CN207336035U - Hoisting container monitoring safety status system in a kind of vertical shaft - Google Patents
Hoisting container monitoring safety status system in a kind of vertical shaft Download PDFInfo
- Publication number
- CN207336035U CN207336035U CN201721024085.2U CN201721024085U CN207336035U CN 207336035 U CN207336035 U CN 207336035U CN 201721024085 U CN201721024085 U CN 201721024085U CN 207336035 U CN207336035 U CN 207336035U
- Authority
- CN
- China
- Prior art keywords
- hoisting container
- vertical shaft
- receiver transmitter
- signal receiver
- safety status
- 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
Abstract
The utility model discloses hoisting container monitoring safety status system in a kind of vertical shaft, including the multiple vibrating sensors vertically set on rigid cage guide in vertical shaft, acceleration and gyro sensor group on hoisting container, arranged on the first signal receiver transmitter of Shaft bank, the vibrating sensor, acceleration and gyro sensor group are electrically connected by the first signal receiver transmitter and signal processing station, signal processing station and upper mechatronics.The utility model can monitor the stability of motion process of the hoisting container in vertical shaft and rigid cage guide in real time, provide foundation for the safe and stable operation and shaft equipment gap reasonable disposition of system, functional reliability is high, strong antijamming capability.
Description
Technical field
Hoisting container monitoring safety status system in more particularly to a kind of vertical shaft of the utility model.
Background technology
Vertical shaft is mine " throat thoroughfare ", and rigid cage guide is equipped with vertical shaft, and hoisting container is located in rigid cage guide, when carrying
When liter container moves up and down, rigid cage guide plays guiding role to hoisting container.
Safety clearance in vertical shaft between hoisting container, between hoisting container and the borehole wall is whether measurement " throat thoroughfare " is smooth
Pass to and ensure an important indicator of lifting system safe operation.Although in national standard, professional standard, specialty specification code
There is stringent regulation, but these regulations are all the standards for continuing to use to get off in decades always.China's metal and non-metal mine
Safety code, the regulation to the minimum clearance between hoisting container in vertical shaft, between hoisting container and the borehole wall or buntons are all
Continue to use the standard got off always in decades, can be met the requirements under original common-depth, conventional lift speed, with China's ore deposit
Mountain resource is continually developed, and deep mining is inexorable trend.
According to relevant information, mine of the depth more than 1000m has more than 80 in external non-coal mine；South Africa gold mine is averaged
Mining depth is in more than 2500m, but under ultra-deep shaft, big lifting capacity, high lifting speed conditions between hoisting container and lifting is held
The research data of safety clearance between device and the borehole wall is less perfect, and the national conditions of various countries are also different, and standard criterion is also not to the utmost
It is identical.Lack the monitoring system during movement of hoisting container in the wellbore both at home and abroad at present, therefore run in definite hoisting container
When whether it is safe when lack related actual foundation.
With the exploitation of deep-well, the safe operation to hoisting container requires stringenter.Due to lacking effective hand at present
Safe operation state of the section to hoisting container is monitored and assesses, it is therefore necessary to develops a set of high certainty of measurement, Neng Goujian
The monitoring system of the hoisting container characteristics of motion in the wellbore is surveyed, monitors the motion state of hoisting container in real time, ensures mining
Safe operation.
The content of the invention
Lack in the prior art to the system that hoisting container safe condition is monitored in vertical shaft, the purpose of this utility model
It is, in view of the above shortcomings of the prior art, there is provided hoisting container monitoring safety status system in a kind of vertical shaft, can be to lifting
The stability of motion process and rigid cage guide of the container in vertical shaft is monitored in real time, be system safe and stable operation and
Shaft equipment gap reasonable disposition provides foundation, and functional reliability is high, strong antijamming capability.
In order to solve the above technical problems, technical solution is used by the utility model：
Hoisting container monitoring safety status system in a kind of vertical shaft, it is structurally characterized in that including edge on rigid cage guide in vertical shaft
Multiple vibrating sensors that vertical direction is set, acceleration and gyro sensor group on hoisting container, arranged on vertical shaft
First signal receiver transmitter of well head, the vibrating sensor, acceleration and gyro sensor group pass through the first signal
Receiver transmitter and signal processing station are electrically connected, signal processing station and upper mechatronics.
By said structure, the Vibration Condition of rigid cage guide is monitored in real time using vibrating sensor, utilizes acceleration
Degree and gyro sensor group monitor the movement locus of hoisting container and locus in real time, so as to learn in real time
The state of rigid cage guide and hoisting container in hoisting container motion process, monitors between hoisting container, hoisting container and well in real time
Whether the gap between wall meets safety code, when the gap between hoisting container or between hoisting container and the borehole wall is too small
When, it ensure that the safe operation of system；At the same time it can also provide substantial amounts of detection data for mine hoisting system, for related peace
The formulation of full specification and the reasonable disposition of shaft equipment provide foundation.
In the utility model, signal processing station converts the vibration signal received, acceleration signal, angular velocity signal
For locus signal, the signal processing method being related to belongs to the prior art, therefore the utility model is not related to program
Or the improvement of method, belong to the protection object of utility model.
Further, vertical shaft respectively exploits stage casing and is equipped with a secondary signal receiver transmitter, and each vibrating sensor passes through
The secondary signal receiver transmitter nearest apart from itself is electrically connected with the first signal receiver transmitter.
By said structure, the signal that vibrating sensor measures takes the mode that segmentation is transmitted, and is received and sent out by secondary signal
Send device dock received vibration signal be first filtered, noise reduction and enhanced processing, then send the first signal of well head to and receive hair
Device is sent, decrease and interference of the complicated environmental condition to vibration signal in pit shaft is reduced, improves stability and the work of system
Reliability.
Further, one the 3rd signal receiver transmitter, acceleration and gyroscope are equipped with the top of each hoisting container cage
Sensor group is electrically connected by corresponding 3rd signal receiver transmitter with the first signal receiver transmitter.
By said structure, signal that acceleration and gyro sensor group measure is first sent to the 3rd signal and receives hair
Device is sent, then sends the secondary signal receiver transmitter of well head to, complicated environmental condition in pit shaft is reduced and vibration signal is subtracted
Weak and interference, improves the stability and functional reliability of system.
As a kind of preferred embodiment, vertical shaft respectively exploits stage casing and is equipped with one first power supply, each vibrating sensor with distance
Itself the first nearest power electric connection.
By said structure, the electricity consumption of each vibrating sensor is provided by each exploitation stage casing, is avoided over long distances
Powerup issue, there is provided system functional reliability.
As a kind of preferred embodiment, a second source, acceleration and gyro sensor are equipped with the top of each hoisting container
Group, the 3rd signal receiver transmitter are electrically connected with corresponding second source.
As a kind of preferred embodiment, second source is moving charging electric-type power supply.
Rechargeable type power supply is equipped with the top of hoisting container, can when hoisting container is stopped at wellhead platform or not enough power supply
Charge to it, meet acceleration and gyro sensor group, the power demand of the 3rd signal receiver transmitter.
Further, the weighing sensor for measuring hoisting container load-carrying is further included, weighing sensor passes through the first letter
Number receiver transmitter is electrically connected with signal processing station.
Stage casing entry side installation weighing sensor is lifted, is used for realization the detection to lifting means lifting weight, so as to
The speed of lifting system, loading capacity, Oscillation Amplitude value, locus are carried out fusion of multi-sensor information, from multiple angles to lifting
The working status of container is monitored and analyzed, and is obtained influence of the correlative factor to system stationarity and vibrational state respectively, is
The formulation of relevant safety regulations and the reasonable disposition of shaft equipment provide foundation, save mine construction investment.
As a kind of preferred embodiment, contact head and the rigid cage guide lateral wall of the vibrating sensor abut against, and vibration passes
Sensor is detachably connected by connecting plate with pit shaft girder steel.
Above-mentioned mounting structure is easy to the maintenance and dismounting of vibrating sensor.
As a kind of preferred embodiment, the location arrangements 3 that hoisting container meeting area is corresponded on rigid cage guide lateral wall are shaken
Dynamic sensor, 3 vibrating sensors are separately mounted to start to converge position, centre position, converge end position；For rigidity
The position outside hoisting container meeting area is corresponded on cage guide lateral wall, one vibrating sensor is installed every 50m.
The utility model can carry out the stability of motion process of the hoisting container in vertical shaft and rigid cage guide real-time
Monitoring, provides foundation, functional reliability is high, anti-interference for the safe and stable operation and shaft equipment gap reasonable disposition of system
Ability is strong.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is hoisting container top structure schematic diagram.
Fig. 3 is the mounting structure schematic diagram of vibrating sensor on rigid cage guide.
Fig. 4 is mine car weighing sensor mounting structure schematic diagram.
Fig. 5 is the electrical block diagram of the utility model.
Wherein, 1 is vibrating sensor, and 2 be acceleration and gyro sensor group, and 3 be the first signal receiver transmitter, 4
It is host computer for signal processing station, 5,6 be secondary signal receiver transmitter, and 7 be the 3rd signal receiver transmitter, and 8 be the first electricity
Source, 9 be second source, and 10 be weighing sensor, and 11 be contact head, and 12 be connecting plate, and 13 be pit shaft girder steel, and 14 be bolt, 15
It is hoisting container for rigid cage guide, 16,17 be mine car, and 18 be rail, and 19 be car arrester, and 20 be exploitation stage casing, and 21 be elevator.
Embodiment
As shown in Figures 1 to 5, an embodiment of the utility model includes multiple sensor, detects hoisting container 16 respectively
Acceleration, angular speed, lifting weight, 16 position of hoisting container, cage guide vibration, and multi-way detecting signal is handled and melted
Close, the spatial movement rule of dynamic reflection hoisting container 16 in the wellbore, while reflect between hoisting container 16, hoisting container 16
Gap changing rule between the borehole wall, provides foundation for the reasonable disposition of pit shaft, is provided for the safe operation of lifting system
Ensure.
The utility model includes the multiple vibrating sensors 1 vertically set on rigid cage guide 15 in vertical shaft, is arranged on
Acceleration and gyro sensor group 2 on hoisting container 16, it is described arranged on the first signal receiver transmitter 3 of Shaft bank
Vibrating sensor 1, acceleration and gyro sensor group 2 are electrically connected by the first signal receiver transmitter 3 and signal processing station 4
Connect, signal processing station 4 is electrically connected with host computer 5.
Vibrating sensor 1 is installed, to detect the rigid cage guide in 16 motion process of hoisting container on rigid cage guide 15
15 vibration.Every rigid cage guide 15 is assembled with vibrating sensor 1, and since well head, vibrating sensor 1 is installed every 50m
One.Need to arrange 3 vibrating sensors 1 two 16 meeting areas of hoisting container, be separately mounted to start to converge position, in
Between position and converge end position, for deeply detecting vibration shadow of the aerodynamics to rigid cage guide 15 between hoisting container 16
Ring, the critical gap theory research between hoisting container 16 provides field data.
Wellbore environment is complicated, especially can be to prison in nonferrous metal mine field, part non-ferrous metal there are rainwater and noise
There is interference in examining system, in order to improve the reliability of system, the system takes redundant configuration, in each top of hoisting container 16 peace
Equipped with six acceleration transducers and six free gyroscopes, acceleration transducer and every three of gyroscope are one group, several
What position handles the output information of each element by host computer 5 into tilting layout.Even if there are 2 acceleration transducers and 2 tops
Spiral shell instrument damages, and system can also work normally, and reliability greatly improves.
Vertical shaft respectively exploits stage casing 20 and is equipped with a secondary signal receiver transmitter 6, and each vibrating sensor 1 is by apart from certainly
The nearest secondary signal receiver transmitter 6 of body is electrically connected with the first signal receiver transmitter 3.Arranged, vibrated according to Development system
The arrangement and signal transfer mode of sensor 1 are taken exploits 1 conduct of vibrating sensor between stage casing 20 by a group transmission, each two
One group, in each exploitation 20 ingate of stage casing installation secondary signal receiver transmitter 6（It is pre- on the borehole wall in shaft construction
Leave 6 mounting wall of secondary signal receiver transmitter hole）, to receive 1 signal of vibrating sensor that each exploitation stage casing 20 is arranged, together
When dock received signal be filtered, the processing such as noise reduction and amplification, then transmit a signal to well head, improve the transmission of signal
Efficiency and accuracy, reduces the decay and interference of signal.
One the 3rd signal receiver transmitter 7, acceleration and gyro sensor are equipped with the top of each 16 cage of hoisting container
Group 2 is electrically connected by corresponding 3rd signal receiver transmitter 7 with the first signal receiver transmitter 3, acceleration and gyroscope
The first signal that the signal that sensor group 2 detects is sent to ground by the 3rd signal receiver transmitter 7 in real time receives transmission
Device 3.
First signal receiver transmitter 3,6 and the 3rd signal receiver transmitter 7 of secondary signal receiver transmitter are wireless
Signal receiver transmitter.
Vertical shaft respectively exploits stage casing 20 and is equipped with one first power supply 8, each vibrating sensor 1 with apart from itself nearest first
Power supply 8 is electrically connected.
Each top of hoisting container 16 is equipped with a second source 9, and acceleration and gyro sensor group 2, the 3rd signal connect
Transceivers 7 are electrically connected with corresponding second source 9.Second source 9 is moving charging electric-type power supply.When hoisting container 16 is stopped at
When wellhead platform or not enough power supply, charge to it, meet detection sensor and the power demand of wireless device.
The utility model further includes the weighing sensor 10 for measuring 16 load-carrying of hoisting container, and weighing sensor 10 passes through
First signal receiver transmitter 3 is electrically connected with signal processing station 4.The data that vibrating sensor 1 measures can be also used for assessment tank
The state in road and service life, reduce the labor intensity manually overhauled.When for skip hoisting when, lifting weight can directly pass through meter
Weighing sensor 10 under amount funnel obtains；When for cage hoisting mine car 17 when, should in the installation of entry side rail 18 times of cage
Become chip pressure sensor, the arrangement spacing of pressure sensor is 17 wheelbase of mine car, according to 17 entry side car arrester 19 of mine car
The parking spot of location determination mine car 17, strain gauge pressure sensor is installed in the underface of 17 parking spot of mine car.Work as ore deposit
When car 17 is lifted, the actual weight of load of lifting mine car 17 can be obtained, the accurate measurement, can be that the actual production in mine is dispatched
Foundation is provided, change estimated useful load by measuring 17 loading vehicles number of mine car in the past.
The contact head 11 of the vibrating sensor 1 is directly abutted against with 15 lateral wall of rigid cage guide, to detect rigid tank
The Oscillation Amplitude value in road 15, vibrating sensor 1 are detachably connected by connecting plate 12 with pit shaft girder steel 13, connecting plate 12 and pit shaft
It is attached between girder steel 13 by bolt 14, easy to the maintenance and dismounting of vibrating sensor 1.
Receiving module in first signal receiver transmitter 3 of well head is by vibration signal receiving module, locus signal
Receiving module, weighing-up wave receiving module composition, the signal received send the signal processing station 4 of operating room to.Signal processing
4 are stood by vibration signal processing module, locus solution module, data memory module, multi-sensor information fusion module, communication
Module forms.4 kernel of signal processing station uses TMS320C80 model dsp chips, which has 4 parallel DSP processing cores
Piece, can greatly improve operation processing speed.Vibration signal processing and computing module, hoisting container locus processing computing mould
Block is individually composed by the dsp chip of two pieces of TMS320C82 models, and processed signal sends TMS320C80 master chips, main core to
Piece is merged weighing-up wave, speed signal, hoisting container locus signal, and lifting system operating status is commented
Estimate, and pass data to host computer 5 carry out centralized displaying with storage, inquiry, while to the security risk in lifting process into
Row alarm.
The form that host computer 5 is combined by figure and data shows 16 motion process state of hoisting container, real-time display
The movement locus of hoisting container 16, the gap between hoisting container 16 between hoisting container 16 and the borehole wall, when gap is too small, there is provided
Alarm, guarantee is provided for the safe operation of system；When cage guide Oscillation Amplitude value is abnormal, provided in 5 monitoring system of host computer
Alarm.If 15 Oscillation Amplitude of rigid cage guide is excessive, hoisting container 16 runs unstable, and rigid cage guide 15 deforms.Pass through
Analysis to a large amount of cage guide vibration datas, using D-S evidence theory, assesses state and the service life of cage guide, reduces artificial maintenance
Labor intensity, ensure that the safe operation of system.
The data handling procedure and operation principle arrived involved in the present embodiment is as follows：Hoisting container 16 passes through acceleration sensing
Device detects the acceleration change of hoisting container 16, by carrying out primary and secondary integration to acceleration, can respectively obtain lifting and hold
The speed of device 16 and position, by the speed and positional value and the speed that is measured in elevator 21 by rotary encoder and position into
Row is corrected, and the angular speed detected by gyroscope, is merged with both acceleration transducer signals, and data are carried out
Mathony complementary filters, carry out data spatiality conversion, and the spatiality position coordinates point of the container 16 that gets a promotion is with carrying
Rise change in process data.By further handling data point, can get a promotion the movement locus of container 16 in the wellbore with
And the relative movement orbit between hoisting container 16, can be between image be obtained in pit shaft between hoisting container 16 by graphical display
Gap between gap change and container and pit shaft, detects the operating status of hoisting container 16, between hoisting container 16 in real time
Gap is too small, is alarmed by host computer 5, and there are security risk for prompt system.
The embodiment of the utility model is described above in conjunction with attached drawing, but the utility model is not limited to
The embodiment stated, above-mentioned embodiment is only schematical, rather than limitation, this area it is common
Technical staff is not departing from the utility model aims and scope of the claimed protection situation under the enlightenment of the utility model
Under, many forms can be also made, these are belonged within the scope of protection of the utility model.
Claims (9)
1. hoisting container monitoring safety status system in a kind of vertical shaft, it is characterised in that including rigid cage guide in vertical shaft（15）On
The multiple vibrating sensors vertically set（1）, arranged on hoisting container（16）On acceleration and gyro sensor group
（2）, arranged on the first signal receiver transmitter of Shaft bank（3）, the vibrating sensor（1）, acceleration and gyro sensors
Device group（2）Pass through the first signal receiver transmitter（3）With signal processing station（4）It is electrically connected, signal processing station（4）With host computer
（5）It is electrically connected.
2. hoisting container monitoring safety status system in vertical shaft as claimed in claim 1, it is characterised in that vertical shaft is respectively in exploitation
Section（20）It is equipped with a secondary signal receiver transmitter（6）, each vibrating sensor（1）Pass through second letter nearest apart from itself
Number receiver transmitter（6）With the first signal receiver transmitter（3）It is electrically connected.
3. hoisting container monitoring safety status system in vertical shaft as claimed in claim 1, it is characterised in that each hoisting container
（16）One the 3rd signal receiver transmitter is equipped with the top of cage（7）, acceleration and gyro sensor group（2）By corresponding
The 3rd signal receiver transmitter（7）With the first signal receiver transmitter（3）It is electrically connected.
4. such as hoisting container monitoring safety status system in claims 1 to 3 any one of them vertical shaft, it is characterised in that perpendicular
Well respectively exploits stage casing（20）It is equipped with one first power supply（8）, each vibrating sensor（1）With first power supply nearest apart from itself
（8）It is electrically connected.
5. hoisting container monitoring safety status system in vertical shaft as claimed in claim 3, it is characterised in that each hoisting container
（16）Top is equipped with a second source（9）, acceleration and gyro sensor group（2）, the 3rd signal receiver transmitter（7）
With corresponding second source（9）It is electrically connected.
6. hoisting container monitoring safety status system in vertical shaft as claimed in claim 5, it is characterised in that second source（9）
For moving charging electric-type power supply.
7. such as hoisting container monitoring safety status system in claims 1 to 3 any one of them vertical shaft, it is characterised in that also
Including for measuring hoisting container（16）The weighing sensor of load-carrying（10）, weighing sensor（10）Received and sent out by the first signal
Send device（3）With signal processing station（4）It is electrically connected.
8. such as hoisting container monitoring safety status system in claims 1 to 3 any one of them vertical shaft, it is characterised in that institute
State vibrating sensor（1）Contact head（11）With rigid cage guide（15）Lateral wall abuts against, vibrating sensor（1）Pass through connecting plate
（12）With pit shaft girder steel（13）It is detachable to be connected.
9. such as hoisting container monitoring safety status system in claims 1 to 3 any one of them vertical shaft, it is characterised in that just
Property cage guide（15）Hoisting container is corresponded on lateral wall（16）3 vibrating sensors of location arrangements of meeting area（1）, this 3 are shaken
Dynamic sensor（1）It is separately mounted to start to converge position, centre position, converges end position；For rigid cage guide（15）Outside
Hoisting container is corresponded on wall（16）Position outside meeting area, a vibrating sensor is installed every 50m（1）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721024085.2U CN207336035U (en) | 2017-08-16 | 2017-08-16 | Hoisting container monitoring safety status system in a kind of vertical shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721024085.2U CN207336035U (en) | 2017-08-16 | 2017-08-16 | Hoisting container monitoring safety status system in a kind of vertical shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207336035U true CN207336035U (en) | 2018-05-08 |
Family
ID=62373421
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721024085.2U Active CN207336035U (en) | 2017-08-16 | 2017-08-16 | Hoisting container monitoring safety status system in a kind of vertical shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207336035U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111807184A (en) * | 2020-07-20 | 2020-10-23 | 洛阳洛信矿山机器有限公司 | Displacement monitoring system and method for mine hoisting equipment |
-
2017
- 2017-08-16 CN CN201721024085.2U patent/CN207336035U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111807184A (en) * | 2020-07-20 | 2020-10-23 | 洛阳洛信矿山机器有限公司 | Displacement monitoring system and method for mine hoisting equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103538989B (en) | Multi-rope winder steel wire rope tension equilibrium displacement adjustment state monitoring method and device | |
| CN202400737U (en) | Hoisting machinery online safety monitoring recorder | |
| CN108154646B (en) | Cable crane tank-hanging disaster-causing risk early warning method integrating D-GPS and RFID | |
| CN205772977U (en) | Tower crane real-time monitoring system | |
| CN203295034U (en) | Lifting hook, winding plant, crane and crane deviation early-warning device | |
| WO2019023952A1 (en) | Method for monitoring vibration and strain of key parts of tunnel boring machine | |
| CN108862036A (en) | Overloading and unbalanced loading of container detects protection system, method and front swing-machine | |
| CN201228202Y (en) | Recording device for monitoring crane safe operation | |
| CN107651547A (en) | The detection method and system of a kind of coal mine lifting system running state and lifting tension force | |
| CN201961977U (en) | Weight unbalance-loading detection system for container of gantry crane | |
| CN201834683U (en) | Weighing system of ship unloader | |
| CN108414201A (en) | A kind of ocean platform derrick monitoring of working condition and fatigue life predicting system | |
| CN111636406B (en) | Intelligent monitoring system for dynamic compaction machine | |
| CN207336035U (en) | Hoisting container monitoring safety status system in a kind of vertical shaft | |
| CN101746674A (en) | Novel crane rope service-life monitor | |
| CN107089244B (en) | A kind of railway switch damage detection system | |
| CN103226035B (en) | Load detection system for muck truck | |
| CN104326360B (en) | High pedestal jib crane holographic measuring method | |
| CN105067071A (en) | Highly-safe and precise counterweight type level measuring device of winch | |
| CN102367159B (en) | Method for determining missed drawing of tower crane | |
| CN207881765U (en) | A kind of oil truck multi-parameter measuring systems | |
| CN211569932U (en) | Tower crane safety monitoring system using 5G technology | |
| CN204847940U (en) | Quick -witted operation control system of door | |
| CN206523780U (en) | A kind of mining elevator detecting system | |
| CN104501929B (en) | Vehicle strains weighing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |