EP3132280A1 - Procédé permettant d'identifier un objet dans une zone proche d'un capteur ultrasonore - Google Patents

Procédé permettant d'identifier un objet dans une zone proche d'un capteur ultrasonore

Info

Publication number
EP3132280A1
EP3132280A1 EP15705567.4A EP15705567A EP3132280A1 EP 3132280 A1 EP3132280 A1 EP 3132280A1 EP 15705567 A EP15705567 A EP 15705567A EP 3132280 A1 EP3132280 A1 EP 3132280A1
Authority
EP
European Patent Office
Prior art keywords
signal
ultrasonic sensor
deviation
ausschwingsignal
vicinity
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
EP15705567.4A
Other languages
German (de)
English (en)
Inventor
Andras Roka
Michael Schumann
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3132280A1 publication Critical patent/EP3132280A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the present invention relates to a method for detecting an object in a near zone of an ultrasonic sensor.
  • Ultrasonic-based measuring systems are used to measure a distance to an object located in front of an ultrasonic sensor.
  • the ultrasonic sensors used are based on the pulse / echo method. In this method, the ultrasonic sensor emits an ultrasonic pulse and measures the reflection of the ultrasonic pulse (echo) caused by an object. The distance between the ultrasonic sensor and the object is calculated using a measured echo time and the speed of sound.
  • the ultrasonic sensor acts as transmitter and receiver.
  • Resonant converter used which after the excitation with a transmission signal has a ringing. Only when the ringing of the sensor element falls below a certain level and an echo signal is similar to or greater than the ringing, an echo can be detected. Since the received signals at the beginning of the ringing have levels of up to 100V and thus significantly larger than the received signals to be detected (about 1 mV), the receiving chain of amplifier and, if present, A D converter by the high level of the swinging overdriven. The result is that no echoes can be localized in this time range. This is called a dead time. This also applies to higher-quality filter algorithms, which reduce the dead time but can not eliminate it. The dead time currently leads to a minimum distance of about 10-15cm, below which a measurement can not be made. Objects below this minimum distance will not be detected.
  • Objects in front of an ultrasonic transducer generate echoes that point to a
  • Sensor membrane of the ultrasonic transducer act. Detection and detection as an echo is characterized in measuring operation in that signal peaks above a certain application-specific threshold are detected in the received signal. The received signal is with corresponding
  • Filter structures e.g. an analog bandpass filter, filtered.
  • the following states can occur: a) If the echoes hit the sensor membrane after it has completely swung out, the echo and decay can be easily separated and the echo can be detected well. This applies regardless of the filtering. b) If the echoes hit the sensor membrane after it has almost completely swung out and a part of the echo (namely the trailing edge) is still recognizable as an extended ringing compared to the decay curve, then the echo can barely be detected.
  • the range at which this is just possible is defined as the minimum measuring range. The minimum
  • Measuring range is temperature, component and object dependent and is usually between 10-15cm.
  • the prerequisite for this type of signal analysis is only weak filtering of the received signal and, consequently, a detection based on the envelope of the received signal.
  • the filter output of a matched filter applied to the received signal can also be used for detection.
  • the filter output is characterized in that signal peaks result in high agreement of transmit and receive signal. A valid echo signal is present when the signal tip of the
  • Echoes from the signal peaks of ringing
  • Ringing peak can be distinguished by the absolute peak value.
  • the ringing peak and echo peak merge for objects in the near range.
  • the amplitude of the echo peak decreases, so that as a result the echo peak disappears. That's because the
  • Suffix amplitudes in the received signal are significantly greater than those of the echo and a differentiation by the matched filter no longer is possible.
  • the minimum range for this type of signal analysis is also about 10-15cm. c) Meet the echoes on the sensor membrane while they are still there
  • Amplifier chain saturated, then the echoes can not be detected. The echo disappears, so to speak, in the ringing.
  • a conventional ultrasound system is described in DE10103936A1.
  • an ultrasonic wave reflected by an obstacle is received by an ultrasonic oscillator to detect an obstacle.
  • Transmitting frequency of the ultrasonic wave is adjusted so that it is different from the frequency of Abklingschwingung or Nachschwingung.
  • the inventive method for detecting an object in a vicinity of an ultrasonic sensor comprises the steps of exciting a transducer of the ultrasonic sensor by a transmission signal, detecting a Ausschwingsignals that describes the decay of the transducer after the excitation of the transducer, determining a deviation between the Ausschwingsignal and a reference Ausschwingsignal, and detecting the presence of an object in the vicinity of the ultrasonic sensor based on the determined deviation.
  • a near zone is an area in front of the transducer of the ultrasonic sensor, in which an exact measurement by the pulse / echo method is not possible because an echo of the transmission signal is superimposed by the Ausschwingssignal.
  • the method is carried out a number of times and the reference decoupling signal, in particular in the case of a present movement of the ultrasound sensor, corresponds to an earlier decoupling signal which was detected during a preceding passage of the method. This minimizes the influence of temperature changes, since the reference decay signal is automatically adjusted to a current temperature of the transducer. Thus, a particularly reliable detection of
  • the decoupling signal corresponds to when no object in the vicinity of the
  • Ultrasonic sensor is located. Thus, a state in which no object is in the vicinity of the ultrasonic sensor is clearly defined, and deviations from this state can be detected particularly precisely.
  • a movement of the ultrasound sensor is performed during the excitation of the sound transducer and / or the detection of the decay signal. Such a movement enhances the deviation if an object is in the vicinity of the ultrasonic sensor, thereby increasing sensitivity in determining the deviation.
  • the turn-off signal is a signal that has been filtered by a matched filter, the filter being adapted to the transmit signal. This is advantageous because such a signal is already present in many ultrasonic sensors and such a signal enables a particularly simple and accurate determination of the deviation.
  • the time required to perform the method is minimized. Disturbances caused by the excitation of the sound transducer are excluded. In particular, an object in the vicinity of the ultrasonic sensor is detected as present if the deviation is above a predefined value. In this way, the detection of the presence of an object can be solved with a very low cost. In addition, therefore, a simple adaptation of a sensitivity in detecting the presence of an object allows, which in turn error detection can be avoided.
  • the method is performed several times and an object in the vicinity of the ultrasonic sensor is detected as present if the deviation does not correspond to a deviation determined at an earlier point in time. In this way unwanted influences by environmental factors, e.g. a change in the temperature of the transducer, which determines the Ausschwingfrequenz compensated.
  • Deviation was caused by an environmental factor or by an object in the vicinity of the ultrasonic sensor.
  • the steps of exciting the acoustic transducer, detecting a decay signal, and determining a deviation between the decay signal and a reference decay signal are performed several times, wherein the frequency of the transmission signal between two
  • Near range of the ultrasonic sensor is detected as present when the certain deviations together indicate a positive deviation or together to a negative deviation of the Ausschwingsignals of the reference Ausschwingsignal.
  • a common positive deviation exists if the decay signal is greater than the reference decay signal both before and after the frequency is varied.
  • Deviation was caused by an environmental factor or by an object in the vicinity of the ultrasonic sensor.
  • FIG. 1 shows a flow chart of the method according to the invention in a first embodiment
  • Figure 2 is a diagram showing an exemplary Ausschwingsignal and an exemplary reference Ausschwingsignal according to the first embodiment of the invention.
  • FIG. 3 is an overview of some exemplary waveforms for
  • FIG. 1 shows a flow diagram of the method according to the invention for
  • the method comprises a first method step S1, a second method step S2, a third method step S3, and a fourth method step S4.
  • the method is carried out starting with the first method step S1, when a distance measurement by the
  • Ultrasonic sensor is requested. The procedure is in one
  • the transmission signal in this first embodiment is a high-frequency AC signal having a constant frequency and a constant maximum amplitude swing.
  • the transmission signal is applied to the sound transducer of the ultrasonic sensor 1 during a first time interval t1, thereby exciting it to oscillate, thereby emitting an acoustic signal from the sound transducer. After the expiration of the first time interval t1, the transmission signal ends, or the transmission signal is no longer applied to the sound transducer.
  • the transmission signal has a varying frequency and amplitude.
  • the transmission signal could be an amplitude-modulated sliding sine.
  • Process step S2 executed. This is a capture of the
  • Ausschwingsignals 1 which describes the decay of the transducer after the excitation of the transducer. Since the sound transducer by the excitation carried out in the first method step S1 in a Vibration state is emitted from this caused by the vibration of an output signal. The vibration of this
  • Output signal is essentially determined by the natural frequency of the transducer.
  • the output signal is also affected by acoustic echo signals caused by reflections of the acoustic signal on objects in front of the object
  • the output signal is applied to the input of a matched filter and is filtered by it.
  • the matched filter is adapted to the transmission signal.
  • the decay signal 1 is detected.
  • the Ausschwingsignal 1 is thus a signal that by a
  • the decay signal 1 of the matched filter may be the pure filter output xcorr, i. the convolution integral of the input signal of the filter with the
  • the correlation coefficient R xcorr /
  • ) where
  • a mathematical combination of the options described above may be used.
  • the decoupling signal 1 is stored in order to be used as a previous decay signal in a later run of the method.
  • step S2 becomes the third
  • Process step S3 executed. This is a determination of a deviation between the Ausschwingsignal and a reference Ausschwingsignal 2.
  • the reference Ausschwingsignal 2 corresponds to a previous Ausschwingsignal which was detected in a previous run of the method.
  • other advantageous signals can also be used as the reference decoupling signal 2. It is the use of an earlier
  • Method has been detected, in particular advantageous when there is a movement of the ultrasonic sensor.
  • a movement of a vehicle can be detected, on which the ultrasonic sensor is arranged, and are closed by this on a movement of the ultrasonic sensor.
  • An earlier pause signal is always as Reference turn-off signal 2 used when a movement of the
  • Ultrasonic sensor is present.
  • the deviation is determined in the first embodiment by taking a difference between the decay signal 1 and the reference signal.
  • Ausschwingsignal 2 is formed.
  • the decoupling signal 1 and the earlier decay signal are synchronized in time to the inputs of a
  • step S3 becomes the fourth
  • Process step S4 executed. In this detection of the presence of an object in the vicinity of the ultrasonic sensor is based on the determined deviation and in this first embodiment, thus based on the time course of the differential voltage. In this first
  • an object in the vicinity of the ultrasonic sensor is detected as present when the deviation and thus the differential voltage in its time course is not constant, ie fluctuates.
  • an upper limit value and a lower limit value are defined, wherein the difference voltage runs over the entire time course between the upper limit value and the lower limit value, if no object is in the vicinity of the
  • Ultrasonic sensor is. Is there an object in the vicinity of the
  • Difference voltage the lower limit, so this is not constant, and it is detected an object in the vicinity of the ultrasonic sensor as present. If the vehicle has been moved and the deviation fluctuates sharply between the passes, the presence of an object is detected. In contrast, temperature-related changes in the deviation are rather sluggish and thus less strong. Subsequent to the fourth method step S4, the method branches back to the first method step S1 and is carried out again.
  • a second embodiment of the method essentially corresponds to the first embodiment. However, in the third method step S3 occurs
  • a deviation between the Ausschwingsignal and a reference Ausschwingsignal 2 which corresponds to the Ausschwingsignal 1 when no object is in the vicinity of the ultrasonic sensor.
  • a reference decoupling signal 2 could be defined, for example, by recording the decay signal 1 of the ultrasound sensor after a manual confirmation that no object is in the vicinity of the ultrasound sensor.
  • the deviation is determined in the second embodiment by taking a difference between the decay signal 1 and the reference signal.
  • Ausschwingsignal 2 is formed.
  • the decoupling signal 1 and the reference decay signal 2 are synchronized with the inputs of a subtractor.
  • An output voltage of the subtractor then gives a time profile of a differential voltage between the
  • FIG. 2 shows an exemplary decoupling signal 1 and an exemplary reference decoupling signal 2 according to the second embodiment of the invention
  • the solid line shows the reference decay signal 2.
  • the dotted line shows the decay signal 1 when an object is 4cm in front of the ultrasonic sensor.
  • the decay signal 1 and the reference decay signal 2 are shown in their intensity over a time course. The time course starts here at 0ms at the same time as the
  • the signal peak at approx. 1, 7ms is caused by the transmission signal, which is also applied to the matched filter during the excitation of the sound transducer.
  • the signal peak at approx. 2.3ms to 2.5ms corresponds to the ringing of the transducer (ringing peak). It can be seen that up to a time at about 2.3ms a congruent
  • step S3 becomes the fourth
  • Process step S4 executed. In this detection of the presence of an object in the vicinity of the ultrasonic sensor is based on the determined deviation and in this first embodiment, thus based on the time course of the differential voltage. In this first
  • an object in the vicinity of the ultrasonic sensor is detected as present when the deviation and thus the difference in voltage over time lies above a predefined value.
  • a maximum value of the differential voltage is determined from the time profile of the differential voltage. This maximum value of the differential voltage is compared with the predefined value.
  • the predefined value is a voltage value which is preferably selected such that an object is only recognized as present when the maximum value of the difference voltage is above a value which is also achieved by a fluctuation of the differential voltage due to environmental factors. The presence of an object in the vicinity of the ultrasonic sensor is thus detected when an absolute value of the deviation is above a predefined threshold.
  • the reference decoupling signal 2 in this second embodiment is a predefined voltage curve, it is also possible, as can also be seen from FIG. 2, to assume a deviation as given whenever the decay signal 1 itself exceeds a predefined time range t s Signal threshold S, or to determine a magnitude of a deviation by how far the Ausschwingsignal 1 on the
  • Signal threshold S is located. The presence of an object in the vicinity of the
  • Ausschwingsignals 1 in a predefined time interval t s above a predefined signal threshold S, so the filter result is so high that it can not be generated by a temperature fluctuation.
  • other criteria are selected on the basis of which a presence of an object in the vicinity of the Ultrasonic sensor is detected. Another criterion is a comparison of the deviation with a deviation at an earlier date,
  • the deviation in the third method step S3 is determined by forming an integral over a difference between the decoupling signal 1 and the reference decompression signal 2.
  • the Ausschwingsignal 1 is integrated. This is done by the Ausschwingssignal 1 is used to charge a first capacitor. The state of charge of the first capacitor and thus a capacitor voltage between the poles of the first capacitor corresponds to an integral over the decay signal. 1 Further, the reference Ausschwingsignal 2 is integrated.
  • the analog signal processing described here in particular the integration of the Ausschwingsignals 1, also be done by a digital signal processing. Since the capacitor voltage between the poles of the first capacitor corresponds to an integral over the Ausschwingsignal 1, and the
  • Reference voltage corresponds to an integral on the reference Ausschwingsignal 2, corresponds to a voltage difference between the
  • Capacitor voltage and the reference voltage to an integral over a difference between the decay signal 1 and the reference voltage.
  • Ausschwingsignal 2 Such a differential voltage can be detected for example by means of a subtractor.
  • An output voltage of the subtractor corresponds in this second embodiment, the deviation between the Ausschwingssignal 1 and the reference Ausschwingsignal 2.
  • Transmission signal is no longer applied to the transducer is applied to the first capacitor and the decay signal 1 after a third time interval t3 is separated from the first capacitor.
  • the second time interval t2 and the third time interval t3 are selected such that the integral is formed for a time range around a ringing peak. Since only a part of the decoupling signal 1 is thus integrated, the reference voltage is adapted accordingly and now describes an integral over the reference decay signal 2 in a preferred measuring interval t4.
  • an integral of a signal at the output of the matched filter is detected and tracked in the time domain about the ringing peak.
  • the decay behavior of the sound transducer can also change over the temperature. That is because the
  • Deviation can lead.
  • the following embodiments are particularly resistant to temperature changes.
  • a fourth embodiment of the invention essentially corresponds to the first, second or third embodiment. During a movement of the
  • Ultrasonic sensor with respect to its environment is to be expected with strong fluctuations of the deviation when an object in the vicinity of the
  • the ultrasonic sensor is moved during the excitation of the sound transducer and / or the detection of the decay signal. This can be done, for example, by a vehicle on which the ultrasonic sensor is mounted, is moved, which can be triggered in a vehicle with automatic longitudinal guidance (such as during automatic parking / parking), for example, by a control signal to a vehicle control. This is done in particular when the vehicle is in a static state, such as after starting the vehicle or in a parking situation. Thus, the vehicle is deliberately moved infinitely to generate fluctuation of the deviation.
  • a fifth embodiment of the invention substantially corresponds to the first to fourth embodiments.
  • the first method step S1, the second method step S2 and the third method step are performed several times. For this the method jumps after the first execution of the third one
  • Method step S3 back to the first method step S1. This is then carried out followed by the second to fourth method steps S2-S4.
  • a first pass of the first to third method steps S1-S3 follows, followed by a second pass of the first to third
  • Method step S1-S3 and the fourth method step S4. In this case, the frequency of the transmission signal between two versions of this
  • Passage of the first to third method step S1-S3 varies.
  • the matched filter is adjusted to the transmit signal with varied frequency.
  • Unswitch signal as many different transmission signals is evaluated. It is particularly advantageous when the transmission signals are in their End frequency clearly distinguish, as a temperature-related
  • a sixth embodiment of the invention substantially corresponds to the fifth embodiment.
  • modulation of the transmit signal is varied between the first pass and before the second pass.
  • the presence of an object in the vicinity of the ultrasound sensor is detected when the deviation determined in the first pass and the deviation determined in the second pass deviate to a different extent from the reference decoupling signal.
  • Ultrasonic sensors would be calculated identical deviations. If an object is in the vicinity of the ultrasonic sensor, the ultrasonic sensor, the ultrasonic sensor
  • Echo signature with the selected transmission form so that a different deviation is determined by interference of echo signal and output signal.
  • an instantaneous frequency of the output signal is used instead of the decay signal generated by a matched filter. This could be determined by different methods, e.g. by means of a zero-crossing determination or from a calculation of the instantaneous phase.
  • FIG. 3 shows some exemplary signal curves for different ones
  • a first diagram 1 1 shows the time course of the
  • Output signal without an object in the vicinity of the ultrasonic sensor and a second diagram 12 the time course of the output signal with an object 30mm in front of the ultrasonic sensor and thus in the vicinity of the ultrasonic sensor.
  • the output signal which is applied to the sound transducer corresponds to the transmission signal in a first time interval t1.
  • a decay of the sound transducer takes place. So there is no excitation of the transducer.
  • the output signal is in the second
  • a third diagram 13 shows the frequency curve 4 of the output signal without an object in the vicinity of the ultrasonic sensor and the frequency curve 5 of the output signal with an object 30 mm in front of the ultrasonic sensor.
  • the two frequency curves 4, 5 coincide in the first time interval t1.
  • a fourth diagram 14 shows the signal at the output of the matched filter without an object in the vicinity of the ultrasonic sensor and thus the reference Ausschwingsignal 2 of the first embodiment of the invention.
  • the fourth diagram 14 shows the signal at the output of the matched filter with an object 30 mm in front of the ultrasonic sensor and thus the decay signal 1 of the first embodiment of the invention.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé permettant d'identifier un objet dans une zone proche d'un capteur ultrasonore. Le procédé comprend les étapes suivantes : l'excitation d'un transducteur acoustique du capteur ultrasonore par un signal d'émission ; la détection d'un signal de vibration (1) qui décrit le comportement en vibration du transducteur acoustique après l'excitation du transducteur acoustique ; la détermination d'un écart entre le signal de vibration (1) et un signal de vibration de référence (2) ; et l'identification de la présence d'un objet dans une zone proche du capteur ultrasonore sur la base de l'écart déterminé. Il est ainsi possible d'identifier fiablement des objets dans une zone proche du capteur ultrasonore et au-dessous d'une plage de mesure du capteur ultrasonore. Une zone proche est en l'occurrence une zone située devant le transducteur acoustique du capteur ultrasonore, dans laquelle une mesure exacte n'est pas possible par un procédé impulsion/écho du fait qu'un écho du signal d'émission est superposé par le signal de vibration.
EP15705567.4A 2014-04-14 2015-02-12 Procédé permettant d'identifier un objet dans une zone proche d'un capteur ultrasonore Ceased EP3132280A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014207129.1A DE102014207129A1 (de) 2014-04-14 2014-04-14 Verfahren zum Erkennen eines Objektes in einem Nahbereich eines Ultraschallsensors
PCT/EP2015/052999 WO2015158443A1 (fr) 2014-04-14 2015-02-12 Procédé permettant d'identifier un objet dans une zone proche d'un capteur ultrasonore

Publications (1)

Publication Number Publication Date
EP3132280A1 true EP3132280A1 (fr) 2017-02-22

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EP (1) EP3132280A1 (fr)
KR (1) KR102289589B1 (fr)
CN (1) CN106164700B (fr)
DE (1) DE102014207129A1 (fr)
WO (1) WO2015158443A1 (fr)

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CN106164700A (zh) 2016-11-23
CN106164700B (zh) 2019-11-26
WO2015158443A1 (fr) 2015-10-22
DE102014207129A1 (de) 2015-10-15
KR20160145086A (ko) 2016-12-19
KR102289589B1 (ko) 2021-08-17

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