CN102914871A - Binary optical system of anti-gas mask helmet displayer - Google Patents
Binary optical system of anti-gas mask helmet displayer Download PDFInfo
- Publication number
- CN102914871A CN102914871A CN2012104571116A CN201210457111A CN102914871A CN 102914871 A CN102914871 A CN 102914871A CN 2012104571116 A CN2012104571116 A CN 2012104571116A CN 201210457111 A CN201210457111 A CN 201210457111A CN 102914871 A CN102914871 A CN 102914871A
- Authority
- CN
- China
- Prior art keywords
- optical system
- binary optical
- mounted display
- catoptron
- helmet mounted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a binary optical system of an anti-gas mask helmet displayer. The binary optical system consists of a binary optical holographic plane reflecting mirror and a relay system, wherein the reflecting mirror has a holographic plane, and light is emitted from a miniature display screen, sequentially passes through the relay system and the reflecting mirror and finally enters human eye pupils. In addition, a dip angle formed by a mechanical axis of the reflecting mirror and a primary ray of a zero view field is zero. The binary optical system of the anti-gas mask helmet displayer has the advantages that the system is small in volume and light in weight, double-path displaying can be achieved due to the facts that the dip angle formed by the mechanical axis of the reflecting mirror and the primary ray of the zero view field is zero and the reflecting mirror has the holographic plane, the blocking influence of the whole helmet displayer on view field is very small due to the fact that a double-path displaying mode is adopted, human eyes do not need to perform angle deflection in viewing, and the comfort is improved.
Description
Technical field
The present invention relates to optical system, specifically a kind of optical system of Helmet Mounted Display.
Background technology
Helmet Mounted Display (Head Mounted Display) is called for short HMD and is divided into half throwing type and full throwing type, the image that it can produce the small two-dimension display amplifies via optical system, collimated image is shown to infinite distance or enough places far away, become several meters outside tens of meters effect screen.Because head-wearing display device is installed in observer's head, so it must compactness and lightweight, to alleviate observer's load.Along with the increase of observing the visual field, range of observation also can increase, the dynamic image that the observer could more absorbed observation high-quality.For the head-mounted display system, large visual field also is considerable.The visual field of optical system, exit pupil diameter are the relation that mutually restricts between the focal length three, reach simultaneously large visual field, large exit pupil diameter and short focal length difficult.
Nineteen sixty-eight in the world first Helmet Mounted Display truly be the military helmet display, i.e. " sword of Damocles " Helmet Mounted Display of U.S. ARPA Information Processing Technology Office director Ivan Sutherland exploitation.Originally being mainly opportunity of combat and battlebus driver is equipped with; and now; no matter be that the helmet that fighter plane, helicopter or individual soldier wear singly is not protective device; the science and technology of develop rapidly condense upon several functions in the helmet; making it become the competent assistant who helps user's operating aircraft, aims at, obtains the equipment such as cartographic information, is the important tie between user and its weapon, the base.In addition, the status of civilian Helmet Mounted Display in the virtual technology application system is also very important.Because display system is mounted on the helmet, therefore very high to weight and volume requirement, if the individual soldier uses, then stricter requirement is proposed reliability in addition.Although GB and national military standard do not have definite requirement to the emergent pupil distance of optical system; but the 3.2.3.4 of " GJB_1323-1991_ optical observation instrument general specification " points out: determine distance of exit pupil or clear eye distance according to the purposes of product; protection operating personnel eyes are not wounded, and also can observe when putting on respirator.
Helmet Mounted Display (HMD) is just such as portable display, and it can make staff be liberated.At biochemical (NBC) scene of the nuclear of danger, soldier or engineering staff will carry professional equipment, maintenance tool, weapon usually, perhaps will bear the wounded, perhaps need climbing etc., and the frequent and external world carries out video communication again, and this moment, the liberation of both hands had very large meaning.In addition, the environment at NBC scene is more abominable, complicated, usually also is accompanied by dense smoke, thick fog, and staff's sight line is hindered, and maintenance job and search-and-rescue work are brought difficulty.If be equipped with thermal imaging system, the first-class imaging device of night vision camera to HMD, can greatly improve staff's work efficiency, reduce its hazard level.
