The entire contents of U.S. Pat. No. 6,753,776, issued Jun. 22, 2004, and titled PRESENCE SENSING SYSTEM AND METHOD, is hereby incorporated by reference herein and made part of this specification for all that it discloses.
Some embodiments disclosed herein relate to systems for determining a presence of an object, a distance to an object, a direction to an object, and/or a position of an objection, such as using a laser scanner or other optical device, and to visual indicators that can communicate information to a user.
Although various systems exist for sensing a presence of an object and for communicating information, there remains a need for improved systems.
Certain example embodiments are summarized below for illustrative purposes. The embodiments are not limited to the specific implementations recited herein. Embodiments may include several novel features, no single one of which is solely responsible for its desirable attributes or which is essential to the embodiments.
Various embodiments disclosed herein can relate to a laser scanner, which can include a housing, a window, and a light emitting system, which can be configured to output laser pulses of a first wavelength through the window. A light detection system can be configured to receive light of the laser pulses that is reflected by an object through the window. The light detection system can be configured to direct the light that is received through the window to an optical sensor that is configured to generate electrical signals from the received light. A controller can have at least one processor, and the controller can be configured to make a determination regarding a presence or position of the object based at least in part on the electrical signals. The scanner can have one or more light sources for illuminating at least a portion of the window with light of a second wavelength that is different from the first wavelength. The at least a portion of the window can have diffusing features configured to diffuse the light of the second wavelength and to output the diffused light from the window. The controller can be configured to operate the one or more light sources in response to the determination regarding the presence or position of the object to provide a visual indication of the determination.
The light of the second wavelength can be visible light. The light of the first wavelength can be non-visible light. The light of the first wavelength can be infrared or near infrared light. The diffusing features can be configured to diffuse the light of the second wavelength more than the light of the first wavelength. The at least a portion of the window having the diffusing features can be substantially transparent to the light of the first wavelength. A majority of the window can include the diffusing features and can output the diffused light to provide the visual indication. The entire window can include the diffusing features and can output the diffused light to provide the visual indication. In some embodiments, a first portion of the window can have the diffusing features, while a second portion of the window does not have the diffusing features. The light emitting system can be configured to output the laser pulses through the second portion of the window. The light detection system can be configured to receive light through the second portion of the window. The first portion of the window can have a generally cylindrical shape. The second portion of the window can have a generally frustoconical shape. The one or more light sources can be disposed on a flexible printed circuit board. The one or more light sources can have at least one light source to output light of a first color and least one light source to output light of a second color. The laser scanner can be configured to output the diffused light across an azimuthal angle range of at least about 270 degrees. The window can be configured to guide light from the one or more light sources to the at least a portion of the window with the diffusing features.
Various embodiments disclosed herein can relate to an object detection system, which can include a window, a light emitting system configured to output sensor light through the window, a light detection system configured to receive a portion of the sensor light reflected by an object, and a visual indicator configured to output visible light through the window.
The light emitting system can include a pulse laser. The sensor light can be non-visible light. The sensor light can be infrared light. The sensor light can be near-infrared light. The sensor light output by the emitter system can have a first wavelength of light. The visible light output by the visual indicator can have a second wavelength of light different from the first wavelength of light. The window can have light diffusing feature, which can be configured to diffuse the visible light more than the sensor light. The window and light diffusing features can be substantially transparent to the sensor light. The window can include light diffusing features configured to diffuse the visible light. The light diffusing features can include particles or voids dispersed in the window. The light diffusing features can include rough surface features on the window. The light diffusing features can include a pigment or film. A first portion of the window can have light diffusing features, while a second portion of the window does not have light diffusing features. The light emitting system can be configured to output light through the second portion of the window. The first portion of the window can have a generally cylindrical shape. The second portion of the window can have a generally frustoconical shape. The visual indicator can have one or more light sources disposed on a flexible printed circuit board. The visual indicator can have one or more light sources configured to emit a first color of light and one or more light sources configured to emit a second color of light different from the first color. The visual indicator can be configured to output the visible light across an angle range of at least about 270 degrees. The visual indicator can include one or more light sources, which can be configured to input light into the window so that the window guides the light by total internal reflection. The visual indicator can be configured to illuminate a majority of the window. The visual indicator can include a light pipe to guide light from a light source to the window.
Various embodiments disclosed herein can relate to a method of providing information regarding a presence or position of an object. The method can include outputting sensor light through a window in a direction towards an object, receiving light of a return reflection of the sensor light from the object through the window, generating electrical signals from the received light, and determining a presence or position of the object based at least in part on the electrical signals. The method can include outputting visible light through the window in response to the determination of the presence or position of the object. In some embodiments, the method can further include diffusing the visible light output through the window.
Certain embodiments will be discussed in detail with reference to the following figures, wherein like reference numerals refer to similar features throughout. These figures are provided for illustrative purposes and the embodiments are not limited to the specific implementations illustrated in the figures.
Laser scanners or other systems for sensing the presence and/or location of an object, for determining a direction to an object, and/or for measuring a distance to an object can be used in various applications, such as for guarding hazardous equipment (e.g., industrial machinery), for surveying, for security systems, for robot vision, robot guidance or pathfinding, etc.
In some cases, one or more visual indicators on the laser scanner 100 can be used to visually convey information, such as to a user. For example, one or more light sources can be illuminated, to provide an alarm or warning, to indicate the presence, direction, and/or distance to an object, to indicate the status of the scanner or of the associated equipment (e.g., active or disabled, or machine run or machine stop), to indicate an error or troubleshooting information, etc. It can be useful for the one or more visual indicators to be visible from a wide range of angle. Some scanners 100 have a window that wraps around a field of view of the scanner 100 and enables the scanner 100 to emit and receive sensor light (e.g., laser light pulses and associated return reflections from objects 104) across a wide range of angles, as discussed herein. In some embodiments, the window, or portions thereof, can be illuminated to provide a visual indicator that can be visible across a wide range of angles. The window can be illuminated in a diffuse way, with one or more colors, in a solid color or pattern. Different colors, patterns, light locations, and lighting sequences can be used to communicate different things to a user. Using the existing window for the visual indicator can incorporate beacon-style indication lighting into the scanner 100, without the added complexity, cost, and space that would come with adding a traditional beacon light to the scanner or associated system.
The laser scanner 100 can have input/output features 112. For example, user input elements (e.g., one or more buttons, dials, switches, microphone, etc.) can be used to receive input from a user. User output elements (e.g., one or more lights, speakers, displays, printers, etc.) can be used to output information to a user. In some cases, user input and output elements can be combined, such as using a touchscreen display. The input and output elements 112 can be used to configure, operate, and/or troubleshoot the laser scanner 100. The output elements 112 can provide presence, direction, distance, and/or location information regarding an object. By way of example, the laser scanner 100 can have multiple lights, which can be selectively illuminated to indicate a direction of an object. Different colors, light intensity, or numerical values can be output to indicate a distance of a detected object from the scanner 100. The laser scanner 100 can output a first color of light (e.g., green) for a safe condition (e.g., in which no object is determined to be in a dangerous location or range) and can output a second color of light (e.g., red) for a danger conduction (e.g., in which an object is determined to be in a dangerous location or range). Many alternatives are possible.
A port 124 can receive a corresponding plug to transfer information to or from the laser scanner 100, such as to implement the machine interface 114. Information can be communicated through a wired connection (e.g., via the port 124), or the scanner 100 can have a wireless communication system for sending and/or receiving information wirelessly. A power cable (which not visible in
The scanner 100 can have a light source, such as a laser light source 130, which can emit light (e.g., laser pulses). One or more optical elements 132 can redirect the light (e.g., out of the laser scanner), or otherwise modified the emitted light. The optical elements 132 of the light emitting system 106 can include one or more lenses, filter, mirrors, etc. which can modify or redirect the light. In some cases, one or more collimating optical elements (e.g., collimating lenses) can be used to collimate light emitted by the light source 130. Although some examples are discussed in connection with a laser scanner, in some cases the scanner 100 can use non-laser light, which can be collimated in some implementations. The scanner 100 can include a rotatable mirror 134, which can redirect the light out of the scanner 100 at different azimuthal angles depending on the rotational position of the rotatable mirror 134. The rotatable mirror 134 can be angled relative the path of the emitted light that impinges on the rotatable mirror 134 (e.g., by an angle between about 30 degrees and about 60 degrees, about 40 degrees and about 50 degrees, or about 45 degrees). A motor 136 can rotate the rotatable mirror 134 (e.g., about a vertical rotation axis). Light (e.g., laser pulses) can be emitted through the window 122. The window can have a generally inverted frustoconical shape. The window can extend across an angle of about 90 degrees, about 120 degrees, about 150 degrees, about 180 degrees, about 210 degrees, about 240 degrees, about 270 degrees, about 300 degrees, about 330 degrees, or more, or any values or ranges therebetween. The scanner 100 can sweep or step laser pulses across a field of view or detection area, such as across an angle of about 90 degrees, about 120 degrees, about 150 degrees, about 180 degrees, about 210 degrees, about 240 degrees, about 270 degrees, about 300 degrees, about 330 degrees, or more, or any values or ranges therebetween. A turning mirror 138 can redirect light from the light source 130, such as to help turn or redirect the light out of the scanner 100.
In some embodiments, a conduit 137 can extend from a lower housing portion to an upper housing portion, such as along a back side of the scanner 100. The conduit 137 can house wires or other interconnections, such as between the scanner power source and/or controller and the light sources 128 or other components. The conduit 137 (e.g., and/or the components contained therein) can impede the transmission of light, which can block output or input of light across an azimuthal angle range, such as of about 3 degrees, about 5 degrees, about 7 degrees, about 10 degrees, about 15 degrees, about 20 degrees, about 25 degrees, about 30 degrees, about 45 degrees, about 60 degrees, about 75 degrees, about 90 degrees, about 105 degrees, about 120 degrees, about 150 degrees, about 180 degrees, or more, or any values or ranges therebetween. The conduit 137 can be made of the same material, and/or can be integrally formed with, the window 122. In some cases, the conduit 137 can form a break in the generally cylindrical and/or frustoconical shape of the window 122. In some cases, the conduit 137 can be formed separate of the window 122, and/or can be made of different material than the window 122. The conduit 137 can be formed as a portion of the housing 112, for example. In some embodiments, the conduit 137 can be omitted. In some embodiments, the window 122 can extend a full 360 degrees. Some scanner embodiments can emit light, and/or receive return reflections, across a full 360 degree range.
Light can be reflected from an object and the reflected light can return to the laser scanner 100. Return reflections of the emitted light can be received through the window 122. One or more optical elements 140 can redirect the received light and/or otherwise modify the received light before it is measured by an optical sensor 142. The one or more optical elements 140 can include one or more lenses 143, filters 141, mirrors, etc. The optical sensor 142 can generate signals based at least in part on the light reflected by the object and received by the laser scanner 100. The rotatable mirror 134 can direct the received light towards the optical sensor 142. The optical sensor 152 can be a photodiode such as an avalanche photodiode, although any suitable type of image sensor can be used. The image sensor 142 can convert the received light to electrical signals. The scanner 100 can analyze the electrical signals to determine the presence, direction, distance, and/or location of an object 104. The laser scanner 100 can utilize the additional details and features disclosed in the '776 Patent, which is incorporated herein by reference.
The scanner 100 can illuminate the window 122 to output information. It can be beneficial for the visual indication light to be easily visible, such as from a wide range of angles. For example, the visual indication light can be used to get a user's attention if there is a safety issue. The window 122 is an easily visible component of the scanner 100, because the window is used to output and receive sensor light across a wide range of angles. Illuminating the window (e.g., with visible light) as a visual indicator can efficiently provide a high visibility visual indicator.
Many different portions of the window 122 can be illuminated, in various different patterns and color combinations.
As described in further detail herein, diffusing features and/or the distribution of light sources can produce a generally even distribution of light emitted from the illuminated area of the window 122. In some embodiments, distinct areas of the window 122 can be selectively illuminated, such as to provide an indication of a direction of an object.
In some cases, the illumination areas 150 can have a hard edge that transitions sharply from being illuminated to not being illuminated (e.g., as can be seen in
In some embodiments, an illumination area 150 can have a soft transition from the illuminated area to non-illuminated area. For example, diffusing features can be distributed throughout the window 122 or region thereof. A single light source, or a subset of light sources, can be illuminated to selectively illuminate an illumination area 150. The portion of the illumination area 150 closest to that light source, or subset of light sources, can have a brightest illumination, while the intensity of the illumination would reduce gradually as distance from that light source, or subset of light sources, increases.
In the example of
The scanner 100 can determine a direction of a detected object. The illumination area 150 that is closed in direction to the determined direction of the object can be illuminated. Additional details regarding directional illumination, which can be incorporated into the scanners disclosed herein, are provided in U.S. Pat. No. 6,753,776, which is incorporated herein by reference.
Many different configurations of illumination areas 150 can be used, such as depending on the particular application or use. Multiple colors on the individual indicators and multiple lighting patterns could be used to convey various types of information. For example, a constant solid lighting approach can be used (e.g. when the area protected is clear the window stays green, and when the protected area is not clear the window can turn red). When the sensor is in a configuration state, the window color can flash in a single color (e.g. a flashing yellow color). When the sensor is in fault mode, the window color could alternate flashing in two colors and use a faster rate to better call for attention (e.g. light up in red for half a second, then light up in yellow for half, repeatedly). When the sensor is in interlock state, which means it is waiting for an operator to push a button, the window could light up in a stripe or area of light that spins around and around the window. This “spinning circle” can be an intuitive method to convey the concept of “waiting” (e.g., similar to a mouse pointer spinning circle while a computer system is busy).
The light sources 156 can be disposed on a flexible printed circuit board (PCB) 158. The flexible PCB 158 can be an elongate PCB, which can wrap around a support structure 160. The support structure can be part of the housing 120, can be integrally formed with the housing 120, or can be a rigid component that is coupled to the housing 120. In some embodiments, a gasket 161 can be disposed between the window 122 and the housing 120. Light sources 156 (e.g., and the associated flexible PCB) can extend around an azimuthal range of about 90 degrees, about 135 degrees, about 180 degrees, about 225 degrees, about 270 degrees, about 315 degrees, about 360 degrees, or any values or ranges therebetween. In some embodiments, power and/or control signals can be delivered to the light sources through one or more wires that extend through the conduit 137. A connector 162 can couple the power and/or control signals into the flexible PCB 158, which can send the power and/or control signals to the respective light sources 156. The light sources 156 can be oriented to face radially outward. As can be seen in
In some cases, reflected light can be collected by various portions of the window 122, which can include portions with diffusing features and/or portions without diffusing features. If return reflections pass through a portion of the window with diffusing features, in some implementations, the diffusing features can diffuse the returning light. At least a portion of the diffused returning light can still enter the scanner 100, and can still be directed to the light sensor 142. Accordingly, in some cases, it can be more beneficial to impede diffusion of the emitted sensor light, than to impede diffusion of the returning sensor light. In some cases, the diffusing features 166 of
The window 122 can be used to guide light, such as by total internal reflection (TIR), which can be seen in
Various types of light diffusing features can be used. For example,
In some cases, the window 122 can have a pigment or film, which can impede visibility through the glass into the internal components of the scanner 100. The pigment or film can also diffuse visible light for the visual indicator feature. In some embodiments, the light diffusing features 166 can be omitted, and the visual indicator light can be emitted through the window with diffusion of the light.
The light used for detecting the presence or position of the object can be different from the light used for the visual indicators. The sensor light (e.g., emitted by the pulse laser 130) can have a first wavelength (or range), and the visual indicator light can have a second wavelength (or range). For example, the sensor light can be infrared (IR) or near-infrared (NIR) light. The light source 130 can be an IR or NIR laser. The sensor light can have a wavelength of about 700 nm to about 8,000 nm; 700 nm to about 3,000 nm; about 750 nm to about 1,400 nm; about 750 nm to about 950 nm; or any values or ranges between any of these wavelengths. Other wavelengths of sensor light can be used in other implementations, such as visible light, ultraviolet light, etc. The visual indicator light can be visible light. The visual indicator light can one or more wavelengths between about 380 nm and about 750 nm, between about 400 nm and about 700 nm, or any values or ranges between any of these wavelengths. The sensor light and the visual indicator light can be different wavelengths, which can prevent or impede interference between the two types of light.
In some embodiments, the diffusing features 166 can diffuse the sensor light less than the visual indicator light. For example, wavelength specific diffusing features can be used. For example, the window 122 and/or the diffusing features 166 can be made of material that is relatively transparent to the sensor light (e.g., IR or NIR) as compared to the visual indicator light (e.g., visible light). In some cases, the diffusing particles can have an index of refraction difference relative to the window material that is greater for the visual indicator light than for the sensor light. Accordingly, the sensor light can pass through the window and diffusing features without substantial refraction or scattering, while the visual indicator light can be scattered (e.g., by refraction) by the window 122 and diffusing feature 166. For example, with reference to
In some embodiments, the light receiving system can include a filter (e.g., a bandpass filter), which can permit the sensor light (e.g., the first wavelength or range, such as IR or NIR light) to reach the optical sensor 142, while impeding other light such as the visual indicator light (e.g., of the second wavelength or range, such as visible light) from reaching the optical sensor 142.
In some embodiments, the light sources 156 of the visual indicator can be off while the sensor system is operating, and can be turned on when the sensor system is not operating. Accordingly, the scanner 100 can use the sensor light and visual indicator light at different times. This can impede interference between the sensor light and the visual indicator light. In some embodiments, the same or overlapping wavelengths of light can be used for the sensor light and the visual indicator light. The alternating of the sensor and visual indicator systems can also impede electrical interference, or other complications that could arise from both systems operating simultaneously. As a first operation during a first time, the scanner 100 can emit light, receive return reflections, and/or process signals from the received light. As a second operation during a second time, the scanner can emit visible light to provide a visual indication of information (e.g., about the sensor or the detected object). For example, at the second time, the system can output a visual indication of the presence or position (e.g., directional position and/or distance) of the object that was determined during the first time or during a previous operation. The first and second operations can be performed at different, alternating times.
In some embodiments, the methods, techniques, microprocessors, and/or controllers described herein are implemented by one or more special-purpose computing devices. The special-purpose computing devices may be hard-wired to perform the techniques, or may include digital electronic devices such as one or more application-specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs) that are persistently programmed to perform the techniques, or may include one or more general purpose hardware processors programmed to perform the techniques pursuant to program instructions in firmware, memory, other storage, or a combination thereof. The instructions can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of a non-transitory computer-readable storage medium. Such special-purpose computing devices may also combine custom hard-wired logic, ASICs, or FPGAs with custom programming to accomplish the techniques. The special-purpose computing devices may be desktop computer systems, server computer systems, portable computer systems, handheld devices, networking devices or any other device or combination of devices that incorporate hard-wired and/or program logic to implement the techniques.
The microprocessors or controllers described herein can be coordinated by operating system software, such as iOS, Android, Chrome OS, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 10, Windows Server, Windows CE, Unix, Linux, SunOS, Solaris, macOS, Blackberry OS, VxWorks, or other compatible operating systems. In other embodiments, the computing device may be controlled by a proprietary operating system. Conventional operating systems control and schedule computer processes for execution, perform memory management, provide file system, networking, I/O services, and provide a user interface functionality, such as a graphical user interface (“GUI”), among other things.
The microprocessors and/or controllers described herein may implement the techniques described herein using customized hard-wired logic, one or more ASICs or FPGAs, firmware and/or program logic which causes microprocessors and/or controllers to be a special-purpose machine. According to one embodiment, parts of the techniques disclosed herein are performed a controller in response to executing one or more sequences instructions contained in a memory. Such instructions may be read into the memory from another storage medium, such as storage device. Execution of the sequences of instructions contained in the memory causes the processor or controller to perform the process steps described herein. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions.
Moreover, the various illustrative logical blocks and modules described in connection with the embodiments disclosed herein can be implemented or performed by a machine, such as a processor device, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A processor device can be a microprocessor, but in the alternative, the processor device can be a controller, microcontroller, or state machine, combinations of the same, or the like. A processor device can include electrical circuitry configured to process computer-executable instructions. In another embodiment, a processor device includes an FPGA or other programmable device that performs logic operations without processing computer-executable instructions. A processor device can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor device may also include primarily analog components. For example, some or all of the techniques described herein may be implemented in analog circuitry or mixed analog and digital circuitry.
Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise,” “comprising,” “include,” “including,” and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to.” The words “coupled” or connected,” as generally used herein, refer to two or more elements that can be either directly connected, or connected by way of one or more intermediate elements. Additionally, the words “herein,” “above,” “below,” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of this application. Where the context permits, words in the Detailed Description using the singular or plural number can also include the plural or singular number, respectively. The words “or” in reference to a list of two or more items, is intended to cover all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list. All numerical values provided herein are intended to include similar values within a range of measurement error.
Although this disclosure contains certain embodiments and examples, it will be understood by those skilled in the art that the scope extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses and obvious modifications and equivalents thereof. In addition, while several variations of the embodiments have been shown and described in detail, other modifications will be readily apparent to those of skill in the art based upon this disclosure. It is also contemplated that various combinations or sub-combinations of the specific features and aspects of the embodiments may be made and still fall within the scope of this disclosure. It should be understood that various features and aspects of the disclosed embodiments can be combined with, or substituted for, one another in order to form varying modes of the embodiments. Any methods disclosed herein need not be performed in the order recited. Thus, it is intended that the scope should not be limited by the particular embodiments described above.
Conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment. Any headings used herein are for the convenience of the reader only and are not meant to limit the scope.
Further, while the devices, systems, and methods described herein may be susceptible to various modifications and alternative forms, specific examples thereof have been shown in the drawings and are herein described in detail. It should be understood, however, that the disclosure is not to be limited to the particular forms or methods disclosed, but, to the contrary, this disclosure covers all modifications, equivalents, and alternatives falling within the spirit and scope of the various implementations described. Further, the disclosure herein of any particular feature, aspect, method, property, characteristic, quality, attribute, element, or the like in connection with an implementation or embodiment can be used in all other implementations or embodiments set forth herein. Any methods disclosed herein need not be performed in the order recited. The methods disclosed herein may include certain actions taken by a practitioner; however, the methods can also include any third-party instruction of those actions, either expressly or by implication.
The ranges disclosed herein also encompass any and all overlap, sub-ranges, and combinations thereof. Language such as “up to,” “at least,” “greater than,” “less than,” “between,” and the like includes the number recited. Numbers preceded by a term such as “about” or “approximately” include the recited numbers and should be interpreted based on the circumstances (e.g., as accurate as reasonably possible under the circumstances, for example ±5%, ±10%, ±15%, etc.). For example, “about 3.5 mm” includes “3.5 mm.” Phrases preceded by a term such as “substantially” include the recited phrase and should be interpreted based on the circumstances (e.g., as much as reasonably possible under the circumstances). For example, “substantially constant” includes “constant.” Unless stated otherwise, all measurements are at standard conditions including ambient temperature and pressure.
This application claims the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Patent Application No. 62/826,619, filed Mar. 29, 2019, and titled VISUAL INDICATORS FOR PRESENCE SENSING SYSTEMS. The entirety contents of the above-identified application(s) are hereby incorporated by reference herein and made part of this specification for all that they disclose.
Filing Document | Filing Date | Country | Kind |
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PCT/US2020/020221 | 2/27/2020 | WO | 00 |
Number | Date | Country | |
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62826619 | Mar 2019 | US |