CN113193903A - System and method for monitoring operation environment of service big satellite and backing up microsatellite with function - Google Patents
System and method for monitoring operation environment of service big satellite and backing up microsatellite with function Download PDFInfo
- Publication number
- CN113193903A CN113193903A CN202110444303.2A CN202110444303A CN113193903A CN 113193903 A CN113193903 A CN 113193903A CN 202110444303 A CN202110444303 A CN 202110444303A CN 113193903 A CN113193903 A CN 113193903A
- Authority
- CN
- China
- Prior art keywords
- satellite
- microsatellite
- environment monitoring
- orbit
- large service
- 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.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18521—Systems of inter linked satellites, i.e. inter satellite service
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a microsatellite system and a microsatellite system for monitoring the operation environment of a service big satellite and backing up functions, which can improve the space viability of the service big satellite on the one hand, have the function of forecasting in advance when encountering space flyers with collision risks and ensure that the service big satellite can operate in orbit without obstacles; on the other hand, the lodging satellite can back up partial key functions (such as information link backup, information processing backup and the like) of the main satellite according to needs, a plurality of lodging satellites are carried before the large service satellite is transmitted, the lodging satellites are released to the periphery after orbit stabilization, then orbit control is carried out, a small space debris observation constellation is formed near the large satellite, on one hand, the operation environment of the large satellite is observed for a long time in orbit while partial functions of the information link, the information processing and the like are backed up, and when an aircraft and debris with collision risks exist, the early prediction is used for guiding the large satellite to avoid in advance, and the survival capability of the large service satellite is improved. The method has the advantages of small system scale, low construction cost, high comprehensive cost effectiveness ratio and the like.
Description
Technical Field
The invention relates to the technical field of space environment monitoring, in particular to a microsatellite system and a microsatellite method for monitoring the operation environment of a service big satellite and backing up functions.
Background
With the increased competition for global space advantages, the growth of space debris and the development of spacecraft technology, space environment safety is increasingly the focus of global attention. The space environment monitoring comprises the detection, tracking, identification, cataloging and characterization of the space aircraft, the monitoring and forecasting of flight trends and events and the like, is the basis for ensuring the space safety, and is highly valued by aerospace countries in recent years. The United states, as a country with the most space assets and the strongest dependence on space, vigorously develops the space environment monitoring capability, emphatically develops a satellite system with the advantages of all-time and all-weather observation, implements a series of space environment monitoring satellite deployment and technical research and development plans, and constructs the full-dimensional space environment monitoring capability.
At present, regarding the research of the boarder concept, the main boarder key points at home and abroad are boarder carrying of effective loads, a typical representative project at home and abroad is iridium second generation, 81 ADS-B effective loads are carried for receiving positioning signals sent by commercial airplanes, and in addition, "SKA" loads of 22 sets of military parties are carried; an Automatic Identification System (AIS) load is carried on the orbit communication satellite.
In the chinese patent publication No. CN103303494B, a nano-satellite structure with self-carrying launching function is disclosed. The problem of present receive satellite transmission all need design and carry on the transmission system alone, can't improve its utilization ratio is solved, its technical scheme be the novel structure of founding, including satellite structure frame, the outside mask of satellite, the part is separated from a little, satellite platform equipment part, satellite payload. Satellite platform equipment part and satellite payload install on satellite structure frame and satellite outside mask, and little separation part will receive the satellite connection and fix to the main star that carries on, and the upper and lower surface of the main star separation face mask that carries on installs L type locating piece and pull pin formula bolt respectively and connects fixedly to receiving the satellite, and after getting into predetermined orbit, the inside pin puller of pull pin formula bolt removes the fixed pin, releases and receives the satellite. The invention has universality, and the carrying and launching of the nano-satellite can be completed only by mounting the micro-separation component on the carried main satellite according to the invention.
At present, the space environment monitoring capability is limited, and a microsatellite system and a method for monitoring the operation environment of a service big satellite and backing up functions are needed for meeting the requirement of long-term safe operation of the service big satellite.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a microsatellite system and a microsatellite method for monitoring the operation environment of a service big satellite and backing up functions.
The invention provides a microsatellite system for monitoring the operating environment of a service big satellite and backing up functions, which comprises: one large service satellite and a plurality of micro satellites with the same space environment monitoring load; the plurality of micro satellites are respectively and uniformly distributed around the large service satellite, and the relative positions of the micro satellites are fixed.
Preferably, the system on-orbit application mode includes four types of modes, namely a boarder separation mode, a relative position autonomous drift mode, a spatial environment observation mode, and a partial function backup mode such as information link or information processing.
Preferably, the boarder detach mode includes: and when the large service satellite stably operates in orbit, the microsatellite is released to be gradually separated from the large service satellite and keep operating at a certain distance.
Preferably, the microsatellite comprises an attitude and orbit control module, the microsatellite realizes orbit drifting and orbit holding through the attitude and orbit control module, adjusts the attitude of the microsatellite, and keeps the space environment monitoring load pointing to the space environment outside the service large satellite.
Preferably, the relative position autonomous drift mode includes: after the micro satellite and the service large satellite are separated, the service large satellite and the micro satellite keep a stable relative distance through autonomous orbit maneuvering.
Preferably, the spatial environment observation mode includes: and after the microsatellite reaches the set orbit, adjusting the space environment monitoring load, observing the space coverage, so as to observe a space target, and when the space target has an obvious approaching trend, generating obstacle approaching forecast information and guiding the service big satellite to maneuver and avoid.
Preferably, the space environment monitoring load is a visible light camera, the space environment monitoring load view field is 10 degrees multiplied by 10 degrees, and the detection distance is 3000 km.
Preferably, the microsatellite is provided with an onboard processor, the onboard processor processes image data of the space environment monitoring load in real time, and the onboard processor updates the position information of the target close to the flyer in real time to guide the service large satellite to avoid risks.
Preferably, the information link or information processing and other partial function backup mode includes: and after the operating environment of the large service satellite is monitored by the microsatellite in orbit, the observation information of the large service satellite is received, stored or processed, and when the information link of the large service satellite fails to download, the backup is started, and the data of the space environment monitoring load on the large service satellite is continuously downloaded to the ground.
A method for monitoring operation environment and backing up functions of a large service satellite comprises carrying a plurality of micro satellites before the large service satellite is launched, and synchronously launching the micro satellites to an appointed orbit; after the orbit is entered, the large service satellite normally and stably works, and then the micro satellite is released, and the micro satellite carries out operation environment monitoring and function backup on the large service satellite.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has the advantages that a plurality of micro satellites with small overall size and light weight are hosted on the service large satellite, are independent from each other and do not influence each other, in-orbit assembly and splicing are not needed, the carrying requirement is effectively reduced, and the engineering realization difficulty is greatly reduced.
2. According to the invention, by adopting a lodging release mode, a space environment monitoring and information link or information processing function backup small satellite constellation is formed around the large service satellite after the plurality of small satellites are released in orbit, so that the operation environment observation efficiency of the large service satellite is obviously improved, the survival risk of the large service satellite is reduced, and the function reliability of the large service satellite is greatly improved due to the backup function.
3. The invention is based on the service big satellite operation environment monitoring and function backup small satellite system design released by the lodging satellite, can carry out dynamic resource allocation according to the actual space observation requirement, realizes multi-satellite lodging and release, has flexible design and improves the system plasticity.
4. The invention is based on the space environment monitoring technology of the microsatellite detected on the satellite, can detect and process camera images in real time, carries out high-precision forecast on space flyers with collision risks, guides the big satellite to avoid collision and greatly improves the survival capability of the big satellite in service.
5. The backup functions such as information link or information processing and the like provided by the invention can receive, store or process the space environment monitoring load data of the large service satellite while executing the space environment observation task, and when the function of the large service satellite is failed, the backup starting mode is excited, so that the in-orbit task of the large service satellite is ensured, and the in-orbit operation reliability of the large service satellite is improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a service big satellite operation environment monitoring and function backup microsatellite system according to the present application;
FIG. 2 is a schematic diagram of a lodging separation mode of a service large satellite operation environment monitoring and function backup microsatellite system according to the present application;
FIG. 3 is a schematic diagram of a relative position autonomous drift mode of a microsatellite system for service big satellite operation environment monitoring and functional backup according to the present application
FIG. 4 is a schematic view of a spatial environment observation mode of a service big satellite operation environment monitoring and function backup microsatellite system according to the present application;
fig. 5 is a schematic view of a functional backup mode of information link or information processing of a service large satellite operation environment monitoring and functional backup microsatellite system according to the present application.
Abstract of the drawings:
1. a large service satellite; 2. a microsatellite.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, a service big satellite operation environment monitoring and function backup microsatellite system and method carries more than or equal to 2 microsatellites with space environment monitoring loads into an appointed orbit through a service big satellite carrying and transmitting mode, the service big satellite and the microsatellites adopt a synchronous research and development and a boarder transmitting strategy, and the research on the schemes of interface protocol appointing, an in-orbit release mode, an in-orbit constellation configuration and the like is carried out in the research and development of the prior art, wherein the type of an interface is a plug-and-play type, and the requirements of convenience, rapidness, integration and rapidness separation during release during boarder transmitting are met.
The in-orbit application modes of the large service satellite and the micro satellite comprise a boarder separation mode, a relative position autonomous drifting mode, a space environment observation mode and a partial function backup mode of information link or information processing and the like.
Referring to fig. 2, after the large service satellite and the multiple microsatellites stably operate in orbit, the large service satellite actively switches to a lodging separation mode to release the microsatellites into space, and the multiple microsatellites realize orbit adjustment and maintenance through a self attitude and orbit control module, adjust self attitude, and keep the space environment monitoring load pointing to the space environment outside the large service satellite. The micro satellite is separated from the service big satellite by 50km by adjusting the strategies such as orbit semi-major axis and the like and utilizing the orbit period difference.
Referring to fig. 3, after the microsatellite is separated from the large service satellite, the microsatellite enters into a relative position autonomous drift mode, and the stable relative distance between the microsatellite and the large service satellite is maintained through autonomous orbit small-range maneuvering, so that preparation is made for space environment monitoring and function backup task development.
Referring to fig. 4, after the microsatellite reaches a given orbit, the microsatellite enters a space environment observation mode, space coverage observation is carried out by adjusting the direction of a space environment monitoring load, so that a space target is observed, and when the space target has an obvious approaching trend, obstacle approaching forecast information is generated to guide a service large satellite to maneuver and avoid. The load of the space environment monitoring is a visible light camera, the visual field of the visible light camera is 10 degrees multiplied by 10 degrees, the detection distance is 3000km, and the requirement of the space environment monitoring is met.
The microsatellite is provided with an onboard processor which processes the image data of the visible light camera in real time, updates the position information of the target close to the flyer in real time and guides the service big satellite to avoid risks.
Referring to fig. 5, after the operation environment of the large service satellite is monitored in orbit, the microsatellite enters a functional backup mode such as an information link or information processing mode, and at this time, the observation information of the large service satellite is received, stored or processed, the data processing pressure of the large service satellite is shared, and when the information link of the large service satellite fails to download, the backup is started, and the data of the space environment monitoring load on the large service satellite is continuously downloaded to the ground.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A service big satellite operation environment monitoring and function backup microsatellite system is characterized by comprising: one large service satellite (1) and a plurality of minisatellites (2) with the same space environment monitoring load; the plurality of micro satellites (2) are respectively and uniformly distributed around the large service satellite (1) and have fixed relative positions.
2. The operational environment monitoring and functional backup microsatellite system according to claim 1 wherein: the system on-orbit application mode comprises four partial function backup modes, namely a boarder separation mode, a relative position autonomous drifting mode, a space environment observation mode and information link or information processing mode.
3. The operational environment monitoring and functional backup microsatellite system according to claim 2 wherein: the boarder isolation mode comprises: when the large service satellite (1) stably operates in orbit, the microsatellite (2) is released, so that the microsatellite (2) is gradually separated from the large service satellite (1) and keeps operating at a certain distance.
4. The operational environment monitoring and functional backup microsatellite system as set forth in claim 3 wherein: the micro satellite (2) comprises an attitude and orbit control module, the micro satellite (2) realizes orbit drifting and orbit keeping through the attitude and orbit control module, adjusts the attitude of the micro satellite, and keeps the space environment monitoring load pointing to the space environment outside the large service satellite (1).
5. The operational environment monitoring and functional backup microsatellite system according to claim 2 wherein: the relative position autonomous drift mode includes: after the micro satellite (2) is separated from the large service satellite (1), the large service satellite (1) and the micro satellite (2) keep a stable relative distance through autonomous orbital maneuver.
6. The operational environment monitoring and functional backup microsatellite system according to claim 2 wherein: the spatial environment observation mode comprises the following steps: after the microsatellite (2) reaches the set orbit, the space environment monitoring load is adjusted, the space coverage observation is carried out, so that a space target is observed, and when the space target has an obvious approaching trend, obstacle approaching forecast information is generated to guide the large service satellite (1) to maneuver and avoid.
7. The operational environment monitoring and functional backup microsatellite system as set forth in claim 6 wherein: the space environment monitoring load is a visible light camera, the space environment monitoring load view field is 10 degrees multiplied by 10 degrees, and the detection distance is 3000 km.
8. The operational environment monitoring and functional backup microsatellite system according to claim 7 wherein: the microsatellite (2) is provided with an onboard processor, the onboard processor processes image data of a space environment monitoring load in real time, and the onboard processor updates the position information of the target of the approaching flyer in real time to guide the service big satellite (1) to avoid risks.
9. The operational environment monitoring and functional backup microsatellite system according to claim 2 wherein: the information link or information processing and other partial function backup modes comprise: after the operation environment of the large service satellite (1) is monitored in orbit by the microsatellite (2), the observation information of the large service satellite (1) is received, stored or processed, and when the information link of the large service satellite (1) is in a downloading fault, the backup is started, and the data of the space environment monitoring load on the large service satellite (1) is continuously downloaded to the ground.
10. A method for monitoring the operation environment and backing up the functions of a large service satellite is characterized in that: the operating environment monitoring and functional backup microsatellite system of a large service satellite according to claim 1 carries a plurality of microsatellites (2) before the large service satellite (1) is launched, and synchronously launches the microsatellites to a designated orbit; after the orbit is entered, the large service satellite (1) normally and stably works, then the microsatellite (2) is released, and the microsatellite (2) carries out operation environment monitoring and function backup on the large service satellite (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110444303.2A CN113193903B (en) | 2021-04-23 | 2021-04-23 | System and method for monitoring operation environment of service big satellite and backing up microsatellite with function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110444303.2A CN113193903B (en) | 2021-04-23 | 2021-04-23 | System and method for monitoring operation environment of service big satellite and backing up microsatellite with function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113193903A true CN113193903A (en) | 2021-07-30 |
| CN113193903B CN113193903B (en) | 2022-12-13 |
Family
ID=76978451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110444303.2A Active CN113193903B (en) | 2021-04-23 | 2021-04-23 | System and method for monitoring operation environment of service big satellite and backing up microsatellite with function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113193903B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745342A (en) * | 2012-06-26 | 2012-10-24 | 上海卫星工程研究所 | Satellite constellation system for solar burst-near-earth space environment response detection |
| CN104590585A (en) * | 2015-01-23 | 2015-05-06 | 中国空间技术研究院 | System and method for carrying out on-orbit service and maintenance on spacecraft based on mode of installing two aircrafts in one space station |
| CN108055067A (en) * | 2017-12-01 | 2018-05-18 | 中国人民解放军国防科技大学 | Multi-satellite online cooperative scheduling method |
| CN108923838A (en) * | 2018-06-14 | 2018-11-30 | 上海卫星工程研究所 | The master-salve distributed GEO communication satellite system framework of common rail |
| CN109061674A (en) * | 2018-06-28 | 2018-12-21 | 上海卫星工程研究所 | The system and method that dipper system continuous service is monitored using Constellation of Low Earth Orbit Satellites |
| CN109146955A (en) * | 2018-07-26 | 2019-01-04 | 西北工业大学 | A method of target three-dimensional image information is obtained based on microsatellite group |
| CN109189090A (en) * | 2018-07-16 | 2019-01-11 | 南京航空航天大学 | Large Spacecraft universe monitoring method based on a bionical micro-nano group of stars |
| RU2710036C1 (en) * | 2019-04-26 | 2019-12-24 | Акционерное общество "Корпорация космических систем специального назначения "Комета" (АО "Корпорация "Комета") | Method of cleaning near-earth space environment from small particles of space debris |
| CN111934747A (en) * | 2020-08-05 | 2020-11-13 | 上海卫星工程研究所 | System and method for realizing unified measurement and control of low-orbit formation satellites and transponder |
| CN112068176A (en) * | 2020-09-15 | 2020-12-11 | 北京航空航天大学 | Unmanned intelligent Mars detection system and method carrying multi-micro/nano-satellite networking |
-
2021
- 2021-04-23 CN CN202110444303.2A patent/CN113193903B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745342A (en) * | 2012-06-26 | 2012-10-24 | 上海卫星工程研究所 | Satellite constellation system for solar burst-near-earth space environment response detection |
| CN104590585A (en) * | 2015-01-23 | 2015-05-06 | 中国空间技术研究院 | System and method for carrying out on-orbit service and maintenance on spacecraft based on mode of installing two aircrafts in one space station |
| CN108055067A (en) * | 2017-12-01 | 2018-05-18 | 中国人民解放军国防科技大学 | Multi-satellite online cooperative scheduling method |
| CN108923838A (en) * | 2018-06-14 | 2018-11-30 | 上海卫星工程研究所 | The master-salve distributed GEO communication satellite system framework of common rail |
| CN109061674A (en) * | 2018-06-28 | 2018-12-21 | 上海卫星工程研究所 | The system and method that dipper system continuous service is monitored using Constellation of Low Earth Orbit Satellites |
| CN109189090A (en) * | 2018-07-16 | 2019-01-11 | 南京航空航天大学 | Large Spacecraft universe monitoring method based on a bionical micro-nano group of stars |
| CN109146955A (en) * | 2018-07-26 | 2019-01-04 | 西北工业大学 | A method of target three-dimensional image information is obtained based on microsatellite group |
| RU2710036C1 (en) * | 2019-04-26 | 2019-12-24 | Акционерное общество "Корпорация космических систем специального назначения "Комета" (АО "Корпорация "Комета") | Method of cleaning near-earth space environment from small particles of space debris |
| CN111934747A (en) * | 2020-08-05 | 2020-11-13 | 上海卫星工程研究所 | System and method for realizing unified measurement and control of low-orbit formation satellites and transponder |
| CN112068176A (en) * | 2020-09-15 | 2020-12-11 | 北京航空航天大学 | Unmanned intelligent Mars detection system and method carrying multi-micro/nano-satellite networking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113193903B (en) | 2022-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7240879B1 (en) | Method and associated apparatus for capturing, servicing and de-orbiting earth satellites using robotics | |
| US6843446B2 (en) | Apparatus and methods for in-space satellite operations | |
| US7370834B2 (en) | Apparatus and methods for in-space satellite operations | |
| CN106850051B (en) | Space debris cleaning system and method based on microsatellite | |
| US7035585B2 (en) | System and method for interfacing satellite communications with aircraft | |
| US20020173305A1 (en) | System and method for interfacing satellite communications with aircraft | |
| CN113193903B (en) | System and method for monitoring operation environment of service big satellite and backing up microsatellite with function | |
| Goodman | History of space shuttle rendezvous | |
| Rossetti et al. | Spacecraft modularity for serviceable satellites | |
| Shibuya et al. | Development and Demonstration of the Mission Control System for Artificial Meteor Generating Micro-satellites | |
| Goodman et al. | Challenges of orion rendezvous development | |
| Beattie et al. | In-flight operations of a high-availability nanosatellite constellation for maritime observation | |
| RU2666014C1 (en) | Method for maintenance of orbital grouping of automatic spacecrafts | |
| Pérez et al. | GOMX-4 the most advance nanosatellite mission for IOD purposes | |
| Obata et al. | The autonomous system architecture of the small SAR satellite operation system and on-orbit autonomous operation experiences | |
| Shurmer et al. | Sentinels optical communications payload (OCP) operations: From test to in-flight experience | |
| Vasconcelos et al. | Sentinel-1 reference orbit acquisition manoeuvre campaign | |
| Ilsen et al. | PROBA-V: The example of onboard and onground autonomy | |
| Pranajaya et al. | Nanosatellite tracking ships: cost-effective responsive space | |
| King | Saving hubble | |
| Palacios et al. | Meteosat Third Generation: Data Handling Architecture of a State-of-the-Art GEO Meteorological Satellite | |
| Yun | COSPAR Designation Launch Date Launch Site Launch Vehicle Initial Orbital Elements | |
| Pranajaya et al. | Nanosatellite tracking ships: from concept to launch in 7 months | |
| ECKERSLEY et al. | FUTURE RENDEZVOUS AND DOCKING MISSIONS | |
| Shurmer et al. | Operations Design, Test and In-Flight Experience of the Sentinels Optical Communications Payload (OCP) |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |