CN107063233A - Producing line control device based on inertial sensor - Google Patents
Producing line control device based on inertial sensor Download PDFInfo
- Publication number
- CN107063233A CN107063233A CN201710235275.7A CN201710235275A CN107063233A CN 107063233 A CN107063233 A CN 107063233A CN 201710235275 A CN201710235275 A CN 201710235275A CN 107063233 A CN107063233 A CN 107063233A
- Authority
- CN
- China
- Prior art keywords
- data
- bracelet
- data acquisition
- acquisition unit
- acceleration
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The present invention relates to a kind of producing line control device based on inertial sensor, it includes production line and bracelet, and bracelet includes bracelet body and data acquisition unit, data processing unit and data transmission unit in bracelet body；The acceleration that work man-hour wears bracelet can be gathered in real time by data acquisition unit, angular speed and earth magnetism field data, the acceleration that data processing unit can be gathered and transmitted according to data acquisition unit, angular speed and earth magnetism field data realize the attitude algorithm to work man-hour, tracing of the movement and motion detection, then the completed piece count of workman is calculated according to the result of motion detection and completed the operating time of each workpiece, finally the operating time for calculating each workpiece of the piece count completed and completion is sent in field data monitoring system by bluetooth.The present invention can effectively and accurately detect the piece count that the workman for wearing bracelet machines within the unit interval, so as to effective evaluation work task efficiency.
Description
Technical field
The present invention relates to a kind of supervising device, especially a kind of producing line control device based on inertial sensor belongs to raw
Produce the technical field of streamline monitoring.
Background technology
With the high speed development of China's manufacturing industry, increasing factory uses streamlined operation.The operation of streamlined
Mode can not only improve the efficiency of assembling of factory in assembly enterprise, accelerate manufacturing schedule, and can count each
The production information situation of workman is investigated for administrative staff.But, in a flow line production system, the dress of some workman
It is likely to influence the efficiency of whole piece streamline with speed.Accordingly, it would be desirable to which a set of assembly line monitoring system monitors each workman
Operating efficiency.
Current assembly line monitoring system is mainly workman using the bar code on collector scanning workpiece, passes through collector
In workman job number and scanning bar code time come judge a workman operating time and operation piece count.This side
Although formula can accurate detection workman operating time, this mode needs additionally to add bar code system on a production line
System and collector, add the workload of workman, reduce the operating efficiency of streamline.In addition, also document is proposed and is based on
The method of the monitoring workman assembling action of computer vision, this monitor mode is suitable only on the conveyer belt in streamline without screening
In the case of block material and the detection method based on image has certain detection error, easily it is blocked, is not particularly suited for big
Partial assembly line system.
The content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art there is provided a kind of producing line pipe based on inertial sensor
Device is controlled, it effectively and accurately the pickup of detection workman and can put back to workpiece action, so as to the work effect of effective evaluation workman
Rate.
The technical scheme provided according to the present invention, the producing line control device based on inertial sensor, including for passing
Send the production line of workpiece；Also include the bracelet for being used to be worn on operator's wrist portion, the bracelet includes being used to wear
The bracelet body of wrist portion and data acquisition unit, data processing unit and data transfer list in the bracelet body
Member；
Acceleration, angular speed and earth's magnetic field that work man-hour wears bracelet can be gathered in real time by data acquisition unit
Data, acceleration, angular speed and the earth magnetism field data that data processing unit can be gathered and transmitted according to data acquisition unit is real
Now to the attitude algorithm, tracing of the movement and motion detection of work man-hour, and workman is calculated according to the action of detection
Completed piece count and the operating time for completing each workpiece, and the piece count completed and completion will be calculated
The operating time of each workpiece is sent in field data monitoring system by data transmission unit.
The advanced row drift of acceleration, angular speed and earth magnetism field data that data processing unit is transmitted to data acquisition unit
After compensation, smothing filtering and complementary filter, then carry out attitude algorithm, tracing of the movement and motion detection.
The data acquisition unit is connected by spi bus with data processing unit, and data acquisition unit includes acceleration
Meter, gyroscope and electronic compass.
Advantages of the present invention：Work man-hour can be gathered in real time using the data acquisition unit in bracelet wears adding for bracelet
Speed, angular speed and earth magnetism field data, acceleration that data processing unit can be gathered and transmitted according to data acquisition unit, angle
Speed and earth magnetism field data are realized at the attitude algorithm, tracing of the movement and motion detection to work man-hour, data
Reason unit transmits the action of the posture of resolving, the movement locus of tracking and detection to production flowing water by data transmission unit
In host computer on line, to count the operative employee's number of packages for determining workman and corresponding operating time by host computer, so as to
Effectively and accurately the pickup of detection workman and workpiece action is put back to, so as to effective evaluation work task efficiency.
Brief description of the drawings
Fig. 1 the structural representation of present invention.
Fig. 2 is the structured flowchart of bracelet of the present invention.
Fig. 3 is the schematic diagram of the movement locus of the present invention.
Description of reference numerals：1- production lines, 2- workpiece, 3- workbench, 4- data acquisition units, 5- data processing lists
Member, 6- data transmission units, 7- power supplys, 8- accelerometers, 8- gyroscopes and 9- electronic compass.
Embodiment
With reference to specific drawings and examples, the invention will be further described.
As shown in Figure 1：In order to be able to the effectively and accurately pickup of detection workman and workpiece action is put back to, and then can effective evaluation
Work task efficiency, the present invention includes the production line 1 for conveying work pieces 2；Also include being used to be worn on operator
The bracelet of wrist portion, the bracelet includes being used to wear the bracelet body of wrist portion and the data acquisition in the bracelet body
Unit 4, data processing unit 5 and data transmission unit 6；
Acceleration, angular speed and earth magnetism that work man-hour wears bracelet can be gathered in real time by data acquisition unit 4
Field data, acceleration, angular speed and earth magnetism number of fields that data processing unit 5 can be gathered and transmitted according to data acquisition unit 4
Factually existing attitude algorithm, tracing of the movement and motion detection to work man-hour, and being calculated according to the action of detection
The completed piece count of workman and the operating time for completing each workpiece, and will calculate the piece count that has completed and
The operating time for completing each workpiece is sent in field data monitoring system by data transmission unit 6.
Specifically, bracelet is worn on to the wrist portion of operator, what bracelet can specifically be commonly used using the art
Structure type, workpiece 2, processing workpiece 2 are taken and toward putting back to work in production line 1 in operator from production line 1
During part 2, acceleration, angular speed and the earth's magnetic field of bracelet in motion can be gathered by the data acquisition unit 4 of bracelet
Data, so that acceleration, angular speed and earth magnetism field data that data processing collecting unit 5 is transmitted according to data acquisition unit 4
The attitude algorithm, tracing of the movement and motion detection to work man-hour are realized, and is gone to work according to the action of detection calculating
The completed piece count of people and the operating time for completing each workpiece, and the piece count that has completed will be calculated and complete
Operating time into each workpiece is sent in field data monitoring system by data transmission unit 6.
As shown in Fig. 2 the data acquisition unit 4 is connected by spi bus with data processing unit 5, data acquisition list
Member 4 includes accelerometer 8, gyroscope 9 and electronic compass 10.
Power supply 7 is additionally provided with the embodiment of the present invention, in bracelet, accelerometer, gyroscope 9, electronics sieve are provided by power supply 7
The working power of disk 10, data processing unit 5 and data transmission unit 6, data processing unit 5 includes microprocessor, data
Transmission unit 6 includes bluetooth module.
When it is implemented, data acquisition unit 4 is using the nine axle inertial sensors produced by InvenSense companies
MPU9250, nine axle inertial sensor MPU9250 are the global the first digital sensors for integrating the detection of nine axle athletic postures, in it
Portion is integrated with three axis accelerometer, three-axis gyroscope and three axle electronic compass.The measurement range of accelerometer 8 can reach ±
16g, the angular velocity measurement scope 2000 of gyroscope 9o/s.MPU9250 sensing datas use serial peripheral equipment interface SPI
(Serial Peripheral Interface) or I2C (Inter-Integrated Circuit) bus modes and monolithic
Machine carries out high speed communication；In the embodiment of the present invention, data interaction is carried out using SPI modes and microprocessor, transmission speed can be with
Reach 1MHz.Data processing unit 5 includes the microprocessor using STM32 single-chip microcomputers, and model STM32F302K8 is described micro-
It is processor small volume, low in energy consumption, while it internal carries DSP (Digital Signal Processor) and FPU (Float
Point Unit), data calculation and motion detection can be rapidly performed by.The bluetooth serial ports transparent transmission that data transmission unit 6 is used
Module HC-05, the module small volume, low in energy consumption, maximum transmission power is 8db, maximum transmission distance 80m, can be with more convenient
And Monitor Computer Control System communicate wirelessly.
Further, data processing unit 5 is transmitted to data acquisition unit 4 acceleration, angular speed and earth magnetism number of fields
After first progress drift compensation, smothing filtering and complementary filter, then carry out attitude algorithm, tracing of the movement and action inspection
Survey.
In the embodiment of the present invention, the technological means that data processing unit 5 can be commonly used using the art realizes that drift is mended
Repay, smothing filtering and complementary filter, to obtain accurate acceleration, angular speed and earth magnetism field data, implement drift
The process of compensation, smothing filtering and complementary filter is known to those skilled in the art, and here is omitted.Carrying out posture
During resolving, can be calculated using the strapdown inertial navigation method based on quaternary number the Eulerian angles of motion carrier, i.e. yaw angle,
Roll angle and the angle of pitch, this three can depict the real-time attitude of motion carrier in space, specific progress attitude algorithm
Process is that here is omitted known to those skilled in the art.
For the operational motion of detection workman, it is necessary first to determine the real-time position information of workman's operationally bracelet,
And then draw out complete movement locus.Therefore, need to carry out real-time tracing to the working trajectory of workman before detection operation.
The movement locus of bracelet is that the exercise data collected according to data acquisition unit 4 is obtained by a series of processing
Positional information draw out,
Acceleration, angular speed and earth magnetism field data after filtering, attitude algorithm and Kalman filtering can calculate expression
The quaternary number of carrier space status information.Quaternary number is a supercomplex, and expression formula is：
Q(q0,q1,q2,q3)=q0+q1i+q2j+q3k (1)
Wherein, q0、q1、q2、q3It is real number, i, j, k are imaginary units and mutually orthogonal.Can by the quaternary number calculated
In the hope of removing the acceleration of motion after gravityChanged between carrier coordinate system (b systems) and inertial navigation coordinate system (n systems)
Attitude matrix
Can be in the hope of carrier in acceleration of the locus relative to ground by formula (2)
It is to remove the acceleration of motion after gravity, i.e. absolute acceleration in space.
It is right according to formula (3)The movement velocity of carrier can be obtained by carrying out once integration
In formula,For the speed of t, t0Initial time is represented, is a determination amount, it is middle not in change, tnRepresent
At the time of n-th of sampled point.Just represent t0When movement velocity.
According to formula (4), movement velocity is integrated again can obtain the displacement of carrier movement
Wherein,For the displacement of t,Represent t0The displacement at moment.
In the embodiment of the present invention, the action predominantly detected is following four action：Empty-handed pickup, strips return, put back to work
Part and draw back one's hand.Everything of the once-through operation workman during complete assembling workpiece is gathered by inertial sensor and passes through rail
Mark can obtain movement locus figure (X/Y plane) as shown in Figure 3 after following the trail of.Can significantly it find out from Fig. 3：Empty-handedly take
The track that part and strips are returned is essentially coincided, and can be attributed to pickup process；Work can be rested on for a long time in the course of the work
On platform；The action put back to workpiece action and drawn back one's hand is essentially coincided, and can be attributed to and be put part process.
Movement locus figure according to Fig. 3 can more accurately judge location area of the workman in operation
Domain.Before using track carry out action judgement, in order to eliminate shake of the people in motion, it is necessary to be carried out to position coordinates smooth
Filtering process, due to being carried out in microprocessor, the system carries out smothing filtering by the way of multiple data are averaged.It is flat
Sliding Filtering Formula is：
tnRepresent n-th of sampled point moment, tiAt the time of representing ith sample point, N, which is represented, will carry out adopting for smothing filtering
Sampling point number.
Obtain after real-time position coordinates, when can judge operative according to x in coordinate and y size is to be in
Workpiece fabrication is still put back in the course of work, pickup.Usually, when waiting coordinate x and coordinate the y absolute value to be respectively less than 0.4, then judge
For the course of work；As x ＜ -0.4 and during y ＞ 0.4, then it is determined as pickup process；As x ＞ 0.4 and y ＞ 0.4, then it is judged to putting
Part process.
Judge being in pickup process or put back to after workpiece fabrication and also whether being completed once to workman for workman
Complete work piece operations are judged.In pickup and put back in workpiece fabrication, the movement locus of workman has coincidence, and this is just needed
The direction of motion is judged.There is certain similitude in the two processes, next by by taking the process for putting back to workpiece as an example
It is introduced and how carries out direction of motion judgement.
On movement direction decision, the coordinate first differential of the carrier movement of use is calculated.I.e.
Δx(ti)=x (ti)-x(ti-1) (7)
Δy(ti)=y (ti)-y(ti-1) (8)
In formula, x (ti)、y(ti) it is tiThe coordinate of moment carrier positions.Δx(ti) represent tiX variables in the coordinate at moment
First differential Δ y (ti) represent tiThe first differential of y variables in the coordinate at moment.
Direction vector in carrier movement
Obtained by formula (9) after direction vector, it is possible to judge it is that empty-handed pickup or strips are returned during pickup
Reversed work, and workpiece is put back to during part is put or action is drawn back one's hand.
When being consecutively detected complete pickup process, the course of work and putting part process, then it can be determined that and completed for workman
The operation of one subjob, the piece count that should now complete workman increases by one, while recording this process institute of completion
The time needed, finally data are sent in host computer information monitoring system with bluetooth approach.So far, just complete and once move
Make detection process.
Claims (3)
1. a kind of producing line control device based on inertial sensor, including the production line (1) for conveying work pieces (2)；Its
It is characterized in：Also include the bracelet for being used to be worn on operator's wrist portion, the bracelet includes the bracelet for being used to wear wrist portion
Body and data acquisition unit (4), data processing unit (5) and data transmission unit (6) in the bracelet body；
Acceleration, angular speed and earth's magnetic field that work man-hour wears bracelet can be gathered in real time by data acquisition unit (4)
Data, acceleration, angular speed and earth's magnetic field that data processing unit (5) can be gathered and transmitted according to data acquisition unit (4)
Data realize the attitude algorithm, tracing of the movement and motion detection to work man-hour, and are calculated according to the action of detection
Go out the completed piece count of workman and complete the operating time of each workpiece, and the piece count completed will be calculated
It is sent to the operating time for completing each workpiece by data transmission unit (6) in field data monitoring system.
2. the producing line control device according to claim 1 based on inertial sensor, it is characterized in that：Data processing unit
(5) acceleration, angular speed and the advanced row drift compensation of earth magnetism field data, the smothing filtering transmitted to data acquisition unit (4)
And after complementary filter, then carry out attitude algorithm, tracing of the movement and motion detection.
3. the producing line control device according to claim 1 based on inertial sensor, it is characterized in that：The data acquisition list
First (4) are connected by spi bus with data processing unit (5), and data acquisition unit (4) includes accelerometer (8), gyroscope
And electronic compass (10) (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710235275.7A CN107063233B (en) | 2017-04-12 | 2017-04-12 | Production line management and control device based on inertial sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710235275.7A CN107063233B (en) | 2017-04-12 | 2017-04-12 | Production line management and control device based on inertial sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107063233A true CN107063233A (en) | 2017-08-18 |
| CN107063233B CN107063233B (en) | 2020-06-02 |
Family
ID=59603121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710235275.7A Active CN107063233B (en) | 2017-04-12 | 2017-04-12 | Production line management and control device based on inertial sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107063233B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107664777A (en) * | 2017-11-20 | 2018-02-06 | 中国地质科学院岩溶地质研究所 | A kind of subterranean stream pipeline three-dimensional track detector |
| CN108548520A (en) * | 2018-02-25 | 2018-09-18 | 中国电信股份有限公司盐城分公司 | A kind of antenna attitude remote data acquisition system based on NB-IOT |
| CN109724602A (en) * | 2018-12-17 | 2019-05-07 | 南京理工大学 | A kind of attitude algorithm system and its calculation method based on hardware FPU |
| CN110292387A (en) * | 2019-06-28 | 2019-10-01 | 广西慧云信息技术有限公司 | A kind of device and statistical method counting agriculture labourer's working efficiency |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070277717A1 (en) * | 2004-06-01 | 2007-12-06 | Rieter Textile Machinery France | Method For Control Of Linear Drive Devices For A Thread-Like Product In Particular A Textile Thread During The Start-Up Phase And Device For Carrying Out The Same |
| CN101109959A (en) * | 2007-08-06 | 2008-01-23 | 北京航空航天大学 | Attitude determining system of mini system suitable for any motion |
| CN101546191A (en) * | 2009-03-24 | 2009-09-30 | 苏添置 | Method and system for acquiring and controlling pipelining data |
| CN101673449A (en) * | 2009-10-16 | 2010-03-17 | 广东省科学院自动化工程研制中心 | Method for detecting operation of worker and alarming based on three-dimensional position sensing device |
| CN105068654A (en) * | 2015-08-14 | 2015-11-18 | 济南中景电子科技有限公司 | Motion capturing system and method based on CAN bus and inertial sensor |
-
2017
- 2017-04-12 CN CN201710235275.7A patent/CN107063233B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070277717A1 (en) * | 2004-06-01 | 2007-12-06 | Rieter Textile Machinery France | Method For Control Of Linear Drive Devices For A Thread-Like Product In Particular A Textile Thread During The Start-Up Phase And Device For Carrying Out The Same |
| CN101109959A (en) * | 2007-08-06 | 2008-01-23 | 北京航空航天大学 | Attitude determining system of mini system suitable for any motion |
| CN101546191A (en) * | 2009-03-24 | 2009-09-30 | 苏添置 | Method and system for acquiring and controlling pipelining data |
| CN101673449A (en) * | 2009-10-16 | 2010-03-17 | 广东省科学院自动化工程研制中心 | Method for detecting operation of worker and alarming based on three-dimensional position sensing device |
| CN105068654A (en) * | 2015-08-14 | 2015-11-18 | 济南中景电子科技有限公司 | Motion capturing system and method based on CAN bus and inertial sensor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107664777A (en) * | 2017-11-20 | 2018-02-06 | 中国地质科学院岩溶地质研究所 | A kind of subterranean stream pipeline three-dimensional track detector |
| CN108548520A (en) * | 2018-02-25 | 2018-09-18 | 中国电信股份有限公司盐城分公司 | A kind of antenna attitude remote data acquisition system based on NB-IOT |
| CN109724602A (en) * | 2018-12-17 | 2019-05-07 | 南京理工大学 | A kind of attitude algorithm system and its calculation method based on hardware FPU |
| CN110292387A (en) * | 2019-06-28 | 2019-10-01 | 广西慧云信息技术有限公司 | A kind of device and statistical method counting agriculture labourer's working efficiency |
| CN110292387B (en) * | 2019-06-28 | 2022-05-27 | 广西慧云信息技术有限公司 | Device and method for counting working efficiency of agricultural workers |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107063233B (en) | 2020-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107063233A (en) | Producing line control device based on inertial sensor | |
| CN103226398B (en) | Based on the data glove of micro-inertia sensor network technology | |
| CN105352504B (en) | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning | |
| CN108061855B (en) | MEMS sensor based spherical motor rotor position detection method | |
| CN106821391A (en) | Body gait acquisition analysis system and method based on inertial sensor information fusion | |
| CN104932505B (en) | Automated navigation system, control method and vertical balanced car based on camera detection | |
| CN104990549B (en) | A kind of method and device of coal-winning machine hydraulic support relative positioning | |
| CN107560613B (en) | Robot indoor track tracking system and method based on nine-axis inertial sensor | |
| CN108844533A (en) | A kind of free posture PDR localization method based on Multi-sensor Fusion and attitude algorithm | |
| CN101915580A (en) | Self-adaptation three-dimensional attitude positioning method based on microinertia and geomagnetic technology | |
| CN103241656B (en) | Crane remote control system and control method thereof | |
| CN108279773B (en) | Data glove based on MARG sensor and magnetic field positioning technology | |
| CN108388187A (en) | A kind of robot control system | |
| CN113220119A (en) | Motion capture device of inertial sensor | |
| CN112697131A (en) | Underground mobile equipment positioning method and system based on vision and inertial navigation system | |
| CN105759823A (en) | Track-information-based control system and method for two-wheel self-balancing dolly | |
| Guo et al. | Navigation and positioning system applied in underground driverless vehicle based on IMU | |
| CN103034343A (en) | Method and device for controlling sensing mouse | |
| CN109781096A (en) | A kind of integrated navigation and location system and method for intelligent agricultural machinery | |
| CN113799118B (en) | Coal mine search and rescue robot based on machine vision and motion control | |
| CN114323008A (en) | Fusion course angle estimation method and system based on machine learning classification | |
| CN102419179A (en) | Method and device for positioning mobile robot and recording running track of mobile robot | |
| CN206095257U (en) | Integrated navigation system of robot is tourd to intelligence | |
| CN108827220A (en) | A kind of coal mine fully-mechanized mining working Linearity surveying method based on inertial navigation | |
| CN108267139A (en) | A kind of positioning device and localization method of AGV trolleies |
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 |