CN112437907A - 飞行路径计算系统、飞行路径计算程序以及无人驾驶飞机路径控制方法 - Google Patents
飞行路径计算系统、飞行路径计算程序以及无人驾驶飞机路径控制方法 Download PDFInfo
- Publication number
- CN112437907A CN112437907A CN201980046490.XA CN201980046490A CN112437907A CN 112437907 A CN112437907 A CN 112437907A CN 201980046490 A CN201980046490 A CN 201980046490A CN 112437907 A CN112437907 A CN 112437907A
- Authority
- CN
- China
- Prior art keywords
- unit
- route
- data
- area
- warning area
- 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
- 238000004364 calculation method Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims description 19
- 238000013500 data storage Methods 0.000 claims abstract description 26
- 230000006870 function Effects 0.000 claims description 8
- 238000007726 management method Methods 0.000 abstract description 31
- 238000001228 spectrum Methods 0.000 description 28
- 238000012545 processing Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 239000000443 aerosol Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000003595 spectral effect Effects 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000699670 Mus sp. Species 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013075 data extraction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
- G08G5/21—Arrangements for acquiring, generating, sharing or displaying traffic information located onboard the aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
- G08G5/26—Transmission of traffic-related information between aircraft and ground stations
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/30—Flight plan management
- G08G5/32—Flight plan management for flight plan preparation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/30—Flight plan management
- G08G5/34—Flight plan management for flight plan modification
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/50—Navigation or guidance aids
- G08G5/55—Navigation or guidance aids for a single aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/50—Navigation or guidance aids
- G08G5/57—Navigation or guidance aids for unmanned aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/50—Navigation or guidance aids
- G08G5/58—Navigation or guidance aids for emergency situations, e.g. hijacking or bird strikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/50—Navigation or guidance aids
- G08G5/59—Navigation or guidance aids in accordance with predefined flight zones, e.g. to avoid prohibited zones
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/70—Arrangements for monitoring traffic-related situations or conditions
- G08G5/76—Arrangements for monitoring traffic-related situations or conditions for monitoring atmospheric conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018131283A JP7215706B6 (ja) | 2018-07-11 | 2018-07-11 | 飛行経路算出システム、飛行経路算出プログラム、および無人航空機経路制御方法 |
| JP2018-131283 | 2018-07-11 | ||
| PCT/JP2019/027069 WO2020013153A1 (ja) | 2018-07-11 | 2019-07-09 | 飛行経路算出システム、飛行経路算出プログラム、および無人航空機経路制御方法 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112437907A true CN112437907A (zh) | 2021-03-02 |
Family
ID=69142692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980046490.XA Pending CN112437907A (zh) | 2018-07-11 | 2019-07-09 | 飞行路径计算系统、飞行路径计算程序以及无人驾驶飞机路径控制方法 |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US11862027B2 (enExample) |
| EP (1) | EP3819739A4 (enExample) |
| JP (2) | JP7215706B6 (enExample) |
| CN (1) | CN112437907A (enExample) |
| WO (1) | WO2020013153A1 (enExample) |
Families Citing this family (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3959132B1 (en) | 2019-04-25 | 2025-04-02 | AeroVironment, Inc. | Off-center parachute flight termination system (fts) |
| SG11202111296TA (en) | 2019-04-25 | 2021-11-29 | Aerovironment Inc | Methods of climb and glide operations of a high altitude long endurance aircraft |
| AU2020307360B2 (en) * | 2019-04-25 | 2025-09-25 | Aerovironment, Inc. | Method of flight plan optimization of a high altitude long endurance aircraft |
| JP7483750B2 (ja) | 2019-04-25 | 2024-05-15 | エアロバイロメント,インコーポレイテッド | 太陽光捕捉を最大化するための高高度長航続時間航空機を操作する方法 |
| AU2020262292B2 (en) | 2019-04-25 | 2025-08-21 | Aerovironment, Inc. | Systems and methods for distributed control computing for a high altitude long endurance aircraft |
| SG11202111299SA (en) | 2019-04-25 | 2021-11-29 | Aerovironment Inc | Method of managing a fleet of high altitude long endurance aircraft |
| WO2021011045A2 (en) * | 2019-04-25 | 2021-01-21 | Aerovironment, Inc. | Ground support equipment for a high altitude long endurance aircraft |
| US11428820B1 (en) * | 2019-09-16 | 2022-08-30 | Lockheed Martin Corporation | Method to determine airborne lidar installation angles using ground returns and INS/GPS data |
| CN114521248A (zh) * | 2019-09-30 | 2022-05-20 | 索尼集团公司 | 信息处理设备、信息处理方法和程序 |
| US11535364B2 (en) * | 2019-12-16 | 2022-12-27 | The Boeing Company | Process and machine for load alleviation |
| JP7213394B2 (ja) * | 2020-03-26 | 2023-01-26 | 株式会社日立製作所 | 無人飛行体制御支援システム及び無人飛行体制御支援方法 |
| US11810463B2 (en) * | 2020-04-14 | 2023-11-07 | The Boeing Company | Unmanned aerial vehicle contingency landing system |
| JP2022038675A (ja) * | 2020-08-27 | 2022-03-10 | ソニーグループ株式会社 | 情報処理装置及び情報処理方法、コンピュータプログラム、並びに移動体装置 |
| JP2022082865A (ja) * | 2020-11-24 | 2022-06-03 | 株式会社日立製作所 | 移動体制御装置及び移動体制御方法 |
| WO2022133322A1 (en) | 2020-12-18 | 2022-06-23 | Safe Ops Systems, Inc. | Systems and methods for dispatching and navigating an unmanned aerial vehicle |
| JPWO2022176070A1 (enExample) * | 2021-02-17 | 2022-08-25 | ||
| DE102021106868A1 (de) | 2021-03-19 | 2022-09-22 | Volocopter Gmbh | Verfahren zur Planung des Betriebs eines Fluggeräts, Steuereinheit für ein Fluggerät und Fluggerät mit einer solchen |
| JP7764018B2 (ja) * | 2021-11-02 | 2025-11-05 | 株式会社ロボデックス | 無人航空機制御装置、無人航空機制御方法、無人航空機制御プログラム及び無人航空機 |
| CN114241293B (zh) * | 2021-11-08 | 2024-10-15 | 深圳市瑞达飞行科技有限公司 | 识别方法及其装置、电子设备和计算机可读存储介质 |
| WO2023152862A1 (ja) * | 2022-02-10 | 2023-08-17 | 三菱電機株式会社 | 風況学習装置、風況予測装置、及びドローンシステム |
| TWI806430B (zh) * | 2022-02-16 | 2023-06-21 | 財團法人工業技術研究院 | 瑕疵檢測方法與瑕疵檢測裝置 |
| JP7213374B1 (ja) | 2022-02-16 | 2023-01-26 | 楽天グループ株式会社 | 情報処理装置、着陸適否判定方法、及びプログラム |
| US12190739B2 (en) | 2022-04-27 | 2025-01-07 | Snap Inc. | Navigation correction for excessive wind |
| JP2023183922A (ja) * | 2022-06-17 | 2023-12-28 | ソニーグループ株式会社 | 情報処理装置及び情報処理方法 |
| US12451021B2 (en) * | 2022-08-04 | 2025-10-21 | The Mitre Corporation | Microscale weather hazard products for urban aviation transportation |
| US12384538B2 (en) * | 2022-08-18 | 2025-08-12 | Honeywell International, Inc. | Adaptive airdrop system and method |
| FR3146989B1 (fr) * | 2023-03-20 | 2025-03-07 | Thales Sa | Système de gestion de vol d'un aéronef |
| US20250046195A1 (en) * | 2023-08-01 | 2025-02-06 | Raziel Ella | System for generating unique navigational input for an air-borne vehicle, and a method tehreof |
| US12555484B2 (en) | 2023-08-29 | 2026-02-17 | Honeywell International Inc. | Systems and methods for diminishing vehicle contrails |
| US12658060B2 (en) | 2023-08-29 | 2026-06-16 | Honeywell International Inc. | Systems and methods for diminishing vehicle contrails |
| WO2025052609A1 (ja) * | 2023-09-07 | 2025-03-13 | 三菱電機株式会社 | 移動体制御装置及び移動体制御方法 |
| CN118605553B (zh) * | 2024-05-29 | 2024-12-03 | 北京中电联达信息技术有限公司 | 一种通信指挥车的智能控制系统及方法 |
| JP7788513B1 (ja) | 2024-09-17 | 2025-12-18 | Kddi株式会社 | 飛行装置、プログラム、飛行管理システム |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010067136A (ja) * | 2008-09-12 | 2010-03-25 | Fuji Heavy Ind Ltd | 航空管制情報処理システム |
| JP2010214979A (ja) * | 2009-03-13 | 2010-09-30 | Mitsubishi Electric Corp | 計算機及び着陸経路計算プログラム及び記録媒体 |
| RU2524276C1 (ru) * | 2013-04-01 | 2014-07-27 | Открытое акционерное общество "Раменское приборостроительное конструкторское бюро" (ОАО "РПКБ") | Многофункциональный тяжелый транспортный вертолет круглосуточного действия, комплекс бортового радиоэлектронного оборудования, используемый на данном вертолете |
| WO2015108154A1 (ja) * | 2014-01-17 | 2015-07-23 | 国立大学法人京都大学 | 最大瞬間風速予測システム、コンピュータプログラム、及び、突風警報情報発令システム |
| WO2017022805A1 (ja) * | 2015-08-06 | 2017-02-09 | Simplex Quantum株式会社 | 小型飛行システム |
| JP2017033232A (ja) * | 2015-07-31 | 2017-02-09 | セコム株式会社 | 自律飛行ロボット |
| US20170124885A1 (en) * | 2014-06-19 | 2017-05-04 | Scott Technologies, Inc. | Unmanned aerial vehicle for situational awareness to first responders and alarm investigation |
| CN107783547A (zh) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | 灾后救援旋翼无人机避障系统及方法 |
| US9953287B1 (en) * | 2014-07-01 | 2018-04-24 | Amazon Technologies, Inc. | Utilizing automated aerial vehicles for transporting priority pick items |
| CN108137232A (zh) * | 2016-02-12 | 2018-06-08 | 株式会社日立制作所 | 物品搬运系统、搬运装置和物品搬运方法 |
| WO2018110088A1 (ja) * | 2016-12-12 | 2018-06-21 | 株式会社自律制御システム研究所 | 無人航空機、及び、無人航空機を制御するための方法 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5339172B2 (ja) | 2006-11-15 | 2013-11-13 | 株式会社メガオプト | コヒーレントドップラーライダー |
| US9087451B1 (en) | 2014-07-14 | 2015-07-21 | John A. Jarrell | Unmanned aerial vehicle communication, monitoring, and traffic management |
| US9489852B1 (en) * | 2015-01-22 | 2016-11-08 | Zipline International Inc. | Unmanned aerial vehicle management system |
| US10089888B2 (en) | 2016-06-10 | 2018-10-02 | ETAK Systems, LLC | Managing detected obstructions in air traffic control systems for unmanned aerial vehicles |
| JP2018034691A (ja) * | 2016-08-31 | 2018-03-08 | シャープ株式会社 | 基地局装置、通知システム及び通知方法 |
| US20180090016A1 (en) * | 2016-09-27 | 2018-03-29 | Intel Corporation | Methods and apparatus to navigate drones based on weather data |
-
2018
- 2018-07-11 JP JP2018131283A patent/JP7215706B6/ja active Active
-
2019
- 2019-07-09 EP EP19834019.2A patent/EP3819739A4/en not_active Withdrawn
- 2019-07-09 US US17/259,087 patent/US11862027B2/en active Active
- 2019-07-09 CN CN201980046490.XA patent/CN112437907A/zh active Pending
- 2019-07-09 WO PCT/JP2019/027069 patent/WO2020013153A1/ja not_active Ceased
-
2023
- 2023-01-12 JP JP2023002808A patent/JP7535810B2/ja active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010067136A (ja) * | 2008-09-12 | 2010-03-25 | Fuji Heavy Ind Ltd | 航空管制情報処理システム |
| JP2010214979A (ja) * | 2009-03-13 | 2010-09-30 | Mitsubishi Electric Corp | 計算機及び着陸経路計算プログラム及び記録媒体 |
| RU2524276C1 (ru) * | 2013-04-01 | 2014-07-27 | Открытое акционерное общество "Раменское приборостроительное конструкторское бюро" (ОАО "РПКБ") | Многофункциональный тяжелый транспортный вертолет круглосуточного действия, комплекс бортового радиоэлектронного оборудования, используемый на данном вертолете |
| WO2015108154A1 (ja) * | 2014-01-17 | 2015-07-23 | 国立大学法人京都大学 | 最大瞬間風速予測システム、コンピュータプログラム、及び、突風警報情報発令システム |
| US20170124885A1 (en) * | 2014-06-19 | 2017-05-04 | Scott Technologies, Inc. | Unmanned aerial vehicle for situational awareness to first responders and alarm investigation |
| US9953287B1 (en) * | 2014-07-01 | 2018-04-24 | Amazon Technologies, Inc. | Utilizing automated aerial vehicles for transporting priority pick items |
| JP2017033232A (ja) * | 2015-07-31 | 2017-02-09 | セコム株式会社 | 自律飛行ロボット |
| WO2017022805A1 (ja) * | 2015-08-06 | 2017-02-09 | Simplex Quantum株式会社 | 小型飛行システム |
| CN108137232A (zh) * | 2016-02-12 | 2018-06-08 | 株式会社日立制作所 | 物品搬运系统、搬运装置和物品搬运方法 |
| CN107783547A (zh) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | 灾后救援旋翼无人机避障系统及方法 |
| WO2018110088A1 (ja) * | 2016-12-12 | 2018-06-21 | 株式会社自律制御システム研究所 | 無人航空機、及び、無人航空機を制御するための方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2023052342A (ja) | 2023-04-11 |
| JP2020009281A (ja) | 2020-01-16 |
| US11862027B2 (en) | 2024-01-02 |
| WO2020013153A1 (ja) | 2020-01-16 |
| JP7535810B2 (ja) | 2024-08-19 |
| EP3819739A1 (en) | 2021-05-12 |
| JP7215706B2 (ja) | 2023-01-31 |
| US20210319705A1 (en) | 2021-10-14 |
| EP3819739A4 (en) | 2022-05-04 |
| JP7215706B6 (ja) | 2023-02-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7535810B2 (ja) | 飛行経路算出システム、飛行経路算出プログラム、および無人航空機経路制御方法 | |
| CN110998467B (zh) | 确定运送位置处的下放点的模型 | |
| US10546505B2 (en) | Systems and methods for providing emergency alerts at emergency landing areas of unmanned aerial vehicles | |
| CN113342050B (zh) | 载运工具高度限制和控制 | |
| JP6599143B2 (ja) | 自律移動ロボット | |
| JP6664162B2 (ja) | 自律飛行ロボット | |
| US11875689B2 (en) | Management apparatus, management method and management system | |
| US20190009904A1 (en) | Systems and methods for facilitating safe emergency landings of unmanned aerial vehicles | |
| US10235893B2 (en) | Flight control method and unmanned unmannered aerial vehicle | |
| JP6527726B2 (ja) | 自律移動ロボット | |
| CN117836737A (zh) | 无人机的返航方法、装置、无人机、遥控设备、系统及存储介质 | |
| CN109903592A (zh) | 一种基于误差理论的高精度航空器自动近地防撞系统地形扫描方法 | |
| US20200341475A1 (en) | Storage device, movement assistance system, and movement assistance method | |
| JP6767861B2 (ja) | 飛行制御方法及び無人飛行体 | |
| JP6530212B2 (ja) | 自律移動ロボット | |
| JP6469492B2 (ja) | 自律移動ロボット | |
| CN114667459A (zh) | 雷达及雷达的数据处理方法、可移动平台、存储介质 | |
| KR20170114348A (ko) | 무인항공기의 위치인식 방법 및 시스템 | |
| JP7086554B2 (ja) | 無人航空機の制御方法および無人航空機の制御用プログラム | |
| JP6775981B2 (ja) | 監視システム及び物体検知装置 | |
| Alturas | Modeling and Optimization of an Obstacle Detection System for Small UAVs | |
| JP7130409B2 (ja) | 管制装置 | |
| CN113741512A (zh) | 无人机激光导航系统与方法 | |
| CN120295359A (zh) | 用于gnss拒止环境期间飞机着陆引导的系统和方法 | |
| CN121956991A (zh) | eVTOL的航线切换方法、装置、设备及介质 |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210302 |
|
| WD01 | Invention patent application deemed withdrawn after publication |