CN108858192A - A kind of books are made an inventory robot - Google Patents
A kind of books are made an inventory robot Download PDFInfo
- Publication number
- CN108858192A CN108858192A CN201810736107.0A CN201810736107A CN108858192A CN 108858192 A CN108858192 A CN 108858192A CN 201810736107 A CN201810736107 A CN 201810736107A CN 108858192 A CN108858192 A CN 108858192A
- Authority
- CN
- China
- Prior art keywords
- camera
- mirror
- books
- inventory
- robot
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
Abstract
It makes an inventory robot the invention discloses a kind of books, including fuselage, walking mechanism, camera pedestal and controller, first camera is installed in camera pedestal, side is equipped with the first camera shooting open slot on camera pedestal, first camera acquires external image by the first camera shooting open slot, first camera and controller are electrically connected, the side of first camera shooting open slot is equipped with mirror, and the mirror surface of mirror can be irradiated to the spine image at vertical bookshelf visual angle, the first camera can shoot the spine image mapped in mirror.The robot can obtain the books spine image at vertical bookshelf visual angle, make an inventory to carry out books identification to the books spine image on each layer of bookshelf.
Description
Technical field
It makes an inventory robot the present invention relates to library management technical field more particularly to a kind of books.
Background technique
Currently, most of public places can be arranged image collecting device, pass through Image Acquisition due to information-based development
Device carrys out the various information in collection location.Image collecting device would generally can be expired under normal circumstances using traditional camera
Demand of the sufficient people to Image Acquisition.
But when needing to carry out large-scale library or bulk storage plant books or storage situation information management, need pair
Article on books or shelf on bookshelf carries out multi-angle image continuous collecting, it is clear that since traditional camera is not easy to
Coverage and angle are adjusted, needs to expend higher cost in the setting of camera.In addition, books location mode is mostly
Spine arranges outward deposits in each layer of bookshelf, and close-packed arrays are in a row in the horizontal direction for multiple bookshelves, between every row's bookshelf
There are channels to consult books for reader or pass through for inventory point device, is made an inventory with carrying out books.Books based on multi-cam
Channel traveling of the vehicle between bookshelf of making an inventory carries out books and makes an inventory when shooting, multiple cameras be mounted on robot front or
The back side, in the process of moving, camera can not take the books books image on vertical bookshelf angle direction, carry out spine
When content recognition, since the problem of image taking angle, causes picture deformation that can not identify.Therefore, how to allow the robot to clap
The books spine image for taking the photograph vertical bookshelf angle becomes a problem to be solved.
Summary of the invention
For overcome the deficiencies in the prior art, it makes an inventory robot, can obtain the purpose of the present invention is to provide a kind of books
The books spine image at vertical bookshelf visual angle is obtained, so that carrying out books to the books spine image on each layer of bookshelf identifies disk
Point.
The purpose of the present invention adopts the following technical scheme that realization：
A kind of books, which are made an inventory, pacifies in robot, including camera pedestal described in fuselage, walking mechanism, camera pedestal and controller
Equipped with the first camera, side is equipped with the first camera shooting open slot on the camera pedestal, and first camera passes through described the
One camera shooting open slot acquires external image, and first camera and the controller are electrically connected, the first camera shooting opening
The side of slot is equipped with mirror, and the mirror surface of the mirror can be irradiated to the spine image at vertical bookshelf visual angle, and described first
Camera can shoot the spine image mapped in the mirror.
Further, the mirror surface of the mirror and the first camera shooting open slot are arranged in 45 degree of angle.Further,
The mirror includes mirror case, and the first side of the mirror case is equipped with opening, and the mirror is set to the opening.
Further, the second side of the mirror case is equipped with multiple first screw holes, and correspondence is set on the camera pedestal
There is the second screw hole matched with first screw hole, the angle between the first side and the second side is 135 degree.
Further, the quantity of first camera is equipped with multiple, and multiple first cameras are correspondingly provided with institute
Mirror is stated, and multiple first cameras are set gradually along the length direction of the camera pedestal.
Further, the side of the fuselage is equipped with second camera, and the fuselage is equipped with the second camera shooting open slot, institute
It states second camera and external image is acquired by the second camera shooting open slot, the second camera and the controller are electrical
Connection, and second camera correspondence is equipped with the mirror.
