CN107437419A - A kind of method, instruction set and the system of the movement of Voice command service robot - Google Patents
A kind of method, instruction set and the system of the movement of Voice command service robot Download PDFInfo
- Publication number
- CN107437419A CN107437419A CN201610359670.1A CN201610359670A CN107437419A CN 107437419 A CN107437419 A CN 107437419A CN 201610359670 A CN201610359670 A CN 201610359670A CN 107437419 A CN107437419 A CN 107437419A
- Authority
- CN
- China
- Prior art keywords
- service robot
- movement
- instruction
- robot
- voice command
- 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
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005236 sound signal Effects 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000004913 activation Effects 0.000 claims description 7
- 230000003213 activating effect Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241000287181 Sturnus vulgaris Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/26—Speech to text systems
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
Landscapes
- Engineering & Computer Science (AREA)
- Computational Linguistics (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of method of Voice command service robot movement, instruction set and system, apply on ground moving type service-delivery machine human body, when people and robot are interacted by voice, microphone array on robot body captures the audio signal of speaker and analyzes its sound bearing, audio signal is identified as text through the speech recognition system on robot body, the order word text of confirmed robot movement control moves control instruction collection with robot and compareed, the mobile control instruction control machine people movement corresponding to startup if matching, the movement of Voice command robot is constrained by service robot barrier avoiding function.The system is made up of microphone array, speech recognition system, instruction set, service robot chassis move function storehouse, avoiding obstacles by supersonic wave and inertial navigation system, the system carries out communication in the form of service robot chassis move function storehouse is called with service robot chassis mobile control system and is connected, to realize final mobile control action.
Description
Technical field
The present invention relates to method, instruction set and the system of a kind of Voice command service robot movement.It is applied on ground moving type service-delivery machine human body, when people and service robot are interacted by voice, microphone array on service-delivery machine human body captures the audio signal of speaker and analyzes its sound bearing, audio signal is identified as text through the speech recognition system on service-delivery machine human body, especially filters out the order word text of service robot movement control.The order word text of confirmed service robot movement control compares with service robot movement control instruction collection, the mobile control instruction corresponding to startup if matching, control machine people is moved, and the movement of Voice command service robot is constrained by service robot barrier avoiding function.The system of Voice command service robot movement is made up of microphone array, speech recognition system, instruction set, service robot chassis move function storehouse, avoiding obstacles by supersonic wave and inertial navigation system, the system carries out communication in the form of service robot chassis move function storehouse is called with service robot chassis mobile control system and is connected, to realize final mobile control action.
Background technology
With the maturation of continuous release and the mobile control of service robot navigation scheme, service robot autonomous navigation function has begun to apply in public arenas such as market, hotel, airport, office lobbies, also it is try to be applied in complex environments such as home dwellings, but service-delivery machine presently, there are the problems such as crucial laser navigation device is expensive, the map structuring cost time is long, path planning algorithm is immature in independent navigation, cause independent navigation can not popularization and application.
To make up the technological deficiency of service robot autonomous navigation, service robot remote control is developed, is moved with the remote control of tape starting, stopping and directionkeys come remote control service robot.Remote control scheme control machine people movement turns into a kind of service robot movement control program of low-cost and easy-to deployment, had a wide range of applications in guest-meeting robot, dining room robot, home-services robot, especially remote control scheme is combined with autonomous navigation scheme, the scope of application and ability of service robot can be lifted.
The content of the invention
Service robot remote control also face one it is important the problem of, it is exactly operating difficulties, when carrying out both hands button operation again while people stares at service robot, the cooperation of eye hand is very difficult, needing the exercise of certain time could grasp, to not being an easy-to-use interactive product for ordinary people, especially old man and child.In addition, remote control also exist put conveniently after be difficult to find, the problems such as losing.
In order to allow people's energy more convenience quickly to move control to service robot, a kind of method, instruction set and the system of the movement of Voice command service robot are now provided.The method moved using this Voice command service robot, can break away from the dependence to remote control, mobile instruction directly be said by people, and different instructions can repeatedly be assigned, add up to have an effect.Due to avoiding obstacles by supersonic wave and the safety guarantee of inertial navigation system, service robot will not be because of the instruction of mistake（As current moving operation will directly hit barrier）And make service robot impaired or have the behavior for jeopardizing people and property.Because people has blanket expression vocabulary for the direction speed destination that object moves, as long as the move of blanket expression vocabulary and service robot is established corresponding relation by us, move is then converted into moving operation corresponding to the executable function can completion of service robot chassis mobile system.
The present invention establishes a service robot chassis move function storehouse called for instruction set.This function library includes following 11 different functions, and function name should be unique, can specifically name as needed, the description of these functions and default parameters, such as Fig. 1.
The present invention establishes a robot voice operational order collection, and the instruction set is made up of 11 instructions, and each instruction may have a variety of approximate semantic meaning representations, but all only correspond to one can the function that performs of being serviced robot chassis, such as Fig. 2.
The present invention submits to robot voice operational order collection the speech recognition system of service robot, when the audio signal that service robot is obtained by microphone is identified is converted into content of text, it should will identify that what is obtained gives its corresponding function with the speech text of instruction set matching and enter line function and performs operation, and then drive robot chassis to realize movement accordingly.
In the 11st " coming " instructs, because corresponding function needs to use the data of identification of sound source, therefore, the identification of sound source signal that microphone collects should pass to " Sounnd source direction inertial navigation moves ahead " function corresponding to " coming " instruction, service robot is by along the direction of auditory localization, moved ahead with 1 times of reference speed under the guide of inertial navigation, until people provides the phonetic order of " stopping ", or stop movement after running into impassable barrier.
The invention has the advantages that a kind of service robot control method for movement of simple, intuitive is provided, as long as people station assigns mobile control instruction to service robot near service robot by voice, so that it may control its movement.The present invention compensate for the deficiency of service robot remote control, can be combined with service robot autonomous navigation mobile phase, realize that service robot is more flexible, more accurately moves, so as to preferably provide service for the mankind.The present invention is adapted for mount on welcome's reception, commodity shopping guide, home services, restaurant service, hotel guest room service etc. and coordinates original mobile control system to use used in field on service robot.
Brief description of the drawings
Fig. 1 is description and the default parameters form of function.
Fig. 2 is robot voice operational order collection form.
Fig. 3 is Initialize installation service robot chassis movement control function storehouse form.
Fig. 4 is the schematic flow sheet of Voice command service robot movement.
Embodiment
In figure 3, service robot will obtain the function of Voice command movement, need that the system software that Voice command service robot moves is installed on service-delivery machine human body first, system obtains the communication interface with service robot chassis control unit, and ensures the reliability service in service robot chassis movement control function storehouse.Parameter in the movement control function storehouse of Initialize installation service robot chassis, such as without setting, then the default parameters in being described according to function is set automatically.
System generates robot voice operational order collection, and is associated to form voice command words and the pairing one by one of the instruction of robot voice operational order concentration with the speech recognition system of service robot.
In Fig. 4, application method：People can carry out the distance of efficient voice identification in service robot microphone array（5 meters）It is interior, assign mobile control instruction to service robot with voice, during a certain instruction that the identified matching service robot control instruction of voice is concentrated, the executable function can of service robot chassis mobile system corresponding to the instruction complete corresponding to moving operation.
Service robot moves control voice instruction and daily conversation content is obscured to avoid, and service robot movement control voice instruction issuing uses following two either types.
First：Under exclusive application mode, control instruction is directly assigned.People clicks on " robot movement control " using the system of APP startup Voice command service robot movements with voice " robot movement controls " or service robot touch-screen, service robot voice message " robot voice mobile control system starts, and you can assign mobile control instruction to me now ".Any voice that service robot receives in 15 seconds all carries out speech recognition and semantic understanding to move control command semantic coverage first, to improve the accuracy and relevance of mobile control command identification；
People only needs single or connection to say mobile control instruction, you can implements mobile control to service robot, such as advances, then service robot performs 1 times of reference speed and moved ahead 0.5 meter of function, and chassis drives service robot to move forward 0.5 meter；As retreated, then turning left.The function that 1 times of reference speed retreats 0.5 meter is then first carried out, chassis drives service robot to be moved rearwards 0.5 meter, then performs a function of 30 degree of turning left, chassis drives service robot to turn left 30 degree.Different mobile control instructions can repeatedly be assigned, add up to have an effect；
Each mobile control instruction is both needed to assign in time interval at 15 seconds, and more than 15 seconds, robot voice mobile control system will automatically exit from exclusive application state, as back-office support（Etc. service to be activated）In the presence of.
Second：Activate keyword+movement control instruction.It is mobile to control special activation keyword to have two kinds of expression, when fixed keyword " robot movement ", second, being made up of activation word+" movement " of the service robot, such as " son little Bai movements ".No matter which kind of activation keyword, is required for being set in speech recognition system；
People carries out instruction issuing in a manner of activating keyword+" movement control instruction " every time, and such as " robot moves, and advances ", then service robot performs the forward 0.5 meter function of 1 times of reference speed, and chassis drives service robot to move forward 0.5 meter；" robot moves, and retreats, and then turns left ", then be first carried out the function that 1 times of reference speed retreats 0.5 meter, and chassis drives service robot to be moved rearwards 0.5 meter, then performs a function of 30 degree of turning left, chassis drives service robot to turn left 30 degree.Different mobile control instructions can be assigned repeatedly（But need above adding " robot movement " activation word every time）, accumulative have an effect.
Mobile control instruction is constrained by avoiding obstacles by supersonic wave and inertial navigation system.When movement caused by mobile control judges to be likely to occur collision by avoiding obstacles by supersonic wave, avoiding obstacles by supersonic wave will adapter system in short-term, avoidance is taken to act, avoidance action completion system is transferred to give robot voice mobile control system, but previous mobile control instruction has been removed, it is necessary to assign mobile control instruction again.
Due to avoiding obstacles by supersonic wave and the safety guarantee of inertial navigation system, service robot will not be because of the instruction of mistake（As current moving operation will directly hit barrier）And make service robot impaired or have the behavior for jeopardizing people and property.
Claims (10)
1. the present invention relates to method, instruction set and the system of a kind of Voice command service robot movement；It is applied on ground moving type service-delivery machine human body, when people and service robot are interacted by voice, microphone array on service-delivery machine human body captures the audio signal of speaker and analyzes its sound bearing, audio signal is identified as text through the speech recognition system on service-delivery machine human body, especially filters out the order word text of service robot movement control；The order word text of confirmed service robot movement control compares with service robot movement control instruction collection, the mobile control instruction corresponding to startup if matching, control machine people is moved, and the movement of Voice command service robot is constrained by service robot barrier avoiding function；The system of Voice command service robot movement is made up of microphone array, speech recognition system, instruction set, service robot chassis move function storehouse, avoiding obstacles by supersonic wave and inertial navigation system, the system carries out communication in the form of service robot chassis move function storehouse is called with service robot chassis mobile control system and is connected, to realize final mobile control action.
2. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：The system is made up of microphone array, speech recognition system, instruction set, service robot chassis move function storehouse, avoiding obstacles by supersonic wave and inertial navigation system.
3. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：When people assigns mobile control voice to service robot and instructed, the microphone array of service robot captures the audio signal of speaker and analyzes its sound bearing, and audio signal is identified as text through the speech recognition system on service-delivery machine human body.
4. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：The order word text of confirmed service robot movement control compares with service robot movement control instruction collection, the mobile control instruction corresponding to startup if matching, by calling service robot chassis move function storehouse to be communicated with service robot chassis mobile control system, the chassis movement of service robot is realized.
5. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：Mobile control instruction is constrained by avoiding obstacles by supersonic wave and inertial navigation system；When movement caused by mobile control judges to be likely to occur collision by avoiding obstacles by supersonic wave, avoiding obstacles by supersonic wave will adapter system in short-term, avoidance is taken to act, avoidance action completion system is transferred to give robot voice mobile control system, but previous mobile control instruction has been removed, it is necessary to assign mobile control instruction again.
6. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：Service robot moves control voice instruction and daily conversation content is obscured to avoid, and service robot movement control voice instruction issuing uses two kinds of either types：First, under exclusive application mode, directly assign control instruction, people clicks on " robot movement control " using the system of APP startup Voice command service robot movements with voice " robot movement controls " or service robot touch-screen, people only needs single or connection to say mobile control instruction, you can implements the mobile control to service robot；Second, activate keyword+movement control instruction, people carries out instruction issuing in a manner of activating keyword+" mobile control instruction " every time, it is mobile to control special activation keyword to have two kinds of expression, first, fixed keyword " robot movement ", second, it is made up of activation word+" movement " of the service robot, such as " son little Bai movements "；No matter which kind of activation keyword, is required for being set in speech recognition system.
7. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：Establish a service robot chassis move function storehouse called for instruction set；This function library includes 11 different functions, and function name should be unique, can specifically name as needed.
8. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：The meter per second of moving reference speed 0.5 in the move function storehouse of service robot chassis, reference speed can be changed according to service robot chassis mobile unit performance；Each displacement is defaulted as 0.5 meter, may be modified such that one in other six numerical value such as 0.4,0.6,0.7,0.8,0.9,1.0.
9. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：Service robot in the move function storehouse of service robot chassis rotates default angle as 30 degree every time, and angle can be changed to one in other seven angles such as 5,10,15,20,30,40,45, and feature is to can return to former orientation after rotation angularly is repeated several times.
10. method, instruction set and the system of Voice command service robot movement according to claim 1, it is characterized in that：Establish a robot voice operational order collection, the instruction set is made up of 11 instructions, and each instruction may have a variety of approximate semantic meaning representations, but all only correspond to one can the function that performs of being serviced robot chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610359670.1A CN107437419A (en) | 2016-05-27 | 2016-05-27 | A kind of method, instruction set and the system of the movement of Voice command service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610359670.1A CN107437419A (en) | 2016-05-27 | 2016-05-27 | A kind of method, instruction set and the system of the movement of Voice command service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107437419A true CN107437419A (en) | 2017-12-05 |
Family
ID=60453135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610359670.1A Pending CN107437419A (en) | 2016-05-27 | 2016-05-27 | A kind of method, instruction set and the system of the movement of Voice command service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107437419A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196455A (en) * | 2017-12-26 | 2018-06-22 | 北京康力优蓝机器人科技有限公司 | A kind of intelligence pickup robot |
| CN109994114A (en) * | 2019-04-09 | 2019-07-09 | 昆山古鳌电子机械有限公司 | A kind of intelligence control system |
| CN110010125A (en) * | 2017-12-29 | 2019-07-12 | 深圳市优必选科技有限公司 | A kind of control method of intelligent robot, device, terminal device and medium |
| CN110136704A (en) * | 2019-04-03 | 2019-08-16 | 北京石头世纪科技股份有限公司 | Robot voice control method and device, robot and medium |
| CN110919646A (en) * | 2019-11-05 | 2020-03-27 | 北京小米移动软件有限公司 | Intelligent device, control method and device of intelligent device and electronic device |
| CN111048078A (en) * | 2018-10-15 | 2020-04-21 | 阿里巴巴集团控股有限公司 | Voice composite instruction processing method and system, voice processing device and medium |
| CN111385529A (en) * | 2018-12-29 | 2020-07-07 | 杭州登虹科技有限公司 | Household monitoring system capable of moving quickly |
| CN113485382A (en) * | 2021-08-26 | 2021-10-08 | 苏州大学 | Mobile robot autonomous navigation method and system for man-machine natural interaction |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1664924A (en) * | 2005-04-18 | 2005-09-07 | 北京大学 | Aquatic bionic animal voice control system |
| CN103971682A (en) * | 2014-05-14 | 2014-08-06 | 哈尔滨工程大学 | Voice control method for ice and snow robot |
| CN105093986A (en) * | 2015-07-23 | 2015-11-25 | 百度在线网络技术（北京）有限公司 | Humanoid robot control method based on artificial intelligence, system and the humanoid robot |
| WO2015176467A1 (en) * | 2013-05-24 | 2015-11-26 | 文霞 | Robot |
| CN105488032A (en) * | 2015-12-31 | 2016-04-13 | 杭州智蚁科技有限公司 | Speech recognition input control method and system |
-
2016
- 2016-05-27 CN CN201610359670.1A patent/CN107437419A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1664924A (en) * | 2005-04-18 | 2005-09-07 | 北京大学 | Aquatic bionic animal voice control system |
| WO2015176467A1 (en) * | 2013-05-24 | 2015-11-26 | 文霞 | Robot |
| CN103971682A (en) * | 2014-05-14 | 2014-08-06 | 哈尔滨工程大学 | Voice control method for ice and snow robot |
| CN105093986A (en) * | 2015-07-23 | 2015-11-25 | 百度在线网络技术（北京）有限公司 | Humanoid robot control method based on artificial intelligence, system and the humanoid robot |
| CN105488032A (en) * | 2015-12-31 | 2016-04-13 | 杭州智蚁科技有限公司 | Speech recognition input control method and system |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196455A (en) * | 2017-12-26 | 2018-06-22 | 北京康力优蓝机器人科技有限公司 | A kind of intelligence pickup robot |
| CN108196455B (en) * | 2017-12-26 | 2020-08-11 | 北京康力优蓝机器人科技有限公司 | Intelligent object taking robot |
| CN110010125A (en) * | 2017-12-29 | 2019-07-12 | 深圳市优必选科技有限公司 | A kind of control method of intelligent robot, device, terminal device and medium |
| CN111048078A (en) * | 2018-10-15 | 2020-04-21 | 阿里巴巴集团控股有限公司 | Voice composite instruction processing method and system, voice processing device and medium |
| CN111385529A (en) * | 2018-12-29 | 2020-07-07 | 杭州登虹科技有限公司 | Household monitoring system capable of moving quickly |
| CN110136704A (en) * | 2019-04-03 | 2019-08-16 | 北京石头世纪科技股份有限公司 | Robot voice control method and device, robot and medium |
| CN110136704B (en) * | 2019-04-03 | 2021-12-28 | 北京石头世纪科技股份有限公司 | Robot voice control method and device, robot and medium |
| CN109994114A (en) * | 2019-04-09 | 2019-07-09 | 昆山古鳌电子机械有限公司 | A kind of intelligence control system |
| CN109994114B (en) * | 2019-04-09 | 2021-07-23 | 昆山古鳌电子机械有限公司 | Intelligent control system |
| CN110919646A (en) * | 2019-11-05 | 2020-03-27 | 北京小米移动软件有限公司 | Intelligent device, control method and device of intelligent device and electronic device |
| CN113485382A (en) * | 2021-08-26 | 2021-10-08 | 苏州大学 | Mobile robot autonomous navigation method and system for man-machine natural interaction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107437419A (en) | A kind of method, instruction set and the system of the movement of Voice command service robot | |
| CN107111358B (en) | Using beacons to assist users in interacting with their environment | |
| US10984790B2 (en) | Method of providing service based on location of sound source and speech recognition device therefor | |
| US11343613B2 (en) | Prioritizing delivery of location-based personal audio | |
| US20190132694A1 (en) | Electronic device microphone listening modes | |
| US9517175B1 (en) | Tactile belt system for providing navigation guidance | |
| US20170045372A1 (en) | Touch-Based Exploration of Maps for Screen Reader Users | |
| US10629199B1 (en) | Architectures and topologies for vehicle-based, voice-controlled devices | |
| Ţepelea et al. | Smartphone application to assist visually impaired people | |
| Ansari et al. | An open voice command interface kit | |
| CN109036401A (en) | A method of opening speech control system | |
| Ma et al. | On hearing your position through light for mobile robot indoor navigation | |
| JP3318539B2 (en) | Autonomous mobile robot with dialogue system | |
| Echefu | Towards Natural Human Control and Navigation of Autonomous Wheelchairs | |
| CN113697004A (en) | Auxiliary trolley for outgoing of audio-visual handicapped patient based on AI | |
| KR20210097346A (en) | Artificial intelligence apparatus for endpoint detection | |
| CN112773299A (en) | Self-moving cleaning robot, control method thereof and computer storage medium | |
| Innala Ahlmark | AAL mission: towards a smart wearable navigation aid | |
| CN102710304A (en) | Mobile intelligent device and control method thereof |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171205 |