Source: http://www.google.fr/patents/US9529083
Timestamp: 2018-01-16 19:51:14
Document Index: 624616369

Matched Legal Cases: ['Application No. 61', 'art 5', 'Application No. 201080003467', 'Application No. 201080003456', 'Application No. 102013102', 'Application No. 10', 'Application No. 2012501176', 'Application No. 2012', 'Application No. 2012', 'Application No. 07785873', 'Application No. 201080003466']

Brevet US9529083 - Three-dimensional scanner with enhanced spectroscopic energy detector - Google Brevets
A laser scanner that determines three-dimensional points in an environment further includes a spectrometer for determining the wavelength spectrum of chemical substances in the environment....http://www.google.fr/patents/US9529083?utm_source=gb-gplus-shareBrevet US9529083 - Three-dimensional scanner with enhanced spectroscopic energy detector
Numéro de publication US9529083 B2
Numéro de demande US 14/822,063
Date de dépôt 10 août 2015
Autre référence de publication US20150369917
Numéro de publication 14822063, 822063, US 9529083 B2, US 9529083B2, US-B2-9529083, US9529083 B2, US9529083B2
Inventeurs Robert E. Bridges, Reinhard Becker
Citations de brevets (942), Citations hors brevets (147), Classifications (9), Événements juridiques (1)
Three-dimensional scanner with enhanced spectroscopic energy detector
US 9529083 B2
A laser scanner that determines three-dimensional points in an environment further includes a spectrometer for determining the wavelength spectrum of chemical substances in the environment.
1. A laser scanner for optically scanning and measuring an object in an environment, the laser scanner comprising:
a light emitter configured to emit an emission light beam, an electromagnetic energy generator configured to emit a first electromagnetic energy, and a first beam splitter configured to combine the emission light beam with the first electromagnetic energy in a combined light and to send the combined light out of the laser scanner into the environment;
an optical system including at least one of a reflective optical component and a refractive optical component, the optical system receiving in operation a combined reflected light, the combined light reflected by the object and received by the at least one or a reflective optical component and a refractive optical component;
a second beam splitter configured to separate the combined reflected light into a reflected emission light and a reflected electromagnetic energy;
an optical receiver having a collecting lens and a detector, the optical receiver determining in operation a distance to a point on the object based at least in part on the reflected emission light with the detector;
a spectrometer receiver having a photosensitive detector that receives in operation the electromagnetic energy, the spectrometer receiver determines in operation a wavelength spectrum of the reflected electromagnetic energy received by the photosensitive detector; and
a control and evaluation unit having a processor and a data connection to the light emitter and the light receiver, the processor determining in operation a distance from the laser scanner to the point on the object, the determined distance based at least in part on a propagation time of the emission light beam and the reflection light beam.
2. The laser scanner of claim 1, further comprising a first angle measuring device operably coupled to the processor to provide in operation a first angle of the combined light out of the laser scanner.
3. The laser scanner of claim 2, further comprising a second angle measuring device operably coupled to the processor to provide in operation a second angle of the combined light out of the laser scanner.
4. The laser scanner of claim 3, wherein the the processor determines three-dimensional coordinates of the point.
5. The laser scanner of claim 4, wherein the electromagnetic energy generator generates electromagnetic energy in the infrared region.
6. The laser scanner of claim 5, wherein the electromagnetic energy generator generates one or more wavelengths between 3 and 15 micrometers.
7. The laser scanner of claim 5, wherein the electromagnetic energy generator includes a quantum cascade laser.
8. The laser scanner of claim 5, wherein the electromagnetic energy generator sweeps over a plurality of wavelengths.
9. The laser scanner of claim 8, wherein the spectrometer receiver determines in operation the wavelength spectrum of the reflected electromagnetic energy based at least in part on a correlation in time between reflected electromagnetic energy measured by the spectrometer receiver and the first electromagnetic energy emitted by the electromagnetic energy generator.
10. The laser scanner of claim 4, wherein the electromagnetic energy generates a comb of optical frequencies.
11. The laser scanner of claim 10, wherein the spectrometer receiver is a Fourier transform interferometer receiver.
12. The laser scanner of claim 11, wherein the spectrometer receiver includes a microelectromechanical interferometer.
13. The laser scanner of claim 10, wherein the spectrometer receiver includes one of a virtually-imaged phased-array spectrometer and a dual-comb spectrometer.
14. The laser scanner of claim 4, wherein the spectrometer receiver includes a grating configured to separate wavelengths.
15. The laser scanner of claim 14, wherein the separated wavelengths are projected onto the photosensitive detector.
16. The laser scanner of claim 4, further including a rotary mirror that directs in operation the combined light out of the laser scanner and to direct the combined reflected light back into the laser scanner.
17. The laser scanner of claim 4, wherein at least a portion of the electromagnetic energy generator is located outside a body of the scanner.
18. The laser scanner of claim 17, wherein electromagnetic energy is transferred from the electromagnetic energy generator over a fiber-optic cable.
19. The laser scanner of claim 4, wherein at least a portion of the spectrometer receiver is located outside a body of the scanner.
20. The laser scanner of claim 19, wherein at least a portion of the received electromagnetic energy is transferred to the spectrometer receiver over fiber-optic cable.
The present application claims the benefit of U.S. Non-Provisional patent application Ser. No. 14/257,216, filed on Apr. 21, 2014, which is a continuation-in-part of U.S. Non-Provisional patent application Ser. No. 13/510,020, filed on Jun. 15, 2012, which is a National Stage Application of PCT Patent Application No. PCT/EP2010/006867, filed on Nov. 11, 2010, which claims the benefit of U.S. Provisional Patent Application No. 61/299,166, filed on Jan. 28, 2010, and of German Patent Application No. DE 10 2009 055988.4, filed on Nov. 20, 2009, all of which are hereby incorporated herein by reference. The present application also claims the benefit of U.S. Non-Provisional patent application Ser. No. 14/257,214, filed on Apr. 21, 2014, which is a continuation-in-part of the aforementioned U.S. Non-Provisional patent application Ser. No. 13/510,020, all of which are hereby incorporated herein by reference.
A laser scanner for optically scanning and measuring an environment, the laser scanner comprising: a light emitter configured to emit an emission light, an electromagnetic energy generator configured to emit a first electromagnetic energy, and a first beam splitter configured to combine the emission light with the first electromagnetic energy in a combined light and to send the combined light out of the laser scanner into the environment; an optical system configured to receive as combined reflected light the combined light reflected by the environment; a second beam splitter configured to separate the combined reflected light into a reflected emission light and a reflected electromagnetic energy; an optical receiver configured to determine a distance to a point on an object in the environment based at least in part on the reflected emission light; a spectrometer receiver configured to determine a wavelength spectrum of the reflected electromagnetic energy based at least in part on the reflected electromagnetic energy; and a control and evaluation unit configured to link the determined distance to the wavelength spectrum.
FIG. 1 is a partial sectional view of the laser scanner according to an embodiment;
FIG. 2 is a schematic illustration of the laser scanner according to an embodiment;
FIG. 4 is a partial sectional view of the laser scanner according to an embodiment;
FIG. 5 is a partial sectional view of the laser scanner according to an embodiment;
FIG. 6 is a partial sectional view of the laser scanner according to an embodiment;
FIG. 7 is a partial sectional view of the laser scanner according to an embodiment;
FIG. 8 is a schematic illustration of a swept laser in an external cavity configuration;
FIG. 9 is a schematic illustration of a broadband laser comb source;
FIG. 10 is a schematic illustration of a spectrometer receiver that determines wavelength spectrum through correlation with wavelengths emitted by a swept laser source;
FIGS. 11A, 11B, 11C, and 11D are schematic representations of exemplary grating spectrometers; and
FIGS. 12A and 12B are schematic representations of exemplary Fourier transform spectrometers.
The measuring head 12 is further provided with a light emitter 17 for emitting an emission light beam 18. The emission light beam 18 may be a laser beam in the range of approximately 340 to 1600 nanometer (nm) wavelength; for example 790 nm, 905 nm or less than 400 nm. Also other electromagnetic waves having, for example, a greater wavelength can be used. The emission light beam 18 is amplitude-modulated, for example with a sinusoidal or with a rectangular-waveform modulation signal. The emission light beam 18 is emitted by the light emitter 17 onto the rotary mirror 16, where it is deflected and emitted to the environment. A reception light beam 20 which is reflected in the environment by an object O or scattered otherwise, is captured again by the rotary mirror 16, deflected and directed onto a light receiver 21. The direction of the emission light beam 18 and of the reception light beam 20 results from the angular positions of the rotary mirror 16 and the measuring head 12, which depend on the positions of their corresponding rotary drives which, in turn, are registered by one encoder each.
