CN207216024U - Continuous laser three-dimensional scanner based on husky nurse law hinge principle - Google Patents
Continuous laser three-dimensional scanner based on husky nurse law hinge principle Download PDFInfo
- Publication number
- CN207216024U CN207216024U CN201720237060.4U CN201720237060U CN207216024U CN 207216024 U CN207216024 U CN 207216024U CN 201720237060 U CN201720237060 U CN 201720237060U CN 207216024 U CN207216024 U CN 207216024U
- Authority
- CN
- China
- Prior art keywords
- laser
- speculum
- photodetector
- husky nurse
- piezoelectric ceramics
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of continuous laser three-dimensional scanner based on husky nurse law hinge principle, including laser, speculum, receiving telescope, photodetector, signal synchronization circuit；Speculum, receiving telescope and photodetector are put according to husky nurse law, speculum is arranged on object plane, practised physiognomy and angle rotatable on the intersection point of focal plane, and signal synchronization circuit control photodetector follows the rotation synchronization upper and lower displacement of speculum to meet husky nurse law all the time；Adjustable mirror, the object that speculum is reflected the laser light in environment are placed before diode laser, then optical signal is reflected or reflected away, optical signal is received by receiving telescope, and the optical signal that receiving telescope receives is focused on photodetector.The utility model is applicable the scanning of distant view large-scale object dimensional, the method for employing rotating mirror and the imaging of upper and lower translation detector scanning, realizes continuous optical scanning, can obtain the object high accuracy of distant place, clearly scan image.
Description
Technical field
The utility model belongs to the Airborne Laser Scan field, more particularly to based on the continuous of husky nurse law hinge principle
The Airborne Laser Scan.
Background technology
With the development in epoch, we are often required to carry out large-scale three-dimensional body in large area construction area or mountain area
Analysis, to obtain useful information.At present, the image acquired in most of image collecting devices is on two dimensional surface in itself
, in order to more accurately obtain the information required for us, it would be desirable to its three-dimensional image is obtained, so various scanning imageries
Technology is applied and given birth to.Current scanline imaging technique mainly has a point cloud imaging, dual camera imaging technique and traditional based on Sharpe
The laser scanner technique of law.In these three technologies, point cloud imaging and traditional scanning technique based on Sharpe law are profits
With laser radar technique scanning imagery.Using laser radar technique, the place that we can be difficult to reach to some detects,
And it is small to obtain error, high accuracy, clearly it is imaged.And it is mainly to be taken the photograph using two to have in dual camera imaging technique a kind of
As connector analog human eye is imaged.It is known that current point cloud is substantially scanned using the method for image procossing,
This method requires complicated digital circuit and quick data acquisition rate.And traditional scanning technique based on Sharpe law
The method scanned using rail mounted, can only realize the imaging of plane, can not obtain the three-dimensional information of image.Dual camera technology is then
The auxiliary of the image mosaic technology of complexity is needed, the imbricate sex chromosome mosaicism of stitching image is a great problem of the technology, in addition,
It is also vulnerable to illumination and the influence of surrounding environment.It is described herein a kind of to utilize piezoelectric ceramics and the laser radar of motor control
Imaging technique, this technology can realize the blur-free imaging of traditional point cloud scanning, it is possible to achieve the imaging of 3-D view, but not
Need the processing of circuit later data of complexity.
Utility model content
1st, the purpose of this utility model.
The utility model mainly proposes one kind and flexibly distant objects can be scanned and be reconstructed on a large scale
Laser radar system, solve conventional laser radar scanning system digits processing of circuit complexity, data collecting system speed will
Ask the defects of high, perfect tradition based on husky formula law scanning technique can not 3-D scanning the defects of.
2nd, technical scheme used by the utility model.
The utility model proposes a kind of continuous laser three-dimensional scanner based on husky nurse law hinge principle, including laser
Device, speculum, receiving telescope, photodetector, signal synchronization circuit；Speculum, receiving telescope and photodetector root
Put according to husky nurse law, speculum is arranged on object plane, practised physiognomy and angle rotatable on the intersection point of focal plane, signal synchronization circuit control
Photodetector processed follows the rotation synchronization upper and lower displacement of speculum to meet husky nurse law all the time；Being placed before diode laser can
Speculum, the object that speculum is reflected the laser light in environment are adjusted, optical signal is reflected or reflected away, light again by object
Signal is received by receiving telescope, and the optical signal that receiving telescope receives is focused on photodetector.
In further embodiment, in addition to motor, motion control portion motor servo, motion control portion electricity
Machine servo, motor, speculum are sequentially connected control speculum rotation.
In further embodiment, in addition to piezoelectric ceramics, motion control portion piezoelectric ceramics controller, photoelectricity
Detector is connected with piezoelectric ceramics, and piezoelectric ceramics controller control piezoelectric ceramics moves up and down, and feedback synchronization signal controls
The motor being connected with speculum.
In further embodiment, in addition to laser alignment original paper, laser alignment original paper are placed on diode and swashed
Before light device, adjustable mirror is placed before laser alignment original paper.
In further embodiment, described laser is diode laser.
The utility model proposes a kind of continuous laser 3-D scanning method based on husky nurse law hinge principle, according to such as
Lower step is carried out：
Step 1, the continuous ray laser scanning means based on husky nurse law hinge principle is aimed to environment to be detected, unlatching swashs
Light device；
The laser that step 2, laser are sent passes through laser alignment original paper directive speculum, and speculum reflects the laser light to ring
Optical signal is reflected or reflected away again by the object in border, object；
Step 3, the optical signal of object reflection/refraction are tapped by laser pick-off portion and received, i.e., are received and adopted by receiving telescope
Collect optical signal；
The optical signal that step 4, receiving telescope receive is focused on photodetector, the photodetector and the data
Collection analysis part is connected, and distance distribution information can be obtained on the test surface of the detector；
Step 5, photodetector are connected with piezoelectric ceramics, and piezoelectric ceramics is controlled by piezoelectric ceramics controller, is used in combination
Synchronizing signal controls the motor being connected with speculum, photodetector is synchronized with the movement with motor, utilizes signal synchronization circuit
To control piezoelectric ceramics controller and motor movement, so that still meeting that Sharpe is determined while speculum and detector motion
Rule.
In further embodiment, by the way of a kind of scanning of push-broom type, the two-dimensional imaging of object is realized；It is real
After the two-dimensional imaging of existing object, with imaging geometry principle, three-dimensional in space can be realized using motor control speculum
Scanning.
3rd, the beneficial effects of the utility model.
(1), the utility model utilizes hinge principle, and calculating object plane by husky nurse law practises physiognomy and the intersection point of focal plane institute
A point of rotation G is being determined, in system building, speculum, lens and line array CCD/CMOS are being determined according to Scheimflug
Rule is put, and speculum is placed on to the position of G points；After the completion of building, when speculum rotates to an angle, transported by geometry
Calculate, the line array CCD/CMOS distance moved up and down can be calculated, linear array is controlled well using piezoelectric ceramics can
CCD/CMOS is moved, and has the function that imaging.
(2), the utility model utilizes the multiple points of laser single pass, by way of a kind of scanning of push-broom type, realizes thing
The two-dimensional imaging of body；After the two-dimensional imaging for realizing object, with imaging geometry principle, it can be realized using motor control speculum
3-D scanning in space；Scanned compared to conventional laser radar line, the present apparatus can realize the 3-D view reconstruct in space.
Traditional laser scanner technique based on Sharpe law is mainly imaged in visual line of sight (light of sight), we
Only it is imaged in that direction come out along Laser emission.
(2), in the utility model using line array CCD/CMOS be used as detector, its measurement range greatly and precision it is very high,
Real-time Transmission light-to-current inversion signal speed is fast.
(3), this laser radar sampling rate is much larger than conventional laser radar, and sample frequency is up to 3KHz.It is used cooperatively
Line array CCD/CMOS of 3000 pixels, the present apparatus can scan at 9,000,000 points each second, compared to the scanning per second of traditional scanning technique
700000 points, scan efficiency is higher.In addition, the utility model uses near infrared light or ultraviolet light, belong to human eye safe waveband.
To sum up, the utility model employs continuous ray laser as light source, and the space for realizing object using imaging method is swept
Retouch, the line scan image of the object under different angle is flexibly detected using piezoelectric ceramics or electric machine control system.This practicality is new
Type is applied to the 3-D scanning of the large-scale object of distant view, and wavelength selection is near infrared light or ultraviolet light wave band, the use of innovation
Rotating mirror and the method for upper and lower translation detector scanning imaging, realize continuous optical scanning, can obtain the object of distant place
High accuracy, clearly scan image.
Brief description of the drawings
Fig. 1 is the knot of the continuous ray laser imaging scanner of the hinge principle based on Scheimpflug principle
Structure schematic diagram.1- lasers in figure, 2- laser alignment original papers, 3- speculums, 4- motion control portion motors, 5- motor servos,
6- receiving telescopes, 7- photodetectors (CCD/CMOS), 8- motion control portion piezoelectric ceramics, 9- piezoelectric ceramics controllers,
10- signal synchronization circuits.
Fig. 2 scanning theory figures, G points are the speculum point of rotation as we can see from the figure, when motor control speculum rotates to 1
During position, the position for understanding CCD/CMOS is calculated in black position according to Scheimpflug law combinations geometry, works as reflection
When mirror rotates to 2 position, CCD/CMOS position is similarly can obtain, now CCD/CMOS has translated up a segment distance, such as empty
Shown in line.So, when motor continuously rotates, we also obtain a series of point on CCD/CMOS, and can obtains after processing
To the profile diagram of object.
Fig. 3 is analog scanning figure.
Embodiment
Embodiment 1
As shown in figure 1, a kind of continuous ray laser scanning means based on husky nurse law hinge principle that the present embodiment proposes,
Watched including 1- diode lasers in figure, 2- laser alignment original papers, 3- speculums, 4- motors, 5- motion control portion motors
Clothes, 6- receiving telescopes, 7- photodetectors (CCD/CMOS), 8- piezoelectric ceramics, the control of 9- motion control portions piezoelectric ceramics
Device, 10- signal synchronization circuits.
The utility model proposes a kind of continuous laser three-dimensional scanner based on husky nurse law hinge principle, including swash
Light device 1, speculum 3, receiving telescope 6, photodetector 7, signal synchronization circuit 10；Speculum 3, receiving telescope 6 and light
Electric explorer 7 is put according to husky nurse law, and speculum 3 is arranged on object plane, practised physiognomy and angle rotatable on the intersection point of focal plane, letter
Number synchronous circuit 10 controls photodetector 7 to follow the rotation synchronization upper and lower displacement of speculum 3 to meet husky nurse law all the time；Two poles
Adjustable mirror 3 is placed before pipe laser 1, the object that speculum 3 is reflected the laser light in environment, object is again by optical signal
Reflection reflects away, and optical signal is received by receiving telescope 6, and the optical signal that receiving telescope 6 receives is focused at photoelectricity spy
Survey on device 7.The utility model passes through motor 4, motion control portion motor servo 5, motion control portion motor servo 5, motor
4th, speculum 3 is sequentially connected control speculum rotation.Described laser 1 is diode laser.
Embodiment 2
Compared to in embodiment 1, the utility model by piezoelectric ceramics 8, motion control portion piezoelectric ceramics controller 9,
Photodetector 7 is connected with piezoelectric ceramics 8, and piezoelectric ceramics controller 9 controls piezoelectric ceramics 8 to move up and down, and feedback synchronization is believed
Number control the motor 4 being connected with speculum 3.Before laser alignment original paper 2 is placed on diode laser 1, laser alignment original paper 2
Preceding placement adjustable mirror 3.
Embodiment 3
Based on the continuous ray laser imaging device of husky nurse law hinge principle, including laser emitting portion, laser pick-off portion
Point, imaging moiety, data collection and analysis part, motion control portion, signal sync section；Described laser emitting portion, swash
Light receiving part is connected with imaging moiety, motion control portion, signal sync section；Part of data acquisition and imaging section split-phase
Even.This technology utilizes the hinge principle in Sharpe law, is calculated by formula and selects the point of rotation, rotating mirror is changed with reaching
Become laser scanning direction, so as to reach the purpose of scanning.
Laser emitting portion mainly includes continuous laser source (Laser diode), laser alignment original paper, LASER Light Source hair
The continuous laser gone out is incident to destination path direction after laser alignment original paper, now can produce reflected light into the target of light path
Optical signal, the signal divide receiving telescope to receive by laser pick-off portion；
Imaging moiety includes one dimensional linear array CCD/CMOS, the line array CCD/CMOS and the data collection and analysis part of x systems
It is connected, i.e., the echo-signal being collected into by the record reception line array CCD that is connected with notebook computer can on linear array CCD/CMOS
To obtain the information such as range distribution, and then obtain the spatial information and scan image of measured target.
Motion control portion includes piezoelectric ceramics, piezoelectric ceramics controller, motor, motor servo (being driven comprising motor) and
Speculum.Speculum and motor are installed together, CCD/CMOS and piezoelectric ceramics are installed together, motor and motor servo
Install, rotated using motor control speculum, while using piezoelectric ceramics controller control piezo ceramic motion, so as to drive
CCD/CMOS is moved, and it is met Scheimpflug laws, and then be clearly imaged.
When controlling piezoelectric ceramics and motor movement, in order that the face of focal plane three of object plane phase plane and lens is handed over all the time
In a bit, meet hinge principle, demonstrate,prove piezoelectric ceramics controller using signal synchronization control portion code insurance and motor servo moves synchronously,
Control speculum consistent with CCD/CMOS angular turns.Signal Synchronization Control part can by input signal control piezoelectric ceramics and
Motor is synchronized with the movement.
Continuous laser source used is near infrared light/ultraviolet-ray diode laser；Input synchronizing signal be square wave and
Sine wave, signal is set synchronously to input by programming in signal synchronization circuit.
The imaging ranging side that continuous ray laser scanning means based on husky nurse law hinge principle described in the present embodiment uses
Method：Laser is sent along target direction by the continuous wave laser of laser emitting portion, laser is sent through laser alignment original paper to be mapped to instead
Penetrate on mirror and reflected by speculum, can be scanned when the object in environment appears in light path by this laser penetration, object is anti-
The received telescope of optical signal penetrated/reflected is converged on CCD/CMOS, rotating mirror, using the method for imaging geometry, is made
Speculum is acquired by imaging moiety to optical signal in different angle reflection laser；Finally, by data collection and analysis
Part is connected with computer, can be obtained using Sharpe law of imagery (Scheimpflug principle) in respective optical path
Different distance and its intensity signal, and the profile information of object is obtained, so as to realize the function of scanning object.Specifically include with
Lower step：
(1) the continuous ray laser scanning means based on husky nurse law hinge principle is aimed at into environment to be detected, opens laser
Light source 1.
(2) laser that LASER Light Source 1 is sent passes through the directive speculum of laser alignment original paper 2, and speculum reflects the laser light to
Optical signal is reflected or reflected away again by the object in environment, object.
(3) optical signal of object reflection/refraction is tapped by laser pick-off portion and received, i.e., by receiving telescope 6 to these light
Signal carries out reception collection.
(4) optical signal that receiving telescope 6 receives is focused on photodetector 7.The photodetector and the data
Collection analysis part is connected, i.e., the echo-signal being collected into by the record that is connected with notebook computer, in the detection of the detector
Distance distribution information can be obtained on face.
(5) photodetector 7 is connected with piezoelectric ceramics 8, and piezoelectric ceramics is controlled by piezoelectric ceramics controller 9, is used in combination
Synchronizing signal controls the motor 4 being connected with speculum 3, photodetector is synchronized with the movement with motor.Utilize the synchronous electricity of signal
To control piezoelectric ceramics controller and motor movement, (such as Fig. 1, motor control speculum rotate around G points, piezoelectric ceramics control on road 10
Device presses to dotted arrow direction) so that still meeting Sharpe law while speculum and detector motion.
In the utility model, laser 1 is diode laser, and 2 laser alignment original papers, 3 speculums, 4 motors, 5 move
Control unit extension set servo, 6 receiving telescopes, 7 photodetectors (CCD/CMOS), 8 piezoelectric ceramics, 9 motion control portion piezoelectricity
The product that ceramic controller, 10 signal synchronization circuits etc. is existing matured product or original paper can be utilized to process, profit
The function having with these existing products or processing original paper, the system described in the utility model of structure, imaging can be used several
What method (operation motor and piezo ceramic motion, such as Fig. 2) in the case where not rotating this radar system realizes tradition
The scanning effect of radar, and the distance distribution information of conventional radar offer, the also scanning profile of object such as Fig. 3 institutes are provided
Show.
Above-mentioned real system is the preferable embodiment of the utility model, but embodiment of the present utility model is not by upper
State the limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (5)
- A kind of 1. continuous laser three-dimensional scanner based on husky nurse law hinge principle, it is characterised in that：Including laser (1), speculum (3), receiving telescope (6), photodetector (7), signal synchronization circuit (10)；Speculum (3), reception are looked in the distance Mirror (6) and photodetector (7) are put according to husky nurse law, speculum (3) be arranged on object plane, practise physiognomy with the intersection point of focal plane Angle rotatable, signal synchronization circuit (10) control photodetector (7) follow the rotation synchronization upper and lower displacement of speculum (3) to begin Meet husky nurse law eventually；Adjustable mirror (3) is placed before diode laser (1), speculum (3) is reflected the laser light in environment Object, optical signal reflects or reflect away again by object, and optical signal by receiving telescope (6) reception, look in the distance by reception The optical signal that mirror (6) receives is focused on photodetector (7).
- 2. the continuous laser three-dimensional scanner according to claim 1 based on husky nurse law hinge principle, its feature exist In：Also include motor (4), motion control portion motor servo (5), motion control portion motor servo (5), motor (4), reflection Mirror (3) is sequentially connected control speculum rotation.
- 3. the continuous laser three-dimensional scanner according to claim 1 based on husky nurse law hinge principle, its feature exist In：Also include piezoelectric ceramics (8), motion control portion piezoelectric ceramics controller (9), photodetector (7) and piezoelectric ceramics (8) Be connected, piezoelectric ceramics controller (9) control piezoelectric ceramics (8) move up and down, and feedback synchronization signal come control with speculum (3) Connected motor (4).
- 4. the continuous laser three-dimensional scanner according to claim 1 based on husky nurse law hinge principle, its feature exist In：Also include laser alignment original paper (2), before laser alignment original paper (2) is placed on diode laser (1), laser alignment original paper (2) adjustable mirror (3) is placed before.
- 5. the continuous laser three-dimensional scanner according to claim 1 based on husky nurse law hinge principle, its feature exist In：Described laser (1) is diode laser.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720237060.4U CN207216024U (en) | 2017-03-10 | 2017-03-10 | Continuous laser three-dimensional scanner based on husky nurse law hinge principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720237060.4U CN207216024U (en) | 2017-03-10 | 2017-03-10 | Continuous laser three-dimensional scanner based on husky nurse law hinge principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207216024U true CN207216024U (en) | 2018-04-10 |
Family
ID=61809303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720237060.4U Expired - Fee Related CN207216024U (en) | 2017-03-10 | 2017-03-10 | Continuous laser three-dimensional scanner based on husky nurse law hinge principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207216024U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772432A (en) * | 2017-03-10 | 2017-05-31 | 苏州四百克拉光电科技有限公司 | Continuous laser 3-D scanning method and device based on husky nurse law hinge principle |
| CN113655464A (en) * | 2021-09-28 | 2021-11-16 | 浙江师范大学 | Method for improving spatial resolution of Samm imaging laser radar |
| CN115096194A (en) * | 2022-07-27 | 2022-09-23 | 深圳市深视智能科技有限公司 | Displacement measuring probe, measuring device and displacement measuring method |
-
2017
- 2017-03-10 CN CN201720237060.4U patent/CN207216024U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772432A (en) * | 2017-03-10 | 2017-05-31 | 苏州四百克拉光电科技有限公司 | Continuous laser 3-D scanning method and device based on husky nurse law hinge principle |
| CN113655464A (en) * | 2021-09-28 | 2021-11-16 | 浙江师范大学 | Method for improving spatial resolution of Samm imaging laser radar |
| CN113655464B (en) * | 2021-09-28 | 2023-09-29 | 浙江师范大学 | Method for improving spatial resolution of sham imaging laser radar |
| CN115096194A (en) * | 2022-07-27 | 2022-09-23 | 深圳市深视智能科技有限公司 | Displacement measuring probe, measuring device and displacement measuring method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106772432A (en) | Continuous laser 3-D scanning method and device based on husky nurse law hinge principle | |
| CN105143820B (en) | Depth scan is carried out using multiple transmitters | |
| EP1941843B1 (en) | Method and apparatus for colour imaging a three-dimensional structure | |
| CN207216024U (en) | Continuous laser three-dimensional scanner based on husky nurse law hinge principle | |
| WO2019007180A1 (en) | Handheld large-scale three-dimensional measurement scanner system simultaneously having photography measurement and three-dimensional scanning functions | |
| CN107219532A (en) | Three-dimensional laser radar and distance-finding method based on MEMS micro scanning mirrors | |
| CN107991662A (en) | A kind of 3D laser and 2D imaging synchronous scanning device and its scan method | |
| US20150015895A1 (en) | Three-dimensional measurement device having three-dimensional overview camera | |
| US20090322859A1 (en) | Method and System for 3D Imaging Using a Spacetime Coded Laser Projection System | |
| CN105928457A (en) | Omnidirectional three-dimensional laser color scanning system and method thereof | |
| CN108469618B (en) | Surveying device and rotating body for a rotating unit of a surveying device | |
| CN104406539B (en) | Round-the-clock active panorama sensing device and 3D full-view modeling methods | |
| CA3027437C (en) | Three-dimensional imaging method and system | |
| CN107238842A (en) | A kind of face battle array target search scanned imagery device and method | |
| CN1932576A (en) | Underwater target laser line scanning imaging device | |
| CN206724906U (en) | A kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light | |
| CN111811431A (en) | Three-dimensional scanner, three-dimensional scanning system and method | |
| US20220120863A1 (en) | Three-dimensional scanning and image reconstruction thereof | |
| CN106969724A (en) | A kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light | |
| CN107063123A (en) | 360 degree of environment pattern spinning Laser Scannings | |
| CN209460409U (en) | A kind of underwater laser images reconnaissance equipment | |
| JP2011017645A (en) | Target acquisition tracking device | |
| CN107202993B (en) | The big visual field laser three-dimensional imaging system of cascade acousto-optic based on Full wave shape sampling | |
| CN205562803U (en) | Range unit of two -dimensional laser radar | |
| JP4045341B2 (en) | 3D measurement system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191230 Address after: 511458 No.106, Fengze East Road, Nansha District, Guangzhou City, Guangdong Province (self compiled Building 1) x1301-b9390 (cluster registration) (JM) Patentee after: Guangzhou Guanghe Optical Technology Co., Ltd Address before: 8, building 215500, building 1, Tongji Science and Technology Plaza, 333 Lake Road, Changshu hi tech Industrial Development Zone, Jiangsu, Suzhou, 805 Patentee before: Suzhou four hundred carat Photoelectric Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20210310 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |