JP5722224B2 - 空間照会のための手持ち型位置決めインタフェース - Google Patents
空間照会のための手持ち型位置決めインタフェース Download PDFInfo
- Publication number
- JP5722224B2 JP5722224B2 JP2011533437A JP2011533437A JP5722224B2 JP 5722224 B2 JP5722224 B2 JP 5722224B2 JP 2011533437 A JP2011533437 A JP 2011533437A JP 2011533437 A JP2011533437 A JP 2011533437A JP 5722224 B2 JP5722224 B2 JP 5722224B2
- Authority
- JP
- Japan
- Prior art keywords
- orientation
- spatial position
- coordinate system
- relative
- handheld device
- 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
- 238000000034 method Methods 0.000 claims description 49
- 230000033001 locomotion Effects 0.000 claims description 45
- 238000005259 measurement Methods 0.000 claims description 39
- 238000004891 communication Methods 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 2
- 239000013598 vector Substances 0.000 description 38
- 230000008569 process Effects 0.000 description 19
- 238000013519 translation Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 239000011159 matrix material Substances 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 6
- 230000004807 localization Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23406—Programmer device, portable, handheld detachable programmer
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/259,947 US8138938B2 (en) | 2008-10-28 | 2008-10-28 | Hand-held positioning interface for spatial query |
| US12/259,947 | 2008-10-28 | ||
| PCT/US2009/062441 WO2010053809A1 (en) | 2008-10-28 | 2009-10-28 | Hand-held positioning interface for spatial query |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2012507011A JP2012507011A (ja) | 2012-03-22 |
| JP2012507011A5 JP2012507011A5 (enExample) | 2012-10-04 |
| JP5722224B2 true JP5722224B2 (ja) | 2015-05-20 |
Family
ID=41665019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2011533437A Active JP5722224B2 (ja) | 2008-10-28 | 2009-10-28 | 空間照会のための手持ち型位置決めインタフェース |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US8138938B2 (enExample) |
| EP (1) | EP2350562B1 (enExample) |
| JP (1) | JP5722224B2 (enExample) |
| WO (1) | WO2010053809A1 (enExample) |
Families Citing this family (67)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480061B (zh) * | 2006-06-23 | 2011-07-20 | Nxp股份有限公司 | 多部分设备中的定向感测 |
| US9423250B1 (en) | 2009-12-17 | 2016-08-23 | The Boeing Company | Position measurement correction using loop-closure and movement data |
| US8279412B2 (en) * | 2009-12-17 | 2012-10-02 | The Boeing Company | Position and orientation determination using movement data |
| US9149929B2 (en) | 2010-05-26 | 2015-10-06 | The Boeing Company | Methods and systems for inspection sensor placement |
| US20120120230A1 (en) * | 2010-11-17 | 2012-05-17 | Utah State University | Apparatus and Method for Small Scale Wind Mapping |
| FR2972012B1 (fr) * | 2011-02-25 | 2013-03-15 | Commissariat Energie Atomique | Procede d'assistance au placement d'elements de construction d'un ouvrage de genie civil |
| US8447805B2 (en) | 2011-02-28 | 2013-05-21 | The Boeing Company | Distributed operation of a local positioning system |
| JP5670798B2 (ja) * | 2011-03-30 | 2015-02-18 | フェリカネットワークス株式会社 | 通信端末、通信方法、及びプログラム |
| US8407111B2 (en) * | 2011-03-31 | 2013-03-26 | General Electric Company | Method, system and computer program product for correlating information and location |
| US9273990B1 (en) * | 2011-09-11 | 2016-03-01 | The Boeing Company | Aircraft repair fixture |
| US8768560B2 (en) * | 2011-10-04 | 2014-07-01 | Webtech Wireless Inc. | Method and system for performing calibration of an accelerometer of a telematics device during installation in a vehicle |
| US8556162B2 (en) * | 2011-11-21 | 2013-10-15 | The Boeing Company | Component programming system |
| US9104760B2 (en) | 2011-12-21 | 2015-08-11 | The Boeing Company | Panoptic visualization document database management |
| US9524342B2 (en) | 2011-12-21 | 2016-12-20 | The Boeing Company | Panoptic visualization document navigation |
| US10268761B2 (en) | 2011-12-21 | 2019-04-23 | The Boeing Company | Panoptic visualization document collection |
| US20130238511A1 (en) * | 2012-03-08 | 2013-09-12 | Airbus Operations Sas | System and method for end-of-life processing of an airframe |
| US9495476B2 (en) | 2012-03-23 | 2016-11-15 | The Boeing Company | Panoptic visualization of an illustrated parts catalog |
| US9058681B2 (en) | 2012-06-01 | 2015-06-16 | The Boeing Company | Sensor-enhanced localization in virtual and physical environments |
| US10380469B2 (en) * | 2012-07-18 | 2019-08-13 | The Boeing Company | Method for tracking a device in a landmark-based reference system |
| US10268662B2 (en) | 2012-09-10 | 2019-04-23 | The Boeing Company | Panoptic visualization of a document according to the structure thereof |
| US10275428B2 (en) | 2012-09-25 | 2019-04-30 | The Boeing Company | Panoptic visualization document differencing |
| DE102012217282B4 (de) * | 2012-09-25 | 2023-03-02 | Trimble Jena Gmbh | Verfahren und Vorrichtung zur Zuordnung von Messpunkten zu einem Satz von Festpunkten |
| US10824680B2 (en) | 2012-10-02 | 2020-11-03 | The Boeing Company | Panoptic visualization document access control |
| KR101416364B1 (ko) | 2012-10-15 | 2014-07-08 | 현대자동차 주식회사 | 포인팅 네비게이션 장치 및 방법과, 이를 이용한 개인용 이동체용 포인팅 네비게이션 시스템 |
| US9875220B2 (en) | 2012-11-09 | 2018-01-23 | The Boeing Company | Panoptic visualization document printing |
| US8880340B2 (en) | 2013-01-04 | 2014-11-04 | The Boeing Company | Augmented mobile platform localization |
| US9734625B2 (en) | 2013-01-28 | 2017-08-15 | The Boeing Company | Panoptic visualization of a three-dimensional representation of a complex system |
| US9665557B2 (en) | 2013-01-28 | 2017-05-30 | The Boeing Company | Panoptic visualization of elements of a complex system using localization of a point on a physical instance of the complex system |
| US9858245B2 (en) | 2013-01-28 | 2018-01-02 | The Boeing Company | Panoptic visualization of elements of a complex system using a model viewer |
| US8887993B2 (en) | 2013-04-23 | 2014-11-18 | The Boeing Company | Barcode access to electronic resources for complex system parts |
| US9098593B2 (en) | 2013-04-23 | 2015-08-04 | The Boeing Company | Barcode access to electronic resources for lifecycle tracking of complex system parts |
| FR3005819B1 (fr) * | 2013-05-15 | 2015-05-01 | Thales Sa | Dispositif d'aide a la maintenance et procede de maintenance utilisant un tel dispositif |
| US9430822B2 (en) | 2013-06-14 | 2016-08-30 | Microsoft Technology Licensing, Llc | Mobile imaging platform calibration |
| JP6320000B2 (ja) * | 2013-11-22 | 2018-05-09 | 株式会社日立システムズ | 空間座標測定方法、空間座標測定システム、空間座標測定プログラムおよびレーザポインタ |
| US9355498B2 (en) | 2014-06-19 | 2016-05-31 | The Boeing Company | Viewpoint control of a display of a virtual product in a virtual environment |
| US9841870B2 (en) | 2014-08-21 | 2017-12-12 | The Boeing Company | Integrated visualization and analysis of a complex system |
| US10191997B2 (en) | 2014-08-21 | 2019-01-29 | The Boeing Company | Visualization and diagnostic analysis of interested elements of a complex system |
| US9489597B2 (en) | 2014-08-21 | 2016-11-08 | The Boeing Company | Visualization and analysis of a topical element of a complex system |
| JP6193195B2 (ja) * | 2014-09-17 | 2017-09-06 | 株式会社東芝 | 移動支援装置、方法及びプログラム |
| US20190117128A1 (en) * | 2015-03-19 | 2019-04-25 | Meloq Ab | Method and device for anatomical angle measurement |
| US9924103B2 (en) | 2015-04-09 | 2018-03-20 | The Boeing Company | Automated local positioning system calibration using optically readable markers |
| FR3043815A1 (fr) * | 2015-11-13 | 2017-05-19 | Airbus Operations Sas | Procede d'affichage, sur un dispositif d'affichage mobile embarque dans un vehicule, d'images correspondant a un environnement exterieur dudit vehicule. |
| US9892558B2 (en) | 2016-02-19 | 2018-02-13 | The Boeing Company | Methods for localization using geotagged photographs and three-dimensional visualization |
| US11567201B2 (en) | 2016-03-11 | 2023-01-31 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
| JP6987797B2 (ja) * | 2016-03-11 | 2022-01-05 | カールタ インコーポレイテッド | リアルタイムオンラインエゴモーション推定を有するレーザスキャナ |
| US11573325B2 (en) | 2016-03-11 | 2023-02-07 | Kaarta, Inc. | Systems and methods for improvements in scanning and mapping |
| US10989542B2 (en) | 2016-03-11 | 2021-04-27 | Kaarta, Inc. | Aligning measured signal data with slam localization data and uses thereof |
| US10155596B2 (en) | 2016-06-06 | 2018-12-18 | The Boeing Company | Three-dimensional aircraft inspection system for layout of passenger accommodations |
| US10274924B2 (en) | 2016-06-30 | 2019-04-30 | Sharp Laboratories Of America, Inc. | System and method for docking an actively stabilized platform |
| CN109923852B (zh) * | 2017-01-24 | 2021-09-17 | 深圳市大疆灵眸科技有限公司 | 通过安装在云台上的相机的询问响应方法、系统和介质 |
| CA3059209A1 (en) * | 2017-04-27 | 2018-11-01 | Magic Leap, Inc. | Light-emitting user input device |
| US10627475B2 (en) * | 2017-05-05 | 2020-04-21 | The Boeing Company | Pose estimation using radio frequency identification (RFID) tags |
| DE102017213555A1 (de) | 2017-08-04 | 2019-02-07 | Siemens Aktiengesellschaft | Vorrichtung und Verfahren zum winkelbasierten Lokalisieren einer Position auf einer Oberfläche eines Objekts |
| JP7018286B2 (ja) * | 2017-10-04 | 2022-02-10 | Ihi運搬機械株式会社 | クレーンの吊荷部材誘導システム |
| WO2019099605A1 (en) | 2017-11-17 | 2019-05-23 | Kaarta, Inc. | Methods and systems for geo-referencing mapping systems |
| CN113835437A (zh) * | 2018-01-31 | 2021-12-24 | 深圳市大疆创新科技有限公司 | 可移动平台控制方法及装置 |
| WO2019165194A1 (en) | 2018-02-23 | 2019-08-29 | Kaarta, Inc. | Methods and systems for processing and colorizing point clouds and meshes |
| EP4212222B1 (en) | 2018-03-07 | 2025-07-09 | Magic Leap, Inc. | Visual tracking of peripheral devices |
| WO2019195270A1 (en) | 2018-04-03 | 2019-10-10 | Kaarta, Inc. | Methods and systems for real or near real-time point cloud map data confidence evaluation |
| WO2019236588A1 (en) | 2018-06-04 | 2019-12-12 | The Research Foundation For The State University Of New York | System and method associated with expedient determination of location of one or more object(s) within a bounded perimeter of 3d space based on mapping and navigation to a precise poi destination using a smart laser pointer device |
| US10800550B2 (en) | 2018-06-21 | 2020-10-13 | The Boeing Company | Positioning enhancements to localization process for three-dimensional visualization |
| US11094221B2 (en) * | 2018-06-21 | 2021-08-17 | University Of Utah Research Foundation | Visual guidance system and method for posing a physical object in three dimensional space |
| WO2020009826A1 (en) | 2018-07-05 | 2020-01-09 | Kaarta, Inc. | Methods and systems for auto-leveling of point clouds and 3d models |
| EP3623996B1 (en) * | 2018-09-12 | 2025-10-01 | Aptiv Technologies AG | Method for determining a coordinate of a feature point of an object in a 3d space |
| CN109461295B (zh) * | 2018-12-07 | 2021-06-11 | 连尚(新昌)网络科技有限公司 | 一种家居报警方法及设备 |
| US11029369B1 (en) * | 2019-01-26 | 2021-06-08 | Alken Inc. | Self-leveling magnetic source |
| US10929670B1 (en) | 2019-10-21 | 2021-02-23 | The Boeing Company | Marker-to-model location pairing and registration for augmented reality applications |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5942410A (ja) * | 1982-09-02 | 1984-03-09 | Nec Corp | 自己位置算出法 |
| US4806936A (en) * | 1986-06-20 | 1989-02-21 | Hughes Aircraft Company | Method of determining the position of multiple targets using bearing-only sensors |
| US5150310A (en) * | 1989-08-30 | 1992-09-22 | Consolve, Inc. | Method and apparatus for position detection |
| JP3274290B2 (ja) * | 1994-09-19 | 2002-04-15 | 三菱電機株式会社 | 映像表示装置及び映像表示システム |
| JPH10274526A (ja) * | 1997-03-31 | 1998-10-13 | Taisei Corp | 位置座標検出装置及びこれを備えた測量装置 |
| FR2770317B1 (fr) * | 1997-10-24 | 2000-12-08 | Commissariat Energie Atomique | Procede d'etalonnage de la position et de l'orientation d'origine d'une ou plusieurs cameras mobiles et son application a la mesure de position tridimentionnelle d'objets fixes |
| US6671058B1 (en) * | 1998-03-23 | 2003-12-30 | Leica Geosystems Ag | Method for determining the position and rotational position of an object |
| GB2353659A (en) | 1998-05-15 | 2001-02-28 | Tricorder Technology Plc | Method and apparatus for 3D representation |
| BE1014137A6 (nl) * | 2001-04-24 | 2003-05-06 | Krypton Electronic Eng Nv | Werkwijze en inrichting voor de verificatie en identificatie van een meetinrichting. |
| EP1447644A1 (en) * | 2003-02-14 | 2004-08-18 | Metronor ASA | Measurement of spatial coordinates |
| JP4002211B2 (ja) * | 2003-05-23 | 2007-10-31 | 三菱電機株式会社 | 現場作業支援装置 |
| US20070010925A1 (en) * | 2003-09-02 | 2007-01-11 | Komatsu Ltd. | Construction target indicator device |
| DE10359415A1 (de) * | 2003-12-16 | 2005-07-14 | Trimble Jena Gmbh | Verfahren zur Kalibrierung eines Vermessungsgeräts |
| JP2005326275A (ja) * | 2004-05-14 | 2005-11-24 | Canon Inc | 情報処理方法および装置 |
| JP2006155195A (ja) * | 2004-11-29 | 2006-06-15 | Yaskawa Electric Corp | 移動体の自己位置同定装置および移動体の自己位置同定方法 |
| EP1669776A1 (de) * | 2004-12-11 | 2006-06-14 | Leica Geosystems AG | Handhaltbares Vermessungsgerät und Vermessungsverfahren für ein solches Vermessungsgerät |
| JP2008261755A (ja) | 2007-04-12 | 2008-10-30 | Canon Inc | 情報処理装置、情報処理方法 |
| US8044991B2 (en) * | 2007-09-28 | 2011-10-25 | The Boeing Company | Local positioning system and method |
| US7859655B2 (en) * | 2007-09-28 | 2010-12-28 | The Boeing Company | Method involving a pointing instrument and a target object |
| US20100225498A1 (en) * | 2009-03-05 | 2010-09-09 | Searete Llc, A Limited Liability Corporation | Postural information system and method |
-
2008
- 2008-10-28 US US12/259,947 patent/US8138938B2/en active Active
-
2009
- 2009-10-28 EP EP09752947.3A patent/EP2350562B1/en active Active
- 2009-10-28 WO PCT/US2009/062441 patent/WO2010053809A1/en not_active Ceased
- 2009-10-28 JP JP2011533437A patent/JP5722224B2/ja active Active
Also Published As
| Publication number | Publication date |
|---|---|
| WO2010053809A1 (en) | 2010-05-14 |
| US8138938B2 (en) | 2012-03-20 |
| EP2350562B1 (en) | 2018-09-26 |
| EP2350562A1 (en) | 2011-08-03 |
| US20100102980A1 (en) | 2010-04-29 |
| JP2012507011A (ja) | 2012-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5722224B2 (ja) | 空間照会のための手持ち型位置決めインタフェース | |
| US11035659B2 (en) | Inertial dimensional metrology | |
| US10665012B2 (en) | Augmented reality camera for use with 3D metrology equipment in forming 3D images from 2D camera images | |
| EP2869024B1 (en) | Three-dimensional measuring method and surveying system | |
| EP2576156B1 (en) | Methods and systems for inspection sensor placement | |
| US8060344B2 (en) | Method and system for automatically performing a study of a multidimensional space | |
| US10310054B2 (en) | Relative object localization process for local positioning system | |
| AU2012241778B2 (en) | Measuring system and method for determining new points | |
| EP1071369A1 (en) | Motion tracking system | |
| JP6823482B2 (ja) | 三次元位置計測システム,三次元位置計測方法,および計測モジュール | |
| JPH0328714A (ja) | 走査型センサ用測定および制御システム | |
| CN110095659B (zh) | 深空探测巡视器通讯天线指向精度动态测试方法 | |
| CN103033182B (zh) | 确定第三目标的定位机构 | |
| CN113384347A (zh) | 一种机器人标定方法、装置、设备及存储介质 | |
| Blissing | Tracking techniques for automotive virtual reality | |
| Chen et al. | A robust optical/inertial data fusion system for motion tracking of the robot manipulator | |
| US12135381B2 (en) | Precision positioning and pointing instrument | |
| WO2019085526A1 (zh) | 面向三维空间的定位校正方法、组合定位方法及其设备 | |
| CN110388916A (zh) | 面向三维空间的组合定位方法及其系统 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120820 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20120820 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20130620 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130702 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130930 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20140610 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140903 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20150224 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20150325 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 5722224 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |