CN104749649A - Container inspecting system - Google Patents
Container inspecting system Download PDFInfo
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- CN104749649A CN104749649A CN201410031016.9A CN201410031016A CN104749649A CN 104749649 A CN104749649 A CN 104749649A CN 201410031016 A CN201410031016 A CN 201410031016A CN 104749649 A CN104749649 A CN 104749649A
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- 230000005855 radiation Effects 0.000 claims abstract description 96
- 238000000034 method Methods 0.000 claims description 13
- 238000007689 inspection Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 26
- 238000003384 imaging method Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
- G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
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- High Energy & Nuclear Physics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
The invention relates to a container inspecting system. The container inspecting system comprises a radiation source, a detector and an inspecting system body, wherein the radiation source provides X-rays for scanning containers; the detector is used for receiving the X-rays emitted from the radiation source; the radiation source and the detector are arranged on the inspecting system body; the inspecting system body is set to be in the size facilitating inspection of the containers. The container inspecting system can conveniently inspect containers on docks or goods yards in batches.
Description
Technical field
The present invention relates to a kind of check system for container.
Background technology
Large container inspection system of the prior art has following structure: in the inspection passage of shielding ray, is provided with radiation source, and this radiation source produces sigmatron; Be provided with detector array, it can receive the X ray through container; Special driven equipment, it is arranged to the vehicle that container is housed to be pulled through inspection passage.When container passes through from sense channel, radiation source provides X ray to check container.Above-mentioned check system is huger, and it checks that passage at least needs 60 meters, and at least each 40 meters of length is taken up an area at outside two ends.It is large that said system also exists civil engineering floor area, systems engineering cost is high, not easy-maintaining, the shortcomings such as strange land casual inspection can not be realized.
Chinese patent literature CN101911103A discloses a kind of container check system for checking shipping container, and it comprises, at least one sniffer, and it is in the inside of described shipping container; Computer communication network, it comprises for receiving the electronic communication instrument comparing data set from least one of at least one sniffer described, and described data set is selected from the group be made up of initial data set, destination data collection and selectable one or more temporary data set; Described in response, at least one compares the instrument of data set, for determining the inspection status of fail of described shipping container; And the reception responding described inspection status of fail is to show that to user needs carry out the instrument further checked to described shipping container.
The said equipment all can not facilitate, carry out batch inspection to the container in harbour or goods yard efficiently.
Summary of the invention
In order to overcome problems of the prior art, the present invention proposes a kind of check system for container, and it comprises: radiation source, and it is provided for the X ray scanned container; Detector, it is for receiving the X ray from described radiation emission; Check system main body, described radiation source and detector are arranged in described check system main body; Wherein, the size of described check system main body is arranged for ease of and checks container.
Preferably, described check system main body is moving body.
Preferably, described moving body comprises framework, and described framework is arranged to adjust height according to the height of container; Described detector comprises lateral detector arm and longitudinal probing device arm, and described lateral detector arm is arranged at the horizontal top of described framework, and described longitudinal probing arm is arranged at a longitudinal sidepiece of described framework; Described radiation source is arranged at the longitudinal sidepiece of another one of described framework.
Preferably, also comprise mobile drive deivce, described mobile drive deivce is arranged to drive described moving body to move; And radiation source driving device and detector drive unit, described radiation source driving device and detector drive unit drive described radiation source and detector to move along described frame height direction respectively.
Preferably, also comprise radiation source and be biased drive unit and detector is biased drive unit, it drives radiation source and detector along centre of gyration small angle deflection respectively, make X ray and described container angled.
According to another embodiment of the invention, described moving body comprises framework; Described detector is longitudinal probing device, and it is arranged on a longitudinal side of described framework, and described radiation source is arranged on another longitudinal side of described framework, and in checking process, described container lot is between two longitudinal sides.
Preferably, also comprise mobile drive deivce, described mobile drive deivce is arranged to drive described moving body to move; And radiation source driving device and detector drive unit, described radiation source driving device and detector drive unit drive described radiation source and detector to move along described frame height direction respectively.
Preferably, also comprise radiation source and be biased drive unit and detector is biased drive unit, it drives radiation source and detector along centre of gyration small angle deflection respectively, make X ray and described container angled.
Preferably, described framework can extend the container of the highest point reached in container heap at longitudinal direction, thus described check system can check the container of highest point.
According to another embodiment of the invention, described moving body comprises framework; Described moving body also comprises boom hoisting, and described boom hoisting is arranged to container is moved along the short transverse of described framework; Described detector is lateral detector, it is arranged on a longitudinal side of described framework, the direction that described lateral detector extends is vertical with the short transverse of described framework, described radiation source is arranged on another longitudinal side of described framework, in checking process, described container lot is between two longitudinal sides.
Preferably, described framework is provided with slide rail, described slide rail extends along described lateral detector direction, and described lateral detector is arranged to move along described slide rail.
Preferably, also comprise mobile drive deivce, described mobile drive deivce is arranged to drive described moving body to move; And radiation source driving device and detector drive unit, described radiation source driving device and detector drive unit drive described radiation source and detector moving respectively, and described detector drive unit drives described lateral detector to move along described slide rail.
Preferably, the length of described lateral detector is arranged to receive the X ray transmitted through whole container length.
Preferably, the length of described lateral detector is arranged to receive the X ray transmitted through half container length.
Preferably, described radiation source driving device is arranged to rotate by fixed angle.
Preferably, described radiation source has the target spot or two target spots that produce X ray.
Preferably, described radiation source produces Single energy X ray absorptionmetry or dual-energy x-ray.
According to check system provided by the present invention, it can realize carrying out easily and fast the container in harbour and goods yard, the inspection of batch.
Accompanying drawing explanation
Fig. 1 is the schematic diagram in harbour and goods yard, and the container that placed examine at harbour and goods yard is shown.
Fig. 2 is the front view of a kind of embodiment of check system of the present invention;
Fig. 3 is the side view of the check system of Fig. 2;
Fig. 4 is the vertical view of the check system of Fig. 2;
Fig. 5 is the schematic diagram that the check system of Fig. 2 scans container;
Fig. 6 is the schematic diagram that the check system of Fig. 2 scans container;
Fig. 7 is that the imaging system of the check system of Fig. 2 is in the schematic diagram scanned container normal position;
Fig. 8 is the schematic diagram scanned container after the imaging system small angle deflection of the check system of Fig. 2;
Fig. 9 is the front view of the another embodiment of check system of the present invention;
Figure 10 is the schematic diagram that the check system of Fig. 9 scans container;
Figure 11 is that the imaging system of the check system of Fig. 9 is in the schematic diagram scanned container normal position;
Figure 12 is the schematic diagram scanned container after the imaging system small angle deflection of the check system of Fig. 9;
Figure 13 is the front view of an embodiment again of check system of the present invention;
Figure 14 is the front view of an embodiment again of check system of the present invention;
Figure 15 is the side view of the check system of Figure 13;
Figure 16 is the vertical view of the check system of Figure 13;
Figure 17 is the vertical view of the check system of Figure 14;
Figure 18 is the side view of the distortion of the check system of Figure 13;
Figure 19 is the vertical view of the check system of Figure 18;
Figure 20 is the schematic diagram of the check system of Figure 19;
Figure 21 is the schematic diagram that the check system of Figure 19 scans container;
Figure 22 is the schematic diagram that the check system of Figure 19 scans container;
Figure 23 is the schematic diagram that the check system of Figure 13 scans container;
Figure 24 is the schematic diagram that the check system of Figure 13 scans container;
Figure 25 is the check system of Figure 13 is the schematic diagram scanned to collection dress;
Figure 26 is the schematic diagram of the check system of Figure 13;
Figure 27 is the schematic diagram of the check system of Figure 14.
Embodiment
Fig. 1 is the schematic diagram in harbour and goods yard, and the container that placed examine at harbour and goods yard is shown.Wherein, examine container represents with Reference numeral 116.As can be seen from accompanying drawing 1, in order to save placement space, the distance between container is very little, and therefore, check system of the prior art can not be carried out easily and fast the container under above-mentioned condition, the inspection of batch.
Fig. 2 is the front view of a kind of embodiment of check system of the present invention, and as shown in Figure 2, check system according to the present invention comprises: radiation source 112, and it is provided for the X ray scanned container 116; Detector, it is for receiving the X ray launched from described radiation source 112; Check system main body, described radiation source 112 and detector are arranged in described check system main body; Wherein, the size of described check system main body is arranged for ease of and checks container.That is, as shown in Figure 2, check system is portable check system or fixed check system, and the size of described check system main body can stride across from container, thus, be convenient to check container.More obviously, as shown in Figures 4 and 5, which respectively show the schematic diagram that fixed check system and portable check system check container, wherein, Fig. 4 shows fixed check system, and vehicle can be utilized to drive container by described check system; And Fig. 5 shows portable check system, check system can be made to stride across from container.
As in Figure 2-4, according to check system of the present invention, its radiation source 112 can be accelerator to provide X ray, also can adopt other forms of radiation source; Here detector is that lateral detector arm 102 and longitudinal probing device arm 105 are formed, and also can adopt other forms of detector.
According to the embodiment of the present invention, radiation source 112 has the target spot or two target spots that produce X ray.Radiation source 112 can produce Single energy X ray absorptionmetry or dual-energy x-ray.Such as, the radiation source that figure 20 show has single target spot, and the radiation source that figure 26 show has two target spot.
As shown in Figure 2, described check system main body is moving body.As shown in Figure 2, it comprises travel driving unit 115, and as shown in Figure 3, it comprises road wheel 114; Both drive check system to move, thus check system is moved relative to container 116, make container 116 examined in scanning space 119.
As in Figure 2-4, described moving body comprises framework, and described framework is arranged to adjust height according to the height of container; Described detector comprises lateral detector arm 102 and longitudinal probing device arm 105, and described lateral detector arm is arranged at the horizontal top of described framework, and described longitudinal probing arm is arranged at a longitudinal sidepiece of described framework; Described radiation source 112 is arranged at the longitudinal sidepiece of another one of described framework.
As Figure 2-3, described check system comprises detector drive unit, concrete, and detector drive unit comprises detector arm lifting drive 103 and detector arm deflection driven device 104, and it drives detector arm to be elevated and deflection respectively; Described check system also comprises radiation source driving device, it can comprise radiation source lifting drive 111 and radiation source deflection driven device 109, its be respectively used to drive radiation source lifting and along centre of gyration small angle deflection, make X ray and container angled.
According to check system of the present invention, also comprise other components: operation room 101, speed pickup 117, position transducer 118, collimating apparatus 110, switch board 108, radiation detection system 113 and case number (CN) recognition system 106, those skilled in the art can be suitable above-mentioned component is set, and, those skilled in the art also can be according to actual needs, other components are set, and, illustrated structure is improved.Above-mentioned change, does not all depart from the scope of the present invention.
Such as, above-mentioned radiation detection system 113 may be used for whether having radiation in detected set vanning; Case number (CN) recognition system 106 can identify case number (CN).
Can arrange screen layer in operation room 101, it is for shielding X ray, thus protection operating personnel prevent the injury being subject to X ray; Operating personnel can control check system in operation room, and the mode also by remote control carries out Long-distance Control.
Fig. 5 is the schematic diagram that the check system of Fig. 2 scans container; Fig. 6 is the schematic diagram that the check system of Fig. 2 scans container.As shown in Figure 5, check system according to the present invention is fixedly installed, and vehicle drives container 116 by check system to check.As shown in Figure 6, check system according to the present invention is portable, and check system moves by container place, to check container 116.
Fig. 7 is that the imaging system of the check system of Fig. 2 is in the schematic diagram scanned container normal position; Fig. 8 is the schematic diagram scanned container after the imaging system small angle deflection of the check system of Fig. 2, and clear in order to illustrate, Fig. 7 and Fig. 8 eliminates the part-structure of check system.As shown in Figure 7, radiation source 112 and detector arm 102,105 are not scanning container relative to the position of centre of gyration rotation.As shown in Figure 8, radiation source 112 and detector arm 102,105 scan container rotating low-angle position relative to the centre of gyration, when being in this position, avoid undetected to suspicious object transmission from different perspectives.
Fig. 9 is the front view of the another embodiment of check system of the present invention, and shown in accompanying drawing 9, itself and embodiment difference illustrated in fig. 2 are, it is for scanning the container arranging multilayer, such as, from the Ith layer to the VIth layer.In this embodiment, identical with the embodiment in Fig. 2 Reference numeral represents identical assembly.Different from the embodiment shown in Fig. 2, the embodiment according to Fig. 9, it only includes longitudinal probing device 105, and does not comprise lateral detector 102.
Concrete, as shown in Figure 9, described detector is longitudinal probing device 105, and it is arranged on a longitudinal side of the framework of check system, and described radiation source 112 is arranged on another longitudinal side of framework, and in checking process, described container lot is between two longitudinal sides.
As shown in Figure 9, can check container in bulk according to check system of the present invention, that is, at radiation source and detector from the process of lower to upper part movement, perform the scanning to the container of the Ith layer to the VIth layer.
Figure 10 is the schematic diagram that the check system of Fig. 9 scans container, by by radiation source and detector moving to different height, thus the container of different layers to be scanned.The framework of check system can extend the container of the highest point reached in container heap in short transverse, thus described check system can check the container of highest point.
Identical with the embodiment shown in Fig. 2, Figure 11 is that the imaging system of the check system of Fig. 9 is in the schematic diagram scanned container normal position; Figure 12 is the schematic diagram scanned container after the imaging system small angle deflection of the check system of Fig. 9.As shown in figure 11, radiation source 112 and detector arm 105 are not scanning container relative to the position of centre of gyration rotation.As shown in figure 12, radiation source 112 and detector arm 105 scan container rotating low-angle position relative to the centre of gyration, when being in this position, avoid undetected to suspicious object transmission from different perspectives.
Figure 13 and 14 is the front view of an embodiment again of check system of the present invention.Figure 13 and Figure 14 difference is, the radiation source 112 in Figure 13 is in retracted position, and the radiation source 112 in Figure 14 is in extended position.
Be with embodiment difference illustrated in fig. 2, as shown in figs. 13-17, check system also comprises boom hoisting 122, and described boom hoisting 122 is arranged to container is moved along the short transverse of described framework; Described detector is lateral detector 102, it is arranged on a longitudinal side of framework, as shown in figures 13 and 15, the direction that lateral detector extends is vertical with the short transverse of described framework, described radiation source 112 is arranged on another longitudinal side of described framework, in checking process, described container lot is between two longitudinal sides.
In this embodiment, identical with the embodiment in Fig. 2 Reference numeral represents identical assembly.
Figure 17 shows a kind of form of this embodiment, and Figure 18 shows another form of this embodiment, and the length that Figure 17 shows described lateral detector 102 is arranged to receive the X ray transmitted through whole container length.The length that Figure 18 shows described lateral detector 102 is arranged to receive the X ray transmitted through half container length.
The check system that Figure 15-17, Figure 23-27 show, the length of its lateral detector 102 is arranged to receive the X ray transmitted through whole container length, and in Figure 16,23,26, radiation source is in retracted position, in Figure 17,24,25,27, radiation source is in extended position.Figure 26 and Figure 27 adopts two target spot radiation source, and Figure 23-25 adopts single target spot radiation source.
The check system that Figure 18-22 shows, the length of lateral detector 102 described in it is arranged to receive the X ray transmitted through half container length.In fig. 20, radiation source is in retracted position, and in Figure 21,22, radiation source is in extended position.Figure 20,21,22 adopts single target spot radiation source.
As illustrated in figs. 13-14, the framework of check system is provided with slide rail 124, described slide rail extends along described lateral detector 103 direction, and described lateral detector 103 is arranged to move along described slide rail 124.Check system also comprises radiation source driving device and detector drive unit 123, and it drives described detector drive unit to drive described lateral detector to move along described slide rail.Concrete, radiation source driving device comprises radiation source translation driving device 125 and rotating driving device 126, and it is respectively used to drive radiation source translation or rotate by fixed angle.
As shown in figure 14, radiation source 112 provides X ray 121 pairs of containers 116 to scan, and in scanning process, is performed promote and step-down operation by boom hoisting 122 pairs of containers 116, thus, realize the complete scanning to container.
As shown in Figure 20-27, it illustrates radiation source and be in retracted position and extended position to the scanning of container; It illustrates the embodiment of the lateral detector arm of different length; It illustrates the different embodiment that radiation source has single target spot and Mutiple Targets.
As shown in figures 20-21, the length of described lateral detector arm 102 is arranged to receive the X ray transmitted through half container length.As shown in figure 20, in scanning process, first the half of container 116 is scanned, as shown in figure 21, after completing scanning step as shown in figure 20, adjust the position of horizontal detector arm 102 and radiation source 112, the half other to container scans, thus, complete the whole scanning to container.
Similar, Figure 23-25 shows, the schematic diagram that the distressed structure for radiation source and lateral detector arm scans container.Above-mentioned scanning process, also by completing the scanning of half container at the uphill process of container, can complete the scanning of other half container in decline process.Those skilled in the art according to real work needs, suitably can change said structure and scan mode.
Embodiment shown by Figure 26-27, because its radiation source adopts the form of two target spot, once rising or the once decline process that perform container just complete the container scanning inspection to whole length.
Although some embodiments of this present general inventive concept have been shown and explanation, those skilled in the art will appreciate that, when not deviating from principle and the spirit of this present general inventive concept, can make a change these embodiments, scope of the present invention is with claim and their equivalents.
Claims (17)
1., for a check system for container, comprising:
Radiation source, it is provided for the X ray scanned container;
Detector, it is for receiving the X ray from described radiation emission;
Check system main body, described radiation source and detector are arranged in described check system main body;
Wherein, the size of described check system main body is arranged for ease of and checks container.
2. the check system for described container according to claim 1, wherein, described check system main body is moving body.
3. check system according to claim 2, wherein,
Described moving body comprises framework, and described framework is arranged to adjust height according to the height of container;
Described detector comprises lateral detector arm and longitudinal probing device arm, and described lateral detector arm is arranged at the horizontal top of described framework, and described longitudinal probing arm is arranged at a longitudinal sidepiece of described framework;
Described radiation source is arranged at the longitudinal sidepiece of another one of described framework.
4. check system according to claim 3, wherein,
Also comprise mobile drive deivce, described mobile drive deivce is arranged to drive described moving body to move; And radiation source driving device and detector drive unit, described radiation source driving device and detector drive unit drive described radiation source and detector to move along described frame height direction respectively.
5. check system according to claim 3, wherein,
Also comprise radiation source and be biased drive unit and detector is biased drive unit, it drives radiation source and detector along centre of gyration small angle deflection respectively, make X ray and described container angled.
6. check system according to claim 2, wherein,
Described moving body comprises framework;
Described detector is longitudinal probing device, and it is arranged on a longitudinal side of described framework, and described radiation source is arranged on another longitudinal side of described framework, and in checking process, described container lot is between two longitudinal sides.
7. check system according to claim 6, wherein,
Also comprise mobile drive deivce, described mobile drive deivce is arranged to drive described moving body to move; And radiation source driving device and detector drive unit, described radiation source driving device and detector drive unit drive described radiation source and detector to move along described frame height direction respectively.
8. check system according to claim 6, wherein,
Also comprise radiation source and be biased drive unit and detector is biased drive unit, it drives radiation source and detector along centre of gyration small angle deflection respectively, make X ray and described container angled.
9. check system according to claim 6, wherein,
Described framework can extend the container position of the highest point reached in Container Yard at longitudinal direction, thus described check system can check the container of the highest point overlayed in Container Yard.
10. check system according to claim 2, wherein,
Described moving body comprises framework;
Described moving body also comprises boom hoisting, and described boom hoisting is arranged to container is moved along the short transverse of described framework;
Described detector is lateral detector, it is arranged on a longitudinal side of described framework, the direction that described lateral detector extends is vertical with the short transverse of described framework, described radiation source is arranged on another longitudinal side of described framework, in checking process, described container lot is between two longitudinal sides.
11. check systems according to claim 10, wherein,
Described framework is provided with slide rail, and described slide rail extends along described lateral detector direction, and described lateral detector is arranged to move along described slide rail.
12. check systems according to claim 10, wherein,
Also comprise mobile drive deivce, described mobile drive deivce is arranged to drive described moving body to move; And radiation source driving device and detector drive unit, described radiation source driving device and detector drive unit drive described radiation source and detector moving respectively,
Wherein, described detector drive unit drives described lateral detector to move along described slide rail.
13. check systems according to claim 10, wherein,
The length of described lateral detector is arranged to receive the X ray transmitted through whole container length.
14. check systems according to claim 10, wherein,
The length of described lateral detector is arranged to receive the X ray transmitted through half container length.
15. check systems according to claim 12, wherein,
Described radiation source driving device is arranged to drive radiation source to rotate by fixed angle.
16. check systems according to claim 1, wherein,
Described radiation source has the target spot or two target spots that produce X ray.
17. check systems according to claim 1, wherein,
Described radiation source produces Single energy X ray absorptionmetry or dual-energy x-ray.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410031016.9A CN104749649B (en) | 2013-12-26 | 2014-01-22 | A kind of inspection system for container |
| BR112015030528A BR112015030528A2 (en) | 2013-12-26 | 2014-02-25 | container inspection system |
| PCT/CN2014/072496 WO2015096278A1 (en) | 2013-12-26 | 2014-02-25 | Inspection system for container |
| US14/576,715 US9989668B2 (en) | 2014-01-22 | 2014-12-19 | Inspection system for container |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013107391228 | 2013-12-26 | ||
| CN201310739122 | 2013-12-26 | ||
| CN201410031016.9A CN104749649B (en) | 2013-12-26 | 2014-01-22 | A kind of inspection system for container |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104749649A true CN104749649A (en) | 2015-07-01 |
| CN104749649B CN104749649B (en) | 2019-02-22 |
Family
ID=53477435
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410031016.9A Active CN104749649B (en) | 2013-12-26 | 2014-01-22 | A kind of inspection system for container |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN104749649B (en) |
| BR (1) | BR112015030528A2 (en) |
| WO (1) | WO2015096278A1 (en) |
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| CN106185226A (en) * | 2016-09-29 | 2016-12-07 | 同方威视技术股份有限公司 | Check that the combination transfer device of system and goods in bulk check system for goods in bulk |
| CN106526687A (en) * | 2016-12-15 | 2017-03-22 | 同方威视技术股份有限公司 | Movable ray inspection system and ray inspection method for container |
| WO2018041035A1 (en) * | 2016-08-31 | 2018-03-08 | 同方威视技术股份有限公司 | Split-type mobile check system and method |
| CN109407162A (en) * | 2018-12-24 | 2019-03-01 | 同方威视技术股份有限公司 | Inspection system and imaging method |
| CN109521480A (en) * | 2019-01-04 | 2019-03-26 | 同方威视科技（北京）有限公司 | Radiation examination device and radiation testing method |
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| US11747510B2 (en) | 2019-01-04 | 2023-09-05 | Nuctech Company Limited | Security inspection device |
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Also Published As
| Publication number | Publication date |
|---|---|
| BR112015030528A2 (en) | 2021-07-06 |
| WO2015096278A1 (en) | 2015-07-02 |
| CN104749649B (en) | 2019-02-22 |
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