CN106980317B - A kind of underwater obstacle avoidance method and system - Google Patents

A kind of underwater obstacle avoidance method and system Download PDF

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Publication number
CN106980317B
CN106980317B CN201710209882.6A CN201710209882A CN106980317B CN 106980317 B CN106980317 B CN 106980317B CN 201710209882 A CN201710209882 A CN 201710209882A CN 106980317 B CN106980317 B CN 106980317B
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China
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underwater robot
roadblock
location information
underwater
information
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CN201710209882.6A
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Chinese (zh)
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CN106980317A (en
Inventor
刘飞
池晓阳
张保平
李刚
刘中凡
张良曦
张吉伟
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大鹏高科(武汉)智能装备有限公司
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/0206Control of position or course in two dimensions specially adapted to water vehicles

Abstract

The present invention relates to underwater robot technical fields, provide a kind of underwater obstacle avoidance method and system.Wherein method includes that underwater robot determines current location information, and the geographical module request for carrying location information is sent to server-side;Underwater robot generates avoidance strategy according to one or more the geographical module got;Underwater robot judges the threshold information currently met according to its conduct direction and real-time location information, and takes the evacuation movement of the corresponding threshold information.The embodiment of the present invention proposes a kind of method and system that the roadblock based on geographical module judges in advance, and acts according to judgement execution evacuation.Working sea area is divided into many geographical modules according to the sensing detection characteristic of underwater robot, so as to determine working region corresponding to current task, corresponding geographical module is sent to corresponding underwater robot, reduce underwater robot to the analysis total amount of data, improves the speed of response of underwater robot and the safety of work.

Description

A kind of underwater obstacle avoidance method and system

[technical field]

The present invention relates to underwater robot technical fields, more particularly to a kind of underwater obstacle avoidance method and system.

[background technique]

Underwater robot can replace manually under water in the waters of highly dangerous environment, contaminated environment and zero visibility Long working.Wherein, it is commonly equipped with the devices such as Sonar system, video camera, headlamp and mechanical arm on underwater robot, can mention For real-time video, sonar image information, and it is able to use mechanical arm and picks up weight.Underwater robot is in safety search and rescue, pipeline It is used widely in the fields such as inspection, research and teaching, underwater amusement, energy industry, archaeology, fishery.

It due to the particularity of underwater robot working environment, i.e., works under water and unmanned field control, to underwater The intelligent requirements of people are relatively high.And the accident that most possibly occurs is under water, underwater robot in the process of running, with obstacle Accident caused by object collides, causes the structure of underwater robot badly damaged.In the prior art, underwater robot substantially can It enough detects that whether there are obstacles in front, and is instructed according to the evacuation that cordless communication network receives console waterborne to complete to hinder Hinder object to avoid, cannot achieve automatic evacuation, different measures to keep clear can not be formulated according to the concrete condition of barrier.

Under water during the underwater operation of robot, the most common problem is, due to the complexity of undersea environment, often Barrier of different shapes can be encountered, needs effectively to hide these barriers, to guarantee the just normally opened of underwater operation Exhibition.Current underwater robot can recognize barrier, but need to be completed according to the control instruction of control platform waterborne Hide movement, and hide that mode is excessively single, even needs to get to around very wide but in fact very low barrier sometimes Destination.

[summary of the invention]

Technical problems to be solved of the embodiment of the present invention are how to improve underwater robot to hide the intelligent and pre- of roadblock The property sentenced.

The embodiment of the present invention adopts the following technical scheme that

In a first aspect, the embodiment of the invention provides a kind of underwater obstacle avoidance methods, comprising:

Underwater robot determines current location information, and the geographical module for sending the carrying location information to server-side is asked It asks;Wherein, the geographical module is the unit of preset shape, and geographical inside modules include the roadblock of corresponding region in actual environment Information;

Underwater robot generates avoidance strategy according to one or more the geographical module got;Wherein, the evacuation Strategy includes one or more threshold information, and the evacuation movement of corresponding each threshold information;

Underwater robot judges the threshold information currently met according to its conduct direction and real-time location information, and Take the evacuation movement of the corresponding threshold information.

Optionally, when the conduct route of underwater robot it has been confirmed that then the method also includes:

Receive one or more geographical module that the conduct route is covered;

Wherein, one or more geographical module that the conduct route is covered is by server-side in confirmation underwater After the conduct route of people, searches and obtain from database.

Optionally, according to one or more the geographical module got, avoidance strategy is generated, is specifically included:

According to one or more the geographical module got, the roadblock information for including in each geographical module is determined;

According to the size of roadblock type, roadblock size and barrier structures and underwater robot itself, property in roadblock information Energy parameter and job category generate avoidance strategy;The avoidance strategy includes:

It advanced through after floating to specified altitude assignment, sink to after specified altitude assignment and advance through, pass through behind designated position of detouring In one or more evacuation movement;

The corresponding respective threshold information of each evacuation movement, the threshold information as execute judgement that the evacuation acts according to According to being stored in the underwater robot, or by the underwater robot dynamic generation.

Optionally, the geographical module is worked in target positioning identification system by one or more underwater robot It arrives, wherein include the lash ship with active sonar function, at least one buoy with passive sonar function and described in system Underwater robot,

The underwater robot is used to obtain first location information and roadblock content of the roadblock relative to underwater robot, and The first location information is sent to lash ship;Pre-determined distance is differed between the lash ship and buoy, lash ship is described floating for obtaining Target second location information;Record has the relevant parameter of lash ship Sonar Signal in buoy, and comes from underwater for collected The sonar reflection signal of people feeds back to lash ship;

The lash ship is also used to be adopted according to the third place information of itself, the second location information of buoy, lash ship and buoy First location information of sonar the reflection signal and roadblock of the underwater robot collected relative to underwater robot, calculates To the location information of roadblock;It is raw according to the setting of geographical block size and according to the location information of the roadblock and roadblock content At one or more geographical module.

Optionally, the method also includes:

If when executing evacuation movement, evacuation failure occurs for underwater robot;

Recall the location information of underwater robot and executes the corresponding geographical module of evacuation movement, confirmation threshold information judgement It is whether correct;

Corresponding geographical module is updated according to the environmental information of underwater robot record if correct judgment;If judgement It is wrong, then adjust avoidance strategy generting machanism.

Second aspect includes underwater in system the embodiment of the invention also provides a kind of underwater obstacle avoidance system People and server-side include:

The server-side is asked for storing geographical module, and receiving the geographical module for carrying underwater robot location information When asking, one or more corresponding geographical module is fed back;Wherein, the geographical module is the unit of preset shape, geographical mould Roadblock information comprising corresponding region in actual environment inside block;

The underwater robot, for generating avoidance strategy according to one or more the geographical module got;Its In, the avoidance strategy includes one or more threshold information, and the evacuation movement of corresponding each threshold information;Underwater People is also used to judge the threshold information currently met according to its conduct direction and real-time location information, and takes corresponding be somebody's turn to do The evacuation of threshold information acts.

Optionally, when the conduct route of underwater robot it has been confirmed that then the system also includes:

Server-side searches from database after the conduct route of confirmation underwater robot and obtains the conduct route and covered One or more geographical module of lid, and it is sent to underwater robot;

The underwater robot is also used to receive one or more geographical module that the conduct route is covered.

Optionally, the system also includes with active sonar function lash ship, at least one have the function of passive sonar Buoy,

The underwater robot is also used to obtain first location information and roadblock content of the roadblock relative to underwater robot, And the first location information is sent to lash ship;Pre-determined distance is differed between the lash ship and buoy, lash ship is described for obtaining The second location information of buoy;Record has the relevant parameter of lash ship Sonar Signal in buoy, and comes from underwater machine for collected The sonar reflection signal of device people feeds back to lash ship;

The lash ship or server-side are also used to the third place information according to itself, the second location information of buoy, lash ship Signal and roadblock is reflected with the sonar of the collected underwater robot of buoy to believe relative to the first position of underwater robot Breath, is calculated the location information of roadblock;And according to the location information of the roadblock and roadblock content, according to geographical block size Setting, generate one or more geographical module.

Optionally, the server-side is also used to count underwater robot avoidance strategy and runs succeeded rate, if underwater robot When executing evacuation movement, evacuation failure occurs;

Server is also used to recall the location information of underwater robot and executes the corresponding geographical module of evacuation movement, confirmation Threshold information judges whether correctly;

Corresponding geographical module is updated according to the environmental information of underwater robot record if correct judgment;If judgement It is wrong, then adjust the avoidance strategy generting machanism of underwater robot.

Optionally, the geographical block size is the sensing equipment that is had according to the underwater robot in marine institute The range areas that can be detected is set, and shape can be that regular hexagon, rectangle be either other can by the detection To range areas cut out come, and for complete splicing figure.

The embodiment of the present invention proposes a kind of roadblock based on geographical module and judges in advance, and executes evacuation movement according to judgement Method.This method can make full use of the acquisition data in the underwater robot course of work in history, and according to underwater Working sea area is divided into many geographical modules by the sensing detection characteristic of people, so as to determine work corresponding to current task Region sends corresponding geographical module to corresponding underwater robot, be effectively reduced underwater robot to the analysis of data at Total amount is managed, and the speed of response of underwater robot and the safety of work can be improved.

[Detailed description of the invention]

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 is a kind of underwater obstacle avoidance method flow diagram provided in an embodiment of the present invention;

Fig. 2 is a kind of geographical module generating principle schematic diagram provided in an embodiment of the present invention;

Fig. 3 is a kind of underwater obstacle avoidance method flow diagram provided in an embodiment of the present invention;

Fig. 4 is a kind of underwater obstacle avoidance method flow diagram provided in an embodiment of the present invention;

Fig. 5 is the system architecture diagram that a kind of geographical module provided in an embodiment of the present invention generates;

Fig. 6 is the system architecture diagram that another geographical module provided in an embodiment of the present invention generates;

Fig. 7 is the system architecture diagram that another geographical module provided in an embodiment of the present invention generates.

[specific embodiment]

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

In the description of the present invention, term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom" etc. refer to The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention rather than It is required that the present invention must be constructed and operated in a specific orientation, therefore it is not construed as limitation of the present invention.

In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not Constituting conflict can be combined with each other.

Embodiment 1:

The embodiment of the present invention 1 provides a kind of underwater obstacle avoidance method, and the obstacle avoidance method is suitable for various water Lower robot workplace is particularly suitable for there are a large amount of repetitions or the underwater of intersecting routes being located near seabed is artificial Make field, as shown in Figure 1, which comprises

In step 201, underwater robot determines current location information, sends to server-side and carries the location information Geographical module request.

Wherein, the geographical module is the unit of preset shape, and geographical inside modules include corresponding region in actual environment Roadblock information.The geography block size is that the sensing equipment being had according to the underwater robot can be examined marine The range areas measured sets, and shape can be that regular hexagon, rectangle are either other can be detected by described Range areas, which is cut out, to be come, and for completing the figure of splicing.Such as shown in Fig. 2 (it is not shown to scale in figure, it is practical to visit Ranging is from the size that may be much larger than underwater robot), wherein the shape of underwater robot is sensor institute in figure shown in 3 The range that can be detected is as shown in the regions of 31 marks in figure, and the geographic model cut out is to mark shown in 32 regions in figure.It is real In the situation of border, because underwater robot is (such as: horizontal movement) being kept in motion, the length reason of geographic model By above can arbitrarily being set on a continuous length and complete to intercept.

In step 202, underwater robot generates avoidance strategy according to one or more the geographical module got.

Wherein, the avoidance strategy includes one or more threshold information, and the evacuation of corresponding each threshold information is dynamic Make.Wherein, threshold information is really the judgment basis of evacuation movement, and the threshold information can be single parameter, such as by Location information (including longitude and latitude and ocean depth);It is also possible to the combination of several parameters, such as by location information, underwater The form that the movement speed of people, the multiple dimensions of job category etc. of underwater robot combine.

In step 203, underwater robot is currently met according to its conduct direction and real-time location information, judgement Threshold information, and take the evacuation movement of the corresponding threshold information.

The embodiment of the present invention proposes a kind of roadblock based on geographical module and judges in advance, and executes evacuation movement according to judgement Method.This method can make full use of the acquisition data in the underwater robot course of work in history, and according to underwater Working sea area is divided into many geographical modules by the sensing detection characteristic of people, so as to determine work corresponding to current task Behind region, corresponding geographical module is sent to corresponding underwater robot, is effectively reduced analysis of the underwater robot to data Total amount is handled, and the speed of response of underwater robot and the safety of work can be improved.

Scheme described in the embodiment of the present invention 1 can be applied among two ways, the first often reaches pre- for underwater If moving distance, just initiate primary geographical module request to server-side.Which is suitble to do the searching for not specifying specific route The tracing task that task or path can change at random.Wherein, one or more received in step 202 is geographical The radius in the real region that module is covered is greater than the preset moving distance, to guarantee that each underwater robot initiates ground When managing module request, shift position is without departing from the corresponding real region of geographical module.The method step of corresponding step 201-203 Suddenly what can be recycled in robot whole work process under water is performed.

Second of task for underwater robot can be sought by set path, at this point, in the method for step 201-203 Rong Ze is suitable for after initial underwater robot is launched reaching the implementation procedure between specified path starting point.In the second way In, the embodiment of the invention also provides for arrive at specified path starting point after geographical module acquisition methods, as shown in figure 3, The method also includes:

In step 204, one or more geographical module that the conduct route is covered is received.

Wherein, one or more geographical module that the conduct route is covered is by server-side in confirmation underwater After the conduct route of people, searches and obtain from database.

In step 202 of the embodiment of the present invention, according to one or more the geographical module got, evacuation plan is generated Slightly, it specifically includes:

According to one or more the geographical module got, the roadblock information for including in each geographical module is determined;Wherein, Roadblock information includes roadblock type, roadblock size and barrier structures etc., and the roadblock type can be according to the figure of underwater robot It analyzes and obtains as acquisition equipment (such as camera), and roadblock size and barrier structures may then need underwater robot progress more Task or the module integrated analysis of the multiple geography obtained by dedicated probe process obtain, and for constituting above-mentioned large-scale roadblock For each geographical module of object, although each geography module depicts the real region content of its management in detail, as The geographical module forming member of large-scale roadblock can retain the size parameter value and barrier structures model of a large size roadblock, And current block location information in large-scale barrier structures.So as to allow underwater robot getting the large-scale roadblock of composition When a certain composition geography module member of object, the Global Information of current large-scale roadblock just can be identified, and formulate more reasonable Avoidance strategy.

Other than the above-mentioned roadblock correlation Global Information obtained by geographical module analysis, in order to formulate reasonable evacuation Strategy, another indispensable element are the size, performance parameter and job category of underwater robot itself.Wherein, machine The size of people itself, which directly affects, to be faced specific roadblock object and whether can use gap existing for roadblock itself to pass through over; The performance parameter of robot itself then determines whether it can be selected with dive to certain depth or its movement speed Select a certain avoidance strategy and can within a specified time complete etc.;And the job category then also influences whether avoidance strategy Formulation, such as: if underwater robot is for pulling optical cable, situation higher for roadblock object is not just suitable for It in addition to this further include the work of target object task type, load article to designated position across past scheme Make task type etc..

After have above-mentioned roadblock information and underwater robot relevant information, it is how to generate avoidance strategy, has Body is accomplished by

According to the size of roadblock type, roadblock size and barrier structures and underwater robot itself, property in roadblock information Energy parameter and job category generate avoidance strategy.

The avoidance strategy includes:

It advanced through after floating to specified altitude assignment, sink to after specified altitude assignment and advance through, pass through behind designated position of detouring In one or more evacuation movement;Under truth evacuation movement, usually with it is described float to specified altitude assignment after advance, Advance after sinking to specified altitude assignment and three kinds of the designated position motor unit that detours is combined realization, such as: evacuation movement can be with Show as " floating 5M- to keep moving ahead towards northeast advance 3 meters of 10 meters-dive-".Certainly, it is mentioned to improve the embodiment of the present invention The safety and robustness of method out when offer can not analyze processing preferably in avoidance strategy, starts artificial be situated between Enter to operate the scheme of underwater robot;And it is possible to manually-operated mode be recorded, so that server-side can be according to underwater The environmental information that people detects under prevailing circumstances learns and updates avoidance strategy generting machanism.

The corresponding respective threshold information of each evacuation movement, the threshold information as execute judgement that the evacuation acts according to According to being stored in the underwater robot, or by the underwater robot dynamic generation.Such as: it is same for a certain roadblock object When have it is multiple when passing through past hole for current underwater robot, then respective threshold information can with reach each hole when Between calculate cut-point, at this point, be more than the cut-point then select across the first hole as in corresponding avoidance strategy evacuation act, And it is selected if the not up to cut-point across the second hole as the evacuation movement in corresponding avoidance strategy.

In order to further increase the fault-tolerant ability of the method for the embodiment of the present invention, in conjunction with the method for the embodiment of the present invention A kind of update mechanism is additionally provided, as shown in figure 4, the method also includes steps performed below:

In step 205, if underwater robot is when executing evacuation movement, evacuation failure occurs.

Here it avoids and unsuccessfully typically refers to underwater robot in actual moving process, estimate position where reaching roadblock When, can preferentially be executed according to the avoidance strategy that the embodiment of the present invention is proposed, still, during execution underwater robot from The sensor of body can still keep work, and for that may collide the case where also can be in the case where following the avoidance strategy Take emergent stopping, interim adjustment direction hedging.The above situation robot under water that mostly occurs encounters large-scale benthon, or When there is mistake in underwater robot self poisoning.

In step 206, recall the location information of underwater robot and execute the corresponding geographical module of evacuation movement, confirmation Threshold information judges whether correctly.

Here threshold information judgement is concentrated mainly on the judgement of location information, and the possibility to go wrong is usually underwater machine The alignment sensor of device people itself goes wrong, or entire positioning system receives the reasons such as signal interference and causes positioning wrong Accidentally.

In step 207, it is updated correspondingly if correct judgment according to the environmental information of underwater robot record Manage module;If getting the wrong sow by the ear, avoidance strategy generting machanism is adjusted.

The avoidance strategy generting machanism includes setting the relative distance prejudged after each evacuation movement executes from roadblock object. For example, if originally according to 15 nautical miles of underwater robot movement speed/when and strategy generation mechanism in require from roadblock It is recently 5M, it is 10M that threshold information, which is underwater robot at a distance of roadblock distance, and the evacuation movement of generation is is floated up 6M.At this point, needing to be changed to 8M, phase from 5M recently from roadblock in adjustable strategies generting machanism if the risk still to collide The underwater robot answered, will be according to parameter adjusted in the strategy generation mechanism, according to underwater when generating avoidance strategy Robot movement speed and roadblock information recalculate to obtain threshold information, such as threshold information adjusted is underwater robot It is 15M at a distance of roadblock distance, the evacuation movement of generation is to carry out floating up 6M.Above-mentioned feedback mechanism can further increase water Lower robot is under the adverse circumstances that happen suddenly, the robustness of the avoidance strategy of generation.

Embodiment 2:

The method for how intelligently hiding roadblock 4 using geographical module progress underwater robot is described in embodiment 1, this Inventive embodiments are illustrated in terms of how establishing the geographical module that server-side is safeguarded.Institute in embodiments of the present invention It states geographical module and works to obtain in target positioning identification system by one or more underwater robot, as shown in figure 5, system In include the lash ship 1 with active sonar function, at least one buoy 2 and underwater robot 3 with passive sonar function, institute Stating underwater robot 3 can be the equipment for being used to acquire geography information using profession, be also possible to using as introduced in embodiment 1 The equipment for executing other tasks, the difference of the two may is that in the detection range and detection accuracy of sensor, still, General character existing for the two be can complete itself positioning and roadblock content acquisition.But the water as the embodiment of the present invention Lower robot also needs it to have ability of the acquisition roadblock with respect to itself first location information.It is specifically described as follows:

The underwater robot 3 sends institute for obtaining first location information of the roadblock 4 relative to underwater robot 3 First location information is stated to lash ship 1;Pre-determined distance is differed between the lash ship 1 and buoy 2, lash ship 1 is for obtaining the buoy 2 Second location information;Record has the relevant parameter of 1 Sonar Signal of lash ship in buoy 2, and comes from underwater for collected The sonar reflection signal of people 3 feeds back to lash ship 1;

The lash ship 1 is also used to the third place information according to itself, the second location information of buoy 2, lash ship 1 and buoy First location information of sonar the reflection signal and roadblock 4 of 2 collected underwater robots 3 relative to underwater robot 3, The location information of roadblock 4 is calculated;And according to the location information and roadblock 4 of the roadblock 4, according to setting for geographical block size It is fixed, generate one or more geographical module.

In various embodiments of the present invention, the roadblock object includes rock, seabed massif, coral and trench etc., if under water Robot does not take reasonable evacuation will be to the object of underwater robot generation substantial damage.And for other aquatic organisms Evacuation can then rely on underwater robot itself install sensing equipment carry out (such as sonar set and camera device etc.). Transmission channel bring bandwidth pressure is given using geographical module in order to be further simplified in the embodiment of the present invention, this can be implemented Underwater robot collects geographical module corresponding to the not region of roadblock and is labeled as sky or with simple identifier in example Show its corresponding region without roadblock, thus the largely geography in simplified embodiment 1 between server-side and underwater robot Bandwidth needed for module transfer.

Roadblock content described in the embodiment of the present invention is more original information, it may be the sound of the picture of roadblock, roadblock Feedback signal, it is also possible to the sub-fraction of roadblock;It is then that server-side is logical compared to roadblock information more described in embodiment 1 It crosses the roadblock content received from one or more underwater robot feedback and location information parses.Such as: Server-side can correspond to the location information and roadblock content of same roadblock object according to the multiple groups received, by way of modeling The roadblock object of completion is restored, and analyzes roadblock information (structure of type, roadblock including roadblock and the road of roadblock object The size of barrier), and corresponding information is allocated to the multiple geographical modules for constituting search roadblock object.

Embodiment 3:

The embodiment of the present invention is a kind of system in combination form of the scheme described in embodiment 2 in the case where implementing occasion, at this The particular number of buoy 2 described in embodiment is one, is provided with water depth sensor on the underwater robot 3.Exist as shown in Figure 6 In this implementation, the system comprises buoys 2 and water that lash ship 1, one with active sonar function has passive sonar function Lower robot 3, wherein the vertical range that the water depth sensor is used to feed back underwater robot 3 to sea;Underwater robot 3 The vertical range is fed back into lash ship 1;

The underwater robot 3 is for obtaining first location information of the roadblock 4 relative to underwater robot 3;And to lash ship 1 Send the first location information.

Pre-determined distance is differed between the lash ship 1 and buoy 2, lash ship 1 is used to obtain the second confidence of the buoy 2 Breath;

Establishing between the lash ship 1 and buoy 2 has the second communication link, wherein record has 1 sonar of lash ship letter in buoy 2 Number relevant parameter, and by it is collected from underwater robot 3 sonar reflection signal by second communication link it is anti- It feeds lash ship 1;

The lash ship 1 be used for according to it is described for according to itself the third place information, underwater robot 3 it is vertical away from From, the sonar reflection signal and roadblock of the second location information of buoy 2, lash ship 1 and the collected underwater robot 3 of buoy 2 The location information of roadblock is calculated in 4 first location information relative to underwater robot 3.

The cruising ability and its sonar set function being equipped with of lash ship itself is not only utilized in the embodiment of the present invention, and And the water depth sensor being equipped in underwater robot is utilized, simplify the design requirement of underwater robot and buoy, Yi Jifu Mark the configuration needs (only needing one) of quantity.And utilize first constructed by lash ship, buoy and underwater robot Positioning subsystem, and the second positioning subsystem constructed by underwater robot and roadblock are serviced by lash ship or land The location information of roadblock is calculated in device, and the location information includes latitude and longitude information, Water Depth Information etc..Compared to more existing skill Used in art by underwater robot as the active sonar source with first positioning subsystem of equal value, the embodiment of the present invention It can be improved the cruising ability of underwater robot, and reduce the data processing amount of underwater robot, reduced under water from side The manufacturing cost of robot.

In the present embodiment, will layout as shown in connection with fig. 6, illustrate how the third place information according to itself, underwater The vertical range of robot 3, the second location information of buoy 2, the sonar of lash ship 1 and the collected underwater robot 3 of buoy 2 are anti- The first location information of signal and roadblock 4 relative to underwater robot 3 is penetrated, the location information of roadblock is calculated.

As shown in Figure 6, it is assumed that underwater robot position (being marked in Fig. 6 with letter C) projects to the position on sea level For O, then the vertical range of shown underwater robot 3 is OC, and the sonar reflection signal of the collected underwater robot 3 of lash ship 1 can Distance AC between lash ship 1 and underwater robot 3 is calculated, and the reflection of the sonar of the collected underwater robot 3 of buoy 2 is believed Number the distance between buoy 2 and underwater robot 3 BC can be calculated, wherein position A and position B be under original state Location information is obtained, is known quantity.At this point it is possible to which AO is calculated by AC and OC, BO, In are calculated by BC and OC Under Atria side AB, AO and BO all known cases, ∠ BAO can be calculated.Then it can obtain being believed according to A point location Breath obtains O point location information, and according to vertical range OC, obtains the 4th position letter of underwater robot in the first positioning subsystem Breath.Wherein, roadblock can be former by binocular identification relative to the first location information of underwater robot in the second positioning subsystem Reason, relative distance of the roadblock that the second sonar transceiver 32 of cooperation detects relative to underwater robot, utilizes rendering algorithm meter It obtains.In summary first location information of the 4th location information and roadblock of underwater robot relative to underwater robot, The location information of roadblock can be calculated.

In embodiments of the present invention, pre-determined distance preferably to be worked according to underwater robot depth of water depth, underwater The best effort distance of sonar set is calculated in the regional scope and lash ship 1 and buoy 2 of robot work.

Embodiment 4:

The embodiment of the present invention is a kind of system in combination form of the scheme described in embodiment 1 in the case where implementing occasion, at this The particular number of buoy 2 described in embodiment is two or more (being illustrated for two in the present embodiment). The present embodiment the case where configuring water depth sensor no suitable for underwater robot outstanding or 2 quantity of buoy are relatively filled Foot wants to the occasion that target object location information is more accurately calculated.The buoy 2 specifically counts in the present embodiment Amount is two or more, using the sonar set of described two or more than two buoys 2 and lash ship 1 as reference Point, wherein each reference point constitutes equilateral figure on the water surface.As shown in Figure 7 in this embodiment, the system comprises have actively Lash ship 1, two of sonar function has the buoy 2 and underwater robot 3 of passive sonar function,

The underwater robot 3 is for obtaining first location information of the target object 4 relative to underwater robot 3;And to The lash ship 1 sends the first location information.

Pre-determined distance is differed between the lash ship 1 and buoy 2, lash ship 1 is used to obtain the second confidence of the buoy 2 Breath;

Establishing between the lash ship 1 and buoy 2 has the second communication link, wherein record has 1 sonar of lash ship letter in buoy 2 Number relevant parameter, and by it is collected from underwater robot 3 sonar reflection signal by second communication link it is anti- It feeds lash ship 1;

The lash ship 1 is used for according to the third place information for according to itself, the second location information of buoy (packet Include buoy 2 and buoy 21), the sonar reflection signal and target object 4 of lash ship 1 and the collected underwater robot 3 of each buoy Relative to the first location information of underwater robot 3, the location information of target object is calculated.

The embodiment of the present invention takes full advantage of the cruising ability and its sonar set function being equipped with of lash ship itself, letter The design requirement of underwater robot and buoy is changed, and first has determined using by lash ship, buoy and underwater robot construct Sub-systems, and the second positioning subsystem constructed by underwater robot and target object are taken by lash ship or land The location information of target object is calculated in business device, and the location information includes latitude and longitude information, Water Depth Information etc..It compares Use in the prior art by underwater robot as the active sonar source with first positioning subsystem of equal value, the present invention Embodiment can be improved the cruising ability of underwater robot, and reduce the data processing amount of underwater robot, reduce from side The manufacturing cost of underwater robot.On the other hand, moreover it is possible to which the detection system being made up of more buoys further increases final meter The location information of obtained target object.

In the present embodiment, will structural schematic diagram as shown in connection with fig. 7, illustrate how according to described for according to itself the Three location informations, the second location information (including buoy 2 and buoy 21) of buoy, lash ship 1 and the collected underwater machine of each buoy First location information of sonar the reflection signal and target object 4 of device people 3 relative to underwater robot 3, is calculated target The location information of object.

As shown in fig. 7, according to the second location information of the third place information of lash ship and buoy (including 2 He of buoy in figure Buoy 21) length on each side triangle ABD is calculated, according to the sonar of lash ship 1 and the collected underwater robot 3 of each buoy Reflection signal calculates separately to obtain the length of AB, BC and DC, at this point, taper C-ABD model can be constructed, and according to conical die Position offset of the underwater robot 3 relative to 1 position A of lash ship is calculated in type, to obtain the 4th position letter Breath.Wherein, target object can be known relative to the first location information of underwater robot by binocular in the second positioning subsystem Other principle, relative distance of the target object that detects of the second sonar transceiver 32 of cooperation relative to underwater robot, using saturating It is calculated depending on algorithm.In summary the 4th location information of underwater robot and target object relative to underwater robot The location information of target object can be calculated in one location information.

In embodiments of the present invention, pre-determined distance preferably to be worked according to underwater robot depth of water depth, underwater The best effort distance of sonar set is calculated in the regional scope and lash ship 1 and buoy 2 of robot work.

Embodiment 5:

By the elaboration of embodiment 2, a kind of example case is drawn, i.e. the underwater robot of work at present can only obtain it The part geographic model in work waters.Therefore the embodiment of the present invention can be completes before the execution of embodiment 1 the method (can sufficiently meet geographical module demand of the underwater robot under various positions information in embodiment 1), this mode are excellent Choosing;On the other hand being also possible to be only completed the acquisition of the geographical module in part, (i.e. pieces of position information institute is right in embodiment 1 The geographical module answered may not collect) this occurrence of be perhaps because server-side be not in time for entire waters also Geographic model maintenance get up.In embodiments of the present invention, it is specifically described as follows:

For underwater robot setting there are two types of the mode of evacuation, mode one is to have geographic model block for server-side Sea area executes after then generating corresponding avoidance strategy according to 1 the method for embodiment;Its mode two is self-sensor device to detect ring Border and the mode avoided after being analyzed;The sea area of geographic model block is not updated also for server-side, then underwater robot can be cut The mode for changing to self-sensor device to detect environment and avoid after being analyzed.Wherein, mode two compares the embodiment of the present invention The mode one proposed, no matter analysis efficiency and execution efficiency (pre- judgement may be implemented in the scheme of the embodiment of the present invention 1, and Take Anti-collision Actions in advance) on can all have biggish gap, however, it is possible to which the geographical module made up as described in the embodiment lacks The case where.During specific implementation, underwater robot can be provided simultaneously with above two evacuation mode, also, mode two is excellent First grade can also be higher than mode one, then be keeping away according to mode one in the case where the movement of the evacuation of mode two is without triggering still Allow strategy execution.

Embodiment 6:

It include underwater robot and service in system the embodiment of the invention also provides a kind of underwater obstacle avoidance system End, wherein the server-side described in concrete application occasion can be lash ship 1, be also possible to the administrative center of land setting, also It can be with the server etc. of internet distal end, in the system:

The server-side is asked for storing geographical module, and receiving the geographical module for carrying underwater robot location information When asking, one or more corresponding geographical module is fed back;Wherein, the geographical module is the unit of preset shape, geographical mould Roadblock information comprising corresponding region in actual environment inside block;

The underwater robot, for generating avoidance strategy according to one or more the geographical module got;Its In, the avoidance strategy includes one or more threshold information, and the evacuation movement of corresponding each threshold information;Underwater People is also used to judge the threshold information currently met according to its conduct direction and real-time location information, and takes corresponding be somebody's turn to do The evacuation of threshold information acts.

The embodiment of the present invention proposes a kind of roadblock based on geographical module and judges in advance, and executes evacuation movement according to judgement Method.This method can make full use of the acquisition data in the underwater robot course of work in history, and according to underwater Working sea area is divided into many geographical modules by the sensing detection characteristic of people, so as to determine work corresponding to current task Region sends corresponding geographical module to corresponding underwater robot, be effectively reduced underwater robot to the analysis of data at Total amount is managed, and the speed of response of underwater robot and the safety of work can be improved.

In conjunction with the embodiment of the present invention, correspond to second of implementation described in embodiment 1, when the conduct of underwater robot Route it has been confirmed that then the system also includes:

Server-side searches from database after the conduct route of confirmation underwater robot and obtains the conduct route and covered One or more geographical module of lid, and it is sent to underwater robot;

The underwater robot is also used to receive one or more geographical module that the conduct route is covered.

The server-side be specially land setting administrative center or internet distal end server when, can be with The acquisition of geography information in sea area is carried out using the system that the present embodiment is proposed, specifically the system also includes have actively The lash ship 1 of sonar function, at least one buoy 2 with passive sonar function, wherein underwater robot uses the present embodiment system Possess in system.

The underwater robot is also used to obtain first location information and roadblock content of the roadblock relative to underwater robot, And the first location information is sent to lash ship 1;Pre-determined distance is differed between the lash ship 1 and buoy 2, lash ship 1 is for obtaining The second location information of the buoy 2;Record has the relevant parameter of 1 Sonar Signal of lash ship in buoy 2, and comes from collected The sonar reflection signal of underwater robot feeds back to lash ship 1;

The lash ship 1 or server-side are also used to the third place information according to itself, the second location information of buoy 2, mother The sonar of ship 1 and the collected underwater robot of buoy 2 reflects the first position of signal and roadblock relative to underwater robot The location information of roadblock is calculated in information;It is big according to geographical module and according to the location information of the roadblock and roadblock content Small setting generates one or more geographical module.

Wherein, one is generated according to the setting of geographical block size according to the location information of the roadblock and roadblock content Or the execution of multiple geographical modules, can after the completion of being realized on lash ship, and by geographical module be sent to server-side carry out it is whole Reason.In addition to this, the location information and roadblock content according to the roadblock is generated according to the setting of geographical block size One or more geographical module can also be realized by server-side, and as then needing to believe the positioning of roadblock for lash ship Breath and roadblock content are sent to server-side.Above-mentioned implementation is flexibly pacified generally according to the data-handling capacity of each node Therefore execution movements different in the embodiment of the present invention are adaptively adjusted rear obtained scheme accordingly, belong to this by row In the protection scope of invention.

In conjunction with the embodiment of the present invention, there is also a kind of optional implementation, the server-side is also used to count underwater machine Device people's avoidance strategy runs succeeded rate, if when executing evacuation movement, evacuation failure occurs for underwater robot;

Server is also used to recall the location information of underwater robot and executes the corresponding geographical module of evacuation movement, confirmation Threshold information judges whether correctly;

Corresponding geographical module is updated according to the environmental information of underwater robot record if correct judgment;If judgement It is wrong, then adjust the avoidance strategy generting machanism of underwater robot.

Wherein, the explanation of the case where specific evacuation fails and generting machanism can be with description content in reference implementation example 1, herein It does not repeat one by one.

It is worth noting that the contents such as information exchange, implementation procedure between module, unit in above system, due to It is based on same design with processing method embodiment of the invention, for details, please refer to the description in the embodiment of the method for the present invention, Details are not described herein again.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of embodiment is can to lead to Program is crossed to instruct relevant hardware and complete, which can be stored in a computer readable storage medium, storage medium It may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc..

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (8)

1. a kind of underwater obstacle avoidance method characterized by comprising
Underwater robot determines current location information, and the geographical module request for carrying the location information is sent to server-side; Wherein, the geographical module is the unit of preset shape, and geographical inside modules include the roadblock letter of corresponding region in actual environment Breath;
Underwater robot generates avoidance strategy according to one or more the geographical module got;Wherein, the avoidance strategy Evacuation movement including one or more threshold information, and corresponding each threshold information;
Underwater robot judges the threshold information currently met according to its conduct direction and real-time location information, and takes The evacuation movement of the corresponding threshold information;
Wherein, the geographical module is worked to obtain by one or more underwater robot in target positioning identification system, In, it include the lash ship with active sonar function, at least one buoy with passive sonar function and described underwater in system Robot, the underwater robot are used to obtain first location information and roadblock content of the roadblock relative to underwater robot, and The first location information is sent to lash ship;Pre-determined distance is differed between the lash ship and buoy, lash ship is described floating for obtaining Target second location information;Record has the relevant parameter of lash ship Sonar Signal in buoy, and comes from underwater for collected The sonar reflection signal of people feeds back to lash ship;
The lash ship is also used to be collected according to the third place information of itself, the second location information of buoy, lash ship and buoy Underwater robot first location information relative to underwater robot of sonar reflection signal and roadblock, road is calculated The location information of barrier;And one is generated according to the setting of geographical block size according to the location information of the roadblock and roadblock content A or multiple geographical modules.
2. underwater obstacle avoidance method according to claim 1, which is characterized in that when underwater robot conduct route It is confirmed, then the method also includes:
Receive one or more geographical module that the conduct route is covered;
Wherein, one or more geographical module that the conduct route is covered is by server-side in confirmation underwater robot After conduct route, searches and obtain from database.
3. underwater obstacle avoidance method according to claim 1, which is characterized in that according to one or more got Geographical module generates avoidance strategy, specifically includes:
According to one or more the geographical module got, the roadblock information for including in each geographical module is determined;
According to the size of roadblock type, roadblock size and barrier structures and underwater robot itself, performance ginseng in roadblock information Several and job category generates avoidance strategy;The avoidance strategy includes:
In being advanced through after floating to specified altitude assignment, sinking to after specified altitude assignment and advance through, pass through behind designated position of detouring The movement of one or more evacuation;
Each corresponding respective threshold information of evacuation movement, the threshold information are deposited as the judgment basis for executing the evacuation movement It stores up in the underwater robot, or by the underwater robot dynamic generation.
4. underwater obstacle avoidance method according to claim 1 to 3, which is characterized in that the method also includes:
If when executing evacuation movement, evacuation failure occurs for underwater robot;
Recall the location information of underwater robot and execute the corresponding geographical module of evacuation movement, confirmation threshold information judges whether Correctly;
Corresponding geographical module is updated according to the environmental information of underwater robot record if correct judgment;If judgement has Accidentally, then avoidance strategy generting machanism is adjusted.
5. a kind of underwater obstacle avoidance system, which is characterized in that include underwater robot and server-side in system:
The server-side is receiving the geographical module request for carrying underwater robot location information for storing geographical module When, feed back one or more corresponding geographical module;Wherein, the geographical module is the unit of preset shape, geographical module Roadblock information of the inside comprising corresponding region in actual environment;
The underwater robot, for generating avoidance strategy according to one or more the geographical module got;Wherein, institute Stating avoidance strategy includes one or more threshold information, and the evacuation movement of corresponding each threshold information;Underwater robot is also For judging the threshold information currently met according to its conduct direction and real-time location information, and take the corresponding threshold value The evacuation of information acts;
Wherein, the system also includes lash ship, at least one buoy with passive sonar function with active sonar function, The underwater robot is also used to obtain first location information and roadblock content of the roadblock relative to underwater robot, and sends institute First location information is stated to lash ship;Differ pre-determined distance between the lash ship and buoy, lash ship is used to obtain the of the buoy Two location informations;Record has the relevant parameter of lash ship Sonar Signal in buoy, and by the collected sound from underwater robot Reflection signal feeds back to lash ship;
The lash ship or server-side are also used to according to the third place information of itself, the second location information of buoy, lash ship and float Mark the first location information of sonar the reflection signal and roadblock of collected underwater robot relative to underwater robot, meter Calculation obtains the location information of roadblock;And according to the location information of the roadblock and roadblock content, according to setting for geographical block size It is fixed, generate one or more geographical module.
6. underwater obstacle avoidance system according to claim 5, which is characterized in that when underwater robot conduct route It is confirmed, then the system also includes:
Server-side searches from database after the conduct route of confirmation underwater robot and obtains what the conduct route was covered One or more geographical module, and it is sent to underwater robot;
The underwater robot is also used to receive one or more geographical module that the conduct route is covered.
7. underwater obstacle avoidance system according to claim 5, which is characterized in that the server-side is also used to count underwater Robot avoidance strategy runs succeeded rate, if when executing evacuation movement, evacuation failure occurs for underwater robot;
Server is also used to recall the location information of underwater robot and executes the corresponding geographical module of evacuation movement, confirms threshold value Information judges whether correctly;
Corresponding geographical module is updated according to the environmental information of underwater robot record if correct judgment;If judgement has Accidentally, then the avoidance strategy generting machanism of underwater robot is adjusted.
8. underwater obstacle avoidance system according to claim 5, which is characterized in that the geography block size is basis For the sensing equipment that the underwater robot has in the marine range areas that can be detected come what is set, shape is positive six Side shape, rectangle either it is other by the range areas detected cut out come, and for complete splice figure.
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