CN102998574A - Resolver failure detecting system for driving engine of vehicle - Google Patents

Resolver failure detecting system for driving engine of vehicle Download PDF

Info

Publication number
CN102998574A
CN102998574A CN2012102800905A CN201210280090A CN102998574A CN 102998574 A CN102998574 A CN 102998574A CN 2012102800905 A CN2012102800905 A CN 2012102800905A CN 201210280090 A CN201210280090 A CN 201210280090A CN 102998574 A CN102998574 A CN 102998574A
Authority
CN
China
Prior art keywords
signal
rotary transformer
fault detection
sin
fault
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
Application number
CN2012102800905A
Other languages
Chinese (zh)
Other versions
CN102998574B (en
Inventor
朴昶柱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hyundai Mobis Co Ltd
Original Assignee
Hyundai Mobis Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hyundai Mobis Co Ltd filed Critical Hyundai Mobis Co Ltd
Publication of CN102998574A publication Critical patent/CN102998574A/en
Application granted granted Critical
Publication of CN102998574B publication Critical patent/CN102998574B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K24/00—Machines adapted for the instantaneous transmission or reception of the angular displacement of rotating parts, e.g. synchro, selsyn
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
    • H03H17/00—Networks using digital techniques
    • H03H17/02—Frequency selective networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Mathematical Physics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The invention provides a resolver failure detecting system for a driving engine of a vehicle. The resolver failure detecting system is characterized by comprising an R/D conversion part; an input processing part, which converts a sin signal and a cos signal, which are inputted from the R/D (Resolver to Digital) conversion part, into digital signals respectively, removes the predetermined offset and outputs the digital signals; a signal processing part, which obtains absolute values of the signals that are inputted from the input processing part, applies the absolute values to a low-pass filter, removes excitation signals and outputs the signals; a failure detecting signal generating part, which obtains the sum of squares of the signals that are inputted from the signal processing part and calculates failure detecting signals by applying the square root; and a failure judgment part, which identifies failure of a resolver signal line on the basis of the values of the failure detecting signals. In this way, under the condition without a limit to the speed of the driving engine, the resolver failure detecting system of the invention employs the sin signal and the cos signal to calculate the failure detecting signals within a shorter period of time compared with a conventional method, so as to detect the state of failures which may be caused due to break of the resolver signal line and short circuit.

Description

The fault detection system of the rotary transformer of automobile-used driving engine
Technical field
The present invention is a kind of fault detection system and control method thereof that relates to the rotary transformer of automobile-used driving engine, and more detailed saying relates to a kind of signal wire that can detect rotary transformer whether fault detection system and the control method thereof of short circuit and the automobile-used rotary transformer that opens circuit.
Background technology
In order to drive the driving engine of vehicle, can use rotary transformer in order to detect the speed that drives engine and the angle of rotor.The signal that detects by rotary transformer can be transferred in the microcomputer by R/D (Resolver to Digital) chip.
The microcomputer utilization detects the fault of signals of rotating transformer line by the signal of R/D chip transmission.
Namely, as shown in Figure 1, the fault detection system of traditional rotary transformer be by the pilot signal that receives sin signal and cos signal (below, with the record of sin/cos signal), if when the sin signal that receives or cos signal were kept 0V or 5V during more than certain hour (T1), being identified as sin or cos signal wire was open circuit fault.
In addition, as shown in Figure 2, if when sin or cos signal maintained in 2.5 ± 0.3V scope during more than certain hour (T2), being identified as sin or cos signal wire was short trouble.In addition, the fault detection system of traditional rotary transformer as shown in Figure 3, when sin and cos signal are kept 2.5 ± 0.3V during all more than certain hour, is identified as excitation signal line fault.That is, as long as the fault detection system of traditional rotary transformer meets in above 4 kinds of conditions any one, just be identified as the signal wire fault of rotary transformer.
But when short circuit appearred in the sin signal wire, near the signal value of electrical angle 0 ° and 180 ° can be in 2.5 ± 0.3V scope; When short circuit appearred in the cos signal wire, near the signal value of electrical angle 90 ° and 270 ° can be in 2.5 ± 0.3V scope.
In this case, the fault detection system of traditional rotary transformer can be subject to, near need to set the sufficiently long time or could implement when a certain speed is above for detection failure the respective angles that drives engine constraint.
When especially for detection failure time lengthening being set, even physical fault has occured rotary transformer, before being judged to be fault, also can carry out Current Control to driving engine according to the rotor angle of mistake.To additional fault such as initiation over current faults, cause the power module fault and cause the Vehicle Driving Cycle obstacle thus.
In addition, the fault detection system of traditional rotary transformer can only can be moved the fault detection capability of rotary transformer when a certain speed is above, therefore can have the problem of the signal wire fault that can't detect rotary transformer in the field of low speed driving.
Patent documentation:
KR 10-2011-0048977A, 2011.05.12, accompanying drawing 1
Summary of the invention
(technical matters that will solve)
The object of the present invention is to provide a kind of fault detection system of rotary transformer, do not driving in the situation of engine speed restriction, utilize the sin signal of R/D (Resolver to Digital) chip and cos signal to the signal wire of rotary transformer open circuit and the malfunction of short circuit carries out detecting more efficiently than traditional method.
(means of dealing with problems)
In order to reach described purpose, the fault detection system of the rotary transformer of automobile-used driving engine of the present invention, it is characterized in that, comprising: R/D (the Resolver to Digital) converter section that the signal that will input from the rotary transformer is changed and exported; To from sin signal and the cos signal of described R/D (Resolver to Digital) converter section input, be converted to respectively digital signal and the side-play amount removal that will stipulate in advance and the input processing section that exports; To take absolute value from each signal of described input processing section input, be applied to low-pass filter, remove the signal processing part of excitation signal and output; To on the quadratic sum of each signal of described signal processing part input, use square root and calculate the fault detection signal generating unit of fault detection signal; And according to the value of described fault detection signal as the basis, identify the fault judging part of described signals of rotating transformer line fault.
If described fault judging part during the reference value that sets in advance according to the value of described fault detection signal, judges that the signal wire of described rotary transformer is for normal; If the value of described fault detection signal has broken away from described reference value, and when keeping the setting-up time that sets in advance in the scope that sets in advance, the signal wire of judging described rotary transformer is fault.In addition, described reference value can be done setting according to the transformation ratio of described rotary transformer.
K1 is that constant, n are that the transformation ratio of described rotary transformer, described excitation signal are represented by " k1 * sin (wt) ", described sin signal is represented by " k1 * n * sin (wt) * sin θ ", when representing, described reference value can be done corresponding setting by n to described cos signal by " k1 * n * sin (wt) * cos θ ".Herein, when described reference value was 0.4V, the signal wire fault of described rotary transformer judged that required described setting-up time can be set as 1msec.
(effect of invention)
As mentioned above, the fault detection system of rotary transformer of the present invention, in the situation that does not drive the engine speed restriction, than traditional method in the short time, utilize sin signal and cos signal to calculate fault detection signal, detect the signal wire of rotary transformer because of the malfunction that opens circuit and short circuit causes.
Description of drawings
Fig. 1 is that explanation is according to the oscillogram of the open circuit fault detection method of the sin/cos signal of the fault detection system of traditional rotary transformer.
Fig. 2 is that explanation is according to the oscillogram of the short circuit failure detection method of the sin/cos signal of the fault detection system of traditional rotary transformer.
Fig. 3 is explanation according to the oscillogram of the opening circuit of the excitation signal of the fault detection system of traditional rotary transformer/short circuit failure detection method.
Fig. 4 is the block diagram according to the fault detection system of the rotary transformer of one embodiment of the invention.
Fig. 5 oscillogram that to be explanation carry out fault detect according to the signals of rotating transformer line of the fault detection system of the rotary transformer of one embodiment of the invention.
Fig. 6 is in service according to the fault detect of the signals of rotating transformer line of the fault detection system of the rotary transformer of one embodiment of the invention, shows the oscillogram that sin opens circuit.
(description of reference numerals)
1: the fault detection system 10:R/D converter section of rotary transformer
20: input processing section 30: signal processing part
40: fault detection signal generating unit 50: the fault judging part
Embodiment
With reference to the accompanying drawings the embodiment according to the fault detection system of rotary transformer of the present invention is described.
Fig. 4 is the block diagram according to the fault detection system of the rotary transformer of one embodiment of the invention.As shown in Figure 4, the fault detection system 1 of rotary transformer be by, R/D (the Resolver to Digital) converter section 10 that the signal that will input from the rotary transformer is changed and exported, input processing section 20, signal processing part 30, fault detection signal generating unit 40 and fault judging part 50 consist of.Herein, input processing section 20, signal processing part 30, fault detection signal generating unit 40 and fault judging part 50 can be realized by microcomputer.
R/D converter section 10 will be changed and export from the signal that the rotary transformer that detects driving engine speed and position is inputted into.R/D converter section 10 conveys to respectively input processing section 20 with sin signal and cos signal.
Input processing section 20 will be converted to respectively digital signal and remove the side-play amount that sets in advance from the sin/cos signal of R/D converter section 10 inputs.For example, the sin signal of inputting is shown in the upper side waveform of (a) among Fig. 5 the time, and side-play amount can be set as 2.5V shown in the lower side waveform of (a) among Fig. 5.The waveform of processing by input processing section 20 can show as shown in (b) among Fig. 5.
Signal processing part 30 will get respectively its absolute value by the sin/cos signal of processing from input processing section 20, and application of low-pass filters is removed excitation signal in described sin/cos signal.For example, the sin_abs_Lpf signal of processing by signal processing part 30 is shown in (c) among Fig. 5.The waveform of Fig. 5 is the synoptic diagram when representing from 10 inputs of R/D converter section sin signal.The cos_abs_Lpf signal of processing by signal processing part 30 also carries out similar processing to the above.
Fault detection signal generating unit 40 is used square root on the quadratic sum separately of the Sin_abs_Lpf/Cos_abs_Lpf signal that will process by signal processing part 30, calculates the fault detection signal shown in (d) among Fig. 5.
Fault judging part 50 will be the basis by the fault detection signal value that fault detection signal generating unit 40 is calculated, the fault of identification signals of rotating transformer line.If fault judging part 50 bases during the reference value that the value of fault detection signal sets in advance, judge that the signal wire of rotary transformer is normal; If the value of fault detection signal has broken away from reference value, and when in the scope that sets in advance, keeping the setting-up time that sets in advance, judge that the signal wire of rotary transformer is fault.
Reference value herein is that the transformation ratio of the specification according to rotary transformer, especially rotary transformer is set.For example, k1 is that constant, n are that the transformation ratio of described rotary transformer, described excitation signal are represented by " k1 * sin (wt) ", described sin signal is represented by " k1 * n * sin (wt) * sin θ ", when representing, reference value can be done corresponding setting by n to described cos signal by " k1 * n * sin (wt) * cos θ ".
Below, with reference to Fig. 6, the fault detect operation according to the signals of rotating transformer line of the fault detection system 1 of the rotary transformer of one embodiment of the invention is described., reference value is assumed to be 0.45V herein, will be assumed to be 1msec for the setting-up time that fault detect sets.
As described in Figure 6, fault judging part 50 can in the value of fault detection signal under the state below the 0.4V that is not reference value, when keeping setting-up time 1msec, judge that the sin signal wire is short circuit.
As mentioned above, fault detection system 1 according to the rotary transformer of present embodiment, in the situation that does not drive the engine speed restriction, can be than classic method in the short time, utilize sin signal and cos signal to calculate the fault-signal that can carry out fault detect, detect the signal wire of rotary transformer because of the malfunction that opens circuit and short circuit causes.
Abovely describe the present invention with reference to the embodiment shown in the accompanying drawing, but this only is exemplary embodiment that the general technical staff of the technical field of the invention should be appreciated that and can therefrom realize various deformation and other embodiment that are equal to.

Claims (5)

1. the fault detection system of a rotary transformer, it is the fault detection system of the rotary transformer of automobile-used driving engine, it is characterized in that, comprising:
R/D (the Resolver to Digital) converter section that to change and export from the signal that rotary transformer is inputted;
To from sin signal and the cos signal of described R/D (Resolver to Digital) converter section input, be converted to respectively digital signal and the side-play amount removal that will set in advance and the input processing section that exports;
To take absolute value from each signal of described input processing section input, be applied to low-pass filter, remove the signal processing part of excitation signal and output;
To on the quadratic sum of each signal of described signal processing part input, use square root and calculate the fault detection signal generating unit of fault detection signal; And
As the basis, identify the fault judging part of described signals of rotating transformer line fault according to the value of described fault detection signal.
2. the fault detection system of rotary transformer according to claim 1 is characterized in that,
If described fault judging part during the reference value that sets in advance according to the value of described fault detection signal, judges that the signal wire of described rotary transformer is for normal; If the value of described fault detection signal has broken away from described reference value, and when keeping the setting-up time that sets in advance in the scope that sets in advance, the signal wire of judging described rotary transformer is fault.
3. the fault detection system of rotary transformer according to claim 2 is characterized in that,
Described reference value is to do setting according to the transformation ratio of described rotary transformer.
4. the fault detection system of rotary transformer according to claim 3 is characterized in that,
K1 is that constant, n are that the transformation ratio of described rotary transformer, described excitation signal are represented by " k1 * sin (wt) ", described sin signal is represented by " k1 * n * sin (wt) * sin θ ", when representing, described reference value can be done corresponding setting by n to described cos signal by " k1 * n * sin (wt) * cos θ ".
5. the fault detection system of rotary transformer according to claim 4 is characterized in that,
When described reference value was 0.4V, the signal wire fault of described rotary transformer judged that required described setting-up time is set as 1msec.
CN201210280090.5A 2011-09-14 2012-08-08 The fault detection system of the rotary transformer of automobile-used driving electromotor Active CN102998574B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2011-0092433 2011-09-14
KR1020110092433A KR20130029195A (en) 2011-09-14 2011-09-14 Resolver failure detecting system for motor of vehicle

Publications (2)

Publication Number Publication Date
CN102998574A true CN102998574A (en) 2013-03-27
CN102998574B CN102998574B (en) 2016-12-21

Family

ID=47927395

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210280090.5A Active CN102998574B (en) 2011-09-14 2012-08-08 The fault detection system of the rotary transformer of automobile-used driving electromotor

Country Status (2)

Country Link
KR (1) KR20130029195A (en)
CN (1) CN102998574B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104297610A (en) * 2013-11-28 2015-01-21 中国航空工业集团公司洛阳电光设备研究所 Dual-channel rotary transformer open circuit quick-test equipment
US20170310250A1 (en) * 2016-04-25 2017-10-26 Lsis Co., Ltd. Disconnection Detection Apparatus of Sinusoidal Wave Signal
CN108099697A (en) * 2017-12-19 2018-06-01 深圳市英威腾电动汽车驱动技术有限公司 A kind of safe driving control method, apparatus and system
CN109669081A (en) * 2018-12-14 2019-04-23 中国航空工业集团公司西安航空计算技术研究所 A kind of method for real-time monitoring of sine and cosine resolver voltage change ratio
CN109946540A (en) * 2019-03-21 2019-06-28 西安联飞智能装备研究院有限责任公司 A kind of detection circuit and detection method of sine and cosine resolver
CN111886479A (en) * 2019-03-01 2020-11-03 东芝三菱电机产业系统株式会社 Resolver signal processing device and method, driving device, and program

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101500143B1 (en) 2013-09-16 2015-03-18 현대자동차주식회사 Fault detection interface circuit of a resolver and method thereof
KR101619593B1 (en) 2014-07-08 2016-05-10 현대자동차주식회사 Method for judging failure in resolver
KR101583957B1 (en) 2014-07-28 2016-01-08 현대자동차주식회사 Method for wiring mismatch detection of resolver
KR102052871B1 (en) 2014-10-20 2019-12-06 현대자동차주식회사 Method and device for diagnosing a short circuit among resolver's output signals
KR101637808B1 (en) 2015-01-30 2016-07-07 현대자동차주식회사 Apparatus and Method for detecting dismatch of rotor axis
DE102015211216A1 (en) * 2015-06-18 2016-12-22 Robert Bosch Gmbh Method and circuit for detecting a short circuit of the sine or cosine receiver coil of a resolver
CN108735028B (en) * 2018-06-04 2020-08-11 浙江大学 Complete diagnosis system and method for wiring fault of electric circuit

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08210874A (en) * 1995-02-06 1996-08-20 Toyota Motor Corp Method and device for detecting disconnection of resolver
JPH1114691A (en) * 1997-06-27 1999-01-22 Denso Corp Disconnection detector for sensor
JP2000131096A (en) * 1998-10-27 2000-05-12 Tamagawa Seiki Co Ltd Resolver disconnection detecting method
CN1719270A (en) * 2004-07-07 2006-01-11 三菱电机株式会社 Resolver malfunction diagnostic circuit
JP4122606B2 (en) * 1998-11-30 2008-07-23 トヨタ自動車株式会社 Interphase short-circuit detection device
CN102053208A (en) * 2009-11-04 2011-05-11 现代自动车株式会社 Circuit and method for detecting short and disconnection of resolver for hybrid electric vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08210874A (en) * 1995-02-06 1996-08-20 Toyota Motor Corp Method and device for detecting disconnection of resolver
JPH1114691A (en) * 1997-06-27 1999-01-22 Denso Corp Disconnection detector for sensor
JP2000131096A (en) * 1998-10-27 2000-05-12 Tamagawa Seiki Co Ltd Resolver disconnection detecting method
JP4122606B2 (en) * 1998-11-30 2008-07-23 トヨタ自動車株式会社 Interphase short-circuit detection device
CN1719270A (en) * 2004-07-07 2006-01-11 三菱电机株式会社 Resolver malfunction diagnostic circuit
CN102053208A (en) * 2009-11-04 2011-05-11 现代自动车株式会社 Circuit and method for detecting short and disconnection of resolver for hybrid electric vehicle

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104297610A (en) * 2013-11-28 2015-01-21 中国航空工业集团公司洛阳电光设备研究所 Dual-channel rotary transformer open circuit quick-test equipment
CN104297610B (en) * 2013-11-28 2017-02-01 中国航空工业集团公司洛阳电光设备研究所 Dual-channel rotary transformer open circuit quick-test equipment
US20170310250A1 (en) * 2016-04-25 2017-10-26 Lsis Co., Ltd. Disconnection Detection Apparatus of Sinusoidal Wave Signal
CN107306136A (en) * 2016-04-25 2017-10-31 Ls 产电株式会社 The disconnection detection equipment of sine wave signal
US10312836B2 (en) * 2016-04-25 2019-06-04 Lsis Co., Ltd. Disconnection detection apparatus of sinusoidal wave signal
CN108099697A (en) * 2017-12-19 2018-06-01 深圳市英威腾电动汽车驱动技术有限公司 A kind of safe driving control method, apparatus and system
CN108099697B (en) * 2017-12-19 2019-11-12 深圳市英威腾电动汽车驱动技术有限公司 A kind of safe driving control method, apparatus and system
CN109669081A (en) * 2018-12-14 2019-04-23 中国航空工业集团公司西安航空计算技术研究所 A kind of method for real-time monitoring of sine and cosine resolver voltage change ratio
CN111886479A (en) * 2019-03-01 2020-11-03 东芝三菱电机产业系统株式会社 Resolver signal processing device and method, driving device, and program
CN109946540A (en) * 2019-03-21 2019-06-28 西安联飞智能装备研究院有限责任公司 A kind of detection circuit and detection method of sine and cosine resolver

Also Published As

Publication number Publication date
KR20130029195A (en) 2013-03-22
CN102998574B (en) 2016-12-21

Similar Documents

Publication Publication Date Title
CN102998574A (en) Resolver failure detecting system for driving engine of vehicle
CN103635348B (en) The assessment of decomposer-sensor signal
CN102315817B (en) Motor control system for detecting fault of current sensor and control method
JP5569465B2 (en) Abnormality diagnosis device for amplitude modulation device
KR101354758B1 (en) Fault Diagnosis apparatus for motor multi-sensor and method thereof
JP6050841B2 (en) Motor drive device with current detection mode changing function
US20140379204A1 (en) Diagnostic Device of RD Converter, Steering System, and Power Train System
CN101197555A (en) Electric car motor control method and fault-tolerance processing method for its rotor position detection
CN104246442A (en) Resolver device, motor control device, and motor control method
DE112017003161T5 (en) Power conversion device
WO2013004425A1 (en) Redundant determination of the rotary motion of an electrical machine
CN103516263A (en) Master device that changes data communication speed when preparation to drive motor is completed
CN106103008B (en) Robot control system
CN104482954B (en) Coder, external diagnosis equipment and on-line diagnosis and adjustment method
WO2015136672A1 (en) Motor control device, motor control system, motor control method, and motor control program
CN101221461B (en) Reset circuit and reset method for embedded system
CN104460465B (en) A kind of controller of whole electric vehicle for recognizing vehicle driving state
JP5486336B2 (en) Control device for vehicle power converter
US8952636B2 (en) Data communication device that carries out serial communication in order to control motor
CN104808079A (en) Method for diagnosing a frequency converter
CN206807340U (en) A kind of fan and there is its ventilation unit
Batchu Functional safety in inverter hardware
CN104833824A (en) Monitoring device of wheel speed sensor and vehicle provided with the same
CN103869142A (en) Method and Device for Monitoring Signal Levels
CN220054058U (en) Sensor system and electric vehicle

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