CN105425818B - A kind of unmanned vehicle independent safe flight control method - Google Patents
A kind of unmanned vehicle independent safe flight control method Download PDFInfo
- Publication number
- CN105425818B CN105425818B CN201610027252.2A CN201610027252A CN105425818B CN 105425818 B CN105425818 B CN 105425818B CN 201610027252 A CN201610027252 A CN 201610027252A CN 105425818 B CN105425818 B CN 105425818B
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- way point
- flight
- error information
- default
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of unmanned vehicle independent safe flight control methods, including two parts, first, in flight course, change for unmanned vehicle state of flight, sliding-window filtering is carried out using to error information, the historical data unrelated with current state is effectively rejected, disturbs excessive data, accelerate convergence process, reduce overshoot, increases the stability that unmanned vehicle state changes process.Second is that switching for unmanned vehicle way point, the switching of way point is carried out by following logic, first determine whether the distance between unmanned vehicle and current goal way point, simultaneously, in order to which flight safety considers, when being unsatisfactory for above-mentioned switching condition and judge that unmanned vehicle is parallel at a distance from flight path with target destination less than certain value, target destination also can be switched to next destination by system automatically.Method disclosed by the invention can effectively improve the reliability of the stability and way point switching of unmanned vehicle state change, can improve flight safety conscientiously.
Description
Technical field：
The invention belongs to unmanned vehicle technical fields, refer in particular to a kind of unmanned vehicle independent safe flight control method.
Background technology：
Currently, unmanned vehicle technology is grown rapidly, and unmanned vehicle can carry many sophisticated equipments, pass through autopilot
Default flight path and people execute various tasks in the mode of circuit remote control, can effectively evade pilot driver and fly
The risk that machine is undertaken, this has embodied the huge security advantages of unmanned vehicle.
Meanwhile with the paces of unmanned vehicle civil nature, unmanned vehicle is in photography of taking photo by plane, urban road mapping, friendship
The application in the fields such as logical monitoring is also more and more extensive.Execute such task, the autonomous flight ability and safety of unmanned vehicle
Performance can not be ignored, because urban population is intensive, once unmanned vehicle often brings serious consequence from falling from high altitude.
Unmanned vehicle executes the reliability of task, task ability, especially safety also have been to be concerned by more and more people and pay attention to,
Also many problems need further perfect.
Problem one, unmanned vehicle executes aerial mission in the air, and according to mission requirements, task height, task speed is all
It is possible that changing in wide range, during this relates to the change of unmanned vehicle state of flight, in itself control rudder face
The adjustment problem of vertical position.In classic control method, typically by new equilbrium position is found out to the integral of error, accidentally
All historical informations are contained in the integral of difference, including the excessive error message etc. of disturbance.Farther out from current time
Historical information and error message are no advantage to current state change, the control flaps of one side historic state and current state
The neutral position in face is different, and historical information hinders the change of current state, needs the overshoot long period that could eliminate historical information
Influence, influence convergence rate；On the other hand, the historical information of mistake needs larger overshoot to eliminate, and influences state change
Stability.
Problem two, unmanned vehicle execute aerial mission in the air, and flight track is to carry serial number by a series of
Way point composition, way point mainly contains the information such as longitude and latitude, height, flying speed, main function is to guide nobody
Aircraft flies along fixation locus, and way point may be simply referred to as destination.Way point is typically to be designed before flying, and uploads to nobody and flies
In row device autopilot, can also real-time online change, designed way point is known as default way point or default destination before flying,
The track of line is known as default flight path, during real-time flight, unmanned plane quilt between the default way point of two adjacent numbers
Control system, which is guided, wishes that the way point for reaching and not reaching temporarily is known as current target waypoint or target destination.Unmanned plane arrives
After near up to target waypoint, control system will operate target waypoint according to certain control logic, by target
Way point is switched to Next Serial Number or the way point of specified number.Switch logic is particularly significant in way point handoff procedure, switching
Logic needs to carry out comprehensive consideration to unmanned vehicle flight precision and flight safety.If excessively unmanned vehicle is required to fly
Precision, by the very little of the setting of turning radius in advance of way point switching, unmanned vehicle by turning radius itself due to being limited
It with the influence of the disturbance of wind, can not may fly into always Zone switched, cause unmanned vehicle near target waypoint with big
Gradient roll angle is turn-taked, and easily lures that unmanned vehicle crashes into；Equally, if only considering safety, if unmanned vehicle with
The distance that target waypoint is parallel to flight path switches to next way point less than certain value, then, unmanned vehicle at this time
May with target waypoint at a distance from flight path also farther out, there are no that can execute, the way point is preset to be detectd unmanned vehicle
Task is looked into or hit, next way point is just had been switched to, can undoubtedly influence the ability that unmanned vehicle executes task in this way.
Invention content
The present invention is directed to the deficiency of existing unmanned vehicle control method, it is proposed that a kind of unmanned vehicle independent is winged safely
Row control method can effectively solve the problem that the safety issue during unmanned vehicle independent flight control.
The technical scheme is that：
The invention mainly comprises two parts, first, in flight course, switch for unmanned vehicle state of flight, use
Sliding-window filtering is carried out to error information, the historical data unrelated with current state can be effectively rejected, disturb excessive number
According to quickening convergence process reduces overshoot, increases the stability that unmanned vehicle state changes process.Second is that being directed to unmanned flight
Device way point switches, and the switching of way point is carried out by following logic, first determines whether unmanned vehicle and current goal way point
The distance between, meanwhile, in order to which flight safety considers, unmanned vehicle and target are judged when being unsatisfactory for above-mentioned switching condition
When the distance that way point is parallel to flight path is less than certain value, target waypoint also can be switched to next way point by system automatically.
Method disclosed by the invention can effectively improve the reliability of the stability and way point switching of unmanned vehicle state change, energy
It is enough to improve flight safety conscientiously.
A kind of unmanned vehicle independent safe flight control method, it is characterised in that：Including unmanned vehicle state of flight
Handoff-security and unmanned vehicle way point handoff-security two parts,
The unmanned vehicle state of flight handoff-security, includes the following steps：
S1.1：Autopilot starts, and the error information of sensor initializing, all integral terms is initialized as zero；
S1.2：Unmanned vehicle takes off, and is introduced into climb mode, specified altitude assignment to be climbed to, into cruise mode, margin of error
According to starting to integrate；
S1.3：Whether error in judgement is excessive, such as within the scope of boundary value, directly records；It is more than such as boundary value, according to boundary
Value record；
S1.4：Setting preserves the sum of error information, later every when the sum of the error information of record is equal to setting value
As soon as recording a newest error information, a historical data most remote is deleted, constantly updates error information, keeps data total
Number is setting value.
The unmanned vehicle way point handoff-security, includes the following steps：
S2.1：According to the location information of unmanned vehicle current location information and default way point, unmanned vehicle is calculated
The distance between current location and current goal way point D；
S2.2：Judge whether distance D is less than default turning radius in advance, if it is lower, current goal way point is switched
To next target waypoint, it is transferred to step S2.1；If it is not, entering step S2.3；
S2.3：According to the location information of unmanned vehicle current location information and default way point, unmanned vehicle is calculated
Current location is parallel to default flight path distance d between current goal way point；
S2.4：Judge whether distance d is less than preset handoff-security amount, if it is lower, current goal way point is cut
Next target waypoint is shifted to, step S2.1 is then transferred to；If it is not, being directly transferred to step S2.1, carries out a new round and sentence
It is disconnected.
The problem of for described in background technology one, the present invention devises state of flight safe switching method, to margin of error
According to sliding-window filtering is carried out, the historical data unrelated with current state is rejected in time, disturbs excessive data, is made and current shape
The related error information of state is dominant in time, can effectively accelerate convergence rate, reduces overshoot, increases steady during state changes
It is qualitative.
The problem of for described in background technology two, the present invention fully consider required precision in way point handoff procedure and
The requirement of safe and reliable property, devises way point safe switching method, and cutting for way point in flight course is carried out by following logic
It changes.Judged whether to be switched to next way point according to the distance between unmanned vehicle and target waypoint first, then judges nothing
People's aircraft is parallel at a distance from flight path whether meet switching condition with target waypoint, can not only meet unmanned vehicle execution
Required precision when task also can guarantee reliability and the safety of way point switching.
Compared with prior art, it is an advantage of the invention that：(1) pass through the side to error information progress sliding-window filtering
Method eliminates the historical data unrelated with current state, disturbs excessive wrong data, accelerates the change of state in time
Journey improves convergence rate, reduces unnecessary overshoot, increases the stability during state of flight changes.(2) comprehensive
The requirement for switching precision and reliability when unmanned vehicle executes task to way point is considered, is shifted to an earlier date it is first determined whether meeting
The switching condition of turning radius, if it is satisfied, just automatically switching to next way point, it is not necessary to be further continued for flying to target waypoint
Row, has saved the flight time；When abnormal conditions occur, for example being interfered compared with extreme crosswind, unmanned vehicle can not be flown into advance
The region of turning radius, as long as but unmanned vehicle on the direction for being parallel to default flight path between target waypoint away from
From less than certain value, so that it may to automatically switch to next way point, so that unmanned vehicle is left crosswind interference safely stronger
Region ensure that the safety of unmanned vehicle, improve the safety and reliability of way point switching.
Description of the drawings
Fig. 1 is flight error data sliding-window filtering algorithm flow chart；
Fig. 2 is sliding-window filtering algorithm schematic diagram；
Fig. 3 is way point safe switching method schematic diagram.
In Fig. 3, xg、ygRepresent two axis of floor coordinate system；Wi-1、Wi、Wi+1Respectively design in order in advance
Way point；Default flight path is Wi-1、Wi、Wi+1The line of each dot center, and abnormal flight path is then random, and one is given in figure
Kind common situations；With Wi-1、Wi、Wi+1Centered on each way point, shift to an earlier date turning radius (being usually 100 meters) by what is set,
Border circular areas shown in figure can be obtained, unmanned vehicle flies into border circular areas, i.e., can automatically switch to target waypoint
It is next；When there are abnormal conditions, unmanned vehicle flies not into border circular areas, the long dotted line of vertical direction in having crossed figure
After (safety line), equally target waypoint can be switched to automatically next；Vertical long dotted line (safety line) and target course
Point WiThe distance between be usually in advance turning radius a quarter, about 25 meters；
Specific implementation mode
The present invention is described further below in conjunction with the accompanying drawings.
A kind of unmanned vehicle independent safe flight control method of the present invention, including unmanned vehicle state of flight are cut safely
It changes and unmanned vehicle way point handoff-security two parts.
First part：State of flight safe switching method
Fig. 1 is flight error data sliding-window filtering algorithm flow chart.
As shown in Figure 1, sliding-window filtering algorithm calculates, steps are as follows：
S1.1：Autopilot starts, and the error information of sensor initializing, all integral terms is initialized as zero；
S1.2：Unmanned vehicle takes off, and is introduced into climb mode, specified altitude assignment to be climbed to, into cruise mode, margin of error
According to starting to integrate；
S1.3：Whether error in judgement is excessive, such as within the scope of boundary value, directly records；It is more than such as boundary value, according to boundary
Value record；
S1.4：Setting preserves the sum of error information, later every when the sum of the error information of record is equal to setting value
As soon as recording a newest error information, a historical data most remote is deleted, constantly updates error information, keeps data total
Number is setting value.Fig. 2 is sliding-window filtering algorithm schematic diagram.
Second part：Way point safe switching method
Fig. 3 is way point safe switching method schematic diagram.
Way point handoff-security logic is as follows：
(1) it according to the location information of unmanned vehicle current location information and default way point, calculates unmanned vehicle and works as
The distance between front position and current goal way point D.
Wherein, xaAnd yaIt is relative coordinate of the unmanned vehicle current location under earth axes, xbAnd ybIt is target boat
The relative coordinate of waypoint.
(2) judge whether distance D is less than default turning radius in advance, if it is lower, current goal way point is switched to
Next target waypoint is transferred to (1)；If it is not, judging into the next item down.
(3) it according to the location information of unmanned vehicle current location information and default way point, calculates unmanned vehicle and works as
Front position is parallel to default flight path distance d between current goal way point.
D=| yb-ya|
(4) judge whether distance d is less than preset handoff-security amount, if it is lower, current goal way point is switched
To next target waypoint, it is then transferred to step (1)；If it is not, being directly transferred to (1), new round judgement is carried out.
The explanation of the preferred embodiment of the present invention contained above, this be for the technical characteristic that the present invention will be described in detail, and
Be not intended to invention content being limited in concrete form described in embodiment, according to the present invention content purport carry out other
Modifications and variations are also protected by this patent.The purport of the content of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (3)
1. a kind of unmanned vehicle independent safe flight control method, it is characterised in that：Pacify including unmanned vehicle state of flight
Full switching and unmanned vehicle way point handoff-security two parts,
The unmanned vehicle state of flight handoff-security, includes the following steps：
S1.1：Autopilot starts, and the error information of sensor initializing, all integral terms is initialized as zero；
S1.2：Unmanned vehicle takes off, and is introduced into climb mode, specified altitude assignment to be climbed to, into cruise mode, error information is opened
Begin integral；
S1.3：Whether error in judgement is excessive, such as within the scope of boundary value, directly records；It is more than such as boundary value, remembers according to boundary value
Record；
S1.4：Setting preserves the sum of error information, when the sum of the error information of record is equal to setting value, often records later
As soon as newest error information deletes a historical data most remote, error information is constantly updated, holding data count is
Setting value；
The unmanned vehicle way point handoff-security, includes the following steps：
S2.1：According to the location information of unmanned vehicle current location information and default way point, it is current to calculate unmanned vehicle
The distance between position and current goal way point D；
S2.2：Judge whether distance D is less than default turning radius in advance, if it is lower, current goal way point is switched to down
One target waypoint is transferred to step S2.1；If it is not, entering step S2.3；
S2.3：According to the location information of unmanned vehicle current location information and default way point, it is current to calculate unmanned vehicle
Position is parallel to default flight path distance d between current goal way point；
S2.4：Judge whether distance d is less than preset handoff-security amount, if it is lower, current goal way point is switched to
Then next target waypoint is transferred to step S2.1；If it is not, being directly transferred to step S2.1, new round judgement is carried out.
2. a kind of unmanned vehicle state of flight safe switching method, it is characterised in that：Include the following steps：
S1：Autopilot starts, and the error information of sensor initializing, all integral terms is initialized as zero；
S2：Unmanned vehicle takes off, and is introduced into climb mode, specified altitude assignment to be climbed to, into cruise mode, error information starts
Integral；
S3：Whether error in judgement is excessive, such as within the scope of boundary value, directly records；It is more than such as boundary value, remembers according to boundary value
Record；
S4：Setting preserves the sum of error information, when the sum of the error information of record is equal to setting value, often records one later
A newest error information just deletes a historical data most remote, constantly updates error information, and it is to set to keep data count
Definite value.
3. a kind of unmanned vehicle way point safe switching method, which is characterized in that include the following steps：
S1：According to the location information of unmanned vehicle current location information and default way point, unmanned vehicle present bit is calculated
Set the distance between current goal way point D；
S2：Judge whether distance D is less than default turning radius in advance, if it is lower, current goal way point is switched to next
Target waypoint is transferred to step S1；If it is not, entering step S3；
S3：According to the location information of unmanned vehicle current location information and default way point, unmanned vehicle present bit is calculated
It sets and is parallel to default flight path distance d between current goal way point；
S4：Judge whether distance d is less than preset handoff-security amount, if it is lower, current goal way point is switched to down
Then one target waypoint is transferred to step S1；If it is not, being directly transferred to step S1, new round judgement is carried out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610027252.2A CN105425818B (en) | 2016-01-15 | 2016-01-15 | A kind of unmanned vehicle independent safe flight control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610027252.2A CN105425818B (en) | 2016-01-15 | 2016-01-15 | A kind of unmanned vehicle independent safe flight control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105425818A CN105425818A (en) | 2016-03-23 |
| CN105425818B true CN105425818B (en) | 2018-08-31 |
Family
ID=55504086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610027252.2A Active CN105425818B (en) | 2016-01-15 | 2016-01-15 | A kind of unmanned vehicle independent safe flight control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105425818B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912749B (en) * | 2016-03-31 | 2019-06-04 | 北京润科通用技术有限公司 | Emulation mode and device |
| CN109947123B (en) * | 2019-02-27 | 2021-06-22 | 南京航空航天大学 | Unmanned aerial vehicle path tracking and autonomous obstacle avoidance method based on sight guidance law |
| CN109871033B (en) * | 2019-03-21 | 2021-01-19 | 西安索格亚航空科技有限公司 | Method for automatically activating next waypoint based on airplane position |
| CN111127955B (en) * | 2019-11-28 | 2021-05-04 | 中国航空工业集团公司西安航空计算技术研究所 | Automatic activation method for flight planning flight segment |
| CN111580552B (en) * | 2020-05-09 | 2023-08-04 | 陕西飞机工业（集团）有限公司 | Automatic flight control method for circular flight path of airplane |
| CN111538255B (en) * | 2020-06-19 | 2023-04-25 | 中国人民解放军国防科技大学 | Anti-bee colony unmanned aerial vehicle aircraft control method and system |
| CN115409437B (en) * | 2022-11-03 | 2023-03-24 | 成都沃飞天驭科技有限公司 | Low-altitude flight emergency processing method and device, aircraft and storage medium |
| CN115435776B (en) * | 2022-11-03 | 2023-03-14 | 成都沃飞天驭科技有限公司 | Method and device for displaying three-dimensional airway route, aircraft and storage medium |
| CN115440091B (en) * | 2022-11-03 | 2023-07-04 | 成都沃飞天驭科技有限公司 | Course switching view display method and device, aircraft and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5646854A (en) * | 1989-11-14 | 1997-07-08 | Honeywell Inc. | Lateral guidance transition control apparatus for aircraft area navigation systems |
| CN103748527A (en) * | 2011-07-27 | 2014-04-23 | Csp-信息及通信技术创新有限责任联盟 | A method for allowing missions of unmanned aerial vehicles, in particular non-segregated air spaces |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6885917B2 (en) * | 2002-11-07 | 2005-04-26 | The Boeing Company | Enhanced flight control systems and methods for a jet powered tri-mode aircraft |
| CN101763116B (en) * | 2008-12-24 | 2012-12-12 | 中国科学院自动化研究所 | Side wind resistance landing flight track tracking control method based on side direction guide |
| CN102506859B (en) * | 2011-10-31 | 2014-05-07 | 北京航空航天大学 | Gyro signal acquisition circuit and signal filtering system for three-axis inertially-stabilized platform |
| CN103208206B (en) * | 2013-03-21 | 2015-07-29 | 北京航空航天大学 | A kind of method for arranging traffic pattern of unmanned aerial vehicle be applicable under topographical constraint |
| CN103592947B (en) * | 2013-11-19 | 2015-11-11 | 华南农业大学 | A kind of agricultural aircraft security operation flight supervising device and control algolithm thereof |
| EP3470787B1 (en) * | 2013-11-27 | 2020-04-15 | The Trustees Of The University Of Pennsylvania | Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (mav) |
| CN104331548A (en) * | 2014-10-24 | 2015-02-04 | 中国人民解放军国防科学技术大学 | Method for planning flight action of unmanned aerial vehicle based on workflow |
| CN104615142B (en) * | 2014-12-19 | 2017-04-26 | 重庆大学 | Flight controller for civil small UAV (Unmanned Aerial Vehicle) |
| CN104536457B (en) * | 2014-12-19 | 2017-02-22 | 重庆大学 | Sliding-mode control method based on small unmanned aerial vehicle navigation |
| CN104714556B (en) * | 2015-03-26 | 2017-08-11 | 清华大学 | UAV Intelligent course heading control method |
| CN104932515B (en) * | 2015-04-24 | 2019-10-11 | 深圳市大疆创新科技有限公司 | A kind of autonomous cruise method and equipment of cruising |
| CN104950906A (en) * | 2015-06-15 | 2015-09-30 | 中国人民解放军国防科学技术大学 | Unmanned aerial vehicle remote measuring and control system and method based on mobile communication network |
-
2016
- 2016-01-15 CN CN201610027252.2A patent/CN105425818B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5646854A (en) * | 1989-11-14 | 1997-07-08 | Honeywell Inc. | Lateral guidance transition control apparatus for aircraft area navigation systems |
| CN103748527A (en) * | 2011-07-27 | 2014-04-23 | Csp-信息及通信技术创新有限责任联盟 | A method for allowing missions of unmanned aerial vehicles, in particular non-segregated air spaces |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105425818A (en) | 2016-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105425818B (en) | A kind of unmanned vehicle independent safe flight control method | |
| US9530321B2 (en) | Flight management method and system | |
| CN104714556B (en) | UAV Intelligent course heading control method | |
| US10843796B2 (en) | Rotorcraft advanced autopilot control arrangement and methods | |
| CA2796923C (en) | Determining landing sites for aircraft | |
| EP2681635B1 (en) | Control computer for an unmanned vehicle | |
| EP0999485B1 (en) | Method of automated thrust-based roll guidance limiting | |
| US10991259B2 (en) | Drone remote piloting electronic system, associated method and computing program | |
| EP2299421A2 (en) | Vehicle position keeping system | |
| US20130274965A1 (en) | Automated take off control system and method | |
| US9595200B2 (en) | System and method for providing guidance during a flare maneuver of an aircraft | |
| US20100131125A1 (en) | Method for assisting in the management of the flight of an aircraft in order to keep to a time constraint | |
| US8594863B2 (en) | Method and device for aiding the management of an aircraft flight receiving a control clearance | |
| JP2009515771A (en) | A control system for automatic overturning flight. | |
| US8930130B2 (en) | Method for constructing a trajectory of an aircraft by state vector | |
| CN107402576A (en) | Method for the reference Vertical Profile of automatic reclosing aircraft | |
| CN103699132B (en) | Device and method for assisting visual disc to precess and approach | |
| CN110908405B (en) | Control method for concentric circle flight of fixed wing unmanned aerial vehicle | |
| EP1756791A1 (en) | Aircraft path verification assistance method | |
| US20150378358A1 (en) | Method for determining the vertical point for switching from a manual piloting mode to a guided mode | |
| EP3792724B1 (en) | Systems and methods for energy managed autoflight guidance using potential flight path angle | |
| WO2005001587A1 (en) | Flight navigation system for entry into a holding pattern | |
| US11535394B2 (en) | Aircraft landing assistance method and memory storage device including instructions for performing an aircraft landing assistance method | |
| JP5166349B2 (en) | Fixed wing aircraft, fixed wing aircraft system, and fixed wing aircraft landing method | |
| US11435763B2 (en) | Electronical device, and method, for automatically determining piloting information of a mobile machine accompanying a leader mobile machine, associated computer program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |