CN109239099A - Road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment - Google Patents
Road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment Download PDFInfo
- Publication number
- CN109239099A CN109239099A CN201811157743.4A CN201811157743A CN109239099A CN 109239099 A CN109239099 A CN 109239099A CN 201811157743 A CN201811157743 A CN 201811157743A CN 109239099 A CN109239099 A CN 109239099A
- Authority
- CN
- China
- Prior art keywords
- road surface
- personal computer
- real
- industrial personal
- time detecting
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses the road surface breakage real-time detecting systems and its detection method under multi-machine collaborative environment, comprising: laser displacement sensor carries out the detection of flatness, construction depth and road surface breakage；GPS pretreatment unit, is corrected mileage；Line-scan digital camera carries out image detection to front road conditions and equipment along road；Photoelectric encoder converts the mechanical geometric displacement on the output shaft to pulse or digital quantity；Image pick-up card collects picture signal in computer, is stored on hard disk in the form of data file；Industrial personal computer carries out Detection & Controling to production process and electromechanical equipment, technological equipment.Through the above way, road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment of the present invention, the acquisition of road condition information is realized by image capture module, the digitization that information of road surface is realized by data processing module has many advantages, such as unfailing performance height, registration, structurally reasonable, practical and convenient.
Description
Technical field
The present invention relates to Road Detection apparatus fields, more particularly to the road surface breakage real-time detection under multi-machine collaborative environment
System and its detection method.
Background technique
Society's rapid development, since nineteen ninety-eight, China for years every year use the investment more than 200,000,000,000 yuan
In highway construction, highway mileage open to traffic occupies the second in the world, we walk to be over developed country partly with short time more than ten years
The development course in a more centuries, people are increasing to the dependence of highway, while also exacerbating the breakage on road surface, and the prior art is deposited
The detection accuracy and relatively low accuracy the problems such as, the detection technique of road surface breakage is in urgent need of strengthening.
Summary of the invention
The invention mainly solves the technical problem of providing under multi-machine collaborative environment road surface breakage real-time detecting system and
Its detection method.
In order to solve the above technical problems, one technical scheme adopted by the invention is that:
There is provided the road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment, comprising: image collecting device, number
According to processing unit, GPS positioning system R-T unit and power supply device, described image acquisition device include laser displacement sensor,
Line-scan digital camera, LED illumination unit, photoelectric encoder and facilities control console, the laser that laser displacement sensor is issued according to itself
Scattering light collection information be transmitted to data processing equipment, photoelectric encoder triggers the linear array phase according to the distance of vehicle driving
Machine is taken pictures, and acquired image is transmitted to data processing equipment, and LED illumination unit is used for the floor light of shooting, if
For standby console for controlling line-scan digital camera and LED illumination unit, the data processing equipment includes that image pick-up card, GPS locate in advance
Unit and industrial personal computer are managed, image pick-up card comes from laser displacement sensor and the respective information of line-scan digital camera for handling, and
By treated, data are transferred to industrial personal computer, and GPS pretreatment unit passes through the GPS positioning information of GPS positioning system R-T unit
Road pavement breakage is positioned, and location information is transmitted to industrial personal computer.
In a preferred embodiment of the present invention, the GPS positioning information is the longitude and latitude of pavement detection point.
In a preferred embodiment of the present invention, the laser displacement sensor uses laser triangulation method.
In a preferred embodiment of the present invention, the photoelectric encoder is mounted on wheel.
The detection method of road surface breakage real-time detecting system under multi-machine collaborative environment, comprising the following steps:
(1) photoelectric encoder will issue a pulse-triggered line-scan digital camera according to the every advance set distance of vehicle and take pictures；
(2) data photographed are transferred to image pick-up card by line-scan digital camera, and picture signal is collected industrial personal computer by image pick-up card
In；
(3) while step (1) and step (2) carry out, laser displacement sensor transmitting laser to road surface and receives scattering light,
And obtained data are transferred to industrial personal computer；
(4) while step (1), step (2) and step (3) carry out, GPS pretreatment unit parses GPS signal, and
By obtained GPS positioning information storage to industrial personal computer；
(5) industrial personal computer road pavement image carries out damaged type identification, classification and statistics, report is generated, in the form of data file
It is stored in the memory of industrial personal computer.
In a preferred embodiment of the present invention, the industrial personal computer is using Harris angle point to being stored in industrial computer data library
Pavement image carry out feature extraction carry out judging whether it is angle point, edge, smooth area using vicinity points gray scale difference value
Domain calculates grey scale change value using mobile window in the picture, and the image and laser displacement shot in conjunction with line-scan digital camera senses
The data that device obtains extract pavement image, the detection report that generation is positioned containing surface conditions and accordingly.
The beneficial effects of the present invention are: providing the road surface breakage real-time detecting system under multi-machine collaborative environment and its detection side
Method realizes the acquisition of road condition information by image capture module, and the data of information of road surface are realized by data processing module
Change, has many advantages, such as unfailing performance height, registration, structurally reasonable, practical and convenient.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, in which:
Fig. 1 is one preferred embodiment of road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment of the invention
Structural schematic diagram；
Fig. 2 is one preferred embodiment of road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment of the invention
Laser displacement sensor schematic top plan view；
Fig. 3 is one preferred embodiment of road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment of the invention
Laser displacement sensor schematic diagram of internal structure.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
It please refers to Fig.1 to Fig.3, the embodiment of the present invention includes:
Road surface breakage real-time detecting system under multi-machine collaborative environment, the system footprint is on a vehicle, including image collector
It sets, data processing equipment, GPS positioning system R-T unit and power supply device.
Image collecting device includes laser displacement sensor, line-scan digital camera, LED illumination unit, photoelectric encoder and equipment
Console, laser displacement sensor issue laser irradiation to road surface and receive astigmatism collected signal is transmitted to data processing
Module；Photoelectric encoder is mounted on wheel, and every advance fixed range triggering line-scan digital camera is taken pictures, and acquired image is transferred to
Data processing module；LED illumination unit carries out floor light to shooting；Facilities control console is for controlling acquisition parameters LED illumination
Unit brightness and each device switch.
Data processing equipment includes image pick-up card, GPS pretreatment unit, industrial personal computer, and image pick-up card, which receives, carrys out self-excitation
The data of Optical displacement sensor and line-scan digital camera are simultaneously handled, and by treated, data are transferred to industrial personal computer；Industrial personal computer is to line
System of battle formations picture carries out being spliced to form consecutive image, and to fix frame number composograph, is saved；GPS receive-transmit system is by GPS signal
It is transferred to GPS pretreatment unit, industrial personal computer is transmitted to after the pretreatment of GPS pretreatment unit and is saved；Industrial personal computer road pavement figure
As carrying out damaged type identification, classification and statistics, report is generated.
Referring to fig. 2, laser displacement sensor mounting means is 2 equal height of sensor 1 and sensor, and is fixed on detection
On the same girder steel 3 on the crossbeam of vehicle chassis 4, any deformation does not occur for girder steel 3, between sensor 1 and sensor 2 away from
From being L, distance of the road surface that sensor 1 measures away from transducer receivers is H11, and distance of the road surface away from datum plane is Y1, is passed
Distance of the road surface that sensor 2 measures away from transducer receivers be H12, with road surface away from a distance from datum plane be Y2, the reference water
It is flat to remain unchanged and parallel with buckstay, it can calculate at position 1:
Equally at position 2:
At this point, only needing to enable:
L in formula is the height change factor, reflects the size of surface evenness height change degree, which can have
Effect eliminates the variation of detecting distance value caused by the vibration of vehicle itself, when known location point is certain, calculates each inspection
Distance of the measuring point away from datum level, can draw out flatness curve, to calculate the flatness on road surface.
Referring to Fig. 3, semiconductor laser 1 focuses on testee by the first lens 2, and scattering light is collected by the second lens 3,
It projects on 4 array of line array CCD；Signal processor 5 is obtained by the light spot position on trigonometric function computing array away from object
Distance；When measured object occur change in location when, be reflected on line array CCD 4 be hot spot axial movement, pass through perception line array CCD 4
On facula position calculate the change in displacement of measured object, road surface proximal location 6 as shown in the figure, road surface remote location 7.
The detection method of road surface breakage real-time detecting system under multi-machine collaborative environment, which is characterized in that including following step
It is rapid:
(1) photoelectric encoder will issue a pulse-triggered line-scan digital camera according to the every advance set distance of vehicle and take pictures；
(2) data photographed are transferred to image pick-up card by line-scan digital camera, and picture signal is collected industrial personal computer by image pick-up card
In；
(3) while step (1) and step (2) carry out, laser displacement sensor transmitting laser to road surface and receives scattering light,
And obtained data are transferred to industrial personal computer；
(4) while step (1), step (2) and step (3) carry out, GPS pretreatment unit parses GPS signal, and
By obtained GPS positioning information storage to industrial personal computer；
(5) industrial personal computer road pavement image carries out damaged type identification, classification and statistics, report is generated, in the form of data file
It is stored in the memory of industrial personal computer.
Preferably, the industrial personal computer carries out feature to the pavement image for being stored in industrial computer data library using Harris angle point
It extracts, using vicinity points gray scale difference value, carries out judging whether it is angle point, edge, smooth region, be existed using mobile window
Grey scale change value is calculated in image, the data that the image and laser displacement sensor shot in conjunction with line-scan digital camera obtains extract outlet
Face image, the detection report that generation is positioned containing surface conditions and accordingly.
The beneficial effect of road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment of the present invention is: mentioning
For the road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment, road surface shape is realized by image capture module
The digitization of information of road surface is realized in the acquisition of condition information by data processing module, has unfailing performance height, registration, knot
The advantages that structure is reasonable, practical and convenient.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (6)
1. the road surface breakage real-time detecting system under multi-machine collaborative environment characterized by comprising image collecting device, data
Processing unit, GPS positioning system R-T unit and power supply device, described image acquisition device include laser displacement sensor, line
Array camera, LED illumination unit, photoelectric encoder and facilities control console, laser displacement sensor is according to the laser itself issued
Scattering light collection information is transmitted to data processing equipment, and photoelectric encoder triggers the line-scan digital camera according to the distance of vehicle driving
It takes pictures, and acquired image is transmitted to data processing equipment, floor light of the LED illumination unit for shooting, equipment
Console includes image pick-up card, GPS pretreatment for controlling line-scan digital camera and LED illumination unit, the data processing equipment
Unit and industrial personal computer, image pick-up card come from laser displacement sensor and the respective information of line-scan digital camera for handling, and will
Data that treated are transferred to industrial personal computer, and GPS pretreatment unit passes through the GPS positioning information pair of GPS positioning system R-T unit
It is positioned at road surface breakage, and location information is transmitted to industrial personal computer.
2. the road surface breakage real-time detecting system under multi-machine collaborative environment according to claim 1, which is characterized in that described
GPS positioning information is the longitude and latitude of pavement detection point.
3. the road surface breakage real-time detecting system under multi-machine collaborative environment according to claim 1, which is characterized in that described
Laser displacement sensor uses laser triangulation method.
4. the road surface breakage real-time detecting system under multi-machine collaborative environment according to claim 1, which is characterized in that described
Photoelectric encoder is mounted on wheel.
5. the detection of the road surface breakage real-time detecting system under multi-machine collaborative environment described in any one of -4 according to claim 1
Method, which comprises the following steps:
(1) photoelectric encoder will issue a pulse-triggered line-scan digital camera according to the every advance set distance of vehicle and take pictures；
(2) data photographed are transferred to image pick-up card by line-scan digital camera, and picture signal is collected industrial personal computer by image pick-up card
In；
(3) while step (1) and step (2) carry out, laser displacement sensor transmitting laser to road surface and receives scattering light,
And obtained data are transferred to industrial personal computer；
(4) while step (1), step (2) and step (3) carry out, GPS pretreatment unit parses GPS signal, and
By obtained GPS positioning information storage to industrial personal computer；
(5) industrial personal computer road pavement image carries out damaged type identification, classification and statistics, report is generated, in the form of data file
It is stored in the memory of industrial personal computer.
6. the detection method of the road surface breakage real-time detecting system under multi-machine collaborative environment according to claim 5, special
Sign is that the industrial personal computer carries out feature extraction to the pavement image for being stored in industrial computer data library using Harris angle point, answers
With vicinity points gray scale difference value, carry out judging whether it is angle point, edge, smooth region, in the picture using mobile window
Grey scale change value is calculated, the data that the image and laser displacement sensor shot in conjunction with line-scan digital camera obtains extract road surface figure
Picture, the detection report that generation is positioned containing surface conditions and accordingly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157743.4A CN109239099A (en) | 2018-09-30 | 2018-09-30 | Road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157743.4A CN109239099A (en) | 2018-09-30 | 2018-09-30 | Road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109239099A true CN109239099A (en) | 2019-01-18 |
Family
ID=65054315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811157743.4A Pending CN109239099A (en) | 2018-09-30 | 2018-09-30 | Road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109239099A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109798870A (en) * | 2019-03-13 | 2019-05-24 | 武汉夕睿光电技术有限公司 | A kind of well lid settlement monitoring device and mobile device |
| CN109827964A (en) * | 2019-03-08 | 2019-05-31 | 武汉夕睿光电技术有限公司 | Modular Intelligent road detection system and method |
| CN110205910A (en) * | 2019-07-08 | 2019-09-06 | 河北工程大学 | A kind of pavement structure profile pattern intelligent measurement and analytical equipment |
| CN110222557A (en) * | 2019-04-22 | 2019-09-10 | 北京旷视科技有限公司 | Real-time detection method, device, system and the storage medium of road conditions |
| CN112710273A (en) * | 2020-12-10 | 2021-04-27 | 浙江大学 | Crowd-sourced road surface pothole detection method based on smart phone sensor and machine learning |
| CN113486937A (en) * | 2021-06-28 | 2021-10-08 | 华侨大学 | Solid waste identification data set construction system based on convolutional neural network |
| CN115909787A (en) * | 2023-02-06 | 2023-04-04 | 山东科技大学 | Early warning method, equipment and medium for pavement damage condition |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2658211Y (en) * | 2003-08-28 | 2004-11-24 | 武汉武大卓越科技有限责任公司 | Intelligent automatic detecting vehicle for road surface |
| CN1548653A (en) * | 2003-05-15 | 2004-11-24 | 南京理工大学 | Intelligent 3D laser road state detecting vehicle |
| CN201339159Y (en) * | 2008-12-31 | 2009-11-04 | 长安大学 | Laser pavement evenness testing apparatus |
| CN105067633A (en) * | 2015-08-11 | 2015-11-18 | 江西省公路工程检测中心 | Vehicle-mounted type automatic pavement damage recognition device based on image processing and application method |
| CN205839560U (en) * | 2016-07-27 | 2016-12-28 | 北京中天恒宇科技有限公司 | Laser evenness construction depth track detection system |
| CN107059577A (en) * | 2016-12-01 | 2017-08-18 | 毛庆洲 | Road road conditions fast investigation device |
| CN107059579A (en) * | 2017-06-09 | 2017-08-18 | 重庆亲旅智千科技有限公司 | A kind of multi-functional road CT synthetic detection vehicles |
-
2018
- 2018-09-30 CN CN201811157743.4A patent/CN109239099A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1548653A (en) * | 2003-05-15 | 2004-11-24 | 南京理工大学 | Intelligent 3D laser road state detecting vehicle |
| CN2658211Y (en) * | 2003-08-28 | 2004-11-24 | 武汉武大卓越科技有限责任公司 | Intelligent automatic detecting vehicle for road surface |
| CN201339159Y (en) * | 2008-12-31 | 2009-11-04 | 长安大学 | Laser pavement evenness testing apparatus |
| CN105067633A (en) * | 2015-08-11 | 2015-11-18 | 江西省公路工程检测中心 | Vehicle-mounted type automatic pavement damage recognition device based on image processing and application method |
| CN205839560U (en) * | 2016-07-27 | 2016-12-28 | 北京中天恒宇科技有限公司 | Laser evenness construction depth track detection system |
| CN107059577A (en) * | 2016-12-01 | 2017-08-18 | 毛庆洲 | Road road conditions fast investigation device |
| CN107059579A (en) * | 2017-06-09 | 2017-08-18 | 重庆亲旅智千科技有限公司 | A kind of multi-functional road CT synthetic detection vehicles |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109827964A (en) * | 2019-03-08 | 2019-05-31 | 武汉夕睿光电技术有限公司 | Modular Intelligent road detection system and method |
| CN109798870A (en) * | 2019-03-13 | 2019-05-24 | 武汉夕睿光电技术有限公司 | A kind of well lid settlement monitoring device and mobile device |
| CN110222557A (en) * | 2019-04-22 | 2019-09-10 | 北京旷视科技有限公司 | Real-time detection method, device, system and the storage medium of road conditions |
| CN110222557B (en) * | 2019-04-22 | 2021-09-21 | 北京旷视科技有限公司 | Real-time road condition detection method, device and system and storage medium |
| CN110205910A (en) * | 2019-07-08 | 2019-09-06 | 河北工程大学 | A kind of pavement structure profile pattern intelligent measurement and analytical equipment |
| CN112710273A (en) * | 2020-12-10 | 2021-04-27 | 浙江大学 | Crowd-sourced road surface pothole detection method based on smart phone sensor and machine learning |
| CN113486937A (en) * | 2021-06-28 | 2021-10-08 | 华侨大学 | Solid waste identification data set construction system based on convolutional neural network |
| CN115909787A (en) * | 2023-02-06 | 2023-04-04 | 山东科技大学 | Early warning method, equipment and medium for pavement damage condition |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109239099A (en) | Road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment | |
| CN104005325B (en) | Based on pavement crack checkout gear and the method for the degree of depth and gray level image | |
| CN111855664A (en) | Adjustable three-dimensional tunnel defect detection system | |
| US8238610B2 (en) | Homography-based passive vehicle speed measuring | |
| CN100419813C (en) | Omnibearing visual sensor based road monitoring apparatus | |
| CN101881000B (en) | Photographic measurement system and method for pavement evenness | |
| CN1818546A (en) | Small-displacement measuring method in long-distance plane | |
| CN109489566A (en) | Lithium battery diaphragm material cuts checking method for width, detection system and device | |
| CN101701919A (en) | Pavement crack detection system based on image and detection method thereof | |
| CN101943839A (en) | Integrated automatic focusing camera device and definition evaluation method | |
| CN104964708B (en) | A kind of road surface pit detection method based on vehicle-mounted binocular vision | |
| CN107238727A (en) | Photoelectric tachometric transducer and detection method based on dynamic visual sensor chip | |
| CN102954772B (en) | Sea ice surface roughness measuring method based on line laser | |
| CN104330048A (en) | Image-based railway snow depth measurement device and method | |
| CN102680481A (en) | Detection method for cotton fiber impurities | |
| CN103640595A (en) | Automatic detecting system and damage recognition method for railway protecting fences | |
| CN114241177A (en) | Airport pavement apparent image detection system based on linear array scanning imaging | |
| CN205557277U (en) | Pavement crack disease detection system | |
| CN112595236A (en) | Measuring device for underwater laser three-dimensional scanning and real-time distance measurement | |
| CN112883778A (en) | Road well lid height difference identification method and device based on computer vision | |
| CN101206140B (en) | Method for automatic measurement of shaking amplitude of straddle-seat type single traffic rail beam | |
| CN105869413A (en) | Method for measuring traffic flow and speed based on camera video | |
| CN112037536A (en) | Vehicle speed measuring method and device based on video feature recognition | |
| CN204491372U (en) | A kind of hand propelled cement-concrete road joint damages checkout gear | |
| CN116202423A (en) | Line laser two-dimensional positioning method based on laser triangulation ranging |
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: 20190118 |
|
| RJ01 | Rejection of invention patent application after publication |