CN112540378A - 用于距离测量的方法和设备 - Google Patents
用于距离测量的方法和设备 Download PDFInfo
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- CN112540378A CN112540378A CN202010920211.2A CN202010920211A CN112540378A CN 112540378 A CN112540378 A CN 112540378A CN 202010920211 A CN202010920211 A CN 202010920211A CN 112540378 A CN112540378 A CN 112540378A
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- 238000005259 measurement Methods 0.000 title claims abstract description 149
- 238000000034 method Methods 0.000 title claims abstract description 64
- 238000011156 evaluation Methods 0.000 claims description 33
- 238000005286 illumination Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000003287 optical effect Effects 0.000 claims description 10
- 238000013528 artificial neural network Methods 0.000 claims description 4
- 238000012854 evaluation process Methods 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims 13
- 238000004590 computer program Methods 0.000 claims 1
- 206010063493 Premature ageing Diseases 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 1
- 239000002096 quantum dot Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 230000008646 thermal stress Effects 0.000 description 1
Images
Classifications
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- 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
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- 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
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- 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
-
- 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
- G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
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- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- 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
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- 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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- 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
- G01S7/4808—Evaluating distance, position or velocity data
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- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- 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
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- 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
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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- 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
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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- 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
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
-
- 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
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
Claims (15)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19195290.2 | 2019-09-04 | ||
EP19195290.2A EP3789794A1 (de) | 2019-09-04 | 2019-09-04 | Verfahren und vorrichtung zur distanzmessung |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112540378A true CN112540378A (zh) | 2021-03-23 |
CN112540378B CN112540378B (zh) | 2024-05-17 |
Family
ID=67850994
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010920211.2A Active CN112540378B (zh) | 2019-09-04 | 2020-09-04 | 用于距离测量的方法和设备 |
Country Status (7)
Country | Link |
---|---|
US (1) | US11906629B2 (zh) |
EP (1) | EP3789794A1 (zh) |
JP (1) | JP7105840B2 (zh) |
KR (1) | KR102434786B1 (zh) |
CN (1) | CN112540378B (zh) |
CA (1) | CA3091369A1 (zh) |
IL (1) | IL277134B2 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112799097A (zh) * | 2021-04-14 | 2021-05-14 | 深圳阜时科技有限公司 | 深度图和灰度图的获取方法、深度相机、以及电子设备 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023152016A1 (en) * | 2022-02-14 | 2023-08-17 | Sony Semiconductor Solutions Corporation | Time-of-flight light event detection circuitry and time-of-flight light event detection method |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102011089629A1 (de) * | 2010-12-22 | 2012-06-28 | PMD Technologie GmbH | Lichtlaufzeitkamera |
CN103959089A (zh) * | 2012-11-21 | 2014-07-30 | Lsi公司 | 自适应照明感兴趣对象的深度成像的方法和装置 |
US20160104031A1 (en) * | 2014-10-14 | 2016-04-14 | Microsoft Technology Licensing, Llc | Depth from time of flight camera |
US20170272651A1 (en) * | 2016-03-16 | 2017-09-21 | Analog Devices, Inc. | Reducing power consumption for time-of-flight depth imaging |
WO2018055449A2 (en) * | 2016-09-20 | 2018-03-29 | Innoviz Technologies Ltd. | Lidar systems and methods |
US20180113216A1 (en) * | 2016-10-25 | 2018-04-26 | Innoviz Technologies Ltd. | Methods Circuits Devices Assemblies Systems and Functionally Associated Machine Executable Code for Active Optical Scanning of a Scene |
WO2018100082A1 (en) * | 2016-11-30 | 2018-06-07 | Sony Semiconductor Solutions Corporation | Apparatus and method |
US20180164415A1 (en) * | 2016-12-12 | 2018-06-14 | Sensl Technologies Ltd | Histogram Readout Method and Circuit for Determining the Time of Flight of a Photon |
WO2018126248A1 (en) * | 2017-01-02 | 2018-07-05 | Okeeffe James | Micromirror array for feedback-based image resolution enhancement |
US20190178974A1 (en) * | 2017-12-12 | 2019-06-13 | Waymo Llc | Systems and Methods for LIDARs With Adjustable Resolution and Failsafe Operation |
CN110187324A (zh) * | 2018-02-21 | 2019-08-30 | Ibeo汽车***有限公司 | 用于光学距离测量的方法和设备 |
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JPH07333339A (ja) | 1994-06-03 | 1995-12-22 | Mitsubishi Electric Corp | 自動車用障害物検知装置 |
JPH11153664A (ja) | 1997-09-30 | 1999-06-08 | Sumitomo Electric Ind Ltd | 繰り返しパルス光を利用した物体検知装置 |
JP2001050723A (ja) | 1999-08-11 | 2001-02-23 | Minolta Co Ltd | 距離測定装置 |
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EP3531167B1 (de) * | 2018-02-21 | 2021-04-07 | Ibeo Automotive Systems GmbH | Verfahren und vorrichtung zur optischen distanzmessung |
CN113167901A (zh) * | 2018-12-03 | 2021-07-23 | ams国际有限公司 | 利用强度信息的三维成像 |
-
2019
- 2019-09-04 EP EP19195290.2A patent/EP3789794A1/de active Pending
-
2020
- 2020-08-27 CA CA3091369A patent/CA3091369A1/en active Pending
- 2020-09-02 US US17/010,764 patent/US11906629B2/en active Active
- 2020-09-03 JP JP2020148160A patent/JP7105840B2/ja active Active
- 2020-09-03 KR KR1020200112300A patent/KR102434786B1/ko active IP Right Grant
- 2020-09-03 IL IL277134A patent/IL277134B2/en unknown
- 2020-09-04 CN CN202010920211.2A patent/CN112540378B/zh active Active
Patent Citations (11)
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DE102011089629A1 (de) * | 2010-12-22 | 2012-06-28 | PMD Technologie GmbH | Lichtlaufzeitkamera |
CN103959089A (zh) * | 2012-11-21 | 2014-07-30 | Lsi公司 | 自适应照明感兴趣对象的深度成像的方法和装置 |
US20160104031A1 (en) * | 2014-10-14 | 2016-04-14 | Microsoft Technology Licensing, Llc | Depth from time of flight camera |
US20170272651A1 (en) * | 2016-03-16 | 2017-09-21 | Analog Devices, Inc. | Reducing power consumption for time-of-flight depth imaging |
WO2018055449A2 (en) * | 2016-09-20 | 2018-03-29 | Innoviz Technologies Ltd. | Lidar systems and methods |
US20180113216A1 (en) * | 2016-10-25 | 2018-04-26 | Innoviz Technologies Ltd. | Methods Circuits Devices Assemblies Systems and Functionally Associated Machine Executable Code for Active Optical Scanning of a Scene |
WO2018100082A1 (en) * | 2016-11-30 | 2018-06-07 | Sony Semiconductor Solutions Corporation | Apparatus and method |
US20180164415A1 (en) * | 2016-12-12 | 2018-06-14 | Sensl Technologies Ltd | Histogram Readout Method and Circuit for Determining the Time of Flight of a Photon |
WO2018126248A1 (en) * | 2017-01-02 | 2018-07-05 | Okeeffe James | Micromirror array for feedback-based image resolution enhancement |
US20190178974A1 (en) * | 2017-12-12 | 2019-06-13 | Waymo Llc | Systems and Methods for LIDARs With Adjustable Resolution and Failsafe Operation |
CN110187324A (zh) * | 2018-02-21 | 2019-08-30 | Ibeo汽车***有限公司 | 用于光学距离测量的方法和设备 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112799097A (zh) * | 2021-04-14 | 2021-05-14 | 深圳阜时科技有限公司 | 深度图和灰度图的获取方法、深度相机、以及电子设备 |
CN112799097B (zh) * | 2021-04-14 | 2023-11-28 | 深圳阜时科技有限公司 | 深度图和灰度图的获取方法、深度相机、以及电子设备 |
Also Published As
Publication number | Publication date |
---|---|
JP7105840B2 (ja) | 2022-07-25 |
CN112540378B (zh) | 2024-05-17 |
KR20210028589A (ko) | 2021-03-12 |
KR102434786B1 (ko) | 2022-08-19 |
US11906629B2 (en) | 2024-02-20 |
EP3789794A1 (de) | 2021-03-10 |
CA3091369A1 (en) | 2021-03-04 |
IL277134B2 (en) | 2024-06-01 |
IL277134A (en) | 2021-03-25 |
JP2021056213A (ja) | 2021-04-08 |
IL277134B1 (en) | 2024-02-01 |
US20210063579A1 (en) | 2021-03-04 |
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