• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method of detecting at least one human-like and/or animal-like target (40) in a detection zone (37) by using a radar-based detection system (1) comprising at least one FMCW radar, the method comprising:. - generating radar signal and acquiring reflected radar signal at time tl,. - applying signal processing on acquired reflected radar signal in order to improve SNR,. - analysing the signal spectrum in order to detect distinguish features of target (40),. - classifying distinguishing features of target (40) in order to determine if target (40) is relevant for further actions, - determining if a target deemed relevant for further actions (40) is a false alarm, - applying further actions if target deemed relevant for further actions (40) is not a false alarm.The invention further relates to a radar-based detection system (1) for detection of targets (40) using said method.(Fig 2)
    公开号:SE1651175A1
    申请号:SE1651175
    申请日:2016-09-01
    公开日:2017-03-04
    发明作者:HAGHIGHI Kasra
    申请人:Uniqueradar Sweden Ab；
    IPC主号:
    专利说明:

    Title Radar-based detection system TECHNICAL FIELD The invention relates to a method of detecting at least one human-like and/or animal-liketarget in a detection zone by using a radar-based detection system comprising at least onefrequency modulated continuous wave (FMCW) radar. The invention further relates to a radar-based detection system for detection of targets using said method.
    BACKGROUND ART A number of detection methods for detecting a human-like target in a detection zone areknown. Detection techniques vary from analysing video feeds to using various parts of theelectromagnetic spectrum to identify a target. For instance LIDAR, IR sensing, Doppler radar, LF radar and FI/ICW radar can be used to detect human-like targets.
    Known detection methods and systems only detect the presence or absence of a human-liketarget in a detection zone. Other characteristics of the human-like target cannot be detected in order to determine if further actions, such as triggering an alarm, are needed.
    There is thus a need for an improved method and radar-based detection system.
    SUMMARY OF THE INVENTION An object of this invention is to provide a method and a system for detecting at least onetarget in a detection zone wherein the above mentioned problems are avoided. ln particular,it is an object of the invention to improve upon the known methods for detecting an object ina detection zone and to determine if a further action needs to be applied. This object isachieved by the method of claim 1 and the system of claim 9. With target is meant a human- like target or an animal-like target. 2 The invention relates to a method of detecting at least one human-like and/or animal-liketarget in a detection zone by using a radar-based detection system comprising at least oneFI/ICW radar. The method comprises: - generating a radar signal and acquiring a reflected radar signal at time t1, - applying signal processing on the acquired reflected radar signal in order to improve signal-to-noise ratio (SNR), - analysing a signal spectrum in order to detect distinguishing features of target, - classifying distinguishing features of the target in order to determine if the target is relevantfor further actions, - determining if a target deemed relevant for further actions is a false alarm, - applying further actions if target deemed relevant for further actions is not a false alarm.
    The present invention monitors the detection zone by transmitting and receiving radar signalscontinuously into the detection zone. The signal is transmitted by at least one FI/ICW radar.The acquired signal goes through signal-processing, filtering and spectrum analysis to detectand extract distinguishing features of the target, such as speed or direction of the targetwithin the detection zone. According to the detected and extracted distinguishing features,the existence of a target and the type of the target are recognized and its distinguishingfeatures are classified. Depending on how the distinguishing features are classified, the targetis determined to be either relevant or not relevant for further actions. Furthermore, themethod evaluates false alarm signals and eliminates these. One aim of the invention is toidentify whether it is relevant to take further action or not for a specific detected target. Themere detection of a target will not immediately cause the system to take further action, untilthe system has determined that the target is in danger or generally of interest for a specificapplication. Thus, a detected target will cause an application of a further action, e.g. raising analarm, if and only if, it is a target in danger or of interest for the specific application of themethod. ln addition to this a check to verify that a target that seems to be in danger or ofinterest to the application is not a false alarm before applying the further action. The methodcan thus be used for recognizing a particular target behaviour or a target pattern causing a further action, such as raising an alarm, to be applied. 3ln case the method determines that the target is not a false alarm, any further actionconnected to the distinguishing feature of the target is applied. ln previously known setups, asignal detects a target, e.g. a human-like target, or a non-target, e.g. an animal-like target, orabsence of a target. lf a non-target is detected as a target it is a false-alarm and if a target is missed, it is a misdetection.
    One advantage of the invention is that the method uses a combination of:- firstly, signal processing in order to improve the SNR of the acquired reflected radarsignal;- secondly, analysis of the signal spectrum in order to detect distinguish features oftarget; and- thirdly, analyse and classify the motion behaviour of the target in order to determine ifthe target is relevant for further actions and to avoid false-alarms.
    These features combined enable the method to improve the detection method.
    The method can for instance in a first example be used at a pool area where targets relevantfor further action are human-like targets, i.e. people in risk of drowning can be identified byclassifying distinguishing features of the target. lf the target is classified as being in danger ofdrowning, an alarm can be sent out to an electronic device held by the pool owner orsupervisor, an audible alarm can be sent out at the pool or a flotation device can be releasedinto the pool to assist the drowning victim. Targets relevant for further actions may of course also be animal-like targets such as cats or dogs.
    The method may also comprise: - initializing and calibrating the FI/ICW radar, - processing the environment in the detection zone in order to set up parameters forcalibration. With processing the environment is meant processing the data that the radarsystem records from the environment the system is set to monitor when there is no target inthe detection zone. This processing can be used for e.g. eliminating DC level of the receivedsignal or setting antenna parameters which will give maximum signal reflection. Parameters can also for instance be threshold levels and filtering parameters used to calibrate the method 4in order to remove false alarm signals and false positives. Processing the environment leads to a lower probability for false alarms.
    The distinguishing features of the at least one target may be one or more of:- presence of the at least one target in the detection zone, - appearance ofthe at least one target in the detection zone, - disappearance of the at least one target from the detection zone, - speed of the at least one target within the detection zone, - direction of the at least one target within the detection zone, - altitude of the at least one target within the detection zone, - the at least one target entering or exiting the detection zone, - the at least one target entering the detection zone from an unexpected position.
    By classifying one or more of the above listed distinguishing features, the method candetermine if the target is relevant for further actions. Continuing with the first example of theswimming pool, if a target suddenly disappears from the detection zone without exiting thedetection zone, it is highly likely that the target has entered the pool. lf the target does notreappear within a certain predetermined period of time, the method determines that thetarget is in danger of drowning and initializes further actions. Further actions can be an alarmsent out to an electronic device held by the pool owner or supervisor, an audible alarm sentout at the pool or a flotation device released into the pool to assist the drowning victim. Thedistinguishing features can also be used to improve the determining if a target is human-likeor not. For instance a possible target entering the detection zone from above, without firstentering the detection zone is most likely a bird and can be disregarded by the method. After acertain time of day, presence of a target in the detection zone can indicate unwanted intrusion and can trigger a further action such as an alarm.
    For identifying human movement, the extent of legs movement can be identified by the signalspectrum analysis. Artificial intelligence (Al) techniques, such as neural networks (NN), can betrained for behaviour identification using an inverse problem method. To use Al, a neuralnetwork can be trained offline and the applicable scenario can be uploaded to each unit deployed in the field. The trained NN software can be different for different choice of the 5customers. For a swimming pool, it can alert for entrance, staying or drowning of animals as well.
    The method may also comprise: - tracking, analysing and predicting the behaviour of the at least one target at time t2, wheret2 is later than t1. lf the target leaves the detection zone, the method can track, analyse and,where necessary, predict the behaviour of the target in order to re-capture the target if it re-enters the detection zone. These features can also be used to determine that a predictedbehaviour is not classified as a distinguishing feature and thereby a cause for initiation offurther actions. When using multiple FI/ICW radar antennas or systems to cover a larger area,for instance a pool complex, a human-like target may move between detection zones of themultiple FI/ICW radar antennas or systems. The method can thus predict the behaviour of thetarget in order for the method to identify a target entering a second detection zone whichdoes not overlap the first detection zone so that the target is not identified as a new target.These features can also be used to track targets when two or more targets cross paths in a detection zone, where one target obscures the second target from the radar's view.
    The method may also comprise: - applying signal processing on the acquired reflected radar signal such as filtering and/or oneof: a least square method, truncation of record length or reduction of zero mean, sampleaccumulation and staggered methods in order to improve SNR. The method can use a variety of methods to increase the quality of the acquired signal.
    The method may further comprise: - using super resolution spectral estimation such as MUSIC or ESPRIT to analyse the signalspectrum in order to detect distinguish features of target, - using change detection method to classify distinguishing features of target in order todetermine if target is relevant for further actions. Change detection methods may be one ormore of sequential detection and Page change detection algorithm. The analysis of the signalspectrum in combination with the change detection methods can be used to analyse targetmotion to identifying if the target is human, animal, or even distressed human. One such method is analysing the micro-Doppler signature of the target.
    The method may further comprise: - using a CFAR algorithm to determine if a target deemed relevant is actually a false alarm.
    The further actions employed by the method may be one or more of: - sending an alarm message by means of one or more of: direct data transfer, SI/IS or email toa receiver, - sounding an alarm within the detection zone, - deploying a floating device for aiding a human in risk of drowning in a pool.
    The invention further relates to a radar-based detection system for detection of human-likeand/or animal-like targets using the above described method. The system comprises: - a RF front end comprising at least one FI/ICW radar, - an electronics module, - a data processing unit (2) including a DA/AD unit, and - a communication and alarm module.
    The radar-based detection system is arranged to analyse a signal spectrum of an acquiredreflected radar signal in order to detect distinguishing features of the target and to classifydistinguishing features of the target in order to determine if the target is relevant for further actions according to the method described above.
    The advantages of the system are the same as for the method.
    The invention further relates to a computer program comprising program code means forperforming the steps of the above described method, when the computer program is run on acomputer device. The invention also relates to a computer readable medium carrying acomputer program comprising program code means for performing the steps of the above described method when the computer program is run on a computer device.
    Using a radar technology provides advantages over other types of sensing devices such asLIDAR and sonar systems, for instance in the first example of reducing the risk of drowning when the method and system is used at a swimming pool. Some of these advantages are that: 7 - a radar system is more robust and less sensitive in different kinds of environmentalconditions that causes water disturbance such as wind and rain and therefore less affected.The system performance is not degraded due to sun, snow or fog.
    - The system can be deployed without a need to be worn on persons or mounted inside thepool, in other words it is a completely non-contact system. This also enables the alarm systemto be invisible or hidden, reducing the tamper risk.
    - The system is scalable and can be adjusted simply for different sizes of the detection area.This makes the system and method easily designable for different shapes of the pool.
    - Radar has a longer range of detection among other types of sensors.
    - The system can be operated without any human interaction or supervision unlike camera-based alarm systems.
    - Communication between and from the system is wireless and therefore it is possible tomonitor the area remotely.
    - The system is installed easily since it is wireless and is capable of being battery operated. Thismeans that no cabling is required. I/|oreover, since it does not have any glass windowopenings, it can be easily installed on walls, poles, trees, etc. lt is also possible for the system to be connected to an uninterrupted power supply or to a continuous power source.
    The system described herein differs from current FI/ICW systems in that the system: - analyses the signal spectrum in order to detect distinguish features of target, - classifies distinguishing features of the target in order to determine if the target is relevantfor further actions, - determines if a target relevant for further actions is a false alarm, - applies further actions if target relevant for further action is not a false alarm.
    These differences result in the possibility to control and change the FI/ICW radar signal tobetter match the environment and potential targets. Further the motion of different targets istracked to find out targets relevant for further actions and to reject false alarms. Also, thereceived radar signal is analysed and it is possible to create a spectrum evolution over time, inorder to create a profile of target. The system and method focuses on sequences of behaviours of a specific target, which makes it a relevant target. Any other target is rejected. A 8specific target can be a human-like target and/or an animal-like target depending on the application.
    The system further has several benefits such as:- A low false alarm rate due to identifying different kinds of targets:- human vs. animal-live vs. dead- general things blown by the wind.- By looking at time evolution of a target's behaviour it is possible to classify the targets muchmore accurately.- The system also consumes low power compared to for instance cameras which needs illumination, pan, tilt, heating, and extended processing.
    BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 schematically describes a block diagram of the hardware of the radar-based systemaccording to the invention, Figure 2 shows a flow chart over the method according to the invention, Figures 3a-3d schematically show an example application of the method and system of the invention.
    DETAILED DESCRIPTIONIn the description of the invention given below reference is made to the following figures inwhich one embodiment is exemplified. The figures are to be seen as a way of illustrating the invention.
    The purpose of current invention is to use the radio waves emitted by a frequency modulatedcontinuous wave (FI/ICW) short-range radar to detect distinguishing features of a human-likeand/or animal-like target, to classify distinguishing features of the target in order to determineif the target is relevant for further actions, to determine if a target deemed relevant forfurther actions is a false alarm and to apply further actions if a target deemed relevant for further actions is not a false alarm. Distinguishing features can for instance be presence, 9appearance, entering or exiting of a human-like target and/or animal-like target to a detection area.
    The schematic layout of a system 1 according to the invention is depicted in Figure 1 as ahardware block diagram. The system 1 contains four major blocks: - Processing unit (Core) 2 - Electronics module 3 - RF Front End 4 - Communication and alarm module 5 A system 1 comprises in its simplest form one processing unit 2, one electronics module 3, oneRF front end 4 with at least two antennas 6, 7 and one communication and alarm module 5.When the system 1 is equipped with multiple RF front ends 4, multiple electronics modules 3and processing units 2 are used. One communication and alarm block 4 is used per system 1. Asystem 1 may in one example comprise multiple antennas which are switched using one RFfront end. Alternatively, multiple antennas with one front end per antenna or multiple antennas with individual RF front ends and processing units per antenna can be used.
    The radar system 1 continuously emits periodic electromagnetic waves, which are sourcedfrom frequency modulated (FM) sweeps created by the processing unit 2, electronics module3 and RF front end (RF F/E) 4. A power management module 6 generates a transmission powerprovided by a battery 7 in the processing unit 2. Then, a radar control circuit 8 receives ananalogue signal 9 from the digital-to-analogue converter (DAC) 10 and sends it to the RF F/E 4.The signal 11 to the RF F/E 4 is fed to a voltage controlled oscillator VCO 12 to produce radarsweeps with a predetermined output frequency and then these waves are radiated from theFI/ICW radar antennas 6, 7 to the environment. The radar system 1 comprises at least onecomputer readable medium, such as any kind of non-volatile memory, carrying a computerprogram comprising program code means for performing the steps of the method. Thecomputer readable medium is preferably located on a processor chip. The steps are described in more detail below.
    A reflected signal 13 from a target, being received by the RF F/E 4, is given to the electronics module 3 to be prepared for processing. The reflected signal 13 is given to the electronics module 3 for filtering in signal filtering 14 and amplification in signal amplifier 15. At this pointthe amplified signal 16 is converted to a digital signal through analogue-to-digital converter(ADC) 17. ln the present example more than one RF F/E 4 is operating, with the additional RFF/E 4 not shown. A mesh unit 18 in the processing unit 2 receives the resulted detection fromseveral units located around protection zone. Finally, an alarm signal is provided in acommunication port 20 and will be available to be transferred via a wireless network 21 bycommunication module 5. Furthermore, an alarm signal such as a siren or a light 22 is sent to a system user 23 to inform him/her if something interesting has occurred.
    The software block diagram of the invention is illustrated in figure 2. ln the first block 24, thesystem is calibrated and initialized and processes the environment in order to set upparameters. During calibration, the system will process the environment in the detection zonewithout a target. To process the environment, the system determines the position of,distances to and distances between all objects that are fixed in the environment in thedetection zone. These fixed distances can be filtered out from the actual radar signal during itsoperation. Thereafter a sweep signal is generated by the radar control board and istransmitted by the FI/ICW antennas, see block 25. A reflected signal is acquired during signalacquisition in block 26. Block 27 contains the first level of signal processing which is pre-processing or signal conditioning. This includes low-pass filtering and other techniques toimprove the signal to noise for further analysis; for example a least square method, truncationof record length or reduction of zero mean. After enhancing the signal, the signal time-frequency spectrum is analysed and, during operation, one or more distinguishing features areextracted in block 28. During calibration and initialization, information extracted from thetime-frequency spectrum analysis performed in block 28 can be sent to block 24 to be used toevaluate the environment within the detection zone without targets in it, in block 24.Additionally, part of the information extracted in block 28 can be used to set signal parameters in order to generate a proper sweep signal in block 25.
    During operation of the system, the method starts at step 25 and goes through steps 26, 27and 28 as described above. ln block 28, by using super resolution spectral estimation such asMUSIC or ESPRIT for analysing the signal spectrum, the distinguishing features of the target are detected, in order to detect the kind of target (human-like or otherwise). ln block 28, by 11analyzing the time evolution of the signal spectrum, kinematic behavior of the target(s) isdetermined. This will result in distinguishing features unique to a certain type of movement.Further, the distinguishing features are classified in block 29 by use of change detectionmethods over an estimated signal. The other main signal processing technique is eliminatingthe clutter or rejecting the false alarm by use of some CFAR techniques, which is done in block30. I/|oreover, the classified target is tracked and current information at a first time t1 is usedto predict the behaviour of the target at a second time t2. ln blocks 28 and 29, Al based deepneural network can be used for both feature extraction, behavior analysis and classification oftargets based of behavior. Lastly, if a target is detected, an alarm message is sent out by thecommunication and alarm part in block 31. lf something goes wrong in the self-test andinitialization of the system in block 24 an alarm can be sent block 31 to inform that the detection zone is unprotected. ln addition the system is able to be recovered or to receive maintenance in case of a fault ormalfunctioning. This is addressed in block 32. The power management of the system ishandled in block 33. Failure in the power block 33 or battery can be handled by the maintenance unit 32.
    The system is capable of performing in different operation modes: 1. System Power-up 2. Normal Operation 3. Malfunctioning and Error handling During power-up, the system firstly performs a self-check for the different parts ofthe systemto see if they are in a satisfactory status to be executed, for instance if the battery level issufficient. A check to see if the communication to the control centre and each radar systemare functioning correctly is also performed. This operation includes system calibration andsetting up offset values. The offset values are calculated through calibration process. Theoperations by sending acknowledges of each check to the control centre to confirm theprogress is well known. After all system checks are approved, the system is ready to beoperational and starts the normal operations. As described above, malfunctioning and error handling are handled in a separate block and is readily activated if needed. 12Figures 3a-3d schematically show an example application of the method and system 1 of theinvention. The application is drowning prevention at a pool area 34 with pool 35. The pool 35can either be a supervised public pool or a non-supervised private pool. ln the case ofthe non-supervised private pool, the system 1 can be used both for drowning prevention and for possible intrusion detection.
    Figure 3a schematically show a pool area 34 with a pool 35 and two FI/ICW radar sensors 36constituting one radar detection system 1. The two radar sensors 36 create a detection zone37, which is the area under monitoring. The radar sensors 36 can be located at different placesin the pool area 34 in order to set up a detection zone 37 that provides a good coverage of thepool area 34. For example the radar sensors 36 can be hanged over the pool or somewhere atthe corner of the pool to provide a maximum detection range. ln figure 3a the pool area 34 isempty and only a floating device 38 and a ball 39 is present in the pool 35. The system 1 is, bydetecting and classifying distinguishing features of each target, able to see that both targets38, 39 are not human-like targets and therefore no further actions need to be applied.Additionally, a target entering the detection zone 37 from above or which travels through thedetection zone 37 at a certain height above ground are deemed not to be ta rgets relevant for further actions as they are with a very high probability birds or large leafs. ln figure 3b a human-like target 40 has entered the detection zone 37. The system 1 detectsthat the target 40 is human-like and has classified the distinguishing feature of entering thedetection zone 37. The system 1 tracks the target 40 as it moves within the detection zone 37in order to classify further distinguishing features of the target 40 such as speed and direction.As an example, as long as the target 40 moves with a constant speed within the detectionzone 37, the target 40 is not deemed relevant for further actions, as this is characteristic for walking. ln figure 3c the human-like target 40 has entered the pool and the head 41 of the human-liketarget 40 is visible. The human-like target's 40 head 41 is seen by the radar detection system 1and is tracked in order to classify distinguishing features such as presence within the detection zone 37, speed and direction within the pool 35. 13ln figure 3d, the human-like target's 40 head 41 has disappeared beneath the surface of thepool 35. The radar detection system 1, tracking the distinguishing feature of presence withinthe detection zone 37, now classifies the distinguishing feature of disappearance of the target40 without crossing the border of the detection zone 37. lf the target's 40 head 41 disappearsfor a predetermined period of time, the system 1 recognizes that the target 40 is in risk ofdrowning and applies a further action by raising an alarm; by sending an alarm message bySI/IS or email to the pool owner and/or by raising an audible alarm within the pool area 34.Another action can be to deploy a floatation device, such as the floating device 38 in order forthe human-like target 40 to be able to be saved, either by grabbing the floatation devicehimself or that by another person responding to the alarm enters the pool 35 to save the target 40.
    Reference signs mentioned in the claims should not be seen as limiting the extent of the matter protected by the claims, and their sole function is to make claims easier to understand.
    As will be realised, the invention is capable of modification in various obvious respects, allwithout departing from the scope of the appended claims. Further useful applications wheredetection of human-like target or animal-like targets is relevant are conceivable within thescope of the invention. Accordingly, the drawings and the description are to be regarded as illustrative in nature, and not restrictive.
    权利要求:
    Claims (11)
    [1] 1. A method of detecting at least one human-like and/or animal-like target (40) in a detection zone (37) by using a radar-based detection system (1) comprising at leastone FI/ICW radar (6,7), the method comprising: - generating radar signal and acquiring reflected radar signal at time t1, - applying signal processing on acquired reflected radar signal in order to improve SNRto obtain an signal processed radar signal, - analysing a signal spectrum of the signal processed radar signal in order to detectdistinguishing features of the target (40), - classifying distinguishing features of the target (40) in order to determine if the target(40) is relevant for further actions, - determining if a target relevant for further actions (40) is a false alarm, - applying further actions if target (40) deemed relevant for further actions is not a false alarm.
    [2] 2. A method according to claim 1, wherein the method comprises:- initializing and calibrating the FI/ICW radar- processing the environment in the detection zone (37) in order to set up parameters for calibration.
    [3] 3. A method according to claims 1 or 2, wherein the distinguishing features ofthe at leastone target (40) are one or more of: - presence ofthe at least one target (40) in the detection zone (37), - appearance ofthe at least one target (40) in the detection zone (37), - disappearance of the at least one target (40) from the detection zone (37), - speed ofthe at least one target (40) within the detection zone (37), - direction ofthe at least one target (40) within the detection zone (37), - altitude of the at least one target (40) within the detection zone (37), - the at least one target (40) entering or exiting the detection zone (37), - the at least one target (40) entering the detection zone (37) from an unexpected position.
    [4] 4. A method according to any one of claims 1-3, wherein the method comprises:- tracking, analysing and predicting the behaviour of the at least one target (40) at time t2, where t2 is later than t1.
    [5] 5. A method according to any one of claims 1-4, wherein the method comprises:- applying signal processing on acquired reflected radar signal such as filtering and/orone of: a least square method, truncation of record length or reduction of zero mean, sample accumulation and staggered methods in order to improve SNR.
    [6] 6. A method according to any one of claims 1-5, wherein the method comprises: - using super resolution spectral estimation such as MUSIC or ESPRIT to analyse thesignal spectrum in order to detect distinguish features of target (40), - using change detection method to classify distinguishing features of target (40) in order to determine if target (40) is relevant for further actions.
    [7] 7. A method according to any one of claims 1-6, wherein the method comprises:- using a CFAR algorithm to determine if a target deemed relevant for further actions (40) is a false alarm.
    [8] 8. A method according to any one of claims 1-7, wherein the further actions are one ormore of: - sending an alarm message by means of one or more of: direct data transfer, SI/IS oremail to a receiver, - sounding an alarm within the detection zone (37),
    [9] 9. Radar-based detection system (1) for detection of human-like and/or animal-liketargets (40) using the method of claims 1-8, characterized in that the system (1) comprising: - a RF front end (4) comprising at least one FI/ICW radar (6,7) - an electronics module (3) - a data processing unit (2) including a DA/AD unit (10, 17) 16 - a communication and alarm module (5).
    [10] 10. A computer program comprising program code means for performing the steps of any one of c|aims 1 to 8, when the computer program is run on a computer device.
    [11] 11. A computer readable medium carrying a computer program comprising program codemeans for performing the steps of any one of c|aims 1 to 8 when the computer program is run on a computer device.
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    法律状态:
    2019-07-23| NAV| Patent application has lapsed|
    2019-08-13| NAV| Patent application has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    EP15183707|2015-09-03|
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