EP3519853A1 - Capteur optique pour la mesure de distance et/ou de vitesse, système de contrôle de la mobilité de véhicules autonomes et procédé de contrôle de la mobilité de véhicules autonomes - Google Patents

Capteur optique pour la mesure de distance et/ou de vitesse, système de contrôle de la mobilité de véhicules autonomes et procédé de contrôle de la mobilité de véhicules autonomes

Info

Publication number
EP3519853A1
EP3519853A1 EP17772040.6A EP17772040A EP3519853A1 EP 3519853 A1 EP3519853 A1 EP 3519853A1 EP 17772040 A EP17772040 A EP 17772040A EP 3519853 A1 EP3519853 A1 EP 3519853A1
Authority
EP
European Patent Office
Prior art keywords
optical sensor
light signal
light
identification information
modulation
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.)
Withdrawn
Application number
EP17772040.6A
Other languages
German (de)
English (en)
Inventor
Johannes Grabowski
Thilo Grundmann
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 EP3519853A1 publication Critical patent/EP3519853A1/fr
Withdrawn legal-status Critical Current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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • Optical sensor for distance and / or speed measurement system for mobility monitoring of autonomous vehicles and method for monitoring the mobility of autonomous vehicles
  • the invention is based on an optical sensor for distance and / or speed measurement according to the preamble of claim 1. Furthermore, the present invention is based on a system for monitoring the mobility of autonomous vehicles according to the preamble of claim 8 and a method for monitoring the mobility of autonomous vehicles according to the preamble of claim 10.
  • optical sensors are already known and are used, for example, to enable autonomous vehicles to be monitored in robotics.
  • autonomously operating industrial trucks such as forklifts are equipped with such sensors, or in the private sector vacuum cleaner robots are provided with such sensors to allow safe navigation and object recognition and / or to secure hazardous zones.
  • the optical sensors can interfere with each other.
  • the detection modules are not able to distinguish between the light signals from different light source modules, and / or the
  • Light signals from different light source modules ie different optical sensors, influence each other and thereby falsify the Distance and / or speed measurement. This can lead to a significant impairment of navigation safety, especially in a variety of vehicles to serious accidents.
  • Mobility monitoring of autonomous vehicles and propose a method for monitoring the mobility of autonomous vehicles, each optical sensor or autonomous vehicle with such an optical sensor is clearly identifiable by its light signal.
  • optical sensor according to the invention, the inventive system and the inventive method according to the independent claims have the advantage over the prior art that the optical sensor has a small space requirement, that each optical sensor based on
  • Identification information is uniquely identifiable and can also perform this identification itself, so that the removal and / or
  • the light signal or the reflected light signal thus transmits information, namely the identification information, by means of which the optical sensor which has generated the light signal, in particular unambiguously, can be identified.
  • the identification information comprises a serial number assigned to the optical sensor.
  • the identification information is a digital information, more preferably the identification information comprises a sequence of bits, most preferably 84bit, 8bit, 16bit, 32bit or 64bit.
  • bit modulation of the identification information can be achieved by intensity modulation.
  • the identification information can have an arbitrary length, which depends, for example, on the number of optical sensors in the system and / or the type of modulation and is limited essentially only by the temporal length of the light signal. Other types of identification information or codes are conceivable.
  • the identification information is repeatedly impressed on the light signal. The distance and / or speed measurement is thereby by the
  • the identification information corresponds descriptively to a digital fingerprint, which makes it possible to associate a light signal and / or a reflected light signal with a specific optical sensor.
  • the modulation can be done both analog and digital.
  • the modulation is an amplitude modulation, a
  • the modulation is particularly preferably a sequence modulation.
  • the light signal has a carrier signal to which a useful signal is modulated, wherein the
  • Carrier signal is a carrier signal frequency and the useful signal a
  • Identification information includes. This means in particular that the modulation frequency is higher than the carrier signal frequency. It is particularly preferred that the light source module emits the light signal at a carrier signal frequency in the range from 1 Hz to 100 Hz, particularly preferably in the range from 10 Hz to 75 Hz, very particularly preferably in the range from 30 Hz to 60 Hz.
  • the carrier signal is preferably used for distance and / or speed measurement, while the useful signal at least partially serves to identify the optical sensor.
  • the length of the identification information is dependent on the modulation frequency, in particular the ratio of carrier signal frequency to modulation frequency. For example, with a carrier signal frequency of 1 Hz and a modulation frequency of 1 kHz, 1000 states can be transmitted.
  • Modulation frequency is higher than a first detection frequency of the
  • the modulation frequency is in the range between 100 Hz to 1 MHz, more preferably between 1 kHz and 100 kHz, most preferably the modulation frequency is 2 kHz.
  • the identification information thus corresponds in particular to a specific modulation of the light signal.
  • the modulation frequency of a light signal is variable over time.
  • the identification information is unique, i.
  • the light signal it is advantageously possible according to the invention for the light signal to be unambiguously identifiable on the one hand by the identification information, ie a specific modulation or a sequence of modulations, and on the other hand the detection of the light signal required for distance and / or speed determination not to be impaired.
  • the identification information ie a specific modulation or a sequence of modulations
  • the optical sensor and in particular the light source module, the detection module and / or the modulator are arranged in a housing.
  • the optical sensor additionally comprises a control module for controlling the
  • the modulator comprises at least one modulation means for modulating the light signal, particularly preferably a diaphragm, a mirror and / or a prism.
  • a modulation is an analog intensity modulation and the mentioned modulation means are also called pulse shapers (choppers) and present a particularly simple type, in particular a rectangular one
  • the diaphragm is a rotating sector shutter and / or the mirror is an angle mirror.
  • the modulation means comprises a motor, in particular an electric motor, for generating a movement of the diaphragm, the mirror and / or the prism.
  • the modulator comprises an electronic and / or digital modulation means.
  • the modulating means is a logical modulating means, i. the modulation is generated by the software.
  • the modulation is an intensity modulation, wherein the intensity is preferably either 0% or 100% of an output intensity of the light signal. More preferably, the intensity modulation varies between three, four, five or six predetermined intensities.
  • Intensity information can be generated in a simple manner, for example by a, in particular variable speed, rotating diaphragm. According to a preferred embodiment, it is provided that the
  • Light source module comprises a laser, in particular, the light signal is a laser signal.
  • the laser is a semiconductor laser.
  • the laser signal has a non-visible wavelength, in particular in the infrared range. Even more preferred is that
  • Light source module for generating a laser signal with a wavelength in Range of 700nm to lOOOnm configured, more preferably in the range of 850nm to 950nm, especially in the range of 900nm to 910nm.
  • the light source module comprises a beam-shaping optical system, in particular at least one lens.
  • Laser signal i. Especially with a laser beam, precise and fast measurements are possible.
  • transit time measurements such as those used for distance or distance measurement and / or speed measurement, can be carried out particularly precisely due to the optical properties of a laser.
  • Detection module comprises a dynamic image processing sensor.
  • the dynamic image processing sensor comprises a plurality of pixels, so-called pixels, wherein the dynamic
  • Image processing sensor is configured such that each pixel detects changes. Most preferably, the pixels capture changes in the microsecond range.
  • a dynamic image processing sensor is available, for example, from the company iniLabs as Dynamic Vision Sensor (DVS).
  • DVD Dynamic Vision Sensor
  • the skilled person understands that in contrast to conventional cameras or image sensors, a sequence of snapshots of all pixels, so-called frames, is not created, but those pixels are detected in which changes are detected. This resembles the
  • the detection module has a first detection frequency, wherein even more preferably the dynamic image processing sensor has a second detection frequency
  • Detection frequency has.
  • the first detection frequency is in
  • the second detection frequency is in the range of 100Hz to 1MHz, more preferably between 1kHz and 100kHz, most preferably the second Detection frequency 2kHz, and is in particular at least as high as the modulation frequency.
  • the dynamic image processing sensor detects individual measured values at the second detection frequency and therefore can detect and preferably demodulate the modulation of the light signal, and these measured values in one
  • Time interval corresponding to the first detection frequency to a frame summarizes or this frame assigns. For example, this indicates
  • Detection module has a first detection frequency of 1 Hz and the dynamic image processing sensor has a second detection frequency of 1 kHz, wherein the first detection frequency corresponds to the carrier signal frequency and the second detection frequency of the modulation frequency.
  • the dynamic image processing sensor detects the identification information of the optical sensor within one frame, in other words one second, and at the same time a distance and / or speed measurement can be performed on the basis of the frames.
  • the detection module it is advantageously possible according to the invention for the detection module to operate very quickly and with a low volume of data.
  • a dynamic image sensor therefore requires smaller amounts of data storage and works with high resolution in terms of time. It is also dynamic
  • Image processing sensor those pixels in which changes are detected over time, be detected separately.
  • the optical sensor is a lidar sensor, in particular a ladar sensor.
  • the lidar sensor is a transit time measurement lidar sensor.
  • Lidar is the abbreviation for "light detection and ranging” based on the principle of the transit time measurement of light.
  • a light signal in the case of a Ladar sensor (abbreviation for "laser detection and ranging”) a laser signal, is given by the Light source module generated and emitted. The light signal is reflected at an object and detected by the detector module. From the term the light signal, which is determined, for example, inteferometrically, the distance to the object can now be determined, as well as the speed of the object in the case of a large number of successive measurements.
  • Runtime measurement lidar sensors are already used, for example, in the speed measurement of vehicles in road traffic.
  • the optical sensor is a structured light sensor, in particular a
  • a projector in this case the light source module, projects different patterns of dark and light stripes, preferably of different width, onto the object to be measured in chronological order an optical means for generating an optical pattern, in the case of fringe projection for producing fringes, such optical means preferably comprise at least one lens and / or aperture: a detector, here the detection module, which is arranged at a defined distance from the projector, detects the optical means.
  • Stripe pattern Due to the known distance and thus the viewing angle between the projector and the detector, the distance to each point of the object to be measured can be determined, i. a structured light sensor based
  • Structured-light method In general, in the case of structured light methods, light is thrown onto an object in the form of temporally successive, predetermined patterns, the light reflected by the object being measured. In each frame, a specific pattern is projected onto the object. In this way, it is advantageously possible according to the invention for a structured light method to be used for distance and / or speed determination as well as for object detection, without several optical sensors interfering with one another.
  • the individual frames, ie patterns are generated in accordance with the carrier signal frequency. Therefore, the first detection frequency must also be at least as high as the carrier signal frequency so as to be able to detect at least each frame for accurate measurement
  • the detection module has a demodulator for demodulating a light signal.
  • the identification information is already recognized by the detection module.
  • the optical sensor comprises a control module for controlling the optical sensor.
  • the control module is particularly preferably configured to determine a difference signal from the light signal generated by the light source module and the light signal detected by the detection module, wherein the difference signal is in particular a difference of the identification information.
  • the difference signal thus refers to the period of a frame.
  • the control module is set up to compensate for reflection losses and absorption losses.
  • the system comprises at least one, in particular immovable, base station, wherein the base station has at least one detection module for detecting a light signal, wherein the detection module for distinguishing light signals based on Identification information and in particular for identifying a
  • Vehicle is configured based on identification information of the associated light signal.
  • a base station it is advantageously possible for a base station to be able to differentiate between different autonomous vehicles and thus to make the operation of the system more efficient. It is also advantageously possible to locate a vehicle in the system. For example, in the case of logistics systems, this is desirable, as thus routes can be planned more efficiently and monitoring is possible.
  • Figure 1 is a schematic diagram of an optical sensor according to a
  • FIG. 2 shows a further schematic diagram of an optical sensor according to an embodiment of the present invention
  • FIG. 3 shows a system according to an embodiment of the present invention in a schematic view
  • Figure 5 shows an optical sensor according to an embodiment of the present invention in a schematic representation
  • FIG. 6 shows an optical sensor according to an embodiment of the present invention in a schematic schematic diagram.
  • FIG. 1 shows a schematic diagram of an optical sensor 1 according to a
  • the optical sensor 1 is here a structured light sensor, for example a
  • Fringe projection sensor It comprises a light source module 2, which is configured to generate a light signal L.
  • the object to be measured is illuminated with a sequence of, in particular different width, stripes which are alternately light and dark. At a given time, a complete set of stripes is projected onto the object. At a subsequent time is a
  • An exemplary light signal L in this case a light beam L, is thereby reflected at the object, from which the reflected light beam L ', corresponding to a light signal L', is formed.
  • Light source module 2 arranged detection module 3 comprises a detector which has a plurality of pixels. This detector now detects the reflected light beam L 'in a particular pixel. Analogously, further light beams emerging from light beams of the light source module 2 are also detected by the detector, whereby the detector receives an image of the object. As a result, on the one hand object recognition, but also a distance measurement to the object is possible.
  • the light source module 2 further includes a
  • modulator 4 which modulates the light signal L such that it has an identification information.
  • This identification information can be recognized by the detection module 3 and thus enables a distinction between light beams of different optical
  • the optical sensor 1, 1 ' According to the actual distance measurement, the optical sensor 1, 1 'according to the invention therefore does not fundamentally differ from already known structured light sensors, since the distance measurement works in the same way.
  • the idea according to the invention thus consists, in particular, in the provision of an additional information level.
  • FIG. 2 shows a further schematic diagram of an optical sensor 1 according to an embodiment of the present invention.
  • the optical sensor 1 measures, for example, in a specific embodiment of the
  • Strip projection sensor of Figure 1 using a light section method is again arranged at a well-defined distance from the light source module 2.
  • the light source module 2 generates an identification information having light beam L, which is guided here along a line on the object, for example by a beam deflection unit of the light source module 2 as an adjustable micromirror, or is already projected by appropriate optical means in the form of a line on the object.
  • the detection module 3 now detects the reflected light beam L 'produced by reflection from the light beam L and on the basis of the known art
  • FIG. 3 shows a system according to an embodiment of the present invention
  • the system here comprises a first vehicle 6 and a second vehicle 7. Both vehicles 6, 7 are in the present case designed as robotic vacuum cleaners. However, the system may additionally or alternatively comprise other autonomous vehicles. By way of example, production robots, automated industrial trucks and / or self-propelled motor vehicles may be mentioned here.
  • the first vehicle 6 has a first optical sensor 1 and the second vehicle 7 has a second optical sensor 1 '.
  • Each of the optical sensors 1, 1 ' comprises a light source module 2, 2' with a modulator 4 and a detection module 3, 3 '.
  • the first optical sensor 1 transmits a light signal L having an identification information including a Allocation to the optical sensor 1 allows, and the second optical sensor 1 'transmits a light signal L "with its own
  • the identification information is as
  • Intensity modulation with a modulation frequency which is significantly higher than the detection frequency of the detection modules 3, 3 'executed.
  • the light signals L, L ', L are modulated with a modulation frequency of about 2 kHz, while the detection modules 3, 3', the light signals L, L ', L" with a
  • the detection modules 3, 3 ' are adapted to also detect these modulations and thus the light signals L, L', L "based on the
  • a base station can preferably assign the light signals L, L ', L "to the optical sensors 1, 1' on the basis of the identification information, thereby knowing which vehicle 6, 7 is currently in the vicinity.
  • FIG. 4 shows a schematic illustration of two identification information according to an embodiment of the present invention.
  • the corresponding light signals L, L correlate, for example, to those in FIG.
  • Intensity modulation of the upper light signal L is different from the modulation of the lower light signal L "over time.”
  • a more or less complex modulation can be selected as identification information.
  • a detection module 3, 3 ' can detect and preferably decode this identification information, so that there is an assignment of a light beam L,
  • L ', L can make an optical sensor 1, 1. However, at least the detection module 3, 3' can receive a light signal L, L ', L originating from the light source module 2, 2', which is assigned to the same optical sensor "identify.
  • FIG. 5 shows a schematic view of an optical sensor 1 according to an embodiment of the present invention.
  • the optical sensor 1 comprises a control module 8 which controls the operation of the optical sensor 1 and, for example, the detected distance and / or speed information to a control unit of a vehicle
  • a light source module 2 which here comprises a laser which is configured to generate a laser signal L.
  • the light source module further comprises a modulator 4, which modulates the laser signal L such that it has a
  • Identification information which, preferably uniquely, points to the optical sensor 1.
  • the control module 8 with a
  • Detection module 5 connected, which for detecting a light signal L ', L " is configured.
  • the detection module here comprises, for example, a dynamic image processing sensor 5.
  • the optical sensor 1 is, for example, a
  • Time-of-flight Ladar sensor (Ladar is an abbreviation for "Laser Detection and Ranging", ie laser-assisted distance measurement.)
  • the optical sensor 1 emits a laser signal L, which is reflected by an object, resulting in a reflected laser signal L 'is detected by the detection module 3 and the transit time of the laser signal L, L' determined, from which the distance to the object can be determined
  • the optical sensor 1 could also be a structured light sensor corresponding to one the embodiments described in connection with Figures 1 and 2.
  • FIG. 6 shows a schematic diagram of an optical sensor 1 according to an embodiment of the present invention.
  • the optical sensor 1 shown here is similar to the one shown in FIG.
  • the optical sensor 1 is provided as a structured light sensor.
  • the optical sensor 1 comprises a control module 8 and connected thereto a light source module 2 with a modulator 4, here for example
  • the detection module 3 here comprises by way of example a dynamic image processing sensor 5.
  • Such a dynamic image processing sensor 5 does not detect how
  • the light source module 2 emits a light beam L, on which the modulator 4 with a modulation frequency, here for example 1 kHz, a Identification information has modulated, here for example in the form of a sequence of different high intensities.
  • An optical means not shown here, for example, a lens and / or a diaphragm throws the light in the form of a pattern on the object to be measured. In this case, the patterns are varied with a carrier signal frequency, in this case for example 1 Hz.
  • the light is reflected, that is, a light signal L 'generated by the
  • Detection module 3 more specifically the dynamic image processing sensor 5, is detected.
  • the dynamic image processing sensor 5 detects at the pixel level the light signal L 'at a second detection frequency that is at least as high as the modulation frequency.
  • the modulation frequency and the second detection frequency are the same. Consequently, the dynamic image processing sensor 5 detects the identification information, that is, the characteristic sequence of the different intensities.
  • the detection module 3 With a first detection frequency, which preferably corresponds to the carrier signal frequency, the detection module 3 detects the projected and reflected pattern. Using triangulation or photogrammetric methods, the distance to the object can now be determined on the one hand in fundamentally known manner.
  • the detection module 3, or in this case the control module 8, is configured to generate a difference signal from the detected light signal L 'of a frame, that is to say a specific pattern, and the transmitted light signal L of this pattern.
  • the control module 8 concludes that the reflected light signal L 'actually originates from the optical sensor 1, the distance measurement was therefore correct.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un capteur optique pour la mesure de distance et/ou de vitesse, comportant un module de source lumineuse pour produire un signal lumineux et un module de détection pour détecter un signal lumineux, caractérisé en ce que le module de source lumineuse comprend un modulateur pour moduler le signal lumineux, le modulateur étant conçu de telle manière que le signal lumineux présente une information d'identification après la modulation, le module de détection étant conçu pour détecter et identifier une information d'identification du signal lumineux détecté.
EP17772040.6A 2016-09-30 2017-09-22 Capteur optique pour la mesure de distance et/ou de vitesse, système de contrôle de la mobilité de véhicules autonomes et procédé de contrôle de la mobilité de véhicules autonomes Withdrawn EP3519853A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016219099.7A DE102016219099A1 (de) 2016-09-30 2016-09-30 Optischer Sensor zur Entfernungs- und/oder Geschwindigkeitsmessung, System zur Mobilitätsüberwachung von autonomen Fahrzeugen und Verfahren zur Mobilitätsüberwachung von autonomen Fahrzeugen
PCT/EP2017/074087 WO2018060100A1 (fr) 2016-09-30 2017-09-22 Capteur optique pour la mesure de distance et/ou de vitesse, système de contrôle de la mobilité de véhicules autonomes et procédé de contrôle de la mobilité de véhicules autonomes

Publications (1)

Publication Number Publication Date
EP3519853A1 true EP3519853A1 (fr) 2019-08-07

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US (1) US11525899B2 (fr)
EP (1) EP3519853A1 (fr)
CN (1) CN109791203A (fr)
DE (1) DE102016219099A1 (fr)
WO (1) WO2018060100A1 (fr)

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CN109791203A (zh) 2019-05-21
DE102016219099A1 (de) 2018-04-05
US11525899B2 (en) 2022-12-13
US20190242976A1 (en) 2019-08-08

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