CN109176526A - A kind of three axis Cartesian robot space circular arc interpolation methods - Google Patents
A kind of three axis Cartesian robot space circular arc interpolation methods Download PDFInfo
- Publication number
- CN109176526A CN109176526A CN201811166703.6A CN201811166703A CN109176526A CN 109176526 A CN109176526 A CN 109176526A CN 201811166703 A CN201811166703 A CN 201811166703A CN 109176526 A CN109176526 A CN 109176526A
- Authority
- CN
- China
- Prior art keywords
- interpolation
- circular arc
- point
- axis cartesian
- points
- 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
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of three axis Cartesian robot space circular arc interpolation methods, step: arbitrarily not conllinear 3 points in specified three axis Cartesian robot motion profiles；Are substituted into the analytic expression in the center of circle, radius at 3 points；Calculate the central angle for needing the circular arc of interpolation；The specific normal vector N of plane where calculating at 3 points, and specific auxiliary vector M is constructed according to normal vector N；The parametric equation of interpolated point is showed；Calculate interpolation number I；The parameter value for calculating i-th interpolation, is substituted into parametric equation, obtains the point coordinate of i-th interpolation；Judge interpolation terminating point；Calculated result is sent to the executing agency of three axis Cartesian robots.Present invention reduces calculation amounts, simplify size of code, improve the speed of service and interpolation precision, are suitable for any terminus, and arbitrary plane can be used for having requirements at the higher level robot control field to the speed of service, precision.
Description
Technical field
The invention belongs to technical field of robot control, in particular to a kind of three axis Cartesian robot space circular arcs
Interpolating method.
Background technique
In current robot control field application, for example, the dispensing of three axis Cartesian robots, the tasks such as engraving, track
Planning is the key point of completion task.Circular interpolation is one of trajectory planning main task, usually only to several on motion path
A key point goes out intermediate point according to interpolation the characteristics of track, to realize the high-precision motion control of colleges and universities.These systems need
Accomplish to handle in real time, needs a kind of method that algorithm is simple, calculation amount is low, arithmetic speed is fast, interpolation coordinate precision is high.
The prior art need to judge interpolation direction, and judgment method is complicated and multistep is needed to judge, the present invention passes through specific method
Vector constructs specific auxiliary vector, avoids this process of the judgement in interpolation direction, eliminates unnecessary calculating.
Existing judgement benefit circular arc, which corresponds to central angle and the technology of two vector angle relationships, to be had: calculating separately starting point to process
The angle then summation of point, passing point to middle stop, needs three steps to calculate, and be not suitable for passing point and starting point or terminating point
The case where angle is more than π；Judged by mixed product, is calculated complicated；Or by Kinematics analysis parametric equation, need to calculate anti-three
Angle function.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the present invention is intended to provide a kind of three axis rectangular co-ordinate machines
People's space circular arc interpolation method simplifies algorithm, reduces calculation amount, improves arithmetic speed and precision.
In order to achieve the above technical purposes, the technical solution of the present invention is as follows:
A kind of three axis Cartesian robot space circular arc interpolation methods, comprising the following steps:
(1) it is specified any not conllinear three in three axis Cartesian robot motion profiles by teaching machine or host computer
Point: starting point P1, intermediate passing point P2With terminating point P3；
(2) by P1、P2、P33 points substitute into center of circle O, radius R analytic expression, this analytic expression by 3 points it is coplanar and 3 points to justify
The heart is equidistant the two constraint solvings and obtains；
(3) the central angle W for needing the circular arc of interpolation is calculated；
(4) P is calculated1、P2、P3The specific normal vector N of plane where 3 points, and specific auxiliary is constructed according to normal vector N
Vector M；
(5) parametric equation of interpolated point is showed；
(6) interpolation number I is calculated；
(7) parameter value for calculating i-th interpolation, is substituted into the parametric equation of step (5), obtains i-th interpolation
Point coordinate, i value since 0；
(8) judge interpolation terminating point, if i < I, return step (7) is otherwise transferred to step (9)；
(9) calculated result is sent to the executing agency of three axis Cartesian robots.
Further, in step (2), if P1Coordinate be (x1,y1,z1), P2Coordinate be (x2,y2,z2), P3Seat
It is designated as (x3,y3,z3), the coordinate of center of circle O is (ox,oy,oz), then center of circle O, the analytic expression of radius R are as follows:
Wherein:
A1=y1*z2-y1*z3-z1*y2+z1*z2+y2*z3-z2*z2
B1=-x1*z2+x1*z3+z1*x2-z1*z1-x2*z3+z1*z2
C1=x1*y2-x1*z2-y1*x2+y1*z1+x2*z2-z1*y2
D1=-x1*y2*z3+x1*z2*z2+x2*y1*z3-z1*y1*z2-x2*z2*z1+z1*y2*z1；
A2=2* (x2-x1)
B2=2* (y2-y1)
C2=2* (z2-z1)
D2=x1 2+y1 2+z1 2-x2 2-y2 2-z2 2；
A3=2* (z1-x1)
B3=2* (z2-y1)
C3=2* (z3-z1)
D3=x1 2+y1 2+z1 2-z1 2-z2 2-z3 2。
Further, in step (3), whenWhen, need the circular arc of interpolation for semicircle, W=180 °；
WhenWhen, needing the circular arc of interpolation is minor arc,When
When, needing the camber line of interpolation is major arc,
Further, in step (4), normal vectorAuxiliary vector
Further, in step (5), the parametric equation of interpolated point is as follows:
In above formula, (ox,oy,oz) be center of circle O coordinate,θ is parameter
Equation independent variable, indicate the line in this interpolated point and the center of circle withAngle.
Further, in step (7), the parameter value of i-th interpolationIt is substituted into parametric equation, is obtained
To the point coordinate (x of i-th interpolationi,yi,zi):
Further, in step (6), interpolation numberWherein V is interpolation rate, i.e., each period passes through
The length of space circular arc.
By adopting the above technical scheme bring the utility model has the advantages that
(1) needing the amount asked such as center of circle O, radius R in the present invention has analytic expression, solves simply, quickly, simplifies calculation
Method；
(2) present invention is constructed specific auxiliary vector, is avoided the judgement in interpolation direction, subtracted by specific normal vector
Step is lacked；
(3) present invention can acquire the central angle of interpolation circular arc by the judgement of superiority and inferiority arc, sentence without complicated mixed product
It is disconnected, improve arithmetic speed；
(4) present invention indicates interpolated point with parametric equation, and each period solves absolute position, avoids accumulated error；
(5) interpolated point of the invention is only indicated by one group of parametric equation, reduces size of code.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is interpolation example schematic of the invention；
Fig. 3 is of the invention four kinds along interpolation situation schematic diagram counterclockwise.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
The three axis Cartesian robot space circular arc interpolation method of one kind that the present invention designs, as shown in Figure 1, detailed process
It is as follows.
S01 specifies arbitrarily not conllinear: starting point P at 3 points by teaching machine or other host computers1(1,2,4), pass through
Point P2(2,1,3), terminating point P3(6,6,6).
S02, by 3 points of substitution center of circle O (ox,oy,oz), the analytic expression of radius R, this analytic expression is coplanar by 3 points, 3 points to
The two equal constraint solvings of circle center distance obtain；
A1=y1*z2-y1*z3-z1*y2+z1*z2+y2*z3-z2*z2=2；
B1=-x1*z2+x1*z3+z1*x2-z1*z1-x2*z3+z1*z2=-7；
C1=x1*y2-x1*z2-y1*x2+y1*z1+x2*z2-z1*y2=9；
D1=-x1*y2*z3+x1*z2*z2+x2*y1*z3-z1*y1*z2-x2*z2*z1+z1*y2*z1=-24；
A2=2* (x2-x1)=2；B2=2* (y2-y1)=- 2；C2=2* (z2-z1)；-2
D2=x1 2+y1 2+z1 2-x2 2-y2 2-z2 2=7；
A3=2* (z1-x1)=10；B3=2* (z2-y1)=8；C3=2* (z3-z1)=4；
D3=x1 2+y1 2+z1 2-z1 2-z2 2-z3 2=-87；
S03 calculates central angle W corresponding to arc length；
Because vector angle range is [0, π], center of circle angular region is [0,2 π], it is therefore desirable to the circular arc of interpolation needed for judging
For major arc or minor arc, method is as follows；
Judge vectorAngle,
When, the camber line of required interpolation is major arc,
S04 calculates specific normal vector N, constructs specific auxiliary vector M；
Normal vector calculation formula are as follows:
Auxiliary vector calculation formula are as follows:
Construction can guarantee auxiliary vector on interpolation direction in this way, so as to avoid the interpolation walking direction of conventional method,
Simplify calculation amount.
S05 shows the parametric equation of interpolated point；
Parametric equation indicates to need unitization vector
Wherein θ is parametric equation independent variable, physical significance be present interpolation point and the center of circle line withAngle, θ
=[0, W].
S06 calculates interpolation number I by interpolation rate V；
V refers to the length by space circular arc in each period, can enable interpolation week number
S07 substitutes into the coordinate that S05 calculates interpolated point according to interpolation parameters value；
Above formula (xi,yi,zi) be i-th interpolation point coordinate, as shown in table 1:
Table 1
| i | x | y | z |
| 0 | 1 | 2 | 4 |
| 1 | 1.107972297 | 1.816744143 | 3.833473823 |
| 2 | 1.234129431 | 1.642593264 | 3.669988221 |
| 3 | 1.377740384 | 1.478556477 | 3.510490508 |
| … | … | … | … |
| 50 | 6 | 6 | 6 |
S08, the judgement of interpolation terminating point；
Judge i≤50, "Yes" then returns to S07, and "No" then terminates interpolation.
Calculated result is transmitted to the executing agency of three axis Cartesian robots by S09.
As shown in Fig. 2, being interpolated point in figure, indicates circular interpolation starting point P1, ※ expression circular interpolation passing point
P2, ☆ expression circular interpolation terminating point P3, zero indicates the center of circle O of circular interpolation.It generates from starting point, passing point arrives terminating point
It is expected to comply fully with interpolation for curve.
Fig. 3 shows 4 kinds of possible types that interpolation encounters, wherein (a) is major arc P counterclockwise1(1,2,4),P2(2,1,
3),P3(6,6,6) situation (b) is minor arc P counterclockwise1(1,2,4),P2(2,1,3),P3(4,2,2) situation is (c) clockwise
Major arc P1(6,6,6),P2(2,1,3),P3(1,2,4) situation (d) is minor arc P clockwise1(4,2,2), P2(2,1,3),P3(1,
2,4) situation.It is found that the present invention, only with one group of analytic expression, completes the interpolation of all situations, eliminates without judging interpolation direction
Deterministic process.
Embodiment is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, it is all according to
Technical idea proposed by the present invention, any changes made on the basis of the technical scheme are fallen within the scope of the present invention.
Claims (7)
1. a kind of three axis Cartesian robot space circular arc interpolation methods, which comprises the following steps:
(1) arbitrarily not conllinear in three axis Cartesian robot motion profiles 3 points are specified by teaching machine or host computer: risen
Initial point P1, intermediate passing point P2With terminating point P3；
(2) by P1、P2、P33 points of analytic expressions for substituting into center of circle O, radius R, this analytic expression are coplanar and 3 points to distance of center circle by 3 points
It is obtained from the two equal constraint solvings；
(3) the central angle W for needing the circular arc of interpolation is calculated；
(4) P is calculated1、P2、P3The specific normal vector N of plane where 3 points, and specific auxiliary vector is constructed according to normal vector N
M；
(5) parametric equation of interpolated point is showed；
(6) interpolation number I is calculated；
(7) parameter value for calculating i-th interpolation, is substituted into the parametric equation of step (5), and the point for obtaining i-th interpolation is sat
Mark, i value since 0；
(8) judge interpolation terminating point, if i < I, return step (7) is otherwise transferred to step (9)；
(9) calculated result is sent to the executing agency of three axis Cartesian robots.
2. three axis Cartesian robot space circular arc interpolation method according to claim 1, which is characterized in that in step
(2) in, if P1Coordinate be (x1,y1,z1), P2Coordinate be (x2,y2,z2), P3Coordinate be (x3,y3,z3), the seat of center of circle O
It is designated as (ox,oy,oz), then center of circle O, the analytic expression of radius R are as follows:
Wherein:
A1=y1*z2-y1*z3-z1*y2+z1*z2+y2*z3-z2*z2
B1=-x1*z2+x1*z3+z1*x2-z1*z1-x2*z3+z1*z2
C1=x1*y2-x1*z2-y1*x2+y1*z1+x2*z2-z1*y2
D1=-x1*y2*z3+x1*z2*z2+x2*y1*z3-z1*y1*z2-x2*z2*z1+z1*y2*z1；
A2=2* (x2-x1)
B2=2* (y2-y1)
C2=2* (z2-z1)
D2=x1 2+y1 2+z1 2-x2 2-y2 2-z2 2；
A3=2* (z1-x1)
B3=2* (z2-y1)
C3=2* (z3-z1)
D3=x1 2+y1 2+z1 2-z1 2-z2 2-z3 2。
3. three axis Cartesian robot space circular arc interpolation method according to claim 1, which is characterized in that in step
(3) in, whenWhen, need the circular arc of interpolation for semicircle, W=180 °；WhenWhen,
The circular arc for needing interpolation is minor arc,WhenWhen, it is excellent for needing the camber line of interpolation
Arc,
4. three axis Cartesian robot space circular arc interpolation method according to claim 1, which is characterized in that in step
(4) in, normal vectorAuxiliary vector
5. three axis Cartesian robot space circular arc interpolation method according to claim 1, which is characterized in that in step
(5) in, the parametric equation of interpolated point is as follows:
In above formula, (ox,oy,oz) be center of circle O coordinate,θ is parametric equation
Independent variable, indicate the line in this interpolated point and the center of circle withAngle.
6. three axis Cartesian robot space circular arc interpolation method according to claim 5, which is characterized in that in step
(7) in, the parameter value of i-th interpolationIt is substituted into parametric equation, obtains the point coordinate (x of i-th interpolationi,
yi,zi):
7. three axis Cartesian robot space circular arc interpolation method according to claim 1, which is characterized in that in step
(6) in, interpolation numberWherein V is interpolation rate, i.e., each period passes through the length of space circular arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811166703.6A CN109176526A (en) | 2018-10-08 | 2018-10-08 | A kind of three axis Cartesian robot space circular arc interpolation methods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811166703.6A CN109176526A (en) | 2018-10-08 | 2018-10-08 | A kind of three axis Cartesian robot space circular arc interpolation methods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109176526A true CN109176526A (en) | 2019-01-11 |
Family
ID=64947230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811166703.6A Pending CN109176526A (en) | 2018-10-08 | 2018-10-08 | A kind of three axis Cartesian robot space circular arc interpolation methods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109176526A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551485A (en) * | 2019-01-21 | 2019-04-02 | 北京镁伽机器人科技有限公司 | Motion control method, device and system and storage medium |
| CN110428436A (en) * | 2019-07-30 | 2019-11-08 | 中国重型机械研究院股份公司 | A kind of determination method of coil of strip labeling coding six-joint robot type selecting and installation site |
| CN110879571A (en) * | 2019-12-16 | 2020-03-13 | 华南理工大学广州学院 | Method for obtaining circular arc walking line segment of writing robot based on circular arc interpolation |
| CN113032720A (en) * | 2021-02-03 | 2021-06-25 | 南昌航空大学 | Novel ABAQUS-based method for calculating numerical control bending forming defects |
| CN113146637A (en) * | 2021-04-29 | 2021-07-23 | 张耀伦 | Robot Cartesian space motion planning method |
| CN113578667A (en) * | 2021-01-14 | 2021-11-02 | 珠海市运泰利自动化设备有限公司 | Automatic dispensing control system |
| CN114248052A (en) * | 2020-09-21 | 2022-03-29 | 配天机器人技术有限公司 | Welding robot swing welding interpolation method, equipment and computer storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61217803A (en) * | 1985-03-23 | 1986-09-27 | Kawasaki Heavy Ind Ltd | Circular interpolation method for robot |
| CN1540469A (en) * | 2003-10-28 | 2004-10-27 | 华北电力大学 | Method and device of three coordinate circular interpolations in use for digital control machine tool |
| CN104155916A (en) * | 2014-07-16 | 2014-11-19 | 北京航空航天大学 | High-precision quick space arc interpolating method |
| CN106950920A (en) * | 2017-04-18 | 2017-07-14 | 大连奥托股份有限公司 | Space circular arc interpolation method based on numerical control kind equipment |
| CN106950924A (en) * | 2017-04-19 | 2017-07-14 | 广州视源电子科技股份有限公司 | Robot circular motion control method and system |
-
2018
- 2018-10-08 CN CN201811166703.6A patent/CN109176526A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61217803A (en) * | 1985-03-23 | 1986-09-27 | Kawasaki Heavy Ind Ltd | Circular interpolation method for robot |
| CN1540469A (en) * | 2003-10-28 | 2004-10-27 | 华北电力大学 | Method and device of three coordinate circular interpolations in use for digital control machine tool |
| CN104155916A (en) * | 2014-07-16 | 2014-11-19 | 北京航空航天大学 | High-precision quick space arc interpolating method |
| CN106950920A (en) * | 2017-04-18 | 2017-07-14 | 大连奥托股份有限公司 | Space circular arc interpolation method based on numerical control kind equipment |
| CN106950924A (en) * | 2017-04-19 | 2017-07-14 | 广州视源电子科技股份有限公司 | Robot circular motion control method and system |
Non-Patent Citations (2)
| Title |
|---|
| 曾辉 等: "机器人空间三点圆弧算法的研究与实现", 《中国新技术新产品》 * |
| 牛方方: "基于圆弧插补的工业码垛机器人轨迹规划", 《机械制造与自动化》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551485A (en) * | 2019-01-21 | 2019-04-02 | 北京镁伽机器人科技有限公司 | Motion control method, device and system and storage medium |
| CN109551485B (en) * | 2019-01-21 | 2020-10-16 | 北京镁伽机器人科技有限公司 | Motion control method, device and system and storage medium |
| US11975452B2 (en) | 2019-01-21 | 2024-05-07 | Megarobo Technologies Co., Ltd. | Motion control method, device and system, and storage medium |
| CN110428436A (en) * | 2019-07-30 | 2019-11-08 | 中国重型机械研究院股份公司 | A kind of determination method of coil of strip labeling coding six-joint robot type selecting and installation site |
| CN110428436B (en) * | 2019-07-30 | 2023-04-07 | 中国重型机械研究院股份公司 | Method for determining model selection and installation position of steel coil labeling and code spraying six-axis robot |
| CN110879571A (en) * | 2019-12-16 | 2020-03-13 | 华南理工大学广州学院 | Method for obtaining circular arc walking line segment of writing robot based on circular arc interpolation |
| CN114248052A (en) * | 2020-09-21 | 2022-03-29 | 配天机器人技术有限公司 | Welding robot swing welding interpolation method, equipment and computer storage medium |
| CN114248052B (en) * | 2020-09-21 | 2024-05-03 | 配天机器人技术有限公司 | Welding robot pendulum welding interpolation method, equipment and computer storage medium |
| CN113578667A (en) * | 2021-01-14 | 2021-11-02 | 珠海市运泰利自动化设备有限公司 | Automatic dispensing control system |
| CN113032720A (en) * | 2021-02-03 | 2021-06-25 | 南昌航空大学 | Novel ABAQUS-based method for calculating numerical control bending forming defects |
| CN113146637A (en) * | 2021-04-29 | 2021-07-23 | 张耀伦 | Robot Cartesian space motion planning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109176526A (en) | A kind of three axis Cartesian robot space circular arc interpolation methods | |
| CN103645725B (en) | A kind of robot teaching method for planning track and system | |
| CN105382835B (en) | A kind of robot path planning method for passing through wrist singular point | |
| US10682758B2 (en) | Numerical method for obtaining the inverse kinematics of six-degree-of-freedom serial robot with an offset wrist | |
| WO2018086226A1 (en) | Control method and apparatus for robotic arm | |
| CN105159294A (en) | Design method of fuzzy logic motion controller of forklift | |
| CN102510793A (en) | Method and system for generating trajectory of robot with continuous acceleration | |
| CN108748136A (en) | Robot stacking program creating method, storage medium and teaching machine | |
| CN108205318A (en) | Method for planning track of robot and device | |
| CN111002315B (en) | Trajectory planning method and device and robot | |
| CN105353725A (en) | Auxiliary-point-crossing-attitude space circular interpolation method for industrial robot | |
| CN101231749A (en) | Method for calibrating industry robot | |
| CN103984230B (en) | A kind of space manipulator pedestal zero disturbs optimal control method | |
| Hashemian et al. | Kinematically smoothing trajectories by NURBS reparameterization–an innovative approach | |
| CN107378952A (en) | A kind of solution method that redundancy mechanical arm end effector posture is kept | |
| CN114571452A (en) | Industrial robot trajectory planning method, electronic device and readable storage medium | |
| CN109471361A (en) | A kind of multiple target tracking control method of heterogeneous multi-robot system | |
| CN106707967A (en) | Method and device for estimating three-dimensional contour error based on proximate standard expansion | |
| CN112405527A (en) | Method for processing arc track on surface of workpiece and related device | |
| CN111551178A (en) | Shortest path-based segmented track time planning method | |
| CN109311155B (en) | Method and device for calibrating tool coordinate system origin of industrial robot | |
| Chen et al. | Trajectory optimization of spray painting robot for complex curved surface based on exponential mean Bézier method | |
| Cong et al. | Path planning and following of omnidirectional mobile robot based on B-spline | |
| Omirou | A locus tracing algorithm for cutter offsetting in CNC machining | |
| CN108972550B (en) | Inverse kinematics solving method of concentric tube robot |
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 | ||
| CB02 | Change of applicant information |
Address after: The Olympic Avenue in Jianye District of Nanjing city of Jiangsu Province, No. 69 210019 Applicant after: Nanjing University of Information Science and Technology Address before: 211500 Yuting Square, 59 Wangqiao Road, Liuhe District, Nanjing City, Jiangsu Province Applicant before: Nanjing University of Information Science and Technology |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 210032 No. 219 Ning six road, Jiangbei new district, Nanjing, Jiangsu Applicant after: Nanjing University of Information Science and Technology Address before: The Olympic Avenue in Jianye District of Nanjing city of Jiangsu Province, No. 69 210019 Applicant before: Nanjing University of Information Science and Technology |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190111 |
|
| RJ01 | Rejection of invention patent application after publication |