CN106314821B - Method and device for transferring the support position of a large part of an aircraft - Google Patents
Method and device for transferring the support position of a large part of an aircraft Download PDFInfo
- Publication number
- CN106314821B CN106314821B CN201510369244.1A CN201510369244A CN106314821B CN 106314821 B CN106314821 B CN 106314821B CN 201510369244 A CN201510369244 A CN 201510369244A CN 106314821 B CN106314821 B CN 106314821B
- Authority
- CN
- China
- Prior art keywords
- local
- coordinates
- points
- measuring
- coordinate system
- 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
Images
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a method for transferring a support position of a large part of an aircraft, which comprises the following steps: A. respectively generating a local coordinate system for each support component; B. measuring local coordinates of any M auxiliary points on each local coordinate system; C. measuring local coordinates of any N measuring points on a contact surface of a process ball head and a ball socket; D. calculating the spherical center local coordinate of the spherical surface formed by enveloping the N measuring points according to the local coordinates of the N measuring points; E. fixing the large airplane part on a plurality of supporting parts; F. generating a global coordinate system for an aircraft assembly site platform composed of a plurality of support components; G. measuring global coordinates of the M auxiliary points on a global coordinate system; H. calculating conversion relations between local coordinates and global coordinates of the M auxiliary points; I. converting the local coordinates of the sphere center into global coordinates of the sphere center according to the conversion relation; J. and transmitting the global coordinate of the sphere center to a supporting component of the next station. Therefore, the large-part supporting position of the airplane is transferred between the stations.
Description
Technical Field
The invention relates to the field of assembly of large airplane components, in particular to a method for transferring a supporting position of a large airplane component.
Background
In the process of airplane assembly and butt joint, in order to ensure the assembly precision, the large parts of the airplane need to have uniform support coordinates at different stations. However, the positioner configurations for different stations can be different, for example, a hand-operated positioner is used in the partial assembly stage and a numerically controlled positioner is used in the final assembly stage. The numerical control positioner can realize the advantages of real-time position feedback, grating ruler precision guarantee, self-adaptive positioning and the like. Conventional hand-operated positioners are movable, do not have precise positions and cannot move synchronously with each other, so that internal stress is generated on aircraft components. Therefore, in the process from using the hand-operated locator station to using the numerical control locator station, the real-time accurate transmission of data is difficult to realize.
In fact, after the large part of the airplane is installed and adjusted in the previous station through hand-cranking positioning, the ball socket center position of the hand-cranking positioner is the numerical control positioning target position of the next station. In order to acquire the target position, the relationship between the auxiliary point and the ball socket center can be calibrated by adding an auxiliary measuring device to the hand-operated positioning. In the component adjustment, the auxiliary point and the ball socket center form a rigid body movement as a whole. Singular value decomposition can be applied to solve back the final coordinates of the target position.
Disclosure of Invention
Since there is no method and corresponding device for transferring a support position of a large part of an aircraft between a plurality of stations so far, the invention aims to provide a device for transferring a support position of a large part of an aircraft, thereby realizing that the large part of the aircraft has uniform support coordinates under different stations.
To achieve the above object, a first aspect of the present invention provides a method for transferring a support position of a large aircraft component having a process ball head for fixing in a socket of a plurality of support members, the method comprising the steps of: A. respectively generating a local coordinate system for each support component; B. measuring local coordinates of any M auxiliary points on each local coordinate system, wherein M is an integer greater than or equal to 3; C. measuring local coordinates of any N measuring points on the contact surface of the process ball head and the ball socket on each local coordinate system, wherein N is an integer greater than or equal to 3; D. calculating the sphere center local coordinate of a spherical surface formed by enveloping any N measuring points according to the local coordinates of the any N measuring points; E. securing the large aircraft component to the plurality of support members; F. generating a global coordinate system for an aircraft assembly site platform comprised of the plurality of support components; G. measuring the global coordinates of any M auxiliary points on the global coordinate system; H. calculating a conversion relation between the local coordinates and the global coordinates of the arbitrary M auxiliary points; I. converting the sphere center local coordinate into a sphere center global coordinate according to the conversion relation; and J, transmitting the global coordinate of the sphere center to a supporting component of a next station.
By the method, the global coordinate of the sphere center can be obtained at the next station, so that the support coordinates of the large part of the airplane can be unified among different stations, and the assembly precision is improved.
In one embodiment of the method according to the invention for transmitting a support position of a large part of an aircraft, the local coordinates of the arbitrary M auxiliary points and the global coordinates of the arbitrary M auxiliary points and the local coordinates of the arbitrary N measurement points are measured by a laser tracker. In this way, the spatial coordinate values can be measured simply and accurately.
In one embodiment of the method for transmitting the support position of the large part of the aircraft according to the invention, a least square fitting method is adopted to calculate the sphere center local coordinates of a spherical surface formed by enveloping the arbitrary N measurement points.
In one embodiment of the method according to the invention for transferring the support position of a large part of an aircraft, the transformation relationship is represented by a rotation matrix and a translation matrix.
In one embodiment of the method according to the invention for transferring the support position of a large part of an aircraft, the number of auxiliary points is three.
In one embodiment of the method according to the invention for transferring a support position of a large part of an aircraft, the number of measuring points is four.
A second aspect of the invention provides an apparatus for transferring a support position of a large aircraft component having a process ball head for securing in a socket of a plurality of support components, the apparatus comprising: a first generation unit for generating a local coordinate system for each support member; a first measurement unit, configured to measure local coordinates of arbitrary M auxiliary points on each local coordinate system, where M is an integer greater than or equal to 3; the second measuring unit is used for measuring local coordinates of any N measuring points on the contact surface of the process ball head and the ball socket on each local coordinate system, wherein N is an integer greater than or equal to 3; the first calculation unit is used for calculating the spherical center local coordinates of a spherical surface formed by enveloping any N measuring points according to the local coordinates of the any N measuring points; a fixing unit for fixing the aircraft large part on the plurality of support members; a second generation unit for generating a global coordinate system for an aircraft assembly site platform composed of the plurality of support components; a third measurement unit, configured to measure global coordinates of arbitrary M auxiliary points on the global coordinate system; a second calculation unit configured to calculate a conversion relationship between the local coordinates of the arbitrary M auxiliary points and the global coordinates of the arbitrary M auxiliary points; the conversion unit is used for converting the sphere center local coordinate into a sphere center global coordinate according to the conversion relation; and the transmission unit is used for transmitting the global coordinate of the sphere center to the support component of the next station.
According to the method and the device, the defect that a supporting part of a hand-operated positioner lacks position feedback can be effectively overcome, and the digital transmission of assembly data between stations is realized. In addition, the auxiliary device on the supporting component is simple and reliable, the method is simple to model, and the solving precision is high. Moreover, this further increases the level of automation and digitization of the aircraft assembly.
Drawings
Embodiments of the invention are further explained with reference to the following figures and description, wherein:
FIG. 1 shows a schematic view of a support member according to an embodiment of the invention;
FIG. 2 illustrates a schematic view of an aircraft assembly site platform comprised of a plurality of support members, according to one embodiment of the present invention;
fig. 3 shows a flow chart of a method for transferring a support position of a large part of an aircraft according to an embodiment of the invention.
Detailed Description
In the following detailed description of the preferred embodiments, reference is made to the accompanying drawings which form a part hereof. The accompanying drawings illustrate, by way of example, specific embodiments in which the invention may be practiced. The illustrated embodiments are not intended to be exhaustive of all embodiments according to the invention. It is to be understood that other embodiments may be utilized and structural or logical changes may be made without departing from the scope of the present invention. The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present invention is defined by the appended claims.
Fig. 1 shows a schematic view of a support member according to an embodiment of the present invention.
As shown in fig. 1, the support device is embodied as a hand-operated positioner 100. An auxiliary measuring device 101 is attached to the hand-operated positioner, the auxiliary measuring device 101 having a plurality of positioning pin holes serving as auxiliary measuring points. In one embodiment according to the present invention, only three dowel holes P1, P2, and P3 are used. The coordinates of the three dowel holes in the local coordinate system can be measured with the aid of a laser tracker.
On top of the hand positioner 100, a ball socket is provided, which can be coupled to a craft ball head on the large part of the aircraft. Since there is no entity at the center C of the socket, the center cannot be measured directly by a laser tracker.
Fig. 2 shows a schematic representation of an aircraft assembly site platform made up of a plurality of support members according to an embodiment of the invention.
As shown in fig. 2, the support member includes four hand-operated locators 201, 202, 203, and 204 for supporting a large aircraft component 200. Three positioning pin holes used as auxiliary measuring points are arranged on each hand-operated positioner. The coordinates of these dowel holes on the global coordinate system are also measurable by the laser tracker.
Fig. 3 shows a flow chart of a method for transferring a support position of a large part of an aircraft according to an embodiment of the invention.
In step S301, a local coordinate system is generated separately for each support member. In geometric space, this local coordinate system includes three directional axes. The directions of the three directional axes and the origin of the coordinate system can be arbitrary.
In step S302, local coordinates of arbitrary 3 auxiliary points are measured on each local coordinate system. The local coordinates of the 3 registration pin holes as shown in FIG. 1 are measured, for example, by a laser tracker
In step S303, local coordinates S of any 4 measuring points on the contact surface of the process ball and the ball socket are measured on each local coordinate system1:S4。
In step S304, the local coordinates C of the center of the sphere formed by enveloping the 4 measurement points are calculated according to the local coordinates of the 4 measurement pointsLocal。
In one embodiment according to the present invention, the centroid local coordinate C can be calculated using a least squares fitting methodLocal. The method comprises the following specific steps:
calculating the midpoints M of the four edges1:M4Comprises the following steps:
calculating the direction vectors n for the four edges1:n4Comprises the following steps:
by M1:M4And n1:n4A plane α perpendicular to the edge direction among the passing edges1:α4Which are respectively as follows:
simultaneous solution plane α1And a plane α2Plane α3And a plane α4Respectively obtain the intersection line l1Intersection line l2Comprises the following steps:
wherein (x)1,y1,z1)、(x2,y2，z2) And (m)1,n1,p1)、、(m2,n2,p2) Respectively represent the intersection line l1And l2Passing points and direction vectors.
Last simultaneous intersection line l1And a plane α1Solving the intersection point
The intersection line l can be solved by the same principle1And a plane α2Point of intersection of
Intersection line l2And a plane α1Point of intersection of
Intersection line l2And a plane α2Point of intersection of
Get
The midpoints of these four points serve as initial values of the sphere center coordinates:
when the initial value is obtained
Then, a least squares equation is constructed as follows:
wherein, sphere measurement point:
equation min Σ 12The solution is a nonlinear least square optimization problem, and a nonlinear optimization method is adoptedThe method L-M algorithm, the unknown variable is
Equivalent to min S (X) ═ f (X)Tf (x), then
The specific algorithm implementation process is as follows:
(1-1) giving an initial point x(0)＝[x0y0z0]TSelecting a parameter β e (0,1), mu is greater than 1, upsilon is greater than 1, precision epsilon is greater than 0, and setting kappa as 0;
(1-2) calculating f (x)(κ)),S(x(κ))；
(1-3) calculation of
(1-4) calculation of
(1-5) order
Solution equation
(1-6) let x(κ+1)＝x(κ)+ Δ x, calculating whether the termination condition is satisfied, not satisfying the rotation (1-7);
(1-7) if
Changing mu to mu/upsilon (1-8), or changing mu to mu and upsilon (1-5);
(1-8) let κ ═ κ +1, change to (1-3).
In step S305, the aircraft major components are fixed to the plurality of support members. The large part of the airplane is, for example, a fuselage barrel section of the airplane, a wing of the airplane and the like.
In step S306, a global coordinate system is generated for an aircraft assembly site platform composed of a plurality of support components. For example as shown in fig. 2. In geometric space, this global coordinate system includes three directional axes. The directions of the three directional axes and the origin of the global coordinate system can be arbitrary.
In step S307, global coordinates of 3 auxiliary points are measured on the global coordinate system. Measuring global coordinates of dowel holes, e.g. by laser tracker
In step S308, the conversion relationship between the local coordinates of the 3 auxiliary points and the global coordinates of the 3 auxiliary points is calculated. For example, the rotation matrix and the translation vector from the local coordinate system to the global coordinate system can be determined by an SVD decomposition method, which comprises the following steps:
(2-1) coordinates in the local coordinate system according to the auxiliary points
And coordinates in a global coordinate system
Establishing the following least squares relation:
wherein
Are the coordinates of the auxiliary points in the global coordinate system,
the coordinates of the auxiliary point in the local coordinate system, R is a rotation matrix, and T is a translation matrix.
(2-2) coordinates in the local coordinate system based on the three auxiliary points
And coordinates in a global coordinate system
Based on singular value decomposition methods, using ∑ 22And obtaining a minimum value to solve a least square relation to obtain a rotation matrix and a translation vector.
Order to
Reissue to order
Thus the above equation can be simplified as:
unfolding upper type
Thus, solving for ∑ 22Is the maximum value of the solution:
wherein: the Trace is the Trace of the matrix and,
the matrix H is first subjected to singular value decomposition such that:
H＝UDVT
wherein: d is a diagonal matrix and U and V are orthogonal identity matrices. The rotation matrix R can be calculated by the following formula: h ═ VUT. The translation matrix T is solved by the rotation matrix: mu isGlobe-RμLocalIf det (R) is +1, then R is the solution required to be calculated; if det (R) ═ -1, three of the diagonal matrix D are observedAnd if the main element with the value of order exists, taking the negative value of the corresponding column of the matrix V. Such as: if the third main element of D is zero, let:
V′＝[v1v2v3]
where, vI is the I-th column of the matrix V, and I is 1, 2, 3.
Then the matrix R is chosen to be R ═ V' UT。
And calculating by the same method to obtain a translation matrix T.
In the present invention, if the matrix V does not have a main element with a value of zero in the case of det (r) ═ 1, the best match cannot be found, and another method is required.
In step S309, the center local coordinates are converted into center global coordinates according to the above conversion relationship. That is, according to formula CGlobe＝RCLocal+ T coordinates of the center of the ball socket in the local coordinate system
Conversion to a global coordinate system
The following steps.
In step S310, the global coordinates of the center of sphere are transmitted to the supporting member of the next station, so as to adapt the reference position of the position for the digital locator of the next station.
In order to implement the method, the invention also provides a device for transferring the supporting position of the large part of the airplane. The device comprises a first generating unit for generating a local coordinate system for each supporting part, a first measuring unit for measuring the local coordinates of any 3 auxiliary points on each local coordinate system, a second measuring unit for measuring the local coordinates of any 4 measuring points on the contact surface of the process ball head and the ball socket on each local coordinate system, a first calculating unit for calculating the spherical center local coordinates of a spherical surface formed by enveloping the 4 measuring points according to the local coordinates of the 4 measuring points, a fixing unit for fixing the large part of the airplane on the plurality of supporting parts, a second generating unit for generating a global coordinate system for an airplane assembly site platform consisting of the plurality of supporting parts, a third measuring unit for measuring the global coordinates of the 3 auxiliary points on the global coordinate system, a second calculating unit for calculating the conversion relationship between the local coordinates of the 3 auxiliary points and the global coordinates of the 3 auxiliary points, a first calculating unit for calculating the local coordinates of the 3 auxiliary points, a second calculating unit for calculating the local coordinates of the 4 auxiliary points, a second calculating unit for calculating the local coordinates of, The system comprises a conversion unit used for converting the local coordinates of the sphere center into global coordinates of the sphere center according to the conversion relation, and a transmission unit used for transmitting the global coordinates of the sphere center to a support component of the next station.
Although only the case of 3 auxiliary points and 4 measurement points is described above, all the cases of 3 or more auxiliary points and 3 or more measurement points are within the scope of the present invention.
Although particular embodiments of the present invention have been described above, various changes and modifications may be made by one skilled in the art within the scope of the appended claims.
Claims (12)
1. A method for transferring a support position of a large aircraft component having a process ball for securing in a socket of a plurality of support components, the method comprising the steps of:
A. respectively generating a local coordinate system for each support component;
B. measuring local coordinates of any M auxiliary points on each local coordinate system, wherein M is an integer greater than or equal to 3;
C. measuring local coordinates of any N measuring points on the contact surface of the process ball head and the ball socket on each local coordinate system, wherein N is an integer greater than or equal to 3;
D. calculating the sphere center local coordinate of a spherical surface formed by enveloping any N measuring points according to the local coordinates of the any N measuring points;
E. securing the large aircraft component to the plurality of support members;
F. generating a global coordinate system for an aircraft assembly site platform comprised of the plurality of support components;
G. measuring the global coordinates of any M auxiliary points on the global coordinate system;
H. calculating a conversion relation between the local coordinates of the arbitrary M auxiliary points and the global coordinates of the arbitrary M auxiliary points;
I. converting the sphere center local coordinate into a sphere center global coordinate according to the conversion relation; and
J. and transmitting the global coordinate of the sphere center to a supporting component of the next station.
2. The method of claim 1, wherein the local and global coordinates of the M auxiliary points and the local coordinates of the N measurement points are measured by a laser tracker.
3. The method according to claim 1, wherein the local coordinates of the sphere center of the sphere enveloped by the N measurement points are calculated by a least square fitting method.
4. The method of claim 1, wherein the transformation relationship is represented by a rotation matrix and a translation matrix.
5. The method of claim 1, wherein the number of assist points is three.
6. The method of claim 1, wherein the number of measurement points is four.
7. An apparatus for communicating the support position of a large aircraft component having a craft ball for securing in sockets of a plurality of support members, the apparatus comprising:
a first generation unit for generating a local coordinate system for each support member;
a first measurement unit, configured to measure local coordinates of arbitrary M auxiliary points on each local coordinate system, where M is an integer greater than or equal to 3;
the second measuring unit is used for measuring local coordinates of any N measuring points on the contact surface of the process ball head and the ball socket on each local coordinate system, wherein N is an integer greater than or equal to 3;
the first calculation unit is used for calculating the spherical center local coordinates of a spherical surface formed by enveloping any N measuring points according to the local coordinates of the any N measuring points;
a fixing unit for fixing the aircraft large part on the plurality of support members;
a second generation unit for generating a global coordinate system for an aircraft assembly site platform composed of the plurality of support components;
a third measurement unit, configured to measure global coordinates of arbitrary M auxiliary points on the global coordinate system;
a second calculation unit configured to calculate a conversion relationship between the local coordinates of the arbitrary M auxiliary points and the global coordinates of the arbitrary M auxiliary points;
the conversion unit is used for converting the sphere center local coordinate into a sphere center global coordinate according to the conversion relation;
and the transmission unit is used for transmitting the global coordinate of the sphere center to the support component of the next station.
8. The method according to claim 7, characterized in that the first, second and third measuring unit are implemented as laser trackers.
9. The method according to claim 7, wherein the first calculating unit calculates the sphere center local coordinates of a sphere formed by enveloping the arbitrary N measuring points by using a least square fitting method.
10. The method of claim 7, wherein the transformation relationship is represented by a rotation matrix and a translation matrix.
11. The method of claim 7, wherein the number of assist points is three.
12. The method of claim 7, wherein the number of measurement points is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510369244.1A CN106314821B (en) | 2015-06-29 | 2015-06-29 | Method and device for transferring the support position of a large part of an aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510369244.1A CN106314821B (en) | 2015-06-29 | 2015-06-29 | Method and device for transferring the support position of a large part of an aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106314821A CN106314821A (en) | 2017-01-11 |
| CN106314821B true CN106314821B (en) | 2020-04-14 |
Family
ID=57722383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510369244.1A Active CN106314821B (en) | 2015-06-29 | 2015-06-29 | Method and device for transferring the support position of a large part of an aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106314821B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808914A (en) * | 2019-01-23 | 2019-05-28 | 南京航空航天大学 | A kind of Large Aircraft Components trailing type posture adjusting system locator coordinate automatic identifying method |
| CN112231832B (en) * | 2020-10-14 | 2023-02-03 | 中国船舶重工集团公司第七0四研究所 | Optimized design method of side-push cover sealing system matched with ship body |
| CN113642116B (en) * | 2021-10-19 | 2022-01-25 | 成都飞机工业（集团）有限责任公司 | Method for determining coordinates of aircraft component assembly support station |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8005563B2 (en) * | 2007-10-26 | 2011-08-23 | The Boeing Company | System for assembling aircraft |
| CN101695814B (en) * | 2009-10-15 | 2011-01-19 | 浙江大学 | Method and device for precisely positioning large part of airplane in place |
| CN102313516B (en) * | 2011-08-05 | 2013-08-21 | 南京航空航天大学 | Measuring tool for spatial coordinate of spherical center of top end of follow-up positioner and measuring method thereof |
| CN102519441B (en) * | 2011-12-06 | 2013-12-18 | 南京航空航天大学 | Method for measuring positioning points based on laser tracker in docking process of airplane parts |
| CN102745340B (en) * | 2012-07-05 | 2014-12-31 | 浙江大学 | Digital positioning device of main intersection box of airplane and installation method |
| CN103991555B (en) * | 2014-03-25 | 2016-01-20 | 浙江大学 | A kind of automatic measurement method for aircraft digital assembling |
-
2015
- 2015-06-29 CN CN201510369244.1A patent/CN106314821B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106314821A (en) | 2017-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107127755B (en) | Real-time acquisition device of three-dimensional point cloud and robot polishing track planning method | |
| CN104019799B (en) | A kind of relative orientation method utilizing local parameter optimization to calculate basis matrix | |
| US20160265903A1 (en) | Accuracy traceability method based on precision coordinate control network for workshop measurement positioning system | |
| CN109304730B (en) | Robot kinematic parameter calibration method based on laser range finder | |
| US8620470B2 (en) | System for assembling aircraft | |
| CN108917723B (en) | Pose online measurement system and method for cylindrical cabin segment butt joint | |
| CN106314821B (en) | Method and device for transferring the support position of a large part of an aircraft | |
| CN104477402B (en) | A kind of airframe docking attitude-adjusting method considering the alignment of stringer benchmark and linearity requirement | |
| US7917242B2 (en) | System, method, and computer program product for computing jack locations to align parts for assembly | |
| CN107741224A (en) | A kind of AGV automatic-posture-adjustment localization methods of view-based access control model measurement and demarcation | |
| CN107632208B (en) | Spherical near-field antenna measuring method and system | |
| CN108408080A (en) | A kind of aircraft wing body Butt Assembling device, method and system | |
| CN113386136B (en) | Robot posture correction method and system based on standard spherical array target estimation | |
| CN102183205A (en) | Method for matching optimal assembly poses of large-sized parts | |
| CN103991555A (en) | Automatic measuring method for digitalized airplane assembly | |
| CN110001998B (en) | Airplane large component frame type structure butt joint guiding device and method based on laser ranging | |
| CN102620656A (en) | Measurement method for spacecraft rendezvous and docking relative pose | |
| CN109808914A (en) | A kind of Large Aircraft Components trailing type posture adjusting system locator coordinate automatic identifying method | |
| CN109910014B (en) | Robot hand-eye calibration method based on neural network | |
| CN110058204B (en) | Satellite-borne antenna beam center calibration method based on directional diagram matching | |
| WO2022183761A1 (en) | Spatial pose real-time measurement and adjustment method based on joint calibration | |
| CN103983224A (en) | Large-scale component actually-measured pose fitting method | |
| CN112417683B (en) | Data processing method and device for on-orbit pointing calibration of antenna, electronic equipment and storage medium | |
| Zhou et al. | A combined calibration method of a mobile robotic measurement system for large-sized components | |
| Wang et al. | An investigation and solution of angle based rigid body localization |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |