CN106842233A - Line scanning laser radar and its implementation based on annular external rotor electric machine - Google Patents

Line scanning laser radar and its implementation based on annular external rotor electric machine Download PDF

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CN106842233A
CN106842233A CN201710035618.5A CN201710035618A CN106842233A CN 106842233 A CN106842233 A CN 106842233A CN 201710035618 A CN201710035618 A CN 201710035618A CN 106842233 A CN106842233 A CN 106842233A
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laser
rotor
motor
fixed
central computer
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孙剑
孙羽键
张乐
徐飞
杨凯
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Xian Jiaotong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

基于环形外转子电机的线扫描激光雷达及其实现方法，该激光雷达包括电机转子，电机的定子与轴承，与电机转子连接的测角传感器；与测角传感器连接的中央计算机，与中央计算机连接的激光器，固定于激光器发射光路上的发射透镜，固定于激光器发射光路且与外转子电机的转子固连的反射装置，固定于反射装置反射光路上的汇聚镜头，固定于汇聚镜头汇聚光路上的激光探测器，与激光探测器连接的激光测距模块；激光测距模块与中央计算机相连接；还包括与电机转子固连的永磁体，缠绕在电机定子上的线圈；所述电机转子与电机定子是空心圆柱状，发射激光和接收激光均可从中穿过；本发明还公开了激光雷达实现360°扫描测距的方法；能够实现无人设备的自主避障能力。

A line-scanning laser radar based on an annular external rotor motor and its implementation method, the laser radar includes a motor rotor, a stator and a bearing of the motor, an angle measuring sensor connected to the motor rotor; a central computer connected to the angle measuring sensor, and connected to the central computer The laser is fixed on the emitting lens on the emitting optical path of the laser, the reflecting device fixed on the emitting optical path of the laser and connected with the rotor of the outer rotor motor, the converging lens is fixed on the reflecting optical path of the reflecting device, and the converging lens is fixed on the converging optical path of the converging lens The laser detector is a laser ranging module connected with the laser detector; the laser ranging module is connected with the central computer; it also includes a permanent magnet fixedly connected to the motor rotor and a coil wound on the motor stator; the motor rotor is connected to the motor The stator is in the shape of a hollow cylinder through which laser light can be emitted and laser light can be received; the invention also discloses a method for realizing 360-degree scanning and distance measurement by the laser radar; it can realize the autonomous obstacle avoidance ability of the unmanned equipment.

Description

基于环形外转子电机的线扫描激光雷达及其实现方法Line-scan lidar based on ring outer rotor motor and its implementation method

技术领域technical field

本发明涉及激光测量技术领域，具体涉及一种基于环形外转子电机的线扫描激光雷达及其实现方法。The invention relates to the technical field of laser measurement, in particular to a line-scan laser radar based on an annular outer rotor motor and an implementation method thereof.

背景技术Background technique

自主避障技术是无人机，无人车等无人装备需要解决的关键技术，避障能力是检验无人设备综合性能的一个关键因素。目前主流的避障技术主要有超声波和视觉技术。其中超声波是最简单的测距系统，成本相对较低，运用方便，但是由于作用距离较近，测距精度不高，而且容易受外界干扰；视觉技术极易收到光照因素的影响，不能满足全天候自主避障的需求。Autonomous obstacle avoidance technology is a key technology for unmanned equipment such as drones and unmanned vehicles. The ability to avoid obstacles is a key factor in testing the comprehensive performance of unmanned equipment. The current mainstream obstacle avoidance technologies mainly include ultrasonic and visual technologies. Among them, ultrasonic is the simplest ranging system, which is relatively low in cost and easy to use. However, due to the short distance, the ranging accuracy is not high, and it is easy to be interfered by the outside world; All-weather autonomous obstacle avoidance needs.

现有的激光雷达能够实现360°扫描探测，但现有的方案通常需要使用滑环，从而影响了激光雷达的使用寿命，而不使用滑环的方案则难以实现360°全覆盖的探测效果。The existing lidar can realize 360° scanning detection, but the existing scheme usually requires the use of slip rings, which affects the service life of the lidar, and the scheme without the use of slip rings is difficult to achieve 360° full coverage detection effect.

发明内容Contents of the invention

为了解决上述问题，本发明的目的在于提供一种基于环形外转子电机的线扫描激光雷达及其实现方法，能够实现无人设备的自主避障能力。In order to solve the above problems, the purpose of the present invention is to provide a line-scan laser radar based on an annular outer rotor motor and its implementation method, which can realize the autonomous obstacle avoidance capability of unmanned equipment.

为达到以上目的，本发明采用如下技术方案：To achieve the above object, the present invention adopts the following technical solutions:

一种基于环形外转子电机的线扫描激光雷达，包括电机转子1，电机的定子与轴承2，与电机转子1连接的测角传感器6；与测角传感器6连接的中央计算机7，与中央计算机7连接的激光器4，固定于激光器4发射光路上的发射透镜8，固定于激光器4发射光路且与外转子电机1的转子固连的反射装置3，固定于反射装置3反射光路上的汇聚镜头9，固定于汇聚镜头9汇聚光路上的激光探测器10，与激光探测器10连接的激光测距模块5；激光测距模块5与中央计算机7相连接；还包括与电机转子1固连的永磁体(15)，缠绕在电机定子2上的线圈(16)；所述电机转子1与电机定子2是空心圆柱状，发射激光和接收激光均从中穿过。A line scan lidar based on an annular outer rotor motor, comprising a motor rotor 1, a motor stator and a bearing 2, an angle measuring sensor 6 connected to the motor rotor 1; a central computer 7 connected to the angle measuring sensor 6, and the central computer 7 Connected laser 4, the emitting lens 8 fixed on the emitting optical path of the laser 4, the reflector 3 fixed on the emitting optical path of the laser 4 and fixedly connected with the rotor of the outer rotor motor 1, the converging lens fixed on the reflective optical path of the reflector 3 9, the laser detector 10 fixed on the converging optical path of the converging lens 9, the laser ranging module 5 connected with the laser detector 10; the laser ranging module 5 is connected with the central computer 7; A permanent magnet (15), a coil (16) wound on the motor stator 2; the motor rotor 1 and the motor stator 2 are hollow cylinders, through which both the emitting laser and the receiving laser pass.

所述电机转子1外侧的内壁上嵌有永磁体15，永磁体15沿圆周方向均匀排列，电机转子1内侧的外壁与轴承12的内环固连，电机转子1能够随轴承内环的转动而转动。The inner wall on the outer side of the motor rotor 1 is embedded with permanent magnets 15, the permanent magnets 15 are evenly arranged along the circumferential direction, the outer wall on the inner side of the motor rotor 1 is fixedly connected with the inner ring of the bearing 12, and the motor rotor 1 can rotate with the inner ring of the bearing. turn.

所述电机定子2的外侧绕有线圈16，电机定子2的内侧与轴承12的外环固连。The outer side of the motor stator 2 is wound with a coil 16 , and the inner side of the motor stator 2 is fixedly connected with the outer ring of the bearing 12 .

所述反射装置3，固定于电机转子1上，与电机转子1同时转动，所述反射装置3与水平方向成45度夹角。The reflection device 3 is fixed on the motor rotor 1 and rotates with the motor rotor 1 at the same time, and the reflection device 3 forms an included angle of 45 degrees with the horizontal direction.

所述激光器4发射光路的光轴与激光探测器10接收光路的光轴相互平行。The optical axis of the emitting optical path of the laser 4 is parallel to the optical axis of the receiving optical path of the laser detector 10 .

所述基于环形外转子电机的线扫描激光雷达实现360°扫描测距的方法，包括如下步骤：The method for realizing the 360 ° scanning distance measurement based on the line scanning laser radar of the annular outer rotor motor comprises the following steps:

步骤一，中央计算机7输出控制激光器4的信号控制激光器4发出脉冲激光，脉冲激光穿过电机转子1和电机定子2的中心后照射到反射装置3上，经过反射装置3的反射后，脉冲激光照射到目标上；Step 1, the central computer 7 outputs a signal to control the laser 4 to control the laser 4 to emit pulsed laser light. The pulsed laser light passes through the center of the motor rotor 1 and the motor stator 2 and then irradiates on the reflector 3. After being reflected by the reflector 3, the pulsed laser shine on the target;

步骤二，电机转子1转动时带动固定于其上的第二反射装置3同时转动，从而将照射到第二反射装置3的竖直方向激光变为水平方向的激光，并实现360°扫描，中央计算机7通过测角传感器6测量电机转子1在发射激光照射到反射装置(3)时刻转过的角度；Step 2, when the motor rotor 1 rotates, it drives the second reflection device 3 fixed on it to rotate simultaneously, so that the vertical laser beam irradiated on the second reflection device 3 is changed into a horizontal laser beam, and 360° scanning is realized. The computer 7 measures the angle that the motor rotor 1 rotates when the laser light is emitted to the reflection device (3) through the angle measuring sensor 6;

步骤三，水平方向的激光经目标反射后再次经过反射装置3反射成竖直方向的激光并穿过电机转子1与电机定子2的中心，经汇聚镜头9汇聚作用后，被激光探测器10接收，以便激光测距模块5进行后续处理；Step 3: The laser beam in the horizontal direction is reflected by the target and then reflected by the reflection device 3 to become a laser beam in the vertical direction and passes through the center of the motor rotor 1 and the motor stator 2. After being converged by the converging lens 9, it is received by the laser detector 10 , so that the laser ranging module 5 performs subsequent processing;

步骤四，当激光探测器10接收到返回来的激光后，激光测距模块5通过测量发射激光脉冲时间t1和接收激光脉冲时间t2之间的时间差计算目标的距离，中央计算机7再读取激光测距模块5计算的目标的距离，实现对360°目标的扫描探测。Step 4, after the laser detector 10 receives the returned laser, the laser ranging module 5 calculates the distance of the target by measuring the time difference between the time t1 of the emitted laser pulse and the time t2 of the received laser pulse, and the central computer 7 reads it again The distance of the target calculated by the laser ranging module 5 is taken to realize the scanning detection of the 360° target.

与现有技术相比，本发明有以下优点：Compared with the prior art, the present invention has the following advantages:

1.本发明的扫描装置区别于传统的一维激光扫描装置，将扫描电机的转子、定子设计成空心圆柱状，激光可以从转子和定子的中心穿过，该设计不必使用电滑环就可以实现360°扫描，具有使用寿命长，结构紧凑，价格低廉的优势。1. The scanning device of the present invention is different from the traditional one-dimensional laser scanning device. The rotor and stator of the scanning motor are designed as hollow cylinders, and the laser can pass through the center of the rotor and stator. This design can be achieved without using an electric slip ring. It realizes 360° scanning, and has the advantages of long service life, compact structure and low price.

2.使用激光发射光轴与激光接收光轴相互平行的方案，具有结构简单，易于实现，成本低廉的优势。2. The solution that the optical axis of the laser emission and the optical axis of the laser reception are parallel to each other has the advantages of simple structure, easy implementation and low cost.

3.本发明激光发射光轴与接收光轴并不重合，使得扫描的激光轨迹所在的平面与水平面成一定角度，该特点特别适合于无人机，机器人的避障。3. The optical axis of the laser emission and the receiving optical axis of the present invention do not coincide, so that the plane where the scanned laser trajectory is located forms a certain angle with the horizontal plane. This feature is especially suitable for obstacle avoidance of drones and robots.

4.本发明激光雷达的结构有利于减小环形电机的径向尺寸，适合在径向空间较狭小的环境下使用。4. The structure of the laser radar of the present invention is beneficial to reduce the radial size of the ring motor, and is suitable for use in an environment with a relatively narrow radial space.

附图说明Description of drawings

图1为本发明基于环形外转子电机的线扫描激光雷达结构图。Fig. 1 is a structural diagram of a line-scan laser radar based on a ring outer rotor motor according to the present invention.

图2为本发明电机转子与反射装置固连的示意图。Fig. 2 is a schematic diagram of the fixed connection between the motor rotor and the reflection device of the present invention.

图3为本发明装置中环形外转子电机俯视剖面图。Fig. 3 is a top sectional view of the annular outer rotor motor in the device of the present invention.

图4为本发明装置中环形外转子电机主视剖面图。Fig. 4 is a front sectional view of the annular outer rotor motor in the device of the present invention.

具体实施方式detailed description

以下结合附图及具体实施例对本发明作进一步的详细描述。应理解这些实施例仅用于说明本发明而不用于限制本发明的范围，在阅读了本发明之后，本领域技术人员对本发明的各种等价形式的修改均落于本申请所附权利要求所限定的范围。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. After reading the present invention, those skilled in the art all fall into the appended claims of the present application to the amendments of various equivalent forms of the present invention limited range.

如图1所示，本发明一种基于环形外转子电机的线扫描激光雷达，包括电机转子1，电机的定子与轴承2，与电机转子1连接的测角传感器6；与测角传感器6连接的中央计算机7，与中央计算机7连接的激光器4，固定于激光器4发射光路上的发射透镜8，固定于激光器4发射光路且与外转子电机1的转子固连的反射装置3，固定于反射装置3反射光路上的汇聚镜头9，固定于汇聚镜头9汇聚光路上的激光探测器10，与激光探测器10连接的激光测距模块5；激光测距模块5与中央计算机7相连接。As shown in Fig. 1, a kind of line scan lidar based on the annular outer rotor motor of the present invention comprises motor rotor 1, the stator and bearing 2 of motor, the angle measuring sensor 6 that is connected with motor rotor 1; Connect with angle measuring sensor 6 The central computer 7, the laser device 4 connected with the central computer 7, the emission lens 8 fixed on the emission optical path of the laser device 4, the reflection device 3 fixed on the emission optical path of the laser device 4 and fixedly connected with the rotor of the outer rotor motor 1, fixed on the reflector The converging lens 9 on the reflected optical path of the device 3, the laser detector 10 fixed on the converging optical path of the converging lens 9, the laser ranging module 5 connected with the laser detector 10; the laser ranging module 5 is connected with the central computer 7.

如图3和图4所示，所述电机转子1外侧的内壁上嵌有永磁体15，永磁体15沿圆周方向均匀排列，电机转子1内侧的外壁与轴承12的内环固连，电机转子1能够随轴承内环的转动而转动。所述电机定子2的外侧绕有线圈16，电机定子2的内侧与轴承12的外环固连。As shown in Figures 3 and 4, permanent magnets 15 are embedded on the inner wall of the outer side of the motor rotor 1, and the permanent magnets 15 are evenly arranged along the circumferential direction. 1 can rotate with the rotation of the inner ring of the bearing. The outer side of the motor stator 2 is wound with a coil 16 , and the inner side of the motor stator 2 is fixedly connected with the outer ring of the bearing 12 .

如图2所示，所述反射装置3固定于电机的转子1上，与电机转子1同时转动，作为优选的实施方式，所述反射装置3与水平方向成45度夹角。As shown in FIG. 2 , the reflection device 3 is fixed on the rotor 1 of the motor and rotates simultaneously with the motor rotor 1 . As a preferred embodiment, the reflection device 3 forms an included angle of 45 degrees with the horizontal direction.

作为优选的实施方式，所述激光器4发射光路的光轴与激光探测器10接收光路的光轴相互平行。As a preferred embodiment, the optical axis of the emitting optical path of the laser 4 and the optical axis of the receiving optical path of the laser detector 10 are parallel to each other.

本发明所述基于环形外转子电机的线扫描激光雷达实现360°扫描测距的方法，包括如下步骤：The method for realizing 360° scanning ranging based on the line scanning laser radar of the annular outer rotor motor of the present invention comprises the following steps:

中央计算机7输出控制激光器4的信号控制激光器4发出脉冲激光，脉冲激光穿过电机转子1和电机定子2的中心后照射到反射装置3上，经过反射装置3的反射后，脉冲激光照射到目标上；The central computer 7 outputs a signal to control the laser 4 to control the laser 4 to emit pulsed laser light. The pulsed laser light passes through the center of the motor rotor 1 and the motor stator 2 and then shines on the reflection device 3. After being reflected by the reflection device 3, the pulsed laser light is irradiated to the target. superior;

电机转子1转动时带动固定于其上的第二反射装置3同时转动，从而将照射到第二反射装置3的竖直方向激光变为水平方向的激光，并实现360°扫描，中央计算机7通过测角传感器6测量电机转子1在发射激光照射到反射装置(3)时刻转过的角度；When the motor rotor 1 rotates, it drives the second reflection device 3 fixed on it to rotate simultaneously, so that the vertical laser beam irradiated on the second reflection device 3 is changed into a horizontal laser beam, and 360° scanning is realized. The central computer 7 passes through The angle measuring sensor 6 measures the angle that the motor rotor 1 rotates at the moment when the emitted laser light hits the reflection device (3);

水平方向的激光经目标反射后再次经过反射装置3反射成竖直方向的激光并穿过电机转子1与电机定子2的中心，经汇聚镜头9汇聚作用后，被激光探测器10接收，以便激光测距模块5进行后续处理；The laser in the horizontal direction is reflected by the target and then reflected by the reflection device 3 to become the laser in the vertical direction and passes through the center of the motor rotor 1 and the motor stator 2. After being converged by the converging lens 9, it is received by the laser detector 10, so that the laser The ranging module 5 performs subsequent processing;

当激光探测器10接收到返回来的激光后，激光测距模块5通过测量发射激光脉冲时间t1和接收激光脉冲时间t2之间的时间差计算目标的距离，中央计算机7再读取激光测距模块5计算的目标的距离，实现对360°目标的扫描探测。After the laser detector 10 received the returning laser, the laser distance measuring module 5 calculated the distance of the target by measuring the time difference between the time t1 of the emitted laser pulse and the time t2 of the received laser pulse, and the central computer 7 reads the distance of the laser measurement again. The distance from the target calculated by the module 5 realizes the scanning detection of the 360° target.

Claims (6)

1. a kind of line scanning laser radar based on annular external rotor electric machine, it is characterised in that：Including rotor (1), motor Stator (2), bearing (12), the angular measurement sensor (6) being connected with rotor (1)；The center being connected with angular measurement sensor (6) Computer (7), the laser (4) being connected with central computer (7), the diversing lens being fixed in laser (4) transmitting light path (8) laser (4) transmitting light path and the reflection unit (3) being connected with rotor (1), are fixed on, reflection unit (3) is fixed on Convergence camera lens (9) on reflected light path, is fixed on and converges the laser detector (10) that camera lens (9) is converged in light path, is visited with laser Survey the laser ranging module (5) of device (10) connection；Laser ranging module (5) is connected with central computer (7)；Also include and electricity The connected permanent magnet (15) of machine rotor (1), is wrapped in the coil (16) on motor stator (2)；The rotor (1) and motor Stator (2) is hollow cylindrical, and transmitting laser and reception laser are extended there through.
2. the line scanning laser radar based on annular external rotor electric machine according to claim 1, it is characterised in that：The electricity Permanent magnet (15) is embedded with inwall on the outside of machine rotor (1), permanent magnet (15) is along the circumferential direction evenly distributed, rotor (1) The outer wall of inner side is connected with the inner ring of bearing (12), and rotor (1) can be rotated with the rotation of bearing inner ring.
3. the line scanning laser radar based on annular external rotor electric machine according to claim 1, it is characterised in that：The electricity Coil (16) is wound with the outside of machine stator (2), the inner side of motor stator (2) is connected with the outer shroud of bearing (12).
4. the line scanning laser radar based on annular external rotor electric machine according to claim 1, it is characterised in that：It is described anti- Injection device (3) is fixed on rotor (1), with rotor (1) while rotation, the reflection unit (3) and horizontal direction In angle of 45 degrees.
5. the line scanning laser radar based on annular external rotor electric machine according to claim 1, it is characterised in that：It is described to swash The optical axis of light device (4) transmitting light path is parallel to each other with the optical axis of laser detector (10) receiving light path.
6. the line scanning laser radar based on annular external rotor electric machine described in claim 1 realizes 360 ° of methods of scanning range finding, Comprise the following steps：
Step one, the signal of central computer (7) output control laser (4) controls laser (4) to send pulse laser, pulse Laser through being irradiated on reflection unit (3) behind the center of rotor (1) and motor stator (2), by reflection unit (3) After reflection, on pulsed laser irradiation to target；
Step 2, drives the second reflection unit (3) for being fixed thereon while rotating, so as to will shine when rotor (1) is rotated The vertical direction laser for being mapped to the second reflection unit (3) is changed into the laser of horizontal direction, and realizes 360 ° of scannings, central computer (7) angle that laser is irradiated to reflection unit (3) moment and turns over is being launched by angular measurement sensor (6) measurement motor rotor (1)；
Step 3, the laser of horizontal direction again passes by the laser that reflection unit (3) is reflected into vertical direction after being reflected through target And through rotor (1) and the center of motor stator (2), after converging camera lens (9) convergence effect, by laser detector (10) Receive, so that laser ranging module (5) carries out subsequent treatment；
Step 4, after laser detector (10) receives the laser for returning and, laser ranging module (5) is swashed by measuring transmitting Optical pulse time t1With reception Laser pulse time t2Between time difference calculate the distance of target, central computer (7) reads again The distance of the target that laser ranging module (5) is calculated, realizes to 360 ° of scanning probes of target.
CN201710035618.5A 2017-01-17 2017-01-17 Line scanning laser radar and its implementation based on annular external rotor electric machine Pending CN106842233A (en)

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Application publication date: 20170613