Holographic optical elements (HOE) (Holographic Optical Element, HOE) is a kind of diffraction optical element (Diffractive Optical Element, DOE).The dispersion of diffraction imaging optical element has negative tropism, and irrelevant with material, and this is very beneficial for achromatism, can same refracting element.Diffraction optical element is as a kind of imaging optic element, the arbitrary phase that possesses distributes, especial dispersion, flattened field and slim component properties have determined its status and effect in imaging optical system. roll over/spread out hybrid imaging system and take full advantage of conventional geometric optical element and diffraction optical element advantage separately, can effectively simplify optical system structure, weight reduction, reduced volume and improve image quality, realizing the inaccessiable target of many traditional image opticss, is the major transformation to traditional image optics. the advantage of rolling over/spreading out hybrid imaging system makes it at first in military affairs, be applied in the hi-tech optical imaging system in the space industry.
Be published in " IFAWC2006, Mobile Research Center, TZI University Bremen.Germany " article " Head Mounted Display for Fire Fighters " (display that the fireman wears) on (Bremen, Germany university Olds moves research centre IFAWC2006), be the HMD system for fireman's design, the HMD system that has also related to NBC operator, this HMD is full throwing formula, and it only has single channel, can not watch simultaneously external information.And it is in order to reduce block vision, and zero visual field chief ray and the human eye straight ahead gaze direction deflection angle of HMD are a lot, and human eye need to rotate very wide-angle when watching, and watching for a long time can be very tired.
Summary of the invention
The technical problem to be solved in the present invention is exactly the deficiency for present technology, and a kind of binary optical system of the Helmet Mounted Display based on respirator is provided, and it has binary channels, and effectively aberration correction improves picture element, possesses best man-machine efficacy.
The present invention solves the problems of the technologies described above by the following technical solutions: the binary optical system of respirator Helmet Mounted Display of the present invention adopts a binary optical holographic facet catoptron and relay system to form, catoptron has holographic facet, centre wavelength to miniature display screen has high reflectivity, the beam energy of other wavelength can reach twin-channel purpose like this to be transmitted as the master.Because the free space of respirator is smaller, the catoptron of other designs places on the lower side position of human eye straight ahead gaze direction, and catoptron of the present invention places position on the human eye straight ahead gaze direction, and relay system and miniature display screen place the side of the number of people.
Preferably, described catoptron is the sphere holographic facet, and greater than 70%, the transmitance of other visible light wave range is greater than 90% to the reflection of light rate of 494-544nm wave band for described catoptron.
Preferred, the mechanical axis of described catoptron is zero with the inclination angle of the chief ray of zero visual field, to reach the purpose of the optical axis of turning back.
Preferably, the miniature display screen among the present invention uses the OLED miniature display screen, and emergent light is single wavelength.
Preferably, described relay system is comprised of four lens, at least two-chip computer tool axle tilts and off-centre mutually, optimum, the mechanical axis of four lens tilts and off-centre mutually, with the off-axis aberration of compensatory reflex mirror, miniature display screen also need to carry out Sloped rotating with respect to optical axis, and namely the angle of the mechanical axis of described miniature display screen and optical axis is non-vanishing.
It is the gummed mirror that a slice is arranged in four lens of above-mentioned relay system, and the purpose of gummed mirror is for proofreading and correct certain aberration.
Comprise successively in the above-mentioned relay system: the first meniscus lens, the second meniscus lens, gummed mirror, and positive lens, light enters the first meniscus lens after miniature display screen sends, and entering catoptron from positive lens, positive lens is the plane near the one side of catoptron, convenient encapsulation, the convex surface of the first meniscus lens is as the plane of incidence, the concave surface of the first meniscus lens is as the plane of incidence, and the plane of gummed mirror is as the plane of incidence, and convex surface is exit facet.
Preferably, above-mentioned gummed mirror is comprised of two kinds of different materials.
Light sends from miniature display screen, passes through successively relay system, catoptron, carries out at last human eye pupil place.The light of sending out from miniature display screen forms an intermediary image through behind the relay system, and this intermediary image is because the off-centre inclination of relay system has certain off-axis aberration; Light enters catoptron, and the off-axis aberration that the off-axis aberration that relay system produces and catoptron produce compensates mutually, and the light of each visual field becomes flat shape light after being reflected the mirror collimation, is intersected in human eye pupil place.
When image planes were positioned at the infinite distance, the angular resolution of Helmet Mounted Display was:
In the formula: ω, v are respectively the full field angle of vertical and horizontal direction; M, n are respectively the pixel counts of the horizontal and vertical direction on the effective display surface of image source (square 4: 3).If selecting the pixel count of image source horizontal and vertical direction is 800 * 600, pel spacing is 2.4 μ m.Calculating angular resolution corresponding to system by following formula is 0. 7 7mrad, near minimum resolution 0. 5 mrad of human eye.If the effective focal length of helmet display optical system is designed to 36.3 mm, this moment, the spatial frequency of the optical system that angular resolution is complementary should reach 30 lp/ mm.
Then the Optical System Design input is as shown in table 1:
Table 1 optical design input
| Effective focal length | About 36.3mm |
| Field angle | 25° |
| The emergent pupil distance | 40mm |
| Exit pupil diameter | 8mm |
| Wavelength | 494 ~ 544nm, peak value 525mm |
| Resolution | Each visual field is all greater than 0.3 during 30 lp/ mm |
| Luminance nonuniformity | ≤20% |
| Distortion | ≤5% |
Angle from mathematics, the reality of holographic optical elements (HOE)-empty imaging character can be explained like this: the complex amplitude of supposition reference beam is R, the conjugation reference beam, namely the complex amplitude of reconstruction beam is exactly-R, and symbol "-" means the direction of reconstruction beam and the opposite direction of former reference beam.The complex amplitude of definition thing light is O, and the definition light intensity is I, is exactly (* represents conjugate complex number) through light wave amplitude behind the optical hologram diffraction therefore:
This formula represents, when reconstruction beam is the conjugate direction that records reference beam when shining on the holographic optical elements (HOE), the light beam behind the diffraction also will be propagated along the conjugate direction of record object beam, form a real image, and, energy is converged to a point.
When this system of design, adopt the method for " continuous lens ", in fact, a continuous lens can be defined as the limit of an array that is comprised of infinitely small size holographic optical elements (HOE), in order to realize the record of continuous lens, must use two measuring point light sources, rather than a pointolite and a branch of planar light beam.
The invention has the advantages that:
1. owing to adopting the catoptron of holographic facet, the bore of relay system can be controlled in the diameter 10mm, and therefore system of the present invention has little, the lightweight advantage of volume.
2. because the inclination angle of the mechanical axis of catoptron and the chief ray of zero visual field is zero, and be holographic facet, can realize the binary channels demonstration.
3. owing to adopting the binary channels mode to show, whole Helmet Mounted Display is minimum to stopping of the visual field.
4. owing to adopting the binary channels mode to show, human eye can not need deflection angle when watching, and improves comfortableness.
Description of drawings
Fig. 1 is optical system X-Y scheme of the present invention.
Fig. 2 is the MTF figure of optical system of the present invention.
Embodiment
The Helmet Mounted Display of existing respirator only has single channel, can not watch simultaneously external information.And it is in order to reduce block vision, and zero visual field chief ray and the human eye straight ahead gaze direction deflection angle of HMD are a lot, and human eye need to rotate very wide-angle when watching, and watching for a long time can be very tired.
Fig. 1 is optical system X-Y scheme of the present invention, and light sends from OLED miniature display screen 41, passes through successively relay system 30, catoptron 20, carries out at last human eye pupil place.Behind the light process relay system 30 of 41 of OLED miniature display screens, form an intermediary image, this intermediary image is owing to the off-centre of relay system 30 tilts to have certain off-axis aberration; Light carries out catoptron 20, and the off-axis aberration that the off-axis aberration that relay system 30 produces and catoptron 20 produce compensates mutually, and the light of each visual field becomes flat shape light after being reflected mirror 20 collimations, is intersected in human eye pupil 10 places.Comprise in the relay system 30: eyeglass 31 is positive lens, and its one side near catoptron 20 is the plane, convenient encapsulation; Eyeglass 32 is comprised of two kinds of different materials for the gummed mirror; Eyeglass 33,34 is meniscus lens.
Be applied at present the Small-scale Flat display of Helmet Mounted Display, comprise display of organic electroluminescence (OLED) and liquid crystal display (LCD).Owing to needing backlightly when liquid crystal display shows, and when work, subzero also needs to increase temperature control circuit, cause power consumption for displays and volume to increase, so the present embodiment selection OLED is display screen, its detail parameters such as table 2:
Table 2 OLED shields parameter
| Effective display area | 12.8mm×9.6mm |
| Resolution | 852×600 |
| Display brightness | 1500cd/m 2 |
| Contrast | Be not less than 300:1 |
| Gray shade scale | 256 |
| Working temperature | -40℃～+65℃ |
| Half spectral width | 50nm(494nm-544nm) |
The optics detail parameters is as shown in table 3:
Table 3 Optic structure parameter
| Sequence number | The face type | Radius | Thickness | Glass | Type | Y is eccentric | Alpha tilts | |
| Object plane | Sphere | ∞ | ∞ | air | Refraction | |||
| Diaphragm | Sphere | ∞ | 40 | | Refraction | |||
| 2 | Sphere | -50 | -40 | air | Holographic | Bend-16 | ||
| 3 | Sphere | ∞ | -3.62 | LaF3 | Refraction | Base2 | ||
| 4 | Sphere | 18.00 | -0.1 | air | Refraction | |||
| 5 | Sphere | -10.37 | -3.5 | Qk3 | Refraction | |||
| 6 | Sphere | 12.97 | -3.5 | Zf6 | Refraction | |||
| 7 | Sphere | 93.67 | -9.12 | air | Refraction | |||
| 8 | Sphere | -13.33 | -5.0 | LaF3 | Refraction | Base5 | ||
| 9 | Sphere | -26.86 | -3.25 | | Refraction | |||
| 10 | Sphere | 6.5 | -5 | ZF6 | Refraction | Base-10 | ||
| 11 | Sphere | 10.8 | -6.9 | air | Refraction | |||
| Image planes | Sphere | ∞ | 0 | Refraction | Base1.6 | Base-2.65 |
The Holographic Parameters of catoptron 20 is shown in table 4, table 5:
Table 4 Holographic Parameters 1
| X | y | | |
| Reference light | |||
| 0 | 1.32 | -63.4 | |
| |
0 | 5.9 | -34.5 |
Table 5 Holographic Parameters 2
| Parameter | Value |
| The order of diffraction | -1 |
| The structure wavelength | 525.0000 |
| X | -7.1089e-005 |
| Y | 0.2043 |
| X**2 | 0.0013 |
| X* Y | 6.5681e-006 |
| Y **2 | 0.0003 |
| X**3 | 5.3287e-007 |
| X**2*Y | -3.5751e-006 |
| XY**2 | 2.5668e-006 |
| Y**3 | 1.1562e-005 |
| X**4 | 0.0000 |
| X**3*Y | 0.0000 |
| X**2* Y **2 | 0.0000 |
| X* Y **3 | 0.0000 |
| Y **4 | 0.0000 |
| X **5 | 0.0000 |
Fig. 2 is the MTF figure of optical system of the present invention, all reaches more than 0.3 during at 30lp/mm at the MTF of each visual field as seen from Figure 2, meets design requirement.
The catoptron of optical system of the present invention places the position of human eye straight ahead gaze, and relay system and miniature display screen place the side of the number of people.
The above is only for the preferred embodiment of the invention; not in order to limit the invention; all in the invention spirit and principle within do any modification, be equal to and replace and improvement etc., all should be included within the protection domain of the invention.
Claims (10)
1. the binary optical system of a respirator Helmet Mounted Display, it is characterized in that: adopt a binary optical holographic facet catoptron and relay system to form, catoptron has holographic facet, and light sends from miniature display screen, pass through successively relay system, catoptron, carry out at last human eye pupil place.
2. the binary optical system of respirator Helmet Mounted Display as claimed in claim 1 is characterized in that: the design input of described optical system is as follows:
Effective focal length: 36.3mm; Field angle: 25 °; Emergent pupil distance: 40mm; Exit pupil diameter: 8mm; Wavelength: 494 ~ 544nm; Resolution: each visual field is all greater than 0.3 during 30 lp/ mm; Luminance nonuniformity :≤20%; Distortion :≤5%.
3. the binary optical system of respirator Helmet Mounted Display as claimed in claim 1, it is characterized in that: described catoptron is the sphere holographic facet.
4. the binary optical system of respirator Helmet Mounted Display as claimed in claim 1 is characterized in that: the mechanical axis of described catoptron is zero with the inclination angle of the chief ray of zero visual field.
5. the binary optical system of respirator Helmet Mounted Display as claimed in claim 1 is characterized in that: described miniature display screen uses the OLED miniature display screen, and emergent light is single wavelength.
6. such as the binary optical system of each described respirator Helmet Mounted Display of claim 1 to 5, it is characterized in that: described relay system is comprised of four lens, and two-chip computer tool axle tilts and off-centre mutually at least.
7. the binary optical system of respirator Helmet Mounted Display as claimed in claim 6, it is characterized in that: the mechanical axis of described four lens tilts and off-centre mutually, and the mechanical axis of described miniature display screen and the angle of optical axis are non-vanishing.
8. the binary optical system of respirator Helmet Mounted Display as claimed in claim 6 is characterized in that: it is the gummed mirror that a slice is arranged in four lens of described relay system.
9. the binary optical system of respirator Helmet Mounted Display as claimed in claim 8, it is characterized in that: comprise successively in the described relay system: the first meniscus lens, the second meniscus lens, gummed mirror, and positive lens, light enters the first meniscus lens after miniature display screen sends, and enter catoptron from positive lens, positive lens is the plane near the one side of catoptron, the convex surface of the first meniscus lens is as the plane of incidence, the concave surface of the first meniscus lens is as the plane of incidence, the plane of gummed mirror is as the plane of incidence, and convex surface is exit facet.
10. the binary optical system of respirator Helmet Mounted Display as claimed in claim 8 or 9, it is characterized in that: described gummed mirror is comprised of two kinds of different materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210457111.6A CN102914871B (en) | 2012-11-14 | 2012-11-14 | The binary optical system of canister respirator Helmet Mounted Display |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210457111.6A CN102914871B (en) | 2012-11-14 | 2012-11-14 | The binary optical system of canister respirator Helmet Mounted Display |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102914871A true CN102914871A (en) | 2013-02-06 |
| CN102914871B CN102914871B (en) | 2016-07-13 |
Family
ID=47613301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210457111.6A Active CN102914871B (en) | 2012-11-14 | 2012-11-14 | The binary optical system of canister respirator Helmet Mounted Display |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102914871B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104937476A (en) * | 2013-02-15 | 2015-09-23 | 谷歌公司 | Cascading optics in optical combiners of head mounted displays |
| CN110383141A (en) * | 2016-12-29 | 2019-10-25 | 曼戈泰克有限责任公司 | Improvement type head-up display system for being used together with the helmet |
| CN112558292A (en) * | 2020-10-09 | 2021-03-26 | 天津大学 | Small optical system capable of switching virtual and real imaging |
| CN113359301A (en) * | 2021-06-29 | 2021-09-07 | 中航华东光电有限公司 | Large-view-field ship-borne HUD display system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5396349A (en) * | 1991-07-25 | 1995-03-07 | Pilkington P.E. Limited | Lateral and longitudinal chromatic dispersion correction in display systems employing non-conformal reflection holograms |
| US6606114B1 (en) * | 1993-03-31 | 2003-08-12 | Diversified Optical Products, Inc. | Combination head-protective helmet and thermal imaging apparatus |
| US7656585B1 (en) * | 2008-08-19 | 2010-02-02 | Microvision, Inc. | Embedded relay lens for head-up displays or the like |
| CN201524056U (en) * | 2009-09-23 | 2010-07-14 | 安徽华东光电技术研究所 | Large-viewing field color perspective type helmet display used in navigation system of surgical operations |
| CN101915992A (en) * | 2010-07-23 | 2010-12-15 | 浙江大学 | Free-form surface goggles-based see-through helmet mounted display device |
-
2012
- 2012-11-14 CN CN201210457111.6A patent/CN102914871B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5396349A (en) * | 1991-07-25 | 1995-03-07 | Pilkington P.E. Limited | Lateral and longitudinal chromatic dispersion correction in display systems employing non-conformal reflection holograms |
| US6606114B1 (en) * | 1993-03-31 | 2003-08-12 | Diversified Optical Products, Inc. | Combination head-protective helmet and thermal imaging apparatus |
| US7656585B1 (en) * | 2008-08-19 | 2010-02-02 | Microvision, Inc. | Embedded relay lens for head-up displays or the like |
| CN201524056U (en) * | 2009-09-23 | 2010-07-14 | 安徽华东光电技术研究所 | Large-viewing field color perspective type helmet display used in navigation system of surgical operations |
| CN101915992A (en) * | 2010-07-23 | 2010-12-15 | 浙江大学 | Free-form surface goggles-based see-through helmet mounted display device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104937476A (en) * | 2013-02-15 | 2015-09-23 | 谷歌公司 | Cascading optics in optical combiners of head mounted displays |
| CN110383141A (en) * | 2016-12-29 | 2019-10-25 | 曼戈泰克有限责任公司 | Improvement type head-up display system for being used together with the helmet |
| CN112558292A (en) * | 2020-10-09 | 2021-03-26 | 天津大学 | Small optical system capable of switching virtual and real imaging |
| CN113359301A (en) * | 2021-06-29 | 2021-09-07 | 中航华东光电有限公司 | Large-view-field ship-borne HUD display system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102914871B (en) | 2016-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9618750B2 (en) | Head mounted display | |
| US7637617B2 (en) | Method and device for generating retinal images using the stigmatism of the two foci of a substantially elliptical sight | |
| US4026641A (en) | Toric reflector display | |
| EP2246728A1 (en) | Head mounted display | |
| CN102540465A (en) | Optical system of helmet displayer | |
| CN1664649A (en) | Novel optical system of helmet display unit | |
| CN103261943A (en) | Head-mounted display apparatus employing one or more fresnel lenses | |
| CN103348278A (en) | Collimating display with pixel lenses | |
| CN104570353A (en) | Method, optical system and wearable equipment for color visual display by means of holographic waveguide | |
| EP2465004A2 (en) | Head up display system | |
| JPH03110593A (en) | Display device carried on head of observer for flight simulator | |
| WO1996005533A1 (en) | Method and apparatus for direct retinal projection | |
| JPH08286275A (en) | Image projection display | |
| CA2415946A1 (en) | High brightness see-through head-mounted display | |
| US7525735B2 (en) | High resolution head mounted projection display | |
| JP2011501822A (en) | Display device and display method thereof | |
| CN102928980B (en) | The binary optical system of respirator Helmet Mounted Display | |
| CN202433603U (en) | Head mounted display using reflective holographic element | |
| CN102914871B (en) | The binary optical system of canister respirator Helmet Mounted Display | |
| CN202433604U (en) | Optical system of head mounted display | |
| CN202433602U (en) | Optical system using holographic element and head mounted display having the optical system | |
| Aye et al. | Compact HMD optics based on multiplexed aberration-compensated holographic optical elements | |
| CN102692709A (en) | Spherical-prism-based optical system of head display | |
| CN202661715U (en) | Spherical-prism-based optical system of head-mounted display | |
| Nikiforov et al. | The optical system of a wide-angle collimator-type aviation display |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |