CN109754406B - Lithium battery pole piece burr detection device and method based on two-dimensional contourgraph - Google Patents
Lithium battery pole piece burr detection device and method based on two-dimensional contourgraph Download PDFInfo
- Publication number
- CN109754406B CN109754406B CN201910197923.3A CN201910197923A CN109754406B CN 109754406 B CN109754406 B CN 109754406B CN 201910197923 A CN201910197923 A CN 201910197923A CN 109754406 B CN109754406 B CN 109754406B
- Authority
- CN
- China
- Prior art keywords
- pole piece
- detected
- points
- burr
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention relates to the field of lithium battery pole piece detection, in particular to a lithium battery pole piece burr detection device and method based on a two-dimensional contourgraph. The method comprises the steps of acquiring an image acquired by a pole piece to be detected as an image to be detected; in response to the fact that the image to be detected comprises two-dimensional contour data of the pole piece region to be detected and the background region, determining the position of an edge point between the pole piece region to be detected and the background region in the image to be detected; and responding to the determined edge point, obtaining burr information used for representing the pole piece to be detected in the image to be detected in the pole piece region to be detected, and quickly and accurately identifying the size of the burr in real time by using the method.
Description
Technical Field
The invention relates to the field of lithium battery pole piece detection, in particular to a lithium battery pole piece burr detection device and method based on a two-dimensional contourgraph.
Background
The edge of the pole piece of the lithium battery is easy to generate burrs in slitting, and if the burrs are too large, the protective film between the positive pole piece and the negative pole piece is easy to puncture, so that the internal short circuit of the battery is caused, and potential safety hazards such as fire explosion and the like are caused.
The traditional burr detection of the lithium battery pole piece needs to cut the pole piece into small sections, and the spot check is carried out through a manual use measuring instrument, so that the spot check process is complex and long in time, but the labor intensity of manual measurement is high, and the result is easy to generate manual misjudgment.
Disclosure of Invention
The invention aims to solve the technical problem of providing a lithium battery pole piece burr detection device and method based on a two-dimensional contourgraph, which can quickly and accurately identify the size of burrs in real time, and has high burr detection efficiency and high detection precision.
In order to solve the technical problems, the technical scheme adopted by the invention for solving the technical problems is as follows:
a lithium battery pole piece burr detection method based on a two-dimensional contourgraph comprises the following steps:
step one, acquiring an image acquired by a pole piece to be detected as an image to be detected;
step two, in response to the fact that the image to be detected comprises two-dimensional contour data of the pole piece region to be detected and the background region, determining the position of an edge point between the pole piece region to be detected and the background region in the image to be detected;
and thirdly, responding to the determined edge point, and acquiring burr information used for representing the pole piece to be detected in the image to be detected in the pole piece region to be detected.
Further, in the first step, the image to be detected is acquired through a two-dimensional contourgraph.
Further, in the first step, the obtained image to be detected is an image of the pole piece to be detected in the constant-speed motion.
Further, in the second step, from the last one in the data of the background area, searching N points forward, and calculating the maximum value MAX _ Roller of the searched N points in the Z direction;
starting from the last one in the data of the background area, the search is continued until the condition is satisfied:
wherein Z (k-1) and Z (k) respectively represent Z coordinate values of a k-1 point and a k point, and Height represents the noise level between pole piece data points;
and when the condition is met, confirming that the k point is the edge point.
Further, in the third step, the step of obtaining the vertical burr height information of the pole piece to be measured includes:
(1) identifying n near edges from edge points1The number of the point for detecting the burr is k-n1～k；
(2) Number of points when participating in straight line fittingNumber n2I.e. the number of points involved in the fitting is k-n1-n2～k-n1；
(3) N to be involved in fitting a straight line2The points are evenly divided into 3 segments according to the sequence, a straight line is fitted by adopting a 3-segment method, and the average value averageZ of the first segment and the third segment in the Z direction and the X direction is obtained1、averageX1、averageZ3、averageX3Then the slope b of the fitted line is:
b＝(averageZ3-averageZ1)/(averageX3-averageX1)
(4) taking an array A (a) formed by all points of the second section of points and the intercept of the Y axis1，a2,a3,...ai....an3) Wherein n is3Is the total number of second segment points, ai＝zi-b*xi；
Sorting A, removing 1/3 large values and 1/3 small values, and calculating the average value a of all the remaining A numbers;
(5) calculating the size of the vertical burr of all the points to be solved according to the formula
hV(j)＝(Z(j)-(a+b*X(j))/(1+b2)1/2
According to step (1), j ranges from k-n1K, finding out the maximum h when all points are calculatedvThe value is compared to a vertical spur threshold and when greater than the threshold, a vertical spur is detected.
Further, the number n of points participating in the straight line fitting2Is a multiple of 3, and n2The value range is 50-200.
Further, in the third step, the step of obtaining the height information of the horizontal burr of the pole piece to be tested includes:
(1) predicting the pole piece edge point of the next frame of data point by adopting a weighted average algorithm according to the pole piece edge point of the previous frame of data point of the pole piece to be detected, wherein the calculation method is
Wherein
Pole piece edge estimated values of an ith frame and an (i +1) th frame are respectively obtained, X (i +1) is a pole piece edge measured value of the (i +1) th frame, and beta is a prediction coefficient;
(2) calculating the size of the horizontal burr of all the points to be solved, wherein the formula is as follows:
hHand comparing with the horizontal direction burr threshold value, and when the threshold value is larger than the threshold value, indicating that the horizontal burr is detected.
Further, the value range of beta is 0-0.3, and the value formula of beta is as follows:
wherein σ is the error in noise of the pole piece point data point.
And further, a measurement coordinate system is established, the X axis of the measurement coordinate system is consistent with the X axis of the two-dimensional contourgraph, the Z axis is consistent with the main optical axis of the two-dimensional contourgraph, the Y axis is consistent with the advancing direction of the pole piece to be measured, and the three axes form a right-hand rectangular coordinate system.
The invention also comprises a lithium battery pole piece burr detection device based on the two-dimensional contourgraph, which comprises the two-dimensional contourgraph, a conveying roller and a processor, wherein the two-dimensional contourgraph is connected with the stable platform through a fixed support, the conveying roller drives a pole piece to be detected arranged on the conveying roller to move at a constant speed, the two-dimensional contourgraph is arranged right above the battery pole piece to be detected and guided by the conveying roller, and a scanning contour line of the two-dimensional contourgraph is used for detecting an edge signal on the pole piece to be detected and feeding back the detected two-dimensional contour signal at the edge of the pole piece to.
The invention has the beneficial effects that:
the method comprises the steps of acquiring an image acquired by a pole piece to be detected as an image to be detected; in response to the fact that the image to be detected comprises two-dimensional contour data of the pole piece region to be detected and the background region, determining the position of an edge point between the pole piece region to be detected and the background region in the image to be detected; and responding to the determined edge point, obtaining burr information used for representing the pole piece to be detected in the image to be detected in the pole piece region to be detected, and quickly and accurately identifying the size of the burr in real time by using the method.
Drawings
FIG. 1 is a schematic diagram of a lithium battery pole piece burr detection device and method based on a two-dimensional contourgraph.
FIG. 2 is a schematic diagram of two-dimensional profile data of a pole piece region to be measured and a background region according to the present invention.
FIG. 3 is a flow chart of the present invention.
The reference numbers in the figures illustrate: 1. fixing a bracket; 2. a two-dimensional profilometer; 3. scanning the contour line; 4. pole pieces to be tested; 5. a conveying roller; 6. a stable platform;
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1-3, a method for detecting burrs of a lithium battery pole piece based on a two-dimensional profiler comprises the following steps:
step one, acquiring an image acquired by a pole piece to be detected as an image to be detected;
step two, in response to the fact that the image to be detected comprises two-dimensional contour data of the pole piece region to be detected and the background region, determining the position of an edge point between the pole piece region to be detected and the background region in the image to be detected;
and thirdly, responding to the determined edge point, and acquiring burr information used for representing the pole piece to be detected in the image to be detected in the pole piece region to be detected.
The image to be detected is single-frame data acquired by a two-dimensional contourgraph, and burr information of the pole piece to be detected, namely burr information in the vertical direction and burr information in the horizontal direction, can be automatically extracted from the single-frame data in real time by adopting the method;
in the first step, the image to be detected is acquired through a two-dimensional contourgraph.
In the first step, the acquired image to be detected is an image of the pole piece to be detected in the constant-speed motion.
The pole piece to be detected obtains single-frame data in the process of uniform motion for detection without considering the influence of a platform for conveying the pole piece to be detected on the pole piece to be detected;
in the second step, N points are searched forward from the last one in the data of the background area, and the maximum value MAX _ Roller of the searched N points in the Z direction is calculated;
starting from the last one in the data of the background area, the search is continued until the condition is satisfied:
wherein Z (k-1) and Z (k) respectively represent Z coordinate values of a k-1 point and a k point, and Height represents the noise level between pole piece data points;
and when the condition is met, confirming that the k point is the edge point.
In the third step, the step of obtaining the vertical burr height information of the pole piece to be tested comprises the following steps:
(1) determining the range of the vertical burr to be detected, and confirming n near the edge according to the edge point1The number of the point for detecting the burr is k-n1～k；
(2) When the number of points participating in the straight line fitting is n2I.e. the number of points involved in the fitting is k-n1-n2～k-n1；
(3) N to be involved in fitting a straight line2The points are evenly divided into 3 sections according to the sequence, a straight line is fitted by adopting a 3-section method, and the average value a of the first section and the third section in the Z direction and the X direction is obtainedverageZ1、averageX1、averageZ3、averageX3Then the slope b of the fitted line is:
b＝(averageZ3-averageZ1)/(averageX3-averageX1)
(4) taking the array A (a) formed by all points of the second segment point and the Y-axis intercept in consideration of noise1，a2,a3,...ai....an3) Wherein n is3Is the total number of second segment points, ai＝zi-b*xi；
Sorting A, removing 1/3 large values and 1/3 small values, and calculating the average value a of all the remaining A numbers;
(5) calculating the size of the vertical burr of all the points to be solved according to the formula
hV(j)＝(Z(j)-(a+b*X(j))/(1+b2)1/2
According to step (1), j ranges from k-n1K, finding out the maximum h when all points are calculatedvThe value is compared to a vertical spur threshold and when greater than the threshold, a vertical spur is detected.
The number n of points participating in straight line fitting2Is a multiple of 3, n, taking into account speed and accuracy2The value range is 50-200.
Step (4) an array A (a) formed by all points of the second section of points and the intercept of the Y axis is taken1，a2,a3,...ai....an3) The polar piece edge data and the background data with very small noise are used as the fitting starting data and the constraint data, so that the measurement precision is higher.
In the third step, the step of obtaining the height information of the horizontal burr of the pole piece to be tested comprises the following steps:
(1) predicting the pole piece edge point of the next frame of data point by adopting a weighted average algorithm according to the pole piece edge point of the previous frame of data point of the pole piece to be detected, wherein the calculation method is
Wherein
Pole piece edge estimated values of an ith frame and an (i +1) th frame are respectively obtained, X (i +1) is a pole piece edge measured value of the (i +1) th frame, and beta is a prediction coefficient;
(2) calculating the size of the horizontal burr of all the points to be solved, wherein the formula is as follows:
hHand comparing with the horizontal direction burr threshold value, and when the threshold value is larger than the threshold value, indicating that the horizontal burr is detected.
The value range of the beta is 0-0.3, and the value formula of the beta is as follows:
wherein σ is the error in noise of the pole piece point data point.
The method further comprises the step of establishing a measurement coordinate system, wherein the X axis of the measurement coordinate system is consistent with the X axis of the two-dimensional contourgraph, the Z axis of the measurement coordinate system is consistent with the main optical axis of the two-dimensional contourgraph, the Y axis of the measurement coordinate system is consistent with the advancing direction of the pole piece to be measured, and the three axes form a right-hand rectangular coordinate system.
The method can be used for measuring the pole piece to be measured in real time, has very high speed, and can output the frame position burr detection result in time for each acquired frame data; the detection precision is accurate and can reach micron level; and the burr sizes in the horizontal direction and the vertical direction can be detected at one time.
The invention also comprises a lithium battery pole piece burr detection device based on the two-dimensional contourgraph, which comprises a two-dimensional contourgraph 2, a conveying roller 5 and a processor, wherein the two-dimensional contourgraph 2 is connected with a stable platform 6 through a fixed support 1, the conveying roller drives a pole piece 4 to be detected arranged on the conveying roller to move at a constant speed, the two-dimensional contourgraph is arranged right above the battery pole piece 4 to be detected and guided by the conveying roller, and a scanning contour line 3 of the two-dimensional contourgraph is used for detecting edge signals on the pole piece to be detected and feeding back the detected two-dimensional contour signals at the edge of the pole piece to
The device has simple installation of measuring equipment, can simultaneously measure burrs in the horizontal direction and the vertical direction, can directly and automatically extract the edges of the lithium battery pole pieces through the two-dimensional profiler, directly obtains the two-dimensional profile signal of each frame of the pole piece to be measured, and obtains the edge image of the pole piece which is completely resolved by the processor, does not need to manually participate in setting various parameters, and ensures the detection precision and the detection speed, wherein the processor is a sharp acid agent or a PLC (programmable logic controller).
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (7)
1. A lithium battery pole piece burr detection method based on a two-dimensional contourgraph is characterized by comprising the following steps:
step one, acquiring an image acquired by a pole piece to be detected as an image to be detected;
step two, in response to the fact that the image to be detected comprises two-dimensional contour data of the pole piece region to be detected and the background region, determining the position of an edge point between the pole piece region to be detected and the background region in the image to be detected;
responding to the determined edge point, and acquiring burr information used for representing a pole piece to be detected in the image to be detected in the pole piece region to be detected;
in the second step, N points are searched forward from the last one in the data of the background area, and the maximum value MAX _ Roller of the searched N points in the Z direction is calculated;
starting from the last one in the data of the background area, the search is continued until the condition is satisfied:
wherein Z (k-1) and Z (k) respectively represent Z coordinate values of a k-1 point and a k point, and Height represents the noise level between pole piece data points;
when the conditions are met, confirming that the kth point is an edge point;
in the third step, the step of obtaining the vertical burr height information of the pole piece to be tested comprises the following steps:
(1) identifying n near edges from edge points1The number of the point for detecting the burr is k-n1～k；
(2) When the number of points participating in the straight line fitting is n2I.e. the number of points involved in the fitting is k-n1-n2～k-n1；
(3) N to be involved in fitting a straight line2The points are evenly divided into 3 segments according to the sequence, a straight line is fitted by adopting a 3-segment method, and the average value averageZ of the first segment and the third segment in the Z direction and the X direction is obtained1、averageX1、averageZ3、averageX3Then the slope b of the fitted line is:
b＝(averageZ3-averageZ1)/(averageX3-averageX1)
(4) taking an array A (a) formed by all points of the second section of points and the intercept of the Y axis1，a2,a3,...ai....an3) Wherein n is3Is the total number of second segment points, ai＝zi-b*xi；
After A is sorted, respectively removing the front 1/3 point and the rear 1/3 point in A, and calculating the average value a of all the remaining numbers of A;
(5) calculating the size of the vertical burr of all the points to be solved according to the formula
hV(j)＝(Z(j)-(a+b*X(j)))/(1+b2)1/2
According to step (1), j ranges from k-n1K, finding out the maximum h when all points are calculatedvThe value is compared to a vertical spur threshold whenAbove the threshold, a vertical glitch is detected.
2. The lithium battery pole piece burr detection method based on the two-dimensional profiler as recited in claim 1, wherein in the first step, the image to be detected is acquired by the two-dimensional profiler.
3. The lithium battery pole piece burr detection method based on the two-dimensional profiler as recited in claim 1, wherein in the first step, the obtained image to be detected is an image of the pole piece to be detected in a constant motion.
4. The two-dimensional profilometer-based lithium battery pole piece burr detection method according to claim 1, wherein the number n of points participating in the straight line fitting2Is a multiple of 3, and n2The value range is 50-200.
5. The lithium battery pole piece burr detection method based on the two-dimensional profiler as recited in claim 4, wherein in the third step, the step of obtaining the horizontal burr height information of the pole piece to be detected comprises:
(1) predicting the pole piece edge point of the next frame of data point by adopting a weighted average algorithm according to the pole piece edge point of the previous frame of data point of the pole piece to be detected, wherein the calculation method is
Wherein
Pole piece edge estimated values of an ith frame and an (i +1) th frame are respectively obtained, X (i +1) is a pole piece edge measured value of the (i +1) th frame, and beta is a prediction coefficient;
(2) calculating the size of the horizontal burr of all the points to be solved, wherein the formula is as follows:
hHand comparing with the horizontal direction burr threshold value, and when the threshold value is larger than the threshold value, indicating that the horizontal burr is detected.
6. The two-dimensional profiler-based lithium battery pole piece burr detection method according to claim 5, wherein the value range of β is 0-0.3, and the value formula of β is:
wherein σ is the error in noise of the pole piece point data point.
7. The two-dimensional profiler-based lithium battery pole piece burr detection method according to claim 1, further comprising establishing a measurement coordinate system, wherein an X-axis of the measurement coordinate system is consistent with an X-axis of the two-dimensional profiler, a Z-axis is consistent with a main optical axis of the two-dimensional profiler, a Y-axis is consistent with a forward direction of a pole piece to be detected, and a right-handed rectangular coordinate system is formed by the three axes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197923.3A CN109754406B (en) | 2019-03-15 | 2019-03-15 | Lithium battery pole piece burr detection device and method based on two-dimensional contourgraph |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197923.3A CN109754406B (en) | 2019-03-15 | 2019-03-15 | Lithium battery pole piece burr detection device and method based on two-dimensional contourgraph |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109754406A CN109754406A (en) | 2019-05-14 |
| CN109754406B true CN109754406B (en) | 2020-11-10 |
Family
ID=66408722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910197923.3A Active CN109754406B (en) | 2019-03-15 | 2019-03-15 | Lithium battery pole piece burr detection device and method based on two-dimensional contourgraph |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109754406B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132203B (en) * | 2019-06-12 | 2021-04-09 | 惠州亿纬锂能股份有限公司 | Metal belt burr measuring method |
| CN110706215A (en) * | 2019-09-26 | 2020-01-17 | 无锡先导智能装备股份有限公司 | Pole piece detection method |
| CN111227444A (en) * | 2020-01-17 | 2020-06-05 | 泉州装备制造研究所 | 3D sole glue spraying path planning method based on k nearest neighbor |
| CN111912846A (en) * | 2020-07-13 | 2020-11-10 | 苏州亚朴智能科技有限公司 | Machine vision-based surface defect and edge burr detection method |
| CN113513991B (en) * | 2021-04-15 | 2023-04-11 | 珠海博明视觉科技有限公司 | Battery pole piece burr height detection method and device |
| CN113740345B (en) * | 2021-08-27 | 2024-03-22 | 电子科技大学(深圳)高等研究院 | Burr detection method and system under high-speed sampling rate |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103606128A (en) * | 2013-12-04 | 2014-02-26 | 天津普达软件技术有限公司 | Method for detecting burrs of outer circle of bottle cap |
| CN207964658U (en) * | 2017-12-25 | 2018-10-12 | 广东德尔智慧工厂科技有限公司 | Lithium battery pole slice cuts burr detection device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1114317A (en) * | 1997-06-19 | 1999-01-22 | Toshiba Corp | Appearance inspection method and device |
| CN101832764A (en) * | 2010-05-17 | 2010-09-15 | 南通北极光自动控制技术有限公司 | Three-dimensional laser scanning on-line detection profiler |
| CN106885530A (en) * | 2017-03-02 | 2017-06-23 | 华南理工大学 | The three-dimensional information acquisition method and system of a kind of microstructural surfaces |
| CN208283302U (en) * | 2018-04-08 | 2018-12-25 | 东莞市创明电池技术有限公司 | Lithium battery pole slice burr detection device |
| CN109086780B (en) * | 2018-08-10 | 2020-08-04 | 北京百度网讯科技有限公司 | Method and device for detecting electrode plate burrs |
| CN109324061B (en) * | 2018-10-11 | 2023-09-22 | 广东德尔智慧工厂科技有限公司 | Burr detection device and method for lithium battery pole piece |
| CN109387523A (en) * | 2018-10-23 | 2019-02-26 | 广州量子激光智能装备有限公司 | A kind of burr detection machine and its detection method |
-
2019
- 2019-03-15 CN CN201910197923.3A patent/CN109754406B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103606128A (en) * | 2013-12-04 | 2014-02-26 | 天津普达软件技术有限公司 | Method for detecting burrs of outer circle of bottle cap |
| CN207964658U (en) * | 2017-12-25 | 2018-10-12 | 广东德尔智慧工厂科技有限公司 | Lithium battery pole slice cuts burr detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109754406A (en) | 2019-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109754406B (en) | Lithium battery pole piece burr detection device and method based on two-dimensional contourgraph | |
| CN109948684B (en) | Quality inspection method, device and equipment for laser radar point cloud data labeling quality | |
| CN111242123B (en) | Power equipment fault diagnosis method based on infrared image | |
| WO2022105676A1 (en) | Method and system for measuring wear of workpiece plane | |
| CN109754401B (en) | Online measuring device and method for burrs at edge of lithium battery pole piece | |
| CN105447444A (en) | OTDR event analysis algorithm based on difference window and template matching | |
| CN109559342B (en) | Method and device for measuring animal body length | |
| JP2007315910A (en) | Lightning charge evaluation device and method | |
| CN112881042B (en) | Wheel set detection system, method and medium based on laser profile | |
| CN110108219A (en) | Measuring method, system, equipment and the readable storage medium storing program for executing of cross-section of cable structure | |
| CN104457911B (en) | A kind of liquid level detection system and liquid-level detecting method | |
| CN110673125B (en) | Sound source positioning method, device, equipment and storage medium based on millimeter wave radar | |
| JP4171752B2 (en) | Lightning strike electric field amount calculation device and method, program, computer-readable recording medium | |
| CN116255896A (en) | Landslide early warning method and device based on satellite and electronic equipment | |
| CN112565615B (en) | Method and device for determining trigger point of flying shooting | |
| CN109737859B (en) | Method and device for detecting sticking foreign matter on sheet medium | |
| CN110617184B (en) | Method and device for detecting blade fault of wind generating set | |
| CN113538411A (en) | Insulator defect detection method and device | |
| TWI645997B (en) | Obstacle detection credibility evaluation method | |
| TWI770863B (en) | Methods and apparatuses for detecting distance | |
| CN113270113B (en) | Method and system for identifying sound signal mixing degree | |
| CN115047474A (en) | Distance measuring method and distance measuring device | |
| CN116488573B (en) | Intelligent operation and maintenance method and device for photovoltaic station | |
| RU116244U1 (en) | NEXT STROBE SIZE FORMING DEVICE FOR OPTICAL NEXT SYSTEMS | |
| CN105067626A (en) | Multiple reflection type image visibility measuring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 15 Mudu East Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Applicant after: Suzhou jieruisi Intelligent Technology Co., Ltd Address before: Zhujiang Road Wuzhong District Mudu town of Suzhou city in Jiangsu province 215000 No. 368 (Mudu Technology Park A025 room) Applicant before: Suzhou Jieruisi Automation Equipment Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wen Erlong Inventor after: Cai Yinqiao Inventor after: Yang Yongzhong Inventor after: Yuan Qiangsheng Inventor before: Wen Erlong Inventor before: Cai Yinqiao Inventor before: Yang Yongzhong Inventor before: Yu Yongtao Inventor before: Yuan Qiangsheng |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 215128 No. 9, Zhufeng Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou jieruisi Intelligent Technology Co.,Ltd. Address before: 215128 No.15, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: Suzhou jieruisi Intelligent Technology Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder |