, servant à éclairer au moins un tronçon de récipient et une unité optique disposée sur un deuxième côté du trajet de transport, servant à détecter une illustration en lumière transmise du tronçon de récipient. L'invention vise à proposer un dispositif d'inspection amélioré servant à détecter des structures d'un récipient au cours de son déplacement sur une voie de transport. A cet effet, une lentille servant à orienter les rayons lumineux partant de l'unité d'éclairage est disposée sur l'unité d'éclairage.
EP15706012.0A 2014-02-25 2015-02-20 Dispositif d'inspection comprenant une lentille pelliculaire inverse Ceased EP3111258A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014102450.8A DE102014102450A1 (de) 2014-02-25 2014-02-25 Inspektionsvorrichtung mit inverser Folienlinse
PCT/EP2015/053656 WO2015128264A1 (fr) 2014-02-25 2015-02-20 Dispositif d'inspection comprenant une lentille pelliculaire inverse

Publications (1)

Publication Number Publication Date
EP3111258A1 true EP3111258A1 (fr) 2017-01-04

Family

ID=52574164

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15706012.0A Ceased EP3111258A1 (fr) 2014-02-25 2015-02-20 Dispositif d'inspection comprenant une lentille pelliculaire inverse

Country Status (6)

Country Link
US (1) US20170131216A1 (fr)
EP (1) EP3111258A1 (fr)
CN (1) CN106104315B (fr)
DE (1) DE102014102450A1 (fr)
RU (1) RU2649612C2 (fr)
WO (1) WO2015128264A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUA20162898A1 (it) * 2016-04-26 2017-10-26 Sacmi Macchina etichettatrice di contenitori per liquidi con dispositivo di ispezione ottica

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CN106104315A (zh) 2016-11-09
US20170131216A1 (en) 2017-05-11
RU2649612C2 (ru) 2018-04-04
CN106104315B (zh) 2019-04-16
WO2015128264A1 (fr) 2015-09-03
RU2016137826A3 (fr) 2018-03-29
DE102014102450A1 (de) 2015-08-27
RU2016137826A (ru) 2018-03-29

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