CN113865504B - Method for improving tire section scanning image precision - Google Patents
Method for improving tire section scanning image precision Download PDFInfo
- Publication number
- CN113865504B CN113865504B CN202111008463.9A CN202111008463A CN113865504B CN 113865504 B CN113865504 B CN 113865504B CN 202111008463 A CN202111008463 A CN 202111008463A CN 113865504 B CN113865504 B CN 113865504B
- Authority
- CN
- China
- Prior art keywords
- tire
- dimensional
- section
- model
- rotation center
- 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 title claims abstract description 26
- 238000005520 cutting process Methods 0.000 claims abstract description 21
- 239000007787 solid Substances 0.000 claims abstract description 20
- 238000004519 manufacturing process Methods 0.000 claims description 5
- 239000011324 bead Substances 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 238000010146 3D printing Methods 0.000 claims description 3
- 238000003698 laser cutting Methods 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 238000010187 selection method Methods 0.000 claims 1
- 238000004458 analytical method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
Classifications
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method for improving the precision of tire section scanning images, which comprises the steps of extracting tire contour lines; deleting to obtain an inner contour line; obtaining a symmetrical clamp pattern which becomes a closed clamp; rotating to generate a three-dimensional figure; establishing a parallel plane cutting three-dimensional model with the same height as the real section according to the thickness of the real tire section, wherein one of the three-dimensional models passes through the tire rotation center; dividing into a plurality of equal-thickness models and symmetrically obtaining a fixture three-dimensional model along a symmetry plane; recording the distance between the upper vertex and the lower vertex on the surface symmetry line of the three-dimensional model passing through and not passing through the rotation center to calculate Sn; and selecting a solid model according to the type of the tire section to fix and scan, and scaling the scanned image according to Sn ratio along the direction vertical to the rotation axis of the tire. By means of the method, the cutting surface scanning image which does not pass through the tire rotation center is restored to the standard cutting surface scanning image which passes through the tire rotation center, and the reality of the tire section scanning image is effectively improved.
Description
Technical Field
The invention relates to the field of tire structure analysis, in particular to a method for improving the accuracy of tire section scanning images.
Background
Analyzing the tire section is an important means in tire analysis, the structure in the tire and the size of each part can be known through tire section measurement and analysis, the failed tire is analyzed, the failure reason is searched, the product quality is improved, and the product condition of competitors is analyzed.
The tyre section is cut from the finished tyre, and two problems occur after cutting: the first is that the tire section profile is greatly different from the tire section profile in design due to the release of internal stress; the second is that since the tire cutting surface does not necessarily pass through the tire rotation center, when one cutting surface passes through the tire rotation center during the tire cutting process, the cutting surface is accurate, but in general, both cutting surfaces do not pass through the tire rotation center, as in the cutting method shown in fig. 1, if the analysis is performed according to the section passing through the tire center, the larger the analysis result is, the larger the tire is, and the larger the error is.
Through searching, the invention patent with publication number of CN 111795645A: an accurate tire section binding method discloses a tire section fixing method, wherein a binding plate is used for completely binding a tire section, so that the consistency of the tire section profile and the finished tire section profile during detection is ensured, the tire section detection precision is improved, but the situation that the section size of a tire which does not pass through the center of the tire is inconsistent with the section size of a tire which passes through the center of the tire is not considered in the patent.
Disclosure of Invention
The invention mainly solves the technical problem of providing a method for improving the precision of the tire section scanning image, which can restore the cutting surface scanning image which does not pass through the tire rotation center to the standard cutting surface scanning image which passes through the tire rotation center, thereby effectively improving the authenticity of the tire section scanning image.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a method of improving the accuracy of a tire section scan image, the method of improving the accuracy of a tire section scan image comprising:
the first step: extracting a tire contour line according to a tire design drawing;
and a second step of: importing the tire contour line obtained in the first step into three-dimensional software, deleting the contour line on the outer side, and only reserving the inner contour line;
thirdly, supplementing the inner contour line obtained in the second step to form a symmetrical closed clamp pattern with strength;
fourth step: rotating the clamp graph obtained in the third step by 360 degrees by taking the rotation center of the tire design as a rotation axis, so as to generate a three-dimensional graph;
fifth step: establishing two parallel planes according to the thickness of the real tire section to divide a three-dimensional model with the same height as the real section, wherein one of the two parallel planes is a plane passing through the rotation center of the tire;
sixth step: dividing the three-dimensional model obtained in the fifth step into a plurality of equal-thickness models by using a plane parallel to the cutting surface, and symmetrically arranging each equal-thickness model along the symmetry plane to obtain a closed clamp three-dimensional model;
seventh step: in all the three-dimensional clamp models obtained in the sixth step, a three-dimensional clamp model passing through the tire rotation center is found, the distance between the upper vertex and the lower vertex on the symmetrical line of the surface of the three-dimensional clamp model passing through the rotation center is recorded, the distance is recorded as a standard length L0, the other three-dimensional clamp models are also measured and recorded according to the mode, the distance between the corresponding points of the tangent plane of the nth three-dimensional clamp model is recorded as Ln, and the reduction multiple of the cutting plane passing through the rotation center relative to other cutting planes is obtained through L0/Ln and recorded as Sn;
eighth step: manufacturing solid models of all the fixture three-dimensional models obtained in the sixth step;
ninth step: and selecting a corresponding solid model according to the type of the tire section, fixing, scanning the fixed side, and scaling the scanned image along the direction vertical to the rotation axis of the tire, wherein the scaling is the Sn value corresponding to the selected solid model, so that the high-precision section scanning image of the tire is finished.
Preferably, in the first step, the tire contour line is extracted according to the tire design drawing, and when the tire is in a center symmetrical circle, the half tire contour line is extracted; when the tire is of a non-centrosymmetric circular shape, the full tire contour line needs to be extracted, and in this case, the seventh step is not required to be symmetrically arranged along the symmetry plane.
Preferably, the inner profile obtained in the above second step includes an inner line and a bottom line, the bottom line being offset downward by a correction distance, the rightmost end of the bottom line being tangent to the original profile, the correction distance being obtained as follows,
let the minimum radius of rotation of a point on the tire be R 1 The maximum rotation radius is R 2 The length of the section passing through the center of the circle is R 2 -R 1 Let the cut section length be L 1 The thickness of the cut tire section is H 1 The maximum value of the cut tire section length is:the distance calculation formula to be moved is L 1 -(R 2 -R 1 )。
Preferably, equidistant grooves are formed on each model with equal thickness obtained in the sixth step along the symmetry plane, so as to facilitate measurement.
Preferably, the standard length L0 or Ln or Sn in the seventh step is measured by three-dimensional software.
Preferably, the solid model making in the eighth step is performed by 3D printing or laser cutting.
Preferably, in the ninth step, the corresponding solid model is selected according to the type of the tire section for fixing, and the selecting method is to measure an angle formed by the intersection of the surface which does not pass through the rotation center and the rotation cambered surface of the tire bead, and select the solid model of the corresponding fixture according to the angle.
Preferably, the zooming of the scanned image in the direction perpendicular to the tire rotation axis in the ninth step is accomplished by Photoshop or other image editing software.
The beneficial effects of the invention are as follows: the method for improving the image precision of the tire section scan provided by the invention aims at solving the problem that the tire section without passing through the tire center has a certain difference with the original section in the prior art, and solves the problem that the tire section without passing through the tire rotation center cannot be accurately fixed by the prior art method.
Drawings
FIG. 1 is a schematic view of a prior art cut in which neither of the two cuts passes through the center of rotation of the tire;
FIG. 2 is a schematic drawing of the tire contour line extracted from the design drawing of the tire in a first step of the present invention;
FIG. 3 is a view of the position of the inner contour line remaining in the second step of the present invention on the original tire contour line;
FIG. 4 is a schematic view of the inner profile extracted in the second step of the present invention;
FIG. 5 is a schematic view showing the calculation of the correction amount distance for the downward shift of the bottom side line in the second step of the present invention;
FIG. 6 is a closed clamp pattern with strength after symmetry obtained in the third step of the invention;
FIG. 7 is a schematic view of a three-dimensional figure generated after 360 degrees of rotation by taking the rotation center of the tire design as a rotation axis in the fourth step of the invention;
FIG. 8 is a schematic view of a three-dimensional model of the present invention in a fifth step of establishing two parallel surface cuts according to the thickness of a real tire section to divide the same height as the real section;
FIG. 9 is a schematic view of a closed jig three-dimensional model obtained after the sixth step medium thickness model of the present invention is symmetrical along the symmetry plane;
FIG. 10 is a schematic diagram of the structure of the grooves with equal spacing along the symmetry plane on the obtained model with equal thickness in the sixth step of the present invention;
FIG. 11 is a schematic illustration of the labeling of the distances between the upper and lower vertices on the symmetry line of the surface of the three-dimensional model of the fixture passing through the center of rotation in the seventh step of the present invention;
FIG. 12 is a schematic view showing the angle formed by the intersection of the surface not passing through the center of rotation and the rotational camber of the bead of the tire measured in the ninth step of the present invention;
FIG. 13 is a schematic illustration of the present invention for selecting a corresponding jig solid model for anchoring based on the type of tire section;
Detailed Description
The following detailed description of the preferred embodiments of the invention is provided to enable those skilled in the art to more readily understand the advantages and features of the invention and to make a clear and concise definition of the scope of the invention.
Examples:
a method for improving the accuracy of a tire cross-section scan image, comprising the steps of:
as shown in fig. 2, the first step is: extracting a tire contour line according to a tire design drawing, and extracting a half tire contour line when the tire is in a central symmetry circular shape; this is less common when the tire is of a non-centrosymmetric circular shape, where it is desired to extract the full tire contour, the extraction of the tire contour in this step may be performed by cad software.
As shown in fig. 3 and 4, the second step: introducing the tire contour line obtained in the first step into three-dimensional software, deleting the contour line on the outer side of the tire, only reserving the inner contour line, and then manufacturing a positioning clamp according to the inner contour line;
as shown in fig. 3, 4 and 5, the inner profile obtained as described above includes an inner line and a bottom line, the bottom line being offset downward by a correction distance, the rightmost end of the bottom line being tangent to the original profile, the correction distance being obtained as follows,
let the minimum radius of rotation of a point on the tire be R 1 The maximum rotation radius is R 2 The length of the section passing through the center of the circle is R 2 -R 1 Let the cut section length be L 1 The thickness of the cut tire section is H 1 The maximum value of the cut tire section length is:the distance calculation formula to be moved is L 1 -(R 2 -R 1 )。
And a third step, as shown in fig. 6, of supplementing the internal contour obtained in the second step to form a symmetrical closed clamp pattern with strength.
As shown in fig. 7, the fourth step: and (3) rotating the clamp pattern obtained in the third step by 360 degrees by taking the rotation center of the tire design as a rotation axis, so as to generate a three-dimensional pattern.
As shown in fig. 8, the fifth step: and (3) establishing two parallel planes according to the thickness of the real tire section to divide a three-dimensional model with the same height as the real section, wherein one of the two parallel planes is a plane passing through the rotation center of the tire.
As shown in fig. 9, the sixth step: dividing the three-dimensional model obtained in the fifth step into a plurality of equal thickness models by using a plane parallel to the cutting surface, and obtaining each equal thickness model to be symmetrical along the symmetry plane to obtain a closed clamp three-dimensional model; when the tire is of a non-centrosymmetric circular shape, the previously extracted full tire contour lines need not be symmetrically disposed along the plane of symmetry.
For ease of measurement, equidistant grooves are made along the symmetry plane on each of the obtained equal thickness models, as shown in fig. 10.
As shown in fig. 11, seventh step: in the three-dimensional models of all clamps obtained in the sixth step, the three-dimensional model of the clamp passing through the rotation center of the tire is found, the distance between the upper and lower vertexes on the symmetry line of the surface of the three-dimensional model of the clamp passing through the rotation center is recorded, the distance is recorded as a standard length L0, the other three-dimensional models of the clamp are also measured and recorded according to the mode, the distance between the corresponding points of the tangent plane of the nth three-dimensional model of the clamp is recorded as Ln, the multiple of the reduction of the cutting surface passing through the rotation center relative to other cutting surfaces is obtained through L0/Ln, and the standard length L0 or Ln or Sn is recorded as Sn in the step which is realized through the mode of three-dimensional software measurement.
Eighth step: and (3) manufacturing solid models of all the fixture three-dimensional models obtained in the sixth step, wherein the solid model manufacturing is performed by a 3D printing or laser cutting mode.
As shown in fig. 12, a ninth step: the corresponding solid model is selected for fixing according to the type of the tire section, the selected method is to measure the angle formed by the intersection of the surface which does not pass through the rotation center and the rotation cambered surface of the tire bead, the angle can be measured by a triangular ruler or other measuring tools, and then the solid model of the corresponding clamp is selected according to the measured angle.
As shown in fig. 13, after the tire cross section is fixed on the solid model of the fixture, the fixed side is scanned, and the scanned image is scaled in the direction perpendicular to the tire rotation axis by Photoshop or other image editing tools, and the scaling is the Sn value corresponding to the selected solid model.
To this end, the high-precision cross-sectional scan image of the tire has been completed.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (8)
1. A method for improving the accuracy of a tire cross-section scanned image, the method comprising:
the first step: extracting a tire contour line according to a tire design drawing;
and a second step of: importing the tire contour line obtained in the first step into three-dimensional software, deleting the contour line on the outer side, and only reserving the inner contour line;
thirdly, supplementing the inner contour line obtained in the second step to form a symmetrical closed clamp pattern with strength;
fourth step: rotating the clamp graph obtained in the third step by 360 degrees by taking the rotation center of the tire design as a rotation axis, so as to generate a three-dimensional graph;
fifth step: establishing two parallel planes according to the thickness of the real tire section to divide a three-dimensional model with the same height as the real section, wherein one of the two parallel planes is a plane passing through the rotation center of the tire;
sixth step: dividing the three-dimensional model obtained in the fifth step into a plurality of equal-thickness models by using a plane parallel to the cutting surface, and symmetrically arranging each equal-thickness model along the symmetry plane to obtain a closed clamp three-dimensional model;
seventh step: in all the three-dimensional clamp models obtained in the sixth step, a three-dimensional clamp model passing through the tire rotation center is found, the distance between the upper vertex and the lower vertex on the symmetrical line of the surface of the three-dimensional clamp model passing through the rotation center is recorded, the distance is recorded as a standard length L0, the other three-dimensional clamp models are also measured and recorded according to the mode, the distance between the corresponding points of the tangent plane of the nth three-dimensional clamp model is recorded as Ln, and the reduction multiple of the cutting plane passing through the rotation center relative to other cutting planes is obtained through L0/Ln and recorded as Sn;
eighth step: manufacturing solid models of all the fixture three-dimensional models obtained in the sixth step;
ninth step: and selecting a corresponding solid model according to the type of the tire section, fixing, scanning the fixed side, and scaling the scanned image along the direction vertical to the rotation axis of the tire, wherein the scaling is the Sn value corresponding to the selected solid model, so that the high-precision section scanning image of the tire is finished.
2. A method of improving the accuracy of a tire cross-sectional scan image as in claim 1, wherein: extracting a tire contour line according to a tire design drawing in the first step, and extracting a half tire contour line when the tire is in a center symmetrical circular shape; when the tire is of a non-centrosymmetric circular shape, the full tire contour line needs to be extracted, and in this case, the seventh step is not required to be symmetrically arranged along the symmetry plane.
3. A method of improving the accuracy of a tire cross-sectional scan image as in claim 1, wherein: the inner profile obtained in the above second step includes an inner line and a bottom line, the bottom line being offset downward by a correction distance, the rightmost end of the bottom line being tangent to the original profile, the correction distance being obtained as follows,
let the minimum radius of rotation of a point on the tire be R 1 The maximum rotation radius is R 2 The length of the section passing through the center of the circle is R 2 -R 1 Let the cut section length be L 1 Thickness of cut tire sectionIs H 1 The maximum value of the cut tire section length is:the distance calculation formula to be moved is L 1 -(R 2 -R 1 )。
4. A method of improving the accuracy of a tire cross-sectional scan image as in claim 1, wherein: and (3) making equidistant grooves along the symmetrical plane on each model with equal thickness obtained in the sixth step, so that the measurement is convenient.
5. A method of improving the accuracy of a tire cross-sectional scan image as in claim 1, wherein: the standard length L0 or Ln or Sn in the seventh step is realized by three-dimensional software measurement.
6. A method of improving the accuracy of a tire cross-sectional scan image as in claim 1, wherein: the solid model making in the eighth step is performed by 3D printing or laser cutting.
7. A method of improving the accuracy of a tire cross-sectional scan image as in claim 1, wherein: and in the ninth step, the corresponding solid model is selected according to the type of the tire section for fixing, wherein the selection method is to measure the angle formed by the intersection of the surface which does not pass through the rotation center and the rotation cambered surface of the tire bead, and the solid model of the corresponding clamp is selected according to the angle.
8. A method of improving the accuracy of a tire cross-sectional scan image as in claim 1, wherein: scaling of the scanned image in the ninth step in a direction perpendicular to the axis of rotation of the tire is accomplished by Photoshop or other image editing software.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111008463.9A CN113865504B (en) | 2021-08-31 | 2021-08-31 | Method for improving tire section scanning image precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111008463.9A CN113865504B (en) | 2021-08-31 | 2021-08-31 | Method for improving tire section scanning image precision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113865504A CN113865504A (en) | 2021-12-31 |
| CN113865504B true CN113865504B (en) | 2024-03-26 |
Family
ID=78988773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111008463.9A Active CN113865504B (en) | 2021-08-31 | 2021-08-31 | Method for improving tire section scanning image precision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113865504B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07174528A (en) * | 1993-12-20 | 1995-07-14 | Yokohama Rubber Co Ltd:The | Measurement method for cross sectional shape of tire |
| KR20080079522A (en) * | 2007-02-27 | 2008-09-01 | 금호타이어 주식회사 | Sidewall section profile measuring equipment for tire |
| CN202074950U (en) * | 2011-05-19 | 2011-12-14 | 广州华工百川科技股份有限公司 | Tyre section fixture for tyre section structure surveying and mapping instrument |
| CN102305599A (en) * | 2011-05-19 | 2012-01-04 | 广州华工百川科技股份有限公司 | Tire section structure surveying instrument and method |
| CN204893757U (en) * | 2015-07-07 | 2015-12-23 | 风神轮胎股份有限公司 | Tire section instrument for assay |
| CN106769112A (en) * | 2017-02-04 | 2017-05-31 | 哈尔滨工大泰铭科技有限公司 | The one reverse restoring method of meridian line tyre structure |
| CN111795645A (en) * | 2020-07-17 | 2020-10-20 | 山东玲珑轮胎股份有限公司 | Accurate tire section binding method |
-
2021
- 2021-08-31 CN CN202111008463.9A patent/CN113865504B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07174528A (en) * | 1993-12-20 | 1995-07-14 | Yokohama Rubber Co Ltd:The | Measurement method for cross sectional shape of tire |
| KR20080079522A (en) * | 2007-02-27 | 2008-09-01 | 금호타이어 주식회사 | Sidewall section profile measuring equipment for tire |
| CN202074950U (en) * | 2011-05-19 | 2011-12-14 | 广州华工百川科技股份有限公司 | Tyre section fixture for tyre section structure surveying and mapping instrument |
| CN102305599A (en) * | 2011-05-19 | 2012-01-04 | 广州华工百川科技股份有限公司 | Tire section structure surveying instrument and method |
| CN204893757U (en) * | 2015-07-07 | 2015-12-23 | 风神轮胎股份有限公司 | Tire section instrument for assay |
| CN106769112A (en) * | 2017-02-04 | 2017-05-31 | 哈尔滨工大泰铭科技有限公司 | The one reverse restoring method of meridian line tyre structure |
| CN111795645A (en) * | 2020-07-17 | 2020-10-20 | 山东玲珑轮胎股份有限公司 | Accurate tire section binding method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113865504A (en) | 2021-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103453849B (en) | The complex curved surface parts method for three-dimensional measurement that many optical sensors are collaborative and system | |
| CN101611291B (en) | Method and system for measuring an object | |
| CN102135417A (en) | Full-automatic three-dimension characteristic extracting method | |
| CN109916935B (en) | Micro-channel cross section geometric dimension measuring method based on three-dimensional reconstruction model | |
| Di Angelo et al. | Automatic dimensional characterisation of pottery | |
| CN110686605B (en) | Non-contact composite part thickness measuring method | |
| US7720649B2 (en) | Reverse engineering method for disk and blade attachments | |
| CN114608461B (en) | Laser scanning measurement method for non-uniform wall thickness parts | |
| CN113192116A (en) | Aviation blade thickness parameter measuring method based on structured light camera | |
| CN111795645A (en) | Accurate tire section binding method | |
| CN110940299A (en) | Method for measuring three-dimensional roughness of concrete surface | |
| CN113865504B (en) | Method for improving tire section scanning image precision | |
| JP6064871B2 (en) | Thickness measurement method | |
| CN115033999A (en) | Turbine disc inclined tenon groove contour dimension scanning detection and three-dimensional evaluation method and device | |
| CN110567376B (en) | Turbine disc mortise detection method | |
| WO2023077856A1 (en) | Method and system for measuring undeformed chip thickness in micro milling | |
| CN112347585B (en) | Analytical calculation method for contact area between ball end mill and workpiece | |
| CN114417524A (en) | Method for analyzing dimensional accuracy and visualizing AR (augmented reality) based on point cloud thin-wall cylinder | |
| JP4703907B2 (en) | Object surface grid generation method | |
| JP4007857B2 (en) | Functional quality inspection method using 3D solid model | |
| CN117853419B (en) | Cold-formed steel geometric defect detection method based on machine vision | |
| CN115824070B (en) | Rail part size measurement method and device | |
| CN109839077A (en) | A kind of microcosmic heterogeneous structure three-dimensional modeling measuring device based on profiled outline sequence | |
| CN113758458B (en) | Surface shape measuring method of toric mirror | |
| Yue et al. | Application of 3D optical measurement system on quality inspection of turbine blade |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |