CN107315373A - Multi-purpose unmanned equipment controls development platform - Google Patents
Multi-purpose unmanned equipment controls development platform Download PDFInfo
- Publication number
- CN107315373A CN107315373A CN201710618778.2A CN201710618778A CN107315373A CN 107315373 A CN107315373 A CN 107315373A CN 201710618778 A CN201710618778 A CN 201710618778A CN 107315373 A CN107315373 A CN 107315373A
- Authority
- CN
- China
- Prior art keywords
- ground surface
- antenna
- surface end
- airborne
- unmanned
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/00095—Systems or arrangements for the transmission of the picture signal
- H04N1/00103—Systems or arrangements for the transmission of the picture signal specially adapted for radio transmission, e.g. via satellites
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Astronomy & Astrophysics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention provides a kind of multi-purpose unmanned equipment control development platform, including：One image transmitting unit, for gathering the video or image source information of unmanned control device, and converts thereof into high-frequency signal；One data transmission unit, for gathering the data message of unmanned control device, and converts thereof into radiofrequency signal；One control process unit, judges for carrying out Treatment Analysis and control computing to the high-frequency signal from image transmitting unit and the radiofrequency signal from data transmission unit, and correspondence display image and enters calculation process in line data set.The present invention can reserve the expansion interface enriched for user and provide powerful electric energy supply while own reliability, security, environmental suitability, Electro Magnetic Compatibility, maintainability, protection and protective is realized.The present invention realizes fast software development and hardware integration exploitation, reduces the exploitation threshold of Intelligent unattended control device, greatly reduces development difficulty, development cost and the construction cycle of consumer products.
Description
Technical field
The invention belongs to control development platform, particularly a kind of multi-purpose unmanned equipment control development platform is mainly used in
The development fields such as unmanned plane, unmanned speedboat, autonomous underwater vehicle and explosion prevention robot.
Background technology
With the fast development of unmanned plane, unmanned speedboat, autonomous underwater vehicle and explosion prevention robot, each large enterprises and education
Mechanism is passed for remote-wireless image and the demand of data transfer development platform is increasingly strong, particularly unmanned aerial vehicle station
Exploitation.
The control technology of unmanned machine is developed rapidly in recent years, but matched pherope, data
Transmission equipment and high scalability development platform but develop more slow.
Therefore, it is that unmanned machine development company and educational institution provide remote figure and passed that the applicant, which is directed to providing a kind of,
Link, number pass the control development platform of link and high-protection level and high scalability.
The content of the invention
Therefore, it is an object of the invention to provide a kind of development rate is fast, exploitation threshold is low, exploitation can be substantially reduced difficult
Degree, development cost and the multi-purpose unmanned equipment of construction cycle control development platform.
The purpose of the present invention is achieved through the following technical solutions.
A kind of multi-purpose unmanned equipment control development platform, including：
One image transmitting unit, for gathering the video or image source information of unmanned control device, and is converted thereof into
High-frequency signal；
One data transmission unit, for gathering the data message of unmanned control device, and converts thereof into radiofrequency signal；
One control process unit, for the high-frequency signal from image transmitting unit and penetrating from data transmission unit
Frequency signal carries out Treatment Analysis and control computing judges, and correspondence and enters calculation process in line data set at display image.
Preferably, described image transmission unit includes picture transmitter, airborne figure biography antenna, ground surface end figure biography antenna and figure
As receiver, described image emitter passes antenna with airborne figure and is connected, and image receiver passes antenna with ground surface end figure and is connected, airborne
Figure passes antenna and is connected with the biography antenna wireless communication of ground surface end figure；
Wherein, described image emitter is used to encode the video or image information of unmanned control device successively, pressed
High-frequency signal is converted into after contracting encryption, Channel Modulation and signal amplification, and ground surface end figure biography is sent to by airborne figure biography antenna
Antenna；
Described image receiver passes antenna by ground surface end figure and receives the high-frequency signal, and the high-frequency signal is entered successively
Control process unit is sent to after the demodulation of row channel, decryption decompression and decoding process to be shown.
Preferably, the data transmission unit include unmanned control device, airborne end digital transmission module, it is airborne number pass antennas,
Ground surface end number passes antenna and ground surface end digital transmission module, and the unmanned control device passes day by airborne end digital transmission module with airborne number
Line is connected, and the ground surface end digital transmission module passes antenna with ground surface end number and is connected, and the ground surface end number passes antenna and passes day with airborne number
Line wireless telecommunications are connected；
Wherein, the airborne end digital transmission module be used to carrying out the unmanned control device data message of acquisition packing coding and
After modulation treatment, radiofrequency signal is converted into, passing antenna by airborne number is sent to ground surface end number biography antenna；
The ground surface end digital transmission module passes antenna by ground surface end number and receives the radiofrequency signal, and the radiofrequency signal is entered
Row demodulation is unpacked after checking treatment, and output data enters calculation process in line data set to control process unit.
Preferably, the control process unit includes industrial PC, power management plate and some docking stations；
The industrial PC connects described image receiver, for handling the high-frequency signal from image receiver
Analysis, and carry out correspondence display；
The industrial PC connects the ground surface end digital transmission module, for the radiofrequency signal from ground surface end digital transmission module
Computing judgement is controlled, and correspondingly enters calculation process in line data set；
Some docking stations connection industrial PC, for providing standard mini PCI-E interfaces, 1000M networks, serial
232nd, CAN and 12V power interfaces.
Preferably, the frequency of the high-frequency signal is 315M or 595M.
Preferably, the frequency of the radiofrequency signal is 845M or 915M.
The multi-purpose unmanned equipment control development platform that the present invention is provided is realizing that own reliability, security, environment are suitable
While Ying Xing, Electro Magnetic Compatibility, maintainability, protection and protective, the expansion interface enriched can be reserved for user and is carried
Supplied for powerful electric energy.The present invention realizes quick exploitation software and development plan, reduces Intelligent unattended control device
Threshold is developed, development difficulty, development cost and the construction cycle of consumer products is greatly reduced, is the exploitation of Intelligent unattended equipment
With teaching injection new vitality.
Brief description of the drawings
Fig. 1 controls the system principle diagram of development platform for multi-purpose unmanned equipment of the invention；
Fig. 2 passes link theory diagram for present invention figure；
Fig. 3 is that number of the present invention passes link theory diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
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.
Refer to shown in Fig. 1~Fig. 3, platform of the present invention mainly includes image transmitting unit, data transfer list
Member and the part of control process unit three.
Wherein image transmitting unit is used for the data message for gathering unmanned control device, and converts thereof into radiofrequency signal；
It includes high-definition image emitter, airborne figure and passes antenna, ground surface end figure biography antenna and high-definition image receiver, described image hair
Penetrate machine to be connected with airborne figure biography antenna, image receiver passes antenna with ground surface end figure and is connected, and airborne figure passes antenna and ground surface end figure
Antenna wireless communication connection is passed (see Fig. 1).
High-definition image emitter is used to carry out the video source or image information of unmanned control device successively H264 codings, pressure
The high-frequency signal that frequency is 315M or 595M is converted into after contracting encryption, Channel Modulation and signal amplification, and day is passed by airborne figure
Line is sent to ground surface end figure and passes antenna；Ground surface end figure passes antenna and received after the high-frequency signal, is received by tuner, successively
Shown to being sent to control process unit after the demodulation of high-frequency signal progress channel, decryption decompression and H264 decoding process
(see Fig. 2).
The high-definition image signal exported from video source is encoded, compresses encryption, Channel Modulation by picture transmitter, is passed through
Amplification and filter circuit, are finally outwards launched with radio frequency forms such as 315M, 595M.Image receiver is received after vision signal,
By tuner, channel demodulation, decryption decompression, decoding, most video flowing is sent to computer in the form of network at last.Computer passes through
Decoding software, image is shown on software.
Wherein high-definition image emitter has the video interfaces such as HDMI, VGA, AVI, and user can be facilitated to be set according to oneself shooting
Standby actual conditions carry out the system integration., can be according to actual need and picture transmitter of the present invention also has encryption function
Ask whether selection image is encrypted, selects different cipher modes, ensure the security of image transmitting, reduce what image was trapped
May.
Image receiver is embedded in control process unit in the present embodiment, can also be removed according to the demand of user,
The figure for changing user oneself passes link.Image receiving apparatus embedded decryption function, can be decrypted display by the screen after encryption.
Image decoding apparatus high sensitivity characteristic, the distance that screen can be received with clear and smooth by making equipment reaches more than 10km, compared to
3km and 5km vision facilities on the market, not only small volume, lightweight, and in terms of power consumption also as little as its 50%, make its
Realize ultra-long time work while, it is necessary to battery capacity reduce, reduce system weight, improve the portable of whole system
Property.
Data transmission unit in the present embodiment is mainly used in gathering the data message of unmanned control device, and is converted
Into the radiofrequency signal that frequency is 845M or 915M；It includes unmanned control device (unmanned plane), airborne end digital transmission module, airborne
Number passes antenna, ground surface end number and passes antenna and ground surface end digital transmission module, and the unmanned plane passes through airborne end digital transmission module and airborne number
Antenna connection is passed, the ground surface end digital transmission module passes antenna with ground surface end number and is connected, and the ground surface end number passes antenna and airborne number
Antenna wireless communication connection is passed (see Fig. 1).
Airborne end digital transmission module is used to carry out after packing coding and modulation treatment the Unmanned Aerial Vehicle Data information of acquisition, conversion
Into radiofrequency signal, antenna is then passed by airborne number and is sent to ground surface end number biography antenna；Ground surface end number biography antenna receives described
After radiofrequency signal, checking treatment is demodulated and unpacks successively, then output data enters line data set to control process unit
Middle calculation process (see Fig. 3).
Communication between airborne end digital transmission module, ground surface end digital transmission module is full-duplex mode, number of the data from transmitting terminal
Enter according to mouth, receiving terminal is sent to by processor coded treatment, receiving terminal receives data and verified, verification is by then exporting
Data.Airborne end and ground surface end are interacted by 915M or 845M radiofrequency signals, and the interface of module is 232 and USB.Ground surface end
Be embedded in multipurpose control development platform inside, can foundation be actually subjected to be installed and removed.
Wherein the Data transfer system frequency range hardware of data transmission unit newly advises 845M frequency with softwarecompatible 915M and Ministry of Industry and Information
Rate, can change dominant frequency point under conditions of digital transmission module is not changed.Number, which passes link, has 15M radio frequency bandwidth, with reference to its jump
Defeated characteristic is kept pouring in, the function of evading in the case of being interfered by the frequency meter progress frequency modulation of setting, support chain is made it have
The height on road receives sensitivity, and system has determines the high anti-jamming capacity that frequency biography link does not have on the market.More than 110Dbm's
Receive sensitivity and realize number to pass link under complicated electromagnetic environment, it is reliable mutually pass receipt apart from ＞ 10Km.Bi-directional data
Bandwidth is up to 2.3Mbps.Adjustable power output can flexibly adjust radio frequency power output according to different signal receiving qualities,
Radio frequency power output is from 0.1W to 1W, the average power consumption low value of digital transmission module, and average power consumption only has 0.3W when maximum radio frequency is exported.
Number passes mould and expands volume 3.4*2.7*7mm saving installation volumes.Number, which passes links, has an abundant hardware interface, including 232, CAN,
USB etc., convenient, flexible, management software can carry out unified management to link.
Control process unit corresponds to development platform, mainly includes full reinforcing industrial PC, power management plate, docking station
Three parts (see Fig. 1).Full industrial PC of reinforcing connects image receiver and ground surface end digital transmission module respectively, is mainly used in image
Processing display, control computing judge, to calculation process in all data sets.Power management section mainly act as unified management
The discharge and recharge of system and electric energy storage.The service condition of power supply can not only be sent to computer in real time and given by intelligent electric power management
It has been shown that, and the utilization rate of power supply, service life can be improved.Power management considers efficiency in design wherein, not use
The pattern of common classification decompression is powered to different peripheral hardwares on the market；Wide pressure In-put design is done when equipment is designed, is saved
Remove poor efficiency, high power consumption, the step-up/step-down circuit of high heat；Power management can actively close part according to obtained control instruction
Unwanted power supply；Equipment all takes low power dissipation design, when not needing power supply supply, can actively enter standby mode.More than
The measure of intelligent power pipe effectively improves power utilization 30%.The battery charging schedule of power management section is that circulation balance is filled
Electricity, reduces infringement of the large current charge to battery core, battery core is possessed longer service life.System is provided the user more than 2
The docking station of purposes, each docking station not only provides user the mini PCI-E interfaces of standard, also provides a user 1000M nets
The interfaces such as network, serial 232, CAN, 12V power supplys, and each docking station has more than 25W power supply capacity.Carried for user
Hardware expanding interface and the power supply guarantee enriched have been supplied, has made system that there is extended capability on the market 85% hardware adaptor.
Industrial PC makes it in -20 DEG C of 70 DEG C of external high temperature and low temperature, system remains to stable normal from wide warm mainboard
Work.Computer kernel is 7 generation kernels of 14nm technologies, accomplishes low power dissipation design, capacity operation while having ensured cpu performance
15W.Liquid-crystalline glasses have used highlighted and optical coating technology, reduce the entrance of infrared light, improve screen self-illuminating brightness and reach
More than 800nit, is realized visual under sunlight.Full stiffened shell integral protection grade IP65 anti-rains, housing surrounding installs protective rubber
Pad, can easily pass through 1m drop tests.System is equipped with two quick disassembled hot plug high magnification duricrust lithium batteries, can be continuous
Battery is changed on the premise of electricity, all weather operations is realized, convenient use, using flexible.Whole machine using low power consumption is designed and intelligence
Power-supply management system, improves the utilization rate of battery, reduces battery size.The full electricity of double cell, which is changed without battery, can make complete machine just
The normal working time surpasses four hours.Development platform is also at random with supporting exploitation software and exploitation template, and user can combine supporting
Software carries out secondary development rapidly and efficiently.Development platform reserves two pluggable user's docking stations, and user can not influence
On the premise of complete machine protective capacities in docking station oneself integrated unique hardware adaptor, realize diversified exploitation demand, side
Just the system integration is carried out.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (6)
1. a kind of multi-purpose unmanned equipment control development platform, it is characterised in that including：
One image transmitting unit, for gathering the video or image source information of unmanned control device, and converts thereof into high frequency
Signal；
One data transmission unit, for gathering the data message of unmanned control device, and converts thereof into radiofrequency signal；
One control process unit, for the high-frequency signal from image transmitting unit and the letter of the radio frequency from data transmission unit
Number carry out Treatment Analysis and control computing judges, and correspondence and enters calculation process in line data set at display image.
2. multi-purpose unmanned equipment control development platform as claimed in claim 1, it is characterised in that described image transmission unit
Antenna, ground surface end figure, which are passed, including picture transmitter, airborne figure passes antenna and image receiver, described image emitter and airborne figure
Antenna connection is passed, image receiver passes antenna with ground surface end figure and is connected, airborne figure passes antenna and ground surface end figure passes antenna wireless and led to
News connection；
Wherein, described image emitter be used to encoding the video or image information of unmanned control device successively, compress plus
High-frequency signal is converted into after close, Channel Modulation and signal amplification, and ground surface end figure biography antenna is sent to by airborne figure biography antenna；
Described image receiver passes antenna by ground surface end figure and receives the high-frequency signal, and the high-frequency signal is believed successively
Control process unit is sent to after road demodulation, decryption decompression and decoding process to be shown.
3. multi-purpose unmanned equipment control development platform as claimed in claim 2, it is characterised in that the data transmission unit
Antenna, ground surface end number, which are passed, including unmanned control device, airborne end digital transmission module, airborne number passes antenna and ground surface end digital transmission module,
The unmanned control device passes antenna with airborne number by airborne end digital transmission module and is connected, the ground surface end digital transmission module and ground
Number is held to pass antenna connection, the ground surface end number biography antenna passes antenna wireless communication with airborne number and is connected；
Wherein, the airborne end digital transmission module is used to carry out packing coding and modulation to the unmanned control device data message of acquisition
After processing, radiofrequency signal is converted into, passing antenna by airborne number is sent to ground surface end number biography antenna；
The ground surface end digital transmission module passes antenna by ground surface end number and receives the radiofrequency signal, and the radiofrequency signal is solved
Reconcile and unpack after checking treatment, output data enters calculation process in line data set to control process unit.
4. multi-purpose unmanned equipment control development platform as claimed in claim 3, it is characterised in that the control process unit
Including industrial PC, power management plate and some docking stations；
The industrial PC connects described image receiver, for carrying out processing point to the high-frequency signal from image receiver
Analysis, and carry out correspondence display；
The industrial PC connects the ground surface end digital transmission module, for being carried out to the radiofrequency signal from ground surface end digital transmission module
Control computing to judge, and correspondingly enter calculation process in line data set；
Some docking stations connection industrial PC, for provide standard mini PCI-E interfaces, 1000M networks, serial 232,
CAN and 12V power interfaces.
5. multi-purpose unmanned equipment control development platform as claimed in claim 4, it is characterised in that the frequency of the high-frequency signal
Rate is 315M or 595M.
6. multi-purpose unmanned equipment control development platform as claimed in claim 4, it is characterised in that the frequency of the radiofrequency signal
Rate is 845M or 915M.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710618778.2A CN107315373A (en) | 2017-07-26 | 2017-07-26 | Multi-purpose unmanned equipment controls development platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710618778.2A CN107315373A (en) | 2017-07-26 | 2017-07-26 | Multi-purpose unmanned equipment controls development platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107315373A true CN107315373A (en) | 2017-11-03 |
Family
ID=60175028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710618778.2A Pending CN107315373A (en) | 2017-07-26 | 2017-07-26 | Multi-purpose unmanned equipment controls development platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107315373A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102880193A (en) * | 2011-07-15 | 2013-01-16 | 波音公司 | Spacecraft development testbed system |
| CN103149912A (en) * | 2013-03-01 | 2013-06-12 | 深圳航天科技创新研究院 | Integrated measurement and control device for unmanned aerial vehicle |
| CN104460474A (en) * | 2014-10-26 | 2015-03-25 | 吉林医药学院 | Universal ground monitoring system for unmanned aerial vehicle |
| EP3012659A2 (en) * | 2014-10-22 | 2016-04-27 | Honeywell International Inc. | Surveying areas using a radar system and an unmanned aerial vehicle |
| CN206057852U (en) * | 2016-08-30 | 2017-03-29 | 广东容祺智能科技有限公司 | A kind of Multifunctional inspecting unmanned aerial vehicle controls monitoring system |
-
2017
- 2017-07-26 CN CN201710618778.2A patent/CN107315373A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102880193A (en) * | 2011-07-15 | 2013-01-16 | 波音公司 | Spacecraft development testbed system |
| CN103149912A (en) * | 2013-03-01 | 2013-06-12 | 深圳航天科技创新研究院 | Integrated measurement and control device for unmanned aerial vehicle |
| EP3012659A2 (en) * | 2014-10-22 | 2016-04-27 | Honeywell International Inc. | Surveying areas using a radar system and an unmanned aerial vehicle |
| CN104460474A (en) * | 2014-10-26 | 2015-03-25 | 吉林医药学院 | Universal ground monitoring system for unmanned aerial vehicle |
| CN206057852U (en) * | 2016-08-30 | 2017-03-29 | 广东容祺智能科技有限公司 | A kind of Multifunctional inspecting unmanned aerial vehicle controls monitoring system |
Non-Patent Citations (1)
| Title |
|---|
| 程多祥: "《无人机移动测量数据快速获取与处理》", 30 September 2015, 北京：测绘出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105656111B (en) | Intelligent charger and its charging method, mobile power source | |
| CN202150040U (en) | Monitoring device of field mixed explosive vehicle | |
| CN101719981B (en) | Underground total darkness environment high definition video collecting and processing system as well as collecting and processing method | |
| CN105071515A (en) | Mobile power pack having wireless emission receiving function | |
| CN107094243A (en) | A kind of overhead power transmission line passage visualization inspection device and method | |
| CN206057852U (en) | A kind of Multifunctional inspecting unmanned aerial vehicle controls monitoring system | |
| CN206197312U (en) | Outdoor multifunctional intelligence knapsack | |
| CN107315373A (en) | Multi-purpose unmanned equipment controls development platform | |
| CN209250773U (en) | A kind of wireless movable type transmitting-receiving explosion-proof integrated monitoring system | |
| CN204836438U (en) | Intelligence TV remote controller with mouse function | |
| CN207339885U (en) | One kind communication dress dimension test device | |
| CN107104473A (en) | The structure and method that typically charging or quick charge are carried out to the rechargeable battery of mobile device can be automatically selected | |
| CN107690059A (en) | It is a kind of can portable adjusting wireless video transmission system and method | |
| CN204858704U (en) | Treasured charges with wireless transmit receive function | |
| CN106981903A (en) | Portable power source with communication function | |
| CN211718735U (en) | Intelligent lock control system based on BLE and cloud server | |
| CN207234981U (en) | It is a kind of can portable adjusting wireless video transmission system | |
| CN207200392U (en) | A kind of Intelligent wireless power charging system | |
| CN204089962U (en) | A kind of law-enforcing recorder being provided with temperature control protective circuit | |
| CN207283710U (en) | A kind of overall view monitoring system of wireless remote control | |
| CN208724224U (en) | A kind of low-consumption wireless image transmission based on LORAWAN | |
| CN208241697U (en) | Electric power communication protocol Portable movable encryption device based on 2.4G wireless transmission | |
| CN201577153U (en) | High-definition video capturing and processing system in underground all-black environment | |
| CN207318842U (en) | A kind of electric power intelligent glasses | |
| CN206775185U (en) | Portable power source with communication function |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171103 |