CN111043968B - Rock drill detection device and rock drilling device - Google Patents
Rock drill detection device and rock drilling device Download PDFInfo
- Publication number
- CN111043968B CN111043968B CN201911341616.4A CN201911341616A CN111043968B CN 111043968 B CN111043968 B CN 111043968B CN 201911341616 A CN201911341616 A CN 201911341616A CN 111043968 B CN111043968 B CN 111043968B
- Authority
- CN
- China
- Prior art keywords
- rock
- ranging
- rock drill
- laser
- drilling machine
- 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
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Earth Drilling (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a rock drill detection device and a rock drilling device. The rock drill detection device comprises at least three distance measuring devices and a positioner; the rangefinder is configured to be mounted on a rock drill and to face respectively different ranging directions, and the rangefinder obtains a linearly varying distance of the rock drill and a rock wall in the ranging direction; the locator is configured to construct a spatial coordinate system and to construct a displacement vector in the spatial coordinate system based on the linearly varying distances of at least three of the rangefinders, and the locator alerts based on the displacement vector. The device can detect the space displacement change of the portable rock drill during working, and alarm according to the detected space displacement change, so that the rock drill cannot generate large deviation in hole forming, and the aperture depth and the aperture size of the blasthole meet the design requirements.
Description
Technical Field
The invention relates to the field of rock drilling, in particular to a rock drill detection device and a rock drilling device.
Background
The rock drill is a tool for exploiting stone materials, and is used for drilling blast holes on rock layers so as to be convenient for putting explosives to blast the rock, thereby realizing the exploitation of the stone materials or other stone sides; meanwhile, the rock drill is also changed into a breaker and is used for breaking hard material layers of concrete and mountain stones in a multi-drilling splitting mode.
In geotechnical engineering, a handheld pneumatic rock drill is widely used for hole forming work of drilling a blast hole, and the aperture of the blast hole is generally between 30 and 50 millimeters.
When the pneumatic rock drill is used for forming a hole, the pneumatic rock drill generates non-directional deviation due to hand shake of an operator or action component force which is generated when a drill bit shank impacts a rock stratum and is not parallel to the length direction of the drill bit shank, and the pneumatic rock drill does not reset in time after the deviation, so that the aperture of a blast hole is irregularly enlarged, and the depth of the blast hole is not in accordance with the design requirement of the blast hole.
Disclosure of Invention
The embodiment of the invention at least discloses a rock drill detection device. The device can detect the space displacement change of the portable rock drill during working, and alarm according to the detected space displacement change, so that the rock drill cannot generate large deviation in hole forming, and the aperture depth and the aperture size of the blasthole meet the design requirements.
In order to realize the above, the device comprises at least three range finders and a locator;
the rangefinder is configured to be mounted on a rock drill and to face respectively different ranging directions, and the rangefinder obtains a linearly varying distance of the rock drill and a rock wall in the ranging direction;
the locator is configured to construct a spatial coordinate system and to construct a displacement vector in the spatial coordinate system based on the linearly varying distances of at least three of the rangefinders, and the locator alerts based on the displacement vector.
In some embodiments of the present disclosure, the distance meter continuously obtains a linear distance between the rock drill and the rock wall in the distance measuring direction;
the locator constructs a prior coordinate point of the rock drilling machine in the space coordinate system according to the linear distances of at least three distance meters prior, and constructs a subsequent coordinate point of the rock drilling machine in the space coordinate system according to the linear distances of at least three distance meters subsequent;
and the locator constructs the displacement vector according to the previous coordinate point and the subsequent coordinate point.
In some embodiments of the present disclosure, the range finder obtains the linear distance according to a range finding period;
the locator acquires the previous linear distance and the subsequent linear distance of at least three distance meters before and after any distance measuring period, and constructs the previous coordinate point according to the acquired previous linear distance and the subsequent coordinate point according to the subsequent linear distance;
and the locator establishes the displacement vector corresponding to any distance measuring period in the space coordinate system according to the previous coordinate point and the subsequent coordinate point.
In some embodiments of the present disclosure, the range finder includes a laser range finding assembly, a range finding processing unit and a range finding power supply unit;
the laser ranging assembly is configured to acquire a linear distance of the rock drill from the rock wall in the ranging direction;
the ranging processing unit is configured to drive the laser ranging assembly according to the ranging period;
the ranging power supply unit is configured to power the laser ranging assembly and the ranging processing unit.