Further, the side of the walking mechanism is equipped with third camera, and the walking mechanism is equipped with third camera shooting and opens
Mouth slot, the third camera pass through the third and image open slot acquisition external image, the third camera and the control
Device processed is electrically connected, and third camera correspondence is equipped with the mirror.
Further, the camera pedestal includes camera fixed frame and camera elevator platform, and the camera is solid
Determine to set that there are two first cameras in rack, two first cameras are along the length side of the camera fixed frame
It is arranged to interval；4th camera there are two being set on the camera elevator platform, two the 4th cameras and the control
Device processed is electrically connected, and two the 4th cameras are arranged along the length direction interval of the camera elevator platform, and two
4th camera can camera elevator platform lifting relatively, spacing distance between two first cameras with
Spacing distance between two the 4th cameras is identical.
Further, the equal direction of mirror surface of each first camera and the corresponding mirror of each 4th camera
Same direction.
Further, the camera pedestal is installed on the side of the walking mechanism, and the fuselage is installed on walking mechanism
The other side, the fuselage is equipped with machine head structure, and the controller is installed in the fuselage.
Compared with prior art, the beneficial effects of the present invention are：
By installing mirror additional in the first camera shooting direction, in this way, robot advances when shooting, mirror is first passed through
Son obtains the spine image at vertical bookshelf visual angle, then after the spine image in the first camera shooting mirror, then passes through mirror
The books spine image on corresponding each layer of bookshelf is obtained as handling, is made an inventory with carrying out books identification, is solved robot and exist
The problem of books spine image of vertical angle of view on the bookshelf of the left and right sides can not be shot when advance.
Detailed description of the invention
Fig. 1 is that a kind of books provided in an embodiment of the present invention are made an inventory the schematic diagram of robot；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is a kind of assembling schematic diagram for mirror that inventive embodiments provide.
In figure：1, walking mechanism；2, fuselage；3, machine head structure；4, mirror；5, the first camera shooting open slot；6, mirror
Shell；7, the first screw hole；8, camera fixed frame；9, camera elevator platform；10, the second camera shooting open slot；11, third is taken the photograph
As open slot.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, 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.
As shown in Figure 1, Figure 2 and Figure 3, a kind of books are present embodiments provided to make an inventory robot, including fuselage 2, vehicle with walking machine
Structure 1, camera pedestal and controller (not shown go out), wherein camera pedestal is installed on the side of walking mechanism 1, and fuselage 2 is installed on
The other side of walking mechanism 1, fuselage 2 are equipped with machine head structure 3, and controller is installed in fuselage 2, is equipped in camera pedestal
First camera (not shown go out), side is equipped with the first camera shooting open slot 5 on camera pedestal, and the first camera passes through the first camera shooting
Open slot 5 acquires external image, and the first camera and controller are electrically connected, and the side of the first camera shooting open slot 5 is equipped with one
Face mirror 4, and the mirror surface of mirror 4 can be irradiated to the spine image at vertical bookshelf visual angle, the first camera can shoot mirror
The spine image of middle mapping.The present embodiment master is by installing mirror 4 in the side of the first camera shooting open slot 5, in this way, first leading to
The spine image that mirror 4 obtains vertical bookshelf visual angle is crossed, the spine image being then mapped in the first camera shooting mirror 4,
Then the first camera obtains the books spine image on corresponding each layer of bookshelf by mirror image processing, finally carries out books knowledge
It does not make an inventory, solves that robot can not the books spine image of vertical angle of view be asked on bookshelf at left and right sides of shooting when advancing
Topic.
Preferably, the mirror surface of mirror 4 and the first camera shooting open slot 5 are arranged in 45 degree of angle, and 45 degree of angle setting can
To be irradiated to the spine image at vertical bookshelf visual angle very well, certainly, the peace of the mirror 4 of the present embodiment and the first camera shooting open slot 5
Dress angle is not limited to 45 degree, as long as the mirror surface of mirror 4 can be irradiated to the spine image at vertical bookshelf visual angle.
Further, mirror 4 includes mirror case 6, and the first side of mirror case 6 is equipped with opening, and mirror 4 is set to and opens
Mouthful, setting mirror case 6 installs mirror 4 first is that facilitating, and mirror 4 is fixed on camera pedestal second is that facilitating.Certainly, mirror 4
It can also be directly anchored on camera pedestal, for example, being equipped with card slot on camera pedestal, mirror 4 is buckled in above.
Preferably, the second side of mirror case 6 is equipped with multiple first screw holes 7, is correspondingly provided on camera pedestal and first
The second screw hole that screw hole 7 matches (not shown go out), the angle between first side and the second side is 135 degree, in this way
Mirror case 6 is secured by threads on camera pedestal.In addition, mirror case 6 is fixed on the second side and peace of camera pedestal
The angle filled between the first side of mirror 4 is 135 degree, and the mirror surface and the first camera shooting open slot 5 for just making mirror 4 in this way are in 45
Degree, so that mirror 4 can shine the books spine image on vertical bookshelf visual angle.
Further, the quantity of the first camera is equipped with multiple, and multiple first cameras are correspondingly provided with mirror 4 and multiple
First camera is set gradually along the length direction of camera pedestal.Preferably, the first camera be equipped with 4, due to generally than
In relatively large library, bookshelf has six layers, so when designing, in addition to the first camera on camera pedestal,
The side of fuselage 2 is provided with 1 second camera, fuselage 2 is equipped with the second camera shooting open slot 10, and second camera passes through the
Two camera shooting open slots 10 acquire external image, and second camera and controller are electrically connected；1 is equipped in the side of walking mechanism 1
A third camera (not shown go out), walking mechanism 1 is equipped with third and images open slot 11, and third camera is imaged by third and opened
Mouth slot 11 acquires external image, and third camera and controller are electrically connected, third camera and controller electric connection, and second
Camera and third camera are corresponding to be equipped with above-mentioned mirror 4, and straight line where second camera and third camera with
Straight line is overlapped where multiple first cameras.It goes preferably synchronize when data acquisition in this way, but
It can not be and be in a straight line.
Further, this embodiment further shows a kind of specific embodiment of camera pedestal, camera pedestal includes camera shooting
Head fixed frame 8 and camera elevator platform 9, sets that there are two the first camera, two first camera shootings on camera fixed frame 8
Head is arranged along the length direction interval of camera fixed frame 8；It is set on camera elevator platform 9 there are two the 4th camera, the
Four cameras and controller are electrically connected, and two the 4th cameras are arranged along the length direction interval of camera elevator platform 9, and
Two the 4th cameras can be gone up and down with respect to camera elevator platform 9, the spacing distance between two the first cameras and two
Spacing distance between four cameras is identical.It is appreciated that camera fixed frame 8 refers to being mounted on its interior first camera
Height be not adjustable, the height of interior 4th camera for being mounted in it of camera elevator platform 9 is adjustable, for example,
4th camera is fixed in the holding tank in camera elevator platform 9 by a fixed frame, wherein fixed frame can be L shape
Fixed bracket, for the fixed bracket of specific L shape there are two plane, 2 planes are provided with screw hole location, the built-in peace of the fixation bracket
In camera rod, wherein one side is used to install by screw and nut on one side for installing camera by screw hole location
On the racetrack screw hole site of 9 back of camera elevator platform setting, holding tank is racetrack screw hole, is arranged to runway
Type screw hole installs the height of the 4th lens supporting structure convenient for up and down adjustment, so that the 4th camera is in vertical distance
It can be adaptively adjusted to adjust to optimum photographing position.In this way, by adjusting the camera on camera elevator platform 9
Height, allow the camera on camera elevator platform 9 to take the spine image of corresponding bookshelf layer.In addition, two
Spacing distance between first camera is identical as the spacing distance between two the 4th cameras, in this way, can convenient for camera
With sync pulse jamming to the spine image of corresponding bookshelf layer, to improve efficiency.
The mirror surface of each first camera and the corresponding mirror 4 of tetra- camera of Ge is towards same direction, mirror 4 here
Mirror surface refer to mirror surface towards the spine image on bookshelf, when removing to carry out data acquisition in this way towards same direction
It can preferably synchronize.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
- The robot 1. a kind of books are made an inventory, including fuselage, walking mechanism, camera pedestal and controller, the interior peace of the camera pedestal Equipped with the first camera, side is equipped with the first camera shooting open slot on the camera pedestal, and first camera passes through described the One camera shooting open slot acquires external image, and first camera and the controller are electrically connected, which is characterized in that described the The side of one camera shooting open slot is equipped with mirror, and the mirror surface of the mirror can be irradiated to the spine figure at vertical bookshelf visual angle Picture, first camera can shoot the spine image mapped in the mirror.
- The robot 2. books as described in claim 1 are made an inventory, which is characterized in that the mirror surface of the mirror and first camera shooting Open slot is arranged in 45 degree of angle.
- The robot 3. books as claimed in claim 2 are made an inventory, which is characterized in that the mirror includes mirror case, the mirror The first side of sub- shell is equipped with opening, and the mirror is set to the opening.
- The robot 4. books as claimed in claim 3 are made an inventory, which is characterized in that the second side of the mirror case is equipped with more A first screw hole is correspondingly provided with the second screw hole matched with first screw hole, the first side on the camera pedestal Angle between the second side is 135 degree.
- The robot 5. books as described in claim 1 are made an inventory, which is characterized in that the quantity of first camera is equipped with more A, multiple first cameras are correspondingly provided with the mirror, and multiple first cameras are along the camera pedestal Length direction is set gradually.
- The robot 6. books as described in claim 1 are made an inventory, which is characterized in that the side of the fuselage is equipped with the second camera shooting Head, the fuselage are equipped with the second camera shooting open slot, and the second camera is external by the second camera shooting open slot acquisition Image, the second camera and the controller are electrically connected, and second camera correspondence is equipped with the mirror.
- The robot 7. books as described in claim 1 are made an inventory, which is characterized in that the side of the walking mechanism is taken the photograph equipped with third As head, the walking mechanism is equipped with third and images open slot, and the third camera images open slot by the third and acquires External image, the third camera and the controller are electrically connected, and third camera correspondence is equipped with the mirror Son.
- The robot 8. books as described in claim 1 are made an inventory, which is characterized in that the camera pedestal includes the fixed machine of camera Frame and camera elevator platform, set that there are two first cameras on the camera fixed frame, and two described first are taken the photograph As head is arranged along the length direction interval of the camera fixed frame；It sets on the camera elevator platform and is taken the photograph there are two the 4th As head, two the 4th cameras and the controller are electrically connected, and two the 4th cameras are along the camera liter The length direction interval setting of rack drops, and two the 4th cameras can the relatively described camera elevator platform lifting, two Spacing distance between a first camera is identical as the spacing distance between two the 4th cameras.
- The robot 9. books as claimed in claim 8 are made an inventory, which is characterized in that each first camera and each described 4th The mirror surface of the corresponding mirror of camera is towards same direction.
- The robot 10. books as described in claim 1 are made an inventory, which is characterized in that the camera pedestal is installed on the walking The side of mechanism, the fuselage are installed on the other side of walking mechanism, and the fuselage is equipped with machine head structure, the controller It is installed in the fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810736107.0A CN108858192B (en) | 2018-07-06 | 2018-07-06 | Robot is checked to books |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810736107.0A CN108858192B (en) | 2018-07-06 | 2018-07-06 | Robot is checked to books |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108858192A true CN108858192A (en) | 2018-11-23 |
| CN108858192B CN108858192B (en) | 2022-12-13 |
Family
ID=64299394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810736107.0A Active CN108858192B (en) | 2018-07-06 | 2018-07-06 | Robot is checked to books |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858192B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166057A (en) * | 2020-02-18 | 2020-05-19 | 枣庄学院 | Library transport vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU439785A1 (en) * | 1972-10-16 | 1974-08-15 | Московский государственный университет им. М.В.Ломоносова | Device for the reproduction of blasted materials |
| CN101109617A (en) * | 2007-07-10 | 2008-01-23 | 浙江大学 | Converse measuring method and device based on axial direction stereovision |
| JP2010226686A (en) * | 2009-03-20 | 2010-10-07 | Koichi Yokoyama | Book scanner |
| CN102063617A (en) * | 2010-12-31 | 2011-05-18 | 天津大学 | Automatic inspection robot for shelved books based on image recognition technology |
| CN105512593A (en) * | 2016-01-25 | 2016-04-20 | 南京大学 | Automatic book intelligence inventory robot based on radio frequency identification device (RFID) technology |
| CN105526872A (en) * | 2016-01-11 | 2016-04-27 | 浣石 | Three-dimensional motion measurement system based on digital image measurement |
| CN105283064B (en) * | 2014-07-04 | 2018-03-27 | 韩华泰科株式会社 | Band mounting device |
| CN207557984U (en) * | 2017-10-17 | 2018-06-29 | 湖南高格文化科技有限公司 | Make an inventory robot |
-
2018
- 2018-07-06 CN CN201810736107.0A patent/CN108858192B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU439785A1 (en) * | 1972-10-16 | 1974-08-15 | Московский государственный университет им. М.В.Ломоносова | Device for the reproduction of blasted materials |
| CN101109617A (en) * | 2007-07-10 | 2008-01-23 | 浙江大学 | Converse measuring method and device based on axial direction stereovision |
| JP2010226686A (en) * | 2009-03-20 | 2010-10-07 | Koichi Yokoyama | Book scanner |
| CN102063617A (en) * | 2010-12-31 | 2011-05-18 | 天津大学 | Automatic inspection robot for shelved books based on image recognition technology |
| CN105283064B (en) * | 2014-07-04 | 2018-03-27 | 韩华泰科株式会社 | Band mounting device |
| CN105526872A (en) * | 2016-01-11 | 2016-04-27 | 浣石 | Three-dimensional motion measurement system based on digital image measurement |
| CN105512593A (en) * | 2016-01-25 | 2016-04-20 | 南京大学 | Automatic book intelligence inventory robot based on radio frequency identification device (RFID) technology |
| CN207557984U (en) * | 2017-10-17 | 2018-06-29 | 湖南高格文化科技有限公司 | Make an inventory robot |
Non-Patent Citations (1)
| Title |
|---|
| 《摄影大辞典》编委会编: "《摄影大辞典》", 31 December 2000, 浙江摄影出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166057A (en) * | 2020-02-18 | 2020-05-19 | 枣庄学院 | Library transport vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108858192B (en) | 2022-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106534671A (en) | 360-degree image synchronization acquisition system | |
| CN108858192A (en) | A kind of books are made an inventory robot | |
| CN107801017A (en) | A kind of more mesh 3D video cameras and its 3D rendering modeling method | |
| CN202035071U (en) | Video photographic device for animal experiment shoot | |
| CN108303427B (en) | Household damaged degree detection system based on image procossing | |
| CN207249690U (en) | Fast face identifies comparative apparatus | |
| CN209002068U (en) | Intelligent cloud mirror video camera | |
| CN208874651U (en) | Double holder intelligent cameras | |
| CN110490096A (en) | A kind of remote noninductive face iris all-in-one machine | |
| CN208798092U (en) | A kind of mobile video monitor system information carrying means | |
| CN208905072U (en) | A kind of panorama spherical camera acquisition device | |
| CN207677888U (en) | Binocular video meeting tracking camera | |
| CN203191320U (en) | Image acquisition device for planar array material surface detection | |
| CN109793396A (en) | A kind of multi-function shower table | |
| CN206023941U (en) | A kind of live all-in-one of the full-automatic recorded broadcast based on three cameras | |
| CN207473233U (en) | A kind of measurement microscope carrier for LCD screen ITO quality detection device | |
| CN205067961U (en) | 12 seamless concatenation panoramic camera of way CMOS sensor | |
| CN108965696B (en) | Multi-view reconfigurable face data acquisition system | |
| CN205450556U (en) | Three -dimensional camera device frames at four sides | |
| CN207731295U (en) | Based on recognition of face intelligent analytical instrument | |
| CN207792424U (en) | The multimedia equipment with radiator in elevator | |
| CN217821352U (en) | A many rotor unmanned aerial vehicle for distributed photovoltaic power generation board hot spot is patrolled and examined | |
| CN206271049U (en) | A kind of human face scanning instrument synchronization system device | |
| CN219715253U (en) | Automatic off-line cigarette authenticity identification device | |
| CN213581707U (en) | Camera for machine vision inspection |
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 |