CN106823312A - A kind of intelligent ball collecting robot and its control method - Google Patents
A kind of intelligent ball collecting robot and its control method Download PDFInfo
- Publication number
- CN106823312A CN106823312A CN201710015741.0A CN201710015741A CN106823312A CN 106823312 A CN106823312 A CN 106823312A CN 201710015741 A CN201710015741 A CN 201710015741A CN 106823312 A CN106823312 A CN 106823312A
- Authority
- CN
- China
- Prior art keywords
- ball
- module
- base plate
- robot
- speed
- 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
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligent ball collecting robot and its control method, robot realizes rear-guard by DC speed-reducing, has crossbeam in the front end crossbearer of the base plate of robot, and being uniformly hinged some stopping along crossbeam length direction on crossbeam device；The lower surface of base plate has ball storage chamber；The upper surface of base plate is supported by camera identification module, the front end of base plate is provided with ultrasonic distance measuring module, single chip control module and motor drive module are installed on base plate, DC speed-reducing is connected with motor drive module, and DC speed-reducing, camera identification module, motor drive module and ultrasonic distance measuring module are connected with single chip control module.Robot automtion of the invention, it is not necessary to manual control, is user-friendly to.Except camera identification module external structure is fairly simple, easily safeguard, and power consumption is not very big.Ball picking up device need not drive, and robot can move comparatively fast, and ball picking-up efficiency is improved.
Description
Technical field
The present invention relates to a kind of intelligent robot, and in particular to a kind of intelligent ball collecting robot and its control method.
Background technology
Ball game is a kind of motion of graceful fashion, and the country also has increasing people to start to contact ball fortune instantly
It is dynamic.However, the big annoying problem of ball game one is to pick up ball, picks up club and expend people's substantial amounts of time and muscle power,
Therefore, this intelligent ball collecting robot is designed to have very important significance.
It is apparatus that some need people to operate to be used for aiding in people to pick up the most of of ball at present, in the larger, ball in court ground
Scope of being scattered can be a great inconvenience when larger.Also there are some power-driven ball pickers in addition, although be not required to very important person and move, but need
People controls, intelligent.Also someone done with the addition of Based Intelligent Control pick up ball machine, allow robot to go to pick up ball automatically, but past
Very slow a, ball that can only once subtract toward its translational speed, it is difficult to apply in practice.
The content of the invention
For above-mentioned deficiency, the present invention provides a kind of intelligent ball collecting robot and its control method, the ball picking robot energy
Ball is recognized by camera, and independently completes to pick up ball and storage ball, after completing to pick up ball, the position for realizing having specified can moved to and treated
Life.Robot can once store dozens of ball, and with avoiding obstacles by supersonic wave function, prevent from bumping against wall or people.
In order to achieve the above object, the technical solution adopted in the present invention is as follows：A kind of intelligent ball collecting robot, including bottom
Plate, the base plate is concave shape, and the base plate front end left and right sides is symmetrically installed with universal wheel, and the base plate rear end left and right sides is symmetrical
DC speed-reducing is installed, driving wheel is installed on the output shaft of DC speed-reducing；The front end crossbearer of the base plate has horizontal stroke
Beam, is uniformly hinged some stopping and device on the crossbeam along crossbeam length direction；
The lower surface left and right sides of the base plate is respectively and fixedly provided with one first storage ball stopper plate, between two first storage ball stopper plates
It is fixed with the second storage ball stopper plate；Described two first storage ball stopper plates, second store up ball stopper plate and pick up ball stopper plate and surround ball storage chamber；
The upper surface of the base plate is supported by camera identification module, and the front end of base plate is provided with ultrasonic distance measuring module,
Single chip control module and motor drive module are installed, the DC speed-reducing is connected with motor drive module on base plate,
The DC speed-reducing, camera identification module, motor drive module and ultrasonic distance measuring module are and Single-chip Controlling
Module is connected.
Further, described stopping main being coaxially hinged by some one end for picking up ball stopper plate of device and forms, and each picks up ball stopper
Bolt is connected with plate.
Further, the single chip control module is one piece of Arduino single-chip microcomputer, receives camera identification module and surpasses
Sound ranging module is transmitted through the information come, and then sending control signal control robot to motor drive module collects ball.
Further, the camera identification module includes camera and the raspberry group being connected with camera；The tree
The certain kind of berries sends the continuous place picture for being shot to camera to carry out image recognition processing, and the information transfer for obtaining will be recognized to single
Piece machine control module.
It is a further object of the present invention to provide a kind of control method of intelligent ball collecting robot, specific method is as follows：
(1) camera first shoots place image, by data feeding raspberry group.
(2) raspberry group pre-processes to photo, by picture from RGB patten transformations into HSV patterns.
(3) according to the color of ball, image is carried out after binary conversion treatment, obtains black white image, now white in image
Region be ball color region.
(4) Morphological scale-space, the interference in removal binary image are carried out to the image after binaryzation again；
(5) in view of ball circular feature, the border circular areas come in detection image using Hough transform identify ball
Position.
(6) position according to where ball is exported different signal transmissions and gives Arduino single-chip microcomputers, single-chip microcomputer by raspberry group
Signal according to input sends control signals to motor drive module, is controlled by it the two rotation feelings of DC speed-reducing in left and right
Kuang Laishi robots deflection goes to collect ball.Without slowing down when reaching the position of ball, ball can be automatically into by picking up ball stopper plate
Ball storage chamber, and be saved wherein, then robot proceeds identification and picks up the work of ball.
(7) in the barrier higher such as front someone or wall, ultrasonic distance measuring module can be detected and pass on information
To single-chip microcomputer, stop and turn to through motor drive module control DC speed-reducing control signal is sent by single-chip microcomputer.
(8) when robot does not detect front ball, robot can be automatically stopped motion and original place is turn-taked, and find week
Whether the ball for still having and being scattered is enclosed, if having found ball, continuing to be moved to that direction carries out picking up ball, otherwise moves to and treated outside court
Life.
Beneficial effects of the present invention have：Robot automtion, it is not necessary to manual control, is user-friendly to.Except camera
Identification module external structure is fairly simple, easily safeguards, and power consumption is not very big.Ball picking up device need not drive, and robot can be with
Move comparatively fast, ball picking-up efficiency is improved.
Brief description of the drawings
Fig. 1 is three-dimensional axonometric drawing of the invention；
Fig. 2 is left view of the invention；
Fig. 3 is upward view of the invention；
Fig. 4 is ball stopper plate of picking up of the invention with storage ball stopper plate detail view；
Fig. 6 is circuit system structure figure of the invention；
Fig. 5 is workflow diagram of the invention；
In figure, camera 1, single chip control module 2, ultrasonic distance measuring module 3, universal wheel 4, crossbeam 5, pick up ball stopper plate 6,
First storage ball stopper plate 7, DC speed-reducing 8, base plate 9, L-type support 10, supporting studs 11, driving wheel 12, the second storage ball stopper plate
13, screw 14.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing the present invention is done into
One step explanation.
As Figure 1-3, a kind of intelligent ball collecting robot, including base plate 9, the base plate 9 is concave shape, the base plate 9
The front end left and right sides is symmetrically installed with universal wheel 4, and the rear end left and right sides of base plate 9 is symmetrically installed with DC speed-reducing 8, and direct current subtracts
Driving wheel 12 is installed on the output shaft of speed motor 8；The front end crossbearer of the base plate 9 has crossbeam 5, along crossbeam 5 on the crossbeam 5
Length direction is hinged some stopping and device, and described stopping main being coaxially hinged by some one end for picking up ball stopper plate 6 of device and form, often
Individual picking up is connected with bolt 14 on ball stopper plate 6, picking up ball stopper plate 6 using three in the embodiment of the present invention is coaxially hinged, by regulation
The screw-in depth of bolt 14 adjusts the two neighboring angle picked up folded by ball stopper plate 6, as shown in figure 4, when pick up ball stopper plate 6 want to
When the left side is that output direction of ball is rotated, the screw 14 that can be fixed on crossbeam 5 is blocked, it is impossible to rotated, and is wanted when ball stopper plate 6 is picked up
To the right be into direction of bowl rotate when, then can smoothly concede points and enter ball storage chamber without any obstruction, so as to reach only import but no export
Effect.The size for picking up ball stopper plate 6 can be determined according to the species of ball, typically can side by side formed using polylith baffle plate.
One first storage ball stopper plate 7 is fixed in the lower surface left and right sides of the base plate 9 by L-type support 10, two the
The second storage ball stopper plate 13 is fixed between one storage ball stopper plate 7；Described two first storage ball stopper plates 7, second store up ball stopper plate 13 and pick up
Ball stopper plate 6 surrounds ball storage chamber；
The upper surface of the base plate 9 is supported by camera identification module, the camera identification module include camera with
And the raspberry group being connected with camera；Camera is supported on the upper surface of base plate 9 by supporting studs 11, can shoot robot
The longer-distance image in front, while can also see the figure away from robot closer location clearly, the visual field is very wide, can detect well
The position of ball.The raspberry sends the continuous place picture for being shot to camera to carry out image recognition processing, and will recognize
The information transfer for arriving is to single chip control module.The front end of base plate 9 is provided with ultrasonic distance measuring module, can detect robot
The larger Obstacle Position of front end scope.Single chip control module and motor drive module are installed, the direct current subtracts on base plate 9
Speed motor 8 is connected with motor drive module, the DC speed-reducing 8, camera identification module, motor drive module and super
Sound ranging module is connected with single chip control module, as shown in Figure 5.
The single chip control module is one piece of Arduino single-chip microcomputer, receives camera identification module and ultrasonic ranging
Module is transmitted through the information come, and then sending control signal control robot to motor drive module collects ball；As of the invention
Embodiment, the model of Arduino single-chip microcomputers can be Mega2560, but not limited to this.
Used as embodiments of the invention, the camera can be using the product of Waveshare companies RPi Camera models
Product, but not limited to this；The raspberry group can use A types or Type B；The ultrasonic distance measuring module can be public using TELESKY
Take charge of the product of HC-SR04 models, but not limited to this；The motor drive module using the product of L298N models, but can not limited
In this.
The course of work of the invention is as follows：
As shown in fig. 6, ball process of specifically picking up of the invention is：
First, camera 1 first shoots place image, by data feeding raspberry group.
Then, raspberry group pre-processes to photo, by picture from RGB patten transformations into HSV patterns.
Afterwards, according to the color of ball, image is carried out after binary conversion treatment, obtains black white image, it is now white in image
The region of color is ball color region.
Then, then to the image after binaryzation carry out Morphological scale-space, the interference in removal binary image.
Afterwards, it is contemplated that ball circular feature, the border circular areas come in detection image using Hough transform, are identified
The position of ball.
Raspberry is sent the position according to where ball, is exported different signal transmissions and is given Arduino single-chip microcomputers, single-chip microcomputer according to
The signal of input sends control signals to motor drive module, is controlled by it two rotation situations of DC speed-reducing 8 in left and right
To make robot deflection go to collect ball.Need not slow down when reaching the position of ball, ball can be automatically into storage by picking up ball stopper plate 6
Ball room, and be saved wherein, then robot proceeds identification and picks up the work of ball.The barrier higher such as someone or wall in front
When hindering thing, ultrasonic distance measuring module 3 can be detected and information is conveyed into single-chip microcomputer, and control signal is being sent through electricity by single-chip microcomputer
Machine drive module control DC speed-reducing 8 stops and turns to.When robot does not detect front ball, robot can be certainly
Dynamic stop motion is simultaneously turn-taked in original place, finds whether surrounding still has the ball being scattered, if having found ball, continues to be moved to that direction
Carry out picking up ball, otherwise then move to outside court and await orders.
The motion of robot of the present invention uses Differential Control, i.e., when left front of the ball in robot is found, single-chip microcomputer control
Make left motor speed slightly slower than right motor, if being the discovery that in right front, control left motor speed slightly faster than right motor, come with this
Realize that robot points to the motion of ball.
It is every to be designed with mentality of designing identical of the present invention the invention is not restricted to this example, the present invention has been carried out a little
Improved mutation, all should fall into protection scope of the present invention.
Claims (5)
1. a kind of intelligent ball collecting robot, it is characterised in that including base plate, the base plate is concave shape, and the base plate front end is left
Right both sides are symmetrically installed with universal wheel, and the base plate rear end left and right sides is symmetrically installed with DC speed-reducing, DC speed-reducing
Driving wheel is installed on output shaft；The front end crossbearer of the base plate has crossbeam, is uniformly cut with scissors along crossbeam length direction on the crossbeam
Connect some stopping and device.
The lower surface left and right sides of the base plate is respectively and fixedly provided with one first storage ball stopper plate, fixed between two first storage ball stopper plates
There is the second storage ball stopper plate；Described two first storage ball stopper plates, second store up ball stopper plate and pick up ball stopper plate and surround ball storage chamber.
The upper surface of the base plate is supported by camera identification module, and the front end of base plate is provided with ultrasonic distance measuring module, base plate
On single chip control module and motor drive module are installed, the DC speed-reducing is connected with motor drive module, described
DC speed-reducing, camera identification module, motor drive module and ultrasonic distance measuring module are and single chip control module
It is connected.
2. intelligent ball collecting robot according to claim 1, it is characterised in that described stopping device and mainly pick up ball by some
Coaxial being hinged in one end of baffle plate forms, and each to be picked up and be connected with bolt on ball stopper plate.
3. intelligent ball collecting robot according to claim 2, it is characterised in that the single chip control module is a piece
Arduino single-chip microcomputers, receive camera identification module and are transmitted through next information with ultrasonic distance measuring module, drive mould then to motor
Block sends control signal control robot and collects ball.
4. intelligent ball collecting robot according to claim 3, it is characterised in that the camera identification module includes shooting
Head and the raspberry group being connected with camera；The raspberry sends the continuous place picture for being shot to camera to carry out image knowledge
Other places are managed, and the information transfer for obtaining will be recognized to single chip control module.
5. the control method of the intelligent ball collecting robot described in a kind of claim 4, it is characterised in that specific method is as follows：
(1) camera first shoots place image, by data feeding raspberry group.
(2) raspberry group pre-processes to photo, by picture from RGB patten transformations into HSV patterns.
(3) according to the color of ball, image is carried out after binary conversion treatment, obtains black white image, now area white in image
Domain is ball color region.
(4) Morphological scale-space, the interference in removal binary image are carried out to the image after binaryzation again；
(5) in view of ball circular feature, the border circular areas come in detection image using Hough transform identify the position of ball
Put.
(6) position according to where ball is exported different signal transmissions and gives Arduino single-chip microcomputers by raspberry group, single-chip microcomputer according to
The signal of input sends control signals to motor drive module, is controlled by it the rotation situation of DC speed-reducing of left and right two and comes
Robot deflection is set to go to collect ball.Need not slow down when reaching the position of ball, ball can be automatically into storage ball by picking up ball stopper plate
Room, and be saved wherein, then robot proceeds identification and picks up the work of ball.
(7) in the barrier higher such as front someone or wall, ultrasonic distance measuring module can detect and information is conveyed into list
Piece machine, stops and turns to control signal is sent by single-chip microcomputer through motor drive module control DC speed-reducing.
(8) when robot does not detect front ball, robot can be automatically stopped motion and original place is turn-taked, and finding surrounding is
No still to have the ball being scattered, if having found ball, continuing to be moved to that direction carries out picking up ball, otherwise moves to and awaited orders outside court.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710015741.0A CN106823312B (en) | 2017-01-10 | 2017-01-10 | A kind of intelligent ball collecting robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710015741.0A CN106823312B (en) | 2017-01-10 | 2017-01-10 | A kind of intelligent ball collecting robot and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106823312A true CN106823312A (en) | 2017-06-13 |
| CN106823312B CN106823312B (en) | 2019-02-05 |
Family
ID=59117340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710015741.0A Expired - Fee Related CN106823312B (en) | 2017-01-10 | 2017-01-10 | A kind of intelligent ball collecting robot and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106823312B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107961510A (en) * | 2017-12-18 | 2018-04-27 | 武汉星客智行科技有限公司 | Intelligent tennis ball collecting robot people and tennis collection method |
| CN108211277A (en) * | 2018-01-05 | 2018-06-29 | 上海第二工业大学 | A kind of table tennis intelligent ball collecting shared system and its application method |
| CN108687782A (en) * | 2018-08-01 | 2018-10-23 | 郑州大学 | A kind of Basketball Intellectual Robot |
| CN108786041A (en) * | 2018-07-12 | 2018-11-13 | 贵州理工学院 | Intelligent ball collecting control method and intelligent ball collecting robot |
| CN109453500A (en) * | 2018-11-14 | 2019-03-12 | 长春理工大学 | Ball picking robot |
| CN109782753A (en) * | 2018-12-18 | 2019-05-21 | 江汉大学 | It is a kind of to receive the control method for picking device |
| CN109954254A (en) * | 2019-03-19 | 2019-07-02 | 武汉理工大学 | Based on omnidirectional come the court intelligent ball collecting robot of good fortune wheel |
| CN111530041A (en) * | 2020-04-24 | 2020-08-14 | 贵州民族大学 | Robot ball picking method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU5123279A (en) * | 1978-07-24 | 1981-04-02 | Keller, E. | Ball retrieving + storage device |
| US5052688A (en) * | 1991-02-13 | 1991-10-01 | Shiau R Jang | Automatic golf practice course |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN103955150A (en) * | 2013-09-12 | 2014-07-30 | 上海交通大学 | Semi-automatic intelligent tennis pick-up robot and control method thereof |
| CN105080089A (en) * | 2014-05-22 | 2015-11-25 | 胡祖国 | Control system and method for automatic table tennis ball picking device |
-
2017
- 2017-01-10 CN CN201710015741.0A patent/CN106823312B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU5123279A (en) * | 1978-07-24 | 1981-04-02 | Keller, E. | Ball retrieving + storage device |
| US5052688A (en) * | 1991-02-13 | 1991-10-01 | Shiau R Jang | Automatic golf practice course |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN103955150A (en) * | 2013-09-12 | 2014-07-30 | 上海交通大学 | Semi-automatic intelligent tennis pick-up robot and control method thereof |
| CN105080089A (en) * | 2014-05-22 | 2015-11-25 | 胡祖国 | Control system and method for automatic table tennis ball picking device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107961510A (en) * | 2017-12-18 | 2018-04-27 | 武汉星客智行科技有限公司 | Intelligent tennis ball collecting robot people and tennis collection method |
| CN108211277A (en) * | 2018-01-05 | 2018-06-29 | 上海第二工业大学 | A kind of table tennis intelligent ball collecting shared system and its application method |
| CN108786041A (en) * | 2018-07-12 | 2018-11-13 | 贵州理工学院 | Intelligent ball collecting control method and intelligent ball collecting robot |
| CN108687782A (en) * | 2018-08-01 | 2018-10-23 | 郑州大学 | A kind of Basketball Intellectual Robot |
| CN109453500A (en) * | 2018-11-14 | 2019-03-12 | 长春理工大学 | Ball picking robot |
| CN109782753A (en) * | 2018-12-18 | 2019-05-21 | 江汉大学 | It is a kind of to receive the control method for picking device |
| CN109782753B (en) * | 2018-12-18 | 2022-07-19 | 江汉大学 | Control method of picking device |
| CN109954254A (en) * | 2019-03-19 | 2019-07-02 | 武汉理工大学 | Based on omnidirectional come the court intelligent ball collecting robot of good fortune wheel |
| CN109954254B (en) * | 2019-03-19 | 2020-07-31 | 武汉理工大学 | Badminton court intelligence is picked up football robot based on wheel of coming fortune of qxcomm technology |
| CN111530041A (en) * | 2020-04-24 | 2020-08-14 | 贵州民族大学 | Robot ball picking method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106823312B (en) | 2019-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106823312A (en) | A kind of intelligent ball collecting robot and its control method | |
| CN108834576B (en) | Citrus picking robot based on binocular vision and implementation method thereof | |
| CN105500406B (en) | A kind of transformer substation system | |
| CN107137890A (en) | A kind of intelligent tennis ball pickup robot based on image recognition | |
| CN109213137A (en) | sweeping robot, sweeping robot system and its working method | |
| CN107175645A (en) | Mobile robot | |
| CN104238566B (en) | Electronic circuit is with inspection robot control system based on image recognition | |
| CN206369965U (en) | A kind of Automatic-searching charging pile robot based on Machine Vision Recognition | |
| CN109514566A (en) | A kind of intelligent monitoring machine people based on raspberry pie | |
| CN207694194U (en) | A kind of intelligence of view-based access control model picks up tennis robot | |
| CN106315096B (en) | A kind of intelligent controlling device of warehousing system | |
| CN109954254B (en) | Badminton court intelligence is picked up football robot based on wheel of coming fortune of qxcomm technology | |
| CN207223954U (en) | A kind of intelligent grabbing robot | |
| CN110859087A (en) | Multifunctional tea picking robot | |
| CN110040394A (en) | A kind of interactive intelligent rubbish robot and its implementation | |
| CN108579030A (en) | A kind of robot of view-based access control model picks up ball method | |
| CN111958613A (en) | Robot based on UVC-LED sterilamp and AI intelligent vision track system thereof | |
| CN211267728U (en) | Multifunctional tea picking robot | |
| CN110351485A (en) | A kind of machine vision tracking rotation device and control method | |
| CN214843049U (en) | Omnibearing three-dimensional scanning device | |
| CN206152232U (en) | Ball car is picked up to intelligence | |
| CN210823833U (en) | Intelligent sanitation robot | |
| CN207054586U (en) | A kind of laser using vision positioning technology eliminates wasp device | |
| CN111729269B (en) | Recognition method of tennis ball picking robot based on depth vision | |
| WO2023019892A1 (en) | Adaptive device for lodging detection header using laser sensor, and control method |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190205 Termination date: 20200110 |