CN110260875A - A kind of method in Global motion planning path, Global motion planning device and storage medium - Google Patents
A kind of method in Global motion planning path, Global motion planning device and storage medium Download PDFInfo
- Publication number
- CN110260875A CN110260875A CN201910538396.8A CN201910538396A CN110260875A CN 110260875 A CN110260875 A CN 110260875A CN 201910538396 A CN201910538396 A CN 201910538396A CN 110260875 A CN110260875 A CN 110260875A
- Authority
- CN
- China
- Prior art keywords
- path
- mobile robot
- planning
- point
- global motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
Abstract
The invention discloses a kind of method in Global motion planning path, Global motion planning device and storage mediums, belong to robotic technology field.This method includes receiving multiple path points of First Series, according to the current posture of mobile robot, planning is sent to mobile robot with the path of first path point, when mobile robot reaches first path point of planning, according to the current posture of mobile robot, the step of planning is sent to mobile robot with the path of second path point, repeats above-mentioned planning path and transmitting path, until mobile robot reaches the last one path point of First Series.The method provided through the invention, when having received a series of path points, path planning is all re-started according to the current posture of robot when reaching each path point, can preferably cope with unpredictalbe barrier and environmental change, improves Global motion planning device to the real-time of path planning.
Description
Technical field
The present invention relates to the mobile paths planning methods of the technical field of robot more particularly to a kind of robot, the overall situation
Planner and storage medium.
Background technique
Path planning is the most basic link of Mobile Robotics Navigation, it refers to robot in the building ring for having barrier
In border, one how is found from origin-to-destination motion path appropriate, makes robot during the motion can safety, collisionless
Ground bypasses all barriers.
Global motion planning refers to that robot in the environment with barrier, according to one or more performance indicators, gives machine
People plans that a paths, robot are moved to another point from a point according to the path of planning.In traditional Global motion planning device
In, it is planning path to be carried out according to single-pathway point, and need to follow specific operational plan, therefore inflexible and real-time
Property is not high.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of method in Global motion planning path, it is complete to solve the prior art
Office's planning path method lacks flexibility, and the problem that real-time is not high.
It is as follows that the present invention solves technical solution used by above-mentioned technical problem:
According to the first aspect of the invention, a kind of method in Global motion planning path is provided, Global motion planning device, institute are suitable for
State method the following steps are included:
Receive multiple path points of First Series；
According to the current posture of mobile robot, planning is sent to mobile robot with the path of first path point；
When mobile robot reaches first path point of planning, according to the current posture of mobile robot, planning is had
The path of second path point is sent to mobile robot；
The step of repeating above-mentioned planning path and transmitting path, until mobile robot reaches the last one of First Series
Path point.
According to the second aspect of the invention, a kind of Global motion planning device is provided, the Global motion planning device include: receiver,
Controller and transmitter, the receiver receive multiple path points of First Series, and the controller is worked as according to mobile robot
Preceding posture, planning have the path of first path point, and the path with first path point is sent to shifting by transmitter
Mobile robot, when mobile robot reaches first path point of planning, the controller is according to the current appearance of mobile robot
Gesture, planning has the path of second path point, and the path with first path point is sent to movement by transmitter
Robot, the controller and transmitter repeat the step of above-mentioned planning path and transmitting path, until mobile robot reaches
The last one path point of First Series.
According to the third aspect of the present invention, a kind of computer readable storage medium is provided, which is characterized in that the calculating
It is stored with computer program on machine readable storage medium storing program for executing, such as first aspect is realized when the computer program is executed by processor
Or described in the second aspect the step of Global motion planning path.
A series of Global motion planning Path Method of the embodiment of the present invention, when having received path points, when each path of arrival
Path planning is all re-started according to the current posture of robot when point, can preferably cope with unpredictalbe barrier and ring
Border variation, improves Global motion planning device to the real-time of path planning.
Detailed description of the invention
Fig. 1 is a kind of flow chart for Global motion planning Path Method that the embodiment of the present invention one provides；
Fig. 2 is a kind of structural schematic diagram of Global motion planning device provided by Embodiment 2 of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, if using the suffix for indicating such as " module ", " component " or " unit " of element
Only for being conducive to explanation of the invention, itself there is no specific meaning.Therefore, " module ", " component " or " unit " can be with
Mixedly use.
The embodiment of the present invention one provides a kind of method in Global motion planning path, is suitable for Global motion planning device.Please refer to figure
1, method flow includes:
Step S101, multiple path points of First Series are received；
Before receiving multiple path points of First Series, Global motion planning device is idle state.When receiving path point
When, Global motion planning device opens planning state.
Step S102, according to the current posture of mobile robot, planning is sent to movement with the path of first path point
Robot；
Mobile robot posture includes the location of robot, direction etc..
Optionally, according to the current posture of mobile robot, planning is sent to moving machine with the path of first path point
Device people, concrete mode are as follows:
Position and direction are presently according to mobile robot, element, Quick Extended random number R RT or road are searched using figure
At least one of line chart algorithmic rule is sent to mobile robot with the path of first path point.
Optionally, according to the current posture of mobile robot, planning is sent to mobile robot with the path of path point
Later, Global motion planning device is wait state within the waiting time of setting.The waiting time of the setting can be robot from
The estimated time of starting point arrival destination path point.
At the end of the waiting time of the setting, whether Global motion planning device detection mobile robot reaches the path of planning
Point, when detection, which moves on to robot, does not reach the path point of planning, according to the current posture of mobile robot, planning, which has, again is somebody's turn to do
The path of path point is sent to mobile robot.When detection, which moves on to robot, arrived the path point of planning, then execute subsequent
Step S103.
Step S103, when mobile robot reaches first path point of planning, according to the current posture of mobile robot,
Planning is sent to mobile robot with the path of second path point；
Step S104, the step of repeating above-mentioned planning path and transmitting path, until mobile robot reaches First Series
The last one path point.
Optionally, after mobile robot reaches the last one path point of First Series, Global motion planning device restores idle
State waits second series path point to be received.
Optionally, before mobile robot reaches the last one path point, if receiving second series path point,
Abandon the First Series path point, and the step of planning path and transmitting path are carried out according to second series path point.
In practical application, when Global motion planning device is not received by any path point, Global motion planning device is in idle condition.
When receiving a series of or either path point, Global motion planning device opens planning state, and planning one has the road of path point
Diameter is sent to mobile robot.Robot is then moved according to the path of planning, when robot starts mobile, Global motion planning
Device is waited within the set time, and at the end of wait state, whether detection robot reaches the first path of planning
Point, if detecting the first path point for not reaching planning, according to robot, currently new posture is planned again, so as to
Cope with unpredictalbe variation or obstacle.If detect the first path point that arrived planning, root if Global motion planning device
According to the current posture of robot, continue path of the planning with the second path point to robot, robot reaches second path
The process of point is identical with the aforementioned process for reaching first path point, and so on, repeat above-mentioned planning path and transmitting path
The step of, until mobile robot reaches the last one path point of First Series, later, Global motion planning device is in idle shape
State, until receiving new series or either path point.
Also, before mobile robot reaches a series of the last one path point, if received new a series of
It when path point, then represents Global motion planning device and needs to change existing path planning, therefore, Global motion planning device is a series of before abandoning
Path point, and series of paths point new based on the received re-starts planning path and transmitting path to robot.
A series of method in Global motion planning path provided in this embodiment, when having received path points, when each road of arrival
Path planning is all re-started according to the current posture of robot when diameter point, can preferably cope with unpredictalbe barrier and
Environmental change, further, in robot moving process, if Global motion planning device receives a series of new path points,
Path planning will be re-started according to new range path point, and further improve Global motion planning device to the real-time of path planning.
Referring to Fig. 2, second embodiment of the present invention provides a kind of Global motion planning devices.The Global motion planning device includes receiver
201, controller 202 and transmitter 203.
The receiver 201 receives multiple path points of First Series.
The controller 202 is according to the current posture of mobile robot, and planning is with first path point in First Series
Path, mobile robot will be sent to the path of first path point by transmitter 203.
When mobile robot reaches first path point of planning, the controller 202 is current according to mobile robot
Posture, planning has the path of second path point, and is sent to the path with second path point by transmitter 203
Mobile robot.
The step of controller 202 and transmitter 203 repeat above-mentioned planning path and transmitting path, until mobile machine
The last one path point of people's arrival First Series.
According to the current posture of mobile robot, planning is sent to mobile robot with the path of first path point, has
Body mode are as follows:
Position and direction are presently according to mobile robot, element, Quick Extended random number R RT or road are searched using figure
At least one of line chart algorithmic rule is sent to mobile robot with the path of first path point.
Optionally, the Global motion planning device further includes detector 204, and the transmitter 203 will have the path of path point
It is sent to after mobile robot, Global motion planning device is wait state within the waiting time of setting, when the waiting of the setting
At the end of time, the detector 204 detects the path point whether mobile robot reaches planning, when mobile robot does not reach
When the path point of planning, according to the current posture of mobile robot, the controller 202 plans the road with the path point again
Diameter, and mobile robot is sent to by transmitter 203.
Optionally, before mobile robot reaches the last one path point, if the receiver 201 receives second
Series of paths point, then the controller 202 abandons First Series path point, and carries out planning road according to second series path point
Diameter, and the path is sent to mobile robot by the transmitter 203.
During path planning, there are three states for Global motion planning device, are respectively: idle state, waits shape at planning state
State.
When Global motion planning device does not receive any path point information, Global motion planning device is in idle condition；When receiving
When a series of or either path point, Global motion planning device opens planning state, and one path with path point of planning is sent to
Mobile robot；When the path that planning is had path point is sent to mobile robot, and robot starts mobile, Global motion planning
Device is wait state within the waiting time of setting.
Following table is please referred to, is state table of the Global motion planning device in path planning.Wherein, destination, that is, path point.
Global motion planning device provided in this embodiment, when having received a series of path points, all when reaching each path point
According to robot, current posture re-starts path planning, can preferably cope with unpredictalbe barrier and environment becomes
Change, further, in robot moving process, if Global motion planning device receives a series of new path points, by basis
New range path point re-starts path planning, further improves Global motion planning device to the real-time of path planning.
On the basis of previous embodiment, the embodiment of the present invention three provides a kind of computer readable storage medium, special
Sign is, computer program is stored on the computer readable storage medium, when the computer program is executed by processor
The step of realizing the path planning such as first embodiment or second embodiment.
The computer readable storage medium of the present embodiment, by when reaching each path point all according to robot it is current
Posture re-starts path planning, unpredictalbe barrier and environmental change can be preferably coped with, further, in machine
In people's moving process, if Global motion planning device receives a series of new path points, will according to new range path point again into
Row path planning further improves Global motion planning device to the real-time of path planning.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of method in Global motion planning path is suitable for Global motion planning device, the described method comprises the following steps:
Receive multiple path points of First Series；
According to the current posture of mobile robot, planning is sent to mobile robot with the path of first path point；
When mobile robot reaches first path point of planning, according to the current posture of mobile robot, planning has second
The path of a path point is sent to mobile robot；
The step of repeating above-mentioned planning path and transmitting path, until mobile robot reaches the last one path of First Series
Point.
2. the method in Global motion planning path as described in claim 1, which is characterized in that described according to the current appearance of mobile robot
Gesture, planning are sent to after mobile robot with the path of path point, and Global motion planning device is within the waiting time of setting etc.
To state.
3. the method in Global motion planning path as claimed in claim 2, which is characterized in that terminate when the waiting time of the setting
When, whether detection mobile robot reaches the path point of planning, when detection, which moves on to robot, does not reach the path point of planning, root
According to the current posture of mobile robot, planning is sent to mobile robot with the path of the path point again.
4. the method in Global motion planning path as described in claim 1, which is characterized in that the mobile robot reaches the first system
After the last one path point of column, Global motion planning device is idle state, waits second series path point to be received.
5. the method in Global motion planning path as described in claim 1, which is characterized in that reach the last one in mobile robot
Before path point, if receiving second series path point, the First Series path point is abandoned, and according to second series road
Diameter point carries out the step of planning path and transmitting path.
6. the method in Global motion planning path as described in claim 1, which is characterized in that according to the current posture of mobile robot,
Planning is sent to mobile robot, concrete mode with the path of first path point are as follows:
Position and direction are presently according to mobile robot, element, Quick Extended random number R RT or route map are searched using figure
At least one of algorithmic rule be sent to mobile robot with the path of first path point.
7. a kind of Global motion planning device, which is characterized in that the Global motion planning device includes: receiver, controller and transmitter, described
Receiver receives multiple path points of First Series, and the controller has first according to the current posture of mobile robot, planning
Path with first path point is sent to mobile robot by transmitter, when mobile machine by the path of a path point
When people reaches first path point of planning, the controller has second road according to the current posture of mobile robot, planning
The path of diameter point, and the path with second path point is sent to by mobile robot by transmitter, the controller and
Transmitter repeats the step of above-mentioned planning path and transmitting path, until mobile robot reaches the last one road of First Series
Diameter point.
8. Global motion planning device as claimed in claim 7, which is characterized in that the Global motion planning device further includes detector, described
After path with path point is sent to mobile robot by transmitter, Global motion planning device is within the waiting time of setting etc.
To state, at the end of the waiting time of the setting, whether the detector detection mobile robot reaches the path of planning
Point, when mobile robot does not reach the path point of planning, according to the current posture of mobile robot, the controller is planned again
Path with the path point, and mobile robot is sent to by transmitter.
9. Global motion planning device as claimed in claim 7, which is characterized in that mobile robot reach the last one path point it
Before, if the receiver receives second series path point, the controller abandons First Series path point, and according to the
2 series of paths points carry out planning path, and send the path to mobile robot by the transmitter.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes such as step described in any one of claims 1 to 6 when the computer program is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538396.8A CN110260875A (en) | 2019-06-20 | 2019-06-20 | A kind of method in Global motion planning path, Global motion planning device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538396.8A CN110260875A (en) | 2019-06-20 | 2019-06-20 | A kind of method in Global motion planning path, Global motion planning device and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110260875A true CN110260875A (en) | 2019-09-20 |
Family
ID=67919926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910538396.8A Pending CN110260875A (en) | 2019-06-20 | 2019-06-20 | A kind of method in Global motion planning path, Global motion planning device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110260875A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022037202A1 (en) * | 2020-08-20 | 2022-02-24 | 深圳市海柔创新科技有限公司 | Route reservation for navigation of warehouse robot |
| WO2022161045A1 (en) * | 2021-01-26 | 2022-08-04 | 深圳市优必选科技股份有限公司 | Estimated time of arrival calculation method, and system and mobile machine using same |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103914068A (en) * | 2013-01-07 | 2014-07-09 | 中国人民解放军第二炮兵工程大学 | Service robot autonomous navigation method based on raster maps |
| CN106647769A (en) * | 2017-01-19 | 2017-05-10 | 厦门大学 | AGV path tracking and obstacle avoiding coordination method based on A* extraction guide point |
| CN107479570A (en) * | 2017-07-05 | 2017-12-15 | 南宁学院 | A kind of unmanned plane automatic flight control method of adjustable spiral wing posture |
| CN108401423A (en) * | 2017-09-05 | 2018-08-14 | 深圳蓝胖子机器人有限公司 | Method, system, robot and the storage device of automatic conveying package |
| CN108444482A (en) * | 2018-06-15 | 2018-08-24 | 东北大学 | A kind of autonomous pathfinding barrier-avoiding method of unmanned plane and system |
| CN108646730A (en) * | 2018-04-13 | 2018-10-12 | 北京海风智能科技有限责任公司 | A kind of service robot and its multiple target autonomous cruise method based on ROS |
| CN109000649A (en) * | 2018-05-29 | 2018-12-14 | 重庆大学 | A kind of all directionally movable robot pose calibration method based on right angle bend feature |
| CN109100744A (en) * | 2018-07-27 | 2018-12-28 | 深圳蓝胖子机器人有限公司 | Object localization method and system for AGV |
| CN109163724A (en) * | 2018-09-07 | 2019-01-08 | 五邑大学 | Multiple target point autonomous navigation method based on Turtlebot2 robot building map |
| CN109459031A (en) * | 2018-12-05 | 2019-03-12 | 智灵飞（北京）科技有限公司 | A kind of unmanned plane RRT method for optimizing route based on greedy algorithm |
-
2019
- 2019-06-20 CN CN201910538396.8A patent/CN110260875A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103914068A (en) * | 2013-01-07 | 2014-07-09 | 中国人民解放军第二炮兵工程大学 | Service robot autonomous navigation method based on raster maps |
| CN106647769A (en) * | 2017-01-19 | 2017-05-10 | 厦门大学 | AGV path tracking and obstacle avoiding coordination method based on A* extraction guide point |
| CN107479570A (en) * | 2017-07-05 | 2017-12-15 | 南宁学院 | A kind of unmanned plane automatic flight control method of adjustable spiral wing posture |
| CN108401423A (en) * | 2017-09-05 | 2018-08-14 | 深圳蓝胖子机器人有限公司 | Method, system, robot and the storage device of automatic conveying package |
| CN108646730A (en) * | 2018-04-13 | 2018-10-12 | 北京海风智能科技有限责任公司 | A kind of service robot and its multiple target autonomous cruise method based on ROS |
| CN109000649A (en) * | 2018-05-29 | 2018-12-14 | 重庆大学 | A kind of all directionally movable robot pose calibration method based on right angle bend feature |
| CN108444482A (en) * | 2018-06-15 | 2018-08-24 | 东北大学 | A kind of autonomous pathfinding barrier-avoiding method of unmanned plane and system |
| CN109100744A (en) * | 2018-07-27 | 2018-12-28 | 深圳蓝胖子机器人有限公司 | Object localization method and system for AGV |
| CN109163724A (en) * | 2018-09-07 | 2019-01-08 | 五邑大学 | Multiple target point autonomous navigation method based on Turtlebot2 robot building map |
| CN109459031A (en) * | 2018-12-05 | 2019-03-12 | 智灵飞（北京）科技有限公司 | A kind of unmanned plane RRT method for optimizing route based on greedy algorithm |
Non-Patent Citations (2)
| Title |
|---|
| 吴梦珂 等: "基于ROS的移动机器人多目标点导航的实现", 《电子技术研发》 * |
| 吴正 等: "Turtlebot2 机器人环境地图构建与多目标点自主导航的研究", 《电脑与信息技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022037202A1 (en) * | 2020-08-20 | 2022-02-24 | 深圳市海柔创新科技有限公司 | Route reservation for navigation of warehouse robot |
| US11868142B2 (en) | 2020-08-20 | 2024-01-09 | Hai Robotics Co., Ltd. | Navigation route reservation for warehouse robot |
| WO2022161045A1 (en) * | 2021-01-26 | 2022-08-04 | 深圳市优必选科技股份有限公司 | Estimated time of arrival calculation method, and system and mobile machine using same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11709502B2 (en) | Roadmap annotation for deadlock-free multi-agent navigation | |
| US10994418B2 (en) | Dynamically adjusting roadmaps for robots based on sensed environmental data | |
| CN105513382B (en) | A kind of vehicle early warning processing method, server and system | |
| CN110260875A (en) | A kind of method in Global motion planning path, Global motion planning device and storage medium | |
| CN111216125B (en) | Obstacle avoidance method and system of moving mechanical arm device facing narrow passage | |
| CN204868886U (en) | Multifunctional machine ware people who can fly in calamity scene | |
| CN109059926A (en) | Across floor paths planning method and system | |
| CN109901578A (en) | A kind of method, apparatus and terminal device controlling multirobot | |
| US9964411B2 (en) | Assisted roadmap generation | |
| CN111308996A (en) | Training device and cooperative operation control method thereof | |
| CN105676848A (en) | Robot autonomous navigation method based on ROS operating system | |
| CN103063207B (en) | A kind of method of rapid navigation, Apparatus and system | |
| CN102457807A (en) | Method and terminal for determining positional information | |
| CN109048909A (en) | Minor matters formula path dispatching method, device, background server and the first robot | |
| CN116540656A (en) | Digital twinning-based multi-AGV collision-free path scheduling method for manufacturing workshops | |
| CN106323268A (en) | Mobile terminal positioning and travelling navigation method and mobile terminal | |
| US11460841B2 (en) | Remote operation extending an existing route to a destination | |
| CN105722030A (en) | Node position prediction method in DTN (Delay Tolerant Network) | |
| CN114485621A (en) | Navigation method, navigation device and computer readable storage medium | |
| CN107149322A (en) | Intelligent mobile seat and its control system based on bluetooth 4.0 | |
| JP2009043241A (en) | Method for tracking moving entities | |
| CN110274600A (en) | Obtain the method, apparatus and system of robot GPS information | |
| KR101401311B1 (en) | Apparatus and method of path planning for a plurality of moving bodies | |
| KR100952469B1 (en) | Delivery robot for printed matter of printer and thereof control method | |
| JP6056585B2 (en) | Control method of portable information terminal, control program, and portable information terminal |
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: 20190920 |