EP3461147A1 - Procédé de fonctionnement d'un appareil auditif - Google Patents

Procédé de fonctionnement d'un appareil auditif Download PDF

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Publication number
EP3461147A1
EP3461147A1 EP18176654.4A EP18176654A EP3461147A1 EP 3461147 A1 EP3461147 A1 EP 3461147A1 EP 18176654 A EP18176654 A EP 18176654A EP 3461147 A1 EP3461147 A1 EP 3461147A1
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EP
European Patent Office
Prior art keywords
signal
angle
directional
input
attenuation
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Granted
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EP18176654.4A
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German (de)
English (en)
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EP3461147B1 (fr
Inventor
Eghart Fischer
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Sivantos Pte Ltd
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Sivantos Pte Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R25/00—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception
    • H04R25/40—Arrangements for obtaining a desired directivity characteristic
    • H04R25/407—Circuits for combining signals of a plurality of transducers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R25/00—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R25/00—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception
    • H04R25/40—Arrangements for obtaining a desired directivity characteristic
    • H04R25/405—Arrangements for obtaining a desired directivity characteristic by combining a plurality of transducers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R25/00—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception
    • H04R25/45—Prevention of acoustic reaction, i.e. acoustic oscillatory feedback
    • H04R25/453—Prevention of acoustic reaction, i.e. acoustic oscillatory feedback electronically
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R25/00—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception
    • H04R25/50—Customised settings for obtaining desired overall acoustical characteristics
    • H04R25/505—Customised settings for obtaining desired overall acoustical characteristics using digital signal processing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R25/00—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception
    • H04R25/55—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception using an external connection, either wireless or wired
    • H04R25/552—Binaural
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2225/00—Details of deaf aids covered by H04R25/00, not provided for in any of its subgroups
    • H04R2225/43—Signal processing in hearing aids to enhance the speech intelligibility
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2225/00—Details of deaf aids covered by H04R25/00, not provided for in any of its subgroups
    • H04R2225/49—Reducing the effects of electromagnetic noise on the functioning of hearing aids, by, e.g. shielding, signal processing adaptation, selective (de)activation of electronic parts in hearing aid
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
    • H04R2430/21—Direction finding using differential microphone array [DMA]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
    • H04R2430/23—Direction finding using a sum-delay beam-former

Definitions

  • the invention relates to a method for operating a hearing device, wherein a first input signal is generated by a first input transducer from a sound signal, wherein from the sound signal from a second input transducer, a second input signal is generated, wherein based on the first input signal, the second input signal amplification Directional signal is formed, and wherein an output signal is generated from the gain directional signal.
  • a sound signal of the environment is converted by one or more input transducers into corresponding electrical signals, amplified to correct a hearing loss of the user of the hearing aid, inter alia, frequency band, and the amplified signal thus converted by an output transducer into an output sound signal, which to the ear of the user is output.
  • Two principal tasks of the hearing aid here are to present the user with a sound image that is tailored to his individual, caused by the hearing loss requirements, and in which potential useful signals are masked to the least possible extent by noise, and thus the best possible signal to noise ratio (SNR) is present.
  • SNR signal to noise ratio
  • a hearing aid with at least two input transducers this can be achieved by a - possibly frequency bandwise - application of directional microphone to the corresponding input signals.
  • useful signals such as speech or music usually arrive from a clearly defined direction at the user, whereas many types of noise or noise from a relatively wide range of angles come, and thus no clear direction for a sound source can be assigned.
  • the invention is therefore based on the object of specifying a method for operating a hearing device, which is as realistic as possible spatial hearing allowed, and thereby offer the at least principal possibility to consider user-specific anatomical features for the spatial hearing with.
  • a method for operating a hearing aid wherein from a first input transducer from a sound signal, a first input signal is generated, wherein from a sound signal from a second input transducer, a second input signal is generated, wherein a first angle and an angular range specified in which frequency-band-wise an attenuation-direction signal is formed on the basis of the first input signal, the second input signal and the first angle, which has a relative attenuation at least for a second angle in the angular range around the first angle, and an overlay parameter is thereby determined is formed of the first input signal and the second input signal and the overlay parameter and / or the second angle, a gain direction signal having a relative gain for the second angle, wherein from the attenuation R an angularly directed signal is generated, and wherein on the basis of the angularly emphasized direction signal, an output signal is generated.
  • the first input signal and the second input signal each have an omnidirectional directivity.
  • the formation of the attenuation directing signal on the basis of the first input signal and the second input signal can in this case in particular be such that first of the first input signal and the second input signal a plurality of intermediate signals each having a non-trivial directional characteristic are formed, and then from these intermediate signals in dependence of the first angle, the attenuation directivity signal is formed, for example by linear superposition.
  • the same intermediate signals can also be used in particular for the generation of the gain directing signal (in a corresponding dependence of the overlay parameter and / or the second angle).
  • the attenuation directivity signal directly by a time-delayed superposition of the first input signal with the second input signal. Comparable is also possible for the gain directional signal.
  • the specification of the first angle and the angular range can also be implicit, ie, for example by parameters, provided that the corresponding parameters uniquely determine the first angle or the angular range.
  • the first angle may be implicitly specified by a provisional overlay parameter a0, which corresponds to a sensitivity minimum for the attenuation directivity signal at the first angle.
  • the final overlay parameter a which in particular corresponds to a sensitivity minimum at the second angle, can then take place by a variation, for example in the form of a minimization of the signal level, of the overlay parameter over a range ⁇ a, which exactly corresponds to the angular range.
  • a relative attenuation for the attenuation directivity signal at the second angle is to be understood in particular that at this angle the sensitivity assumes a substantially lower value than the global maximum of the directional characteristic, and in particular has a local minimum.
  • the condition of the local minimum can also be relaxed so that it can be found at least in the angular range around the first angle, provided that the sensitivity increases monotonically over the entire angular range from the minimum, and assumes significantly lower values than the global maximum.
  • the relative gain of the gain directivity signal at the second angle is to be understood here in particular as a sensitivity which is considerably increased compared to the global minimum value, and in particular as an absence of local minima of the sensitivity in the immediate vicinity of the second angle, that is, for example over the predetermined angular range time.
  • the predetermined angular range can in this case in particular an expansion up to +/- 15 °, preferably up to +/- 10 °.
  • the relative attenuation in the attenuation directivity signal can be understood in particular as meaning that the attenuation directivity signal has a significantly lower sensitivity over a solid angle range which is considerably greater than the predefined angular range, that is, for example in a quadrant as the maximum value in the quadrant in which the second angle is located.
  • the relative gain by the gain directional signal may then be understood in this context to mean that the gain directional signal at the second angle has a much greater sensitivity than the minimum value of the sensitivity for the quadrature gain directional signal.
  • the angularly emphasized directional signal can now be designed so that it itself has a relative gain due to the contributions of the gain directional signal in the direction of the second angle.
  • the attenuation directivity signal or its contributions in the angularly emphasized directional signal provides an additional degree of freedom in order to be able to set a strength of the directivity of the angle-emphasized directional signal with respect to the second angle.
  • the proportion of the attenuation -Richtsignals be adjusted at the angularly emphasized directional signal, the proportion of sound signals whose source is outside the second angle, without this adjustment would occur at the second angle, a significant change that would require a readjustment of the gain-direction signal.
  • the above-mentioned method steps are preferably carried out frequency-bandwise in each case, and the angle-sensitive directional signal is preferably adapted in frequency band fashion to the individual requirements of the user of the hearing aid via an output level.
  • an adaptation may also be for additional, optionally directional noise suppression and / or take place after another frequency bandwise addition of omnidirectional signal contributions.
  • this is the attenuation directivity signal from the first input signal and the second input signal or from intermediate signals derived respectively from the first input signal and the second input signal, wherein the signal level over the angular range is minimized by the first angle to form the attenuation direction signal ,
  • the first input signal and the second input signal directly or, in the case of a formation from intermediate signals derived therefrom, indirectly each input linearly into the attenuation directivity signal.
  • the first input signal and the second input signal or the intermediate signals derived therefrom are correspondingly convexly superimposed, and the overlay parameter with respect to the signal level is minimized, wherein the minimization is below the Boundary condition takes place that the resulting second angle for a local minimum of the sensitivity within the predetermined angular range has to lie around the first angle.
  • the signal resulting from this minimization is now taken as the attenuation directive signal, and the angle corresponding to the local minimum of the sensitivity for this signal is used as the second angle and the resulting overlay parameter for the amplification directional signal and / or further signal processing.
  • the formation of the attenuation directivity signal on the basis of such a minimization has the advantage that the signal components which enter the angularly directed direction signal for amplification of the corresponding directivity provide particularly small contributions to the overall level of the angle-emphasized direction signal, and thus the additional degree of freedom for the directivity the entire Sound image of the ambient noise less affected.
  • a first directional signal and a second directional signal are formed as intermediate signals.
  • the first directional signal is preferred and the second directional signal in each case formed from a time-delayed superimposition of the first input signal and the second input signal.
  • Particularly preferred here is the respective time delay given by the sound path from the first input transducer to the second input transducer or vice versa, so that the first directional signal with respect to the axis defined by the first input transducer and the second input transducer has a cardioid-shaped directional characteristic, and the second directional signal accordingly an anti-cardioid-shaped directional characteristic.
  • the attenuation directing signal is formed on the basis of the first directing signal and the second directing signal as a function of the first angle and the angular range, and / or the gain directing signal based on the first directing signal and the second directing signal as a function of the overlay parameter and / or the second Angle formed.
  • the use of the said directional signals as intermediate signals has the advantage that no variations of the time parameters have to be made to form the attenuation-directional signal and the gain-directional signal, and in particular for the estimation of the corresponding angle-dependent attenuation or amplification, but a variation is carried out on the basis of an overlay parameter can be. As a result, no delays with variations, which could be below one sampling period in an individual case, must be realized, but only algebraic operations.
  • a notch filter directivity signal is formed as the attenuation directivity signal.
  • This is to be understood as meaning a signal whose directional characteristic has a sensitivity in at least one direction which is reduced by at least six dB, preferably by several ten dB, from the global maximum value of the sensitivity, wherein the shape of the directional characteristic at the minimum value corresponds to the sensitivity of a notch.
  • the minimum so the "notch" located at the second angle ⁇ 2.
  • the angularly emphasized directional signal is formed by an overlay, that is to say one in particular by a linear superposition, of the attenuation directivity signal and of the amplification directivity signal.
  • the signal level is minimized to produce the angle-emphasized directional signal.
  • the contributions of the attenuation directing signal which represent the spatial directions away from the desired preferred direction of the second angle, are received in the angularly emphasized directional signal to the smallest possible extent.
  • a directional noise suppression is carried out to produce the output signal, for which purpose the angle-emphasized directional signal is specified as a useful signal and the attenuation-directional signal as an interference signal.
  • Directional noise reduction is basically an algorithm used to improve SNR in many hearing aids.
  • a directional useful signal is assumed, and aligned in this direction, a reinforcing directional signal.
  • the other spatial directions are attenuated, since it is assumed that in these spatial directions of the noise component is higher.
  • the already existing amplification or attenuation directivity signal can now be used for amplification or attenuation.
  • the attenuation directivity signal already was generated by minimizing the overall signal level over the predetermined angular range, because in this case it is assumed that the useful signal component in the attenuation-directional signal is minimal, whereas the useful signal component in the most complementary gain directivity signal is particularly high.
  • the directional signals generated in the process are advantageously used in a further signal processing process, which is often used in hearing aids.
  • an omnidirectional signal is mixed to generate the output signal.
  • the admixing can consist in particular in a simple linear combination with frequency-dependent linear factors.
  • the spatial hearing of a person has a significant frequency dependence.
  • Frequency-band-wise addition of an omnidirectional signal makes it possible to take account of this frequency dependence in a particularly simple manner, with bands, in particular, in which there is usually a lower angular dependence of the auditory sensitivity, being correctly represented.
  • the invention further provides a hearing aid with a first input transducer for generating a first input signal, a second input transducer for generating a second input signal, a signal processing unit and an output transducer for generating an output sound signal from an output signal, wherein the signal processing unit is adapted to, based on the first input signal and of the second input signal, the output signal by the method described above.
  • the signal processing unit is adapted to, based on the first input signal and of the second input signal, the output signal by the method described above.
  • FIG. 1 schematically a block diagram of a method 2 for operating a hearing aid 4 is shown.
  • the hearing device 4 has a first input transducer 6 and a second input transducer 8, which generate a first input signal 12 and a second input signal 14 from a sound signal 10 of the environment.
  • the first input transducer 6 and the second input transducer 8 are each formed in the present case as omnidirectional microphones.
  • a preprocessing step 16 a first directional signal 18 and a second directional signal 20 are now generated from the first input signal 12 and the second input signal 14 as intermediate signals.
  • the first directional signal 18 has a directional characteristic 22, which is given by a cardioid whose preferred direction 24 extends along the axis 25, which is formed by the two input transducers 6, 8.
  • the second directional signal 20 has a directional characteristic 26 which is complementary to the first directional signal 18, and which therefore has an anti-cardioid with respect to the axis 25 along the first input transducer 6 and the second input transducer 8.
  • an attenuation-directional signal 28 is now formed.
  • a first angle ⁇ 1 is specified, wherein the default can be done statically or dynamically.
  • a static specification can be done here, for example, by the storage of, inter alia, anatomically determined angle values in a database, while a dynamic specification can also include the current hearing situation.
  • the attenuation directivity signal 28 is now first implemented as a notch filter 30 in the direction of the predetermined first angle ⁇ 1.
  • the notch filter 30 is in this case obtained from a linear superposition of the first directional signal 18 with the second directional signal 20.
  • an angle range ⁇ is additionally specified, in which the direction of minimum sensitivity of the notch filter 30 can vary by the first angle ⁇ 1.
  • N denotes the attenuation direction signal 28
  • R1 and R2 denote the first and second directional signals 18, 20, respectively.
  • the corresponding superposition superimposition parameter a is finally determined so that the resulting signal level of the attenuation directive signal 28 is minimum over the angular range ⁇ .
  • the direction of minimum sensitivity for the notch filter 30 is thus not necessarily in the direction of the first angle ⁇ 1, but in the direction of a second angle ⁇ 2, which is located in the angular range ⁇ by the first angle ⁇ 1.
  • a gain-direction signal 34 is now formed on the basis of the overlay parameter a or on the basis of the angle ⁇ 2 defined by the latter.
  • the amplification directional signal 34 in this case has a directional characteristic 36 whose sensitivity at the second angle ⁇ 2 preferably has a local maximum, or a local maximum in the angular range ⁇ can be found around the first angle ⁇ 1.
  • the angle range ⁇ can in this case be formed, for example, by an interval of 20 °, that is to say ⁇ 1 +/- 10 °.
  • the amplification directivity signal 34 is formed in particular in the direction of the second angle ⁇ 2 as a type of complementary directional signal to the attenuation directivity signal 28. While the attenuating directivity signal 28 as a notch filter 30 should have as low a sensitivity as possible in the direction of the second angle ⁇ 2, the gain directivity signal 34 in the direction of the second angle ⁇ 2 has the lowest possible attenuation relative to the maximum sensitivity.
  • the overlay parameter c can be obtained from a minimization of the overall output level of the angle-emphasized direction signal 40.
  • the angle-biased directivity signal 40 is now designed so that due to the proportion of the gain direction signal 34 in the direction of the second angle ⁇ 2 is a particularly high sensitivity, while the minimization processes depending on the real sound events noise from others Directions can be suppressed by the attenuation-directional signal 28, without this significantly affects the contributions of the gain-direction signal 32.
  • the construction of the attenuation directivity signal 28 by means of a minimization of the total output level over the angular range ⁇ by the predetermined first angle ⁇ 1 also leads to a particularly good adaptation of the attenuation directivity signal to the currently present sound events, within the scope of the specification of the first angle ⁇ 1 as desired preferred direction.
  • the angularly emphasized directional signal 40 can now additionally be subjected to a directional noise suppression 42, the angle-emphasized directional signal 40 itself being interpreted here as the useful signal 44, and the attenuation-directing signal 28 here being interpreted as the noise component 46.
  • the signal 48 resulting from the directional noise suppression 42 are then frequency bandwise added signal components of an omnidirectional signal, for example, the first input signal 12, and so the output signal 50 is generated, which is converted by an output transducer 52 of the hearing aid 4 into an output sound signal 54, the Hearing of the user of the hearing aid 4 is supplied.
  • the output sound signal 54 images the acoustic environment of the hearing aid 4 in a particularly realistic manner, since angle- or space-dependent attenuations are modeled on those produced by a real outer ear.
  • the proportion of the omnidirectional first input signal 12 on the output signal 50 the directivity or attenuation of a real hearing can be controlled frequency-bandwise.
  • the signal level of the output signal can still be lowered or raised individually user-specifically in individual frequency bands.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Neurosurgery (AREA)
  • Otolaryngology (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Circuit For Audible Band Transducer (AREA)
EP18176654.4A 2017-09-07 2018-06-07 Procédé de fonctionnement d'un appareil auditif Active EP3461147B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017215823.9A DE102017215823B3 (de) 2017-09-07 2017-09-07 Verfahren zum Betrieb eines Hörgerätes

Publications (2)

Publication Number Publication Date
EP3461147A1 true EP3461147A1 (fr) 2019-03-27
EP3461147B1 EP3461147B1 (fr) 2021-12-08

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US (1) US10412507B2 (fr)
EP (1) EP3461147B1 (fr)
CN (1) CN109474876B (fr)
AU (1) AU2018204636A1 (fr)
DE (1) DE102017215823B3 (fr)
DK (1) DK3461147T3 (fr)

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EP3772861A1 (fr) * 2019-08-08 2021-02-10 Sivantos Pte. Ltd. Procédé de traitement directionnel du signal pour un appareil auditif
EP3945733A1 (fr) * 2020-07-29 2022-02-02 Sivantos Pte. Ltd. Procédé de traitement directionnel du signal pour un appareil auditif

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DE102016225207A1 (de) * 2016-12-15 2018-06-21 Sivantos Pte. Ltd. Verfahren zum Betrieb eines Hörgerätes
DE102019205709B3 (de) * 2019-04-18 2020-07-09 Sivantos Pte. Ltd. Verfahren zur direktionalen Signalverarbeitung für ein Hörgerät
DE102020210805B3 (de) 2020-08-26 2022-02-10 Sivantos Pte. Ltd. Verfahren zur direktionalen Signalverarbeitung für ein akustisches System
DE102023202437B4 (de) * 2023-03-20 2024-10-17 Sivantos Pte. Ltd. Verfahren zur Lokalisierung einer Schallquelle für ein binaurales Hörsystem

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EP3772861A1 (fr) * 2019-08-08 2021-02-10 Sivantos Pte. Ltd. Procédé de traitement directionnel du signal pour un appareil auditif
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EP3945733A1 (fr) * 2020-07-29 2022-02-02 Sivantos Pte. Ltd. Procédé de traitement directionnel du signal pour un appareil auditif
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US10412507B2 (en) 2019-09-10
CN109474876A (zh) 2019-03-15
DE102017215823B3 (de) 2018-09-20
CN109474876B (zh) 2020-12-15
EP3461147B1 (fr) 2021-12-08
AU2018204636A1 (en) 2019-03-21
US20190075405A1 (en) 2019-03-07
DK3461147T3 (da) 2022-02-14

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