CN205679229U - A kind of laser illuminator for underground distance gated detection imaging - Google Patents
A kind of laser illuminator for underground distance gated detection imaging Download PDFInfo
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- CN205679229U CN205679229U CN201620566248.9U CN201620566248U CN205679229U CN 205679229 U CN205679229 U CN 205679229U CN 201620566248 U CN201620566248 U CN 201620566248U CN 205679229 U CN205679229 U CN 205679229U
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- 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
- Y02A90/30—Assessment of water resources
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Abstract
A kind of laser illuminator for underground distance gated detection imaging of the utility model, belongs to laser illuminator technical field, including laser lighting driver, laser light source, TEC semiconductor cooler and lamp optical system.With range gating undersea detection imaging device master controller, the utility model can realize that data are transmitted, for the illumination of underground distance gated detection imaging equipment, have compact conformation, the feature that volume is little, life-span length, stability high, operating temperature range is wide.Laser light source uses pulsed solid stale laser, and wavelength is the relatively low 532nm of absorption efficiency under water, utilizes Q-regulating technique, can be illuminated 5m～100m target under water.Lamp optical system possesses zoom function, make the laser illuminator angle of divergence can between 15 °～60 ° continuously adjustabe so that it is more flexible in range-gated detection imaging applications under water.TEC semiconductor cooler, the temperature of regulation laser light source, it is ensured that the stability of its work.
Description
Technical field
The utility model belongs to laser illuminator technical field, especially relates to a kind of for underground distance gated detection
The laser illuminator of imaging.
Background technology
China has the territorial waters of 3,000,000 square kilometres, and the national economy to China for the deep-sea exploration, scientific development has important
Meaning." China has been passed through in the 19th meeting of the 12nd Standing Committee of the National People's Congress on February 26th, 2016
People's republic's deep seafloor region resource exploration and development method ", it is intended to the exploration of specification deep seafloor region resource, development activities,
Advance deep-sea scientific and technical research, resource investigation, protect the marine environment, promote deep seafloor region resource sustainable use, be
China carries out deep-sea exploration and development and provides important legal basis, also sea floor exploration has been brought up to consequence simultaneously.
With the raising of deep-sea exploration status, and the development of deep-sea survey platform, deep-sea underwater exploration equipment and instrument
Research and development, will become various countries research and development emphasis.Wherein seabed underwater visual detection imaging equipment and instrument, is most important
One of underwater exploration equipment, research and development have the deep-sea undersea detection imaging device of independent intellectual property right, to China's deep-sea detecting dress
Standby development, deep-sea exploration, the carrying out of undersea detection engineering, have great importance.
Owing to underwater visibility is relatively low, various materials composition complex dielectrics in water, detection conventional in air waterborne is observed
Imaging means especially deep-sea inapplicable under water.Usual undersea detection imaging technique is divided into sonar contact imaging technique and photoelectricity
The big class of detection imaging technology two.
Sonar is that one utilizes the underwater propagation characteristic of sound wave, is changed by electroacoustic and information processing, completes to visit under water
Survey the electronic equipment with communication task.Due to by complex environment factors such as Seawater distribution, ocean temperature, salinity and hydraulic pressure
Impact, sound wave spread speed in the seawater changes greatly, cause sonar detection direction, range finding equally accurate error bigger；
The motion of the many Complex Noises generally existing in marine environment, the sound sending such as various marine organisms and ocean medium itself is sent out
The sound going out, causes very big interference to sonar detection, and rate of false alarm is higher；Sonar utilizes sound wave to may be used for remote mesh
Target catches detection, and is identified the big target of distance in hundreds of rice and rough imaging, but to tens meters of closely interior little mesh
Mark is difficult to identify and forms high-resolution image directly perceived.Based on some reason above, closely small target detection with
High-resolution imaging field, is not suitable for using sonar contact system.
In order to fill up the blank at closely small target detection and high-resolution imaging directly perceived for the sonar contact technology, Ren Menkai
Send photodetection imaging device under water.
Photodetection imaging technique under water, is to utilize advanced light source and picture pick-up device, direct to target under water at deep-sea
Carry out the technology of detection illumination imaging.Mainly there is following several ways: ordinary light source illuminates detection imaging, low-light level imaging, laser
Illumination detection imaging.Utilize photodetection imaging technique, it is possible to obtain sonar detection be difficult to under water tens meters of distances
The high-precision range finding of internal object, particularly Small object such as submarine mine, fish etc., positioning and high-resolution real time imagery and identification
Effect, field of detecting plays more and more important effect under water.
It is good that laser has monochromaticjty, brightness advantages of higher, by technology such as Q modulation, and can be in the constant feelings of mean power
Under condition, with extremely short pulsewidth, very high peak and controlled continuous impulse form output, propagate relatively remote, hence with swashing
The technology that light carries out undersea detection illumination imaging is current research focus.
But owing to particulate matter is more in seawater, substantial amounts of rear orientation light would generally be produced between target and light source, make to swash
The visibility of optical illumination detection imaging is extremely restricted, and image definition declines to a great extent as distance increases.For maximum journey
Degree reduces the impact that imaging is caused by rear orientation light, and generally utilize at present is range gating laser acquisition imaging technique.
Rangerate-gate technique is to utilize pulse laser and ICCD gating video camera, separates different distance with the priority of time
On scattered light and the reflection light of target, make video camera just open when the laser pulse that observed target reflects reaches
Shutter work imaging.
This kind of method is very strong to the back scattering problem solving to be caused by the suspended particulate in seawater.The distance of system is divided
Resolution is determined by laser pulse width and detector storbing gate width, if gate width and laser pulse width are all very
Narrow so that the only reflection light of target proximity gets to video camera, then just can be greatly improved the signal to noise ratio of echo-signal.
Due to seawater through window wavelength at 430nm～570nm, namely blue light shines to green-yellow light wave band, underwater laser
Bright this wave band of laser of usual employing is as light source.It is steady that neodymium-doped yttrium-aluminum garnet Nd:YAG 532nm pulse laser has operation
Fixed, pulse width is narrower, peak power is high, compact conformation, length in service life, the advantage such as be easily maintained, therefore narrow spaces
532nm pulse laser, is the optimal selection currently as underground distance gated detection imaging device illumination light source.
Imaging system signal to noise ratio owing to utilizing rangerate-gate technique to develop is higher, and resolution ratio is higher, and image-forming range is farther out.
Undersea detection imaging technique based on rangerate-gate technique, it has also become domestic and international undersea detection technical research focus.Domestic existing
Underground distance gated detection imaging technology is studied by colleges and universities and research institute, but there are no matured product.
Therefore need badly in the middle of prior art and want a kind of novel technical scheme to solve this problem.
Content of the invention
Technical problem to be solved in the utility model is: provide a kind of laser for underground distance gated detection imaging
Luminaire, for, in underground distance gated detection imaging equipment, being illuminated submarine target, is used for solving due in seawater
Grain thing is more, would generally produce substantial amounts of rear orientation light, make the visibility of laser lighting detection imaging between target and light source
Being extremely restricted, image definition increases, with distance, the technical problem declining to a great extent.
A kind of laser illuminator for underground distance gated detection imaging, joins with underground distance gated detection imaging equipment
Close and connect, it is characterized in that: include laser lighting driver, laser light source, TEC semiconductor cooler and lamp optical system,
Described laser light source is all solid state laser, including concave mirror, level crossing, semiconductor laser diode array,
Neodymium-doped yttrium-aluminum garnet Nd:YAG crystal, potassium titanium oxide phosphate ktp crystal, electro-optical Q-switch and electro-optical Q-switch driver；Described recessed
It is coated with high-reflecting film on the mirror of face；It is coated with 90% reflectivity film, level crossing recessed flat resonator with concave mirror composition on described level crossing；Institute
It is provided with semiconductor laser diode array, neodymium-doped yttrium-aluminum garnet Nd:YAG crystal and electro-optical Q-switch in stating recessed flat resonator；
Described semiconductor laser diode array is pumping source；Described neodymium-doped yttrium-aluminum garnet Nd:YAG crystal is operation material；Described
Electro-optical Q-switch driver is connected with electro-optical Q-switch by wire；Described potassium titanium oxide phosphate ktp crystal is frequency-doubling crystal, titanium phosphate
What oxygen potassium ktp crystal was positioned at laser light source goes out light end；
It is provided with turnbarrel in described lamp optical system；It is provided with fixing group and zoom group on described turnbarrel,
Wherein fixing group is concavees lens, and concavees lens are fixedly mounted on one end of turnbarrel, and zoom group is condenser lens, and condenser lens is
Convex lens and concavees lens gluing form, and condenser lens is arranged on the inside of turnbarrel by eyeglass seat；Described laser light source
The laser sending is incident in lamp optical system by fixing group；
Described laser lighting driver includes that single-chip microcomputer, RS232 interface, semiconductor laser drive module, electric-optically Q-switched driving
Module, optical system drive module and TEC to drive module, and laser lighting driver is detected into underground distance gated by wire
As the power supply of equipment connects, laser lighting driver is connected with underground distance gated detection imaging equipment by RS232 interface；Institute
Stating single-chip microcomputer drives module, electric-optically Q-switched driving module, optical system to drive with RS232 interface, semiconductor laser by wire respectively
Dynamic model block, TEC drive module to connect；Described semiconductor laser drives module by wire with semiconductor laser diode array even
Connect；Described electric-optically Q-switched driving module is connected with electro-optical Q-switch driver by wire；Described optical system drives module to pass through
Wire is connected with lamp optical system；Described TEC drives module to be connected with TEC semiconductor cooler by wire.
Described laser light source is 532nm laser instrument.
On described concave mirror, the high-reflecting film of plating is 1064nm high-reflecting film.
On described level crossing, 90% reflectivity film of plating is 1064nm90% reflectivity film.
By above-mentioned design, the utility model can bring following beneficial effect:
With range gating undersea detection imaging device master controller, the utility model can realize that data are transmitted, under water away from
From the illumination of gated detection imaging device, have that compact conformation, volume are little, life-span length, stability high, operating temperature range is wide
Feature.
Laser light source uses pulsed solid stale laser, and wavelength is the relatively low 532nm of absorption efficiency under water, utilizes and adjusts Q
Technology, it is achieved pulse width<20ns, pulse energy>100mJ, repetition rate is less than 50Hz, can enter 5m～100m target under water
Row illumination.Laser light source, uses semiconductor laser diode to enter trip temperature control as pumping source, TEC semiconductor cooler,
Ensure laser light source compact conformation, volume is little, power stability is high, the life-span is long, operating temperature range width.
Lamp optical system possesses zoom function, connects with the synchronous control system of underground distance gated detection imaging equipment
Connect, make the laser illuminator angle of divergence can between 15 °～60 ° continuously adjustabe so that it is in range-gated detection imaging applications under water
More flexible.
Laser lighting driving implement is for four functions: ensure the pumping source to laser light source and electric-optically Q-switched driving module
Driving and control；It is driven control to lamp optical system；By drive control TEC semiconductor cooler, regulate laser
The temperature of device light source, it is ensured that the stability of its work；It is connected with the master controller of underground distance gated detection imaging equipment, transmission
Control signal.
Brief description
Below in conjunction with the drawings and specific embodiments, the utility model is further described:
Fig. 1 is the structured flowchart of a kind of laser illuminator for underground distance gated detection imaging of the utility model.
Fig. 2 is that the utility model is a kind of for laser light source in the laser illuminator of underground distance gated detection imaging
Structural representation.
Fig. 3 is that the utility model is a kind of for lamp optical system in the laser illuminator of underground distance gated detection imaging
Structural representation.
Fig. 4 is that the utility model is a kind of to be driven for laser lighting in the laser illuminator of underground distance gated detection imaging
The structured flowchart of device.
1-laser lighting driver in figure, 2-laser light source, 3-TEC semiconductor cooler, 4-lamp optical system,
101-single-chip microcomputer, 102-RS232 interface, 103-semiconductor laser drive module, 104-electric-optically Q-switched driving module, 105-optics
System drive module, 106-TEC drive module, 201-concave mirror, 202-level crossing, 203-semiconductor laser diode array,
204-neodymium-doped yttrium-aluminum garnet Nd:YAG crystal, 205-potassium titanium oxide phosphate ktp crystal, 206-electro-optical Q-switch, 207-electric light Q open
Close driver, 401-fixes group, 402-zoom group.
Detailed description of the invention
As it can be seen, a kind of laser illuminator for underground distance gated detection imaging, with underground distance gated detection
Imaging device is connected, and it is characterized in that: include laser lighting driver the 1st, laser light source the 2nd, TEC semiconductor cooler 3 and
Lamp optical system 4,
Described laser light source 2 is all solid state laser, including concave mirror the 201st, level crossing 202 semiconductor laser diode
Array the 203rd, neodymium-doped yttrium-aluminum garnet Nd:YAG crystal the 204th, potassium titanium oxide phosphate ktp crystal the 205th, electro-optical Q-switch 206 and electric light Q
Switch driver 207；It is coated with high-reflecting film on described concave mirror 201；It is coated with 90% reflectivity film, plane on described level crossing 202
Mirror 202 and concave mirror 201 form recessed flat resonator；It is provided with semiconductor laser diode array the 203rd, in described recessed flat resonator
Neodymium-doped yttrium-aluminum garnet Nd:YAG crystal 204 and electro-optical Q-switch 206；Described semiconductor laser diode array 203 is pumping
Source；Described neodymium-doped yttrium-aluminum garnet Nd:YAG crystal 204 is operation material；Described electro-optical Q-switch driver 207 by wire with
Electro-optical Q-switch 206 connects；Described potassium titanium oxide phosphate ktp crystal 205 is frequency-doubling crystal, and potassium titanium oxide phosphate ktp crystal 205 is positioned at
Laser light source 2 go out light end；
It is provided with turnbarrel in described lamp optical system 4；It is provided with fixing group 401 and zoom on described turnbarrel
Group 402, wherein fixing group 401 is concavees lens, and concavees lens are fixedly mounted on one end of turnbarrel, and zoom group 402 is for focusing on thoroughly
Mirror, condenser lens is convex lens and concavees lens gluing forms, and condenser lens is arranged on the inside of turnbarrel by eyeglass seat；Institute
State the laser that laser light source 2 sends and be incident in lamp optical system 4 by fixing group 401；
Described laser lighting driver 1 includes that the 103rd, single-chip microcomputer the 101st, RS232 interface the 102nd, semiconductor laser drives module
Electric-optically Q-switched driving module the 104th, optical system drives module 105 and TEC to drive module 106, and laser lighting driver 1 is by leading
Line is connected with the power supply of underground distance gated detection imaging equipment, and laser lighting driver 1 passes through RS232 interface 102 with under water
Range-gated detection imaging device connects；Described single-chip microcomputer 101 is driven with RS232 interface the 102nd, semiconductor laser respectively by wire
Dynamic model block the 103rd, electric-optically Q-switched driving module the 104th, optical system drives module the 105th, TEC to drive module 106 to connect；Described partly lead
Volumetric laser drives module 103 to be connected with semiconductor laser diode array 203 by wire；Described electric-optically Q-switched driving module 104
It is connected with electro-optical Q-switch driver 207 by wire；Described optical system drives module 105 to pass through wire and illumination optical system
System 4 connection；Described TEC drives module 106 to be connected with TEC semiconductor cooler 3 by wire, and it is constant temperature that TEC drives module 106
Drive module.
Described laser light source 2 is 532nm laser instrument.
On described concave mirror 201, the high-reflecting film of plating is 1064nm high-reflecting film.
On described level crossing 202,90% reflectivity film of plating is 1064nm90% reflectivity film.
532nm laser light source 2 structure, as in figure 2 it is shown, be all solid state laser, uses semiconductor laser diode array
203 make as operation material, potassium titanium oxide phosphate ktp crystal 205 as pumping source, neodymium-doped yttrium-aluminum garnet Nd:YAG crystal 204
For frequency-doubling crystal, concave mirror 201 and level crossing 202 form recessed flat resonator, and concave mirror 201 plates 1064nm high-reflecting film, level crossing
202 plating 1064nm 90% reflectivity films, electric-optically Q-switched mode, it is achieved with repetition rate 10Hz～50Hz continuously adjustabe, pulse width
Degree 20ns, single pulse energy > 100mJ pulse laser output.Electro-optical Q-switch 206 and electro-optical Q-switch driver 207 are electric light
Q-switching device, the control electric current control that electro-optical Q-switch driver 207 is provided by laser lighting driver 1, it is achieved q-frequency is
10Hz～50Hz continuously adjustabe.Wavelength 532nm is in underwater laser and passes through among window 430nm～570nm, can propagate under water
More remote.Possesses the high feature of compact conformation, life-span length, stability.The parameter of above 532nm laser light source 2, completely full
The needs of foot 5m～100m underwater lighting.
Owing to underwater environment temperature is relatively low, and all solid state laser job stability is more sensitive to temperature change, therefore
It is main temperature controlling device that 532nm laser light source 2 uses TEC semiconductor cooler 3.The refrigerating capacity of TEC semiconductor cooler 3 by
The electric current injecting determines, the refrigerating capacity of electric current more high then TEC semiconductor cooler 3 is bigger, and 532nm laser light source 2 temperature is got over
Low；Injection Current more low then TEC semiconductor cooler 3 refrigerating capacity is less, and 532nm laser light source 2 is due to work release itself
Amount of heat and temperature raise.It is supplied to, by laser lighting driver 1, the size that TEC semiconductor cooler 3 controls electric current, make
In the range of laser light source 2 operating temperature is maintained at 20 DEG C～25 DEG C, even if also can normally work under water at cold.
What lamp optical system 4 was focus adjustable expands laser optical system, can be in the control of laser lighting driver 1
Under, continuously adjust spot size within the specific limits.Lamp optical system 4 as it is shown on figure 3, be Galileo varifocal optical system,
It is made up of fixing group 401 and zoom group 402.Fixing group 401 is concavees lens, and zoom group 402 is condenser lens, lamp optical system
4 are realized optical zoom by zoom group 402 along the movement of optical axis.The laser that 532nm laser light source 2 sends is directly by light optics
Fixing group of 401 sides of system 4 are incident along optical axis, first pass through concavees lens, then pass through condenser lens, by condenser lens along light
Axle moves, it is achieved laser beam divergence is by 15 ° to 60 ° consecutive variations.In lamp optical system 4, condenser lens is unlike material
Convex lens and the balsaming lens of concavees lens composition, this structure is conducive to color difference eliminating to a certain extent.
The zoom group 402 i.e. motion control of condenser lens, utilizes my another patent of company " laser beam expander ", it is achieved
Stroke accurately controls.Control electric current by laser lighting driver 1 transmission accurately controls the position of zoom group 402, reaches
Accurately control optical zoom, the purpose of control laser beam divergence.
Laser lighting driver 1 as shown in Figure 4, uses single-chip microcomputer 101 to be main drive control component, is selected by Underwater Range
Logical detection imaging device power supply (DPS) provides electric current, passes through RS232 interface 102 with underground distance gated detection imaging equipment master controller
Exchange control signal.Laser lighting driver 1 is driven module the 103rd, electric-optically Q-switched driving module the 104th, optical system by semiconductor laser
System drives module 105 and TEC to drive 106 4 module compositions of module, the semiconductor laser of respectively 532nm laser light source 2
Diode array the 203rd, electro-optical Q-switch driver the 207th, lamp optical system 4 and TEC semiconductor cooler 3 provides and drives electric current
And control electric current, it is ensured that the stable operation of 532nm laser light source 2, accurately controlling and TEC half to lamp optical system 4
The accurate control to temperature for the conductor refrigerator 3.
Claims (4)
1. the laser illuminator for underground distance gated detection imaging, coordinates with underground distance gated detection imaging equipment
Connect, it is characterized in that: include laser lighting driver (1), laser light source (2), TEC semiconductor cooler (3) and illumination light
System (4),
Described laser light source (2) is all solid state laser, including concave mirror (201), level crossing (202) semiconductor laser two pole
Pipe array (203), neodymium-doped yttrium-aluminum garnet Nd:YAG crystal (204), potassium titanium oxide phosphate ktp crystal (205), electro-optical Q-switch
And electro-optical Q-switch driver (207) (206)；Described concave mirror is coated with high-reflecting film on (201)；Described level crossing is coated with on (202)
90% reflectivity film, level crossing (202) and concave mirror (201) form recessed flat resonator；It is provided with half in described recessed flat resonator
Conductor Laser diode array (203), neodymium-doped yttrium-aluminum garnet Nd:YAG crystal (204) and electro-optical Q-switch (206)；Described half
Conductor Laser diode array (203) is pumping source；Described neodymium-doped yttrium-aluminum garnet Nd:YAG crystal (204) is operation material；
Described electro-optical Q-switch driver (207) is connected with electro-optical Q-switch (206) by wire；Described potassium titanium oxide phosphate ktp crystal
(205) being frequency-doubling crystal, what potassium titanium oxide phosphate ktp crystal (205) was positioned at laser light source (2) goes out light end；
Described lamp optical system is provided with turnbarrel in (4)；It is provided with fixing group (401) and zoom on described turnbarrel
Group (402), wherein fixing group (401) is concavees lens, and concavees lens are fixedly mounted on one end of turnbarrel, and zoom group (402) is
Condenser lens, condenser lens is convex lens and concavees lens gluing forms, and condenser lens is arranged on turnbarrel by eyeglass seat
Internal；The laser that described laser light source (2) sends is incident in lamp optical system (4) by fixing group (401)；
Described laser lighting driver (1) includes that single-chip microcomputer (101), RS232 interface (102), semiconductor laser drive module
(103), electric-optically Q-switched driving module (104), optical system drive module (105) and TEC to drive module (106), and laser lighting is driven
Dynamic device (1) is connected with the power supply of underground distance gated detection imaging equipment by wire, and laser lighting driver (1) passes through
RS232 interface (102) is connected with underground distance gated detection imaging equipment；Described single-chip microcomputer (101) by wire respectively with
RS232 interface (102), semiconductor laser drive module (103), electric-optically Q-switched driving module (104), optical system to drive module
(105), TEC drives module (106) to connect；Described semiconductor laser drives module (103) by wire and semiconductor laser two
Pole pipe array (203) connects；Described electric-optically Q-switched driving module (104) is connected with electro-optical Q-switch driver (207) by wire；
Described optical system drives module (105) to be connected with lamp optical system (4) by wire；Described TEC drives module (106) to lead to
Cross wire to be connected with TEC semiconductor cooler (3).
2. a kind of laser illuminator for underground distance gated detection imaging according to claim 1, is characterized in that: institute
Stating laser light source (2) is 532nm laser instrument.
3. a kind of laser illuminator for underground distance gated detection imaging according to claim 1, is characterized in that: institute
The high-reflecting film stating the upper plating of concave mirror (201) is 1064nm high-reflecting film.
4. a kind of laser illuminator for underground distance gated detection imaging according to claim 1, is characterized in that: institute
The 90% reflectivity film stating the upper plating of level crossing (202) is 1064nm90% reflectivity film.
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| CN201620566248.9U CN205679229U (en) | 2016-06-13 | 2016-06-13 | A kind of laser illuminator for underground distance gated detection imaging |
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| CN205679229U true CN205679229U (en) | 2016-11-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106066172A (en) * | 2016-06-13 | 2016-11-02 | 长春德信光电技术有限公司 | A kind of laser illuminator for underground distance gated detection imaging |
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2016
- 2016-06-13 CN CN201620566248.9U patent/CN205679229U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106066172A (en) * | 2016-06-13 | 2016-11-02 | 长春德信光电技术有限公司 | A kind of laser illuminator for underground distance gated detection imaging |
| CN106066172B (en) * | 2016-06-13 | 2018-09-28 | 长春德信光电技术有限公司 | A kind of laser illuminator for underground distance gated detection imaging |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161109 Effective date of abandoning: 20180928 |