CN116593995A - Optical signal receiving device and laser radar - Google Patents

Optical signal receiving device and laser radar Download PDF

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Publication number
CN116593995A
CN116593995A CN202310737685.7A CN202310737685A CN116593995A CN 116593995 A CN116593995 A CN 116593995A CN 202310737685 A CN202310737685 A CN 202310737685A CN 116593995 A CN116593995 A CN 116593995A
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CN
China
Prior art keywords
optical signal
module
detector
light homogenizing
field
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CN202310737685.7A
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Chinese (zh)
Inventor
任德伦
易森
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Guangzhou Asensing Technology Co Ltd
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Guangzhou Asensing Technology Co Ltd
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Priority to CN202310737685.7A priority Critical patent/CN116593995A/en
Publication of CN116593995A publication Critical patent/CN116593995A/en
Pending legal-status Critical Current

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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
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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

Abstract

The embodiment of the invention provides an optical signal receiving device and a laser radar, which belong to the technical field of the laser radar, wherein a view field limiting module is arranged at the focal plane of a receiving lens, and a light homogenizing module is arranged between the focal plane of the receiving lens and a detector, so that after the receiving lens receives an optical signal, the optical signal enters the light homogenizing module after being subjected to view field limiting by the view field limiting module, and the light homogenizing module carries out light homogenizing treatment on the optical signal, so that the optical signal after the light homogenizing treatment can be incident to each position of the target surface of the detector, a plurality of view fields are multiplexed with the same detector, and the working area and the dynamic range of the detector can be greatly increased.

Description

Optical signal receiving device and laser radar
Technical Field
The invention relates to the technical field of laser radars, in particular to an optical signal receiving device and a laser radar.
Background
With the rise of the concept of automatic driving, as an indispensable device for automatic driving above the L3 level, lidar starts to produce and get on a car in a subsequent mass production. The remote measurement capability and resolution are used as core performance indexes of the radar and are directly influenced by the working area and dynamic range of the detector and the clear aperture and view field range of the receiving end, and are limited by the miniaturization and integration requirements of the laser radar, and the clear aperture size of the receiving end cannot be greatly improved.
Under the condition that the sensitivity of the detector can respond to single photon magnitude energy at present, the remote sensing capability and resolution of the laser radar can be effectively improved by improving the response area and the dynamic range of the detector. However, the existing detectors of the vehicle-mounted laser radar all have the problems of small working area and low dynamic range of the detector corresponding to the local field of view.
Disclosure of Invention
The invention aims to provide an optical signal receiving device and a laser radar, which can solve the problems of small working area and low dynamic range of a detector corresponding to a local field of view of the existing laser radar.
Embodiments of the present invention may be implemented as follows:
in a first aspect, an embodiment of the present invention provides an optical signal receiving apparatus, including a detector, a receiving lens, a field limiting module, and a light homogenizing module;
the view field limiting module is arranged at the focal plane of the receiving lens, and the light homogenizing module is arranged between the focal plane of the receiving lens and the detector;
the view field limiting module is used for limiting the view field of the optical signal received by the receiving lens;
the light homogenizing module is used for homogenizing the light signals emitted from the view field limiting module so that the light signals are incident to each position of the target surface of the detector after being subjected to light homogenizing treatment.
Further, the light homogenizing module comprises a plurality of light homogenizing units, and the arrangement positions of the light homogenizing units correspond to each view field of the receiving lens.
Further, the view field limiting module comprises a first view field diaphragm, the light signal incidence surface of each light homogenizing unit is provided with a plurality of first view field diaphragms, and the light signal emergence surface of the light homogenizing module is abutted to the target surface of the detector.
Further, the plurality of first field stops arranged on each dodging unit are arranged according to a preset field correspondence rule, so that each field of view of the receiving lens corresponds to two or more first field stops and one dodging module.
Further, the filler of the dodging unit has scattering property.
Further, the size of the optical signal incident surface of the dodging module is consistent with the size of the focal plane of the receiving lens.
Further, the light homogenizing module comprises a fourier lens, and the fourier lens is arranged at a set position between the view field limiting module and the detector, so that a target surface of the detector and an aperture diaphragm of the receiving lens form a conjugate relation.
Further, the field limiting module comprises a second field stop, and the surface size of the second field stop is larger than or equal to the size of the focal plane of the receiving lens.
Further, the detector comprises a single photon avalanche diode pipelined array.
In a second aspect, an embodiment of the present invention provides a laser radar, including a laser emitting device, and an optical signal receiving device as described in the first aspect.
According to the optical signal receiving device and the laser radar provided by the embodiment of the invention, the view field limiting module is arranged at the focal plane of the receiving lens, and the light homogenizing module is arranged between the focal plane of the receiving lens and the detector, so that after the receiving lens receives an optical signal, the optical signal enters the light homogenizing module after being subjected to view field limiting by the view field limiting module, and the light homogenizing module carries out light homogenizing treatment on the optical signal, so that the optical signal subjected to light homogenizing treatment can be incident to each position of the target surface of the detector, a plurality of view fields are multiplexed with the same detector, and the working area and the dynamic range of the detector can be greatly increased.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block schematic diagram of an optical signal receiving apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an optical signal receiving apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an arrangement of a first field stop on a dodging unit according to an embodiment of the present invention.
Fig. 4 is a second schematic diagram of an arrangement of a first field stop on a light homogenizing unit according to an embodiment of the present invention.
Fig. 5 is a second schematic structural diagram of an optical signal receiving device according to an embodiment of the present invention.
Reference numerals; 100-an optical signal receiving device; 10-receiving a lens; a 20-field of view limiting module; 21-a first field stop; 22-a second field stop; 30-homogenizing module; 31-a dodging unit; a 32-fourier lens; 40-detector.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. The components of the 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.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
The features of the embodiments of the present invention may be combined with each other without collision.
At present, under the condition that the sensitivity of the detector can respond to single photon magnitude energy, the remote sensing capability and resolution of the laser radar can be effectively improved by improving the response area and dynamic range of the detector. The conventional laser radar can be divided into: (1) point-point harvest; (2) point/line send-line receive; (3) Point/face transmitting-receiving.
The point-point receiving mode has the advantages that the field of view of the optical signals received by the receiver is small, only one or a small number of detectors can be used for detection, and a large field of view range is obtained through the scanning system, but the system has high requirements on alignment accuracy of the transmitter and the receiver, the receiver and the transmitter are generally required to be designed coaxially, the effective clear aperture area of the receiver is small, and the light receiving capacity is limited.
The point/line transmitting-line receiving mode is that the transmitter uses a splicing or scanning mode to realize a vertical view field, the view angle of the receiver is matched with the view field of the transmitter, and the two view fields obtain a horizontal view field through a scanning device. The mode can splice a plurality of detectors or use a large-area detector as a receiving device, and has the defect that the detector is generally arranged at the focal plane position of the receiving lens, the detector working areas are in one-to-one correspondence with the field of view areas of the receiving lens, so that the detector working area corresponding to the local field of view is smaller, and the dynamic range is lower.
The Flash laser radar and the all-solid-state laser radar can adopt the mode in a point/surface emitting-surface receiving mode, and have the defects that the intensity of the transmitted and received light power is obviously reduced due to surface emitting and surface receiving, the working areas of the detectors are in one-to-one correspondence with the field of view areas of the receiving lenses, so that the working areas of the detectors corresponding to local field of view are smaller, the dynamic range is lower, and the remote measuring capability of the radar is greatly limited.
Based on the above consideration, the embodiment of the invention provides an optical signal receiving device and a laser radar, which can improve the problems of small working area and low dynamic range of a detector caused by one-to-one correspondence between the working area of the detector and the local view field of a receiving lens in the existing laser radar and improve the distance measuring capability of the laser radar.
In one possible embodiment, an optical signal receiving apparatus 100 is provided in an embodiment of the present invention, and referring to fig. 1, the optical signal receiving apparatus 100 may include a detector 40, a receiving lens 10, a field limiting module 20, and a light homogenizing module 30.
The view field limiting module 20 is disposed at the focal plane of the receiving lens 10, and the dodging module 30 is disposed between the focal plane of the receiving lens 10 and the detector 40.
The field limiting module 20 is configured to limit the field of view of the optical signal received by the receiving lens 10.
The dodging module 30 is configured to dodging the optical signal emitted from the field limiting module 20, so that the optical signal is incident on each position of the target surface of the detector 40 after being dodged.
The optical signal receiving apparatus 100 described above operates on the principle that: after the receiving lens 10 receives the optical signal, the optical signal is incident to the view field limiting module 20 located at the focal plane of the receiving lens 10, the view field limiting module 20 limits the view field of the optical signal, the optical signal passing through the view field limiting module 20 enters the light homogenizing module 30, and the light homogenizing module 30 performs light homogenizing treatment on the optical signal, so that the optical signal is equal at each position, and is uniformly irradiated at each position of the target surface of the detector 40.
In the optical signal receiving apparatus 100, after any optical signal is received by any view field of the optical receiving apparatus, it can uniformly irradiate on each position of the target surface of the detector, so that all view fields of the receiving apparatus multiplex the same detector, and the working area and dynamic range of the detector can be greatly increased, and further the ranging capability of the radar can be improved.
Considering the different transceiving modes of the laser radar, the different transceiving modes also have different requirements on the working area and the dynamic range of the detector.
For example, in the point-to-point manner, the transmitting end performs time-sharing dotting (i.e. performs time-sharing laser emission), and the time duration and/or the field of view corresponding to the dotting at different times may be different, so that the receiving end may receive the reflected laser signals from different fields of view, where the accuracy requirement on the receiving end is very high.
In the face-emitting mode, the fields of view corresponding to the dotting at different times are generally the same, so that the receiving end can receive the reflected laser signals from the same field of view, and at the moment, the accuracy requirement of the receiving end is smaller.
In one possible implementation, in order to enable the reflected laser signal to be uniformly irradiated to each position of the target surface of the detector 40 under the complex situations such as spot and the like, so as to improve the working area and dynamic range of the detector 40, the light homogenizing module 30 may include a plurality of light homogenizing units 31, and the arrangement positions of the plurality of light homogenizing units 31 correspond to each field of view of the receiving lens 10.
With the above arrangement, the light signals received from the different fields of view of the receiving lens 10 can be subjected to the light uniformizing process by the corresponding light uniformizing unit 31 so as to be uniformly irradiated to the respective positions of the target surface of the detector 40.
Further, in order to increase the accuracy, the optical signals entering from the respective fields of view of the receiving lens 10 can be finally irradiated to the respective positions of the target surface of the detector 40, and referring to fig. 2, the field limiting module 20 includes the first field stop 21, and the optical signal incident surface of each dodging unit 31 is provided with a plurality of first field stops 21, and the optical signal emitting surface of the dodging module 30 is abutted against the target surface of the detector 40.
In the present embodiment, each of the light equalizing units 31 of the light equalizing module 30 is made of the same scattering material, and the fillers of the light equalizing units 31 may be the same filler having scattering property.
For example, the light homogenizing unit 31 may be implemented by high-transmittance glass beads, high-transmittance scattering materials, fourier lenses 32, microlens arrays, binary optical (diffraction/DOE) elements, or the like.
In order for the light homogenizing module 30 to be able to receive the light signal emitted from the field limiting module 20, in one possible embodiment, the size of the light signal entrance surface of the light homogenizing module 30 is greater than or equal to the size of the focal plane of the receiving lens 10.
For example, when the focal plane is rectangular, the optical signal incident surface of the light equalizing module 30 may be rectangular, and the focal plane length may be smaller than or equal to the optical signal incident surface length of the light equalizing module 30, and the focal plane width may be smaller than or equal to the optical signal incident surface width of the light equalizing module 30.
In a possible embodiment, the plurality of first field stops 21 disposed on each dodging unit 31 are arranged according to a preset field correspondence rule, so that each field of view of the receiving lens 10 corresponds to two or more first field stops 21 and one dodging module 30.
The arrangement manner of the plurality of first field stops 21 disposed on the light homogenizing unit 31 may be flexibly selected, for example, may be arranged along a diagonal line of the light homogenizing unit 31 and adjacent corners of the first field stops 21 meet, i.e. the arrangement manner shown in fig. 3, or may be arranged along the width direction of the light homogenizing unit 31 and on a copper bar center line, i.e. the arrangement manner shown in fig. 4, which is not particularly limited in this embodiment.
Assuming that the light homogenizing module 30 can be formed by splicing M light homogenizing units 31, wherein M is greater than or equal to 1, the light signal incident surface of the light homogenizing module 30 corresponds to the focal plane view field size of the receiving lens 10, the number of first view field diaphragms 21 arranged on each light homogenizing unit 31 is N, and the diaphragm size is consistent with the working surface of the traditional detector 40, wherein N is greater than or equal to 2 and less than or equal to 10.
The position arrangement of the light homogenizing units 31 and the distribution of the first view field diaphragms 21 correspond to different view fields of the receiving lens 10, and when the transmitting end of the laser transmitting system performs time sharing dotting, the detectors 40 of N view fields can be multiplexed for each light homogenizing unit 31. According to the above arrangement, the number of the required detectors 40 can be reduced from m×n to M, or equivalently, the resolution can be improved by N times under the condition that the number of the detectors 40 is unchanged, the area of the detectors 40 after the light homogenizing unit 31 can be increased by more than N times, and the dynamic response range is greatly improved.
In one possible embodiment, in order to simplify the complexity of the light homogenizing module 30 and enable the light homogenizing module 30 to perform light homogenizing processing on the light signals of the respective fields of view of the receiving lens 10, referring to fig. 5, a fourier lens 32 is introduced as the light homogenizing module 30, that is, the light homogenizing module 30 may include the fourier lens 32, and the fourier lens 32 is disposed at a set position between the field limiting module 20 and the detector 40 so that the target surface of the detector 40 and the aperture stop of the receiving lens 10 form a conjugate relationship.
It should be understood that the setting position of the fourier lens 32 is related to the target surface position of the detector 40 and the position of the aperture stop of the receiving lens 10, and the setting positions obtained are different under different parameters, and in this embodiment, the setting position setting is not specifically limited. The method for calculating the conjugate relationship and the set position is not described in detail in this embodiment.
In the case where the light homogenizing module 30 is implemented by the fourier lens 32, the field limiting module 20 may be implemented by the second field stop 22, in which case the second field stop 22 has a surface size greater than or equal to the size of the focal plane of the receiving lens 10.
Through the above arrangement, the fourier lens 32 is combined with the receiving lens 10, so that the target surface position of the detector 40 is conjugate with the aperture stop of the receiving lens 10, and the reflected signal (echo signal) of the laser can be generally regarded as a parallel and uniform laser beam, and under the conjugate action of the target surface of the detector 40 and the aperture stop of the receiving lens 10, the fourier lens 32 homogenizes the optical signal, so that the light of each view field point uniformly irradiates the target surface of the detector 40, and the light homogenizing action is realized.
The detector 40 may be flexibly selected, and may be, for example, any one of a single photon avalanche diode line array (i.e., SPAD line array), SPAD planar array, SIPM line array, and SIPM planar array, and in this embodiment, there is no specific limitation.
In the case where the dodging module 30 includes a plurality of dodging units 31, and a plurality of first field stops 21 are provided on the light signal incidence surface of each dodging unit 31, the optical path diagram of the light signal receiving apparatus 100 is shown in fig. 2.
In the case where the dodging module 30 includes the fourier lens 32 and the field limiting module 20 includes the second field stop 22 having the same focal plane size as the receiving lens 10, the optical path diagram of the optical signal receiving apparatus 100 is shown in fig. 5.
As can be seen from the figure, after the optical signal is received by the receiving lens 10, under the action of the field limiting module 20 and the light homogenizing module 30, a light homogenizing effect is achieved at the light homogenizing module 30, and the light is uniformly irradiated to each position of the target surface of the detector 40.