In addition to the distance d to the center C10 of the laser scanner 10, each measuring point X comprises brightness information which is determined by the control and evaluation unit 22 as well. The brightness value is a gray-tone value which is determined, for example, by integration of the bandpass-filtered and amplified signal of the light receiver 21 over a measuring period which is attributed to the measuring point X. For certain applications it is desirable to have color information in addition to the gray-tone value. The laser scanner 10 is therefore also provided with a color camera 23 which is connected to the control and evaluation unit 22 as well. The color camera 23 may comprise, for example, a CCD camera or a CMOS camera and provides a signal which is three-dimensional in the color space, for example an RGB signal, for a two-dimensional picture in the real space. The control and evaluation unit 22 links the scan, which is three-dimensional in real space, of the laser scanner 10 with the colored pictures of the color camera 23, which are two-dimensional in real space, such process being designated “mapping.” Linking takes place picture by picture for any of the colored pictures which have been taken to give as a final result a color in RGB shares to each of the measuring points X of the scan, i.e., to color the scan.
In the following, the measuring head 12 is described in detail.
In front of the color camera 23, i.e., closer to the rotary mirror 16, an emission mirror 32 is arranged, which is dichroic, i.e., in embodiments of the present invention the mirror 32 transmits visible light and reflects red laser light. The emission mirror 32 is consequently transparent for the color camera 23, i.e., the mirror 32 offers a clear view onto the rotary mirror 16. The emission mirror 32 is at an angle with the optical axis A of the receiver lens 30, so that the light emitter 17 can be arranged at the side of the receiver lens 30. The light emitter 17, which comprises a laser diode and a collimator, emits the emission light beam 18 onto the emission mirror 32, from where the emission light beam 18 is then projected onto the rotary mirror 16. For taking the colored pictures, the rotary mirror 16 rotates relatively slowly and step by step. However, for taking the scan, the rotary mirror 16 rotates relatively quickly (e.g., 100 cps) and continuously.
A rear mirror 43 is arranged on the optical axis A behind the mask 42, where the mirror is planar and perpendicular to the optical axis A. The rear mirror 43 reflects the reception light beam 20, which is refracted by the receiver lens 30 and which hits on the central mirror 44. The central mirror 44 is arranged in the center of the mask 42 on the optical axis A, which is shadowed by the color camera 23 and the emission mirror 32. The central mirror 44 is an aspherical mirror which acts as both a negative lens, i.e., increases the focal length, and as a near-field-correction lens, i.e., shifts the focus of the reception light beam 20 which is reflected by the nearby objects O. Additionally, a reflection is provided only by such part of the reception light beam 20, which passes the mask 42 which is arranged on the central mirror 44. The central mirror 44 reflects the reception light beam 20 which hits through a central orifice at the rear of the rear mirror 43.
The metallic holder 63 has a cylindrical basic shape with a 45° surface and various recesses. Portions of material, for example blades, shoulders and projections, each of which serves for balancing the rotor 61, remain between theses recesses. A central bore serves for mounting the motor shaft of the assigned rotary drive. The rotary mirror 16 is made of glass, which is coated and reflects within the relevant wavelength range. The rotary mirror 16 is fixed at the 45° surface of the holder 63 by glue, for which purpose special attachment surfaces 63 b are provided at the holder 63.
FIG. 4 shows a partial sectional view of the laser scanner, the view substantially the same as that of FIG. 1 except for the presence of a dichroic beam splitter 116, optional lens 118, and energy detector 119. The dichroic beam splitter includes a coating that splits off some wavelengths of electromagnetic energy (i.e., light) to travel on a path 121 to the light receiver 21 and other wavelengths of electromagnetic energy to travel on a path 120 to the optional lens 118 and energy detector 119.
It is also possible to change from a beam splitter by coating a right angle mirror to reflect one wavelength and transmit a second wavelength. FIG. 5 shows the right angle prism mirror 122 coated on a face 123 to reflect the wavelength of the light source 28 onto the light receiver 21. Electromagnetic energy of a different wavelength is transmitted through the prism 122 in a beam 124 to energy detector 125.
The use of multiple dichroic beam splitters such as elements 32 and 116 provide a way to obtain, in a single 3D scanner, information about a variety of emissions. For example, it may be important to know the 3D coordinates and color of objects in an environment and, in addition, know the temperature of those objects. A simple example might be a scan of the interior or exterior of a house showing the temperature of the different areas of the house. By identifying the source of thermal leakage, remedial action such as adding insulation or filling gaps, may be recommended.
Dichroic beam splitters may also be used to obtain multiple wavelengths to provide diagnostic chemical information, for example, by making the energy detector a spectroscopic energy detector. A spectroscopic energy detector, as defined here, is characterized by its ability to decompose an electromagnetic signal into its spectral components. In many cases, a beam of light is projected onto an object. The reflecting light may be received and analyzed to determine the spectral components that are present. Today, gratings and other elements being found in spectroscopic energy detectors are being miniaturized through the use of micro electromechanical chips. Several companies are working on miniature devices today capable of analyzing the nutritional components of food. For example, Fraunhofer has reported working on a spectrometer of only 9.5×5.3×0.5 mm for this purpose. An example of a device for which a scanner 10 may be particularly appropriate is one in which the spectral emissions may indicate the presence of explosives. Such a method is described in U.S. Pat. No. 7,368,292 to Riegl et al.
In many cases, it is desirable to capture as much of scattered spectroscopic light as possible. This improves the ability to detect small signals and improves the signal-to-noise ratio of the captured signals. As shown in FIG. 7, a way to do this is to provide the signal from a spectroscopic light source 170 in a narrow beam by sending it through the beam splitter 116 to combine it with the light 121 provided for the distance meter. In an embodiment, this combined beam of light 117 is reflected off the dichroic beam splitter 32 and off the rotating mirror 27 before it strikes a point X on the object O as shown in FIG. 2. On the return path, the scattered light 20 includes the light for the distance meter as well as the scattered light provided by the spectrometer source 170.
In an embodiment, the combined light 20 passes through refractive and reflective optical elements as discussed herein above before arriving at a dichroic beam splitter 172. In an alternative embodiment, because light may be absorbed by glass optics, the optical components may be entirely reflective. The dichroic beam splitter is shown in FIG. 7 has a right angle prism beam splitter but any sort of geometry of beam splitter may be used. In the configuration of FIG. 7, light at the wavelength used by the distance meter (for example, 1550 nm) is reflected into the light receiver 21 while transmitted light passes into a spectrometer 174. In another embodiment, the order is reversed, with light reflected into the spectrometer and light transmitted into the light receiver 21. In still other embodiments, the different wavelengths of light are separated with a fiber-optic splitter or another type of splitter.
One useful application for a spectrometer source 170 and receiver 174 in FIG. 7 is to detect and identify contaminating or hazardous materials from a distance. Such detection of chemical substances from a distance is usually referred to as “standoff” detection. A TOF scanner that includes a spectroscopic light source 170 and receiver 174 is a useful tool for identifying hazardous materials and locating them in three dimensions.
There are two general ways in which spectroscopy may be used to identify materials. In one case, the direct absorption or transmission of the applied light is measured with the spectrometer. In an alternative case, light is measured at a different wavelength, usually at a longer wavelength, which is where light photons have less energy. One example of this latter case is photo-thermal infrared imaging spectroscopy (PT-IRIS). The wavelength of the emitted light is affected by a slight increase in temperature (typically one to two degrees Celsius) in such a way as to enable material identification in some cases. Another example of the latter case of measuring light at a different wavelength is that of Raman scattering. Many different types of Raman scattering measurements are possible.
In most cases, the absorption spectra of the illuminated materials are directly measured at the wavelengths of the applied light. Although there are many cases in which illumination ultraviolet (UV), near infrared (NIR), and Terahertz (THz) wavelengths are important for identifying materials, in many cases, determination of a chemical species is most accurately done by illuminating the sample at “fingerprint” region of infrared spectroscopy which range from 1/λ wave numbers of 1450 cm−1 to 500 cm−1, corresponding to about wavelengths of about 6.5 μm to 20 μm, respectively. Photons in this region of the spectrum excite the illuminated molecule to a higher state of vibration through stretching or bending. Such stretching and bending modes provide a sensitive way to distinguish similar molecular compounds.
Miniature chip-sized spectrometers are now being developed with greater sensitivity and capability at all wavelengths, but with special attention being given to wavelengths from 3 μm to 15 μm. One laser source that generates infrared light in the 3 to 14 micrometer wavelength range is the quantum cascade laser (QCL). This type of laser has the advantage of relatively high power—for example, peak pulsed powers of up to 200 mW and average powers of up to 10 mW. Such power levels provide a relatively good signal-to-noise ratio in spectroscopy measurements.
In a spectroscopy system for chemical detection, it is desirable that a wide range of infrared wavelengths be covered. One way to achieve wide wavelength coverage at infrared wavelengths is to make a miniature external cavity QCL laser 170A in FIG. 8, which corresponds to source 170 in FIG. 7. In FIG. 8, the light source 170A is an external cavity laser 140 that emits an output beam 132, as seen in FIG. 7. The external cavity laser 140 includes a QCL chip 142 attached to a submount that dissipates heat generated by the laser 142. The QCL laser chip 142 includes a rear facet and a front facet. In an embodiment, the rear facet 148 includes an antireflection coating to minimize facet reflections. The light emerging from the back facet 148 passes through a collimating lens 152, which is also coated to minimize optical reflections. Light passes through a linear polarizer 154 and strikes a grating 156. The grating includes periodic features. For any given angle of rotation of the grating, a properly blazed grating will diffract back in the −1st order a relatively large amount of the light along the path 162. The angle of the diffraction grating is adjusted by a microelectromechanical system (MEMS) 158. Another (relatively small) part of the light reflects off the grating 156 as a specular (zeroth order) beam 164 and is absorbed by the beam block 166. In an embodiment, the front facet is relatively reflective and transmits a relatively small percentage of the light in the cavity of the QCL chip 142 into the output beam 132. In an embodiment, the QCL laser source 170A further includes a speckle reducer 168, which reduces the coherence of the output light. In an embodiment, the speckle reduce 168 is a rotating plate, which might be for example a polycrystalline plate of transparent material. The purpose of reducing speckle is to increase the signal-to-noise ratio of the signal obtained by the spectroscopic receiver 174.
In another embodiment, several light sources are combined to form one equivalent light source 170 to cover a wider range of wavelengths. For example, several QCL lasers may be swept over different wavelength ranges and their outputs combined using dichroic beam splitters.
In an alternative embodiment, the spectroscopic light source 170B in FIG. 9 includes a comb 172 of spectral lines covering a broad spectrum, for example, of an octave or more. Examples of light sources that may be used as a part of a comb generating light source 170B include a QCL, thulium laser, continuum laser source, or other broadband laser source. Such a frequency comb provides a way to accurately determine the wavelength of chemical species being analyzed spectroscopically. Work is underway around the world to develop chip-sized components to provide laser sources that incorporate frequency combs. Wavelengths from ultraviolet (UV) to Terahertz (THz) are under active investigation. For example, such efforts are underway in Europe in the Miracle, InSpectra, and Multicomb projects, and in the United States through the Spectral Combs from UV to THz (SCOUT) program.
For the case in which the light source 170 is swept, as illustrated for example in FIG. 8, the detector 174 may be provided as a simple optical detector 174A illustrated in FIG. 10. In this optical detector an electrical timing signal 178 is provided to enable correlation of the received light signal 176 to the wavelength of light emitted by the light source 170.
For the case in which the light source is a single broadband light source, a spectroscopic detector needs the capability to determine and report wavelengths of the spectrometer light scattered off object points X in FIG. 2. The broadband frequency comb 170B is an example of such a broadband light source. Spectrometer receivers may be based on use of gratings, Fabry-Perot interferometers, Fourier transform methods, or other methods. A common type of spectrometer receiver for visible and near infrared spectra are based on gratings, some examples of which are shown in FIGS. 11A-D. Spectrometer receiver 174B in FIG. 11A includes a slit 202, a concave mirror 210, a curved diffraction grating 212, and a linear photosensitive array 220. Light is focused to a line and passes through the slit 202 and spreads into the rays 204, 206, and 208, which are reflected off the concave mirror 210 and are reflected to the curved diffraction grating 212. The diffraction grating separates the rays of light into component spectral components that intercept the concave mirror in separated spectral components 212A-212B, 214A-214B, and 216A-216B. In reaching the linear photosensitive array 220, the spectral components for the separate rays have converged to points on the array including the points 218A and 218B. In an embodiment, the light rays 204, 206, and 208 are in the visible spectrum and the spectral components 218A and 218B correspond to the colors red and violet, respectively.
Spectrometer receiver 174C in FIG. 11B includes a slit 232, curved mirrors 236 and 2442, diffraction grating 238, and linear photosensitive array 246. A beam of light passes through the slit 232, travels to the first mirror 236 and reflects onto the grating 238. The grating separates the light into spectral components 240A, 240B, and 240C, which reflect off the curved mirror 242 and travel to linear photosensitive arrays 246 as the rays 244A, 244B, and 244C, respectively.
Miniature spectrometer receivers are shown in FIGS. 11C and 11D. Spectrometer receiver 174D includes a receiver chip 250, an electrical substrate 252, electrical contacts 254, a concave grating, and a linear photosensitive array within the receiver chip 250. Light 256 passes through an aperture in the receiver chip 250, travels to the concave grating, from different spectral components are separated and detected electrically by the linear photosensitive array 262. Spectrometer receiver 174E includes an upper substrate 274, a receiver chip 272 that includes a linear photosensitive array 282, and a lower substrate 276 that includes a concave grating 278. Light passes through an aperture in the upper substrate 270 and receiver chip 272, and strikes the concave grating 278, which separates different spectral components that are detected electrically by the linear photosensitive array 282.
The grating spectrometer receivers illustrated in FIGS. 11A-D are mostly available at visible and near infrared spectral regions. For measurements at longer wavelengths such as in the fingerprint region, such spectrometer receivers are not commonly available. Instead, for broadband light sources such as frequency comb of FIG. 9, a Fourier transform spectrometer receiver is more often used. A first example of a Fourier transform spectrometer receiver 290 is shown in FIG. 12A. The spectrometer receiver 274F includes a light input 292 to a fiber-optic connector 294, which routes light through an optical fiber 296 to a MEMS interferometer chip 298. In an embodiment, the MEMS interferometer is a monolithic Michelson interferometer, but other types of interferometers such as a Mach-Zehnder interferometer may equally well be used. The interferometer output is sent through an optical fiber 302 to an optical detector that produces an electrical output that is sent to a processor 306. The MEMS device 298 is includes an adjustable mirror configured to step through a series of steps to produce different electrical interference patterns recorded by the optical detector 304. These electrical patterns are evaluated by the processor 306 to determine the frequency spectrum of the incoming light 292.
Another type of Fourier transform spectrometer receiver 274G in FIG. 12B has been implemented in a compact, low-cost version for cell phones for use in the visible spectrum. This spectrometer receiver includes a collection of Mach-Zehnder interferometers that send light along two paths to obtain an interference pattern at an output. In the embodiment of FIG. 274G, light received by a cell phone is routed to channels of a Mach-Zehnder interferometer, the channels indicated as 310A, 310B, 310C, and so forth. Each channel includes beam splitters 312, 314 and mirrors 316, 318. Each channel receives light 311, which is routed along the two interferometer paths. Each of the channels has a slightly different interferometer path length difference, which produces a slightly different interference signal for each channel. This optical signal output from the beam splitter 314 passes to a pixel 320 on the photosensitive array, which converts it to an electrical signal analyzed by a processor in the system to determine the frequency spectrum of the received light.
For the case in which the received light includes a very large number of frequency comb components, alternative methods have been devised to more quickly determine the spectral content of the received signals. Such methods include virtually-imaged phased-array (VIPA) spectroscopy and dual-comb spectroscopy (DCS). Any type of spectroscopic receiver may be used in the system of FIG. 7.
An important advantage of combining a TOF scanner with a spectrometer source and receiver as in FIG. 7 is that it enables rapid determination of 3D coordinates for detected chemical species. In a further embodiment, the scanner of FIG. 7 may be connected to accessory equipment that further supports the spectroscopy functions. For example, optical signals may be routed from an external source through a fiber-optic cable to the emission point of the source 170. Similarly, the output signal, either optical or electrical, may be routed from the spectroscopy receiver 174 out of the scanner for further analysis.
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Classification internationale G01S17/02, G01S7/481, H04N1/04, G01S17/89, H04N1/00
Classification coopérative G01S17/89, G01S7/4817, H04N1/00827, G01S17/023
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