CN112172862A - Multifunctional track detection system - Google Patents
Multifunctional track detection system Download PDFInfo
- Publication number
- CN112172862A CN112172862A CN202010919243.0A CN202010919243A CN112172862A CN 112172862 A CN112172862 A CN 112172862A CN 202010919243 A CN202010919243 A CN 202010919243A CN 112172862 A CN112172862 A CN 112172862A
- Authority
- CN
- China
- Prior art keywords
- acquisition module
- track
- module
- light source
- laser scanning
- 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
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
Abstract
The application provides a multifunctional track detection system, which comprises a laser scanning receiving module, an inertia acquisition module, a vision acquisition module and a control module; the laser scanning receiving module comprises a CCD camera and a line structured light laser, structured light emitted by the line structured laser is projected on the surface of the track, and the CCD camera acquires a laser irradiation image on the surface of the track; the laser scanning receiving system is used for detecting static parameters and abrasion of the third rail and the steel rail; the inertia acquisition module is used for detecting the irregularity of the steel rail; the visual acquisition module comprises a visible light camera and a light source, the light source irradiates the track, and the visible light camera is used for acquiring a visible light irradiation image on the surface of the track; the visual acquisition module is used for detecting the surface defects of the track; the control module is used for receiving the image information and processing data to obtain a comprehensive detection result. The beneficial effect of this application is: each track is detected simultaneously through non-contact detection, comprehensive track detection data are obtained, and detection efficiency is improved.
Description
Technical Field
The disclosure relates to the technical field of track detection, in particular to a multifunctional track detection system.
Background
The geometric deviation of the railway track directly influences the running stability, comfort and safety of the train and even threatens the life and property safety of passengers. And along with the train speed is faster and faster, the requirement on the stability of the track is higher and higher, and the accuracy of the evaluation on the geometric state of the track is higher and higher.
The existing track geometric parameter measurement methods are mostly carried out independently, and the steel rail and the third rail are carried out respectively, so that the geometric state of the track can not be evaluated on the whole. In addition, the existing steel rail state measurement adopts a contact type means, so that the mechanical accumulation error is large, and the evaluation result of the geometrical state of the rail is seriously influenced.
Disclosure of Invention
The present application is directed to the above problems and provides a multifunctional track detection system.
In a first aspect, the present application provides a multifunctional track detection system, which includes a laser scanning receiving module, an inertial acquisition module, a visual acquisition module, and a control module; the laser scanning receiving module comprises a CCD camera and a line structured light laser, structured light emitted by the line structured light laser is projected on the surface of the track, and the CCD camera acquires a laser irradiation image on the surface of the track; the laser scanning receiving system is used for detecting static parameters and abrasion of a third rail and a steel rail; the inertial acquisition module comprises a high-precision inertial navigation device, an accelerometer, an electronic level meter and a north finder and is used for detecting the irregularity of the steel rail; the visual acquisition module comprises a visible light camera and a light source, the light source irradiates the track, and the visible light camera is used for acquiring visible light irradiation images on the surface of the track; the visual acquisition module is used for detecting the surface defects of the track; the control module is used for receiving the image information of the laser scanning receiving module, the inertia acquisition module and the vision acquisition module and carrying out data processing on the image information to obtain a comprehensive detection result.
According to the technical scheme provided by the embodiment of the application, the light source can be preferably a point light source, a line light source, a surface light source or an annular light source.
According to the technical scheme provided by the embodiment of the application, the laser scanning receiving module, the inertia acquisition module, the vision acquisition module and the control module are respectively integrated on the test trolley.
According to the technical scheme provided by the embodiment of the application, the inertia acquisition module is arranged at the center of the test trolley.
According to the technical scheme provided by the embodiment of the application, the testing trolley is provided with the position encoder, and the position encoder and the wheels are coaxially installed, so that the running speed of the CCD camera and the photographing frequency are synchronous to realize the running mileage calculation function of the testing trolley.
According to the technical scheme provided by the embodiment of the application, the test trolley is further provided with a power supply module, and the power supply module is used for supplying power to the laser scanning receiving module, the inertia acquisition module, the vision acquisition module, the control module and the position encoder.
The invention has the beneficial effects that: the application provides a multi-functional track detecting system, detect respectively through laser scanning receiving module each orbital static parameter in the track, detect each orbital surface defect in the track through vision collection module, detect the irregularity of rail through inertia collection module, obtain each orbital comprehensive detection data after sending the image data of each module to control module and carrying out data processing, consequently, adopt non-contact's detection mode to realize detecting simultaneously to each item parameter of multi-functional track, orbital detection efficiency has been improved, non-contact's measurement mode can improve the track and detect the precision simultaneously.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present application;
FIG. 2 is a schematic layout of a first embodiment of the present application;
the text labels in the figures are represented as: 10. a laser scanning receiving module; 20. an inertia acquisition module; 30. a vision acquisition module; 40. a control module; 50. testing the trolley; 60. a power supply module; 70. a steel rail; 80. and a third rail.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings, and the description of the present section is only exemplary and explanatory, and should not be construed as limiting the scope of the present invention in any way.
As shown in fig. 1 and 2, the detection system of the present application includes a laser scanning receiving module 10, an inertial acquisition module 20, a visual acquisition module 30, and a control module 40.
The laser scanning receiving module 10 comprises a CCD camera and a line structured light laser, structured light emitted by the line structured light laser is projected on the surface of the track, and the CCD camera collects laser irradiation images of the surface of the track; the laser scanning receiving system is used for detecting static parameters and abrasion of the steel rail 70 and the third rail 80.
In this embodiment, the included angle between the CCD camera and the line structured laser is in the range of 30 ° to 60 °, and is preferably set to be 45 °. In this embodiment, line structure light laser adopts the vertical incidence mode to beat light to the face of being surveyed, connects 24V/12V power, net gape and connects, and the coaxial cable of rationalization overall arrangement, CCD camera lens installation band pass filter is in order to reduce the parasitic light interference, guarantees the camera precision.
In this embodiment, one set of line structure laser and CCD camera is used for each of the steel rail 70 and the third rail 80, the line structure laser projects structured light in a certain mode onto the surface of the rail, a three-dimensional image of the light bar modulated by the measured surface shape is formed on the surface of the rail, the three-dimensional image is in the detection range of the CCD camera, the CCD camera is used to obtain a two-dimensional distortion image of the light bar, when the relative position between the line structure laser and the CCD camera is fixed, the three-dimensional profile of the surface of the rail can be reproduced by the coordinates of the distorted two-dimensional light bar image, and the rail distance of the steel rail 70 and the wear value of the steel rail 70 are obtained by; and obtaining the horizontal distance, the vertical height, the joint gap, the rail surface staggered teeth, the inner side staggered teeth and the abrasion value of the third rail 80.
The inertial acquisition module 20 comprises a high-precision inertial navigation system, an accelerometer, an electronic level meter and a north finder, and is used for detecting the unevenness of the steel rail 70. Each component included in the inertial acquisition module 20 in this embodiment is a common component in an inertial navigation module in the prior art, and the working principle of the inertial navigation module in this embodiment is not described in detail. In this embodiment, the inertial acquisition module 20 can measure the track direction (left and right), level, height (left and right), sagittal, triangular pit, and track gauge change rate.
The visual acquisition module 30 comprises a visible light camera and a light source, the light source irradiates the track, and the visible light camera is used for acquiring a visible light irradiation image on the surface of the track; the vision acquisition module 30 is used for rail surface defect detection. The light source and the visible light camera are integrated together, so that the installation space is saved;
the vision acquisition module 30 can adopt a conventional method of adding a reflector to complete the acquisition of the third rail image; the vision collection module 30 can adopt a customized lens without a reflector, thereby saving the installation space and improving the picture collection quality.
In this embodiment, the light source may be a point light source, a line light source, a surface light source or an annular light source, and preferably an annular light source is used.
The control module 40 is configured to receive image information of the laser scanning receiving module 10, the inertial acquisition module 20, and the visual acquisition module 30, and perform data processing on the image information to obtain a comprehensive detection result.
In this embodiment, the control module 40 includes a display interface and a corresponding operation program, and is configured to determine multiple sets of data sent by the laser scanning receiving module 10 in real time, alarm data exceeding a threshold, and trigger the camera to store a photo while alarming the abrasion value exceeding the threshold; receiving the defect picture transmitted by the vision acquisition module 30; displaying the data acquired in real time on a display interface; and setting corresponding discrimination thresholds according to different measurement parameters such as turnout start, turnout stop, round points, end elbows and the like according to the design standard of the subway track.
In this embodiment, the laser scanning receiving module 10, the inertial acquisition module 20, the visual acquisition module 30 and the control module 40 are respectively integrated on the test cart 50.
In this embodiment, the inertial acquisition module 20 is disposed at the center of the test cart 50.
In a preferred embodiment, the test trolley 50 is provided with a position encoder, and the position encoder is coaxially mounted with the wheels, so that the running speed of the CCD camera is synchronized with the photographing frequency to realize the running mileage calculation function of the test trolley 50. In this embodiment, an incremental encoder is used to convert the displacement into a periodic electrical signal, which is then converted into counting pulses, and the number of pulses is used to represent the magnitude of the displacement.
In this embodiment, the test cart 50 is further provided with a power module 60, and the power module 60 is used for supplying power to the laser scanning receiving module 10, the inertial acquisition module 20, the visual acquisition module 30, the control module 40, and the position encoder.
Taking the example of the detection of the multifunctional track of a pair of third rails and a pair of steel rails in the present embodiment:
a pair of third rails is disposed at both ends of the test carriage 50, and a pair of steel rails is disposed on the test carriage 50 between the pair of third rails and symmetrically disposed at both sides of the center of the test carriage 50.
A set of laser scanning receiving module 10 is respectively arranged corresponding to the pair of third rails and the pair of steel rails. The laser scanning receiving module 10 arranged corresponding to the contact rail can realize but is not limited to measuring the horizontal distance, the vertical height, the joint gap, the rail surface dislocation of the third rail joint, the inner dislocation of the third rail joint and the abrasion value of a pair of third rails. The laser scanning receiving module 10 is arranged corresponding to the steel rail, so that the measurement of a pair of steel rail gauge, vertical rail abrasion, side surface abrasion and total abrasion can be realized but not limited, and the measurement of the pair of steel rail gauge comprises the measurement of gauge at a train yard, a main track and a turnout.
A set of inertial acquisition modules 20 is provided corresponding to a pair of rails for measuring the track direction (left and right), level, height (left and right), vector, triangular pit, track gauge change rate, and the like.
A set of vision acquisition modules 30 is respectively arranged corresponding to the pair of third rails and the pair of steel rails. In this embodiment, a set of vision acquisition modules 30 is respectively disposed corresponding to a pair of third rails, so that the measurement of the defects of deformation, burning, discoloration, corrosion and the like of the rail surface can be realized but is not limited thereto. The visual acquisition modules 30 are respectively arranged corresponding to a pair of rails, so that the detection of the defects of scratching of the top surfaces of the running rails, surface cracks, stripping and chipping of rail ends or rail top surfaces and the defect of breakage of fasteners can be realized but not limited.
The working process of the embodiment is as follows: the control module 40 sends a trigger signal to the position encoder, and then the position encoder moves along with the test trolley 50, the position encoder continuously generates a pulse signal in the moving process, and the pulse signal is output to the laser scanning receiving module 10 and the visual acquisition module 30, so that the speed and the frequency of the CCD camera and the visible light camera are synchronized. The laser scanning receiving module 10 processes and analyzes the acquired light bar image and transmits data to the control module 40, the inertial acquisition module 20 processes and transmits the acquired angle information to the control module 40, the visual acquisition module 30 processes and transmits the acquired image and transmits the data to the control module 40, and the energy control module processes and analyzes the received data and transmits a detection result to the display system.
The principles and embodiments of the present application are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present application, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments, or may be learned by practice of the invention.
Claims (6)
1. A multifunctional track detection system is characterized by comprising a laser scanning receiving module, an inertia acquisition module, a vision acquisition module and a control module;
the laser scanning receiving module comprises a CCD camera and a line structured light laser, structured light emitted by the line structured light laser is projected on the surface of the track, and the CCD camera acquires a laser irradiation image on the surface of the track; the laser scanning receiving system is used for detecting static parameters and abrasion of a third rail and a steel rail;
the inertial acquisition module comprises a high-precision inertial navigation device, an accelerometer, an electronic level meter and a north finder and is used for detecting the irregularity of the steel rail;
the visual acquisition module comprises a visible light camera and a light source, the light source irradiates the track, and the visible light camera is used for acquiring visible light irradiation images on the surface of the track; the visual acquisition module is used for detecting the surface defects of the track;
the control module is used for receiving the image information of the laser scanning receiving module, the inertia acquisition module and the vision acquisition module and carrying out data processing on the image information to obtain a comprehensive detection result.
2. A multifunctional track detection system as claimed in claim 1, wherein the light source is preferably a point light source, a line light source, a surface light source or a ring light source.
3. The multifunctional track detection system as claimed in claim 1, wherein the laser scanning receiving module, the inertial acquisition module, the visual acquisition module and the control module are respectively integrated on the test trolley.
4. The multifunctional track detection system as claimed in claim 3, wherein the inertial acquisition module is disposed at the center of the test carriage.
5. The multifunctional track detection system as claimed in claim 4, wherein the test trolley is provided with a position encoder, and the position encoder is coaxially mounted with the wheels, so that the running speed of the CCD camera and the photographing frequency are synchronized to realize the running mileage calculation function of the test trolley.
6. The multifunctional track detection system as claimed in claim 5, wherein the test trolley is further provided with a power module, and the power module is used for supplying power to the laser scanning receiving module, the inertial acquisition module, the visual acquisition module, the control module and the position encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010919243.0A CN112172862A (en) | 2020-09-04 | 2020-09-04 | Multifunctional track detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010919243.0A CN112172862A (en) | 2020-09-04 | 2020-09-04 | Multifunctional track detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112172862A true CN112172862A (en) | 2021-01-05 |
Family
ID=73925158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010919243.0A Pending CN112172862A (en) | 2020-09-04 | 2020-09-04 | Multifunctional track detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112172862A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113358057A (en) * | 2021-06-03 | 2021-09-07 | 河南科技大学 | Airplane deformation scanning detection device and detection method |
| CN113483684A (en) * | 2021-07-02 | 2021-10-08 | 桂林理工大学 | Track gauge online measurement system |
| CN113983982A (en) * | 2021-10-23 | 2022-01-28 | 北京磁浮有限公司 | Rail transit dimension detection data acquisition device |
| CN114030504A (en) * | 2021-11-26 | 2022-02-11 | 天津津航技术物理研究所 | Track parameter measuring and calculating system and method of track inspection instrument |
| CN114113107A (en) * | 2021-11-18 | 2022-03-01 | 万岩铁路装备(成都)有限责任公司 | 360-degree rail damage identification system and method based on laser scanning |
| CN114460051A (en) * | 2022-01-11 | 2022-05-10 | 西南交通大学 | Fluorescence detection device and method for detecting coating effect of friction regulator on rail top of steel rail |
| CN114593674A (en) * | 2022-03-08 | 2022-06-07 | 铁科（北京）轨道装备技术有限公司 | Railway switch track detection system and method |
| CN114659457A (en) * | 2022-03-23 | 2022-06-24 | 中铁电气化局集团有限公司 | Track gauge dynamic measurement method based on structured light |
| CN114987564A (en) * | 2022-06-16 | 2022-09-02 | 西南交通大学 | Portable high-speed turnout detection trolley based on binocular recognition and detection method |
| CN114994061A (en) * | 2022-08-01 | 2022-09-02 | 山东未来网络研究院(紫金山实验室工业互联网创新应用基地) | Machine vision-based steel rail intelligent detection method and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205327082U (en) * | 2015-12-01 | 2016-06-22 | 深圳大学 | Urban railway detection device based on integrated synchro control of multisensor |
| CN107284473A (en) * | 2017-06-21 | 2017-10-24 | 北京铁科英迈技术有限公司 | Rail detection system and method |
| CN109910947A (en) * | 2019-01-28 | 2019-06-21 | 北京城建设计发展集团股份有限公司 | Carrying type track health status dynamic monitoring and wisdom analysis system and method |
| TW201936431A (en) * | 2018-03-01 | 2019-09-16 | 正修學校財團法人正修科技大學 | Rail three-dimensional detection system |
| CN209894113U (en) * | 2018-12-29 | 2020-01-03 | 天津木牛流马科技发展股份有限公司 | Railway track static non-contact continuous wear measuring device |
| CN210258411U (en) * | 2019-07-05 | 2020-04-07 | 中铁二院工程集团有限责任公司 | Detection vehicle for toothed rail railway |
-
2020
- 2020-09-04 CN CN202010919243.0A patent/CN112172862A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205327082U (en) * | 2015-12-01 | 2016-06-22 | 深圳大学 | Urban railway detection device based on integrated synchro control of multisensor |
| CN107284473A (en) * | 2017-06-21 | 2017-10-24 | 北京铁科英迈技术有限公司 | Rail detection system and method |
| TW201936431A (en) * | 2018-03-01 | 2019-09-16 | 正修學校財團法人正修科技大學 | Rail three-dimensional detection system |
| CN209894113U (en) * | 2018-12-29 | 2020-01-03 | 天津木牛流马科技发展股份有限公司 | Railway track static non-contact continuous wear measuring device |
| CN109910947A (en) * | 2019-01-28 | 2019-06-21 | 北京城建设计发展集团股份有限公司 | Carrying type track health status dynamic monitoring and wisdom analysis system and method |
| CN210258411U (en) * | 2019-07-05 | 2020-04-07 | 中铁二院工程集团有限责任公司 | Detection vehicle for toothed rail railway |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113358057A (en) * | 2021-06-03 | 2021-09-07 | 河南科技大学 | Airplane deformation scanning detection device and detection method |
| CN113483684A (en) * | 2021-07-02 | 2021-10-08 | 桂林理工大学 | Track gauge online measurement system |
| CN113983982A (en) * | 2021-10-23 | 2022-01-28 | 北京磁浮有限公司 | Rail transit dimension detection data acquisition device |
| CN114113107B (en) * | 2021-11-18 | 2024-01-23 | 万岩铁路装备(成都)有限责任公司 | 360-degree rail damage identification system and method based on laser scanning |
| CN114113107A (en) * | 2021-11-18 | 2022-03-01 | 万岩铁路装备(成都)有限责任公司 | 360-degree rail damage identification system and method based on laser scanning |
| CN114030504A (en) * | 2021-11-26 | 2022-02-11 | 天津津航技术物理研究所 | Track parameter measuring and calculating system and method of track inspection instrument |
| CN114460051A (en) * | 2022-01-11 | 2022-05-10 | 西南交通大学 | Fluorescence detection device and method for detecting coating effect of friction regulator on rail top of steel rail |
| CN114593674A (en) * | 2022-03-08 | 2022-06-07 | 铁科（北京）轨道装备技术有限公司 | Railway switch track detection system and method |
| CN114593674B (en) * | 2022-03-08 | 2024-02-23 | 铁科（北京）轨道装备技术有限公司 | Railway switch track detection system and method |
| CN114659457A (en) * | 2022-03-23 | 2022-06-24 | 中铁电气化局集团有限公司 | Track gauge dynamic measurement method based on structured light |
| CN114987564A (en) * | 2022-06-16 | 2022-09-02 | 西南交通大学 | Portable high-speed turnout detection trolley based on binocular recognition and detection method |
| CN114987564B (en) * | 2022-06-16 | 2023-10-20 | 西南交通大学 | Portable high-speed turnout detection trolley based on binocular identification and detection method |
| CN114994061A (en) * | 2022-08-01 | 2022-09-02 | 山东未来网络研究院(紫金山实验室工业互联网创新应用基地) | Machine vision-based steel rail intelligent detection method and system |
| CN114994061B (en) * | 2022-08-01 | 2022-11-22 | 山东未来网络研究院(紫金山实验室工业互联网创新应用基地) | Machine vision-based steel rail intelligent detection method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112172862A (en) | Multifunctional track detection system | |
| CN102507600B (en) | Automatic abrasion detection device for pantograph pan of high-speed locomotive | |
| CN102507601B (en) | Online abrasion detection method and system for pantograph of electric locomotive | |
| CN100480627C (en) | Steel rail wearing integrative parameter vehicle-mounted dynamic measuring device and method | |
| CN107688024A (en) | A kind of railway rail clip abnormality detection system based on monocular vision and laser speckle | |
| KR101602376B1 (en) | A train faulty monitoring system | |
| CN103630088B (en) | High accuracy tunnel cross-section detection method based on bidifly light belt and device | |
| US10589763B2 (en) | Method and measuring system for registering a fixed point adjacent a track | |
| CN105674896A (en) | Catenary geometrical parameter dynamic detection method based on triangulation | |
| CN206781779U (en) | Laser scanning rail gauge measuring apparatus under a kind of track checking car | |
| CN106091951B (en) | A kind of municipal rail train wheel rim parameter on-line detecting system and method | |
| CN107703149A (en) | A kind of railway rail clip abnormality detection system based on binocular vision and laser speckle | |
| CN102060037A (en) | Online dynamic detection device of all-periphery contour dimension of locomotive wheel pair | |
| CN208075878U (en) | A kind of rail polling high precision odometer counting apparatus based on linear array scanning imaging | |
| CN104897052A (en) | Method for measuring steel rail appearance geometric dimension and surface quality and device thereof | |
| CN207850304U (en) | A kind of electrification railway contact net detecting system | |
| CN102141375A (en) | Line full section automatic detection system | |
| JP5442555B2 (en) | Rail position measuring device, track inspection device, rail displacement measuring method, street correction method, rail position measuring method | |
| CN208665210U (en) | A kind of automatically walk track detector based on machine vision | |
| CN105423924A (en) | Noise barrier on-line measurement method and system | |
| CN105241384A (en) | Computer vision-based steel rail weld offset measurement method | |
| CN207248770U (en) | A kind of railway rail clip abnormal detector based on binocular vision and laser speckle | |
| TW201936431A (en) | Rail three-dimensional detection system | |
| CN203511690U (en) | Locomotive wheel roundness on-line detecting device | |
| CN205373648U (en) | Contact net geometric parameters dynamic verification device based on triangulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210105 |
|
| RJ01 | Rejection of invention patent application after publication |