CN109308595B - Circulation box tracking system, method and device based on walking robot - Google Patents
Circulation box tracking system, method and device based on walking robot Download PDFInfo
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Abstract
The invention belongs to the technical field of turnover box transportation, and provides a turnover box tracking system based on a walking robot, which is characterized in that the walking robot for walking and transporting turnover boxes in a logistics warehouse is arranged, a recognizer is arranged to enable the recognizer to recognize labels of the turnover boxes to generate turnover box identity information for transmission, a user end is arranged to enable the user end to acquire the turnover box identity information, the turnover box identity information and preset robot identity information are packaged to generate a binding request message for transmission, the cloud end is arranged to receive the binding request message, the pairing judgment is carried out on the turnover box identity information and registered turnover box information, the successful binding result is fed back to the user end after the paired turnover box identity information and the robot identity information are bound, so that the transportation state of the turnover boxes is transparent, and the effect of monitoring the update state of goods in the turnover boxes in real time is achieved, and the walking robot carries the turnover case, has improved handling efficiency.
Description
Technical Field
The invention belongs to the technical field of turnover box carrying, and particularly relates to a turnover box tracking system, method and device based on a walking robot, a terminal and a storage medium.
Background
The traditional logistics warehouse management is a warehouse manager whole-course management mode, and the goods entering and exiting, the dispatching management and the inventory management of the whole warehouse are completed manually. With the development of information technology, intelligent warehouse management increasingly replaces traditional manual management. In the intelligent warehouse management, the walking robot plays an important role, and the walking robot technology is continuously developed. The walking robot technology relates to a turnover box conveying technology. The turnover box has the characteristic of being reusable, and corresponding turnover boxes are needed for loading different goods under normal conditions. The existing transfer box carries most of the materials to stay on an artificial layer, and mainly comprises three processes of loading, carrying and unloading. In the transportation process, a transporter transports the turnover box to a designated place through a trolley to complete the purpose of warehousing or ex-warehouse of goods.
Disclosure of Invention
Although, in the logistics warehouse, the purpose of goods warehousing or ex-warehouse can be accomplished to current turnover case handling technique, the concrete state of turnover case in whole transport flow can't be monitored to cause and can't know the warehousing or the out-warehouse state of goods in the turnover case in real time, in addition, artifical transport also has the problem of inefficiency.
Therefore, the existing transfer box conveying technology has the technical problems that the conveying state of the transfer box cannot be known in real time and the conveying efficiency is low.
An aspect of the present invention is to provide a circulation box tracking system based on a walking robot, so as to realize transparentization of a transport state of a circulation box, monitor state information of the circulation box in real time, and achieve a purpose of monitoring an update state of goods in the circulation box in real time. In addition, this tracking system carries the turnover case through walking robot, has improved handling efficiency.
A transfer case tracking system based on a walking robot, comprising:
the walking robot is used for walking in the logistics warehouse to transport the turnover box; the turnover box can be loaded on a tray of the walking robot;
the identifier is used for identifying the label of the turnover box so as to generate turnover box identity information and send the turnover box identity information;
the user side acquires the turnover box identity information, and generates a binding request message by packaging the turnover box identity information with preset robot identity information;
and the cloud end receives the binding request message, binds the circulation box identity information matched with the registered circulation box information with the robot identity information and then feeds back a successful binding result to the user end.
Preferably, the identifier is a radio frequency identifier; the radio frequency identifier is installed on the tray and used for automatically identifying the radio frequency tags of the turnover boxes.
Preferably, the identifier is a code scanner; the code scanner is arranged on the robot body of the walking robot and used for scanning the two-dimensional codes of the turnover box.
Preferably, the user end prompts the user that the binding is successful after receiving the successful binding result.
Another aspect of the present invention is to provide a method for tracking a container based on a walking robot, including:
acquiring the identity information of the turnover box; the turnover box identity information is generated and sent by a label of a turnover box identified by an identifier; the turnover box can be loaded on a tray of the walking robot, and the walking robot is used for walking in the logistics warehouse to transport the turnover box;
packaging the turnover box identity information and preset robot identity information to generate a binding request message;
sending the binding request message to a cloud end so that the cloud end binds the circulation box identity information matched with the registered circulation box information with the robot identity information and then feeds back a successful binding result;
and receiving the successful binding result.
Preferably, the container tracking method includes:
and prompting the user that the binding is successful according to the successful binding result.
Another aspect of the present invention is to provide a container tracking apparatus based on a walking robot, including:
the identity acquisition module is used for acquiring the identity information of the turnover box; the turnover box identity information is generated and sent by a label of a turnover box identified by an identifier; the turnover box can be loaded on a tray of the walking robot, and the walking robot is used for walking in the logistics warehouse to transport the turnover box;
the message generation module is used for packaging the turnover box identity information and preset robot identity information to generate a binding request message;
the message sending module is used for sending the binding request message to a cloud end so that the cloud end can bind the turnover box identity information matched with the registered turnover box information with the robot identity information and then feed back a successful binding result;
and the binding receiving module is used for receiving the successful binding result.
Preferably, the container tracking device includes:
and the prompting module is used for prompting the user that the binding is successful according to the successful binding result.
Another aspect of the present invention is to provide a terminal, including a processor and a memory, where the memory stores a computer program, and the computer program runs in the processor and can implement any one of the above container tracking methods.
Another object of the present invention is to provide a storage medium storing a computer program, which is run on a processor and can implement any of the above container tracking methods.
The invention provides a circulation box tracking system, a circulation box tracking method and a circulation box tracking device based on a walking robot, a terminal and a storage medium. Wherein, the circulation box can be loaded on a tray of the walking robot by arranging the walking robot for walking and transporting the circulation box in the logistics warehouse, the identifier is arranged to identify the label of the circulation box to generate circulation box identity information for sending, the user terminal is arranged to obtain the circulation box identity information, the circulation box identity information and the preset robot identity information are packaged to generate a binding request message for sending, the cloud terminal is arranged to receive the binding request message, the circulation box identity information carried in the binding request message and the registered circulation box information are paired and judged, the successful binding result is fed back to the user terminal after the paired circulation box identity information and the robot identity information are bound, thereby not only realizing the transparentization of the carrying state of the circulation box, monitoring the state information of the circulation box in real time and achieving the effect of monitoring the updating state of goods in the circulation box in real time, and the walking robot carries the turnover case, has improved handling efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a circulation box tracking system based on a walking robot according to an embodiment;
fig. 2 is a schematic block diagram of a container tracking system based on a walking robot according to an embodiment;
fig. 3 is a flowchart of a container tracking method based on a walking robot according to an embodiment;
fig. 4 is an architecture diagram of a container tracking apparatus based on a walking robot according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, in the description of the present disclosure, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.
In addition, technical features involved in different embodiments of the present disclosure described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a schematic structural diagram of a circulation box tracking system based on a walking robot according to an embodiment, which illustrates the circulation box tracking system based on the walking robot to realize the transparentization of the transport state of the circulation box and monitor the state information of the circulation box in real time, so as to achieve the purpose of monitoring the update state of goods in the circulation box in real time. In addition, the transfer box is transferred by the walking robot, so that the transfer efficiency is improved.
Fig. 2 is a schematic block diagram of the circulation box tracking system based on the walking robot according to the embodiment, which shows a circulation box tracking system based on the walking robot.
Referring to fig. 1-2, a circulation box tracking system based on a walking robot includes: the walking robot 10, the recognizer 20, the user terminal 30 and the cloud terminal 40.
The walking robot 10 is used to walk the transportation container in the logistics warehouse. The transfer container may be loaded on a pallet of the walking robot 10.
And the identifier 20 identifies the label of the turnover box to generate turnover box identity information for transmission.
And the user side 30 acquires the identity information of the turnover box, packages the identity information with the preset robot identity information to generate a binding request message and sends the binding request message.
And the cloud 40 receives the binding request message, binds the circulation box identity information paired with the registered circulation box information with the robot identity information, and feeds back a successful binding result to the user side 30.
Preferably, the identifier 20 may be a radio frequency identifier 20. The radio frequency identifier 20 is mounted on the tray and is used for automatically identifying the radio frequency tag of the turnover box. The identifier 20 may be a code scanner. The barcode scanner is provided on the robot body of the walking robot 10, and is configured to scan the two-dimensional code of the transfer container.
Further, the user side 30 prompts the user that the binding is successful after receiving the successful binding result.
In this embodiment, the traveling robot 10 for traveling and transporting the containers in the logistics warehouse is provided, so that the containers can be loaded on the trays of the traveling robot 10, the identifier 20 is provided, the identifier 20 identifies the labels of the containers to generate and transmit the identification information of the containers, the user 30 is provided to obtain the identification information of the containers, the identification information of the containers and the preset identification information of the robots are packaged to generate and transmit the binding request message, the cloud 40 is provided to receive the binding request message, the identification information of the containers carried in the binding request message and the registered information of the containers are paired and judged, the paired identification information of the containers and the identification information of the robots are bound and then the successful binding result is fed back to the user 30, thereby not only realizing the transparentization of the transportation state of the containers and the real-time supervision of the state information of the containers, the effect of monitoring the update state of the goods in the turnover box in real time is achieved, and the walking robot 10 carries the turnover box, so that the carrying efficiency is improved.
It should be noted that the cloud 40 may establish a connection with the walking robot 10 through a network, so as to track the operation state of the walking robot 10. Therefore, when the container is bound to the traveling robot 10, the container can be tracked by tracking the movement of the traveling robot 10, for example, tracking the traveling locus of the traveling robot 10. Meanwhile, the turnover box is tracked, and then the goods in the corresponding turnover box can be monitored in real time, for example, whether the goods in the corresponding turnover box are in the unloading station or other stations can be monitored in real time.
It should be noted that the user terminal 30 may be a computer device installed on the body of the walking robot 10, or may be any mobile device having a data processing function. The user terminal 30 may prestore the identity information of the walking robot 10, for example, prestore the number information of the walking robot 10, so as to be used for packaging with the identity information of the circulation box.
It should be further noted that, after receiving the binding request message, the cloud 40 analyzes the binding request message, extracts the identity information of the container, and compares the identity information with the container information registered in advance to bind, thereby determining the container corresponding to the current time. The specific comparison binding mode may be:
judging whether the circulation box identity information is matched with the pre-registered circulation box information or not;
if the transfer container identity information is paired with the pre-registered transfer container information, binding the transfer container identity information with the identity information of the walking robot 10;
if the transfer container identity information is not paired with the pre-registered transfer container information, the transfer container identity information is not bound to the identity information of the walking robot 10.
The cloud 40 binds the transfer container identity information paired with the registered transfer container information and the robot identity information, and then feeds back a successful binding result to the user side 30, so that the user side 30 responds according to the feedback result. For example, the user is prompted that the binding is successful. The method for prompting the user that the binding is successful may be to generate a user interface, and display binding success information on the interface. The user can be prompted to successfully bind by calling a voice interface to perform voice notification.
In addition, if the cloud 40 does not bind the transfer container identity information and the identity information of the walking robot 10, the result of the binding failure may be fed back to the user terminal 30, so that the user terminal 30 prompts the user of the binding failure.
It should be noted that the user can determine his/her own work according to the prompt result of the user terminal 30. For example, binding is continued when binding fails. After the binding is successful, the user can make different selections according to different identification modes.
For example, if code scanning identification is selected, after binding is successful, the user can place the turnover box on a tray carried by the robot. If the radio frequency identification mode is selected, the radio frequency tag of the turnover box can be automatically identified by the radio frequency identifier 20 on the tray after the turnover box is placed on the tray, so that a user only needs to give a cooperative instruction to the robot. It can be understood that the radio frequency identification can automatically identify the identity of the turnover box, and can reduce manual participation, thereby reducing errors and improving efficiency.
It should be noted that the code scanner may be installed on the robot body of the walking robot 10, which is convenient for the user to use.
It should be further noted that by setting the identity tag for the turnover box and registering and storing the identity information of the turnover box in the cloud 40, the digital management of the turnover box can be realized, and the suitable turnover box can be conveniently inquired and called to load the specific goods.
Fig. 3 is a flowchart of an embodiment of a method for tracking a transfer container based on a walking robot, which illustrates the method for tracking the transfer container based on the walking robot, and includes the following steps:
step S0, acquiring the identity information of the turnover box; the identification information of the turnover box is generated and sent by a label of the turnover box identified by the identifier; the transfer box can be loaded on a tray of a walking robot, and the walking robot is used for walking in the logistics warehouse to transport the transfer box;
step S1, packing the circulation box identity information and the preset robot identity information to generate a binding request message;
step S2, sending a binding request message to the cloud end so that the cloud end binds the circulation box identity information matched with the registered circulation box information and the robot identity information and feeds back a successful binding result;
step S3, a successful binding result is received.
Further, the turnover box tracking method further comprises the following steps:
and step S4, prompting the user that the binding is successful according to the successful binding result.
In this embodiment, referring to fig. 1-2, by setting a traveling robot 10 for traveling and transporting a container in a logistics warehouse, the container can be loaded on a tray of the traveling robot 10, setting an identifier 20, enabling the identifier 20 to identify a label of the container to generate container identification information for transmission, setting a user 30, enabling the user 30 to obtain the container identification information, packaging the container identification information and preset robot identification information to generate a binding request message for transmission, setting a cloud 40 to receive the binding request message, performing pairing judgment on the container identification information carried in the binding request message and registered container information, and feeding back a successful binding result to the user 30 after binding the paired container identification information and the robot identification information, thereby not only realizing transparentization of the transport state of the container, the state information of the turnover box is monitored in real time, the effect of monitoring the goods updating state in the turnover box in real time is achieved, the walking robot 10 carries the turnover box, and the carrying efficiency is improved.
It should be noted that the cloud 40 may establish a connection with the walking robot 10 through a network, so as to track the operation state of the walking robot 10. Therefore, when the container is bound to the traveling robot 10, the container can be tracked by tracking the movement of the traveling robot 10, for example, tracking the traveling locus of the traveling robot 10. Meanwhile, the turnover box is tracked, and then the goods in the corresponding turnover box can be monitored in real time, for example, whether the goods in the corresponding turnover box are in the unloading station or other stations can be monitored in real time.
It should be noted that the user terminal 30 may be a computer device installed on the body of the walking robot 10, or may be any mobile device having a data processing function. The user terminal 30 may prestore the identity information of the walking robot 10, for example, prestore the number information of the walking robot 10, so as to be used for packaging with the identity information of the circulation box.
It should be further noted that, after receiving the binding request message, the cloud 40 analyzes the binding request message, extracts the identity information of the container, and compares the identity information with the container information registered in advance to bind, thereby determining the container corresponding to the current time. The specific comparison binding mode may be:
judging whether the circulation box identity information is matched with the pre-registered circulation box information or not;
if the transfer container identity information is paired with the pre-registered transfer container information, binding the transfer container identity information with the identity information of the walking robot 10;
if the transfer container identity information is not paired with the pre-registered transfer container information, the transfer container identity information is not bound to the identity information of the walking robot 10.
The cloud 40 binds the transfer container identity information paired with the registered transfer container information and the robot identity information, and then feeds back a successful binding result to the user side 30, so that the user side 30 responds according to the feedback result. For example, the user is prompted that the binding is successful. The method for prompting the user that the binding is successful may be to generate a user interface, and display binding success information on the interface. The user can be prompted to successfully bind by calling a voice interface to perform voice notification.
In addition, if the cloud 40 does not bind the transfer container identity information and the identity information of the walking robot 10, the result of the binding failure may be fed back to the user terminal 30, so that the user terminal 30 prompts the user of the binding failure.
It should be noted that the user can determine his/her own work according to the prompt result of the user terminal 30. For example, binding is continued when binding fails. After the binding is successful, the user can make different selections according to different identification modes.
For example, if code scanning identification is selected, after binding is successful, the user can place the turnover box on a tray carried by the robot. If the radio frequency identification mode is selected, the radio frequency tag of the turnover box can be automatically identified by the radio frequency identifier 20 on the tray after the turnover box is placed on the tray, so that a user only needs to give a cooperative instruction to the robot. It can be understood that the radio frequency identification can automatically identify the identity of the turnover box, and can reduce manual participation, thereby reducing errors and improving efficiency.
It should be noted that the code scanner may be installed on the robot body of the walking robot 10, which is convenient for the user to use.
Fig. 4 is an architecture diagram of a travel robot-based container tracking apparatus according to an embodiment, showing the travel robot-based container tracking apparatus, including:
and the identity acquisition module 01 is used for acquiring the identity information of the turnover box. The turnover box identity information is generated and sent by a label of the turnover box identified by the identifier. The transfer container may be loaded on a pallet of a walking robot for walking in the logistics warehouse to transport the transfer container.
And the message generation module 02 is used for packaging the turnover box identity information and the preset robot identity information to generate a binding request message.
The message sending module 03 is configured to send a binding request message to the cloud, so that the cloud binds the transfer container identity information and the robot identity information, which are paired with the registered transfer container information, and then feeds back a successful binding result.
And the binding receiving module 04 is configured to receive a successful binding result.
The invention also provides a terminal, which comprises a processor and a memory, wherein the memory stores a computer program, and the computer program runs in the processor to realize the circulation box tracking method based on the walking robot.
The present invention also provides a storage medium storing a computer program that can implement the above-described method for tracking a transfer container by a walking robot when the computer program is run on a processor.
The invention provides a circulation box tracking system based on a walking robot 10, and provides a circulation box tracking system, a method and a device based on the walking robot 10, a terminal and a storage medium. Wherein, the moving robot 10 for moving and transporting the turnover box in the logistics warehouse is arranged, the turnover box can be loaded on the tray of the moving robot 10, the identifier 20 is arranged, the identifier 20 identifies the label of the turnover box to generate turnover box identity information to be sent, the user terminal 30 is arranged to obtain the turnover box identity information, the turnover box identity information and the preset robot identity information are packaged to generate a binding request message to be sent, the cloud terminal 40 is arranged to receive the binding request message, the matching judgment is carried out on the turnover box identity information carried in the binding request message and the registered turnover box information, the matching turnover box identity information and the robot identity information are bound, and then the successful binding result is fed back to the user terminal 30, thereby not only realizing the transparentization of the transportation state of the turnover box and the real-time supervision of the state information of the turnover box, the effect of monitoring the update state of the goods in the turnover box in real time is achieved, and the walking robot 10 carries the turnover box, so that the carrying efficiency is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A turnover case tracking system based on a walking robot is characterized by comprising:
the walking robot is used for walking in the logistics warehouse to transport the turnover box; the turnover box can be loaded on a tray of the walking robot;
the identifier is arranged on the walking robot and is used for identifying the label of the turnover box so as to generate turnover box identity information and send the turnover box identity information;
the user side acquires the turnover box identity information, and generates a binding request message by packaging the turnover box identity information with preset robot identity information;
and the cloud end is used for receiving the binding request message, analyzing the binding request message, extracting the circulation box identity information and matching and judging the pre-registered circulation box information, binding the circulation box identity information and the identity information of the walking robot if the circulation box identity information is matched with the pre-registered circulation box information, and feeding back a successful binding result to the user end.
2. The tote tracking system of claim 1, wherein the identifier is a radio frequency identifier; the radio frequency identifier is installed on the tray and used for automatically identifying the radio frequency tags of the turnover boxes.
3. The tote tracking system of claim 1, wherein the identifier is a barcode; the code scanner is arranged on the robot body of the walking robot and used for scanning the two-dimensional codes of the turnover box.
4. The container tracking system according to any one of claims 1 to 3, wherein the user end prompts the user that the binding is successful after receiving the successful binding result.
5. A turnover box tracking method based on a walking robot is characterized by comprising the following steps:
acquiring the identity information of the turnover box; the turnover box identity information is generated and sent by a label of a turnover box identified by an identifier arranged on the walking robot; the turnover box can be loaded on a tray of the walking robot, and the walking robot is used for walking in the logistics warehouse to transport the turnover box;
packaging the turnover box identity information and preset robot identity information to generate a binding request message;
sending the binding request message to a cloud end so that the cloud end analyzes the binding request message, and extracting the identity information of the turnover box and matching judgment of the pre-registered turnover box information;
if the turnover box identity information is matched with the pre-registered turnover box information, binding the turnover box identity information with the identity information of the walking robot, and feeding back a successful binding result to the user side;
and receiving the successful binding result.
6. The tote tracking method of claim 5, comprising:
and prompting the user that the binding is successful according to the successful binding result.
7. The utility model provides a turnover case tracking means based on walking robot which characterized in that includes:
the identity acquisition module is used for acquiring the identity information of the turnover box; the turnover box identity information is generated and sent by a label of a turnover box identified by an identifier arranged on the walking robot; the turnover box can be loaded on a tray of the walking robot, and the walking robot is used for walking in the logistics warehouse to transport the turnover box;
the message generation module is used for packaging the turnover box identity information and preset robot identity information to generate a binding request message;
the message sending module is used for sending the binding request message to a cloud end so that the cloud end can analyze the binding request message, extract the identity information of the turnover box and match and judge the pre-registered turnover box information, if the identity information of the turnover box is matched with the pre-registered turnover box information, bind the identity information of the turnover box and the identity information of the walking robot, and feed back a successful binding result to a user end;
and the binding receiving module is used for receiving the successful binding result.
8. The tote tracking apparatus of claim 7, comprising:
and the prompting module is used for prompting the user that the binding is successful according to the successful binding result.
9. A terminal comprising a processor and a memory, the memory storing a computer program, wherein the computer program is executed on the processor and is capable of implementing the tote tracking method of claim 5 or 6.
10. A storage medium storing a computer program, wherein the computer program is executed on a processor and is capable of implementing the container tracking method according to claim 5 or 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811144086.XA CN109308595B (en) | 2018-09-29 | 2018-09-29 | Circulation box tracking system, method and device based on walking robot |
| PCT/CN2018/125217 WO2020062688A1 (en) | 2018-09-29 | 2018-12-29 | Circulation box tracking system, method and apparatus based on walking robot, and terminal and storage medium |
| KR1020207028532A KR102546759B1 (en) | 2018-09-29 | 2018-12-29 | Logistics box tracking system based on walking robot, method and device, terminal and storage medium |
| JP2019107208A JP6654729B1 (en) | 2018-09-29 | 2019-06-07 | Turnover box tracking system, method and apparatus, and terminal and storage medium by traveling robot |
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| CN201811144086.XA CN109308595B (en) | 2018-09-29 | 2018-09-29 | Circulation box tracking system, method and device based on walking robot |
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| JP (1) | JP6654729B1 (en) |
| KR (1) | KR102546759B1 (en) |
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| CN110782210B (en) * | 2019-10-26 | 2024-08-06 | 艾信智慧医疗科技发展（苏州）有限公司 | Hospital box type logistics arrival reminding method and system |
| KR20220169037A (en) | 2021-06-17 | 2022-12-27 | 주식회사 스마트이앤에스 | Standardized smart logistics box and shipping and delivering method thereof |
| KR20220168791A (en) | 2021-06-17 | 2022-12-26 | 주식회사 스마트이앤에스 | Pallet for shipping the smart logistics box and relocating method in the cargo truck thereof |
| CN113409786B (en) * | 2021-07-07 | 2023-12-05 | 北京京东乾石科技有限公司 | Voice control method, voice control device, electronic equipment and computer readable storage medium |
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- 2018-12-29 WO PCT/CN2018/125217 patent/WO2020062688A1/en active Application Filing
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| JP6654729B1 (en) | 2020-02-26 |
| JP2020055690A (en) | 2020-04-09 |
| WO2020062688A1 (en) | 2020-04-02 |
| CN109308595A (en) | 2019-02-05 |
| KR20200143368A (en) | 2020-12-23 |
| KR102546759B1 (en) | 2023-06-22 |
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