Patent Application
20240168167
The invention generally relates to optical sensing and in particular to an optical imaging system and method.
Optical imaging systems use optical waves propagating in free space (i.e. air, outer space, vacuum, or similar medium) to image or to monitor a target environment. The use of optical waves is driven by many advantageous such as the maturity of the technologies used to generate, manipulate and detect optical waves, the almost unlimited bandwidth allowed by such waves, and the low cost necessary to deploy such technologies.
Optical imaging systems, such as LIDAR technologies, are widely deployed nowadays. Most of such systems make use of static laser sources in terms of orientation, which means that the generated optical beams are pointed, continuously or in a pulsed regime over the time, in a single pointing direction. Such features are not compatible with today's applications.
Numerous solutions have been proposed to achieve certain flexibility in the operation of such imaging systems, in particular in terms of pointing direction. Some of the proposed solutions are based on mechanically assisted devices to change the pointed direction of an optical imaging system. However, such solutions are only compatible with applications having limited scanning speed. Further, they require a large footprint and a high-power consumption.
Other known solutions rely on active optical devices to tune the pointed direction of an optical imaging system. For example, U.S. Pat. No. 10,665,953 discloses an optical imaging system relying on active optical devices where a metasurface is coupled to liquid crystals associated with resonant antennas, which makes it possible to modify the local reflection phases of the output optical beams. However, the use of liquid crystals results in a complex electronics architecture, considerable reduction of the scanning speed, and limited deflection angles. In addition, imaging systems based on active optical devices have a lot of drawbacks, such as a high power consumption and complex driver mechanism.
There is accordingly a need for an improved optical imaging system and method.
In order to address these and other problems, there is provided an optical imaging system comprising a transmitter unit and a receiver unit. The transmitter unit comprises:
The receiver unit comprises:
According to some embodiments, the optical imaging system may further comprise a control unit configured to select the operational deflecting cell by generating a corresponding external control signal.
According to some embodiments, the control unit may further be configured to change, at least once during a scanning period, the operational deflecting cell.
According to some embodiments, the second field of view may be wider than the first field of view.
According to some embodiments, the second field of view may be comprised between 120 degrees and 180 degrees, when measured horizontally, and/or vertically.
According to some embodiments, the light-emitting source may further be configured to modulate the at least one first optical beam using a modulating signal supplied by the control unit.
According to some embodiments, the at least one first optical beam may be intensity-modulated.
According to some embodiments, the at least one first optical beam may be frequency-modulated.
According to some embodiments, the optical imaging system may further comprise an optical filter arranged between the spatial light modulator and the transmissive deflecting device to eliminate undesired optical beams.
According to some embodiments, the optical imaging system may further comprise a processing unit configured receive the output electrical signal, and to determine a plurality of characteristics of the target environment, the plurality of characteristics including geometric characteristics.
According to some embodiments, the transmissive deflecting device may comprise one or more of the elements among a diffraction grating, a blazed grating, a blazed binary sub-wavelength grating, and/or a metasurface.
According to some embodiments, the spatial light modulator may comprise a horizontally oriented acousto-optic deflector and a vertically oriented acousto-optic deflector.
According to some embodiments, the light-focusing device is a converging lens, preferably a passive scanning lens.
According to some embodiments, the transmissive deflecting device may be a passive transmissive deflecting device.
There is also provided an imaging method, the method comprising the steps of:
According to some embodiments, the imaging method may further comprise the steps:
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various embodiments of the invention and, together with the general description of the invention given above, and the detailed description of the embodiments given below, serve to explain the embodiments of the invention.
The invention may be implemented in any system that uses light to interact with or to monitor a two-dimensional or three-dimensional target environment 20 that cannot easily be covered using a static camera. In an exemplary application of the invention, the imaging system 10 may be employed as a LIDAR (acronym for “Light Detection And Ranging”) system to make high-resolution depth maps, in various fields, for example and without limitation, geology, forestry, archaeology, and land mapping. The imaging system may also be deployed in autonomous vehicles to provide real-time information about the surrounding environment 20 of the vehicle. In such application, the imaging system may replace a large number of cameras whose characteristics in terms of orientation and in terms of operational wavelength are generally static over the time and that cannot effectively cope with weather conditions and/or with the failure of one of them. The imaging system may also be used in robotics for the perception of the surrounding environment 20 and for the classification of identified objects.
Advantageously, the embodiments of the invention provide a compact and reconfigurable optical imaging system 10 with a small footprint and reduced power consumption. Such features of the optical imaging system 10 are compatible with numerous terrestrial, airborne, and mobile applications, including astronomy and spaceflight, e.g. satellites.
As shown in
More specifically, with reference to
According to some embodiments, the light-emitting source 101 may be configured to operate in a pulsed mode in which the light-emitting source 101 is alternatively turned on and off, steadily or irregularly over the time. When turned on, the light-emitting source 101 may be configured to operate in the same manner as in a continuous mode, as previously described. The use of a pulsed mode makes it easy to determine the position of a target object by measuring the time delay taken by an optical beam to return to the receiver unit 200.
According to some embodiments, the light-emitting source 101 is further configured to modulate the first optical beam using a modulating signal which may be electrical or optical. For example, either the intensity or the frequency of the optical field representing the first optical field may be modulated. Alternatively, both the intensity and the frequency of the optical may be simultaneously modulated.
According to some embodiments, the light-emitting source 101 may be configured to operate in the ultraviolet, visible, or infrared region of the electromagnetic spectrum, the infrared radiation comprising the following three bands: Near-infrared, Mid-infrared and Far-infrared. Advantageously, the central wavelength of the optical field representing the first optical beam may be chosen depending on the light absorption properties of the target objects of the target environment 20, and by taking into consideration the outdoor conditions occurring outside the optical imaging system 10, such as the weather conditions. In particular, the central wavelength may be chosen far enough from the wavelength absorption band of the target objects of the target environment 20.
In an exemplary embodiment, the light-emitting source 101 may be configured to operate in the mid-infrared region of the electromagnetic spectrum (3 to 50 μm). Although the invention is not limited to such embodiment, it should be noted that the invention has particular advantages when the light-emitting source 101 operates in the mid-infrared region of the electromagnetic spectrum, due to the high transparency of the atmosphere at such wavelengths.
As shown in
In one embodiment, the spatial light modulator 102 may be an active spatial light modulator 102 including a modulation input from which a modulating signal may be applied to the spatial light modulator 102 in order to change its behavior in terms of deflection direction. The modulating signal may be an electrical modulating signal. For example, a mapping between the modulating signals and the directions of deflection operated by the spatial light modulator 102 may be previously established through a calibration process.
The spatial light modulator 102 may be configured to change the first deflection direction based on the applied modulating signals, several times during a scanning period. A first deflection direction may be chosen on the basis of the previous first deflection directions, or may be independently selected.
According to some embodiments, the first field of view 1020 of the spatial light modulator 102 may be comprised between a lower threshold, for example 10 degrees, and a higher threshold, for example 60 degrees, when measured horizontally, and/or vertically.
In one embodiment, the spatial light modulator 102 may comprise two acousto-optic modulators, also called acousto-optic deflectors, arranged in series and oriented perpendicularly to each other, each of the two acousto-optic modulators being configured to deflect the optical beam at its optical input according to its own modulating signal. In such configuration, the first optical beam is first deflected by the first acousto-optic modulator according to a first angle of view defined horizontally, for example, in the first field of view 1020. After being horizontally deflected, the first optical beam enters the second acousto-optic modulator to be vertically deflected according to a second angle of view defined perpendicularly with respect of that of the first acousto-optic modulator. In this case, the first deflection direction of the first deflected optical beam is defined by the two perpendicular angles of view.
In some embodiments, each acousto-optic modulator is configured to diffract an incident optical beam into a plurality of deflected beams. Each of the deflected optical beams is associated with an order of diffraction and exhibits a given level of power.
According to non-limiting examples, while the optical deflected beam exhibiting the maximum level of power is a beam of interest and defines the first deflected beam, all the other deflected optical beams correspond to undesired optical beams. Advantageously, some of the undesired optical beams, for example those exhibiting a high level of power, may be used to conduct additional measurements, similarly to the first deflected beam.
In addition to the deflected optical beams, an acousto-optic modulator may be further configured to transmit a part of an initial optical beam passing through its optical input to its optical output, without having undergone any deflection and exhibiting a given level of power from the initial optical beam. In particular, such transmitted part of the initial optical beam may correspond to the zero order of diffraction of said acousto-optic modulator, and may be associated with a transmitted field of view, namely 1020-t (not represented in the figures). It should be noted that the transmitted field of view 1020-t may comprise at least some propagation properties of the initial optical beam, such as for example the direction of the optical beam. Therefore, a spatial light modulator 102 comprising one or more acousto-optic modulators may be further configured to:
To facilitate the understanding of the description of the following embodiments, it will be considered hereinafter that that the first field of view 1020 may comprise the transmitted field of view 1020-t.
The optical imaging system 10 further comprises a deflecting device 103 that may be arranged in front of the spatial light modulator 102 so that the deflecting device 103 is totally or partially contained in the first field of view 1020, as shown in
In some embodiments, the deflecting device 103 may be totally or partially comprised in the transmitted field of view 1020-t generated by the spatial light modulator 102. Advantageously, the transmitted field of view 1020-t may be aligned with the center of deflecting device 103 (not shown in the figures). Further, one or more deflecting cells 103-i of the deflecting device 103 may be reachable by the transmitted (i.e. non-deflected) optical beam associated with a transmitted field of view 1020-t, and may be associated with an elementary field of view 1030-i.
Similarly to the spatial light modulator 102, the deflecting device 103 presents at its optical output a second field of view 1030 that delimits the volume of space which may be crossed by optical beams coming from the deflecting device 103, i.e. coming from deflecting cells 103-i. The second field of view 1030 of the deflecting device 103 may be seen as a summation of the elementary fields of view of the deflecting cells 103-i. Further, the deflecting device 103 may be configured to generate, from the first deflected beam received from the spatial light modulator 102, at least one second deflected beam using an operational deflecting cell 103-i belonging to the 2D arrangement of deflecting cells 103-i, the operational deflecting cell 103-i being defined as the deflecting cell 103-i that receives the first deflected beam from the spatial light modulator 102.
In one embodiment, the deflecting device 103 may be a passive deflecting device, which means that no power supply is required. In addition, the response of each of the deflecting cells 103-i is constant over the time and cannot be adjusted after the fabrication process. Alternatively, the deflecting device 103 may be an active deflecting device which requires a power supply and allows the response of the deflecting cells 103-i to be adjusted.
The deflecting device 103 may be a transmissive deflecting device 103, as opposed to a reflective deflecting device 103. The transmissive deflecting device 103 allows the first optical beams and the second optical beams to propagate in two different regions of space, which avoids interactions between them, the two different regions of space being separated by the transmissive deflecting device 103.
According to some embodiments, the second field of view 1030 of the deflecting device 103 may be chosen so as to be significantly wider than the first field of view 1020 of the spatial light modulator 102. For example, the second field of view 1030 may be set to be greater than twice the first field of view 1020.
In an exemplary embodiment, the deflecting device 103 may be configured such that its second field of view 1030 presents the shape of a cone, which means that any two angles of view measured perpendicularly within the second field of view 1030 are slightly equal. Alternatively, the deflecting device 103 may be configured such that its second field of view 1030 presents an asymmetrical shape.
In some embodiments, the deflecting device 103 may present at least two second fields of view. Such at least two second fields of view, may be superposed at the optical output of the deflecting device 103.
The second field of view 1030 from the deflected optical beams may be chosen so as to be significantly wider than the second field of view 1030-t from the non-deflected optical beam, which depend on the deflecting device 103 and more precisely on the deflecting cells 103-i. For example, the second field of view 1030 from the deflected optical beams may be set to be greater than twice the second field of view 1030-t from the non-deflected optical beam. In some embodiments, the transmitter unit 100 of the optical imaging system 10 may further comprises an optical lens arranged between the spatial light modulator 102 and the passive deflecting device 103. The optical lens may be a converging optical lens and may be configured to precisely focus the first deflected beam so that it is received by a single deflecting cell, thereby enhancing the quality of the second deflected beams generated by the deflecting device 103. Alternatively, the optical lens may be a diverging optical lens and may be configured to broaden the first field of view 1020, thus reducing the required distance between the spatial light modulator 102 and the deflecting device 103 so that the latter is totally contained in the first field of view 1020.
According to some embodiments, the light-emitting source 101, the spatial light modulator 102 and the deflecting device 103 may be arranged in an aligned manner along a common propagation axis. Such an alignment obviates the need for additional optical components and provides a compact transmitter unit 100. Alternatively, the elements of the transmitter unit 100 may be arranged according to different propagation axes. In such configuration, additional optical components such as mirrors may be inserted between two adjacent elements of the transmitter unit 100 to ensure the arrival of an optical beam from the optical output of one element to the optical input of the other element.
The optical imaging system 10 further comprises a control unit 110 configured to select the operational deflecting cell 103-i among the 2D arrangement of deflecting cells 103-i of the deflecting device 103, the operational deflecting cell 103-i being defined as the deflecting cell 103-i that receives the first deflected beam. In this regard, the control unit 110 may be configured to generate a control signal and to apply the generated control signal on the spatial light modulator 102 so that the first deflected beam reaches the selected deflecting cell.
In one embodiment, the control unit 110 may be further configured to control the operation of the light-emitting source 101. Such control operation may include determining the operation mode of the light-emitting source 101, determining whether the optical field that represents the first optical beam is modulated or not, and determining, in the case of a modulated optical field, the type of the modulation, the modulation index, as well as the modulating signal.
According to some embodiments, the transmitter unit 100 may further comprise an optical filter 104, such as a spatial beam blocker, arranged between the spatial light modulator 102 and the deflecting device 103 so as to eliminate undesired optical beams. Such undesired optical beams may comprise all the optical beams generated by the spatial light modulator 102 other than the first deflected beam. Although not limited to such embodiment, the use of such an optical filter 104 has particular advantages when the spatial light modulator 102 comprises one or two acousto-optic modulators.
In one embodiment, the transmissive deflecting device 103 may be a diffraction grating, a blazed grating, or a blazed binary sub-wavelength grating comprising a plurality of pixels, each of the pixels being assimilated to a deflecting cell 103-i that corresponds to a corresponding elementary field of view 1030-i.
According to some embodiments, a passive transmissive deflecting device 103 may be an optical metasurface device comprising a substrate and a resonator structure. The substrate may comprise silica, silicon or any semiconductor material. The resonator structure may comprise a metal structure, a dielectric structure, and/or semiconductor structure. The resonator may also comprise one or more arrays of resonators formed on or in the substrate.
The arrays of resonators correspond to a plurality of pixels, each of the pixels being assimilated to a deflecting cell 103-i (associated with an elementary field of view 1030-i).
According to non-limiting examples, an optical metasurface may have a size ranging substantially from 1 millimeters up to 4 centimeters, in the direction of the 2D arrangement of deflecting cells 103-i. An optical metasurface may be an optical plate with a global thickness ranging substantially from 100 nanometers up to about a few wavelength, depending on materials and operational wavelengths. The global thickness may take into account the thickness of the substrate and the thickness of the resonator structure. The resonators may be metallic antennas and/or dielectric antennas comprising one or more nanopillars (also called rods) directed substantially perpendicularly to the plan of the optical plate. The nanopillars may have different geometries, which can be characterized for example by a form, a size (or a diameter for cylindrical nanopillars) and/or a height. The size of a nanopillar may be for example comprised between 80 nanometers and 300 nanometers. The height h of a nanopillar may range from 10 nanometers to 2 micrometers. In some embodiments, height h of a nanopillar may be defined as a function of the wavelength λ of the optical beam, the refractive index of the material forming the nanopillars np and the refractive index of the material surrounding the pillars no, for example according to the following equation (1):
The form of the nanopillars may be for example cylindrical, round, square, rectangle or elliptical. Plasmonic antennas may comprise for example two rods joined to form a V-shape, or three rods joined to form a Y shape. Advantageously, optical metasurface with single cylindrical round antennas may be configured to generate polarization invariance from the optical beam transmission.
A deflecting cell 103-i is an array of resonators comprising two or more antennas with different geometries and/or with a variation of the nanopillars' parameters to parametrically change the optical phase between 0 and 2π. In such deflecting cell 103-i, spacing between antennas may range from 0 nanometers to about the size of a wavelength of the impinging light. According to non-limiting examples, the size s of a deflecting cell 103-i (acting like a phase addressing unit) may be defined as a function of the wavelength λ of the optical beam and the refractive index of the material forming the nanopillars np, for example according to the following equation (2):
Therefore, the nanopillars geometries and the array of resonators geometries may be varied in different ways. As a result, the optical metasurface enables a wide variety of deflecting cells 103-i in terms of optical properties, with a resolution that is adjustable (potentially up to high-resolution) to the desired application.
The deflecting cells 103-i from an optical metasurface may have for example nanopillars geometries and array of resonators geometries configured to generate a radial phase distribution selected from a hyperboloidal distribution, a spherical distribution, and a paraboloidal distribution. Alternatively, the deflecting cells 103-i may have a conical radial phase distribution enabling the plate to function as an axicon.
The second field of view 1030 of the deflecting device 103 may be comprised between 120 degrees and 180 degrees, when it is measured horizontally, and/or vertically, as illustrated in connection with
Turning back to
According to some embodiments, the light-focusing device 201 may be fixed relatively to the receiver unit 200. In addition, the light-focusing device 201 may be a passive device that does not require a power supply. For example, the light-focusing device 201 may be a converging optical lens operating in the same wavelength window as the light-emitting source 101.
The receiver unit 200 further comprises at least one photo-detector 202 configured to receive the focused optical beams and to convert them to the electrical domain through an optical to electrical conversion. When it is a returned portion of a deflected beam generated and/or a second deflected beam that is converted by the photo-detector(s) 202 to the electrical domain, the obtained signal is referred to as output electrical signal. The other signals are referred to as noise signals.
According to some embodiments, the at least one photo-detector 202 may be configured to convert (and/or receive and/or process) only part of the focused optical beams.
The part of the focused optical beams may correspond to a sub-group of optical beams reaching the light-focusing device 201 associated to a sub-group of elementary field of view 1030-i. For example:
In one embodiment, the receiver unit 200 may comprise a single photo-detector 202. In such embodiment, the electrical output signal is a real-valued signal, which represents only the intensity of the corresponding optical beam.
To some embodiments, the receiver unit 200 may comprise at least two photo-detectors 202 and a local oscillator which are configured so as to allow an optical heterodyne detection of the optical beams. In such embodiments, the electrical output signal is a complex-valued signal, which represents both the intensity and the phase of the corresponding optical beams. Advantageously, the light-emitting source 101 may be used as a local oscillator to realize a heterodyne detection. The use of a heterodyne detection in conjunction with frequency-modulated beams allows for example detecting both the position and the velocity of the target objects of the target environment 20.
According to some embodiments, the optical imaging system 10 may further comprise a processing unit 210 configured to receive and to process the output electrical signals in conjunction with the characteristics of the second deflected beams as provided by the control unit 110.
The processing unit 210 is further configured to detect target objects in the target environment 20 and to determine a plurality of characteristics of the detected target objects. The characteristics of a detected target object may include geometric characteristics such as the shape and/or the size of the object, as well as other characteristics that may include the position and the instantaneous velocity.
Advantageously, some of the characteristics of the target objects may be determined by the processing unit 210 by making use of equation (3) that rules the transmission and the reception of optical beams by means of the optical imaging system 10.
In equation (1), Nlaser represents the number of transmitted photons, β represents an angular scattering probability,
represents a solid angle for the collection probability, T represents light transmission in medium, ηrepresents system efficiency including the optical losses and the laser/Field of View overlap, and Nb represents the background noise.
According to some embodiments, the control unit 110 may be configured to maintain constant over the time the characteristics of the optical field representing the first optical beam when changing the operational deflecting cell. Alternatively, the control unit 110 may be configured to change at least one characteristic of the optical field that represents the first optical beam when changing the operational deflecting cell. The changed characteristic of the optical field may be the intensity, the central wavelength, the state of polarization, and/or the optical phase.
According to some embodiments, the control unit 110 may further be configured to change at least once during a scanning period the operational deflecting cell. For example, the control unit 110 may be configured to use a plurality of operational deflecting cells 103-i during the scanning period according to a switching speed that can be greater than 10 Megahertz. The switching speed required to change the operational deflecting cell 103-i may be limited by the bandwidth of spatial light modulator 102.
The processing unit 210 may be configured to generate at least one image for a target environment 20 resulting from the output of the photo-detector(s) 202. In some embodiments, the receiver unit 200 may be further configured to generate a multi-resolution-zone image with only one scan of the spatial light modulator 102 (associated with a scanning period) to image a target environment 20. A multi-resolution-zone image may be an image comprising the superimposition of at least one image. According to non-limiting examples, a multi-resolution-zone image may be generated from:
As shown in 1030-t) of a small part of the target environment 20. According to some embodiments, the first image (X1030, Y1030) and the second image (ϰ1030-t,
1030-t) may be generated with an optical metasurface configured to have a radial phase distribution. Moreover, the first image (X1030, Y1030) may have the same number of pixels or a different number of pixels compared to the second image (ϰ1030-t,
1030-t). More generally, the first image (X1030, Y1030) and the second image (ϰ1030-t,
1030-t) may respectively correspond to a low resolution image and a high resolution image. Also, the second image (ϰ1030-t,
1030-t) may be arranged centrally with respect to the image (X1030, Y1030).
Therefore, the optical imaging system 10 may be configured to generate simultaneously (or synchronously) multi-resolution-zone image comprising two or more images having same or different sizes representing same or different parts of the target environment 20, with a same or a different image resolution. Such optical imaging system 10, generating multi-resolution-zone image with only one scan, is able to replicate the behavior of the human eye.
In an exemplary embodiment, the transmitter unit 100 of the optical imaging system 10 may comprise at least two light-emitting sources 101, each of the light-emitting sources 101 being configured to generate a first optical beam at a different or at the same wavelength. In such embodiment, the spatial light modulator 102 may be configured to deflect the first optical beams either according to a same first deflection direction or according to different first deflection directions, thus generating a plurality of first deflected beams that could be used to impinge different deflecting cells (103-i). Alternatively, a single light-emitting source 101 may be used to generate the plurality of first optical beams.
At step 601, a first optical beam at a given wavelength may be generated by means of a light-emitting source 101. The characteristics of the optical field which represents the first optical beam may remain constant or may vary over the time.
At step 602, the first optical beam may be deflected, by means of a spatial light modulator 102, in a first deflection direction within a first field of view 1020 to generate a first deflected beam. The first deflection direction may be determined by applying an external control signal on the spatial light modulator.
At step 603, the first deflected beam may be received by a transmissive deflecting device 103 that comprises a two-dimensional (2D) arrangement of deflecting cells 103-i. Further, at least one second deflected beam may be generated from the first deflected beam using the operational deflecting cell 103-i that receives the first deflected beam. The at least one second deflected beam may be generated according to a second field of view 1030 associated to the transmissive deflecting device 103, the second field of view 1030 being wider with respect to the first field of view 1020.
At step 604, a returned portion of the at least one second deflected beam may be received after propagation in the target environment 20 and may be focused in a given point.
At step 605, the focused portion of the at least one second deflected beam may be converted into the electrical domain through an optical to electrical conversion that may be conducted using at least one photo-detector 202, thus generating an output electrical signal.
At step 606, a plurality of characteristics of the target environment 20 may be determined from the output electrical signal. Advantageously, at step 606, a two-dimensional or a three-dimensional mapping of the target environment 20 may be determined by scanning a significant number of deflecting cells 103-i.
The optical imaging method for imaging a target environment 20 may further comprise steps of generating at least two images of the target environment 20, and then generating a multi-resolution-zone image from the at least two images of the target environment 20. The generation of the at least two images of the target environment 20 may be realize simultaneously (or synchronously), and therefore, the generation of a multi-resolution-zone image from the at least two images of the target environment 2020 may be realize instantly with a unique scan (i.e. single scan).
It should be noted that the functions, acts, and/or operations specified in the flow charts, sequence diagrams, and/or block diagrams may be re-ordered, processed serially, and/or processed concurrently consistent with embodiments of the invention. Moreover, any of the flow charts, sequence diagrams, and/or block diagrams may include more or fewer blocks than those illustrated consistent with embodiments of the invention.
While embodiments of the invention have been illustrated by a description of various examples, and while these embodiments have been described in considerable detail, it is not the intent of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative methods, and illustrative examples shown and described.
| Number | Date | Country | Kind |
|---|---|---|---|
| 21305472.9 | Apr 2021 | EP | regional |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2022/059456 | 4/8/2022 | WO |
