JP2020016577A - 光学系異常を検出する測距装置 - Google Patents
光学系異常を検出する測距装置 Download PDFInfo
- Publication number
- JP2020016577A JP2020016577A JP2018140430A JP2018140430A JP2020016577A JP 2020016577 A JP2020016577 A JP 2020016577A JP 2018140430 A JP2018140430 A JP 2018140430A JP 2018140430 A JP2018140430 A JP 2018140430A JP 2020016577 A JP2020016577 A JP 2020016577A
- Authority
- JP
- Japan
- Prior art keywords
- light
- optical system
- distance measuring
- subject
- distance
- 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
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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
-
- 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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- 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
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
-
- 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
- G01S7/497—Means for monitoring or calibrating
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
-
- 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
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
- G01S2007/4977—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen including means to prevent or remove the obstruction
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)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
11 照射部
12 受光部
13 出力制御部
14 発光・撮像タイミング制御部
15 受光素子
16 増幅部
17 A/D変換部
18 バッファメモリ
19 距離画像生成部
20 バッファメモリ
21 二次元画像生成部
22 光学系異常度検出部
23 不揮発性メモリ
24 警告部
30 距離画像
31 二次元画像
32a−32c 中心部
32d−32g 角部
33 レンズ
34 拡散板
Ab 光学系の異常度
Kρ、Kρ1、KLs0d0、KAb0 基準値
L1 参照光
L2 入射光
O 被写体
Q1〜Q4 受光量
Claims (5)
- 測距光を被写体に照射する照射部と、前記被写体からの反射光を受光する受光部と、を備え、前記測距光と前記反射光との間の位相差に基づき算出した前記被写体までの測距値と前記反射光の光強度とを出力する、測距装置であって、
前記測距値及び前記光強度の関係と基準値との比較により、前記測距装置の光学系の異常度を検出する光学系異常度検出部を備えることを特徴とする測距装置。 - 前記基準値は、前記被写体の反射率を用いて求められる、請求項1に記載の測距装置。
- 前記基準値は、前記測距装置の正常時に取得した前記測距値及び前記光強度の関係を用いて求められる、請求項1に記載の測距装置。
- 前記測距装置が観測する空間に対する、前記受光部の受光量に基づき二次元画像を生成する二次元画像生成部をさらに備え、
前記光学系の異常度は、前記測距値の代わりに、三次元座標の相関が明らかな複数の特徴点を有する前記被写体を撮像した前記二次元画像に基づき算出した前記被写体までの距離を用いて検出される、請求項1から3のいずれか一項に記載の測距装置。 - 前記基準値は、前記被写体とは異なる別被写体を用いて検出した前記光学系の異常度と、前記別被写体と同時に撮像した前記被写体に関する前記測距値及び前記光強度の関係と、を用いて求められる、請求項1から4のいずれか一項に記載の測距装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018140430A JP6813541B2 (ja) | 2018-07-26 | 2018-07-26 | 光学系異常を検出する測距装置 |
US16/420,161 US11525917B2 (en) | 2018-07-26 | 2019-05-23 | Distance measuring apparatus which detects optical system abnormality |
DE102019005060.6A DE102019005060A1 (de) | 2018-07-26 | 2019-07-19 | Abstandsmessvorrichtung, die eine Optisches-System-Abnormalität erkennt |
CN201910667850.XA CN110779681B (zh) | 2018-07-26 | 2019-07-23 | 检测光学***异常的测距装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018140430A JP6813541B2 (ja) | 2018-07-26 | 2018-07-26 | 光学系異常を検出する測距装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020016577A true JP2020016577A (ja) | 2020-01-30 |
JP6813541B2 JP6813541B2 (ja) | 2021-01-13 |
Family
ID=69149158
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018140430A Active JP6813541B2 (ja) | 2018-07-26 | 2018-07-26 | 光学系異常を検出する測距装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11525917B2 (ja) |
JP (1) | JP6813541B2 (ja) |
CN (1) | CN110779681B (ja) |
DE (1) | DE102019005060A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6717887B2 (ja) * | 2018-07-12 | 2020-07-08 | ファナック株式会社 | 距離補正機能を有する測距装置 |
JP7401211B2 (ja) * | 2019-06-25 | 2023-12-19 | ファナック株式会社 | 外光照度測定機能を備えた測距装置及び外光照度測定方法 |
DE102020119116B3 (de) | 2020-07-21 | 2021-12-16 | Daimler Ag | Verfahren zur Detektion von Verunreinigungen einer optischen Sensoranordnung |
DE102020124017A1 (de) | 2020-09-15 | 2022-03-17 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben einer optischen Detektionsvorrichtung, optische Detektionsvorrichtung und Fahrzeug mit wenigstens einer optischen Detektionsvorrichtung |
EP4386431A1 (en) * | 2022-12-15 | 2024-06-19 | Mettler-Toledo GmbH | Method for diagnosing erroneous distance measurement of a laser rangefinder unit, laser rangefinder unit and computer program |
CN115901194B (zh) * | 2023-02-20 | 2023-07-04 | 深圳市华怡丰科技有限公司 | 一种对射型光电传感器的发射器生产检测方法和*** |
Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63236909A (ja) * | 1987-03-25 | 1988-10-03 | Matsushita Electric Ind Co Ltd | 形状測定装置 |
JPH06289134A (ja) * | 1993-04-05 | 1994-10-18 | Mitsubishi Electric Corp | 距離測定装置の汚れ検出装置 |
JPH0815415A (ja) * | 1994-06-28 | 1996-01-19 | Mitsubishi Electric Corp | 距離測定装置 |
JP2003302468A (ja) * | 2002-02-08 | 2003-10-24 | Omron Corp | 測距装置 |
JP2005201868A (ja) * | 2004-01-19 | 2005-07-28 | Toshiba Corp | 画像情報取得装置、画像情報取得方法及び画像情報取得プログラム |
JP2005321319A (ja) * | 2004-05-10 | 2005-11-17 | Fujitsu Ltd | 表面検査装置および表面検査方法 |
JP2009229255A (ja) * | 2008-03-24 | 2009-10-08 | Hokuyo Automatic Co | 走査式測距装置 |
JP2010217077A (ja) * | 2009-03-18 | 2010-09-30 | Japan Aerospace Exploration Agency | 遠隔気流の警報表示方法及びそのシステム |
JP2010230613A (ja) * | 2009-03-30 | 2010-10-14 | Japan Aerospace Exploration Agency | 光学式遠隔気流計測装置 |
JP2011117889A (ja) * | 2009-12-07 | 2011-06-16 | Japan Aerospace Exploration Agency | 航空機搭載用乱気流事故防止装置 |
JP2013073312A (ja) * | 2011-09-27 | 2013-04-22 | Panasonic Corp | 運転支援装置 |
JP2014048139A (ja) * | 2012-08-31 | 2014-03-17 | Alps Electric Co Ltd | 測距装置 |
JP2014074708A (ja) * | 2012-09-14 | 2014-04-24 | Omron Corp | 画像処理装置、オブジェクト検出方法、およびオブジェクト検出プログラム |
JP2014167414A (ja) * | 2013-02-28 | 2014-09-11 | Kiyohara Optics Inc | 物体面検査装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2883948B2 (ja) | 1990-06-25 | 1999-04-19 | 日本電信電話株式会社 | 分岐光フアイバ線路の故障点探索方法 |
US5317375A (en) | 1991-02-28 | 1994-05-31 | Stanley Electric Co., Ltd. | Optical distance measuring apparatus |
JPH10227856A (ja) | 1996-12-10 | 1998-08-25 | Omron Corp | 光ビームセンサ |
JP4033005B2 (ja) | 2003-03-10 | 2008-01-16 | 日産自動車株式会社 | 車両用障害物検出装置 |
JP5472572B2 (ja) | 2009-01-27 | 2014-04-16 | 株式会社Ihi | レーザ距離測定装置 |
EP2378310B1 (en) | 2010-04-15 | 2016-08-10 | Rockwell Automation Safety AG | Time of flight camera unit and optical surveillance system |
JP6087941B2 (ja) | 2011-11-15 | 2017-03-01 | フィリップス ライティング ホールディング ビー ヴィ | 符号化光の送信及び受信方法 |
JP6120521B2 (ja) | 2012-10-19 | 2017-04-26 | 株式会社トプコン | 3次元測量装置及び3次元測量システム |
CN106707290A (zh) | 2017-03-08 | 2017-05-24 | 深圳市芯盛传感科技有限公司 | 一种光学测距模组 |
US11543525B2 (en) * | 2017-12-22 | 2023-01-03 | Sony Semiconductor Solutions Corporation | Signal generation apparatus |
JP2019135468A (ja) * | 2018-02-05 | 2019-08-15 | 株式会社タムロン | 擾乱光判別装置、擾乱光分離装置、擾乱光判別方法及び擾乱光分離方法 |
-
2018
- 2018-07-26 JP JP2018140430A patent/JP6813541B2/ja active Active
-
2019
- 2019-05-23 US US16/420,161 patent/US11525917B2/en active Active
- 2019-07-19 DE DE102019005060.6A patent/DE102019005060A1/de active Pending
- 2019-07-23 CN CN201910667850.XA patent/CN110779681B/zh active Active
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63236909A (ja) * | 1987-03-25 | 1988-10-03 | Matsushita Electric Ind Co Ltd | 形状測定装置 |
JPH06289134A (ja) * | 1993-04-05 | 1994-10-18 | Mitsubishi Electric Corp | 距離測定装置の汚れ検出装置 |
JPH0815415A (ja) * | 1994-06-28 | 1996-01-19 | Mitsubishi Electric Corp | 距離測定装置 |
JP2003302468A (ja) * | 2002-02-08 | 2003-10-24 | Omron Corp | 測距装置 |
JP2005201868A (ja) * | 2004-01-19 | 2005-07-28 | Toshiba Corp | 画像情報取得装置、画像情報取得方法及び画像情報取得プログラム |
JP2005321319A (ja) * | 2004-05-10 | 2005-11-17 | Fujitsu Ltd | 表面検査装置および表面検査方法 |
JP2009229255A (ja) * | 2008-03-24 | 2009-10-08 | Hokuyo Automatic Co | 走査式測距装置 |
JP2010217077A (ja) * | 2009-03-18 | 2010-09-30 | Japan Aerospace Exploration Agency | 遠隔気流の警報表示方法及びそのシステム |
JP2010230613A (ja) * | 2009-03-30 | 2010-10-14 | Japan Aerospace Exploration Agency | 光学式遠隔気流計測装置 |
JP2011117889A (ja) * | 2009-12-07 | 2011-06-16 | Japan Aerospace Exploration Agency | 航空機搭載用乱気流事故防止装置 |
JP2013073312A (ja) * | 2011-09-27 | 2013-04-22 | Panasonic Corp | 運転支援装置 |
JP2014048139A (ja) * | 2012-08-31 | 2014-03-17 | Alps Electric Co Ltd | 測距装置 |
JP2014074708A (ja) * | 2012-09-14 | 2014-04-24 | Omron Corp | 画像処理装置、オブジェクト検出方法、およびオブジェクト検出プログラム |
JP2014167414A (ja) * | 2013-02-28 | 2014-09-11 | Kiyohara Optics Inc | 物体面検査装置 |
Also Published As
Publication number | Publication date |
---|---|
CN110779681B (zh) | 2023-04-25 |
JP6813541B2 (ja) | 2021-01-13 |
US20200033475A1 (en) | 2020-01-30 |
DE102019005060A1 (de) | 2020-01-30 |
CN110779681A (zh) | 2020-02-11 |
US11525917B2 (en) | 2022-12-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6813541B2 (ja) | 光学系異常を検出する測距装置 | |
JP7191921B2 (ja) | Tofカメラシステムおよび該システムにより距離を測定するための方法 | |
US11061121B2 (en) | 3D-camera device including a dirt detection unit | |
US8482722B2 (en) | Delay compensation in modulated optical time-of-flight phase estimation | |
JP6717887B2 (ja) | 距離補正機能を有する測距装置 | |
KR102451010B1 (ko) | 물체까지의 거리를 결정하기 위한 시스템 | |
KR101296780B1 (ko) | 레이저를 이용한 장애물 감지장치 및 방법. | |
US9787907B2 (en) | Substance detection device | |
US20120098935A1 (en) | 3d time-of-flight camera and method | |
US11662443B2 (en) | Method and apparatus for determining malfunction, and sensor system | |
JP2020515811A (ja) | 車両の周囲を特徴付けるためのシステム | |
US11908119B2 (en) | Abnormality detection device for vehicle | |
JP6467516B2 (ja) | 距離画像取得装置付きプロジェクタ装置及びプロジェクション方法 | |
US20200408916A1 (en) | Distance measurement device having external light illuminance measurement function and external light illuminance measurement method | |
US10766654B2 (en) | Inspection device and production management method | |
WO2020066236A1 (ja) | 奥行取得装置、奥行取得方法およびプログラム | |
JP6739074B2 (ja) | 距離測定装置 | |
JP5802917B2 (ja) | 距離画像カメラおよびこれを用いた距離測定方法 | |
JP7176364B2 (ja) | 距離情報取得装置および距離情報取得方法 | |
JP2012198337A (ja) | 撮像装置 | |
CA2601486A1 (en) | Methods for detecting compression wood in lumber | |
US20230078063A1 (en) | Distance measurement device and distance measurement system | |
WO2021059638A1 (ja) | 距離測定装置 | |
JP2018179522A (ja) | 検査装置および検査方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20191209 |
|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20200325 |
|
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20200414 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200421 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200527 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200707 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200813 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200908 |
|
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: 20201117 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20201217 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6813541 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |