CN110844079A - Swarm unmanned aerial vehicle aerial transmitting device and method - Google Patents
Swarm unmanned aerial vehicle aerial transmitting device and method Download PDFInfo
- Publication number
- CN110844079A CN110844079A CN201911334771.3A CN201911334771A CN110844079A CN 110844079 A CN110844079 A CN 110844079A CN 201911334771 A CN201911334771 A CN 201911334771A CN 110844079 A CN110844079 A CN 110844079A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- folding
- launching
- swarm
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
Abstract
The invention discloses an aerial launching device and a launching method for swarm unmanned aerial vehicles. Have a plurality of launching tubes in the aerial emitter of bee colony unmanned aerial vehicle, can place many folding wing bee colony unmanned aerial vehicle. The folding wing swarm unmanned aerial vehicle is placed in the launching tube before launching, and the carrier carries the swarm unmanned aerial vehicle aerial launching device to take off through the hanging rack. The aerial launcher of the swarm unmanned aerial vehicle is released after the carrier arrives at a preset airspace, then the folding wings, the folding horizontal tail and the folding vertical tail are unfolded, the engine is started to enter an autonomous flight state, the swarm unmanned aerial vehicle is launched after the carrier arrives at the launching airspace, and the aerial launcher of the swarm unmanned aerial vehicle autonomously flies to the preset recovery airspace to be landed and recovered after the launching task of the swarm unmanned aerial vehicle is completed. According to the air launching device and the launching method of the swarm unmanned aerial vehicle, the carrier for executing the swarm launching task is prevented from entering a dangerous airspace, and the swarm unmanned aerial vehicle autonomously flies to the launching airspace to execute the launching task and autonomously returns to the air for recovery.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an aerial launching device and an aerial launching method for a swarm unmanned aerial vehicle.
Background
Along with the perfect and extensive row dress of unmanned aerial vehicle equipment system in recent years, unmanned aerial vehicle plays bigger and bigger effect in the national defense field, and unmanned aerial vehicle bee colony technique also embodies the operation advantage more and more: the unmanned aerial vehicle cluster has the advantages that firstly, the functions are distributed, the whole functions of a single complete operation platform are divided into parts, the parts are dispersed into a large number of operation platforms with low cost and single functions, and the multiplication benefit of the system enables the unmanned aerial vehicle cluster to have operation capacity far exceeding that of the single platform; secondly, the system survival rate is high, the unmanned aerial vehicle cluster has the characteristics of no center and autonomous cooperation, and individuals in the cluster do not depend on a certain specific node which actually exists to operate; and thirdly, the cost exchange ratio is high, the cost of the unmanned aerial vehicle platform with a single function is low, and an enemy needs to consume tens of times or even hundreds of times of cost to defend a large number of unmanned aerial vehicle individuals when carrying out a combat mission.
The current swarm unmanned aerial vehicle generally has the characteristics of small volume, low cost, short endurance time and small combat radius, so that the unmanned aerial vehicle is difficult to autonomously fly to a mission airspace for deployment. The air launching equipment of the swarm unmanned aerial vehicle is specially designed for solving the deployment problem of the swarm unmanned aerial vehicle, the carrier carries the air launching device of the swarm unmanned aerial vehicle to a safe predetermined airspace for releasing, and then the air launching device of the swarm unmanned aerial vehicle autonomously flies to the swarm release airspace for launching the swarm unmanned aerial vehicle in the air.
The existing unmanned aerial vehicle swarm aerial transmitting device mostly adopts a connection mode of fixing the transmitting device on a carrier, for example, patent CN108100287A, the transmitting device is installed near a carrier door; like CN109263996A, install emitter in the aircraft fuselage to from the aircraft afterbody transmission bee colony unmanned aerial vehicle, when adopting these transmission modes, the aircraft need enter predetermined transmission airspace and just can carry out the aerial transmission of bee colony unmanned aerial vehicle, often can not enter because of predetermined combat airspace danger in the actual combat. Another aerial launching method is to throw the launching device away from the carrier, launch the swarm unmanned aerial vehicles from the launching device, such as CN109229409A, open the drogue after throwing the launching device away from the carrier, and then launch the unmanned aerial vehicles in the air, and by adopting this method, the problem that the carrier enters a dangerous airspace cannot be solved.
Disclosure of Invention
Aiming at the problems, the invention provides an aerial launching device and an aerial launching method for a swarm unmanned aerial vehicle, which can carry the swarm unmanned aerial vehicle to an airspace far away from a carrier to carry out aerial launching, so that the carrier is prevented from entering a dangerous airspace.
In order to achieve the purpose, the invention discloses an aerial launcher for swarm unmanned aerial vehicles, which comprises a body, folding wings, folding horizontal tails, folding vertical tails, a hanger connecting piece and a flight control device, wherein a plurality of launching cylinders are arranged in the aerial launcher for the swarm unmanned aerial vehicles, and a plurality of folding wing swarm unmanned aerial vehicles can be placed in the launching cylinders. Folding wing with bee colony unmanned aerial vehicle aerial transmitting device before the transmission, folding horizontal tail, folding vertical tail is folding back and is carried on the carrier stores pylon through the stores pylon connecting piece, folding wing bee colony unmanned aerial vehicle is placed in the launching tube, the carrier takes off and arrives behind the predetermined airspace, release bee colony unmanned aerial vehicle aerial transmitting device, expand folding wing simultaneously afterwards, folding horizontal tail, folding vertical tail, start-up engine carries out the flight independently, arrive and launch behind the airspace bee colony unmanned aerial vehicle, independently fly to predetermined recovery airspace landing recovery after accomplishing the transmission task. This aerial emitter of bee colony unmanned aerial vehicle can independently fly to launching airspace and carry out the transmission task and independently return to the journey, has avoided the carrier that carries out bee colony transmission task to get into dangerous airspace.
As a preferable scheme of the invention, the folding wings, the folding horizontal tails and the folding vertical tails can be quickly disassembled and assembled.
As a preferred scheme of the invention, the swarm unmanned aerial vehicle aerial transmitting device comprises an engine and a propeller.
In a preferred embodiment of the present invention, the engine is a piston engine.
As a preferred scheme of the invention, the swarm unmanned aerial vehicle aerial transmitting device comprises a recovery parachute.
As a preferred scheme of the invention, the air launching device of the swarm unmanned aerial vehicle comprises a shock-absorbing landing skid.
The invention also provides a swarm unmanned aerial vehicle aerial transmitting method, which comprises the following steps:
the method comprises the following steps: after folding wings, folding horizontal tails and folding vertical tails of the air launching device of the swarm unmanned aerial vehicle are folded, the folded wings, the folding horizontal tails and the folding vertical tails are hung on a carrier rack through a rack connecting piece, and the folded wing swarm unmanned aerial vehicle is placed in a plurality of launching cylinders in a machine body after being folded;
step two: after the carrier takes off and reaches a preset airspace, releasing the space launching device of the swarm unmanned aerial vehicle, then simultaneously unfolding the folding wings, folding the horizontal tail and folding the vertical tail, and starting the engine to fly autonomously;
step three: after the air launching device of the swarm unmanned aerial vehicle autonomously flies to reach a swarm release airspace, a plurality of folding wing swarm unmanned aerial vehicles are launched through a plurality of launching cylinders (2);
step four: after the launching task of the swarm unmanned aerial vehicle is completed, the swarm unmanned aerial vehicle aerial launching device autonomously flies to reach a recovery airspace and is recovered through autonomous landing or parachuting.
Compared with the prior art, the invention has the beneficial effects that: the invention can solve the problem that the carrier does not enter a dangerous area to carry out aerial emission, and the aerial emission device of the swarm unmanned aerial vehicle is provided with a folding wing and an empennage, can automatically unfold the wing and the empennage after being released from the carrier, automatically starts an engine, and autonomously flies to a preset airspace to emit the swarm unmanned aerial vehicle. Typically, after the carrier releases the swarm drone launching device at a height of 1 kilometer, the launching device can fly over 100 kilometers autonomously without power. If the power device is installed, the autonomous flight distance can exceed 500 kilometers, so that the carrier can release the swarm unmanned aerial vehicle aerial transmitting device outside an enemy and defense area, and the swarm unmanned aerial vehicle is transmitted after the autonomous flight enters a preset airspace, so that the carrier is prevented from entering a dangerous airspace.
Drawings
Fig. 1 is a schematic structural view of an aerial launching device of a swarm unmanned aerial vehicle;
fig. 2 is a schematic view of a collapsed state of an aerial launching device of a swarm unmanned aerial vehicle;
fig. 3 is a schematic structural view of a folding mechanism of the air launching device of the swarm unmanned aerial vehicle;
fig. 4 is a schematic diagram of the unfolded state of the folding wings of the air launching device of the swarm unmanned aerial vehicle;
FIG. 5 is a schematic structural diagram of a power system of an aerial launching device of a swarm unmanned aerial vehicle;
fig. 6 schematic diagram of a recovery system structure of the air launching device of the swarm unmanned aerial vehicle.
In the figure: 1. a body; 2. a plurality of launch cans; 3. folding the wing; 4. folding the horizontal tail; 5. folding the vertical fin; 6. a hanger attachment; 7. a flight control device; 8. an engine; 9. a propeller; 10. the parachute is recovered; 11. landing skids; 12. folding wing swarm unmanned aerial vehicle; 13. a torsion spring; 14. a torsion spring bayonet A; 15. a torsion spring bayonet B; 16. a sleeve; 17. a cavity; 18. blocking the cover; 19. an electromagnet; 20. a pivot; 21. and a limiting block.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows that bee colony unmanned aerial vehicle aerial launcher structure sketch map, including fuselage 1, a plurality of launching tube 2, folding wing 3, folding horizontal tail 4, folding vertical tail 5, stores pylon connecting piece 6, flight control device 7. Have a plurality of launching tubes 2 in the aerial launcher of bee colony unmanned aerial vehicle, can place many folding wing bee colony unmanned aerial vehicle 12. Place in a plurality of launching tubes 2 after folding a plurality of folding wing bee colony unmanned aerial vehicle 12 before the transmission, the aerial emitter of bee colony unmanned aerial vehicle links to each other through stores pylon connecting piece 6 and carrier stores pylon after will folding wing 3, folding horizontal tail 4, folding vertical tail 5 are folding. The aircraft takes off and releases the swarm unmanned aerial vehicle aerial emission device after reaching a preset airspace, then the folding wings 3, the folding horizontal tails 4 and the folding vertical tails 5 are unfolded, the engine 8 is automatically started, the aircraft enters an autonomous flight state under the control of the flight control device 7 and reaches the emission airspace, after receiving an emission instruction, the emission cylinders 2 emit a plurality of folding wing swarm unmanned aerial vehicles 12, and the aircraft autonomously flies to the preset recovery airspace to land and recover after completing an emission task.
Fig. 2 shows that bee colony unmanned aerial vehicle aerial transmitting device fold condition sketch map, and when folding, two wings 3 are folded to the fuselage upside backward about, and two horizontal fin 4 are folded to the fuselage downside forward, and vertical fin 5 is folded to the fuselage both sides before vertical.
Fig. 3 shows a schematic structural diagram of a folding mechanism of an aerial launching device of a swarm unmanned aerial vehicle, and the folding mechanism mainly comprises a torsion spring 13, a torsion spring bayonet A14, a torsion spring bayonet B15, a sleeve 16, a cavity 17, a blocking cover 18, an electromagnet 19 and a pivot 20. The torsion spring detent a14 is captured in the pivot 20, the pivot 20 is fixed to the fuselage structure and the torsion spring detent B15 is captured in the wing detent, and when the wing is in the stowed position, the end of the torsion spring detent B15 is captured in the wing locking sleeve 16 and the sleeve 16 is captured in the annular cavity 17 of the electromagnet 19. When the electromagnet is energized, the sleeve 16 is attracted to the upper wall of the annular cavity 17, so that the torsion spring bayonet B15 is unlocked and the wing is rapidly unfolded under the action of the spring force of the torsion spring.
Fig. 4 shows that the folded wing of the aerial launcher of swarm unmanned aerial vehicle unfolds the state schematic diagram, when the wing unfolds rapidly under the action of the torsional spring, in order to avoid the wing to unfold excessively, install the stopper 21 on the fuselage structure, avoid the wing to unfold in place and continue to move, in order to avoid the wing to collide the stopper, probably damage, the stopper uses the preparation of shock attenuation silica gel material, thereby can absorb the energy when the wing moves, reduce the damage influence of collision to the wing.
Preferably, the folding wings 3, the folding horizontal tails 4 and the folding vertical tails 5 based on the design can be quickly disassembled and assembled, so that the device is convenient to adapt to different tasks and the like. If carry out and need independently fly, when going out the task of deployment, can not install folding wing 3, folding flat tail 4, folding vertical fin 5, directly carry the aerial emitter of bee colony unmanned aerial vehicle on the carrier stores pylon, the carrier flight overall process does not deviate from the carrier to do not influence bee colony unmanned aerial vehicle transmission function.
Preferably, the air launching device of the swarm unmanned aerial vehicle provided by the invention comprises a power system: an engine 8 and a propeller 9, and a power system schematic diagram is shown in FIG. 5. After the device is separated from the main machine, the engine 8 is ignited to drive the propeller 9 to rotate, so that the device is converted into power controllable flight, and the swarm unmanned aerial vehicle aerial launching device can independently fly for a long distance under the configuration.
Preferably, the engine 8 is a piston engine.
Fig. 6 shows that is bee colony unmanned aerial vehicle aerial transmitting device recovery system structure sketch map, and bee colony unmanned aerial vehicle aerial transmitting device fuselage bottom surface is equipped with landing skid 11, can shorten the descending glide distance as the undercarriage when the rollerband lands and play the cushioning effect protection device and do not receive to touch down the damage of impact force in the twinkling of an eye, and the fuselage is inside to be equipped with and to retrieving parachute 10, can open the parachute after closing power to the place that does not have the rollerband lands and carry out the parachuting and retrieve.
The working process of the air launching device of the swarm unmanned aerial vehicle comprises the steps of folding the folding wings 3, the folding horizontal tails 4 and the folding vertical tails 5 of the air launching device of the swarm unmanned aerial vehicle, hanging the folded wings on a carrier rack through a rack connecting piece 6, folding the folding wing swarm unmanned aerial vehicle 12, placing the folded wing swarm unmanned aerial vehicle in a plurality of launching cylinders 2 in a machine body 1, taking off the carrier and arriving at a preset airspace, the air launching device of the swarm unmanned aerial vehicle is released, then the folding wings 3, the folding horizontal tails 4 and the folding vertical tails 5 are unfolded at the same time, the engine 8 is started, the unmanned aerial vehicle can fly autonomously under the control of the flight control device 7, and after the unmanned aerial vehicle launching device flies autonomously and reaches a swarm release airspace, a plurality of folding wing swarm unmanned aerial vehicles 12 are launched through a plurality of launching cylinders 2, after the launching task of the swarm unmanned aerial vehicles is completed, the swarm unmanned aerial vehicle aerial launching device flies autonomously to reach a recovery airspace, the parachute landing recovery is carried out by autonomously running and landing by the landing skid 11 or opening the recovery parachute 10.
The preferred embodiments and examples of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the embodiments and examples described above, and various changes can be made within the knowledge of those skilled in the art without departing from the concept of the present invention.
Claims (7)
1. The utility model provides a bee colony unmanned aerial vehicle aerial transmitting device which characterized in that: the launching device comprises a machine body (1), a plurality of launching tubes (2), folding wings (3), folding horizontal tails (4), folding vertical tails (5), a hanging rack connecting piece (6) and a flight control device (7).
2. The aerial launcher for swarm unmanned aerial vehicles according to claim 1, characterized in that: the folding wings (3), the folding horizontal tails (4) and the folding vertical tails (5) can be quickly disassembled and assembled.
3. The aerial launcher for swarm unmanned aerial vehicles according to claim 1, characterized in that: the air launching device of the swarm unmanned aerial vehicle comprises an engine (8) and a propeller (9).
4. The aerial launcher for swarm unmanned aerial vehicles according to claim 1, characterized in that: the engine (8) is a piston engine.
5. The aerial launcher for swarm unmanned aerial vehicles according to claim 1, characterized in that: the aerial launching device of the swarm unmanned aerial vehicle comprises a recovery parachute (10).
6. The aerial launcher for swarm unmanned aerial vehicles according to claim 1, characterized in that: the air launching device of the swarm unmanned aerial vehicle comprises a landing shock absorption skid (11).
7. An air launching method of a swarm unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the following steps: folding wings (3), folding horizontal tails (4) and folding vertical tails (5) of the air launching device of the swarm unmanned aerial vehicle are folded and are mounted on a carrier rack through a rack connecting piece (6), and folding wing swarm unmanned aerial vehicle (12) is folded and is placed in a plurality of launching cylinders (2) in a machine body (1);
step two: after the carrier takes off and reaches a preset airspace, the swarm unmanned aerial vehicle aerial launching device is released, then the folding wings (3), the folding horizontal tail (4) and the folding vertical tail (5) are unfolded simultaneously, and an engine (8) is started to fly autonomously;
step three: after the air launching device of the swarm unmanned aerial vehicle autonomously flies to a swarm release airspace, a plurality of folding wing swarm unmanned aerial vehicles (12) are launched through a plurality of launching cylinders (2);
step four: after the launching task of the swarm unmanned aerial vehicle is completed, the swarm unmanned aerial vehicle aerial launching device autonomously flies to reach a recovery airspace and is recovered through autonomous landing or parachuting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911334771.3A CN110844079A (en) | 2019-12-23 | 2019-12-23 | Swarm unmanned aerial vehicle aerial transmitting device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911334771.3A CN110844079A (en) | 2019-12-23 | 2019-12-23 | Swarm unmanned aerial vehicle aerial transmitting device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110844079A true CN110844079A (en) | 2020-02-28 |
Family
ID=69610270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911334771.3A Pending CN110844079A (en) | 2019-12-23 | 2019-12-23 | Swarm unmanned aerial vehicle aerial transmitting device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110844079A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112937897A (en) * | 2020-12-25 | 2021-06-11 | 北京泊松技术有限公司 | Engine for cylinder-shooting unmanned aerial vehicle and shooting method |
| CN113200146A (en) * | 2021-05-18 | 2021-08-03 | 重庆交通大学 | Missile type folding cluster unmanned aerial vehicle control method, system, medium and unmanned aerial vehicle |
| CN113501131A (en) * | 2021-07-07 | 2021-10-15 | 广东空天科技研究院 | Honeycomb type aerial unmanned aerial vehicle launching and recycling device, unmanned aerial vehicle and aerial aircraft carrier |
| CN113847946A (en) * | 2021-09-22 | 2021-12-28 | 山东省科学院海洋仪器仪表研究所 | Troposphere parameter profile detection system and detection method based on buoy platform |
| CN114148506A (en) * | 2021-12-06 | 2022-03-08 | 浙江大学 | Foldable variant unmanned aerial vehicle and control method thereof |
| CN114476074A (en) * | 2022-03-09 | 2022-05-13 | 四川傲势科技有限公司 | Unmanned aerial vehicle release feedback and actuation device and method |
-
2019
- 2019-12-23 CN CN201911334771.3A patent/CN110844079A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112937897A (en) * | 2020-12-25 | 2021-06-11 | 北京泊松技术有限公司 | Engine for cylinder-shooting unmanned aerial vehicle and shooting method |
| CN113200146A (en) * | 2021-05-18 | 2021-08-03 | 重庆交通大学 | Missile type folding cluster unmanned aerial vehicle control method, system, medium and unmanned aerial vehicle |
| CN113501131A (en) * | 2021-07-07 | 2021-10-15 | 广东空天科技研究院 | Honeycomb type aerial unmanned aerial vehicle launching and recycling device, unmanned aerial vehicle and aerial aircraft carrier |
| CN113847946A (en) * | 2021-09-22 | 2021-12-28 | 山东省科学院海洋仪器仪表研究所 | Troposphere parameter profile detection system and detection method based on buoy platform |
| CN114148506A (en) * | 2021-12-06 | 2022-03-08 | 浙江大学 | Foldable variant unmanned aerial vehicle and control method thereof |
| CN114148506B (en) * | 2021-12-06 | 2023-10-13 | 浙江大学 | Foldable variant unmanned aerial vehicle and control method thereof |
| CN114476074A (en) * | 2022-03-09 | 2022-05-13 | 四川傲势科技有限公司 | Unmanned aerial vehicle release feedback and actuation device and method |
| CN114476074B (en) * | 2022-03-09 | 2023-11-10 | 四川傲势科技有限公司 | Unmanned aerial vehicle throwing feedback and actuating device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110844079A (en) | Swarm unmanned aerial vehicle aerial transmitting device and method | |
| JP6810550B2 (en) | Detachment and capture of fixed-wing aircraft | |
| KR102603930B1 (en) | Aerial launch and/or recovery for unmanned aircraft, and associated systems and methods | |
| CN109229409B (en) | Cluster type unmanned aerial vehicle aerial rapid transmitting system | |
| CN107792381B (en) | Unmanned aerial vehicle air-based towing net type recovery device and method | |
| CN110937111B (en) | Small-size cluster unmanned aerial vehicle dispensing system of gliding style | |
| RU2438940C2 (en) | Launching system and installation | |
| CN107380402B (en) | Folding wing unmanned aerial vehicle | |
| US7467762B1 (en) | Advanced unmanned aerial vehicle system | |
| EP1827972B1 (en) | Aircraft landing method and device | |
| CN103043214A (en) | Folding type unmanned plane | |
| CN102700713A (en) | Unmanned aerial vehicle with payload body | |
| CN110920892A (en) | Device is scattered to whole small-size cluster unmanned aerial vehicle of puting in | |
| CN103010453A (en) | Unmanned plane folded wing unfolding and locking device | |
| CN108069038B (en) | Airborne triple-linkage hybrid suspension system and use method thereof | |
| RU181026U1 (en) | Multipurpose Unmanned Aerial Vehicle | |
| CN110553550A (en) | anti-unmanned aerial vehicle net catches device in air | |
| CN215155603U (en) | Cartridge-packed automatic unfolding unmanned aerial vehicle with composite folding undercarriage/horn | |
| WO2016079747A1 (en) | Delivery of intelligence gathering devices | |
| CN212313885U (en) | Air launching device of swarm unmanned aerial vehicle | |
| CN109515732B (en) | Combined aircraft based on barrel type launching | |
| CN110871904B (en) | Separated carrying system for carrying rotor unmanned aerial vehicle | |
| CN113232854B (en) | Distributed unmanned aerial vehicle platform applied to ballistic launching and launching method | |
| US11390382B1 (en) | Delivery system for unmanned aerial vehicles | |
| CN113859569A (en) | Portable swarm unmanned aerial vehicle system and use method thereof |
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 |