CN108320347A - A kind of robot method for inspecting - Google Patents
A kind of robot method for inspecting Download PDFInfo
- Publication number
- CN108320347A CN108320347A CN201810016593.9A CN201810016593A CN108320347A CN 108320347 A CN108320347 A CN 108320347A CN 201810016593 A CN201810016593 A CN 201810016593A CN 108320347 A CN108320347 A CN 108320347A
- Authority
- CN
- China
- Prior art keywords
- inspection
- task point
- crusing robot
- robot
- sent
- 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 36
- 238000007689 inspection Methods 0.000 claims abstract description 95
- 230000002159 abnormal effect Effects 0.000 claims abstract description 34
- 238000012790 confirmation Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims 1
- 238000000205 computational method Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/06—Energy or water supply
Landscapes
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Economics (AREA)
- General Health & Medical Sciences (AREA)
- Water Supply & Treatment (AREA)
- Public Health (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a kind of robot method for inspecting, are applied to crusing robot and hand-held inspection terminal, include the following steps：Step 1, crusing robot reach task point according to polling path, judge whether that inspection can be normally carried out, if so, step 2 is executed, if it is not, thening follow the steps three；Step 2, crusing robot carries out inspection to task point device, and inspection result is sent to background data base；The local map coordinate of abnormal task point is sent to background server by step 3, crusing robot, and local map coordinate is converted to GPS coordinate by background server, and GPS coordinate is sent to hand-held inspection terminal；Step 4, patrol officer reach abnormal task point according to GPS coordinate, carry out inspection to abnormal task point device using hand-held inspection terminal, and inspection result is sent to background data base.It replaces people to carry out inspection using crusing robot in the method for the present invention, solves the problems, such as that existing manual inspection efficiency is low, dangerous big.
Description
Technical field
The present invention relates to field of artificial intelligence, and in particular to a kind of robot method for inspecting.
Background technology
The transmission of electric energy be unable to do without each substation equipment and circuit, and only these substation equipments and circuit are in safety
Operating status can just make electric energy really be applied to all trades and professions.Inspection to these substation equipments and circuit is Utilities Electric Co.
Important working link, Utilities Electric Co. have special patrol officer to inspect periodically whether meter reading is normal, switchs closure situation
And equipment heating situation etc., to ensure the minimum failure rate of substation equipment and circuit.But the mode of this manual inspection, work
Work amount is big, and is influenced by factors such as environmental factor, peoplewares, be easy to cause make an inspection tour it is not in place, prohibited data detection is true, make an inspection tour
Expected effect is often not achieved in efficiency and quality, especially inspection in the wild, and to the safety of patrol officer, there is also mobile hidden danger.
Invention content
To solve the deficiencies in the prior art, the purpose of the present invention is to provide a kind of robot method for inspecting, solve existing
Manual inspection efficiency is low, dangerous big problem.
In order to realize that above-mentioned target, the present invention adopt the following technical scheme that：A kind of robot method for inspecting, feature exist
In, be applied to crusing robot and hand-held inspection terminal, include the following steps：
Step 1, crusing robot reach task point according to polling path, judge whether that inspection can be normally carried out, if
It is to then follow the steps two, if it is not, thening follow the steps three；
Step 2, crusing robot carries out inspection to task point device, and inspection result is sent to background data base；
The local map coordinate of abnormal task point is sent to background server, background service by step 3, crusing robot
Local map coordinate is converted to GPS coordinate by device, and the GPS coordinate of abnormal task point is sent to hand-held inspection terminal；
Step 4, patrol officer reaches abnormal task point according to GPS coordinate, using hand-held inspection terminal to abnormal task point
Equipment carries out inspection, and inspection result is sent to background data base.
Further, further include inspection road before crusing robot described in step 1 reaches task point according to polling path
The planing method of diameter, includes the following steps：
Crusing robot from background server obtain include multiple task points to be inspected task point sequence；
Crusing robot is treated patrol task point and is ranked up, and polling path is automatically generated.
Further, the crusing robot treats the method that patrol task point is ranked up and includes：
Using the deposit position of crusing robot as origin, the air line distance of origin and task point to be inspected is calculated separately；
From small to large by air line distance, task point to be inspected is ranked up.
Further, it is described automatically generate polling path after further include：Crusing robot sends the polling path of generation
It is checked to background server, after inspection passes through, crusing robot carries out inspection according to polling path.
Further, judge whether that the method that can be normally carried out inspection is described in step 1：Crusing robot judges
Whether the inspection result of task point device can be obtained.
Further, the inspection result includes equipment noise, equipment image and equipment infrared temperature.
Further, the computational methods of the local map coordinate of the task point are：With the deposit position of crusing robot
For origin, the distance between each task point and origin and azimuth are calculated separately, the local map coordinate of task point is should
The distance between task point and origin and azimuth.
Further, the method that local map coordinate is converted to GPS coordinate is by background server described in step 3：Afterwards
The GPS coordinate that platform server obtains origin calculates exception further according to the distance between abnormal task point and origin and azimuth
The GPS coordinate of task point.
Further, the local map coordinate of abnormal task point is sent to backstage and taken by crusing robot described in step 3
Further include after business device：Crusing robot waits for the continuation inspection instruction of background server in abnormal task point；
The background server further includes after the GPS coordinate of abnormal task point is sent to hand-held inspection terminal：
Hand-held inspection terminal sends confirmation message to background server；
After background server receives confirmation message, is sent to crusing robot and continue inspection instruction；
After crusing robot receives continuation inspection instruction, the inspection of next task point is carried out according to polling path.
Compared with prior art, the beneficial effects of the present invention are：
The present invention proposes a kind of robot method for inspecting, and crusing robot can reach according to polling path specified automatically
Task point, one by one in task point equipment carry out inspection, acquisition include equipment image, equipment noise and equipment infrared temperature
The information such as degree, then inspection information is sent to background data base, background server can be read according to the inspection information sent back
Various device parameters, or check whether equipment exception occurs.In addition, when crusing robot encounters can not the acquiring information of the task
When point, abnormal task point coordinates can be sent to background server, and background server can distribute patrol officer and reach abnormal appoint
Business point carries out manual inspection, it is ensured that completes the inspection work of all task points.In the method for the present invention, crusing robot replaces people
Work completes the inspection work of most of task point device, effectively overcomes the low problem of manual inspection efficiency, especially solves
Dangerous high problem present in inspection in the wild.
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Description of the drawings
Fig. 1 is the flow chart of robot method for inspecting in one embodiment of the invention.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Robot method for inspecting as shown in Figure 1 is applied to crusing robot and hand-held inspection terminal, including following step
Suddenly：
S10, crusing robot reach task point according to polling path, judge whether that inspection can be normally carried out, if so,
S20 is executed, if it is not, then executing S30.Wherein, judge whether that the method that can be normally carried out inspection is：Crusing robot judges
Whether the inspection result of task point device can be obtained.Crusing robot can carry common camera, infrared camera and
Sound capturing unit, to obtain the noise, equipment image and equipment infrared temperature information of task point device.
S20, crusing robot carries out inspection to task point device, and inspection result is sent to background data base.From the background
Database is a part for background server, and background server can judge whether equipment is normal according to the inspection result being transmitted back to
Operation and record various parameters.
The local map coordinate of abnormal task point is sent to background server by S30, crusing robot, and background server will
Local map coordinate is converted to GPS coordinate, and the GPS coordinate of abnormal task point is sent to hand-held inspection terminal.Wherein, task
The computational methods of local map coordinate of point are：Using the deposit position of crusing robot as origin, each task point is calculated separately
The local map coordinate at the distance between origin and azimuth, task point is the distance between the task point and origin and side
Parallactic angle.The deposit position of crusing robot can be some storage point in storage compartment library, in this, as origin calculating and task
The distance between point and azimuthal method are the prior art, and details are not described herein.
The method that local map coordinate is converted to GPS coordinate is by background server：Background server first obtains origin
GPS coordinate calculates the GPS coordinate of abnormal task point further according to the distance between abnormal task point and origin and azimuth.Tool
The computational methods of body are the prior art, and details are not described herein.
S40, patrol officer are reached abnormal task point according to GPS coordinate, are set to abnormal task point using hand-held inspection terminal
It is standby to carry out inspection, and inspection result is sent to background data base.
In addition, crusing robot can directly acquire the polling path planned from background server carries out inspection,
Can also polling path voluntarily be planned by crusing robot.So the planing method of polling path can also be included before S10,
Specifically include following steps：
S110, crusing robot from background server obtain include multiple task points to be inspected task point sequence；
S120, crusing robot are treated patrol task point and are ranked up, and polling path is automatically generated.Wherein, to be inspected
The method being ranked up is put in business：
S121, using the deposit position of crusing robot as origin, calculate separately the straight line of origin and task point to be inspected away from
From；
Task point to be inspected from small to large by air line distance is ranked up by S122.Crusing robot will be from air line distance
Nearest task point starts inspection, according to all task points to be inspected of air line distance successively inspection.
Further, after automatically generating polling path, verification step can also be set, check whether polling path closes
It is suitable.Specific method is：The polling path of generation is sent to background server and checked by crusing robot, after inspection passes through,
Crusing robot carries out inspection according to polling path.
In one embodiment of the invention, robot method for inspecting is realized by cruising inspection system, and cruising inspection system includes patrolling
Robot, hand-held inspection terminal and background server are examined, includes background data base again in background server.The method is specifically wrapped
Include following steps：
S201, crusing robot reach task point according to polling path, judge whether that inspection can be normally carried out.
Inspection result if so, carrying out inspection to task point device, and is sent to background data base by S202.
S203, if it is not, then this task point is abnormal task point, crusing robot is by the local map coordinate of abnormal task point
It is sent to background server, crusing robot waits for the continuation inspection instruction of background server in abnormal task point.
S203, local map coordinate is converted to GPS coordinate by background server, and the GPS coordinate of abnormal task point is sent out
It send to hand-held inspection terminal.
S204 holds inspection terminal and sends confirmation message to background server, after background server receives confirmation message,
It is sent to crusing robot and continues inspection instruction, after crusing robot receives continuation inspection instruction, carried out according to polling path
The inspection of next task point.
S205, patrol officer are reached abnormal task point according to GPS coordinate, are set to abnormal task point using hand-held inspection terminal
It is standby to carry out inspection, and inspection result is sent to background data base.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the invention is not limited in any way above-described embodiment, all to be obtained by the way of equivalent substitution or equivalent transformation
Technical solution is all fallen in protection scope of the present invention.
Claims (9)
1. a kind of robot method for inspecting, which is characterized in that be applied to crusing robot and hand-held inspection terminal, including following step
Suddenly：
Step 1, crusing robot reach task point according to polling path, judge whether that inspection can be normally carried out, if so,
Step 2 is executed, if it is not, thening follow the steps three；
Step 2, crusing robot carries out inspection to task point device, and inspection result is sent to background data base；
The local map coordinate of abnormal task point is sent to background server by step 3, crusing robot, and background server will
Local map coordinate is converted to GPS coordinate, and the GPS coordinate of abnormal task point is sent to hand-held inspection terminal；
Step 4, patrol officer reaches abnormal task point according to GPS coordinate, using hand-held inspection terminal to abnormal task point device
Inspection is carried out, and inspection result is sent to background data base.
2. robot method for inspecting as described in claim 1, it is characterised in that：Crusing robot described in step 1 is according to patrolling
Further include the planing method of polling path before inspection path arrival task point, includes the following steps：
Crusing robot from background server obtain include multiple task points to be inspected task point sequence；
Crusing robot is treated patrol task point and is ranked up, and polling path is automatically generated.
3. robot method for inspecting as claimed in claim 2, it is characterised in that：The crusing robot treats patrol task point
The method being ranked up includes：
Using the deposit position of crusing robot as origin, the air line distance of origin and task point to be inspected is calculated separately；
From small to large by air line distance, task point to be inspected is ranked up.
4. robot method for inspecting as claimed in claim 3, it is characterised in that：It is described automatically generate polling path after also wrap
It includes：The polling path of generation is sent to background server and checked by crusing robot, and after inspection passes through, crusing robot is pressed
Inspection is carried out according to polling path.
5. robot method for inspecting as described in claim 1, it is characterised in that：Judging whether described in step 1 can be normal
Carry out inspection method be：Crusing robot judges whether that the inspection result of task point device can be obtained.
6. robot method for inspecting as described in claim 1, it is characterised in that：The inspection result includes equipment noise, sets
Standby image and equipment infrared temperature.
7. robot method for inspecting as described in claim 1, it is characterised in that：The meter of the local map coordinate of the task point
Calculation method is：Using the deposit position of crusing robot as origin, the distance between each task point and origin and side are calculated separately
The local map coordinate of parallactic angle, task point is the distance between the task point and origin and azimuth.
8. robot method for inspecting as claimed in claim 7, it is characterised in that：Background server described in step 3 will be local
The method that map reference is converted to GPS coordinate is：Background server obtain origin GPS coordinate, further according to abnormal task point with
The distance between origin and azimuth calculate the GPS coordinate of abnormal task point.
9. robot method for inspecting as described in claim 1, it is characterised in that：Crusing robot described in step 3 will be abnormal
The local map coordinate of task point further includes after being sent to background server：Crusing robot waits for backstage to take in abnormal task point
The continuation inspection instruction of business device；
The background server further includes after the GPS coordinate of abnormal task point is sent to hand-held inspection terminal：Hand-held inspection is whole
It holds to background server and sends confirmation message；
After background server receives confirmation message, is sent to crusing robot and continue inspection instruction；
After crusing robot receives continuation inspection instruction, the inspection of next task point is carried out according to polling path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016593.9A CN108320347A (en) | 2018-01-08 | 2018-01-08 | A kind of robot method for inspecting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016593.9A CN108320347A (en) | 2018-01-08 | 2018-01-08 | A kind of robot method for inspecting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108320347A true CN108320347A (en) | 2018-07-24 |
Family
ID=62894699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810016593.9A Pending CN108320347A (en) | 2018-01-08 | 2018-01-08 | A kind of robot method for inspecting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108320347A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958024A (en) * | 2018-08-15 | 2018-12-07 | 深圳市烽焌信息科技有限公司 | Robot goes on patrol method and robot |
| CN112070456A (en) * | 2020-07-31 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Task issuing method, terminal equipment, robot and storage medium |
| CN112268576A (en) * | 2019-07-08 | 2021-01-26 | 上海隽珑信息技术有限公司 | Safety inspection method and inspection system |
| CN112462778A (en) * | 2020-11-30 | 2021-03-09 | 国网四川省电力公司达州供电公司 | Operation method for man-machine cooperative inspection of power distribution network |
| CN113015099A (en) * | 2021-02-02 | 2021-06-22 | 深圳市地质局 | Intelligent inspection method based on smart phone |
| CN114255521A (en) * | 2020-09-22 | 2022-03-29 | 维谛技术有限公司 | Data processing system, method and device based on inspection robot and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102420392A (en) * | 2011-07-30 | 2012-04-18 | 山东鲁能智能技术有限公司 | Transformer substation inspection robot global path planning method based on magnetic navigation |
| CN102566576A (en) * | 2012-02-24 | 2012-07-11 | 山东鲁能智能技术有限公司 | Multiple inspection robot cooperative operation method for substation sequence control system |
| CN103499776A (en) * | 2013-09-03 | 2014-01-08 | 华北电力大学（保定） | Power transmission and transformation equipment fault routing inspection core system based on ultrasonic waves and infrared thermal images |
| CN104796937A (en) * | 2015-05-11 | 2015-07-22 | 重庆大学 | Wireless sensor network node fault polling method based on mobile robot |
| CN106023334A (en) * | 2016-05-04 | 2016-10-12 | 郝迎春 | Routing inspection method and device |
| CN205862378U (en) * | 2016-07-07 | 2017-01-04 | 中国大唐集团科学技术研究院有限公司 | Power plant moves cruising inspection system |
| CN107527395A (en) * | 2016-06-21 | 2017-12-29 | 中兴通讯股份有限公司 | A kind of unmanned plane method for inspecting, device and unmanned plane |
-
2018
- 2018-01-08 CN CN201810016593.9A patent/CN108320347A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102420392A (en) * | 2011-07-30 | 2012-04-18 | 山东鲁能智能技术有限公司 | Transformer substation inspection robot global path planning method based on magnetic navigation |
| CN102566576A (en) * | 2012-02-24 | 2012-07-11 | 山东鲁能智能技术有限公司 | Multiple inspection robot cooperative operation method for substation sequence control system |
| CN103499776A (en) * | 2013-09-03 | 2014-01-08 | 华北电力大学（保定） | Power transmission and transformation equipment fault routing inspection core system based on ultrasonic waves and infrared thermal images |
| CN104796937A (en) * | 2015-05-11 | 2015-07-22 | 重庆大学 | Wireless sensor network node fault polling method based on mobile robot |
| CN106023334A (en) * | 2016-05-04 | 2016-10-12 | 郝迎春 | Routing inspection method and device |
| CN107527395A (en) * | 2016-06-21 | 2017-12-29 | 中兴通讯股份有限公司 | A kind of unmanned plane method for inspecting, device and unmanned plane |
| CN205862378U (en) * | 2016-07-07 | 2017-01-04 | 中国大唐集团科学技术研究院有限公司 | Power plant moves cruising inspection system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958024A (en) * | 2018-08-15 | 2018-12-07 | 深圳市烽焌信息科技有限公司 | Robot goes on patrol method and robot |
| CN112268576A (en) * | 2019-07-08 | 2021-01-26 | 上海隽珑信息技术有限公司 | Safety inspection method and inspection system |
| CN112070456A (en) * | 2020-07-31 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Task issuing method, terminal equipment, robot and storage medium |
| CN112070456B (en) * | 2020-07-31 | 2023-12-29 | 深圳市优必选科技股份有限公司 | Method for issuing task, terminal equipment, robot and storage medium |
| CN114255521A (en) * | 2020-09-22 | 2022-03-29 | 维谛技术有限公司 | Data processing system, method and device based on inspection robot and storage medium |
| CN112462778A (en) * | 2020-11-30 | 2021-03-09 | 国网四川省电力公司达州供电公司 | Operation method for man-machine cooperative inspection of power distribution network |
| CN113015099A (en) * | 2021-02-02 | 2021-06-22 | 深圳市地质局 | Intelligent inspection method based on smart phone |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108320347A (en) | A kind of robot method for inspecting | |
| CN104950076B (en) | Mobile Internet platform air quality monitoring method and system | |
| CN109658539A (en) | Method for inspecting, device, server and the computer storage medium of chemical industrial park | |
| CN112466000A (en) | Inspection system based on power inspection robot and inspection control method | |
| CN106570947A (en) | Electric power facility intelligent inspection system and method | |
| CN104320453A (en) | Patrol method of intelligent patrol system on basis of Android mobile phone | |
| CN102456239A (en) | Intelligent Beidou inspection system | |
| CN107290623A (en) | A kind of transmission line malfunction reason recognition methods based on Auto-matching | |
| CN111157919A (en) | Lightning arrester on-line monitoring system based on cloud and mist cooperation | |
| US12007075B2 (en) | Methods and internet of things (IoT) systems for managing smart gas safety hazard items based on geographic information systems | |
| CN104463050A (en) | Elevator maintenance system and method based on two-dimensional code and global positioning system | |
| CN110687394A (en) | Submarine cable fault automatic rapid positioning navigation device system | |
| CN117353460A (en) | Power line inspection method, device, equipment and medium | |
| CN117236916B (en) | Comprehensive safety inspection method for intelligent power plant | |
| CN113905327A (en) | Power transmission line external damage prevention alarm method and system based on multiple positioning parameters | |
| CN114018219A (en) | Transmission tower vibration monitoring method, device, equipment and storage medium | |
| CN116526681B (en) | Substation operation and maintenance management system and method | |
| CN213069912U (en) | Inspection system for urban drainage tunnel | |
| Zhao et al. | [Retracted] Working Condition Monitoring System of Substation Robot Based on Video Monitoring | |
| CN112198472A (en) | Online remote calibration method and system for partial discharge intelligent sensor | |
| CN210428558U (en) | Intelligent auxiliary system for power optical cable inspection line | |
| CN108090988A (en) | A kind of hand-held inspection terminal and cruising inspection system | |
| CN117612047B (en) | Unmanned aerial vehicle inspection image recognition method for power grid based on AI large model | |
| CN218865866U (en) | Combustible gas detection system | |
| CN115346116A (en) | Method, device, equipment and storage medium for monitoring hydropower station equipment |
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: 20180724 |