CN107206384B - 用于实验室自动化的侧视样品管图像中的条形码标签检测 - Google Patents

用于实验室自动化的侧视样品管图像中的条形码标签检测 Download PDF

Info

Publication number
CN107206384B
CN107206384B CN201680010493.4A CN201680010493A CN107206384B CN 107206384 B CN107206384 B CN 107206384B CN 201680010493 A CN201680010493 A CN 201680010493A CN 107206384 B CN107206384 B CN 107206384B
Authority
CN
China
Prior art keywords
level
tube
barcode
sample tube
low
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.)
Active
Application number
CN201680010493.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN107206384A (zh
Inventor
S.克卢克纳
张耀仁
W.吴
B.波拉克
陈德仁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Healthcare Diagnostics Inc
Original Assignee
Siemens Healthcare Diagnostics Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens Healthcare Diagnostics Inc filed Critical Siemens Healthcare Diagnostics Inc
Publication of CN107206384A publication Critical patent/CN107206384A/zh
Application granted granted Critical
Publication of CN107206384B publication Critical patent/CN107206384B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/253—Fusion techniques of extracted features
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10712—Fixed beam scanning
    • G06K7/10722—Photodetector array or CCD scanning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1413—1D bar codes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/146—Methods for optical code recognition the method including quality enhancement steps
    • G06K7/1491—Methods for optical code recognition the method including quality enhancement steps the method including a reconstruction step, e.g. stitching two pieces of bar code together to derive the full bar code
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/806—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of extracted features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
    • B01L3/54—Labware with identification means
    • B01L3/545—Labware with identification means for laboratory containers
    • B01L3/5453—Labware with identification means for laboratory containers for test tubes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G01N2035/00742—Type of codes
    • G01N2035/00752—Type of codes bar codes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Electromagnetism (AREA)
  • Toxicology (AREA)
  • Evolutionary Computation (AREA)
  • Multimedia (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Software Systems (AREA)
  • Medical Informatics (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Data Mining & Analysis (AREA)
  • Analytical Chemistry (AREA)
  • Quality & Reliability (AREA)
  • Chemical & Material Sciences (AREA)
  • Biochemistry (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
  • Image Analysis (AREA)
  • Investigating Or Analysing Biological Materials (AREA)
CN201680010493.4A 2015-02-17 2016-02-16 用于实验室自动化的侧视样品管图像中的条形码标签检测 Active CN107206384B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562117270P 2015-02-17 2015-02-17
US62/117270 2015-02-17
PCT/US2016/018084 WO2016133908A1 (en) 2015-02-17 2016-02-16 Barcode tag detection in side view sample tube images for laboratory automation

Publications (2)

Publication Number Publication Date
CN107206384A CN107206384A (zh) 2017-09-26
CN107206384B true CN107206384B (zh) 2020-12-22

Family

ID=56692704

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680010493.4A Active CN107206384B (zh) 2015-02-17 2016-02-16 用于实验室自动化的侧视样品管图像中的条形码标签检测

Country Status (6)

Country Link
US (1) US10824832B2 (enExample)
EP (1) EP3259068B1 (enExample)
JP (1) JP6791864B2 (enExample)
CN (1) CN107206384B (enExample)
CA (1) CA2976771C (enExample)
WO (1) WO2016133908A1 (enExample)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018188023A1 (en) 2017-04-13 2018-10-18 Siemens Healthcare Diagnostics Inc. Methods and apparatus for determining label count during specimen characterization
EP3610270B1 (en) * 2017-04-13 2024-05-29 Siemens Healthcare Diagnostics Inc. Methods and apparatus for label compensation during specimen characterization
WO2018191287A1 (en) 2017-04-13 2018-10-18 Siemens Healthcare Diagnostics Inc. Methods and apparatus for hiln characterization using convolutional neural network
US11748877B2 (en) * 2017-05-11 2023-09-05 The Research Foundation For The State University Of New York System and method associated with predicting segmentation quality of objects in analysis of copious image data
US10598637B2 (en) * 2017-07-18 2020-03-24 Perkinelmer Health Sciences, Inc. Automated thermal desorption systems configured to determine sample tube orientation and/or cap presence, and related methods
EP3737930B1 (en) 2018-01-10 2025-11-05 Siemens Healthcare Diagnostics, Inc. Methods and apparatus for bio-fluid specimen characterization using neural network having reduced training
US10816516B2 (en) 2018-03-28 2020-10-27 Perkinelmer Health Sciences, Inc. Autosamplers and gas chromatographic systems and methods including same
CN109272001B (zh) * 2018-09-28 2021-09-03 深圳市飞点健康管理有限公司 尿检识别分类器的构造训练方法、装置及计算机设备
CN109727643B (zh) * 2018-12-05 2022-07-19 云南中烟工业有限责任公司 一种单靶点基因编辑t1代烟株筛选方法
CN111559565B (zh) * 2020-06-10 2024-05-28 四川沃文特生物技术有限公司 一种样本后处理系统及控制方法
CN112926689B (zh) * 2021-03-31 2024-07-12 珠海格力电器股份有限公司 目标的定位方法、装置、电子设备及存储介质
EP4080515A1 (en) * 2021-04-19 2022-10-26 Roche Diagnostics GmbH A method for classifying an identification tag on a sample tube containing a sample and an automated laboratory system
DE102021004734B3 (de) * 2021-09-21 2022-11-17 Vmt Vision Machine Technic Bildverarbeitungssysteme Gmbh Verfahren für eine automatische Inspektion von einer Vielzahl von plattenartigen Kunststoffträger

Family Cites Families (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0736284Y2 (ja) * 1990-10-05 1995-08-16 東亜医用電子株式会社 検体容器の検体識別コード読取装置
US5334825A (en) * 1992-04-27 1994-08-02 Ncr Corporation System and method for monitoring barcode label quality
JPH091791A (ja) * 1995-06-23 1997-01-07 Dainippon Printing Co Ltd 印刷品質判定装置
US5663545A (en) * 1995-08-23 1997-09-02 Ljl Biosystems Inc. Labware identification system
US5637854A (en) * 1995-09-22 1997-06-10 Microscan Systems Incorporated Optical bar code scanner having object detection
US6039252A (en) * 1995-12-14 2000-03-21 Intermec Corporation Bar code reading system for reconstructing irregularly damaged bar codes
JPH11224304A (ja) * 1998-02-06 1999-08-17 Toshiba Tec Corp 情報シンボル検査装置
US6890759B2 (en) * 1998-12-30 2005-05-10 Becton, Dickinson And Company System and method for universal identification of biological samples
US20020055861A1 (en) * 2000-11-08 2002-05-09 King Daniel A. Claiming system and method
US6598796B2 (en) * 2001-01-10 2003-07-29 Becton, Dickinson And Company Method and apparatus for aligning labels applied to a specimen collection container
US7382911B1 (en) * 2001-02-16 2008-06-03 Hand Held Products, Inc. Identification card reader
US20020195491A1 (en) * 2001-06-26 2002-12-26 Bunch Earnest B. Apparatus and method for--at the time rented video media is returned--identifying damage, generating damage documentation in remote data base, and providing customer record detailing damage
US20030141368A1 (en) * 2002-01-29 2003-07-31 Florante Pascual System and method for obtaining information from a bar code for use with a healthcare system
US7487061B2 (en) * 2002-05-23 2009-02-03 Sysmex Corporation Sample analyzer
JP4087302B2 (ja) * 2003-07-10 2008-05-21 日本電子株式会社 検査装置
JP3908744B2 (ja) * 2004-03-08 2007-04-25 株式会社アイディエス 試験管のバーコード読取り装置
JP3858029B2 (ja) * 2004-03-22 2006-12-13 株式会社アイディエス 試験管の検知装置
US20060043188A1 (en) * 2004-08-27 2006-03-02 Gregg Kricorissian Imaging method and apparatus for object identification
US7490773B2 (en) * 2004-12-03 2009-02-17 Mcvicker Henry J Apparatus and method for obtaining an image of an arcuate surface
US7878415B2 (en) * 2005-04-25 2011-02-01 Direct Measurements Inc. Segmented circular bar code
WO2006130760A2 (en) * 2005-05-31 2006-12-07 Smart Medical Technologies, Llc Systems for tracking and testing of medical specimens and data
US20070053794A1 (en) * 2005-09-08 2007-03-08 Beckman Coulter, Inc. Sample identification system having plural readers
US7604778B2 (en) * 2006-06-30 2009-10-20 Dause Shari L Coded test tubes
US20080297355A1 (en) * 2007-06-04 2008-12-04 Seiji Matsumoto Container with Electronic Tag and RFID System Using the Container with Electronic Tag
JP2009196134A (ja) * 2008-02-20 2009-09-03 Panasonic Corp 個別認識情報の印刷状況検査方法とその検査装置
US8228498B2 (en) * 2008-03-13 2012-07-24 Yoko Nakahana Sample storage
JP2009271579A (ja) * 2008-04-30 2009-11-19 Keyence Corp バーコード読取装置及びバーコード読取方法
US8287821B2 (en) * 2008-06-10 2012-10-16 Yoko Nakahana Sample storage
US8170271B2 (en) * 2008-06-25 2012-05-01 Jadak Llc System and method for test tube and cap identification
ES2402227T3 (es) * 2008-07-25 2013-04-29 F. Hoffmann-La Roche Ag Un sistema de laboratorio de almacenamiento y recuperación y un método para la manipulación de tubos de muestras de laboratorio
WO2010038852A1 (ja) * 2008-10-03 2010-04-08 アークレイ株式会社 試料撹拌装置、これを用いた液体クロマトグラフィ装置、および試料容器スタンド
US8035485B2 (en) * 2008-11-20 2011-10-11 Abbott Laboratories System for tracking vessels in automated laboratory analyzers by radio frequency identification
EP2254083A1 (en) * 2009-05-20 2010-11-24 Ahold Licensing SA Automated area inspection and recordkeeping system and method
JP5021010B2 (ja) * 2009-08-18 2012-09-05 あおい精機株式会社 検体処理装置及び検体処理方法
US8319823B2 (en) 2009-11-03 2012-11-27 Jadak, Llc System and method for panoramic image stitching
US8523075B2 (en) * 2010-09-30 2013-09-03 Apple Inc. Barcode recognition using data-driven classifier
WO2012044887A1 (en) * 2010-09-30 2012-04-05 Performance Indicator, Llc. Photolytically and environmentally stable multilayer structure for high efficiency electromagentic energy conversion and sustained secondary emission
JP5966277B2 (ja) * 2011-08-19 2016-08-10 大日本印刷株式会社 バーコード外観検査システム、バーコード外観検査方法、画像処理装置
JP5474903B2 (ja) * 2011-09-28 2014-04-16 あおい精機株式会社 検査前処理装置、検査前処理方法、及び検体処理装置
KR20140091033A (ko) * 2011-11-07 2014-07-18 베크만 컬터, 인코포레이티드 검체 컨테이너 검출
DE102012111867B4 (de) * 2011-12-06 2013-11-21 Hirata Corp. Sortiergerät
JP6113193B2 (ja) 2012-02-03 2017-04-12 シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレーテッドＳｉｅｍｅｎｓ Ｈｅａｌｔｈｃａｒｅ Ｄｉａｇｎｏｓｔｉｃｓ Ｉｎｃ． バーコード読み取り式試験管ホルダ
EP2998950B1 (en) * 2013-03-12 2018-11-07 Arizona Board of Regents, a Body Corporate of the State of Arizona acting for and on behalf of Arizona State University Dendritic structures and tags as physical unclonable function for anti-counterfeiting
US10145857B2 (en) 2013-03-14 2018-12-04 Siemens Healthcare Diagnostics Inc. Tube tray vision system
JP5908858B2 (ja) * 2013-03-26 2016-04-26 株式会社サンテック 不良貼着材回収装置
WO2015191702A1 (en) 2014-06-10 2015-12-17 Siemens Healthcare Diagnostics Inc. Drawer vision system
JP6560757B2 (ja) * 2015-02-17 2019-08-14 シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレーテッドＳｉｅｍｅｎｓ Ｈｅａｌｔｈｃａｒｅ Ｄｉａｇｎｏｓｔｉｃｓ Ｉｎｃ． 検査室自動化のためのトップビューサンプルチューブ画像からのバーコードタグ状態の分類
EP3308129B1 (en) * 2015-06-12 2020-12-16 A.M.T. Srl A machinery for an automated analysis of the slides in accordance with the indirect immunofluorescence assay - ifa
US20190035497A1 (en) * 2016-03-16 2019-01-31 Codonics, Inc. Method and apparatus for labeling and managing inventory of medicinal substances
US9886826B1 (en) * 2016-07-28 2018-02-06 Datalogic Usa, Inc. Automatic barcode verifier
US10114999B1 (en) * 2016-12-02 2018-10-30 Koupon Media, Inc. Using dynamic occlusion to protect against capturing barcodes for fraudulent use on mobile devices
US10509934B1 (en) * 2018-02-01 2019-12-17 Accusoft Corporation Methods and apparatus for improving QR code locator detectability and/or finding the corners of a locator pattern

Also Published As

Publication number Publication date
CA2976771C (en) 2023-09-26
JP2018512567A (ja) 2018-05-17
WO2016133908A1 (en) 2016-08-25
CA2976771A1 (en) 2016-08-25
CN107206384A (zh) 2017-09-26
EP3259068B1 (en) 2023-03-29
US20180239936A1 (en) 2018-08-23
JP6791864B2 (ja) 2020-11-25
EP3259068A4 (en) 2018-03-14
EP3259068A1 (en) 2017-12-27
US10824832B2 (en) 2020-11-03

Similar Documents

Publication Publication Date Title
CN107206384B (zh) 用于实验室自动化的侧视样品管图像中的条形码标签检测
JP2018512567A5 (enExample)
US9760789B2 (en) Robust cropping of license plate images
JP6560757B2 (ja) 検査室自動化のためのトップビューサンプルチューブ画像からのバーコードタグ状態の分類
JP2020525871A (ja) 車両保険画像処理方法、装置、サーバ、及びシステム
EP3767527A1 (en) Method and system for region proposal based object recognition for estimating planogram compliance
US20140105459A1 (en) Location-aware event detection
JP6401648B2 (ja) 欠陥分類装置および欠陥分類方法
JP2011053953A (ja) 画像処理装置及びプログラム
US10698981B2 (en) Automatic detection of medical image acquisition protocol
CN103077367A (zh) 标签检测系统、装置及其检测标签的方法
Suh et al. Fusion of global-local features for image quality inspection of shipping label
EP2911112A1 (en) Methods for assessing image change and devices thereof
WO2012063107A1 (en) Automated tuberculosis screening
CN104899544A (zh) 图像处理装置和图像处理方法
JP2007018176A (ja) 学習装置、学習方法、学習プログラム、記録媒体、パターン認識装置およびパターン認識方法
CN109359683B (zh) 目标检测方法、装置、终端和计算机可读存储介质
CN109155069A (zh) 用于自动光学引线接合检验的自确定检验方法
CN112990245B (zh) 物品识别方法、装置、设备及存储介质
HK1239611B (zh) 用於实验室自动化的侧视样品管图像中的条形码标签检测
HK1239611A1 (en) Barcode tag detection in side view sample tube images for laboratory automation
KR20250148791A (ko) 자동화된 상자 인식을 위한 인공 신경망 네트워크와, 상자 인식 방법 및 연산 장치, 그리고 이의 기록매체
Golec et al. Gesture Detection in Digital Image Processing based on the Use of Convolutional Neuronal Networks
HK1241793B (zh) 来自用於实验室自动化的俯视图样品管图像的条码标签状况的分类
JP2018198034A (ja) 画像分類システム、画像分類機能付製造装置、画像分類用の識別器、及び画像分類方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
REG Reference to a national code

Ref country code: HK

Ref legal event code: DE

Ref document number: 1239611

Country of ref document: HK

GR01 Patent grant
GR01 Patent grant