CN110058590A - Collision processing method for intelligent grass-removing - Google Patents
Collision processing method for intelligent grass-removing Download PDFInfo
- Publication number
- CN110058590A CN110058590A CN201910276844.1A CN201910276844A CN110058590A CN 110058590 A CN110058590 A CN 110058590A CN 201910276844 A CN201910276844 A CN 201910276844A CN 110058590 A CN110058590 A CN 110058590A
- Authority
- CN
- China
- Prior art keywords
- intelligent grass
- working region
- grass
- backway
- processing method
- 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
- 238000003672 processing method Methods 0.000 title claims abstract description 22
- 230000004888 barrier function Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 244000025254 Cannabis sativa Species 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The collision processing method for intelligent grass-removing that the application proposes, belongs to path planning field, the real time position including recording intelligent grass-removing in real time according to inertial navigation data；After colliding, relative distance of the point of impingement relative to working region boundary line is calculated；If relative distance is greater than default backway, intelligent grass-removing is enabled to retreat by default backway, realizes Obstacle avoidance；If relative distance is less than or equal to default backway, intelligent grass-removing is enabled to carry out backward movement by relative distance.In such a way that the positioning label being mounted in working region positions intelligent grass-removing itself, enable intelligent grass-removing that can determine itself accurate location in the first time to collide, intelligent grass-removing can be obtained after obtaining accurate location, and whether there are obstacles on retreating route and the position apart from working region boundary, so that it is determined that carrying out the safe distance of back operation.It is final to realize that when collision retreats be not in the case where being driven out to working region.
Description
Technical field
The invention belongs to path planning fields, the more particularly, to collision processing method of intelligent grass-removing.
Background technique
Detection of obstacles is one of intelligent grass-removing necessary functions.Many products, which are taken, currently on the market encounters barrier then
It retracts, the strategy works then turned to.There is machine to exit the risk of working region under the mode.When machine is continuously collided,
It then may continuously retreat, machine is caused to exit working region.
Summary of the invention
In order to solve shortcoming and defect existing in the prior art, the invention proposes at the collision for intelligent grass-removing
Reason method can position itself by the positioning label being placed in working region, and based on fixed after colliding
Position determines safe backway, to avoid backway is excessive from leading to the case where exiting working region.
Specifically, the collision processing method for intelligent grass-removing that the application proposes, the collision processing method, packet
It includes:
Record the real time position of intelligent grass-removing in real time according to inertial navigation data；
After intelligent grass-removing collides, relative distance of the point of impingement relative to working region boundary line is calculated；
If relative distance is greater than default backway, intelligent grass-removing is enabled to retreat by default backway, realizes barrier
Object is hindered to be hidden；
If relative distance is less than or equal to default backway, moved back after enabling intelligent grass-removing carry out by relative distance
Make.
Optionally, the collision processing method further include:
At least two positioning labels, the hit-treatment are installed along predeterminated position in the working region of intelligent grass-removing
Method, comprising:
After intelligent grass-removing enters working region, timing acquisition intelligent grass-removing passes through the number information of positioning label；
Relative position of the intelligent grass-removing in working region is determined according to obtained number information；
When detecting that intelligent grass-removing collides, intelligent grass-removing is able to carry out according to obtained relative position
Retrogressing is determined, and calculates maximum allowable backway after determining retrogressing.
Optionally, described after intelligent grass-removing enters working region, timing acquisition intelligent grass-removing is by positioning label
Number information, comprising:
During intelligent grass-removing is advanced in working region, every time when intelligent grass-removing is by positioning label,
The serial number of each positioning label is obtained by near-field communication technology；
Time when in conjunction with by each positioning label generates positioning label number information.
Optionally, the number information that the basis obtains determines relative position of the intelligent grass-removing in working region, packet
It includes:
In conjunction with positioning label in the working region map and working region map being stored in advance in intelligent grass-removing
Distribution situation determines relative position of the intelligent grass-removing in working region according to serial number,
Optionally, described when detecting that intelligent grass-removing collides, intelligence is cut according to obtained relative position
Careless machine is able to carry out retrogressing and is determined, and calculates maximum allowable backway after determining retrogressing, comprising:
After detecting that intelligent grass-removing collides, according to the positioning label of distance collision time of origin the last time
Number information determines accurate location of the intelligent grass-removing in working region；
According to whether there are obstacles between accurate location acquisition intelligent grass-removing rear and working region edge；
If there is no barrier, then computational intelligence grass trimmer avoids the safe distance of collision object, and controls intelligence and cut
Careless machine executes back operation as maximum allowable backway by obtained safe distance.
Optionally, the collision processing method, further includes:
If there are barriers between intelligent grass-removing rear and working region edge, intelligent grass-removing and obstacle are obtained
Safe distance between object, and control intelligent grass-removing and retreated by safe distance.
Technical solution provided by the invention has the benefit that
In such a way that the positioning label being mounted in working region positions intelligent grass-removing itself, intelligence is enabled to cut
Careless machine can determine itself accurate location in the first time to collide, and intelligence can be obtained after obtaining accurate location and is cut
Whether there are obstacles on retreating route and the position apart from working region boundary for careless machine, so that it is determined that carrying out back operation
Safe distance.It is final to realize that when collision retreats be not in the case where being driven out to working region.
Detailed description of the invention
It, below will be to attached drawing needed in embodiment description in order to illustrate more clearly of technical solution of the present invention
It is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow diagram one for the collision processing method for intelligent grass-removing that the present embodiment proposes；
Fig. 2 is the flow diagram two for the collision processing method for intelligent grass-removing that the present embodiment proposes.
Specific embodiment
To keep structure and advantage of the invention clearer, structure of the invention is made further below in conjunction with attached drawing
Description.
Embodiment one
In order to avoid the collision processing method for intelligent grass-removing that defect in the prior art, the application propose, such as
Shown in Fig. 1, the collision processing method, comprising:
11, the real time position of intelligent grass-removing is recorded in real time according to inertial navigation data；
12, after intelligent grass-removing collides, relative distance of the point of impingement relative to working region boundary line is calculated；
If 13, relative distance is greater than default backway, intelligent grass-removing is enabled to retreat by default backway, realized
Obstacle avoidance；
If 14, relative distance is less than or equal to default backway, after enabling intelligent grass-removing carry out by relative distance
Move back work.
In an implementation, the real time position of intelligent grass-removing is determined by the mode of inertial navigation, and based on determining real-time
The relative distance relative to working region boundary line is calculated in position.Due to the hit-treatment mode of existing intelligent grass-removing
To take back operation relative to collision front direction, therefore in order to avoid exiting the generation of this phenomenon of working region, this
The processing mode that embodiment is rejected is to be primarily based on safe backway after an impact to be judged, only backway is less than meeting
It is just retreated by default backway when exiting working region relative distance, and realizes that barrier is hided in default backway rear steering
It keeps away；If default backway is greater than or equal to the relative distance for representing safe backway, intelligent grass-removing is controlled by phase
It adjusts the distance retrogressing, in order to avoid exit working region.
In addition, in addition to the mode based on inertial navigation and mileage record that above content provides realizes the processing side after collision
Outside formula, it is also proposed that at least two positioning labels are installed along predeterminated position in the working region of intelligent grass-removing, it is described to touch
Processing method is hit, as shown in Figure 2, comprising:
21, after intelligent grass-removing enters working region, timing acquisition intelligent grass-removing is believed by the number of positioning label
Breath；
22, relative position of the intelligent grass-removing in working region is determined according to obtained number information；
It 23, can to intelligent grass-removing according to obtained relative position when detecting that intelligent grass-removing collides
Retreat and determined, and calculates maximum allowable backway after determining retrogressing.
In an implementation, in order to realize collide after intelligent grass-removing retreat always cause to exit working region this
The occurrence of, the application, which is introduced, positions intelligent grass-removing itself based on the positioning label being mounted in working region
Mode, enable intelligent grass-removing that can determine itself accurate location in the first time to collide, obtaining accurate location
Intelligent grass-removing can be obtained afterwards, and whether there are obstacles on retreating route and the position apart from working region boundary, thus
Determine the safe distance for carrying out back operation.
It on the one hand can satisfy the technical solution of existing collision post-processing, another aspect and energy with safe distance retrogressing in this way
Enough ensure that secondary collision will not occur or exit working region when retreating, meets technical need.
In order to achieve the above objectives, it needs to place several positioning labels, positioning in working region in advance with preset interval
The placement of label is needed with the arrangement of preset interval regularity, typically checkerboard.Based on the stronger distribution rule of such regularity
Rule enables intelligent grass-removing can be with when by positioning label so that positioning the distance between label interval is more unified
The relative position of itself is determined as early as possible.
Optionally, described after intelligent grass-removing enters working region, timing acquisition intelligent grass-removing is by positioning label
Number information, comprising:
During intelligent grass-removing is advanced in working region, every time when intelligent grass-removing is by positioning label,
The serial number of each positioning label is obtained by near-field communication technology；
Time when in conjunction with by each positioning label generates positioning label number information.
In an implementation, positioning label uses near-field communication (near field communication) technology, passes through the skill
When art makes relative distance of the intelligent grass-removing only between positioning label sufficiently small, the letter of positioning label can be got
Breath.Since the two relative distance is sufficiently small, it is able to ascend the positioning accuracy based on positioning label.
It, can be constantly by positioning label when intelligent grass-removing carries out mowing region in working region.It is every fixed by one
Position label, intelligent grass-removing will be updated storage inside to the number information of positioning label.Number information includes to intelligent grass-removing
All positioning label sequence numbers experienced and the time for passing through each positioning label.In this way collide occur when can by when
Between nearest positioning label determine the position of intelligent grass-removing.
Optionally, the number information that the basis obtains determines relative position of the intelligent grass-removing in working region, packet
It includes:
In conjunction with positioning label in the working region map and working region map being stored in advance in intelligent grass-removing
Distribution situation determines relative position of the intelligent grass-removing in working region according to serial number,
In an implementation, it in order to realize based on the localization method of positioning label, needs working region map and place of working
Positioning label distribution situation in figure is stored in advance in intelligent grass-removing, in this way when intelligent grass-removing passes through a certain positioning label
When can determine self-position according to the positioning label information received.
Optionally, described when detecting that intelligent grass-removing collides, intelligence is cut according to obtained relative position
Careless machine is able to carry out retrogressing and is determined, and calculates maximum allowable backway after determining retrogressing, comprising:
After detecting that intelligent grass-removing collides, according to the positioning label of distance collision time of origin the last time
Number information determines accurate location of the intelligent grass-removing in working region；
According to whether there are obstacles between accurate location acquisition intelligent grass-removing rear and working region edge；
If there is no barrier, then computational intelligence grass trimmer avoids the safe distance of collision object, and controls intelligence and cut
Careless machine executes back operation as maximum allowable backway by obtained safe distance.
In an implementation, when determining that current intelligent grass-removing collides by crash sensor, intelligent grass-removing is still
Back operation is equally executed compared with technical solution.Unlike nearest can determine according to apart from current time before back operation
Position label positions itself.Here positioning is to judge that whether there are obstacles and obtains itself to work on reverse paths
Make the distance in regional edge boundary line.In summary two factors calculate will not occur secondary collision and meanwhile will not out-of-bounds it is maximum allowable
Backway executes back operation as safe distance.
Simultaneously in view of backway too far will affect cutting operation efficiency, therefore here herein in connection with history avoidance data
It is determined to hide the most short avoidance distance for the barrier for leading to collision, it is maximum allowable in conjunction with the determination for obtaining safe distance above
Backway.
The collision processing method for intelligent grass-removing that the application proposes, is included in intelligent grass-removing and enters working region
Afterwards, timing acquisition intelligent grass-removing passes through the number information of positioning label；Intelligent grass-removing is determined according to obtained number information
Relative position in working region；When detecting that intelligent grass-removing collides, according to obtained relative position to intelligence
Energy grass trimmer is able to carry out retrogressing and is determined, and calculates maximum allowable backway after determining retrogressing.By being mounted on work
Make the mode that the positioning label in region positions intelligent grass-removing itself, enables intelligent grass-removing that can collide
Determine itself accurate location at the first time, can be obtained after obtaining accurate location intelligent grass-removing on retreating route whether
Position there are barrier and apart from working region boundary, so that it is determined that carrying out the safe distance of back operation.It is final to realize
Collision is not in the case where being driven out to working region when retreating.
Each serial number in above-described embodiment is for illustration only, the assembling for not representing each component or the elder generation in use process
Sequence afterwards.
The above description is only an embodiment of the present invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (6)
1. being used for the collision processing method of intelligent grass-removing, which is characterized in that the collision processing method, comprising:
Record the real time position of intelligent grass-removing in real time according to inertial navigation data；
After intelligent grass-removing collides, relative distance of the point of impingement relative to working region boundary line is calculated；
If relative distance is greater than default backway, intelligent grass-removing is enabled to retreat by default backway, realizes barrier
Hide；
If relative distance is less than or equal to default backway, intelligent grass-removing is enabled to carry out backward movement by relative distance.
2. the collision processing method according to claim 1 for intelligent grass-removing, which is characterized in that intelligent grass-removing
At least two positioning labels, the collision processing method are installed along predeterminated position in working region, comprising:
After intelligent grass-removing enters working region, timing acquisition intelligent grass-removing passes through the number information of positioning label；
Relative position of the intelligent grass-removing in working region is determined according to obtained number information；
When detecting that intelligent grass-removing collides, retrogressing is able to carry out to intelligent grass-removing according to obtained relative position
Determined, and calculates maximum allowable backway after determining retrogressing.
3. the collision processing method according to claim 1 for intelligent grass-removing, which is characterized in that described to be cut intelligently
After careless machine enters working region, timing acquisition intelligent grass-removing passes through the number information of positioning label, comprising:
During intelligent grass-removing is advanced in working region, every time when intelligent grass-removing is by positioning label, pass through
Near-field communication technology obtains the serial number of each positioning label；
Time when in conjunction with by each positioning label generates positioning label number information.
4. the collision processing method according to claim 3 for intelligent grass-removing, which is characterized in that the basis obtains
Number information determine relative position of the intelligent grass-removing in working region, comprising:
In conjunction with the distribution for positioning label in the working region map and working region map being stored in advance in intelligent grass-removing
Situation determines relative position of the intelligent grass-removing in working region according to serial number.
5. the collision processing method according to claim 2 for intelligent grass-removing, which is characterized in that described to detect
When intelligent grass-removing collides, retrogressing is able to carry out to intelligent grass-removing according to obtained relative position and is determined, and
Maximum allowable backway is calculated after determining retrogressing, comprising:
After detecting that intelligent grass-removing collides, believed according to the positioning label number of distance collision time of origin the last time
Cease the accurate location for determining intelligent grass-removing in working region；
According to whether there are obstacles between accurate location acquisition intelligent grass-removing rear and working region edge；
If there is no barrier, then computational intelligence grass trimmer avoids the safe distance of collision object, and controls intelligent grass-removing
Back operation is executed as maximum allowable backway by obtained safe distance.
6. the collision processing method according to claim 5 for intelligent grass-removing, which is characterized in that the hit-treatment
Method, further includes:
If there are barrier between intelligent grass-removing rear and working region edge, obtain intelligent grass-removing and barrier it
Between safe distance, and control intelligent grass-removing and retreated by safe distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910276844.1A CN110058590A (en) | 2019-04-08 | 2019-04-08 | Collision processing method for intelligent grass-removing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910276844.1A CN110058590A (en) | 2019-04-08 | 2019-04-08 | Collision processing method for intelligent grass-removing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110058590A true CN110058590A (en) | 2019-07-26 |
Family
ID=67318449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910276844.1A Pending CN110058590A (en) | 2019-04-08 | 2019-04-08 | Collision processing method for intelligent grass-removing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110058590A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462747A (en) * | 2019-08-19 | 2021-03-09 | 苏州宝时得电动工具有限公司 | Automatic walking equipment, control method and device |
| CN113031589A (en) * | 2021-02-02 | 2021-06-25 | 深圳市优必选科技股份有限公司 | Robot navigation method and device and robot |
| CN113039919A (en) * | 2019-12-26 | 2021-06-29 | 南京德朔实业有限公司 | Intelligent mowing equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120029755A1 (en) * | 2010-07-28 | 2012-02-02 | Johnson David A | Robotic mower area coverage system |
| WO2016115713A1 (en) * | 2015-01-22 | 2016-07-28 | 江玉结 | Rfid-based localization and mapping method and device thereof |
| CN108398944A (en) * | 2016-12-15 | 2018-08-14 | 苏州宝时得电动工具有限公司 | From the operational method of mobile device, from mobile device, memory and server |
| US20180253098A1 (en) * | 2011-04-28 | 2018-09-06 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous working system, an autonomous vehicle and a turning method thereof |
| CN108604098A (en) * | 2016-11-11 | 2018-09-28 | 苏州宝时得电动工具有限公司 | Automatic working system and its control method |
-
2019
- 2019-04-08 CN CN201910276844.1A patent/CN110058590A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120029755A1 (en) * | 2010-07-28 | 2012-02-02 | Johnson David A | Robotic mower area coverage system |
| US20180253098A1 (en) * | 2011-04-28 | 2018-09-06 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous working system, an autonomous vehicle and a turning method thereof |
| WO2016115713A1 (en) * | 2015-01-22 | 2016-07-28 | 江玉结 | Rfid-based localization and mapping method and device thereof |
| CN108604098A (en) * | 2016-11-11 | 2018-09-28 | 苏州宝时得电动工具有限公司 | Automatic working system and its control method |
| CN108398944A (en) * | 2016-12-15 | 2018-08-14 | 苏州宝时得电动工具有限公司 | From the operational method of mobile device, from mobile device, memory and server |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462747A (en) * | 2019-08-19 | 2021-03-09 | 苏州宝时得电动工具有限公司 | Automatic walking equipment, control method and device |
| CN113039919A (en) * | 2019-12-26 | 2021-06-29 | 南京德朔实业有限公司 | Intelligent mowing equipment |
| CN113031589A (en) * | 2021-02-02 | 2021-06-25 | 深圳市优必选科技股份有限公司 | Robot navigation method and device and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110058590A (en) | Collision processing method for intelligent grass-removing | |
| CN110632921B (en) | Robot path planning method and device, electronic equipment and storage medium | |
| CN109407675B (en) | Obstacle avoidance method and chip for robot returning seat and autonomous mobile robot | |
| EP2939513B1 (en) | Lawn mower robot and control method thereof | |
| CN110018686A (en) | A kind of paths planning method of intelligent grass-removing | |
| CN105929823A (en) | Automatic driving system and driving method based on existing map | |
| CN109634286A (en) | Grass-removing robot vision barrier-avoiding method, grass-removing robot and readable storage medium storing program for executing | |
| EP3835907A1 (en) | Self-mobile device, automatic operating system and control method thereof | |
| CN103500506B (en) | A kind of detection method of multichannel special duty route conflict | |
| CN105882520A (en) | Pre-warning method and device of vehicle wading | |
| CN112256034B (en) | Autonomous obstacle avoidance planning method and device | |
| US10668936B2 (en) | Processor and system for train assistance tracking and early-warning | |
| CN110346814B (en) | Obstacle detection and obstacle avoidance control method and system based on 3D laser | |
| AU2019248256A1 (en) | Mobile robot and control method for same | |
| CN109835339B (en) | Channel change decision method and device | |
| CN102713987A (en) | Road information detection device and vehicle travel control device | |
| KR20190095622A (en) | Method and Apparatus for Planning Obstacle Avoiding Path | |
| CN106485952B (en) | V2V-based curve front vehicle identification method | |
| CN112344945B (en) | Indoor distribution robot path planning method and system and indoor distribution robot | |
| US20220197299A1 (en) | Recharging method for mobile robot and mobile robot | |
| KR20150049861A (en) | Apparatus and method for generating driving path of vehicle | |
| CN107293134A (en) | Bus signals priority acccess control strategy based on virtual electronic fence | |
| CN109709944A (en) | A kind of generation method in enter the station method and its path of entering the station of automatic Pilot bus | |
| CN106272434A (en) | One key of a kind of crusing robot makes a return voyage control method and system | |
| CN105621319B (en) | A kind of safe barrier-avoiding method of pallet fork |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190726 |