CN104655097A - 激光测距传感器及其测距方法 - Google Patents
激光测距传感器及其测距方法 Download PDFInfo
- Publication number
- CN104655097A CN104655097A CN201310591303.0A CN201310591303A CN104655097A CN 104655097 A CN104655097 A CN 104655097A CN 201310591303 A CN201310591303 A CN 201310591303A CN 104655097 A CN104655097 A CN 104655097A
- Authority
- CN
- China
- Prior art keywords
- code
- disc
- motor
- tooth
- range finding
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound 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 claims description 14
- 238000012360 testing method Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 230000007306 turnover Effects 0.000 claims description 4
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Transform (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (10)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310591303.0A CN104655097B (zh) | 2013-11-21 | 2013-11-21 | 激光测距传感器及其测距方法 |
US15/038,328 US10175357B2 (en) | 2013-11-21 | 2014-11-21 | Laser range finding sensor and range finding method thereof |
DE112014005337.6T DE112014005337B4 (de) | 2013-11-21 | 2014-11-21 | Laser-Entfernungsmessungs-Sensor und Entfernungsmessungs-Verfahren dafür |
JP2016532035A JP6691650B2 (ja) | 2013-11-21 | 2014-11-21 | レーザー距離測定センサーおよびその距離測定方法 |
PCT/CN2014/091848 WO2015074594A1 (zh) | 2013-11-21 | 2014-11-21 | 激光测距传感器及其测距方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310591303.0A CN104655097B (zh) | 2013-11-21 | 2013-11-21 | 激光测距传感器及其测距方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104655097A true CN104655097A (zh) | 2015-05-27 |
CN104655097B CN104655097B (zh) | 2017-04-19 |
Family
ID=53178977
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310591303.0A Active CN104655097B (zh) | 2013-11-21 | 2013-11-21 | 激光测距传感器及其测距方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10175357B2 (zh) |
JP (1) | JP6691650B2 (zh) |
CN (1) | CN104655097B (zh) |
DE (1) | DE112014005337B4 (zh) |
WO (1) | WO2015074594A1 (zh) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105988120A (zh) * | 2015-12-30 | 2016-10-05 | 小米科技有限责任公司 | 激光测距设备及自动清洁设备 |
CN106154815A (zh) * | 2016-07-27 | 2016-11-23 | 哈尔滨睿之芯信息技术股份有限公司 | 用于测距领域的高精度时间测控*** |
CN107462881A (zh) * | 2017-07-21 | 2017-12-12 | 北京航空航天大学 | 一种激光测距传感器标定方法 |
CN108700404A (zh) * | 2016-02-23 | 2018-10-23 | 威世半导体有限公司 | 光电装置 |
CN109737015A (zh) * | 2019-01-23 | 2019-05-10 | 内蒙古工业大学 | 水平轴复合材料风力机叶片力学性能实验测试装置 |
US10408938B2 (en) | 2016-08-29 | 2019-09-10 | Benewake (Beijing) Tech. Co, Ltd. | Fast scan detection method |
CN111175722A (zh) * | 2020-01-20 | 2020-05-19 | 北京电子工程总体研究所 | 一种基于激光自混合技术的自动测距测量***及方法 |
CN111486811A (zh) * | 2019-01-25 | 2020-08-04 | 科沃斯机器人股份有限公司 | 测距模组及其测距方法与清洁机器人 |
CN112236649A (zh) * | 2019-11-04 | 2021-01-15 | 深圳市大疆创新科技有限公司 | 传感器、可移动平台及微波雷达传感器 |
WO2022213401A1 (zh) * | 2021-04-07 | 2022-10-13 | 深圳市欢创科技有限公司 | 距离测量装置和扫地机器人 |
WO2023134154A1 (zh) * | 2022-01-11 | 2023-07-20 | 北京石头世纪科技股份有限公司 | 自动清洁设备 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10042042B2 (en) * | 2015-06-12 | 2018-08-07 | Aero Vironment, Inc. | Rotating lidar |
CN105388468A (zh) * | 2015-10-29 | 2016-03-09 | 番禺得意精密电子工业有限公司 | 镭射检测装置的扫描方法 |
CN106597461A (zh) * | 2016-12-16 | 2017-04-26 | 西安五湖智联半导体有限公司 | 一种二维扫描测距装置 |
DE102017214702B4 (de) | 2017-08-23 | 2022-08-11 | Robert Bosch Gmbh | LIDAR-Vorrichtung zur optischen Erfassung eines Sichtfeldes |
US11340336B2 (en) | 2017-12-07 | 2022-05-24 | Ouster, Inc. | Rotating light ranging system with optical communication uplink and downlink channels |
CN113043263B (zh) * | 2019-12-26 | 2022-07-26 | 沈阳新松机器人自动化股份有限公司 | 一种机器人的标定工件 |
Family Cites Families (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0619845B2 (ja) * | 1986-09-26 | 1994-03-16 | ティアツク株式会社 | デイスク変動状態検出装置 |
JPH07100646B2 (ja) * | 1987-07-09 | 1995-11-01 | 株式会社コーセー | ネイルエナメルドライヤ− |
JP3017382B2 (ja) * | 1993-11-11 | 2000-03-06 | 富士通株式会社 | 光ディスク装置 |
JPH0732516U (ja) * | 1993-11-15 | 1995-06-16 | ティアック株式会社 | インデックスパルス生成装置 |
US5835459A (en) * | 1995-10-24 | 1998-11-10 | Kabushiki Kaisha Toshiba | Optical disc apparatus for recording and reproducing data onto and from an optical disc with grooves and lands |
US6034803A (en) * | 1997-04-30 | 2000-03-07 | K2 T, Inc. | Method and apparatus for directing energy based range detection sensor |
JP2956657B2 (ja) | 1997-06-17 | 1999-10-04 | 日本電気株式会社 | 距離測定装置 |
US6459483B1 (en) * | 1998-02-10 | 2002-10-01 | Toolz, Ltd. | Level with angle and distance measurement apparatus |
JP2000003522A (ja) * | 1998-06-15 | 2000-01-07 | Fujitsu Ltd | 光ディスク装置 |
US6404710B1 (en) * | 1999-07-09 | 2002-06-11 | Sony Corporation | Position controller and position control method of optical system and recording/reproducing apparatus and driving method thereof |
JP4205343B2 (ja) * | 2002-01-15 | 2009-01-07 | アルプス電気株式会社 | 回転角検出装置 |
JP3817672B2 (ja) | 2002-05-10 | 2006-09-06 | 極東産機株式会社 | 部屋の寸法測定方法 |
JP2005003540A (ja) * | 2003-06-12 | 2005-01-06 | Sharp Corp | 光電式リニアエンコーダの検査方法 |
JP3875665B2 (ja) * | 2003-07-31 | 2007-01-31 | 北陽電機株式会社 | スキャニング型レンジセンサ |
JP2005069975A (ja) * | 2003-08-27 | 2005-03-17 | Ishikawajima Harima Heavy Ind Co Ltd | レーザ距離測定装置 |
JP2008298520A (ja) * | 2007-05-30 | 2008-12-11 | Nec Corp | 走査型距離計測装置 |
US8692979B2 (en) | 2008-01-16 | 2014-04-08 | Koninklijke Philips N.V. | Laser sensor system based on self-mixing interference |
US8059509B2 (en) * | 2008-12-19 | 2011-11-15 | Lite-On It Corporation | Optical disk drive and method for use with an optical disk drive for determining the disk characteristic |
JP5183566B2 (ja) | 2009-05-15 | 2013-04-17 | 三菱電機株式会社 | 回転位置検出装置およびレーザ加工機 |
JP5626770B2 (ja) * | 2010-06-08 | 2014-11-19 | 株式会社Ihiエアロスペース | レーザ距離測定装置 |
WO2012006613A2 (en) * | 2010-07-09 | 2012-01-12 | Tribis Engineering, Inc. | Tribometer |
TWI429881B (zh) * | 2011-03-22 | 2014-03-11 | Weistech Technology Co Ltd | Non - contact power transmission structure of laser ranging device |
JP2013003114A (ja) * | 2011-06-21 | 2013-01-07 | Yamaha Motor Co Ltd | 距離測定装置およびそれを備えた輸送機器 |
TW201348728A (zh) * | 2012-05-18 | 2013-12-01 | Weistech Technology Co Ltd | 雷射測距裝置之光學訊號傳輸結構 |
US8909375B2 (en) * | 2012-05-25 | 2014-12-09 | The United States Of America, As Represented By The Secretary Of The Navy | Nodding mechanism for a single-scan sensor |
CN203249618U (zh) * | 2013-01-08 | 2013-10-23 | 南京农业大学 | 光电测距传感器装置 |
CN203642908U (zh) * | 2013-11-21 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | 激光测距传感器 |
-
2013
- 2013-11-21 CN CN201310591303.0A patent/CN104655097B/zh active Active
-
2014
- 2014-11-21 US US15/038,328 patent/US10175357B2/en active Active
- 2014-11-21 DE DE112014005337.6T patent/DE112014005337B4/de active Active
- 2014-11-21 WO PCT/CN2014/091848 patent/WO2015074594A1/zh active Application Filing
- 2014-11-21 JP JP2016532035A patent/JP6691650B2/ja active Active
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105988120A (zh) * | 2015-12-30 | 2016-10-05 | 小米科技有限责任公司 | 激光测距设备及自动清洁设备 |
US10900816B2 (en) | 2015-12-30 | 2021-01-26 | Xiaomi Inc. | Laser ranging device and automatic cleaning device |
WO2017114117A1 (zh) * | 2015-12-30 | 2017-07-06 | 小米科技有限责任公司 | 激光测距设备及自动清洁设备 |
EA035471B1 (ru) * | 2015-12-30 | 2020-06-22 | Сяоми Инк. | Лазерный дальномер и автоматическое уборочное устройство |
CN108700404A (zh) * | 2016-02-23 | 2018-10-23 | 威世半导体有限公司 | 光电装置 |
CN108700404B (zh) * | 2016-02-23 | 2021-06-01 | 威世半导体有限公司 | 光电装置 |
CN106154815A (zh) * | 2016-07-27 | 2016-11-23 | 哈尔滨睿之芯信息技术股份有限公司 | 用于测距领域的高精度时间测控*** |
US10408938B2 (en) | 2016-08-29 | 2019-09-10 | Benewake (Beijing) Tech. Co, Ltd. | Fast scan detection method |
CN107462881A (zh) * | 2017-07-21 | 2017-12-12 | 北京航空航天大学 | 一种激光测距传感器标定方法 |
CN109737015A (zh) * | 2019-01-23 | 2019-05-10 | 内蒙古工业大学 | 水平轴复合材料风力机叶片力学性能实验测试装置 |
CN111486811A (zh) * | 2019-01-25 | 2020-08-04 | 科沃斯机器人股份有限公司 | 测距模组及其测距方法与清洁机器人 |
CN111486811B (zh) * | 2019-01-25 | 2022-01-18 | 科沃斯机器人股份有限公司 | 测距模组及其测距方法与清洁机器人 |
CN112236649A (zh) * | 2019-11-04 | 2021-01-15 | 深圳市大疆创新科技有限公司 | 传感器、可移动平台及微波雷达传感器 |
CN111175722A (zh) * | 2020-01-20 | 2020-05-19 | 北京电子工程总体研究所 | 一种基于激光自混合技术的自动测距测量***及方法 |
WO2022213401A1 (zh) * | 2021-04-07 | 2022-10-13 | 深圳市欢创科技有限公司 | 距离测量装置和扫地机器人 |
WO2023134154A1 (zh) * | 2022-01-11 | 2023-07-20 | 北京石头世纪科技股份有限公司 | 自动清洁设备 |
Also Published As
Publication number | Publication date |
---|---|
WO2015074594A1 (zh) | 2015-05-28 |
US10175357B2 (en) | 2019-01-08 |
DE112014005337B4 (de) | 2023-01-12 |
CN104655097B (zh) | 2017-04-19 |
JP2017502264A (ja) | 2017-01-19 |
DE112014005337T5 (de) | 2016-08-04 |
JP6691650B2 (ja) | 2020-05-13 |
US20160291158A1 (en) | 2016-10-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104655097A (zh) | 激光测距传感器及其测距方法 | |
US9789489B2 (en) | Method and device for controlling a rotational speed of a drive | |
CN203642908U (zh) | 激光测距传感器 | |
US20200240815A1 (en) | Distance measuring device and method thereof for seeking distance measuring starting point | |
JP6204692B2 (ja) | 位置測定装置および位置測定装置を駆動する方法 | |
JP2020513541A (ja) | 測定システムおよびギアレス風力タービンのステータの測定のための測定方法 | |
JP2015230226A (ja) | レーザスキャナシステム | |
JP2017508153A (ja) | 回転角センサ | |
CN104458762B (zh) | 基于数字光纤传感器的abs齿圈质量检测方法 | |
CN107861111A (zh) | 旋转激光测距传感器 | |
CN107064542A (zh) | 基于磁栅条脉冲信号的风力发电机轴系转速测量方法 | |
CN205404795U (zh) | 一种具有多传感器的光探测与测量雷达 | |
CN102608348A (zh) | 针对不规则脉冲信号测量转速的方法 | |
CN203811190U (zh) | 测距装置 | |
CN105136394B (zh) | 快速处理锅炉风机振动故障的方法及装置 | |
US20220187429A1 (en) | Optical ranging device | |
CN207675935U (zh) | 旋转激光测距传感器 | |
CN108918414A (zh) | 一种检测装置的校准方法、装置、终端设备和介质 | |
CN103063165A (zh) | 光电角度传感器 | |
US20080013081A1 (en) | Set of sensors determining alignment angles, angle measurement system and process of vehicle wheels alignment | |
CN106371056B (zh) | 一种角度自动测量装置 | |
CN104931880A (zh) | 电机转子智能偏摆测试*** | |
CN113014175B (zh) | 振镜电机控制装置及控制方法 | |
CN103213051B (zh) | 内孔直线沟道的在线定位方法 | |
RU177212U1 (ru) | Углоизмерительная машина повышенной точности |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
|
COR | Change of bibliographic data | ||
GR01 | Patent grant | ||
GR01 | Patent grant |