CN207096452U - A kind of high-rate laser range unit - Google Patents
A kind of high-rate laser range unit Download PDFInfo
- Publication number
- CN207096452U CN207096452U CN201721013256.1U CN201721013256U CN207096452U CN 207096452 U CN207096452 U CN 207096452U CN 201721013256 U CN201721013256 U CN 201721013256U CN 207096452 U CN207096452 U CN 207096452U
- Authority
- CN
- China
- Prior art keywords
- polarization
- light beam
- light
- laser range
- reception pipe
- 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
Landscapes
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The utility model provides a kind of high-rate laser range unit, includes emission part and acceptance division；Emission part is further comprising the polarizer being placed between luminous tube and speculum；Acceptance division is further comprising the polarization spectroscope being placed between optical filter and reception pipe group；Luminous tube projects an outgoing beam to polarizer, form an outgoing polarization light beam and be incident to speculum, reflected through speculum and pass through transmitting objective lens and be emitted on a target object, through reflecting to form a polarization by reflection light beam, optical filter is emitted to through objective lens are received, polarization spectroscope is incident to after filtering, is the first polarization by reflection light beam and the second polarization by reflection light beam through beam splitting, is incident to the first reception pipe and the second reception pipe respectively.Using above-mentioned with postponing, high-rate laser range unit can identify the light that orienting reflex target reflects to form with target object, and be received using different receiving devices, meanwhile, the particle object that can effectively filter out in test environment disturbs to caused by test.
Description
Technical field
It the utility model is related to ranging field, more particularly to a kind of high-rate laser range unit.
Background technology
At present in laser radar in use, can generally dispose the (reflection of orienting reflex target on target object to be measured
Prism) so as to laser radar can easily identify with position.However, the luminous intensity reflected to form through reflectance target (reflecting prism)
It is too high, receive light and the target object reflection through being tested that reflectance target (reflecting prism) reflects to form using same electrooptical device
The light of formation can cause irreversible infringement to laser radar receiver, can cause the decline of measurement accuracy for a long time.
On the other hand, can not be to minute dusts present in measuring environment, water based on existing laser radar measuring technology
The particle objects such as mist are accurately differentiated that the presence of the particle object such as minute dusts and water smoke in measuring environment can be to surveying
Test result causes certain interference.For example, the water spray around laser radar, the image obtained after scanning become in an experiment
The shape of surrounding water smoke, so as to causing laser radar can not accurately be measured indoor profile.
Accordingly, it is desirable to provide a kind of new high-rate laser range unit, can identify orienting reflex target and target object
The light reflected to form, and received respectively with different photoelectric induction devices.Both it had been avoided that receiver was irreversibly damaged, again
Various particulate matters in environment can be effectively filtered out to disturb to caused by test result.
Utility model content
In order to overcome above-mentioned technological deficiency, the purpose of this utility model is to provide a kind of high-rate laser range unit.
A kind of high-rate laser range unit provided by the utility model, realized using polarizer and polarization spectroscope and swashed at a high speed
The identification for the reflected light that optical range finding apparatus is formed to orienting reflex target and target object, and connecing for different sensitivity is respectively adopted
Device is received to receive.Both it had been avoided that receiver was irreversibly damaged, and can effectively filters out various particulate matters in environment and test is tied
Interference caused by fruit.
The utility model provides a kind of high-rate laser range unit, the high-rate laser range unit include emission part and
Acceptance division；
The emission part includes luminous tube, speculum, transmitting objective lens；
The acceptance division, which includes, receives objective lens, optical filter and reception pipe group；
The emission part is further comprising the polarizer being placed between the luminous tube and the speculum；
The acceptance division is further comprising the polarization spectroscope being placed between the optical filter and the reception pipe group, wherein institute
Stating reception pipe group includes the first reception pipe and the second reception pipe；
The luminous tube projects an outgoing beam to the polarizer, through forming an outgoing polarization light after the polarizer
Beam is incident to the speculum, is reflected through the speculum and passes through the transmitting objective lens and is emitted on a target object；
The outgoing polarization light beam reflects to form a polarization by reflection light beam through the target object, through the reception object lens
Group is emitted to the optical filter, and the polarization spectroscope, the polarization by reflection light beam warp are incident to after optical filter filtering
The polarization spectroscope beam splitting is the first polarization by reflection light beam and the second polarization by reflection light beam, wherein,
The first polarization by reflection light beam transmits through the polarization spectroscope and is incident to first reception pipe；
The second polarization by reflection light beam reflects through the polarization spectroscope and is incident to second reception pipe.
Preferably, the light direction of first polarized reflection light beam is the first light direction；Second reflection of polarization
The light direction of light beam is the second light direction；First light direction is orthogonal with second light direction.
Preferably, the polarization by reflection light beam includes p-polarization light and s polarised lights；When the first polarization by reflection light beam is
During the p-polarization light, the second polarization by reflection light beam is the s polarised lights；When the first polarization by reflection light beam is the s
During polarised light, the second polarization by reflection light beam is the p-polarization light.
Preferably, when the target object is provided with orienting reflex target, the high-rate laser range unit and the mesh
When including particle object in the test environment between mark object, the p-polarization light is by the outgoing polarization light beam through the orientation
Reflectance target, particle object and the target object reflect to form；The s polarised lights are by the outgoing polarization light beam through the mesh
Mark object reflects to form.
Preferably, the light beam reflects to form the first p-polarization light through the orienting reflex target；The light beam
The second p-polarization light is reflected to form through the particle object；The light beam reflects to form the 3rd p-polarization through the background object
Light.
Preferably, the luminous intensity order of magnitude of the first p-polarization light is more than the second p-polarization light and the 3rd p is inclined
Shake light；First reception pipe or second reception pipe identify the first p-polarization light according to the luminous intensity order of magnitude
Photosignal.
Preferably, first reception pipe receives the p-polarization light and the s polarised lights respectively with second reception pipe
Afterwards, the photosignal of the first p-polarization light and the s polarised lights is identified, the high-rate laser range unit is according to the light
Electric signal calculates the relative position of the target object.
Compared with prior art, it is of the present utility model it is a technical advantage that：
It is 1. simple in construction；
2. the light that orienting reflex target reflects to form with target object can be identified, and use different receptions
Element receives；
3. the particle object that can effectively filter out in test environment disturbs to caused by test；
4. measurement accuracy is high.
Brief description of the drawings
Fig. 1 is to meet a kind of high-rate laser range unit structural representation in the utility model embodiment；
Fig. 2 is to meet a kind of high-rate laser range unit structural representation in the utility model embodiment.
Reference：
1- luminous tubes
2- polarizers
3- speculums
4- transmitting objective lens
5- receives objective lens
6- optical filters
7- polarization spectroscopes
The reception pipes of 8- first
The reception pipes of 9- second
Embodiment
The utility model provides a kind of high-rate laser range unit, the high-rate laser range unit include emission part and
Acceptance division；
The emission part includes luminous tube, speculum, transmitting objective lens；
The acceptance division, which includes, receives objective lens, optical filter and reception pipe group；
The emission part is further comprising the polarizer being placed between the luminous tube and the speculum；
The acceptance division is further comprising the polarization spectroscope being placed between the optical filter and the reception pipe group, wherein institute
Stating reception pipe group includes the first reception pipe and the second reception pipe；
The luminous tube projects an outgoing beam to the polarizer, through forming an outgoing polarization light after the polarizer
Beam is incident to the speculum, is reflected through the speculum and passes through the transmitting objective lens and is emitted on a target object；
The outgoing polarization light beam reflects to form a polarization by reflection light beam through the target object, through the reception object lens
Group is emitted to the optical filter, and the polarization spectroscope, the polarization by reflection light beam warp are incident to after optical filter filtering
The polarization spectroscope beam splitting is the first polarization by reflection light beam and the second polarization by reflection light beam, wherein,
The first polarization by reflection light beam transmits through the polarization spectroscope and is incident to first reception pipe；
The second polarization by reflection light beam reflects through the polarization spectroscope and is incident to second reception pipe.
The advantages of the utility model is expanded on further below in conjunction with accompanying drawing and specific embodiment.
Embodiment one
As shown in figure 1, include emission part and reception for a kind of high-rate laser range unit in the utility model embodiment
Portion.Emission part includes luminous tube 1, polarizer 2, speculum 3 and transmitting objective lens 4.Acceptance division includes receiving objective lens 5, optical filter
6th, polarization spectroscope 7, the first reception pipe 8 and the second reception pipe 9.
As shown in figure 1, polarizer 2 is towards luminous tube 1, and located at the lower section of the vertical direction of luminous tube 1.Speculum 3 towards
Polarizer 2, and located at the lower section of the vertical direction of polarizer 2.Polarization spectroscope 7 is located at the reception pipe 8, second of optical filter 6 and first
Between reception pipe 9.Reception pipe 8 is located at the horizontal direction of polarization spectroscope 7；Second reception pipe 9 is vertical located at polarization spectroscope 7
Direction.
For the downwards out outgoing beam of luminous tube 1 to polarizer 2, the outgoing beam forms an outgoing after passing through polarizer 2
Light beam is incident to speculum 3, and the outgoing polarization light beam reflects through speculum 3 and is emitted to one through the transmitting objective lens 4
On target object.The outgoing polarization light beam being emitted by the light-emitting device of high-rate laser range unit shape after the reflection of target object
Into a polarization by reflection light beam.The polarization by reflection light beam is emitted to optical filter 6 through objective lens 5 are received, and optical filter 6 will not be from height
The veiling glare of fast laser ranging system transmitting filters out, and filtering back reflection light beam is incident to polarization spectroscope 7, the polarization by reflection light
Beam forms the first polarization by reflection light beam and the second polarization by reflection light beam through the beam splitting of polarization spectroscope 7.First polarization by reflection light beam passes through
Polarization spectroscope 7 transmits and is incident to the first reception pipe 8 positioned at the horizontal direction of polarization spectroscope 7；Second polarization by reflection light beam
Reflect and be incident to positioned at the second reception pipe of vertical direction 9 of polarization spectroscope 7 through the polarization spectroscope 7.First reception pipe 8 with
Second reception pipe 9 is two photoelectric receiving devices, such as APD elements.When the first reception pipe 8 of high-rate laser range unit and
After two reception pipes 9 receive the first polarization by reflection light beam and the second polarization by reflection light beam, and according to the first polarization by reflection light beam with
The strength signal of second polarization by reflection light beam calculates target object distance.With this, high-rate laser range unit can be separated and handled
The signal of two kinds of varying number levels, and corresponding regulation is made in the sensitivity of the reception pipe to receiving high-energy, avoids irreversible
Loss.
Embodiment two
As shown in Fig. 2 to meet the high-rate laser range unit structural representation in the utility model embodiment.Such as Fig. 2
A kind of emission part of shown high-rate laser range unit includes luminous tube 1, polarizer 2, speculum 3 and transmitting objective lens 4.Receive
Portion includes receiving objective lens 5, optical filter 6, polarization spectroscope 7, the first reception pipe 8 and the second reception pipe.
As shown in Fig. 2 polarizer 2 is towards luminous tube 1, and located at the lower section of the vertical direction of luminous tube 1.Speculum 3 towards
Polarizer 2, and located at the lower section of the vertical direction of polarizer 2.Polarization spectroscope 7 is located at the reception pipe 8, second of optical filter 6 and first
Between reception pipe 9.Reception pipe 8 is located at the horizontal direction of polarization spectroscope 7；Second reception pipe 9 is vertical located at polarization spectroscope 7
Direction.
For the downwards out outgoing beam of luminous tube 1 to polarizer 2, the outgoing beam forms an outgoing after passing through polarizer 2
Light beam is incident to speculum 3, and the outgoing polarization light beam reflects through speculum 3 and is emitted to one through the transmitting objective lens 4
On target object.The outgoing polarization light beam being emitted by the light-emitting device of high-rate laser range unit shape after the reflection of target object
Into a polarization by reflection light beam.The polarization by reflection light beam is emitted to optical filter 6 through objective lens 5 are received, and optical filter 6 will not be from height
The veiling glare of fast laser ranging system transmitting filters out, and filtering back reflection light beam is incident to polarization spectroscope 7, the polarization by reflection light
Beam forms the first polarization by reflection light beam and the second polarization by reflection light beam through the beam splitting of polarization spectroscope 7.
Preferably, in the utility model embodiment, the light direction for defining the first polarization by reflection light beam is the first light extraction side
To the light direction of the second polarization by reflection light beam is the second light direction.Polarization by reflection light beam obtains after the beam splitting of polarization spectroscope 7
The the first polarization by reflection light beam and one that one arrived transmits along the first light direction are inclined along the second reflection of the second light direction reflection
Shake light beam.And first light direction it is orthogonal with the second light direction.
Preferably, polarization by reflection light beam can be divided into s polarizations after the beam splitting of polarization spectroscope 7 in the utility model embodiment
Light and p-polarization light.That is the first polarization by reflection light beam is p-polarization light, and the second polarization by reflection light beam is that s polarised lights or the first reflection are inclined
The light beam that shakes is s polarised lights, and the second polarization by reflection light beam is p-polarization light.It is s to define the first polarization by reflection light beam in the present embodiment
Polarised light, the second polarization by reflection light beam are p-polarization light.S polarised lights are transmitted and are incident to positioned at polarization spectro through polarization spectroscope 7
First reception pipe 8 of the horizontal direction of mirror 7；P-polarization light reflects through polarization spectroscope 7 and is incident to vertical positioned at polarization spectroscope 7
The second reception pipe of direction 9.First reception pipe 8 and the second reception pipe 9 are two photoelectric receiving devices, such as APD elements.When at a high speed
, can be inclined according to s polarised lights and p after the first reception pipe 8 and the second reception pipe 9 of laser ranging system receive s and p-polarization light beam
Shake light photosignal calculate target object relative distance.
Preferably, in current high-rate laser range unit in use, orienting reflex target can be provided with target object
(reflecting prism) is to allow the identification of high-rate laser range unit to position.In addition, deposited in high-rate laser range unit test environment
In certain particle object, such as minute dusts, water smoke.In this case, the outgoing of the transmitting of high-rate laser range unit is inclined
The light beam that shakes only can reflect to form p-polarization light after running into reflectance target, particle object.And going out when the transmitting of high-rate laser range unit
P-polarization light and s polarised lights can be reflected to form by penetrating after light beam runs into target object.That is, implement in the utility model
In example, p-polarization light that the second reception pipe 9 can receive includes and comes from orienting reflex target, particle object and target object three
The reflection divided.Meanwhile first reception pipe 8 can also receive one by target object reflect s polarised lights.
In the utility model embodiment, the first p-polarization light from orienting reflex target, from particle object are defined
Two p-polarization light and the 3rd p-polarization light from target object.Wherein, the luminous intensity order of magnitude of the first p-polarization light is much larger than the
Two p-polarization light and the 3rd p-polarization light.Therefore, when the second reception pipe 9 of high-rate laser range unit is received by polarization spectroscope
After the first p-polarization light, the second p-polarization light and the 3rd p-polarization light that reflect, due to the first p-polarization from orienting reflex target
The high intensity that light has is higher by the second p-polarization light and the 3rd multiple orders of magnitude of p-polarization light, and the second reception pipe 9 can automatically identify
The photosignal of the first p-polarization light from orienting reflex target, and ignore the photoelectricity of the second p-polarization light and the 3rd p-polarization light
Signal.Correspondingly, the first reception pipe 8 identifies the optical telecommunications of s polarised lights according to the s polarised lights from target object for receiving gained
Number.After completing identification photosignal, the warp that high-rate laser range unit identifies according to the first reception pipe 8 and the second reception pipe 9 is determined
The photosignal reflected to form to reflectance target and target object calculates the relative position of target object.
Using a kind of high-rate laser range unit provided by the utility model, launch in existing high-rate laser range unit
A polarizer is further provided with portion, polarization spectroscope is further provided with acceptance division.Using above-mentioned with postponing, high speed is swashed
The light beam that optical range finding apparatus is sent is converted into outgoing polarization light beam, and by oriented reflectance target, particle object and object
Polarization by reflection beam splitter after body reflection is p-polarization light and s polarised lights, while using the first different reception pipe 8 of sensitivity
It is correspondingly received with the second reception pipe 9, the too high luminous intensity docking of the p-polarization light that avoids oriented reflectance target from reflecting to form with this
Irreversible injury caused by closed tube.In addition, by the beam splitting to polarization by reflection light beam, and utilize orienting reflex target reflection
Into high intensity the first p-polarization light, further ignore the second p-polarization light that particle object reflects to form and high-rate laser ranging filled
Interference caused by putting test.
In summary, a kind of high-rate laser range unit provided by the utility model, which is based on simple apparatus structure, to know
The light that other orienting reflex target reflects to form with target object, and correspondingly received using the different receiving device of sensitivity, together
When the particle object that can also effectively filter out in test environment disturbed to caused by test, so as to avoid that high-rate laser ranging is filled
Put the loss of receiving device and improve measurement accuracy to a certain extent.
It should be noted that embodiment of the present utility model has preferable implementation, and not the utility model is appointed
The limitation of what form, any one skilled in the art change or are modified to possibly also with the technology contents of the disclosure above
Same effective embodiment, as long as without departing from the content of technical solutions of the utility model, according to the technical essence of the utility model pair
Any modification or equivalent variations and modification that above example is made, in the range of still falling within technical solutions of the utility model.
Claims (7)
1. a kind of high-rate laser range unit, the high-rate laser range unit includes emission part and acceptance division；
The emission part includes luminous tube, speculum, transmitting objective lens；
The acceptance division, which includes, receives objective lens, optical filter and reception pipe group；
Characterized in that,
The emission part is further comprising the polarizer being placed between the luminous tube and the speculum；
The acceptance division is further comprising the polarization spectroscope being placed between the optical filter and the reception pipe group, wherein described connect
Closed tube group includes the first reception pipe and the second reception pipe；
The luminous tube projects an outgoing beam to the polarizer, enters through an outgoing polarization light beam is formed after the polarizer
The speculum is incident upon, is reflected through the speculum and passes through the transmitting objective lens and be emitted on a target object；
The outgoing polarization light beam reflects to form a polarization by reflection light beam through the target object, goes out through the reception objective lens
The optical filter is incident upon, the polarization spectroscope is incident to after optical filter filtering, described in the polarization by reflection light beam warp
Polarization spectroscope beam splitting is the first polarization by reflection light beam and the second polarization by reflection light beam, wherein,
The first polarization by reflection light beam transmits through the polarization spectroscope and is incident to first reception pipe；
The second polarization by reflection light beam reflects through the polarization spectroscope and is incident to second reception pipe.
2. high-rate laser range unit as claimed in claim 1, it is characterised in that the light extraction of the first polarization by reflection light beam
Direction is the first light direction；The light direction of the second polarization by reflection light beam is the second light direction；First light extraction
Direction is orthogonal with second light direction.
3. high-rate laser range unit as claimed in claim 1, it is characterised in that the polarization by reflection light beam includes p-polarization
Light and s polarised lights；When the first polarization by reflection light beam is the p-polarization light, the second polarization by reflection light beam is the s
Polarised light；When the first polarization by reflection light beam is the s polarised lights, the second polarization by reflection light beam is the p-polarization
Light.
4. high-rate laser range unit as claimed in claim 3, it is characterised in that when the target object is provided with orientation instead
Target is penetrated, when including particle object in the test environment between the high-rate laser range unit and the target object, the p
Polarised light is reflected to form by the outgoing polarization light beam through the orienting reflex target, particle object and the target object；Institute
S polarised lights are stated to be reflected to form through the target object by the outgoing polarization light beam.
5. high-rate laser range unit as claimed in claim 4, it is characterised in that the outgoing polarization light beam is through the orientation
Reflectance target reflects to form the first p-polarization light；The light beam reflects to form the second p-polarization light through the particle object；Institute
State light beam and reflect to form the 3rd p-polarization light through the target object.
6. high-rate laser range unit as claimed in claim 5, it is characterised in that the light intensity number of degrees of the first p-polarization light
Magnitude is more than the second p-polarization light and the 3rd p-polarization light；First reception pipe or second reception pipe are according to institute
State the photosignal that the luminous intensity order of magnitude identifies the first p-polarization light.
7. high-rate laser range unit as claimed in claim 5, it is characterised in that first reception pipe connects with described second
Closed tube receives the p-polarization light with after the s polarised lights, identifying the optical telecommunications of the first p-polarization light and the s polarised lights
Number, the high-rate laser range unit calculates the relative position of the target object according to the photosignal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721013256.1U CN207096452U (en) | 2017-08-14 | 2017-08-14 | A kind of high-rate laser range unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721013256.1U CN207096452U (en) | 2017-08-14 | 2017-08-14 | A kind of high-rate laser range unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207096452U true CN207096452U (en) | 2018-03-13 |
Family
ID=61541467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721013256.1U Active CN207096452U (en) | 2017-08-14 | 2017-08-14 | A kind of high-rate laser range unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207096452U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107367736A (en) * | 2017-08-14 | 2017-11-21 | 杭州欧镭激光技术有限公司 | A kind of high-rate laser range unit |
-
2017
- 2017-08-14 CN CN201721013256.1U patent/CN207096452U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107367736A (en) * | 2017-08-14 | 2017-11-21 | 杭州欧镭激光技术有限公司 | A kind of high-rate laser range unit |
| WO2019033279A1 (en) * | 2017-08-14 | 2019-02-21 | 杭州欧镭激光技术有限公司 | High-speed laser distance measuring device |
| US11681018B2 (en) | 2017-08-14 | 2023-06-20 | Hangzhou Ole-Systems Co., Ltd. | High-speed laser distance measuring device |
| CN107367736B (en) * | 2017-08-14 | 2024-01-19 | 杭州欧镭激光技术有限公司 | High-speed laser range unit |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11650291B2 (en) | LiDAR sensor | |
| CN107367736A (en) | A kind of high-rate laser range unit | |
| US5838239A (en) | System for detecting ice or snow on surface which specularly reflects light | |
| CN205504489U (en) | Carry on unmanned aerial vehicle pipeline inspection device of laser methane gas leak detection ware | |
| CN102221450B (en) | Tracking-pointing deviation measurement device for laser system | |
| EP1903301A3 (en) | Electro-optical distance measuring method, distance measuring program and distance measuring system | |
| CN206147345U (en) | Barrier system is kept away to real -time range finding of many rotor unmanned aerial vehicle and vision | |
| CN207096452U (en) | A kind of high-rate laser range unit | |
| CN102939528A (en) | Sensor for determining the roadway condition without contact and use thereof | |
| CN202439725U (en) | Contact suspension measuring device based on plane mirror | |
| CN109387164A (en) | Measure the portable focal length heavy caliber device and measurement method of product optical axis deviation | |
| US20180347949A1 (en) | Laser Rangefinder Based Automatic Target Detection | |
| CN103837544A (en) | Adsorption roller for continuous printed matter detection and adjusting method for conveyed printed matter | |
| CN100358760C (en) | Electrification railway contact net measuring aiming method based on camera | |
| CN105651733B (en) | Material scattering characteristic measuring device and method | |
| CN107399342B (en) | A kind of railway circumference, which is artificially invaded, determines method, apparatus and system | |
| CN102809351B (en) | Wall thickness detecting device and wall thickness detecting method for transparent and semitransparent glass bottles | |
| CN205750139U (en) | A kind of multiple beam coupling device and detection air chamber | |
| CN109269417A (en) | A kind of contactless vibration displacement sensor based on reflecting mirror | |
| CN205941592U (en) | Football shoot speed detector | |
| CN105629255A (en) | Rangefinder | |
| CN209264250U (en) | A kind of fiber leaky detection device | |
| CN208537026U (en) | A kind of spectral radiance meter | |
| CN114035175A (en) | System and method for generating interference situation of diffuse reflection plate false target | |
| CN102590151A (en) | Wireless transmission mode-based laser measuring method of smoke transmission rate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |