CN101788264A - Method for detecting position of chute tube by automatic bulk cargo ship loading detector - Google Patents
Method for detecting position of chute tube by automatic bulk cargo ship loading detector Download PDFInfo
- Publication number
- CN101788264A CN101788264A CN200910208287A CN200910208287A CN101788264A CN 101788264 A CN101788264 A CN 101788264A CN 200910208287 A CN200910208287 A CN 200910208287A CN 200910208287 A CN200910208287 A CN 200910208287A CN 101788264 A CN101788264 A CN 101788264A
- Authority
- CN
- China
- Prior art keywords
- cabin
- scanner
- ship
- fixed arm
- chute tube
- 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
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to the divisional application of an automatic bulk cargo ship loading detector and a method, and mainly relate to method for detecting the position of a chute tube by the bulk cargo automatic ship loading detector. The method comprises the following steps: rotating a detector arranged on a fixed arm to a position above a ship cabin to be detected; determining the rotation angle of a rotating device according to the rotation angle of the fixed arm for making the scanning plane of a scanner vertical to a shore edge straight line; taking scanning data; carrying out pretreatment on the data; taking scanning data points in the ship cabin range; extracting a straight line formed by scanning points on two vertical surfaces of the ship cabin obtained through scanning according a straight line extraction algorithm; calculating the distances from the light center to the two vertical surfaces; using the sum of the two distances as the width of the ship cabin; comparing the obtained width to the actual ship width; and determining the position of the chute tube according to the position relationship between the chute tube and the scanner. The invention adopts a three-dimensional detector formed by a two-dimensional scanner and a movement control system thereof, can effectively determine the position of the chute tube, carries out the real-time detection on the whole process, and has high detection precision.
Description
The present patent application is dividing an application of June 22 2007 applying date, application number 200710042453.0, denomination of invention " bulk automatic lading pick-up unit and method ".
Technical field
The present invention relates to robotization pick-up unit and method in the bulk cargo terminals shipment process, the position relation and the material that detect between ship-loading system and the ship add situation, for the automatic lading system provides the detection data.
Background technology
The dry bulk cargo harbour is because the goods of loading and unloading has different qualities, the type of boats and ships is also more in addition, the influence of adding the bulk goods dust makes operating environment more abominable, checkout equipment and technology there is harsh requirement, therefore loading bulk goods in ship system automation degree is lower at present, basically by artificial execute-in-place.And adopt on-the-spot manually-operated on the one hand because the abominable condition of work (high temperature of bulk cargo terminals, high dust, strong noise etc.) meeting harm field personnel's physical and mental health, on the other hand because abominable condition of work and long cargo loading, very easily cause workman's fatigue, cause the accident in the shipment process.In addition because artificial shipment, can not science lack of standardization in the operating process, as for avoiding collision, will slip and tin be suspended from the cabin, cause dust from flying and loss of goods.Because the berth is the harbour scarce resource, therefore bulk cargo terminals shipment process becomes one of bottleneck of restriction bulk goods logistics, press for the automatic lading system, and pick-up unit in this system and method are the gordian techniquies of its core, need it to determine the position relation of ship-loading system and cabin and the situation of feeding in raw material.
Present three-dimensional detection technique can be divided into based on vision and based on range measurement principle.Three-dimensional detection system based on vision need adopt biocular systems or structured light to add monocular system, binocular vision system need mate the binocular image, the algorithm complexity, and between the size of measuring and two camera systems apart from proportional relation, large scale is measured needs two camera systems distance bigger, and the real-time three-dimensional that therefore seldom is used in large scale in the research is at present measured.Structured light adds monocular system and generally is studied and is used for meticulous close-in measurement, measures for the bulk goods large scale, and laser is got on the bulk goods of remote antiradar reflectivity and become aberration, and therefore the image processing algorithm complexity is unsuitable for this environmental applications in addition.
Adopt range measurement principle, influenced by the sensor physical characteristics, only can carry out single-point or two-dimensional measurement at every turn, carry out three-dimensional measurement and generally adopt two-dimentional stadimeter to add rotating machinery.The research three-dimension measuring system concentrates on the three-dimensional reconstruction to measured object at present, pays attention to precision and eliminates error of measurement instrument, and Measuring Time is long, simultaneously measuring system invariant position in measuring process.And in the loading bulk goods in ship process, need the ship type be measured fast, and measuring system will move with shipment equipment, and the loading bulk goods in ship environment is in high dust, in the environment of high vibration, therefore needs reliably pick-up unit and method fast.
Summary of the invention
Technical matters first aspect to be solved by this invention is, a kind of bulk automatic lading pick-up unit is provided.
Technical matters second aspect to be solved by this invention is, a kind of implementation method of bulk automatic lading pick-up unit is provided.
A kind of bulk automatic lading pick-up unit, it is characterized in that, comprise scanner and kinetic control system thereof, described kinetic control system comprises two degree of freedom, drive two parts by Z-axis driving and transverse axis and form, scanner is rotated around the diaxon that intersects vertically respectively.
Wherein, scanner directly drives with transverse axis and is connected, and transverse axis drives to drive with Z-axis again and is connected.
Transverse axis drives by drive motor and realizes rotating control by worm reducer, can realize 〉=± 90 ° in arbitrarily angled rotation.
Z-axis drives by drive motor and realizes rotating control by worm reducer, can realize arbitrarily angled rotation in approaching 〉=± 180 °.
The Z-axis drive part has mounting interface, can make whole system be installed in the correct position of ship loader.
In transverse axis driving and Z-axis driving, absolute value encoder is housed, to guarantee corner accuracy.
Transverse axis drive and the Z-axis driving on also be provided with limit switch, with prevent that the excess of stroke and mechanism from interfering, coiling etc.
Described device is installed on the telescoping mechanism of loading bulk goods in ship machine, makes it can move to the cabin top, cabin and material are detected, preferably, be installed on the front end such as the accompanying drawing 2 of fixed arm.
A kind of method of detecting position of chute tube by automatic bulk cargo ship loading detector comprises the steps:
1) pick-up unit that will be installed on the fixed arm rotates to cabin top to be detected, suppose that fixed arm length is L, the fixed arm turning axle is to ship back gauge W, and pick-up unit is apart from fixed arm center d, the fixed arm anglec of rotation is θ (fixed arm 0 degree angle is parallel to the bank), and the ship molded breadth is W
S, the cabin is wide to be W
h, make pick-up unit rotate to cabin top to be detected, the fixed arm corner is satisfied:
W+(W
S-W
h)/2＜|Lsinθ+dcosθ|＜W+(W
S+W
h)/2
2) determine that according to the fixed arm corner whirligig corner makes the scanner scanning plane vertical along straight line with bank, because ship is when berthing, ship and bank be along parallel, and cabin length direction and bank are along parallel, and scanning plane at this moment is the cabin xsect;
3) get scan-data, data carried out pre-service, get the number of scans strong point in the cabin scope, specifically can be respectively to ship edge distance according to analyzing spot | Lsin θ+dcos θ |-W and W
S+ W|Lsin θ+dcos θ | determine;
4) extraction scans the straight line that the analyzing spot on two facades of cabin that obtain constitutes according to the vertical element extraction algorithm, calculate the distance of photocentre to two facades, two are the cabin width apart from sum, compare with the actual beam, as in the error allowed band, can determine that then scanner is to the cabin distance, also can adopt the method for detecting to measure the minimum beam, be about to scanner deflection certain angle, measure the beam, up to seeking a minimum point, make comparisons again;
5) scanner is revolved turn 90 degrees, utilize the method for step 4) measure cabin length and scanner before and after the cabin along distance, when cabin length during greater than the scanner measurement range, may only record distance on one side, the available method of detecting is surveyed the minor increment of scanner to bulkhead, all can't record as both sides, can make the cart of shipment mechanism move a segment distance, up to recording bulkhead, repeating step 4 again) and 5), redefine the scanner position;
6) according to slipping the position relation definite position of chute tube of tube with scanner, establish the slide tube and stretch out fixed arm D, the scanner position measurements is x, y, and then position of chute tube is:
(x-Dcosθ-dsinθ，y-Dsinθ+dcosθ)
Certainly, above-mentioned step 4) and step 5) can be exchanged.
A kind of method of detecting height of materials by bulk cargo automatic ship loading detector comprises the steps:
1) measure the material position: according to slipping tube and scanner position relation, whirligig aimed at slip tube scanning, extract according to the vertical element extraction algorithm and slip tube to the straight line of material, then the bottom of straight line point is and slips a material position below the tube;
2) measure position, cabin upper edge: if can scan cabin wall this moment, then extract the straight line that the analyzing spot on the accommodation bulkhead facade constitutes, the straight line upper extreme point is the cabin upper edge, if can't detect bulkhead in the scan-data, then rotatable scanner makes the scanner scanning plane vertical with the cabin length direction, detect bulkhead, extract bulkhead scanning straight line, the straight line upper extreme point is the cabin upper edge;
3) calculate height of materials: the difference in height of material point and cabin upper edge point is material to cabin upper edge distance, and the cabin degree of depth deducts this value and is height of materials.
A kind of bulk automatic lading pick-up unit detects the method for ship degree of tilt (laterally), comprises the steps:
1) determines that according to the fixed arm corner whirligig corner makes the scanner scanning plane vertical with bank;
2) get scan-data, data are carried out pre-service, get, be respectively data are handled the straight line that extracts cabin wall and bank flat scanning point formation near near two parts analyzing spot of the bank accommodation bulkhead and bank to jib;
3) calculate bulkhead and bank flat scanning collimation method wire clamp angle and be the ship degree of tilt.
In one embodiment of the invention, corner 0 degree position, definition scanner scanning plane makes the plane of scanning motion coplane of vertical rotation axis and scanner and axis pass the scanner photocentre when mechanism design.Be initial point with the scanner photocentre like this, scanner scanning plane and vertical rotation axis constitute a 3 D scanning system.
The present invention adopts the three-dimensional detection device that is made of two-dimensional scanner and kinetic control system thereof, advantage is that the position relation and the material that can effectively detect between ship-loading system and the ship add situation, and whole process is monitored in real time, and method of operating is simply effective, is easy to realize.
Description of drawings:
Fig. 1 is a kind of bulk automatic lading pick-up unit synoptic diagram of the present invention.
Fig. 2 is the illustrative of position of chute tube detection method.
Embodiment:
Bulk automatic lading pick-up unit of the present invention and method, be used to measure the position relation of shipment mechanism and ship and the situation of feeding in raw material, be the relative position relation of the slide tube of ship loader and cabin and height of materials when reinforced, finish automatic lading for the automatic lading system provides these data.
Come the present invention is set forth below in conjunction with embodiment.
This device is installed on makes it can move to the cabin top on the telescoping mechanism of loading bulk goods in ship machine, cabin and material are detected, the front end that is loaded on fixed arm is a proper selection such as accompanying drawing 2.Corner 0 degree position, definition scanner scanning plane makes the plane of scanning motion coplane of vertical rotation axis and scanner and axis pass the scanner photocentre when mechanism design.Be initial point with the scanner photocentre like this, scanner scanning plane and vertical rotation axis constitute a 3 D scanning system.During detection, suppose the length of cabin, wide, the degree of depth known (can transmit by Central Control Room) according to production plan.
Bulk automatic lading pick-up unit of the present invention as shown in Figure 2 is used to detect the method for slide tube 7 positions, comprises the steps:
1) pick-up unit 6 that will be installed on the fixed arm 5 rotates to cabin to be detected 3 tops, suppose that fixed arm 5 length are L, fixed arm 5 turning axles 4 are to ship limit 2A distance W, pick-up unit 6 (being scanner) is apart from fixed arm 5 center d, fixed arm 5 anglecs of rotation are e (fixed arm 0 degree angle is parallel to the bank), and the beam (being 2A-2B) is W
S, the cabin is wide to be W
h, make pick-up unit 6 rotate to cabin to be detected 3 tops, fixed arm 5 corners are satisfied:
W+(W
S-W
h)/2＜|Lsinθ+dcosθ|＜W+(W
S+W
h)/2
Determine that according to fixed arm 5 corners the whirligig corner makes the plane of scanning motion of pick-up unit 6 vertical along straight line with bank 1, because ship is when berthing, ship and bank 1 be along parallel, and cabin length direction and bank 1 are along parallel, and scanning plane at this moment is the xsect of cabin 3;
3) get scan-data, data carried out pre-service, get the number of scans strong point in cabin 3 scopes, specifically can be respectively along distance to ship according to analyzing spot | Lsin θ+dcos θ |-W and W
S+ W|Lsin θ+dcos θ | determine;
4) extraction scans the straight line that the analyzing spot on two facades of cabin that obtain constitutes according to the vertical element extraction algorithm, calculate the distance of photocentre to two facades, two are the width of cabin 3 apart from sum, compare with the actual beam, as in the error allowed band, can determine that then scanner 6 is to cabin 3 distances, also can adopt the method for detecting to measure the minimum beam, be about to scanner 6 deflection certain angles, measure the beam, up to seeking a minimum point, make comparisons again;
5) scanner 6 is revolved turn 90 degrees, utilize the method for step 4) measure cabin 3 length and scanner 6 before and after the cabin along distance, when cabin length during greater than the scanner measurement range, may only record distance on one side, the available method of detecting is surveyed the minor increment of scanner to bulkhead.All can't record as both sides, can make the cart of shipment mechanism move a segment distance, up to recording bulkhead, repeating step 4 again) and 5), to redefine scanner 6 positions;
6) determine slide tube 7 positions according to the position relation of slide tube 7 and scanner, establish slide tube 7 and stretch out fixed arm D that the scanner position measurements is x, y, then position of chute tube is: (x-Dcos θ-dsin θ, y-Dsin θ+dcos θ)
Wherein, the order of step 4) and step 5) can exchange, and promptly surveys position longitudinally earlier, and then surveys horizontal position.
A kind of method of detecting height of materials by bulk cargo automatic ship loading detector comprises the steps:
1) measure the material position: according to slipping tube 7 and scanner 6 positions relation, whirligig aimed at slip tube 7 scannings, extract according to the vertical element extraction algorithm and slip tube 7 to the straight lines of material, then the bottom of straight line point is and slips a tube material position, 7 below;
2) measure position, cabin upper edge: if can scan cabin wall this moment, then extract the straight line that the analyzing spot on the accommodation bulkhead facade constitutes, the straight line upper extreme point is the cabin upper edge, if can't detect bulkhead in the scan-data, then rotatable scanner makes scanner 6 planes of scanning motion vertical with cabin 3 length directions, detect bulkhead, extract bulkhead scanning straight line, the straight line upper extreme point is the cabin upper edge;
3) calculate height of materials: the difference in height of material point and cabin upper edge point is material to cabin upper edge distance, and the cabin degree of depth deducts this value and is height of materials.
The present invention is not restricted to the described embodiments; that describes in the foregoing description and the instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (2)
1. the method for a detecting position of chute tube by automatic bulk cargo ship loading detector comprises the steps:
1) pick-up unit that will be installed on the fixed arm rotates to cabin top to be detected, suppose that fixed arm length is L, the fixed arm turning axle is to ship back gauge W, and pick-up unit is apart from fixed arm center d, the fixed arm anglec of rotation is θ (fixed arm 0 degree angle is parallel to the bank), and the ship molded breadth is W
S, the cabin is wide to be W
h, make pick-up unit rotate to cabin top to be detected, the fixed arm corner is satisfied:
W+(W
S-W
h)/2＜|L?sinθ+d?cosθ|＜W+(W
S+W
h)/2
2) determine that according to the fixed arm corner whirligig corner makes the scanner scanning plane vertical along straight line with bank, because ship is when berthing, ship and bank be along parallel, and cabin length direction and bank are along parallel, and scanning plane at this moment is the cabin xsect;
3) get scan-data, data carried out pre-service, get the number of scans strong point in the cabin scope, specifically can be respectively to ship edge distance according to analyzing spot | L sin θ+d cos θ |-W and W
S+ W|L sin θ+d cos θ | determine;
4) extraction scans the straight line that the analyzing spot on two facades of cabin that obtain constitutes according to the vertical element extraction algorithm, calculate the distance of photocentre to two facades, two are the cabin width apart from sum, compare with the actual beam, as in the error allowed band, can determine that then scanner is to the cabin distance, also can adopt the method for detecting to measure the minimum beam, be about to scanner deflection certain angle, measure the beam, up to seeking a minimum point, make comparisons again;
5) scanner is revolved turn 90 degrees, utilize the method for step 4) measure cabin length and scanner before and after the cabin along distance, when cabin length during greater than the scanner measurement range, may only record distance on one side, the available method of detecting is surveyed the minor increment of scanner to bulkhead, all can't record as both sides, can make the cart of shipment mechanism move a segment distance, up to recording bulkhead, repeating step 4 again) and 5), redefine the scanner position;
6) according to slipping the position relation definite position of chute tube of tube with scanner, establish the slide tube and stretch out fixed arm D, the scanner position measurements is x, y, and then position of chute tube is:
(x-Dcosθ-dsinθ，y-Dsinθ+dcosθ)
2. the method for a kind of detecting position of chute tube by automatic bulk cargo ship loading detector according to claim 1, described step 4) and step 5) can be exchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102082876A CN101788264B (en) | 2007-06-22 | 2007-06-22 | Method for detecting position of chute tube by automatic bulk cargo ship loading detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102082876A CN101788264B (en) | 2007-06-22 | 2007-06-22 | Method for detecting position of chute tube by automatic bulk cargo ship loading detector |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100424530A Division CN101329166B (en) | 2007-06-22 | 2007-06-22 | Device and method for detecting bulk automatic lading |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101788264A true CN101788264A (en) | 2010-07-28 |
| CN101788264B CN101788264B (en) | 2011-12-21 |
Family
ID=42531576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102082876A Expired - Fee Related CN101788264B (en) | 2007-06-22 | 2007-06-22 | Method for detecting position of chute tube by automatic bulk cargo ship loading detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101788264B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108375350A (en) * | 2017-11-09 | 2018-08-07 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of high-precision cylinder bullet angle measuring device based on image |
| CN111891761A (en) * | 2020-07-08 | 2020-11-06 | 神华黄骅港务有限责任公司 | Cabin loading control method and device for ship loader, computer equipment and storage medium |
| CN111908186A (en) * | 2020-07-08 | 2020-11-10 | 神华黄骅港务有限责任公司 | First-wheel loading control system, method and device and storage medium |
| CN111908187A (en) * | 2020-07-08 | 2020-11-10 | 神华黄骅港务有限责任公司 | First-wheel loading control method and device, computer equipment and storage medium |
| CN113104612A (en) * | 2021-03-26 | 2021-07-13 | 国能黄骅港务有限责任公司 | Cabin moving method of ship loader, controller, system and computer readable storage medium |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6115129A (en) * | 1998-12-04 | 2000-09-05 | Weyerhaeuser Company | Laser guided loading system |
| CN1884034A (en) * | 2006-07-06 | 2006-12-27 | 上海交通大学 | Double laser radar positioning method for aligning sling and container truck |
-
2007
- 2007-06-22 CN CN2009102082876A patent/CN101788264B/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108375350A (en) * | 2017-11-09 | 2018-08-07 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of high-precision cylinder bullet angle measuring device based on image |
| CN108375350B (en) * | 2017-11-09 | 2019-12-24 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision barrel elastic angle measuring device based on images |
| CN111891761A (en) * | 2020-07-08 | 2020-11-06 | 神华黄骅港务有限责任公司 | Cabin loading control method and device for ship loader, computer equipment and storage medium |
| CN111908186A (en) * | 2020-07-08 | 2020-11-10 | 神华黄骅港务有限责任公司 | First-wheel loading control system, method and device and storage medium |
| CN111908187A (en) * | 2020-07-08 | 2020-11-10 | 神华黄骅港务有限责任公司 | First-wheel loading control method and device, computer equipment and storage medium |
| CN113104612A (en) * | 2021-03-26 | 2021-07-13 | 国能黄骅港务有限责任公司 | Cabin moving method of ship loader, controller, system and computer readable storage medium |
| CN113104612B (en) * | 2021-03-26 | 2022-07-29 | 国能黄骅港务有限责任公司 | Cabin moving method of ship loader, controller, system and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101788264B (en) | 2011-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107089599B (en) | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional | |
| CN103781717B (en) | Determine the position of the capture member of hoisting crane and the system and method for measure of skewness | |
| CN102506702B (en) | Large three-dimensional coordinate measuring method with laser tracking and device | |
| CN102077052B (en) | Vision system for scan planning of ultrasonic inspection | |
| La et al. | Autonomous robotic system for high-efficiency non-destructive bridge deck inspection and evaluation | |
| CN101788264B (en) | Method for detecting position of chute tube by automatic bulk cargo ship loading detector | |
| US20160169659A1 (en) | Laser scanner | |
| US7196795B2 (en) | Laser measurement apparatus | |
| CN101206262A (en) | System and method for automatically detecting shiploader article position two-dimension laser scanning radar | |
| CN103223955A (en) | Detection method and device for vehicle clearance | |
| CN109458958A (en) | A kind of scaling method of turntable center position in four axis vision measurement device | |
| CN102980512A (en) | Fixed type automatic volume measurement system and measuring method thereof | |
| SA520412477B1 (en) | Tilt and Distance Profiling Vehicle | |
| US11421980B2 (en) | Method for determining a position and orientation of an object using a profilometer | |
| CN113340287B (en) | Cabin hatch identification method for ship loader | |
| CN111208493A (en) | Rapid calibration method of vehicle-mounted laser radar in whole vehicle coordinate system | |
| CN103968778A (en) | Detecting system with multiple laser devices | |
| CN106153074A (en) | A kind of optical calibrating system and method for the dynamic navigation performance of IMU | |
| CN101788317B (en) | Method for detecting height of materials by bulk cargo automatic ship loading detector | |
| CN102865903A (en) | Ship loader level detecting method based on laser radar | |
| CN101788266B (en) | Method for detecting ship inclination angle (in transverse direction) by bulk cargo automatic ship loading detector | |
| CN205825912U (en) | A kind of 3D data collecting system for container identification location | |
| AU2021305833A1 (en) | Mapping of a crane spreader and a crane spreader target | |
| CN208802612U (en) | Ship loader operating system and ship loader | |
| Moring et al. | Active 3-D vision system for automatic model-based shape inspection |
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 | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20100728 Assignee: Shanghai state port equipment Co., Ltd. Assignor: Shanghai Maritime University Contract record no.: 2014310000148 Denomination of invention: Method for detecting position of chute tube by automatic bulk cargo ship loading detector Granted publication date: 20111221 License type: Exclusive License Record date: 20140805 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111221 Termination date: 20140622 |
|
| EXPY | Termination of patent right or utility model |