CN109739266A - A kind of follow-up control method of the unmanned shipping platform in ground - Google Patents
A kind of follow-up control method of the unmanned shipping platform in ground Download PDFInfo
- Publication number
- CN109739266A CN109739266A CN201811467574.4A CN201811467574A CN109739266A CN 109739266 A CN109739266 A CN 109739266A CN 201811467574 A CN201811467574 A CN 201811467574A CN 109739266 A CN109739266 A CN 109739266A
- Authority
- CN
- China
- Prior art keywords
- personnel
- guidance
- shipping platform
- unmanned
- platform
- 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 follow-up control methods of the unmanned shipping platform in ground, belong to unmanned ground vehicle autonomous navigation technology field.The hardware that this method uses includes 3D laser radar sensor, hybrid navigation equipment, industrial personal computer and the guidance personnel for wearing 3M reflective material clothes；The step of this method is realized is as follows: before guidance starts, unmanned shipping platform parking waiting, guidance personnel are located in front of unmanned shipping platform within the scope of 4 meters；When guidance starts, guidance personnel move ahead, after being more than certain distance with unmanned shipping platform distance, vehicle-mounted industrial personal computer carries out target identification to guidance personnel using 3D laser radar sensor and hybrid navigation equipment, controls unmanned shipping platform by recognition result and carries out independently guidance personnel with tracking.The present invention can significantly improve positioning accuracy and control precision.Meanwhile for peripheral obstacle and the effective distance of personnel being guided to detect using laser radar, it realizes mechanism of stopping in emergency, guarantees safety.
Description
Technical field
The invention belongs to unmanned ground vehicle autonomous navigation technology fields, and in particular to the unmanned teams and groups' task guarantee system in ground
Autonomous personnel's follow-up control method of system.Specific people's target is identified by onboard sensor, and then is taken certain
Target following control strategy realizes autonomous teams and groups' accompanying support task of the unmanned shipping platform in ground.
Background technique
Ground unmanned systems have merged the multidisciplinary advanced skill such as machine-building, automatic control, sensor application, artificial intelligence
Art Yu Yiti, be mechanization, informationization, intelligent fusion development Typical Representative.Currently, it is carried by unmanned platform itself
The unmanned platform technology that sensor carries out full autonomous control is still immature, it is difficult to cope with application environment complicated and changeable, as city,
Rural area, field, river shoal, jungle etc. are required manual intervention to ensure effective application under special scenes.Based on guidance-retinue
Unmanned ground vehicle technology, it is real by being identified and positioned to the specific effective target for following personnel using target identification technology
The semi-autonomous of existing unmanned platform can effectively mitigate the load of personnel with escorting, and in Material Transportation and execute in support mission
It is of great significance.
In the prior art, most of transportation system is real by the way of radio-positioning or built-in encoder traction rope
Now the unmanned platform of teams and groups is autonomous adjoint, and there are the following problems for above method:
1, distance limitation.For carrying out the unmanned teams and groups' system in ground of target following using wireless locating module, nothing
Line electricity positioning accuracy is influenced more serious by distance, while being interfered, is easy by periphery electromagnetic environment and other wireless telecom equipments
Positioning signal is caused to lose or occur deviations.And traction rope is relied on to realize autonomous adjoint unmanned teams and groups' system, nobody is flat
The effective pickup range of platform is pulled the limitation of rope length degree and encoder accuracy.
2, safety factor.Wireless communication influenced by electromagnetic signal it is more serious, be easy to appear target positioning mutation, exist
Security risk, while wireless communication signals intensity, with range attenuation, stability is poor；By the adjoint platform of traction rope, due to needing
Guide personnel the moment to hold rope in hand, when hauling distance is larger, traction rope be easy to involve the barrier of surrounding or
Person twines the behavioral system into unmanned platform, all there is potential risk to teams and groups' shipping platform itself and pilot.
3, convenience is bad.Wireless telecom equipment is backpack equipment, and guarantees communication distance, is generally set using high-power
Standby, volume is larger, has aggravated the burden of guidance personnel；And the adjoint Platform Designing of traction rope is relied on, traction rope needs the moment to hold
In pilot's hand, convenience is poor.
Summary of the invention
In view of this, the present invention provides a kind of follow-up control method of the unmanned shipping platform in ground, by will be real-time
Location information and history localization information fusion and filtering processing can significantly improve positioning accuracy and control precision.Meanwhile benefit
For peripheral obstacle and the effective distance of personnel is guided to detect with laser radar, realizes mechanism of stopping in emergency, guarantee safety.
A kind of follow-up control method of the unmanned shipping platform in ground, the hardware that this method uses includes that unmanned shipping platform is taken
3D laser radar sensor, hybrid navigation equipment, industrial personal computer and the guidance personnel for wearing 3M reflective material clothes of load；This method
The step of realization, is as follows:
Step 1: before guidance starts, unmanned shipping platform parking waiting, guidance personnel are located at 4 in front of unmanned shipping platform
In rice range；
Step 2: when guidance starts, guidance personnel move ahead, after being more than certain distance with unmanned shipping platform distance, vehicle
It carries industrial personal computer and target identification is carried out to guidance personnel using 3D laser radar sensor and hybrid navigation equipment, pass through recognition result
Unmanned shipping platform is controlled to carry out independently with tracking guidance personnel.
Further, the industrial personal computer by 3D laser radar obtain environmental information, by data extract and signature analysis,
Simultaneously using the positioning and directing information of unmanned shipping platform, history object detection results are merged, realize having for personnel targets position
Effect detection and Lu Bang Control Sampled-Data.
Further, the forward speed of the positional relationship and guidance personnel of the unmanned shipping platform and guidance personnel,
The traveling of unmanned shipping platform is divided into four kinds of low speed, middling speed, high speed and reversing modes；Wherein, low-speed mode, which uses, is based on orientation
The course changing control at angle, according to the angular position relative of guidance personnel and unmanned shipping platform, flexibly control is turned to, and realizes minor radius
It turns to and avoidance is current；High-speed mode is used for the fast passing in the good section of road conditions, and maximum by constraint platform turns to
Angle prevents the racing in platform high speed traveling process to guarantee driving safety；Middle fast mode is adjoint under normal circumstances
Current, unmanned shipping platform travel speed is close with the guidance normal leg speed of personnel；Reversing mode is set as special driving mode,
It only can just be triggered under platform dead ship condition, to guarantee safety.
Further, the process that industrial personal computer carries out target identification to guidance personnel in the step 2 is as follows:
Step 1:3D laser radar apparatus reads environment point cloud data, carries out data preprocessing, including point cloud data
Coordinate conversion and echo strength analysis etc.；
Step 2: carrying out the segmentation of point cloud data using difference in height, absolute altitude and echo strength, realize to include guide people
Detection of obstacles including member, obtains barrier point cloud data set；
Step 3: obstacle object point converges conjunction noise processed, filters out the biggish point of volume and converges conjunction, obtains point-of-interest cloud
Data；
Step 4: point-of-interest cloud data space clustering obtains guidance personnel's target candidate agglomerate；
Step 5: by means of positioning and directing data, object matching being carried out to candidate agglomerate and history guidance personnel targets, is obtained
Information is continuously tracked to guidance personnel targets；
Step 6: analysis identification guidance personnel targets, including guidance personnel track, speed, movement tendency and subsequent time position
It sets.
The utility model has the advantages that
Autonomous personnel's model- following control and onboard system provided by the invention realize the unmanned teams and groups in ground with transport, energy
Enough itself loads for effectively mitigating conveying people, and can adapt to different speed requirements, improve the safety of transportation system, teams and groups
Property, convenience and practicability.
Detailed description of the invention
Fig. 1 is the schematic diagram of the follow-up control method of the unmanned shipping platform in ground of the present invention
Fig. 2 is that personnel of the invention follow guidance speed control state diagram.
Fig. 3 is guidance personnel's target identification flow chart of the invention
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of follow-up control method of the unmanned shipping platform in ground, the hardware that this method uses includes nothing
3D laser radar sensor that people's shipping platform carries, industrial personal computer and is worn drawing for 3M reflective material clothes hybrid navigation equipment
Lead personnel；As shown in Fig. 1, the step of this method is realized is as follows:
Step 1: before guidance starts, unmanned shipping platform parking waiting, guidance personnel are located at 4 in front of unmanned shipping platform
In rice range；
Step 2: when guidance starts, guidance personnel move ahead, after being more than certain distance with unmanned shipping platform distance, vehicle
It carries industrial personal computer and target identification is carried out to guidance personnel using 3D laser radar sensor and hybrid navigation equipment, pass through recognition result
Unmanned shipping platform is controlled to carry out independently with tracking guidance personnel.
Industrial personal computer obtains environmental information by 3D laser radar, by data extraction and signature analysis, while utilizing nobody
The positioning and directing information of shipping platform merges history object detection results, realizes effective detection and the robust of personnel targets position
Property control.
As shown in Fig. 2, the forward speed of the positional relationship and guidance personnel of unmanned shipping platform and guidance personnel, nothing
The traveling of people's shipping platform is divided into four kinds of low speed, middling speed, high speed and reversing modes；Wherein, low-speed mode, which uses, is based on azimuth
Course changing control, according to the angular position relative of guidance personnel and unmanned shipping platform, flexibly control is turned to, and realizes minor radius turn
It passes through to avoidance；High-speed mode is used for the fast passing in the good section of road conditions, by constraining the steering locking angle of platform,
Prevent the racing in platform high speed traveling process to guarantee driving safety；Middle fast mode is under normal circumstances with logical
Row, unmanned shipping platform travel speed are close with the guidance normal leg speed of personnel；Reversing mode is set as special driving mode, only
Having can just trigger under platform dead ship condition, to guarantee safety.
Condition therein is as follows:
Condition 1: the fore-and-aft distance of guidance personnel and vehicle is more than or equal to 4 meters；
Condition 2: the fore-and-aft distance of guidance personnel and vehicle is less than 4 meters；
Condition 3: the fore-and-aft distance of guidance personnel and vehicle is more than or equal to 8 meters；
Condition 4: the fore-and-aft distance of guidance personnel and vehicle is less than 8 meters；
Condition 5: the fore-and-aft distance of guidance personnel and vehicle is more than or equal to 18 meters or the speed of personnel is guided to be more than or equal to 10
Thousand ms/h；
Condition 6: guidance personnel and vehicle fore-and-aft distance be less than or equal to 18 meters or guide personnel speed lower than 10 kms/
Hour；
Condition 7: the fore-and-aft distance of guidance personnel and vehicle is less than 4 meters or the speed of guidance personnel is lower than 10,000 ms/h；
Condition 8: the fore-and-aft distance of guidance personnel and vehicle is less than 8 meters and is more than or equal to 4 meters；
Condition 9: guidance personnel less than 18 meters and are more than or equal to 8 meters and guide the speed of personnel low with the fore-and-aft distance of vehicle
In 10,000 ms/h；
Condition 10: the fore-and-aft distance of guidance personnel and vehicle is more than or equal to 18 meters or guides the fore-and-aft distance of personnel and vehicle
More than or equal to 8 meters and the speed of personnel is guided to be lower than 10,000 ms/h；
Condition 11: the fore-and-aft distance of guidance personnel and vehicle is less than or equal to 1 meter and current vehicle speed less than 2 meters, lateral distance
It is zero, is kept for a period of time；
Condition 12: the fore-and-aft distance of guidance personnel and vehicle is more than or equal to 2 meters；
Condition 13: the fore-and-aft distance of guidance personnel and vehicle is less than 3 meters；
Condition 14: the fore-and-aft distance of guidance personnel and vehicle is less than 4 meters and is more than or equal to 2 meters.
The speed control factor of unmanned platform includes: relative positional relationship (including the longitudinal direction of guidance personnel and unmanned platform
Distance, lateral distance), the speed of travel etc. of guidance personnel.The steering capability of unmanned platform is by current vehicle speed and guides personnel's
Positional relationship is related, when platform speed is relatively slow and guidance personnel are located within the scope of 8 meters of vehicle platform, using based on azimuthal
The steering capability of steering pattern, platform is larger, has and follows personnel to guide flexible rotating convenient for vehicle platform, while tightly following and drawing
Lead personnel, the passage of avoiding barrier and narrow space；When guide personnel apart from vehicle compared with distant positions when (especially lengthwise position
Farther out), the steering curvature for suitably constraining unmanned platform avoids the occurrence of the racing under high speed, to guarantee safety.When guidance personnel position
In within the scope of unmanned 3 meters of platform front and when current platform speed is larger, emergency braking is taken, to guarantee that guidance personnel pacify
Entirely.When guidance, personnel are located within the scope of 2 meters of right ahead, and the speed of teams and groups' shipping platform is zero and keeps certain time
Afterwards, start low-reverse mode, when the personnel of guidance become remote apart from teams and groups' platform distance, reversing mode terminates, and is switched to parking
Mode.
As shown in Fig. 3, the process that industrial personal computer carries out target identification to guidance personnel in step 2 is as follows:
Step 1:3D laser radar apparatus reads environment point cloud data, carries out data preprocessing, including point cloud data
Coordinate conversion and echo strength analysis etc.；
Step 2: carrying out the segmentation of point cloud data using difference in height, absolute altitude and echo strength, realize to include guide people
Detection of obstacles including member, obtains barrier point cloud data set；
Step 3: obstacle object point converges conjunction noise processed, filters out the biggish point of volume and converges conjunction, obtains point-of-interest cloud
Data；
Step 4: point-of-interest cloud data space clustering obtains guidance personnel's target candidate agglomerate；
Step 5: by means of positioning and directing data, object matching being carried out to candidate agglomerate and history guidance personnel targets, is obtained
Information is continuously tracked to guidance personnel targets；
Step 6: analysis identification guidance personnel targets, including guidance personnel track, speed, movement tendency and subsequent time position
It sets.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (4)
1. a kind of follow-up control method of the unmanned shipping platform in ground, which is characterized in that the hardware that this method uses includes for nobody
3D laser radar sensor, hybrid navigation equipment, industrial personal computer and the guidance for wearing 3M reflective material clothes that shipping platform carries
Personnel；The step of this method is realized is as follows:
Step 1: before guidance starts, unmanned shipping platform parking waiting, guidance personnel are located at 4 meters of models in front of unmanned shipping platform
In enclosing；
Step 2: when guidance starts, guidance personnel move ahead, after being more than certain distance with unmanned shipping platform distance, vehicle-mounted work
Control machine carries out target identification to guidance personnel using 3D laser radar sensor and hybrid navigation equipment, is controlled by recognition result
Unmanned shipping platform carries out independently with tracking guidance personnel.
2. follow-up control method as described in claim 1, which is characterized in that the industrial personal computer obtains ring by 3D laser radar
Border information merges history target by data extraction and signature analysis, while using the positioning and directing information of unmanned shipping platform
Testing result realizes effective detection and the Lu Bang Control Sampled-Data of personnel targets position.
3. follow-up control method as claimed in claim 1 or 2, which is characterized in that the unmanned shipping platform and guidance personnel
Positional relationship and guide personnel forward speed, the traveling of unmanned shipping platform be divided into low speed, middling speed, high speed and reversing four
Kind mode；Wherein, low-speed mode, which uses, is based on azimuthal course changing control, according to the angle of guidance personnel and unmanned shipping platform
Positional relationship, flexibly control turns to, and realizes that small radius steering and avoidance are current；High-speed mode is for the good section of road conditions
Fast passing prevents the racing in platform high speed traveling process to guarantee traveling peace by constraining the steering locking angle of platform
Entirely；Middle fast mode is under normal circumstances with current, the normal leg speed of unmanned shipping platform travel speed and guidance personnel
It is close；Reversing mode is set as special driving mode, only can just trigger under platform dead ship condition, to guarantee safety.
4. follow-up control method as described in claim 1, which is characterized in that in the step 2 industrial personal computer to guidance personnel into
The process of row target identification is as follows:
Step 1:3D laser radar apparatus reads environment point cloud data, carries out data preprocessing, including point cloud data coordinate
Conversion and echo strength analysis etc.；
Step 2: carrying out the segmentation of point cloud data using difference in height, absolute altitude and echo strength, realize and exist comprising guidance personnel
Interior detection of obstacles obtains barrier point cloud data set；
Step 3: obstacle object point converges conjunction noise processed, filters out the biggish point of volume and converges conjunction, obtains point cloud data interested；
Step 4: point-of-interest cloud data space clustering obtains guidance personnel's target candidate agglomerate；
Step 5: by means of positioning and directing data, object matching being carried out to candidate agglomerate and history guidance personnel targets, is drawn
That leads personnel targets is continuously tracked information；
Step 6: analysis identification guidance personnel targets, including guidance personnel track, speed, movement tendency and subsequent time position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811467574.4A CN109739266A (en) | 2018-12-03 | 2018-12-03 | A kind of follow-up control method of the unmanned shipping platform in ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811467574.4A CN109739266A (en) | 2018-12-03 | 2018-12-03 | A kind of follow-up control method of the unmanned shipping platform in ground |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109739266A true CN109739266A (en) | 2019-05-10 |
Family
ID=66358447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811467574.4A Pending CN109739266A (en) | 2018-12-03 | 2018-12-03 | A kind of follow-up control method of the unmanned shipping platform in ground |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109739266A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012201A (en) * | 2021-03-24 | 2021-06-22 | 中国北方车辆研究所 | Ground unmanned platform personnel tracking method based on deep learning |
| CN113702967A (en) * | 2021-09-24 | 2021-11-26 | 中国北方车辆研究所 | Vehicle target guiding and tracking method of ground unmanned platform and vehicle-mounted system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59132007A (en) * | 1983-01-17 | 1984-07-30 | Daifuku Co Ltd | Guiding method of unattended vehicle |
| US20090087029A1 (en) * | 2007-08-22 | 2009-04-02 | American Gnc Corporation | 4D GIS based virtual reality for moving target prediction |
| CN105224912A (en) * | 2015-08-31 | 2016-01-06 | 电子科技大学 | Based on the video pedestrian detection and tracking method of movable information and Track association |
| CN106127766A (en) * | 2016-06-24 | 2016-11-16 | 国家新闻出版广电总局广播科学研究院 | Based on Space Coupling relation and the method for tracking target of historical models |
| CN106708061A (en) * | 2017-03-07 | 2017-05-24 | 江苏大学 | Cooperative follow-up operation navigation method and cooperative follow-up operation navigation device of greenhouse mobile operation platform |
| CN108303711A (en) * | 2017-12-19 | 2018-07-20 | 深圳市海梁科技有限公司 | A kind of reflecting strips and intelligent automobile laser radar detecting system |
| CN208061024U (en) * | 2018-02-08 | 2018-11-06 | 苏州纳秒机器人有限公司 | A kind of sorting of electric business follows robot automatically |
-
2018
- 2018-12-03 CN CN201811467574.4A patent/CN109739266A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59132007A (en) * | 1983-01-17 | 1984-07-30 | Daifuku Co Ltd | Guiding method of unattended vehicle |
| US20090087029A1 (en) * | 2007-08-22 | 2009-04-02 | American Gnc Corporation | 4D GIS based virtual reality for moving target prediction |
| CN105224912A (en) * | 2015-08-31 | 2016-01-06 | 电子科技大学 | Based on the video pedestrian detection and tracking method of movable information and Track association |
| CN106127766A (en) * | 2016-06-24 | 2016-11-16 | 国家新闻出版广电总局广播科学研究院 | Based on Space Coupling relation and the method for tracking target of historical models |
| CN106708061A (en) * | 2017-03-07 | 2017-05-24 | 江苏大学 | Cooperative follow-up operation navigation method and cooperative follow-up operation navigation device of greenhouse mobile operation platform |
| CN108303711A (en) * | 2017-12-19 | 2018-07-20 | 深圳市海梁科技有限公司 | A kind of reflecting strips and intelligent automobile laser radar detecting system |
| CN208061024U (en) * | 2018-02-08 | 2018-11-06 | 苏州纳秒机器人有限公司 | A kind of sorting of electric business follows robot automatically |
Non-Patent Citations (2)
| Title |
|---|
| 李宁 等: "基于多线激光雷达的非结构化道路感知技术研究", 《车辆与动力技术》 * |
| 陕西省科学技术信息研究所: "《陕西省"十三五"科技发展战略研究》", 31 May 2017 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012201A (en) * | 2021-03-24 | 2021-06-22 | 中国北方车辆研究所 | Ground unmanned platform personnel tracking method based on deep learning |
| CN113012201B (en) * | 2021-03-24 | 2024-03-19 | 中国北方车辆研究所 | Ground unmanned platform personnel tracking method based on deep learning |
| CN113702967A (en) * | 2021-09-24 | 2021-11-26 | 中国北方车辆研究所 | Vehicle target guiding and tracking method of ground unmanned platform and vehicle-mounted system |
| CN113702967B (en) * | 2021-09-24 | 2023-07-28 | 中国北方车辆研究所 | Method for identifying and tracking guided vehicle target of ground unmanned platform and vehicle-mounted system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6949238B2 (en) | Systems and methods for improving collision avoidance in logistics ground support devices using fusion of multi-sensor detection | |
| US11829138B1 (en) | Change detection using curve alignment | |
| US9440647B1 (en) | Safely navigating crosswalks | |
| CN108944929B (en) | A kind of target extraction method for Vehicle Adaptive Cruising Control Systems | |
| CN110296713A (en) | Trackside automatic driving vehicle Position Fixing Navigation System and single, multiple vehicle positioning and navigation methods | |
| CN108845579A (en) | A kind of automated driving system and its method of port vehicle | |
| CN109062209A (en) | A kind of intelligently auxiliary Ride Control System and its control method | |
| CN106585623A (en) | Detection system for detecting targets around vehicle and application of detection system | |
| CN208149310U (en) | A kind of context aware systems for automatic driving vehicle | |
| KR20150118544A (en) | Aerial positioning systems and methods | |
| CN109062205A (en) | Artificial intelligence automobile Unmanned Systems | |
| CN113791621B (en) | Automatic steering tractor and airplane docking method and system | |
| CN114442101B (en) | Vehicle navigation method, device, equipment and medium based on imaging millimeter wave radar | |
| CN113085896B (en) | Auxiliary automatic driving system and method for modern rail cleaning vehicle | |
| CN112477533B (en) | Dual-purpose transport robot of facility agriculture rail | |
| CN110147100A (en) | A kind of AGV platform and air navigation aid with high-precision navigation locating function | |
| CN109739266A (en) | A kind of follow-up control method of the unmanned shipping platform in ground | |
| CN111930125A (en) | Low-cost obstacle detection device and method suitable for AGV | |
| CN110989642A (en) | Aircraft ground traction intelligent auxiliary method and system based on three-dimensional path tracking | |
| CN114063090A (en) | Mobile equipment positioning method and device and mobile equipment | |
| CN106443737A (en) | Track plotting algorithm for unmanned vehicle running based on multi-point GPS | |
| Ma et al. | Visual target detection for energy consumption optimization of unmanned surface vehicle | |
| CN107728622A (en) | A kind of unmanned mechanical vehicle pose measurement and method for tracing based on ultrasonic array | |
| Li et al. | Real-time 3D-Lidar, MMW Radar and GPS/IMU fusion based vehicle detection and tracking in unstructured environment | |
| CN102968119A (en) | Automatic visual guide vehicle for constant illumination |
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: 20190510 |
|
| RJ01 | Rejection of invention patent application after publication |