In the optical signal receiving apparatus 100 provided in the embodiment of the present invention, a field stop is disposed on a focal plane of a receiving lens 10, a fourier lens 32 is disposed at a set position between a field limiting module 20 and a detector 40, where a target surface of the detector 40 and an aperture stop of the receiving lens 10 form a conjugate relationship, or a light homogenizing module 30 formed by splicing a plurality of light homogenizing units 31 is disposed between the focal plane of the receiving lens 10 and the target surface of the detector 40, and a plurality of field stops (i.e., field limiting modules 20) are disposed on a surface of each light homogenizing unit 31 close to the focal plane, so that a plurality of fields of the receiving lens 10 multiplex the same detector 40, and an optical signal received by the receiving lens 10 is subjected to field limiting by the field limiting modules 20, and then uniformly irradiated on each position of the target surface of the detector 40 after being subjected to light homogenizing treatment by the light homogenizing module 30, thereby increasing a working area of the detector 40 and increasing a dynamic range of the detector 40.
Based on the same inventive concept as the optical signal receiving apparatus 100 described above, the embodiment of the present invention also provides a laser radar that may include a laser emitting apparatus and the optical signal receiving apparatus 100.
The optical signal receiving apparatus 100 may include a detector 40, a receiving lens 10, a field limiting module 20, and a light homogenizing module 30.
The view field limiting module 20 is disposed at the focal plane of the receiving lens 10, and the dodging module 30 is disposed between the focal plane of the receiving lens 10 and the detector 40.
The field limiting module 20 is configured to limit the field of view of the optical signal received by the receiving lens 10.
The dodging module 30 is configured to dodging the optical signal emitted from the field limiting module 20, so that the optical signal is incident on each position of the target surface of the detector 40 after being dodged.
For further embodiments of the field limiting module 20 and the light homogenizing module 30, refer to the description of the light signal receiving device 100, and in this embodiment, a description is omitted.
Through the arrangement, when the laser radar works, after the reflected laser signals are received by the receiving lens 10, the laser signals enter the light homogenizing module 30 after being subjected to view field limitation by the view field limiting module 20, and the light homogenizing module 30 performs light homogenizing treatment on the laser signals, so that the laser signals after light homogenizing treatment can be incident on each position of the target surface of the detector 40, a plurality of view fields multiplex the same detector 40, the working area and the dynamic range of the detector 40 can be greatly increased, and the remote measuring capability of the laser radar can be further improved.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The optical signal receiving device is characterized by comprising a detector, a receiving lens, a view field limiting module and a light homogenizing module;
the view field limiting module is arranged at the focal plane of the receiving lens, and the light homogenizing module is arranged between the focal plane of the receiving lens and the detector;
the view field limiting module is used for limiting the view field of the optical signal received by the receiving lens;
the light homogenizing module is used for homogenizing the light signals emitted from the view field limiting module so that the light signals are incident to each position of the target surface of the detector after being subjected to light homogenizing treatment.
2. The optical signal receiving apparatus according to claim 1, wherein the light homogenizing module includes a plurality of light homogenizing units, and the plurality of light homogenizing units are arranged at positions corresponding to respective fields of view of the receiving lens.
3. The optical signal receiving apparatus according to claim 2, wherein the field limiting module includes a first field stop, the optical signal incident surface of each of the dodging units is provided with a plurality of the first field stops, and the optical signal emitting surface of the dodging module abuts against the target surface of the detector.
4. The optical signal receiving apparatus according to claim 3, wherein a plurality of first field stops provided on each of the light homogenizing units are arranged according to a preset field correspondence rule, so that each field of view of the receiving lens corresponds to two or more first field stops and one light homogenizing module.
5. An optical signal receiving apparatus according to any one of claims 2 to 4, wherein the filler of the light homogenizing unit has scattering property.
6. The optical signal receiving apparatus according to any one of claims 2 to 4, wherein a size of an optical signal incident surface of the dodging module coincides with a size of a focal plane of the receiving lens.
7. The optical signal receiving apparatus according to claim 1, wherein the light homogenizing module includes a fourier lens disposed at a set position between the field limiting module and the detector so that a target surface of the detector and an aperture stop of the receiving lens form a conjugate relationship.
8. The optical signal receiving apparatus of claim 6, wherein the field limiting module comprises a second field stop having a surface size that is greater than or equal to a size of a focal plane of the receiving lens.
9. The optical signal receiving device of claim 1 wherein the detector comprises a single photon avalanche diode in-line array.
10. A lidar comprising a laser emitting device and an optical signal receiving device according to any of claims 1 to 9.
CN202310737685.7A 2023-06-20 2023-06-20 Optical signal receiving device and laser radar Pending CN116593995A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310737685.7A CN116593995A (en) 2023-06-20 2023-06-20 Optical signal receiving device and laser radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310737685.7A CN116593995A (en) 2023-06-20 2023-06-20 Optical signal receiving device and laser radar

Publications (1)

Publication Number Publication Date
CN116593995A true CN116593995A (en) 2023-08-15

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Country Status (1)

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CN (1) CN116593995A (en)

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