CN109218704A - Model building device and method based on more 3D video cameras - Google Patents
Model building device and method based on more 3D video cameras Download PDFInfo
- Publication number
- CN109218704A CN109218704A CN201811008771.XA CN201811008771A CN109218704A CN 109218704 A CN109218704 A CN 109218704A CN 201811008771 A CN201811008771 A CN 201811008771A CN 109218704 A CN109218704 A CN 109218704A
- Authority
- CN
- China
- Prior art keywords
- video camera
- target
- module
- image
- splice point
- 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
Abstract
The invention discloses a kind of model building devices and method based on more 3D video cameras, the model building device includes at least two 3D video camera and a processing end, the processing end includes an acquisition module and a splicing module, and at least two 3D video camera is used to obtain the 3D image of a photographic subjects respectively；The module that obtains is used to obtain the splice point on 3D image according to every 3D video camera and the location information of photographic subjects；The splicing module is used in such a way that splice point is overlapped splice the 3D image of the photographic subjects of synchronization to obtain a 3D model.Of the invention model building device and method based on more 3D video cameras can quickly generate 3D model, and the fast occupying system resources of calculating speed are few, and the image of generation is more clear.
Description
Technical field
The present invention relates to a kind of model building devices and method based on more 3D video cameras.
Background technique
3D video camera, what is utilized is the video camera of 3D camera lens manufacture, usually there are two tools more than pick-up lens, spacing and people
Eye spacing is close, can shoot the similar seen different images for being directed to Same Scene of human eye.Holographic 3D has 5 camera lens of disk
More than, by dot grating image Huo Ling shape raster holographic imaging can the comprehensive same image of viewing, can such as come to its border personally.
The 3D revolution so far of First 3D video camera is unfolded all around Hollywood weight pound sheet and important competitive sports.With
The appearance of 3D video camera, this technology distance domestic consumer close step again.After the release of this video camera, we are from now on
Each unforgettable moment of life, such as the first step that child steps, celebration of graduating from university etc. can be captured with 3D camera lens.
Usually there are two the above camera lenses for 3D video camera.The function of 3D video camera itself, can be by two just as human brain
Lens image is fused together, and becomes a 3D rendering.These images can play on 3D TV, and spectators wear so-called master
Dynamic formula shutter glasses may be viewed by, and can also pass through naked eye 3D display equipment direct viewing.3D shutter glasses can be with per second 60
Secondary speed enables the eyeglass fast crosstalk of left and right glasses switch.This means that each eye is it is seen that Same Scene is slightly shown not
Same picture, so brain can be thus to be the single photo presented in appreciation with 3D for it.
Existing 3D video camera modeling speed is slow, and occupying system resources are higher.
Summary of the invention
The technical problem to be solved by the present invention is in order to overcome the 3D modeling speed of model building device in the prior art slow, and account for
With the higher defect of system resource, 3D model can be quickly generated by providing one kind, and the fast occupying system resources of calculating speed are few,
The model building device and method based on more 3D video cameras that the image of generation is more clear.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of model building device based on more 3D video cameras, it is characterized in that, the model building device includes at least two 3D camera shooting
Machine and a processing end, the processing end obtain module and a splicing module including one,
At least two 3D video camera is used to obtain the 3D image of a photographic subjects respectively；
The module that obtains is used to obtain the spelling on 3D image according to every 3D video camera and the location information of photographic subjects
Contact；
The splicing module be used for by the 3D image of the photographic subjects of synchronization by splice point be overlapped in a manner of splice with
Obtain a 3D model.
Preferably, the processing end further includes a selection module and a computing module,
The selection module is for choosing a splice point in the 3D image of a target 3D video camera；
The linear distance that module is obtained for the camera lens according to the splice point to target 3D video camera, target angle
And target 3D video camera and the positional relationship of 3D video camera to be measured obtain splice point described in the 3D image of 3D video camera to be measured
Position, wherein the target angle, which includes splice point, to be taken the photograph to the line of the camera lens of target 3D video camera with the excessively described target 3D
The angle of the vertical line of camera, the target angle further include splice point to the line and the excessively described mesh of the camera lens of target 3D video camera
The angle of plane where marking the vertical line of 3D video camera, 3D video camera to be measured.
Preferably, the processing end further includes an input module,
The input module is used to input height, the level of any two 3D video camera of at least two 3D video camera
Identity distance from and every 3D video camera shooting direction；
The acquisition module is used to obtain target 3D video camera and 3D to be measured by the height and the horizontal plane
The positional relationship of video camera.
Preferably, the transversal 3D image in cross section chosen module and be used to be parallel to each other by least three, and
Choose the splice point in one end of the intersecting lens of the 3D image of each cross section and target 3D video camera.
Preferably, the quantity of the 3D video camera is greater than 2, the processing end further includes a detection module,
For 2 splice points at the both ends of each intersecting lens, the detection module is used for according to the positional relationship, described
Linear distance and target angle are obtained to be taken the photograph for 3D video camera to be measured with target 3D with the closer splice point of 3D video camera to be measured
Splice point used when the 3D image joint of camera.
Preferably, the processing end further includes a database, a searching module and an adjustment module, the database packet
Several digitized images are included,
For every 3D image, the searching module is closest with the 3D image shape for obtaining in the database
Target digitization image；
The adjustment module is used to adjust the form parameter of its immediate target digitization image according to 3D image；
The acquisition module is used to choose target digitization shadow according to every 3D video camera and the location information of photographic subjects
As upper splice point；
The splicing module is used in such a way that splice point is overlapped splice the target digitization image of synchronization to obtain
Take the 3D model.
The present invention also provides a kind of modeling methods based on more 3D video cameras, it is characterized in that, the modeling method passes through
One model building device realizes that the model building device includes at least two 3D video camera and a processing end, and the processing end is obtained including one
Modulus block and a splicing module, the modeling method include:
At least two 3D video camera obtains the 3D image of a photographic subjects；
The module that obtains is according to the splice point on every 3D video camera and the location information of photographic subjects acquisition 3D image；
The splicing module splices the 3D image of the photographic subjects of synchronization in such a way that splice point is overlapped to obtain
One 3D model.
Preferably, the processing end further includes a selection module and a computing module, the modeling method includes:
The selection module chooses a splice point in the 3D image of a target 3D video camera；
The linear distance for obtaining camera lens of the module according to the splice point to target 3D video camera, target angle and
The positional relationship of target 3D video camera and 3D video camera to be measured obtains the position of splice point described in the 3D image of 3D video camera to be measured
It sets, wherein the target angle includes splice point to the line and the excessively described target 3D video camera of the camera lens of target 3D video camera
Vertical line angle, the target angle further includes splice point to the line and the excessively described target 3D of the camera lens of target 3D video camera
The angle of the vertical line place plane of video camera, 3D video camera to be measured.
Preferably, the processing end further includes an input module, the modeling method includes:
The input module input at least two 3D video camera height and any two 3D video camera horizontal plane away from
From；
The acquisition module obtains target 3D video camera by the height and the horizontal plane and 3D to be measured is imaged
The positional relationship of machine.
Preferably, the quantity of the 3D video camera is greater than 2, the processing end further includes a detection module, the modeling
Method includes:
The transversal 3D image in cross section chosen module and be used to be parallel to each other by least three, and in each institute
Choose the splice point in the one end for stating the intersecting lens of the 3D image of cross section and target 3D video camera；
For 2 splice points at the both ends of each intersecting lens, the detection module is according to the positional relationship, the straight line
It is 3D video camera to be measured and target 3D video camera that distance and target angle, which are obtained with the closer splice point of 3D video camera to be measured,
3D image joint when splice point used.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
Of the invention model building device and method based on more 3D video cameras can quickly generate 3D model, and calculating speed
Fast occupying system resources are few, and the image of generation is more clear.
Detailed description of the invention
Fig. 1 is the flow chart of the modeling method of the embodiment of the present invention 1.
Fig. 2 is the structural schematic diagram of the model building device of the embodiment of the present invention 1.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
Referring to fig. 2, the present embodiment provides a kind of model building device, the model building device include at least two 3D video camera 11 with
And a processing end, the processing end include one obtaining that module, a splicing module, one to choose module, a computing module and one defeated
Enter module.
The processing end can be computer terminal, mobile phone terminal or cloud server.
At least two 3D video camera is used to obtain the 3D image of a photographic subjects respectively；
The module that obtains is used to obtain the spelling on 3D image according to every 3D video camera and the location information of photographic subjects
Contact；
The splicing module be used for by the 3D image of the photographic subjects of synchronization by splice point be overlapped in a manner of splice with
Obtain a 3D model.
Specifically, the selection module is for choosing a splice point in the 3D image of a target 3D video camera.
The linear distance that module is obtained for the camera lens according to the splice point to target 3D video camera, target angle
And target 3D video camera and the positional relationship of 3D video camera to be measured obtain splice point described in the 3D image of 3D video camera to be measured
Position, wherein the target angle, which includes splice point, to be taken the photograph to the line of the camera lens of target 3D video camera with the excessively described target 3D
The angle of the vertical line of camera, the target angle further include splice point to the line and the excessively described mesh of the camera lens of target 3D video camera
The angle of plane where marking the vertical line of 3D video camera, 3D video camera to be measured.
The input module is used to input height, the level of any two 3D video camera of at least two 3D video camera
Identity distance from and every 3D video camera shooting angle；
The acquisition module is used to obtain target 3D video camera and 3D to be measured by the height and the horizontal plane
The positional relationship of video camera.
The performance of depth can be obtained using 3D video camera, can obtain target 3D video camera and splice point in space
Coordinate, while the positional relationship between 3D video camera can be obtained when placing 3D video camera, 3D to be measured can be obtained and taken the photograph
Camera spatial position.
Due to being in the same space, closed by the position that the calculating of coordinate system can obtain splice point and 3D video camera to be measured
System, including splice point with 3D video camera to be measured at a distance from, the line of the camera lens of splice point to 3D video camera to be measured and excessively described in
The angle of the vertical line of survey 3D video camera, the line of the camera lens of splice point to 3D video camera to be measured and the excessively described target 3D video camera,
The angle of plane where the vertical line of 3D video camera to be measured.
Referring to Fig. 1, using above-mentioned model building device, the present embodiment also provides a kind of modeling method, comprising:
Step 100, at least two 3D video camera obtain the 3D image of a photographic subjects；
Step 101, the selection module choose a splice point in the 3D image of a target 3D video camera；
Linear distance, the target of the camera lens of step 102, the acquisition module according to the splice point to target 3D video camera
The positional relationship of angle and target 3D video camera and 3D video camera to be measured obtains spelling described in the 3D image of 3D video camera to be measured
The position of contact, wherein the target angle includes splice point to the line of the camera lens of target 3D video camera and the excessively described target
The angle of the vertical line of 3D video camera.
It can be realized by step 101 and step 102:
The module that obtains is according to the splice point on every 3D video camera and the location information of photographic subjects acquisition 3D image；
Positional relationship in a step 102 is realized by following step:
The input module input at least two 3D video camera height and any two 3D video camera horizontal plane away from
From；
The acquisition module obtains target 3D video camera by the height and the horizontal plane and 3D to be measured is imaged
The positional relationship of machine.
Step 103, the splicing module spell the 3D image of the photographic subjects of synchronization in such a way that splice point is overlapped
It connects to obtain a 3D model.
The model building device based on more 3D video cameras and method of the present embodiment can quickly generate 3D model, and calculate speed
Spend that fast occupying system resources are few, the image of generation is more clear.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, the difference is that only:
The quantity of the 3D video camera is greater than 2, and the processing end further includes a detection module.
The transversal 3D image in cross section chosen module and be used to be parallel to each other by least three, and in each institute
Choose the splice point in the one end for stating the intersecting lens of the 3D image of cross section and target 3D video camera.
For 2 splice points at the both ends of each intersecting lens, the detection module is used for according to the positional relationship, described
Linear distance and target angle are obtained to be taken the photograph for 3D video camera to be measured with target 3D with the closer splice point of 3D video camera to be measured
Splice point used when the 3D image joint of camera.
Need at least three splice point in order to enable 3D image to splice, in order to ensure two 3D images splicing when energy
Effective splice point is enough obtained, the image of 3D video camera to be measured can be improved splicing success rate by closer splice point.
Correspondingly, the modeling method of the present embodiment includes:
The transversal 3D image in cross section chosen module and be used to be parallel to each other by least three, and in each institute
Choose the splice point in the one end for stating the intersecting lens of the 3D image of cross section and target 3D video camera；
For 2 splice points at the both ends of each intersecting lens, the detection module is according to the positional relationship, the straight line
It is 3D video camera to be measured and target 3D video camera that distance and target angle, which are obtained with the closer splice point of 3D video camera to be measured,
3D image joint when splice point used.
Embodiment 3
The present embodiment is substantially the same manner as Example 1, the difference is that only:
The processing end further includes a database, a searching module and an adjustment module, and the database includes several
Digitized image,
For every 3D image, the searching module is closest with the 3D image shape for obtaining in the database
Target digitization image；
The adjustment module is used to adjust the form parameter of its immediate target digitization image according to 3D image；
The acquisition module is used to choose target digitization shadow according to every 3D video camera and the location information of photographic subjects
As upper splice point；
The splicing module is used in such a way that splice point is overlapped splice the target digitization image of synchronization to obtain
Take the 3D model.
In the present embodiment, the digitized image is made of vector units, and the digitized image passes through vector units
Construct the intersection point of lines and lines.
Polar plot is according to geometrical property come graphing, and vector can be a point or a line, polar plot and can only lean on
Software Create, it is smaller that file occupies internal space, can be certainly because such image file includes independent separate picture
It is reconfigured by unconfined.Its feature be amplification after image will not be distorted it is unrelated with resolution ratio, be suitable for graphic designs,
Text design and some Mark Designings, Layout Design etc..
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (10)
1. a kind of model building device based on more 3D video cameras, which is characterized in that the model building device includes at least two 3D video camera
And a processing end, the processing end include one obtaining module and a splicing module,
At least two 3D video camera is used to obtain the 3D image of a photographic subjects respectively；
The module that obtains is used to obtain the splice point on 3D image according to every 3D video camera and the location information of photographic subjects；
The splicing module is used in such a way that splice point is overlapped splice the 3D image of the photographic subjects of synchronization to obtain
One 3D model.
2. model building device as described in claim 1, which is characterized in that the processing end further includes a selection module and a meter
Module is calculated,
The selection module is for choosing a splice point in the 3D image of a target 3D video camera；
It is described obtain module for the linear distance of camera lens according to the splice point to target 3D video camera, target angle and
The positional relationship of target 3D video camera and 3D video camera to be measured obtains the position of splice point described in the 3D image of 3D video camera to be measured
It sets, wherein the target angle includes splice point to the line and the excessively described target 3D video camera of the camera lens of target 3D video camera
Vertical line angle, the target angle further includes splice point to the line and the excessively described target 3D of the camera lens of target 3D video camera
The angle of the vertical line place plane of video camera, 3D video camera to be measured.
3. model building device as claimed in claim 2, which is characterized in that the processing end further includes an input module,
The input module be used to input the height of at least two 3D video camera, any two 3D video camera horizontal plane away from
From and every 3D video camera shooting direction；
The acquisition module is used to obtain target 3D video camera by the height and the horizontal plane and 3D to be measured is imaged
The positional relationship of machine.
4. model building device as claimed in claim 2, which is characterized in that the selection module is used for mutually flat by least three
The transversal 3D image in capable cross section, and in each cross section and the one of the intersecting lens of the 3D image of target 3D video camera
Choose the splice point in end.
5. model building device as claimed in claim 4, which is characterized in that the quantity of the 3D video camera is greater than 2, the processing
End further includes a detection module,
For 2 splice points at the both ends of each intersecting lens, the detection module is used for according to the positional relationship, the straight line
It is 3D video camera to be measured and target 3D video camera that distance and target angle, which are obtained with the closer splice point of 3D video camera to be measured,
3D image joint when splice point used.
6. model building device as described in claim 1, which is characterized in that the processing end further includes a database, a lookup mould
Block and an adjustment module, the database includes several digitized images,
For every 3D image, the searching module in the database for obtaining and the immediate mesh of 3D image shape
Mark digitized image；
The adjustment module is used to adjust the form parameter of its immediate target digitization image according to 3D image；
The acquisition module is used to choose target digitization image according to every 3D video camera and the location information of photographic subjects
Splice point；
The splicing module is used in such a way that splice point is overlapped splice the target digitization image of synchronization to obtain
State 3D model.
7. a kind of modeling method based on more 3D video cameras, which is characterized in that the modeling method by a model building device realize,
The model building device includes at least two 3D video camera and a processing end, and the processing end includes that an acquisition module and one spell
Connection module, the modeling method include:
At least two 3D video camera obtains the 3D image of a photographic subjects；
The module that obtains is according to the splice point on every 3D video camera and the location information of photographic subjects acquisition 3D image；
The splicing module splices the 3D image of the photographic subjects of synchronization in such a way that splice point is overlapped to obtain a 3D
Model.
8. modeling method as claimed in claim 7, which is characterized in that the processing end further includes a selection module and a meter
Module is calculated, the modeling method includes:
The selection module chooses a splice point in the 3D image of a target 3D video camera；
Linear distance, target angle and the target of camera lens of the acquisition module according to the splice point to target 3D video camera
The positional relationship of 3D video camera and 3D video camera to be measured obtains the position of splice point described in the 3D image of 3D video camera to be measured,
In, the target angle includes splice point to the vertical line of the line of the camera lens of target 3D video camera and the excessively described target 3D video camera
Angle, the target angle, which further includes splice point, to image to the line of the camera lens of target 3D video camera with the excessively described target 3D
The angle of the vertical line place plane of machine, 3D video camera to be measured.
9. modeling method as claimed in claim 8, which is characterized in that the processing end further includes an input module, described to build
Mould method includes:
The input module inputs the height of at least two 3D video camera and the horizontal plane of any two 3D video camera；
The module that obtains passes through the height and the horizontal plane acquisition target 3D video camera and 3D video camera to be measured
Positional relationship.
10. modeling method as claimed in claim 8, which is characterized in that the quantity of the 3D video camera is greater than 2, the place
Managing end further includes a detection module, and the modeling method includes:
The transversal 3D image in cross section chosen module and be used to be parallel to each other by least three, and in each cross
Choose the splice point in one end of the intersecting lens of the 3D image of section and target 3D video camera；
For 2 splice points at the both ends of each intersecting lens, the detection module is according to the positional relationship, the linear distance
And target angle obtains the 3D with the closer splice point of 3D video camera to be measured for 3D video camera to be measured and target 3D video camera
Splice point used when image joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008771.XA CN109218704A (en) | 2018-08-31 | 2018-08-31 | Model building device and method based on more 3D video cameras |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008771.XA CN109218704A (en) | 2018-08-31 | 2018-08-31 | Model building device and method based on more 3D video cameras |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109218704A true CN109218704A (en) | 2019-01-15 |
Family
ID=64985387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811008771.XA Pending CN109218704A (en) | 2018-08-31 | 2018-08-31 | Model building device and method based on more 3D video cameras |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109218704A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102737406A (en) * | 2011-04-06 | 2012-10-17 | 卡西欧计算机株式会社 | Three-dimensional modeling apparatus and method |
| CN104318604A (en) * | 2014-10-21 | 2015-01-28 | 四川华雁信息产业股份有限公司 | 3D image stitching method and apparatus |
| CN107038753A (en) * | 2017-04-14 | 2017-08-11 | 中国科学院深圳先进技术研究院 | Stereo vision three-dimensional rebuilding system and method |
| CN108111835A (en) * | 2017-12-28 | 2018-06-01 | 盎锐（上海）信息科技有限公司 | Filming apparatus, system and method for 3D video imagings |
| CN108305312A (en) * | 2017-01-23 | 2018-07-20 | 腾讯科技（深圳）有限公司 | The generation method and device of 3D virtual images |
| CN108366247A (en) * | 2018-04-20 | 2018-08-03 | 盎锐（上海）信息科技有限公司 | Filming apparatus for shooting 3D images |
-
2018
- 2018-08-31 CN CN201811008771.XA patent/CN109218704A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102737406A (en) * | 2011-04-06 | 2012-10-17 | 卡西欧计算机株式会社 | Three-dimensional modeling apparatus and method |
| CN104318604A (en) * | 2014-10-21 | 2015-01-28 | 四川华雁信息产业股份有限公司 | 3D image stitching method and apparatus |
| CN108305312A (en) * | 2017-01-23 | 2018-07-20 | 腾讯科技（深圳）有限公司 | The generation method and device of 3D virtual images |
| CN107038753A (en) * | 2017-04-14 | 2017-08-11 | 中国科学院深圳先进技术研究院 | Stereo vision three-dimensional rebuilding system and method |
| CN108111835A (en) * | 2017-12-28 | 2018-06-01 | 盎锐（上海）信息科技有限公司 | Filming apparatus, system and method for 3D video imagings |
| CN108366247A (en) * | 2018-04-20 | 2018-08-03 | 盎锐（上海）信息科技有限公司 | Filming apparatus for shooting 3D images |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7002056B2 (en) | 3D model generator and 3D model generation method | |
| EP2328125B1 (en) | Image splicing method and device | |
| KR102214827B1 (en) | Method and apparatus for providing augmented reality | |
| JP5456020B2 (en) | Information processing apparatus and method | |
| CN105243637B (en) | One kind carrying out full-view image joining method based on three-dimensional laser point cloud | |
| JP7271099B2 (en) | File generator and file-based video generator | |
| JP2020506487A (en) | Apparatus and method for obtaining depth information from a scene | |
| CN109147027B (en) | Monocular image three-dimensional rebuilding method, system and device based on reference planes | |
| WO2019085022A1 (en) | Generation method and device for optical field 3d display unit image | |
| JP4928476B2 (en) | Stereoscopic image generating apparatus, method thereof and program thereof | |
| CN106534670B (en) | It is a kind of based on the panoramic video generation method for connecting firmly fish eye lens video camera group | |
| JP6300346B2 (en) | IP stereoscopic image estimation apparatus and program thereof | |
| CN101600123B (en) | Method for shifting parallel vidicon array for obtaining parallactic image | |
| JP7479729B2 (en) | Three-dimensional representation method and device | |
| CN108769648A (en) | A kind of 3D scene rendering methods based on 720 degree of panorama VR | |
| CN107864372A (en) | Solid picture-taking method, apparatus and terminal | |
| CN108564654B (en) | Picture entering mode of three-dimensional large scene | |
| CN108833890A (en) | Data processing equipment and method based on camera | |
| CN107172383B (en) | A kind of Obj State detection method and device | |
| Park et al. | 48.2: Light field rendering of multi‐view contents for high density light field 3D display | |
| CN108881842A (en) | Monitoring system and information processing method based on 3D video camera | |
| CN109218704A (en) | Model building device and method based on more 3D video cameras | |
| CN109272453A (en) | Model building device and localization method based on 3D video camera | |
| CN108234988A (en) | Parallax drawing generating method, device and computer readable storage medium | |
| WO2012014695A1 (en) | Three-dimensional imaging device and imaging method for same |
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 |
Application publication date: 20190115 |
|
| RJ01 | Rejection of invention patent application after publication |