CN1952687B - Automatic collimating method and collimator set for light path of colidar - Google Patents
Automatic collimating method and collimator set for light path of colidar Download PDFInfo
- Publication number
- CN1952687B CN1952687B CN2006100975276A CN200610097527A CN1952687B CN 1952687 B CN1952687 B CN 1952687B CN 2006100975276 A CN2006100975276 A CN 2006100975276A CN 200610097527 A CN200610097527 A CN 200610097527A CN 1952687 B CN1952687 B CN 1952687B
- Authority
- CN
- China
- Prior art keywords
- portable plate
- stepping motor
- drive stepping
- catoptron
- fixed head
- 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.)
- Expired - Fee Related
Links
Images
Abstract
A laser radar optical path autocollimation method and collimator are disclosed that comprise reflector, laser, signal detecting element, receiving telescope and computer. It's characterized in that it includes mirror bracket, a fixed plate is mounted on the mirror bracket, a movable plate is mounted on the fixed plate, the fixed plate is connected with the movable plate via springs, the reflector is located on the movable plate, two sets of slide blocks/micrometer mechanism and driven step motor are mounted in the mirror bracket, there are push-rods on the slide blocks which extend from the hole on top of the bracket and the fixed plate to the underside of the movable plate. The slide blocks and the push-rods are motivated upwards by the rotation of the driven step motor, the movable plate is adjusted to rotate along the X, Y axis, and the target position of the reflector is fixed at last with high accuracy. The application prospect: atmosphere scientific experiment measuring apparatus and measuring means can be used in various laser radar systems.
Description
Technical field
The invention belongs to a kind of laser technology, specifically is a kind of autocollimation method and instrument of laser radar light path.
Background technology
Along with the development of laser instrument, photoelectron technology and acquisition of signal technology, laser radar more and more widely is applied to fields such as environmental monitoring and atmospheric science research.Laser radar becomes a kind of routine observation instrument gradually, and also more and more high to the stability and the automaticity requirement of laser radar as the routine observation instrument.
In laser radar system, require to receive field angle and the strict coupling of the angle of divergence of emission laser.But owing to reasons such as temperature variation, optical table vibrations, lasing mode variation or wavelength replacing usually cause laser radar to receive and the emission coefficient optical axis deviation, therefore the work that must do before the each measurement of laser radar is the aligning of transmitting-receiving light path, just make and receive field angle and the strict coupling of the angle of divergence of emission laser, because departing from, the receive-transmit system optical axis can make measuring-signal produce error, and this error can only could be found during by computing in measurement data, therefore can cause a large amount of measuring-signals invalid.Receive and that emission divides is distant for non-coaxial laser radar, beam quality is poor, and situation such as level emission can make the light path alignment difficulties; Often need to reduce to receive field angle and reach the laser radar system that the stratomesosphere contour level is surveyed at Raman, polarization for the interference that reduces sky background light, this makes that the aligning difficulty of receiving and dispatching light path is higher.
This work is manually-operated in the past always, and loaded down with trivial details time-consuming, error is big, and the hi-tech personnel that need professional training adjust support by precision optics and leveling device carries out meticulous work.
Summary of the invention
The purpose of this invention is to provide a kind of laser radar light path automatically collimating method and collimator, by computer control, calculate the optimum position of determining catoptron, reduced the error of manual operation, guarantee the validity that each light path is regulated, saving is used to adjust the time of light path, improves the work efficiency of laser radar.
Technical scheme of the present invention is as follows:
Laser radar light path automatically collimating method is characterized in that:
Laser radar light path automatically collimating method is characterized in that:
(1), a mirror holder is set, fixed head is installed on the mirror holder, be connected with portable plate by spring on the fixed head, catoptron is installed on the portable plate, two groups of slide blocks/micrometer head slide mechanism and drive stepping motor thereof is installed in the mirror holder, slider top has push rod, described push rod and spring are X-Y axle vertical distribution at the portable plate lower surface, there is steel ball to be installed between fixed head and the portable plate at the intersection point place of X-Y axle, drive stepping motor is being done on the guide rod by driving micrometer head drive slide block, move down, and then on the drive push rod, move down, make the catoptron of installing on the portable plate rotate along X-axis and Y-axis;
(2), by laser instrument emission laser through the emission of catoptron heavenwards, receive echoed signal by receiving telescope, carry out opto-electronic conversion, be transferred to computing machine and carry out data processing, and provide driving command to drive stepping motor;
(3), the echoed signal that receives of laser radar is the atmosphere echo strength with height profile, selects to be used for the altitude range of the echoed signal of atmosphere echo meter calculation and Analysis;
(4), successively two groups of drive stepping motor are sent driving command by computing machine, one of them drive stepping motor is progressively rotated, the catoptron that drives on the portable plate rotates, constantly changing Laser emission points to, record atmosphere echoed signal, calculate the Echo Rating of certain height scope, emission light is progressively imported the visual field outside the reception visual field of receiving telescope, from the visual field, progressively shift out again, like this step number of the atmosphere Echo Rating of certain height scope and stepper motor on coordinate, form one complete trapezoidal, find trapezoidal central point, this drive stepping motor can be moved to the target step number position of this central point correspondence;
(5), change another drive stepping motor repetitive process (4), and determine the target step number position of another drive stepping motor, promptly obtain the target location of catoptron;
(6) trapezoidal irregular if the step number of atmosphere Echo Rating and stepper motor forms on coordinate, method is determined central point below then adopting:
In the formula, to be loop variable go forward one by one with the step value of stepper motor i.P
iBe stepper motor position W
iCorrespondence is at the echo strength value of certain height, P
bBe the system background value under the prevailing condition, accumulate the mean value of the sky background echoed signal of certain umber of pulse in the time of can being not bright dipping, also can use the echoed signal mean value that does not comprise any useful signal in any one group of echo behind the certain altitude; W is that final stepper motor position also is the center; P
iRange of choice be twice greater than background value.
Laser radar light path automatically collimating instrument, include catoptron, laser instrument, the acquisition of signal unit, receiving telescope and computing machine, it is characterized in that including mirror holder, fixed head is installed on the mirror holder, portable plate is installed on the fixed head, connect by spring between portable plate and the fixed head, catoptron is installed on the portable plate, two groups of slide blocks/micrometer head mechanism and drive stepping motor thereof is installed in the mirror holder, connect by shaft coupling between described micrometer head and the drive stepping motor, micrometer head top and slide block connect, and slide block set is contained on the guide rod, described two upper end of slide block have push rod, and the perforate on mirror holder and fixed head reaches the portable plate below.
Described collimator is characterized in that described push rod and spring are X-Y axle vertical distribution at the portable plate lower surface, have steel ball to be installed between fixed head and the portable plate at the intersection point place of X-Y axle.
Each slide block/micrometer head mechanism: comprise left and right each two guide rail that are installed in the mirror holder, slide block set is contained on two guide rails, slider top has push rod, slide block lower end and micrometer head connect, connect by shaft coupling between micrometer head and the drive stepping motor, push rod stretches out the below that perforate on mirror holder and the fixed head is positioned at portable plate, when push rod moves up, rotates on portable plate one side direction.
When two stepper motor alternate rotation, portable plate just can rotate around X and Y-axis.
Major advantage of the present invention:
1. physical construction advanced person, novelty
2. ray machine electricity combination, one-piece construction is simple, practical
3. measuring method is simple to operate, effectively
Application prospect: atmosphere scientific experiment measuring apparatus and measuring method are applied in the various laser radar systems.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a Mirror frame structure synoptic diagram of the present invention.
Fig. 3 is a mirror holder upper mounted plate vertical view of the present invention.
Fig. 4 is a drive motor positioning flow block diagram of the present invention.
Fig. 5 is slide block of the present invention/micrometer head structural scheme of mechanism.
Embodiment
Laser radar light path automatically collimating instrument, include catoptron, laser instrument, acquisition of signal unit, receiving telescope and computing machine, it is characterized in that including mirror holder 1, fixed head 2 is installed on the mirror holder, portable plate 3 is installed on the fixed head 2, connect by spring 4 between portable plate 3 and the fixed head 2, catoptron 5 is installed on the portable plate 3, two groups of slide blocks/micrometer head mechanism and drive stepping motor thereof is installed in the mirror holder 1, there is push rod 7 described two slide block 6 upper ends, and the perforate on mirror holder 1 and fixed head 2 reaches portable plate 3 belows.Described push rod 7 and spring 4 are X-Y axle vertical distribution at the portable plate lower surface, have steel ball 8 to be installed between fixed head 2 and the portable plate 3 at the intersection point place of X-Y axle.
Slide block/micrometer head mechanism is: comprise each two guide rod 9 of left and right side that are installed in the mirror holder, slide block set is contained on two guide rods 9, and slide block lower end and micrometer head 10 connect, and connect by shaft coupling 12 between micrometer head and the drive stepping motor 11.
Laser radar light path automatically collimating method is characterized in that:
(1), a mirror holder is set, fixed head is installed on the mirror holder, be connected with portable plate by spring on the fixed head, catoptron is installed on the portable plate, two groups of slide block/screw bodies and drive stepping motor thereof are installed in the mirror holder, slider top has push rod, described push rod and spring are X-Y axle vertical distribution at the portable plate lower surface, there is steel ball to be installed between fixed head and the portable plate at the intersection point place of X-Y axle, drive stepping motor drives on the slide block by screw mandrel, move down, and then can drive on the push rod, move down, make the catoptron of installing on the portable plate rotate along X-axis and Y-axis;
(2), by laser instrument emission laser through the emission of catoptron heavenwards, receive echoed signal by receiving telescope, carry out opto-electronic conversion, be transferred to computing machine and carry out data processing, and provide driving command to drive stepping motor;
(3), laser radar receive echoed signal be the echo strength of atmosphere with height profile, select to be used for the altitude range of the echoed signal of atmosphere echo meter calculation and Analysis;
(2) successively two groups of drive stepping motor are sent driving command by computing machine, one of them drive stepping motor is progressively rotated, the catoptron that drives on the portable plate rotates, constantly changing Laser emission points to, record atmosphere echoed signal, calculate the Echo Rating of certain height scope, emission light is progressively imported the visual field outside the reception visual field of receiving telescope, from the visual field, progressively shift out again, like this step number of the atmosphere Echo Rating of certain height scope and stepper motor on coordinate, form one complete trapezoidal, find trapezoidal central point, this drive stepping motor can be moved to the corresponding step number of this central point position;
(3) change another drive stepping motor repetitive process (2), and determine the corresponding step number position of another drive stepping motor, promptly obtain the target location of catoptron;
(4) trapezoidal irregular if the step number of atmosphere Echo Rating and stepper motor forms on coordinate, method is determined the center below then adopting:
In the formula, to be loop variable go forward one by one with the step value of stepper motor i.P
iBe stepper motor position W
iCorrespondence is at the echo strength value of certain height, P
bBe the system background value under the prevailing condition, accumulate the mean value of the sky background echoed signal of certain umber of pulse in the time of can being not bright dipping, also can use the echoed signal mean value that does not comprise any useful signal in any one group of echo behind the certain altitude; W is that final stepper motor position also is the center; P
iRange of choice be twice greater than background value.
Claims (2)
1. laser radar light path automatically collimating method is characterized in that:
(1), a mirror holder is set, fixed head is installed on the mirror holder, be connected with portable plate by spring on the fixed head, catoptron is installed on the portable plate, two groups of slide blocks/micrometer head slide mechanism and drive stepping motor thereof is installed in the mirror holder, slider top has push rod, described push rod and spring are X-Y axle vertical distribution at the portable plate lower surface, there is steel ball to be installed between fixed head and the portable plate at the intersection point place of X-Y axle, drive stepping motor is being done on the guide rod by driving micrometer head drive slide block, move down, and then on the drive push rod, move down, make the catoptron of installing on the portable plate rotate along X-axis and Y-axis;
(2), by laser instrument emission laser through the emission of catoptron heavenwards, receive echoed signal by receiving telescope, carry out opto-electronic conversion, be transferred to computing machine and carry out data processing, and provide driving command to drive stepping motor;
(3), the echoed signal that receives of laser radar is the atmosphere echo strength with height profile, selects to be used for the altitude range of the echoed signal of atmosphere echo meter calculation and Analysis;
(4), successively two groups of drive stepping motor are sent driving command by computing machine, one of them drive stepping motor is progressively rotated, the catoptron that drives on the portable plate rotates, constantly changing Laser emission points to, record atmosphere echoed signal, calculate the Echo Rating of certain height scope, emission light is progressively imported the visual field outside the reception visual field of receiving telescope, from the visual field, progressively shift out again, like this step number of the atmosphere Echo Rating of certain height scope and stepper motor on coordinate, form one complete trapezoidal, find trapezoidal central point, this drive stepping motor can be moved to the target step number position of this central point correspondence;
(5), change another drive stepping motor repetitive process (4), and determine the target step number position of another drive stepping motor, promptly obtain the target location of catoptron;
(6) trapezoidal irregular if the step number of atmosphere Echo Rating and stepper motor forms on coordinate, method is determined central point below then adopting:
In the formula, to be loop variable go forward one by one with the step value of stepper motor i.P
iBe stepper motor position W
iCorrespondence is at the echo strength value of certain height, P
bBe the system background value under the prevailing condition, accumulate the mean value of the sky background echoed signal of certain umber of pulse in the time of can being not bright dipping, also can use the echoed signal mean value that does not comprise any useful signal in any one group of echo behind the certain altitude; W is that final stepper motor position also is the center; P
iRange of choice be twice greater than background value.
2. laser radar light path automatically collimating instrument, include catoptron, laser instrument, acquisition of signal unit, receiving telescope and computing machine, it is characterized in that including mirror holder, fixed head is installed on the mirror holder, portable plate is installed on the fixed head, connect by spring between portable plate and the fixed head, catoptron is installed on the portable plate, two groups of slide blocks are installed in the mirror holder
Micrometer head mechanism and drive stepping motor thereof, connect by shaft coupling between described micrometer head and the drive stepping motor, micrometer head top and slide block connect, and slide block set is contained on the guide rod, described two upper end of slide block have push rod, and the perforate on mirror holder and fixed head reaches the portable plate below; Described push rod and spring are X-Y axle vertical distribution at movable lower surface, have steel ball to be installed between fixed head and the portable plate at the intersection point place of X-Y axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006100975276A CN1952687B (en) | 2006-11-02 | 2006-11-02 | Automatic collimating method and collimator set for light path of colidar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006100975276A CN1952687B (en) | 2006-11-02 | 2006-11-02 | Automatic collimating method and collimator set for light path of colidar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1952687A CN1952687A (en) | 2007-04-25 |
| CN1952687B true CN1952687B (en) | 2010-12-01 |
Family
ID=38059127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006100975276A Expired - Fee Related CN1952687B (en) | 2006-11-02 | 2006-11-02 | Automatic collimating method and collimator set for light path of colidar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1952687B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101251598B (en) * | 2008-04-08 | 2010-12-15 | 中国科学院安徽光学精密机械研究所 | Method for rapidly regulating lidar transmit-receive system light path coaxiality |
| CN101561500B (en) * | 2008-04-15 | 2011-08-10 | 中国科学院安徽光学精密机械研究所 | Automatic laser radar collimating system |
| CN101963665B (en) * | 2010-08-23 | 2013-11-06 | 西安理工大学 | Laser radar geometric overlap factor automatic regulation method |
| CN102200577B (en) * | 2011-03-23 | 2013-05-08 | 南京信息工程大学 | Method and device for debugging transmission azimuth of laser beam in laser radar detection |
| CN103278933B (en) * | 2013-06-05 | 2015-10-28 | 中国科学院半导体研究所 | A kind of portable adjustable H-shaped light path collimation device |
| CN103675795A (en) * | 2013-12-20 | 2014-03-26 | 中国科学技术大学 | Device and method for automatically matching laser radar receiving and transmitting optical axes |
| CN105510230A (en) * | 2016-01-15 | 2016-04-20 | 中国人民解放军理工大学 | System and method for automatically collimating measuring light path of transmission instrument based on scanning mode |
| CN106679637B (en) * | 2016-12-15 | 2019-01-15 | 宁波舜宇测绘科技有限公司 | Double motor type laser demarcation follow-up mechanism |
| CN108427107B (en) * | 2017-12-06 | 2020-06-12 | 武汉万集信息技术有限公司 | Adjusting device and adjusting method for laser radar receiving light path |
| CN108627851B (en) * | 2018-04-20 | 2021-05-11 | 金华市蓝海光电技术有限公司 | Integrated rotary machine core for laser radar sensor |
| CN108931762A (en) * | 2018-09-04 | 2018-12-04 | 中国安全生产科学研究院 | Slope displacement monitoring radar accuracy caliberating device |
| CN109343015B (en) * | 2018-11-28 | 2020-09-22 | 中国空空导弹研究院 | Calibration device and calibration method for alignment of mechanical axis and electric axis of guidance radar |
| CN111123244A (en) * | 2019-12-13 | 2020-05-08 | 安徽皖仪科技股份有限公司 | Off-axis laser radar geometric factor correction method |
| CN111665525B (en) * | 2020-04-12 | 2022-10-25 | 中南民族大学 | Self-adaptive laser radar automatic receiving and transmitting matching method |
| CN111755936A (en) * | 2020-07-09 | 2020-10-09 | 中国科学院上海光学精密机械研究所 | High-precision light path collimating reflector adjusting mechanism and adjusting method |
| CN113189737B (en) * | 2021-04-27 | 2022-12-30 | 重庆大学 | Slide rail assembled composite control type quick reflector |
| CN113433711B (en) * | 2021-05-13 | 2022-05-10 | 中国科学院西安光学精密机械研究所 | Two-dimensional mirror bracket optical path automatic alignment system and method based on TwinCAT Vision |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4636043A (en) * | 1984-03-01 | 1987-01-13 | Laser Photonics, Inc. | Laser beam scanning device and marking system |
| US5204922A (en) * | 1991-10-22 | 1993-04-20 | Puritan-Bennett Corporation | Optical signal channel selector |
| US5585632A (en) * | 1995-02-28 | 1996-12-17 | University Of Washington | Wide-angle infrared cloud imager |
| US6069726A (en) * | 1998-10-20 | 2000-05-30 | Lockheed Martin Corporation | Optical scanner |
| CN1601324A (en) * | 2004-09-14 | 2005-03-30 | 中国科学院安徽光学精密机械研究所 | Large-bore optical periscope type radar 3-D Scanner |
| CN1761888A (en) * | 2003-03-31 | 2006-04-19 | 罗伯特·博世有限公司 | Be used to adjust the device of optical mirror |
-
2006
- 2006-11-02 CN CN2006100975276A patent/CN1952687B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4636043A (en) * | 1984-03-01 | 1987-01-13 | Laser Photonics, Inc. | Laser beam scanning device and marking system |
| US5204922A (en) * | 1991-10-22 | 1993-04-20 | Puritan-Bennett Corporation | Optical signal channel selector |
| US5585632A (en) * | 1995-02-28 | 1996-12-17 | University Of Washington | Wide-angle infrared cloud imager |
| US6069726A (en) * | 1998-10-20 | 2000-05-30 | Lockheed Martin Corporation | Optical scanner |
| CN1761888A (en) * | 2003-03-31 | 2006-04-19 | 罗伯特·博世有限公司 | Be used to adjust the device of optical mirror |
| CN1601324A (en) * | 2004-09-14 | 2005-03-30 | 中国科学院安徽光学精密机械研究所 | Large-bore optical periscope type radar 3-D Scanner |
Non-Patent Citations (11)
| Title |
|---|
| JP平9-49878A 1997.02.18 |
| 何树荣，许振丰.自动确定方位的激光束指示器.光学技术29 4.2003,29(4),449-451. |
| 何树荣,许振丰.自动确定方位的激光束指示器.光学技术29 4.2003,29(4),449-451. * |
| 刘小勤，胡顺星，李琛，胡欢陵，张寅超，窦贤康.一台监测高空钠层的激光雷达系统.光电工程33 9.2006,33(9),1-4,14. |
| 刘小勤,胡顺星,李琛,胡欢陵,张寅超,窦贤康.一台监测高空钠层的激光雷达系统.光电工程33 9.2006,33(9),1-4,14. * |
| 张寅超，胡欢陵，谭锟，杨高潮，刘小勤，邵石生，邓敏，张高勇.车载大气污染监测激光雷达样机研制进展.光电子技术与信息14 3.2001,14(3),1-5. |
| 张寅超,胡欢陵,谭锟,杨高潮,刘小勤,邵石生,邓敏,张高勇.车载大气污染监测激光雷达样机研制进展.光电子技术与信息14 3.2001,14(3),1-5. * |
| 戴亚平，张全慧，李学春，朱健强.一种新型的列阵反射镜调整架.强激光与粒子束11 1.1999,11(1),37-41. |
| 戴亚平,张全慧,李学春,朱健强.一种新型的列阵反射镜调整架.强激光与粒子束11 1.1999,11(1),37-41. * |
| 陈世哲，浦昭邦，刘国栋，王雯倩，刘炳国.二维自跟踪视觉准直测量系统.光电工程32 5.2005,32(5),55-57,68. |
| 陈世哲,浦昭邦,刘国栋,王雯倩,刘炳国.二维自跟踪视觉准直测量系统.光电工程32 5.2005,32(5),55-57,68. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1952687A (en) | 2007-04-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1952687B (en) | Automatic collimating method and collimator set for light path of colidar | |
| CN102706286B (en) | Laser measurement device for thickness of plate | |
| CN101187547B (en) | Oil tank measuring device and measuring method | |
| CN111308450B (en) | Laser radar calibration device and application method thereof | |
| CN106834643B (en) | Roller hearth heat-treated furnace conveying roller installation accuracy control method | |
| CN102305593A (en) | Method and device for measuring geometric elements of high-accuracy and wide-range thin-film transistor (TFT) substrate glass | |
| CN102120230A (en) | Device and method for measuring bending angle of bent piece | |
| CN109974586B (en) | Geometric error compensation device for laser tracker | |
| CN104197835B (en) | Spatial position simulation and calibration method | |
| CN111811496A (en) | Oblique non-contact three-dimensional linear velocity and double-shaft dynamic angle measuring system and method | |
| CN105758317A (en) | Three-coordinate measuring machine capable of machining soft materials | |
| CN113790690B (en) | Clamping posture adjusting system and adjusting method for linear displacement sensor for calibration | |
| CN202304767U (en) | Three-dimensional outline measurement device based on multiple sensors | |
| CN104229633A (en) | Method for detecting bridge crane runway and wheel group by using laser distance measuring instrument | |
| CN106092137A (en) | The outdoor calibrator (-ter) unit of a kind of vehicle-mounted three-dimensional laser pavement detection system and method | |
| CN114739304A (en) | Positioning and ranging device for environmental art design | |
| CN105444782A (en) | Full-automatic detection system and method for indoor baselines | |
| CN109974587B (en) | Geometric error compensation method for laser tracker | |
| CN116086361B (en) | Straightness measuring device for large-stroke guide rail and error obtaining method | |
| CN106979750A (en) | A kind of method for fast measuring and its device of lathe translation shaft geometric error | |
| CN209445981U (en) | A kind of coal body product dynamic metering device based on machine vision | |
| CN109520444A (en) | A kind of large-size horizontal tensile testing machine parallelism of machine body measuring device and its measurement method | |
| CN211234453U (en) | Seeker performance testing device | |
| CN115145020A (en) | Optical adjusting system and method for enabling laser propagation direction to be parallel to optical platform | |
| CN210321770U (en) | Rotary bar code ruler for calibrating electronic i-angle and sight distance errors of digital level |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101201 Termination date: 20111102 |