Classifications

• • 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
  • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
  • G01N21/958—Inspecting transparent materials or objects, e.g. windscreens
• • 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
  • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
• • 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
  • G01N2021/8829—Shadow projection or structured background, e.g. for deflectometry
• • 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
  • G01N2021/8829—Shadow projection or structured background, e.g. for deflectometry
  • G01N2021/8832—Structured background, e.g. for transparent objects
• • 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
  • G01N2021/8841—Illumination and detection on two sides of object
• • 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
  • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
  • G01N21/958—Inspecting transparent materials or objects, e.g. windscreens
  • G01N2021/9586—Windscreens

Definitions

• the invention relates to a method for measuring the optical quality of a delimited area of a glazing, said delimited area being intended to be placed in front of an acquisition or measurement device such as a camera.
• the invention is particularly suitable for measuring the optical quality of a delimited zone of a transport vehicle window, such as a car or airplane windshield, in front of which an optical image recording device or a device for measuring the external environment of the vehicle is placed for the operation of an intelligent system for assisting the driving of said vehicle.
• Intelligent driving assistance systems are increasingly being fitted to transport vehicles, in particular motor vehicles.
• these on-board systems can provide real-time information on the state of road traffic and / or on the state of equipment and mechanical and / or electrical elements of the vehicle, assess the state of fatigue or distraction the driver, detect and anticipate possible threats from the environment outside the vehicle, or help the driver to perform certain difficult maneuvers such as overtaking other vehicles or parking.
• these systems integrate numerous devices or sensors making it possible to collect data on the driver, the vehicle and / or their environment.
• Certain systems such as, for example, parking assistance systems, autonomous driving systems or collision anticipation systems, implement one or more optical image acquisition devices or devices for measuring the vehicle. environment outside the vehicle.
• These devices are generally placed in the enclosure of the vehicle, behind one of the windows of said vehicle, said glazing then generally having a protective function for this device. They can also be incorporated directly into the glazing, for example between two sheets of glass of a laminated glazing, one of which is provided with a cavity to accommodate it.
• the glazing can be any of the usual glazing of the vehicle: windshield, rear window, side windows. Most often optical devices are placed behind the windshield in order to acquire information from the front of the vehicle.
• the information or data acquired by the devices are processed by on-board systems to obtain the desired functionality.
• a night driving assistance system makes it possible to display in real time on the dashboard of the vehicle a video of the external environment by means of an infrared camera placed behind the windshield of the vehicle.
• An autonomous driving system processes the images acquired by a camera placed behind the windshield of the vehicle in order to extract therefrom the data necessary for the automatic piloting unit of the vehicle.
• the on-board intelligent systems which implement optical recording devices or measuring devices arranged behind the glazing to be able to function optimally, it is necessary that the data acquired by said optical devices be reliable, it is that is, free from any artifact.
• said glazing must have sufficient optical quality in order to avoid optical defects and / or aberrations such as sphericity, chromatism, astigmatism or coma aberrations.
• these decorative elements can limit the field of acquisition of devices.
• the size of the delimited area can become very small in order to ensure that the non-active elements of said devices remain invisible from outside the vehicle.
• the decorative elements can be very close to the acquisition field, and the aberrations and / or optical defects that they cause can become very critical for the proper functioning of the devices.
• the size of the decorated areas it may be desirable to reduce the size of the decorated areas while, for technical reasons, it may be desirable to increase the size of the area. delimited by said decorated zones and intended to be placed in front of an acquisition or measurement device.
• the size of the decorative elements making it possible to hide the non-active elements of the devices from view from the outside of the vehicles becomes very small.
• the decorative elements are then placed as close as possible to the acquisition field of the devices, and, as before, the aberrations and / or optical defects that they cause can become very critical for the proper functioning of said devices.
• optical distortions can be various.
• the differences in thermal expansion coefficient or the physicochemical interactions between the materials of the enamel and the glass can cause variations local properties near their edges.
• These variations can be, for example, variations in refractive index and / or geometric deformations with respect to the rest of the surface of the glass away from the edges of the enamelled areas.
• the delimited zones can also comprise on their surface functional elements which are found directly placed in the acquisition or measurement fields of the acquisition or measurement devices. These elements can, for example, be networks of heating wires with different geometries, or else functional layers with optical or thermal properties. These elements functional also cause optical distortions. An example of functional elements is illustrated in Figure 2d.
• Glazing comprising a delimited area intended to be placed in front of an acquisition or measurement device are manufactured before the integration of said device. It is therefore necessary to check the optical quality of the delimited area in order to prevent the presence of optical distortions, in particular near the edges of the delimited area, from causing damaging artifacts in the images or signals acquired. by these devices.
• patents EP 0463940 B1 and EP0342127 B1 describe methods of controlling a glazing in which the levels of optical deformation of the glazing are determined from a shadow image.
• Patent applications W09817993 and GB2152210 as well as patent EP 1061357 disclose methods for detecting optical anomalies of a transparent sheet by analyzing the image of a geometric pattern reflected or transmitted by the sheet.
• these methods are unsuitable in that they do not make it possible to measure the quality of a delimited area of a glazing, in particular to accurately measure the optical quality of said area when the delimiting elements, such as enamels of said zone are the source of optical distortions in their proximity.
• these methods have a spatial resolution such that the measurements of the optical quality are limited to a surface portion of said delimited zone. The edges of this portion must be far enough from the edges of the decorative elements of the delimited area to avoid any measurement artifacts.
• this portion is often arbitrary in the sense that, as a precaution, the size is often chosen smaller than necessary .
• such a portion is obtained using a digital mask affixed to mask on the images said portion close to the edges of the decorative elements.
• Phase shift deflectometry consists of measuring the geometric distortion of the image of a test pattern, such as a grid, reflected or transmitted by the surface to the reflecting or transparent surface of an object. Measuring this deformation amounts to identifying the local phase shift of the test pattern with respect to the situation in the absence of sample or product to be evaluated. This measurement can provide information on the local curvatures of this surface and on the deflection of light rays when crossing the surface in question.
• phase shift deflectometry There are two types of phase shift deflectometry.
• Time phase shift deflectometry uses a test pattern consisting of a periodic pattern, the phase of which varies with time. For example, for a test pattern consisting of an array of fringes, a predetermined phase shift is introduced between the fringes by moving the fringes as a function of time. To achieve this type of test pattern, a digital screen is generally used on which arrays of out-of-phase fringes are successively and dynamically displayed by a control unit.
• Time phase shift deflectometry is known to be poorly suited to measuring the surface curvature of less than 0.5m 2 , which typically the surface of a delimited area of a glazing intended to be placed on the optical axis an optical device for the operation of an intelligent driving assistance system.
• Spatial phase shift deflectometry uses a fixed test pattern. It is the variations in curvature of the reflecting surface or transmitting an image of the test pattern that introduce the phase shift.
• the accuracy of the offset measurement then depends on the spatial resolution of the optical device used to acquire the image of the test pattern. For example, in the case of a digital optical device, the resolution will depend on the size of the contiguous pixels of said device.
• the image of the test pattern should not be too distorted by the surface of the object, in which case the local phase shift of the test pattern cannot be accurately measured.
• the optical distortions can be such that the deformation of the image of the test pattern does not allow the measurement of the local phase shifts of the test pattern.
• Certain methods described in the state of the art make it possible to resolve certain limitations of phase shift deflectometry, but none is suitable for measuring the quality of a delimited zone of a glazing, in particular at the precise measurement of the optical quality of said zone when the delimiting elements, such as enamels, of said zone may be the source of optical aberrations and / or defects in their proximity.
• the present invention solves this problem. It relates to two alternative methods as defined by claims 1 and 2, the independent claims being advantageous embodiments.
• the invention allows the measurement of the optical quality of surfaces of small area, in particular of an area of less than 0.5 m 2 , using a phase shift deflectometry method temporal, whereas this type of method is considered unsuitable in the state of the art.
• the idea underlying the invention is to acquire, in transmission, the images of a plurality of periodic patterns with multiple phase shifting by changing the focal point of the optical digital acquisition device, in particular by carrying out the focusing. point on the edges of the demarcated area, so that they appear optically sharp. In this configuration, the digital acquisition device is not focused on the periodic patterns transmitted through the delimited zone.
• the invention advantageously makes it possible to increase the size of the portion of the delimited zone measured as close as possible to the edges of said zone without the optical distortions likely to be caused by said edges altering the measurement.
• the invention makes it possible to obtain a measurement for each pixel of the optical digital acquisition device, which the methods of the prior art do not allow.
• FIG. 1 is a schematic representation of a glazing comprising a delimited area intended to be placed on the optical path of an optical device such as a camera.
• FIG. 2 groups together schematic representations of different forms of demarcated area.
• FIG. 3 is a schematic representation of a system for implementing a method according to a first aspect of the invention with a sinusoidal pattern in a first direction.
• FIG. 4 is a schematic representation of the system shown in FIG. 3 with a sinusoidal pattern in a second direction.
• FIG. 5 is a schematic representation of a system for implementing a method according to a second aspect of the invention with a first positioning of the optical digital acquisition device.
• FIG. 6 is a schematic representation of the system shown in Figure 5 with a second positioning of the optical digital acquisition device.
• FIG. 7 is a schematic representation of the system shown in FIG. 6 with a sinusoidal pattern in a first direction.
• FIG. 8 is a schematic representation shown in FIG. 6 with a sinusoidal pattern in a first direction with a sinusoidal pattern in a second direction.
• FIG 1 schematically shows a glazing 1000 for a motor vehicle, such as a windshield.
• the glazing 1000 comprises a sheet of glass 1001 and an enamel strip 1002.
• the enamel strip 1002 forms a delimited zone 1003 intended to be placed in the optical path of an optical device, such as a camera of an optical device. intelligent driving assistance system.
• the area of the demarcated area is generally less than 0.5m 2 .
• the enamel strip 1002 can be disposed completely on the surface of only one of the two main faces of the glass sheet 1001, or be divided into several parts, each of the parts being arranged on one and on the 'other of the faces of the glass sheet 1001 and all of the parts generally forming a delimited zone 1003.
• the enamel strip can also be in several parts, each part being arranged on the surface of two or more sheets of glass according to the number of parts so as to form a delimited zone 1003.
• Figures 3 and 4 illustrate an example of a system for implementing the method according to the invention.
• the system 3003 comprises a digital optical acquisition device 3002 and a plurality of periodic patterns 3001, 4001 with multiple phase shift arranged in a first and a second direction.
• the patterns 3001, 4001 are placed on the optical axis (B) of the digital optical device 3002.
• the delimited zone 1003 of a glazing 1000 is placed on the optical path (B) using a suitable support (not shown).
• the method according to a first aspect of the invention is illustrated by Figures 3 and 4. It is a method of measuring the optical quality of a delimited area 1003 of a glazing 1000, said method comprising the following steps:
• the method according to a second aspect of the invention is illustrated by Figures 5 to 8. It is a method of measuring the optical quality of a delimited area 1003 of a glazing 1000 said method comprising the following steps:
• step (3) locating the delimited area of the glazing on the surface 5001 of the glazing using digital processing of the image acquired in step (2);
• a first advantage of the invention in its two aspects is that it allows a precise measurement of the optical quality at less than 0.1 mm from the inner edges of the delimited zone with an accuracy of a few tenths of a diopter when the optical quality criterion is optical power.
• a direct result is the potential decrease in the number of rejects. Indeed, thanks to it, some glazing comprising delimited areas whose quality control methods according to the prior art would have caused rejection if the edges of the delimited area are not masked for the quality measurement. In other words, glazing comprising demarcated areas which prior art quality control methods reject when normally acceptable can be identified by the method of the invention.
• Another advantage of the invention in its two aspects is that it makes it possible to carry out a mapping of a quality criterion over the entire delimited area.
• This mapping can in particular be used for a calibration of a device or a sensor of an on-board system, such as an intelligent driving assistance system, so as to compensate for the optical aberrations of said delimited zone.
• This calibration can, for example, be based on a particular digital processing of the data acquired by the device or the sensor of an on-board system.
• a particular advantage of the invention according to its second aspect is that the optical quality of the delimited area is measured under identical conditions, if not very similar, to those in which an acquisition or measurement device is used. an on-board intelligent system placed opposite said zone. In other words, the quality of the area delimited is measured such that it is likely to have an influence on the performance of said device.
• delimited area 1003 of the glazing 1000 an area delimited by edges, in particular opaque edges, in particular edges formed by decorative elements making it possible to hide from the sight of elements of devices, such as on-board intelligent system devices, arranged behind the glazing.
• the surface of said delimited area 1003 is in the depth of field of said optical digital acquisition device 3002.
• the surface of the delimited zone is located in the focal zone of the digital optical device 3002 for digital acquisition.
• the focusing of said device is carried out on the surface of the delimited zone.
• the digital optical digital acquisition device 3002 can be focused on the surface of said delimited area 1003.
• the measurement, carried out in step (3) of the method according to the first aspect of the invention or in step (7) of the method according to the second aspect of the invention, of the phase shifts of the phase shifts between the periodic patterns with multiple phase shift and their corresponding images acquired in steps (1) and (2), can be conventionally carried out by extracting the fundamental component of a Fourier series after Fourier transformation of the images, or even by a method of summation of intensities such as that described in P. Flariharan et al., Digital phase-shifting interferometry: a simple error-compensating phase calculation algorithm, Applied Optics, 26 (13), 1987.
• the phase shifts thus measured allow then characterize the curvature gradients at each point of the surface of the delimited zone corresponding to the pixels of the digital optical acquisition device.
• optical quality criterion that can be calculated by the method according to the invention can be chosen from optical distortion or optical power.
• Optical distortion is due to a deviation, by refraction, of the rectilinear projection when the straight lines of a scene remain lines in the image of the scene observed through a window. It can be measured according to the protocol described in Regulation No. 43 of the United Nations Economic Commission for Europe (UN / ECE) - uniform prescriptions relating to the approval of safety glazing and the installation of such glazing. on vehicles
• optical power of a glazing represents the power of said glazing to converge or diverge an electromagnetic wave such as light. It is generally defined as the ratio of the angle of view of the object through the glazing over the actual size of the object.
• optical power called intrinsic optical power
• Optical power is generally expressed in diopters.
• the periodic patterns can be any patterns suitable for a multiple phase shift.
• the periodic patterns can be periodic arrays of parallel rectilinear elements arranged according to a given period, or phase,.
• the patterns can be alternations of light and dark lines regularly arranged in a direction, each pattern differing from one another by a different period or phase value.
• the set of patterns thus forms a plurality of patterns with multiple phase shift.
• the periodic patterns can be sinusoidal periodic patterns.
• An example of a sinusoidal pattern is a succession of light and dark lines separated by gradients of intensity. This type of pattern improves the precision of the phase shift measurements between the patterns and their images corresponding to steps (1) and (2) of the method according to the first aspect of the invention or to steps (5) and (6) of the method according to the second aspect of the invention.
• the plurality of periodic patterns with multiple phase shift of step (1) of the method according to the first aspect of the invention or of step (5) of the method according to the second aspect of the invention can, as to their form, be identical to that of step (2) of the method according to the first aspect of the invention or step (6) of the method according to the second aspect of the invention, each of the two pluralities n 'being different from the other only by their spatial orientation.
• the plurality of periodic patterns with multiple phase shift of step (2) of the method according to the first aspect of the invention or of step (6) of the method according to the second aspect of the invention then oriented according to a first direction different from the second direction in which the plurality of periodic patterns with multiple phase shift of step (1) of the method according to the first aspect of the invention or of step (5) of the method according to the second are oriented aspect of the invention.
• the two pluralities of multiple phase shifted periodic patterns may be two pluralities of arrays of parallel lines oriented in two different directions for each plurality.
• the first direction and the second direction are orthogonal to each other. Orthogonality makes it possible to obtain the values of the gradients of the curvatures of the delimited zone according to the two orthogonal directions of a Cartesian coordinate system. It can be easier to calculate the quality criterion.
• the pluralities of periodic patterns 3001, 4001 with multiple phase shift can be obtained using a digital display device, such as a digital screen, programmed to this effect.
• the number of periodic patterns with multiple phase shift in each of steps (1) and (2) of the method according to the first aspect of the invention or in steps (5) and (6) of the method according to the second aspect of the invention can advantageously be at least four, preferably at least eight, or even at least twelve, each of the periodic patterns with multiple phase shift of each of steps (1) and (2) of the method according to the first aspect of the invention or each of the steps (5) and (6) of the method according to the second aspect of the invention has a different phase.
• the surface near the edges which they form can present strong optical distortions and disturb the measurement of the optical quality of the delimited zone near said edges.
• digital processing is carried out on all the values of the optical criterion calculated in step (4) of the method according to the first aspect of the invention or step (7) of the method according to the second. aspect of the invention.
• This digital processing advantageously makes it possible to reduce the noise caused by the strong distortions around the delimited zone.
• An example of simple and advantageous digital processing is a Gaussian filter.
• the angle of inclination between the median axis (C) of the surface of the delimited zone 1003 and the optical axis (B) corresponds to the angle of inclination between the median axis (C) of the surface of the delimited zone 1003 and an axis (A) which may correspond to the axis of the chassis of the vehicle in which said glazing 1000 is intended to be installed.
• the glazing is inclined relative to the optical axis of the digital optical acquisition device 3002 at an angle corresponding to that expected in the use of said glazing.
• the angle of inclination between the median axis (C) of the surface of the delimited zone 1003 and the axis (A) corresponds to the angle that would form between the surface of the glazing 1000 and the frame of the vehicle when said glazing is installed in the vehicle for its use.
• the axis (A) is generally horizontal.
• the delimited zone 1003 can have various shapes and / or include additional functional elements depending on the uses. Examples of bounded areas 1003 are shown in Figure 2.
• Figure 2a shows a trapezoidal bounded area 1003 with an open bottom edge.
• Figure 2b shows an area bounded in two parts, one in the rectangular shape with rounded edges with and the other, smaller, in the shape of a circle. The part in the form of a circle can, for example, be used for the installation of an additional device such as a rain or outdoor light sensor.
• Figure 2c is a variant of the area of Figure 2b in which the rectangular portion with rounded edges further comprises a blurring strip on its outer periphery.
• FIG. 2d represents a delimited zone comprising a heating element on its surface, making it possible to eliminate any mist or frost liable to form on said surface and hinder the acquisition of an optical device placed opposite.
• the delimited area of the glazing is an area delimited by at least two edges, preferably three edges.
• the digital optical acquisition device can preferably be a high resolution digital camera.
• the pixel size of the digital sensor of the camera can then be between 20 ⁇ m and 2 ⁇ m, preferably between 10 ⁇ m and 5 ⁇ m.
• Such a pixel size makes it possible to obtain images resolved near the edges of the delimited area.
• optics which will subsequently be placed opposite the delimited area when the glazing is installed in a vehicle.
• the method according to the invention allows measurement of the optical quality at less than 0.1 mm from the interior edges of the delimited zone.
• the distance between the periodic patterns and the digital optical device, and the distance between the delimited area of the glazing and the digital optical device depend on the different elements of the system with which it is implemented. In particular, these distances may depend on the technical characteristics of the optical digital acquisition device 3002 and on the size of the periodic patterns 3001 and 4002.
• the distance between the delimited area of the glazing and the optical digital acquisition device can be between 2000 mm and 1500 mm.
• the optical digital acquisition device is placed at a position corresponding to that of an acquisition or measurement device of an intelligent system embedded.
• One advantage is that the optical quality of the delimited area is measured under the same conditions, if not very similar, to those in which an acquisition or measurement device of an on-board intelligent system placed opposite said area is used. In other words, the quality of the delimited area is measured such that it is likely to have an influence on the performance of said device.
• the distance between the periodic patterns and the digital optical device varies depending on the spatial resolution and the accuracy of the value of the quality criterion sought. For example, it can be between 3000 mm and 2000 mm.
• the positioning of the optical digital acquisition device 3002 in steps (1) and (3) can be achieved using an automatic displacement means 5002 such as an articulated automaton arm.
• the automatic displacement means can advantageously be programmable or controlled using any programmable means so that the positioning of the optical digital acquisition device 3002 by virtue of a preliminary step of approximate location or not of the delimited zone 1003 of the glazing 1001 from information on the shape of the glazing and the characteristics of the edges of said delimited zone.
• step (3) of the method according to the second aspect of the invention perhaps of any suitable type, in particular by the use of different digital filters, in particular contour detection filters , so as to highlight the edges or contours of the delimited zone 1003 of the glazing 1000.
• filters are the Sobel filter and the Canny filter. These filters can be combined with thresholding methods.
• the digital processing can advantageously be automated using any programmable data processing means.
• the invention in its two aspects is particularly suitable for measuring the optical quality of a delimited zone of a window pane of a land vehicle, in particular a windshield.

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• Physics & Mathematics (AREA)
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• 2019
  • 2019-09-30 FR FR1910824A patent/FR3101420A1/fr active Pending
• 2020
  • 2020-09-25 CN CN202080082910.2A patent/CN114729903A/zh active Pending
  • 2020-09-25 US US17/764,393 patent/US20220334068A1/en active Pending
  • 2020-09-25 EP EP20781003.7A patent/EP4038373A1/de active Pending
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