In some embodiments of the present disclosure, the laser ranging assembly includes a laser generating unit and a laser receiving unit;
the laser generating unit faces to the ranging direction and is driven by the ranging processing unit to send ranging laser of a preset frequency range;
the laser receiving unit faces the ranging direction and receives the ranging laser, and the laser receiving unit acquires the linear distance according to the sending time and the receiving time of the ranging laser.
In some embodiments of the present disclosure, the apparatus includes an acceleration sensor and a tilt sensor;
the acceleration sensor is configured to be mounted on the rock drilling machine and detect acceleration data of a working direction of the rock drilling machine;
the tilt sensor is configured to be mounted on the rock drilling machine and to detect tilt data of the rock drilling machine;
and the locator corrects the displacement vector according to the acceleration data and the inclination data and gives an alarm according to the corrected displacement vector.
In some embodiments of the present disclosure, the apparatus includes a displacement sensor;
the displacement sensor is configured to be mounted on the rock drilling machine and detect displacement data of the rock drilling machine in a working direction;
and the positioner acquires the offset of the rock drill according to the displacement data and the displacement vector, and the positioner gives an alarm according to the offset.
In some embodiments of the disclosure, the locator obtains a working vector according to the displacement data, and obtains a difference between the working vector and the displacement vector as an offset vector;
and the locator alarms according to the offset vector.
In some embodiments of the disclosure, the distance measuring directions of the three distance measuring devices have the same direction included angle with the working direction, and the direction included angle is an acute angle.
The embodiment of the invention discloses a rock drilling device which comprises a rock drilling machine, wherein the rock drilling machine is provided with a rock drilling machine detection device.
In view of the above, other features and advantages of the disclosed exemplary embodiments will become apparent from the following detailed description of the disclosed exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a diagram of the system architecture of a rock drill detection device;
FIG. 2 is a partial schematic diagram of a range finder;
figure 3 is a diagram of a preferred system architecture for a rock drill detection device;
fig. 4 is a schematic diagram of an alarm unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
The embodiment discloses a rock drill detection device. Fig. 1 shows the components of the device of the present embodiment, which is composed of three distance measuring devices and a locator.
The three distance meters of the present embodiment are each constructed in three different first mounting parts which are each mounted at a different location of the rock drilling machine. The positioners are independently constructed in a second mounting part which can be fixed to the machine body of the rock drilling machine or placed on the ground or wall remote from the rock drilling machine with remote communication with the three distance meters.
As shown in fig. 2, the distance measuring device of the present embodiment is composed of a laser distance measuring assembly, a distance measuring processing unit and a distance measuring power supply unit.
The distance measurement processing unit is a combination of a conventional energy storage and peripheral circuits, and is capable of outputting a voltage which enables the laser distance measurement assembly and the distance measurement processing unit to work in a stable state for a long time.
The laser ranging assembly comprises a laser generating unit and a laser receiving unit. The laser generating unit faces a distance measuring direction which forms an acute angle with the working direction of the rock drilling machine along with the installation of the first installation part on the rock drilling machine, and sends distance measuring laser with a fixed frequency range along the distance measuring direction. The laser receiving unit faces the distance measuring direction, receives the returned distance measuring laser, and obtains the linear distance between the rock drilling machine and the closest rock wall in the distance measuring direction according to the sending time and the receiving time of the distance measuring laser and the speed of the distance measuring laser.
The distance measurement processing unit drives the laser distance measurement assembly according to a preset distance measurement period to complete the acquisition of the previous linear distance before the distance measurement period starts and the subsequent linear distance after the distance measurement period ends.
The locator of the embodiment pre-constructs a space coordinate system, and takes the straight-line distances acquired from the three distance meters during the construction of the space coordinate system as the origin of the space coordinate system. After acquiring the previous linear distance and the subsequent linear distance sent by the three distance meters, the locator establishes a previous coordinate point according to the previous linear distance, establishes a subsequent coordinate point according to the subsequent linear distance, and acquires a displacement vector according to the previous coordinate point and the subsequent coordinate point. The displacement vector is then expressed as the offset of the rock drill occurring during a ranging period.
As shown in fig. 3, the device of the present embodiment includes a displacement sensor. The displacement sensor is configured to be mounted to a third mounting member. The third mounting member is mounted to the body of the rock drill. The displacement sensor is used for detecting the linear displacement of the rock drilling machine in the working direction and producing displacement data sent to the positioner according to the linear displacement.
And the positioner constructs an offset vector in a space coordinate system according to the displacement data, and compares the difference between the displacement vector and the offset vector in the same distance measurement period to determine the real offset vector of the rock drill under the normal working condition. When the offset vector exceeds a certain specified threshold value, the locator can give an alarm to a user in some modes to remind the user whether the rock drilling machine is subjected to the specified offset or not at present.
As shown in fig. 4, the positioner includes an LED alarm unit and an alarm power supply unit, and the LED alarm unit includes a switch circuit and an LED connected in series to the switch circuit. And after the offset vector exceeds the threshold value, an alarm signal is generated, and the switching circuit switches on the LED and the alarm power supply unit according to the alarm signal to realize the alarm of the lamp.
Preferably, the apparatus of the present embodiment includes an acceleration sensor and a tilt sensor. An acceleration sensor configured to be mounted on the rock drilling machine and detect acceleration data of a working direction of the rock drilling machine; an angle sensor configured to be mounted on the rock drilling machine and detect inclination angle data of the rock drilling machine; the locator corrects the offset vector according to the acceleration data and the inclination data, and alarms according to the corrected offset vector.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A rock drill detection device is characterized in that,
the device comprises at least three range finders and a locator;
the distance measuring device is configured to be mounted on the rock drilling machine and to be oriented in different distance measuring directions, respectively, according to
A distance measurement period continuously obtains the linear distance between the rock drill and the rock wall in the distance measurement direction;
the positioner is configured to construct a spatial coordinate system;
the locator constructs a prior coordinate point of the rock drilling machine in the space coordinate system according to the linear distances of at least three distance meters before and after any distance measurement period, and constructs a subsequent coordinate point of the rock drilling machine in the space coordinate system according to the linear distances of at least three distance meters after;
the locator constructs a displacement vector corresponding to any distance measurement period in the space coordinate system according to the previous coordinate point and the next coordinate point;
the locator gives an alarm according to the displacement vector;
the device comprises an acceleration sensor and an inclination angle sensor;
the acceleration sensor is configured to be mounted on the rock drilling machine and detect acceleration data of a working direction of the rock drilling machine;
the tilt sensor is configured to be mounted on the rock drilling machine and to detect tilt data of the rock drilling machine;
the locator corrects the displacement vector according to the acceleration data and the inclination data, and alarms according to the corrected displacement vector;
the device comprises a displacement sensor;
the displacement sensor is configured to be mounted on the rock drilling machine and detect displacement data of the rock drilling machine in a working direction;
and the positioner acquires the offset of the rock drill according to the displacement data and the displacement vector, and the positioner gives an alarm according to the offset.
2. Rock drill detection apparatus as claimed in claim 1,
the range finder comprises a laser range finding assembly, a range finding processing unit and a range finding power supply unit;
the laser ranging assembly is configured to acquire a linear distance of the rock drill from the rock wall in the ranging direction;
the ranging processing unit is configured to drive the laser ranging assembly according to the ranging period;
the ranging power supply unit is configured to power the laser ranging assembly and the ranging processing unit.
3. Rock drill detection apparatus according to claim 2,
the laser ranging assembly comprises a laser generating unit and a laser receiving unit;
the laser generating unit faces to the ranging direction and is driven by the ranging processing unit to send ranging laser of a preset frequency range;
the laser receiving unit faces the ranging direction and receives the ranging laser, and the laser receiving unit acquires the linear distance according to the sending time and the receiving time of the ranging laser.
4. Rock drill detection apparatus as claimed in claim 1,
the positioner acquires a working vector according to the displacement data, and acquires a difference value between the working vector and the displacement vector as an offset vector;
and the locator alarms according to the offset vector.
5. Rock drill detection apparatus as claimed in claim 1,
the distance measuring direction of the three distance measuring devices is the same as the direction included angle of the working direction, and the direction included angle is an acute angle.
6. Rock drilling rig comprising a rock drill, characterized in that the rock drill is equipped with a rock drill detection device according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911341616.4A CN111043968B (en) | 2019-12-24 | 2019-12-24 | Rock drill detection device and rock drilling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911341616.4A CN111043968B (en) | 2019-12-24 | 2019-12-24 | Rock drill detection device and rock drilling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111043968A CN111043968A (en) | 2020-04-21 |
| CN111043968B true CN111043968B (en) | 2021-08-06 |
Family
ID=70238399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911341616.4A Active CN111043968B (en) | 2019-12-24 | 2019-12-24 | Rock drill detection device and rock drilling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111043968B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111998768B (en) * | 2020-06-10 | 2021-11-16 | 中国科学院武汉岩土力学研究所 | System and method for realizing drilling positioning based on thermal imaging technology |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4914591A (en) * | 1988-03-25 | 1990-04-03 | Amoco Corporation | Method of determining rock compressive strength |
| CN101493008A (en) * | 2009-02-17 | 2009-07-29 | 北京六合伟业科技有限公司 | Strapping inertial navigation gyroscope clinometer based on MEMS device |
| CN101852066A (en) * | 2009-04-03 | 2010-10-06 | 大港油田集团有限责任公司 | Device and method for arranging track of drilling machine |
| CN102322857A (en) * | 2011-05-24 | 2012-01-18 | 武汉理工大学 | Position and posture measuring system and method for mechanical equipment |
| CN203145832U (en) * | 2013-03-20 | 2013-08-21 | 湖南有色重型机器有限责任公司 | Deviation prevention control system for rock drilling tool |
| CN103941231A (en) * | 2014-05-13 | 2014-07-23 | 李建 | Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing |
| CN104536008A (en) * | 2015-01-05 | 2015-04-22 | 大连理工大学 | Drill jumbo blast hole laser ranging and positioning method |
| CN105371871A (en) * | 2015-12-02 | 2016-03-02 | 中国矿业大学 | Combined initial alignment system and alignment method for strapdown inertial navigation system of underground coal mining machine |
| EP2282871B1 (en) * | 2008-06-05 | 2016-03-23 | Atlas Copco Rock Drills AB | Device and method for sensing a parameter related to a position of a displaceable element in a rock drill |
| CN105783925A (en) * | 2016-04-05 | 2016-07-20 | 中国铁建重工集团有限公司 | System and method for positioning drill jambo body |
| CN105863603A (en) * | 2016-04-05 | 2016-08-17 | 中国铁建重工集团有限公司 | Positioning method and system for automatic point location of drill jumbo |
| CN106646498A (en) * | 2017-01-10 | 2017-05-10 | 重庆华渝重工机电有限公司 | Method for measuring lateral shift of tunneling machine |
| CN108035678A (en) * | 2018-01-02 | 2018-05-15 | 中铁工程装备集团有限公司 | A kind of vertical shaft excavates guide control device and method of adjustment |
| CN108119140A (en) * | 2017-12-29 | 2018-06-05 | 郑州智谷工业技术有限公司 | A kind of coalcutter driving attitude adjusts system |
| CN108169756A (en) * | 2017-12-18 | 2018-06-15 | 湖南科技大学 | A kind of inclined monitoring device of survey of jacking culvert construction and survey folk prescription method |
| CN108301766A (en) * | 2018-02-08 | 2018-07-20 | 北京科技大学 | A kind of double drill boom Location vehicle methods of drilling automatic positioning drill jumbo |
| CN109891198A (en) * | 2016-06-09 | 2019-06-14 | 诺瓦利斯有限公司 | Utilize the improved method calibrated and determine position |
| CN109891191A (en) * | 2016-11-29 | 2019-06-14 | 赫尔实验室有限公司 | Chance sensor fusion algorithm for independently being guided with brill |
-
2019
- 2019-12-24 CN CN201911341616.4A patent/CN111043968B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4914591A (en) * | 1988-03-25 | 1990-04-03 | Amoco Corporation | Method of determining rock compressive strength |
| EP2282871B1 (en) * | 2008-06-05 | 2016-03-23 | Atlas Copco Rock Drills AB | Device and method for sensing a parameter related to a position of a displaceable element in a rock drill |
| CN101493008A (en) * | 2009-02-17 | 2009-07-29 | 北京六合伟业科技有限公司 | Strapping inertial navigation gyroscope clinometer based on MEMS device |
| CN101852066A (en) * | 2009-04-03 | 2010-10-06 | 大港油田集团有限责任公司 | Device and method for arranging track of drilling machine |
| CN102322857A (en) * | 2011-05-24 | 2012-01-18 | 武汉理工大学 | Position and posture measuring system and method for mechanical equipment |
| CN203145832U (en) * | 2013-03-20 | 2013-08-21 | 湖南有色重型机器有限责任公司 | Deviation prevention control system for rock drilling tool |
| CN103941231A (en) * | 2014-05-13 | 2014-07-23 | 李建 | Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing |
| CN104536008A (en) * | 2015-01-05 | 2015-04-22 | 大连理工大学 | Drill jumbo blast hole laser ranging and positioning method |
| CN105371871A (en) * | 2015-12-02 | 2016-03-02 | 中国矿业大学 | Combined initial alignment system and alignment method for strapdown inertial navigation system of underground coal mining machine |
| CN105783925A (en) * | 2016-04-05 | 2016-07-20 | 中国铁建重工集团有限公司 | System and method for positioning drill jambo body |
| CN105863603A (en) * | 2016-04-05 | 2016-08-17 | 中国铁建重工集团有限公司 | Positioning method and system for automatic point location of drill jumbo |
| CN109891198A (en) * | 2016-06-09 | 2019-06-14 | 诺瓦利斯有限公司 | Utilize the improved method calibrated and determine position |
| CN109891191A (en) * | 2016-11-29 | 2019-06-14 | 赫尔实验室有限公司 | Chance sensor fusion algorithm for independently being guided with brill |
| CN106646498A (en) * | 2017-01-10 | 2017-05-10 | 重庆华渝重工机电有限公司 | Method for measuring lateral shift of tunneling machine |
| CN108169756A (en) * | 2017-12-18 | 2018-06-15 | 湖南科技大学 | A kind of inclined monitoring device of survey of jacking culvert construction and survey folk prescription method |
| CN108119140A (en) * | 2017-12-29 | 2018-06-05 | 郑州智谷工业技术有限公司 | A kind of coalcutter driving attitude adjusts system |
| CN108035678A (en) * | 2018-01-02 | 2018-05-15 | 中铁工程装备集团有限公司 | A kind of vertical shaft excavates guide control device and method of adjustment |
| CN108301766A (en) * | 2018-02-08 | 2018-07-20 | 北京科技大学 | A kind of double drill boom Location vehicle methods of drilling automatic positioning drill jumbo |
Non-Patent Citations (2)
| Title |
|---|
| Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face;Shao Chengjun等;《CHINESE JOURNAL OF MECHANICAL ENGINEERING》;20190412;第32卷(第1期);第1-12页 * |
| 矿用全断面硬岩快速掘进机位姿纠偏控制系统设计;刘阳;《测控技术》;20160331;第35卷(第3期);第75-78页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111043968A (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3296064B1 (en) | Depth and angle sensor attachment for a power tool | |
| CN101421584B (en) | Handheld optical distance measurement device | |
| US7182148B1 (en) | Tool with motion and orientation indicators | |
| US9951616B2 (en) | Arrangement for controlling automated operation mode | |
| CA2965572C (en) | Apparatus and method for orientating, positioning and monitoring drilling machinery | |
| CN111043968B (en) | Rock drill detection device and rock drilling device | |
| US20130125662A1 (en) | Pseudo rock and analysis system using the same | |
| CA2396086A1 (en) | Method and device for the measurement of the drift of a borehole | |
| CN202114713U (en) | Electric tool with non-contact distance measurement device | |
| US5934387A (en) | Method for determining the position of a tool of a rock drill | |
| KR101039834B1 (en) | Apparatus and method for investigating joint exploitation of three-dimensional underground | |
| KR101926916B1 (en) | Method for monitoring hydraulic percussion device and system performing the same | |
| JP2007229888A (en) | Hand drill device | |
| CN111140160B (en) | Rock drill on-site detection device and rock drilling device | |
| JPH04143399A (en) | Position detector for boring head | |
| JP3177691U (en) | Pile driver or pile driver capable of accurate pile driving using light | |
| JP5319981B2 (en) | Elastic wave exploration system | |
| AU2014301655B2 (en) | Arrangement for controlling automated drilling operation mode | |
| CN115635454A (en) | Control device, method and storage medium | |
| KR100390082B1 (en) | Method of detecting an explosive time in seismic tomography survey and apparatus thereof | |
| CN101839994A (en) | Hammering shock exciting rod | |
| US20150292318A1 (en) | System and method for determining the start time of a pressure pulse from a downhole explosive device | |
| JP2003066155A (en) | Method and apparatus for detecting ground and mountain states | |
| CN105738471A (en) | Portable intelligent electronic wall-tapping and roof-knocking apparatus | |
| EP3014044A2 (en) | Arrangement for controlling automated drilling operation mode |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |