CN114180090A - Intelligent storage management method and system for unmanned aerial vehicle - Google Patents
Intelligent storage management method and system for unmanned aerial vehicle Download PDFInfo
- Publication number
- CN114180090A CN114180090A CN202111513004.6A CN202111513004A CN114180090A CN 114180090 A CN114180090 A CN 114180090A CN 202111513004 A CN202111513004 A CN 202111513004A CN 114180090 A CN114180090 A CN 114180090A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- platform
- information
- humidity
- 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
- 238000007726 management method Methods 0.000 title claims abstract description 30
- 230000003750 conditioning effect Effects 0.000 claims abstract description 48
- 238000000034 method Methods 0.000 claims abstract description 31
- 230000007613 environmental effect Effects 0.000 claims abstract description 25
- 238000011282 treatment Methods 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 30
- 230000008569 process Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 5
- 230000002349 favourable effect Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 description 18
- 238000000151 deposition Methods 0.000 description 11
- 238000005265 energy consumption Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000002277 temperature effect Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000003703 image analysis method Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/005—Protective coverings for aircraft not in use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Air Conditioning Control Device (AREA)
Abstract
The application relates to the technical field of unmanned aerial vehicle parking aprons, in particular to an intelligent unmanned aerial vehicle storage management method and system, wherein the method comprises the following steps: collecting characteristic information about the unmanned aerial vehicle; judging whether the unmanned aerial vehicle is parked on the platform or not according to the characteristic information; if the unmanned aerial vehicle is parked on the platform, whether the cover body is closed to match the platform to cover the unmanned aerial vehicle is judged; if the cover body is closed and the unmanned aerial vehicle is coated by the matching platform, the storage mode is switched to be the storage mode; and carrying out environment regulation treatment on the object placing space formed by matching the platform and the cover body based on the storage mode. Gather characteristic information and judge unmanned aerial vehicle's position, if it parks at the platform to derive unmanned aerial vehicle, then further judge whether the cover body closes and forms with the cooperation platform and put the thing space, if, then this application switches into and deposits the mode to carry out environmental conditioning to putting the thing space and handle, be favorable to improving the environmental factor that leads to damaging unmanned aerial vehicle, ensure to park unmanned aerial vehicle's environment reliable.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle parking aprons, in particular to an intelligent unmanned aerial vehicle storage management method and system.
Background
With the progress of science and technology in recent years, high-precision technologies such as artificial intelligence, automatic driving, cloud computing and signal processing are continuously realized and perfected, the concept of the unmanned aircraft is gradually developed, and the unmanned aircraft is a product under new science and technology. Due to the advantages of small size, long range and unmanned driving, unmanned aerial vehicles have been widely used in a plurality of fields, such as military investigation, security patrol, agricultural irrigation and the like.
In addition to considering in what area the drone is used, it is also necessary to consider how to store the drone. At present, after an unmanned aerial vehicle completes a task, the storage mode of the unmanned aerial vehicle can manually recover the unmanned aerial vehicle, and then the unmanned aerial vehicle is transferred to a designated place to be stored; and the unmanned aerial vehicle can land on the parking apron to be stored by arranging the unmanned aerial vehicle parking apron.
Above-mentioned correlation technique has realized depositing of unmanned aerial vehicle, but, to the abominable circumstances that leads to damaging unmanned aerial vehicle of environment of depositing unmanned aerial vehicle, does not have corresponding solution at present, and then can't carry out intelligence to unmanned aerial vehicle and deposit the management, can't ensure that unmanned aerial vehicle reliably deposits.
Disclosure of Invention
In order to facilitate the realization of intelligent storage management of the unmanned aerial vehicle and improve the storage reliability of the unmanned aerial vehicle, the application provides an intelligent storage management method and system of the unmanned aerial vehicle.
In a first aspect, the application provides an intelligent storage management method for an unmanned aerial vehicle, which adopts the following technical scheme:
an intelligent storage management method for unmanned aerial vehicles comprises the following steps:
collecting characteristic information about the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is parked on a platform or not according to the characteristic information;
if the unmanned aerial vehicle is parked on the platform, judging whether a cover body is closed to be matched with the platform to coat the unmanned aerial vehicle;
if the cover body is closed to be matched with the platform to coat the unmanned aerial vehicle, switching to a storage mode;
and carrying out environment regulation treatment on the object placing space formed by matching the platform and the cover body based on the storage mode.
Through adopting above-mentioned technical scheme, this application utilizes the collector to gather the characteristic information about unmanned aerial vehicle, and characteristic information is used for judging the basis of unmanned aerial vehicle position as, and this application utilizes intelligent controller to judge whether unmanned aerial vehicle parks at the platform according to characteristic information, if then further judge the cover body whether close with cooperation platform formation object space, if, then this application is through the secondary judge confirm after switch over for depositing the mode, and then begin to carry out environmental conditioning to object space and handle. The implementation is beneficial to accurately judging that the unmanned aerial vehicle is parked on the platform and effectively adjusting the environment after an object placing space is formed, so that the effect of reducing energy consumption is realized; environmental conditioning handles to be favorable to improving the environmental factor that leads to damaging unmanned aerial vehicle, ensures to park unmanned aerial vehicle's environment reliable.
Optionally, the manner of collecting the feature information about the drone includes: collecting positioning data about the unmanned aerial vehicle, and generating the characteristic information according to the positioning data.
Through adopting above-mentioned technical scheme, gather the location data and can effectively confirm unmanned aerial vehicle's position with the mode of datamation.
Optionally, the determining, according to the feature information, whether the unmanned aerial vehicle is parked on the platform includes:
presetting platform position range information;
analyzing whether the characteristic information is included in the platform position range information;
if the positioning data is contained in the platform position range information, determining that the unmanned aerial vehicle is parked on the platform;
and if the positioning data is not contained in the platform position range information, determining that the unmanned aerial vehicle is not parked on the platform.
Through adopting above-mentioned technical scheme, the locating data that the collector was gathered carries out the analytic processing in the relation with the platform position range information that the controller was preset, helps judging whether unmanned aerial vehicle parks the conclusion on the platform.
Optionally, before the environmental conditioning process is performed on the storage space formed by the platform and the cover body in cooperation based on the storage mode, the method further includes:
timing out the duration of the storage mode;
comparing the duration with a preset duration threshold;
and when the duration is longer than the duration threshold, carrying out environment adjustment processing on an object placing space formed by the platform and the cover body in a matched mode based on the storage mode.
Through adopting above-mentioned technical scheme, the duration that the controller timing reachd compares with long time threshold value, be good at long time threshold value based on the duration and judge that unmanned aerial vehicle parks the platform and deposit for a long time, the environmental conditioning is handled in the beginning again, effectual judgement measure has further been increased, help preventing that unmanned aerial vehicle from parking platform and cover body and implementing environmental conditioning at once after forming storage space and handling, and then reduce the number of times that environmental conditioning handled, realize the effect that reduces the energy consumption.
Optionally, the environmental conditioning is handled including temperature regulation, temperature regulation handles and adopts step formula temperature detection to adjust, step formula temperature detection adjusts including winter shelves and summer shelves, and step formula temperature detection adjusts still includes:
when the winter gear and the summer gear are switched to on time according to the respective time limit of the winter gear and the summer gear in each preset time period, collecting first temperature information in the object placing space;
comparing the first temperature information with a preset first temperature threshold value;
if the first temperature information is higher than the first temperature threshold value, adjusting a hot water electric adjusting valve to reduce the amount of hot water which is shunted into the air heater;
if the first temperature information is lower than the first temperature threshold value, adjusting a hot water electric adjusting valve to increase the amount of hot water which is shunted into the air heater;
alternatively, the first and second electrodes may be,
when the winter grade and the summer grade are switched to the summer grade on time according to the respective time limit of the winter grade and the summer grade in each preset time period, collecting second temperature information in the object placing space;
comparing the second temperature information with a preset second temperature threshold;
if the second temperature information is higher than the second temperature threshold value, adjusting a cold water electric adjusting valve to increase the amount of cold water which is shunted to the air refrigerator;
and if the second temperature information is lower than the second temperature threshold value, adjusting a cold water electric adjusting valve to reduce the amount of cold water which is shunted to enter the air refrigerator.
By adopting the scheme, the environment adjusting treatment is to adjust the temperature in the object space, and different temperature adjusting treatments are correspondingly implemented according to the time limit of reaching different grades in each time period, and each time period is divided into a winter grade and a summer grade. When entering winter gear according to the deadline, a preset first temperature threshold value is used as a reference, first temperature information in the object placing space is detected through the temperature sensor, the controller compares the first temperature information with the first temperature threshold value, if the first temperature information is higher than the first temperature threshold value, the temperature in the object placing space is overhigh, and the heating effect of air entering the object placing space is reduced by reducing the amount of hot water entering the air heater; first temperature information is less than first temperature threshold value then the temperature in the space of putting at present is crossed lowly, then through the hot water volume that increases entering air heater, utilizes the principle of aqueous vapor heat exchange to strengthen the heating effect to the air that gets into in putting the space to realize temperature regulation to the constant temperature effect of first temperature threshold value.
When summer shelves are entered according to time limit, a preset second temperature threshold value is used as a reference, second temperature information in the object placing space is detected through the temperature sensor, the controller compares the second temperature information with the second temperature threshold value, if the second temperature information is higher than the second temperature threshold value, the temperature in the object placing space is overhigh, and the refrigerating effect of air entering the object placing space is enhanced by increasing the amount of cold water entering the air refrigerator and utilizing the principle of water-air heat exchange; second temperature information is less than second temperature threshold value then the temperature in the space of putting the thing at present is low excessively, then through reducing the cold water volume that gets into air heater, and then reduces refrigeration effect to the air that gets into in the space of putting the thing to realize temperature regulation to the constant temperature effect of second temperature threshold value.
Optionally, the environmental conditioning process further includes humidity conditioning process, the humidity conditioning process adopts humidity detection and adjustment, the humidity detection and adjustment includes:
collecting humidity information in the object placing space;
comparing the humidity information with a preset humidity threshold value;
if the humidity information is higher than the humidity threshold value, the electric humidifier is adjusted to reduce the steam entering the storage space, and further the relative humidity in the storage space is reduced;
if the humidity information is lower than the humidity threshold value, the electric humidifier is adjusted to increase the steam entering the object placing space, and then the relative humidity in the object placing space is increased.
Through adopting above-mentioned scheme, environmental conditioning handles to carry out the regulation of humidity to the thing space to predetermine the humidity threshold value as the benchmark, this application detects out the humidity information in putting the thing space through humidity transducer, and the controller lets humidity information and humidity threshold value compare, and humidity information is higher than the humidity threshold value then the current too moist of putting in the thing space, adjusts electronic humidifier and reduces steam entering and put the thing space, in order to reduce the relative humidity of putting in the thing space. Humidity information is less than the humidity threshold value then too dry in the space of putting at present, adjusts electronic humidifier increase steam and gets into and put the space to increase the relative humidity who puts in the space of putting, thereby realize putting the constant humidity effect in the space of putting.
Optionally, after the first temperature information is lower than the first temperature threshold, the method further includes:
judging whether the condition that the first temperature information is lower than the first temperature threshold value can cause the condition that the humidity information is lower than the humidity threshold value or not;
if the first temperature information is lower than the first temperature threshold, the humidity information is lower than the humidity threshold, and the electric humidifier is adjusted to increase steam entering the object placing space, so that the relative humidity in the object placing space is increased.
Through adopting above-mentioned scheme, the temperature of putting the thing space when deriving winter shelves is low excessively in this application, implements further judgement, judges that the temperature is crossed lowly and can cause the humidity of putting in the thing space to cross lowly, if then adjusts electronic humidifier and gets into in order to increase steam and put the thing space, and then increases the relative humidity who puts in the thing space, further realizes intelligent constant temperature and humidity and handles.
Optionally, after the second temperature information is higher than the second temperature threshold, the method further includes:
judging whether the second temperature information is higher than the second temperature threshold value or not to cause the humidity information to be higher than the humidity threshold value;
if the second temperature information is higher than the second temperature threshold, the humidity information is higher than the humidity threshold, and then the electric humidifier is adjusted to reduce the steam entering into the object placing space, so that the relative humidity in the object placing space is reduced.
Through adopting above-mentioned scheme, this application puts the high temperature in the object space when deriving summer shelves, implements further judgement, judges whether the high temperature can cause the humidity that puts in the object space too high, if then adjusts electronic humidifier in order to reduce steam entering object space, and then increases the relative humidity who puts in the object space, further realizes intelligent constant temperature and humidity and handles.
The second aspect, this application provides a management system is deposited to unmanned aerial vehicle intelligence, adopts following technical scheme: an unmanned aerial vehicle intelligent storage management system, comprising:
the platform is used for parking the unmanned aerial vehicle;
the collector is used for collecting characteristic information about the unmanned aerial vehicle;
the controller is used for judging whether the unmanned aerial vehicle is parked on the platform or not according to the characteristic information;
the cover body is used for closing the unmanned aerial vehicle to form an object placing space by matching with the platform if the unmanned aerial vehicle is judged to be parked on the platform by the judging module;
and the environment adjusting and processing module is used for matching the controller to execute the steps of the intelligent storage management method of any unmanned aerial vehicle provided by the above if the cover body is closed and acts to cover the unmanned aerial vehicle by the matching platform.
Optionally, the platform is shaped like a hemisphere, and the cover body is matched with the platform and is shaped like a hollow hemisphere cover body.
In summary, the present application has the following beneficial effects:
1. gather characteristic information and judge unmanned aerial vehicle's position, if it parks at the platform to derive unmanned aerial vehicle, then further judge whether the cover body closes and forms with the cooperation platform and put the thing space, if, then this application switches into and deposits the mode to carry out environmental conditioning to putting the thing space and handle, be favorable to improving the environmental factor that leads to damaging unmanned aerial vehicle, ensure to park unmanned aerial vehicle's environment reliable.
2. The environmental conditioning adopts temperature regulation, and based on the time limit of reaching different shelves preset in each time quantum, carries out temperature comparison to the temperature threshold value that corresponds to carry out reasonable constant temperature adjustment to putting the object space. Be favorable to preventing to put the electronic component that object space subcooling or overheated to lead to influencing unmanned aerial vehicle and cause the damage even to it, play the effect of protection to unmanned aerial vehicle, improve the security when depositing.
3. The environment adjustment treatment also adopts humidity adjustment, and carries out humidity comparison based on a preset humidity threshold value, thereby carrying out reasonable constant humidity adjustment on the object placing space. Be favorable to preventing to put the electronic component that the thing space humidity or dry leads to influencing unmanned aerial vehicle and cause the damage even to it, play the effect of protection to unmanned aerial vehicle, improve the security when depositing.
Drawings
Fig. 1 is a schematic flow chart of an intelligent storage management method for an unmanned aerial vehicle according to an embodiment of the present application.
Fig. 2 is a schematic diagram of an environment conditioning process including a temperature conditioning process according to an embodiment of the present application.
Fig. 3 is the structural schematic diagram that management system's cover body was opened is deposited to unmanned aerial vehicle intelligence of this application embodiment.
Fig. 4 is the structural schematic diagram that management system's cover body was closed is deposited to unmanned aerial vehicle intelligence of this application embodiment.
Description of reference numerals: 1. a platform; 2. a cover body; 3. a support; 4. a rotary drive mechanism.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
Referring to fig. 1, an intelligent storage management method for an unmanned aerial vehicle includes:
and S1, collecting characteristic information about the unmanned aerial vehicle.
And S2, judging whether the unmanned aerial vehicle is parked on the platform 1 according to the characteristic information.
S3, if the unmanned aerial vehicle is parked on the platform 1, whether the cover body 2 is closed to match the platform 1 to coat the unmanned aerial vehicle is judged.
S4, if the cover body 2 is closed to cooperate the platform 1 to cover the unmanned aerial vehicle, the mode is switched to the storage mode.
And S5, performing environment adjustment processing on the object placing space formed by matching the platform 1 and the cover body 2 based on the storage mode.
The implementation principle is as follows: gather the characteristic information about unmanned aerial vehicle, wait the position of retrieving with the control according to characteristic information. If learn unmanned aerial vehicle and descend on platform 1, because platform 1 is connected with the cover body 2, the cover body 2 begins to move until closing. Because there is the clearance between the cover body 2 and the platform 1 to after the cover body 2 closes, thing space is put in the formation of cooperation platform 1, lets unmanned aerial vehicle be settled in the above-mentioned thing space of putting. And then, judging whether the cover body 2 is closed or not, and if the cover body 2 is closed, switching to a storage mode. And based on depositing the mode, begin to put the inside environmental conditioning that carries on of object space and handle, realize through adjusting with the balanced environment of putting in the object space, make it be more fit for depositing unmanned aerial vehicle, play the effect of protection to unmanned aerial vehicle, help reducing unmanned aerial vehicle and damage, improve the reliability that unmanned aerial vehicle deposited.
The embodiment discloses a mode of gathering about unmanned aerial vehicle's characteristic information includes: gather about unmanned aerial vehicle's location data, generate characteristic information according to the location data. Wherein regard as unmanned aerial vehicle's characteristic information with unmanned aerial vehicle's locating data.
Using GPS positioning as an example to illustrate how to acquire positioning parameters for an unmanned aerial vehicle:
the positioning parameters of the drone include four data of longitude, latitude, altitude and time correction of the drone. Unmanned aerial vehicle uses intelligent GPS locator, fixes a position the distance of GPS locator operation and each satellite, adopts the distance intersection method to obtain above-mentioned four data as the GPS signal, and the cooperation collector is for the GPS signal collector who is used for wireless reception GPS signal to the realization is confirmed the position of unmanned aerial vehicle fast, is fit for confirming unmanned aerial vehicle's position in the open air.
As another embodiment, how to acquire positioning parameters about the drone is described by taking UWB positioning as an example:
the method comprises the steps of determining the moving range of the unmanned aerial vehicle, installing a plurality of fixed positioning base stations with known positions in the moving range, wherein the height of each positioning base station is higher than the highest point of the unmanned aerial vehicle in flight. The positioning data about the drone includes wireless data and one-way time-of-flight data of the wireless data in the air. UWB location adopts wireless data arrival time method to obtain unmanned aerial vehicle's characteristic information, and its principle is: and enabling the wireless data to be transmitted back and forth between the positioning base station and the unmanned aerial vehicle at intervals, wherein each base station takes the base station as a circle center, the distance corresponding to the single-rest flight time data of the wireless data in the air is taken as a radius to draw a curve, and the intersection point of the curves corresponding to all the base stations is the characteristic information of the unmanned aerial vehicle. Thereby the realization is fit for confirming the position of unmanned aerial vehicle at open air fixed activity scope to the quick definite of unmanned aerial vehicle position, also is fit for confirming the position of unmanned aerial vehicle indoor.
In this embodiment, whether the unmanned aerial vehicle is parked on the platform 1 is determined according to the characteristic information, which includes the following steps:
and presetting the position range information of the platform 1.
Analyzing whether the characteristic information is contained in the platform 1 position range information:
if the positioning data in the characteristic information is contained in the position range information of the platform 1, determining that the unmanned aerial vehicle is parked on the platform 1; and if the positioning data in the characteristic information is not contained in the position range information of the platform 1, determining that the unmanned aerial vehicle is not parked on the platform 1.
And analyzing the inclusion relation between the positioning data in the characteristic information about the unmanned aerial vehicle and the position range information of the platform 1 to judge whether the unmanned aerial vehicle is parked on the platform 1. For example, the positioning data in the feature information includes longitude data and latitude data according to GPS positioning, the platform 1 position range information is preset longitude interval data and latitude interval data according to GPS positioning, and when the longitude data is included in the longitude interval data and the latitude data is included in the latitude interval data, the platform 1 position range information is analyzed. Determining that the unmanned aerial vehicle is parked on the platform 1, otherwise determining that the unmanned aerial vehicle is not parked on the platform 1. This kind of mode can accurately judge whether unmanned aerial vehicle has parked on platform 1.
As another embodiment, whether the unmanned aerial vehicle is parked on the platform 1 is determined according to the characteristic information, and the analysis and determination may be performed by adopting an image analysis method. For example: the method comprises the steps of shooting pictures of the platform 1 at intervals, collecting information from the pictures of the platform 1 and extracting features of the unmanned aerial vehicle through a neural network, a training model and a deep learning technology, further forming feature information, and analyzing and judging whether the unmanned aerial vehicle is parked on the platform 1 according to the feature information.
In this embodiment, before the storage space formed by the platform 1 and the cover body 2 in a matching manner is subjected to the environmental conditioning process based on the storage mode, the method further includes the following steps:
the time is timed out for the duration of the storage mode.
Comparing the duration with a preset duration threshold: when the duration is longer than the time threshold, the storage space formed by the platform 1 and the cover body 2 in a matched mode is subjected to environment adjustment processing based on the storage mode.
Take an unmanned aerial vehicle to perform public security patrol as an example, for example, the unmanned aerial vehicle needs to perform flight patrol in a large-scale exhibition environment in a city. Contain a plurality of flight periods in this process, have between every flight period and supply unmanned aerial vehicle to land the clearance time that platform 1 carried out automatic trimming to, this clearance time ratio is short, generally be 10 to 20 minutes long, in order to help accurate judgement unmanned aerial vehicle to land on platform 1 this moment and park or deposit for a long time temporarily, this application is after switching to the mode of depositing, the duration of mode is deposited in the beginning record, and compare duration and time length threshold value, when duration is greater than time length threshold value, then judge that unmanned aerial vehicle deposits for a long time, begin again to carry out the environmental conditioning to platform 1 and the object space that the cooperation of the cover body 2 formed and handle. The implementation helps to reduce the times of temporary stopping and starting environment regulation treatment, improves the effectiveness of treatment, and simultaneously starts the environment regulation treatment when long-term storage is determined, thereby achieving the effects of reducing energy consumption and saving energy
Referring to fig. 2, in the embodiment, the environment conditioning process includes a temperature conditioning process, the temperature conditioning process employs a stepped temperature detection conditioning, the stepped temperature detection conditioning includes a winter step and a summer step, and the stepped temperature detection conditioning further includes the following steps:
when the winter gear and the summer gear are switched to the winter gear on time according to the respective time limit of the winter gear and the summer gear in each preset time period, first temperature information in the storage space is collected.
Comparing the first temperature information with a preset first temperature threshold: if the first temperature information is higher than the first temperature threshold value, adjusting the hot water electric adjusting valve to reduce the amount of hot water which is shunted into the air heater; if the first temperature information is lower than the first temperature threshold value, the hot water electric regulating valve is regulated to increase the amount of hot water which is shunted into the air heater.
Or when the winter gear and the summer gear are switched to the summer gear on time according to the respective time limit of the winter gear and the summer gear in each preset time period, collecting second temperature information in the object placing space.
Comparing the second temperature information with a preset second temperature threshold: if the second temperature information is higher than the second temperature threshold value, adjusting the cold water electric adjusting valve to increase the amount of cold water which is shunted to the air refrigerator; and if the second temperature information is lower than the second temperature threshold value, adjusting the cold water electric adjusting valve to reduce the amount of cold water which is shunted to the air refrigerator.
By the implementation, the corresponding grading quantity can be set to perform corresponding constant temperature adjustment on the object placing space based on different climate time limits in the environment. For example, the time period may be 12 months, and each 12 months may be divided into a summer season period and a winter season period, each of which is 6 months. The number of the steps in the present application includes, but is not limited to, two, and may be three or more.
According to the comparison result provided by the embodiment, the controller correspondingly adjusts and controls the hot water electric adjusting valve and the cold water electric adjusting valve, and then the air cooler and the air heater which are arranged in the air channel for ventilating the object space are enabled to perform corresponding functions. Thereby realizing the constant temperature effect. Be favorable to preventing to put the electronic component that object space subcooling or overheated to lead to influencing unmanned aerial vehicle and cause the damage even to it, play the effect of protection to unmanned aerial vehicle, improve the security when depositing.
Referring to fig. 2, in this embodiment, the environment conditioning processing further includes humidity conditioning processing, the humidity conditioning processing employs humidity detection and conditioning, and the humidity detection and conditioning includes the following steps:
humidity information in the object placing space is collected.
Comparing the humidity information with a preset humidity threshold: if the humidity information is higher than the humidity threshold value, the electric humidifier is adjusted to reduce the steam entering the storage space, and further the relative humidity in the storage space is reduced; if the humidity information is lower than the humidity threshold value, the electric humidifier is adjusted to increase the steam entering the object placing space, and then the relative humidity in the object placing space is increased.
In this way, according to the comparison results provided in the above embodiments, the controller performs adjustment control of the electric humidifier provided in the air passage for ventilating the storage space, and further performs a corresponding humidity conditioning function, thereby achieving a constant humidity effect. Be favorable to preventing to put the electronic component that the thing space humidity or dry leads to influencing unmanned aerial vehicle and cause the damage even to it, play the effect of protection to unmanned aerial vehicle, improve the security when depositing.
In this embodiment, after the first temperature information is lower than the first temperature threshold, the method further includes:
judging whether the condition that the first temperature information is lower than the first temperature threshold value can cause the condition that the humidity information is lower than the humidity threshold value: if the first temperature information is lower than the first temperature threshold, the humidity information is lower than the humidity threshold, and then the electric humidifier is adjusted to increase the steam entering the object placing space, so as to increase the relative humidity in the object placing space.
The intelligent degree that this application was deposited is improved to the implementation like this, through the conclusion based on the temperature is judged, further judge whether the low temperature environment of putting the object space can cause the dry condition, when the conclusion is yes, then the operation that electronic humidifier of controller regulation control carried out the humidification. The realization carries out constant temperature and humidity's intelligent management to putting the object space.
In this embodiment, after the second temperature information is higher than the second temperature threshold, the method further includes: judging whether the second temperature information is higher than the second temperature threshold value or not to trigger the humidity information to be higher than the humidity threshold value: if the second temperature information is higher than the second temperature threshold value, the humidity information is higher than the humidity threshold value, and then the electric humidifier is adjusted to reduce the steam entering the object placing space, so that the relative humidity in the object placing space is reduced.
In this way, according to the comparison results provided in the above embodiments, the controller performs adjustment control of the electric humidifier provided in the air passage for ventilating the storage space, and further performs a corresponding humidity conditioning function, thereby achieving a constant humidity effect. Be favorable to preventing to put the electronic component that the thing space humidity or dry leads to influencing unmanned aerial vehicle and cause the damage even to it, play the effect of protection to unmanned aerial vehicle, improve the security when depositing.
Referring to fig. 3 and fig. 4, the embodiment of the present application further discloses an unmanned aerial vehicle intelligent storage management system, including:
The collector is used for collecting characteristic information about the unmanned aerial vehicle.
And the controller is used for judging whether the unmanned aerial vehicle is parked on the platform 1 according to the characteristic information.
The cover body 2 is used for judging that the unmanned aerial vehicle is parked at the platform 1 if the judging module, and closing action is implemented to form an object placing space by matching with the platform 1.
And the environment adjusting and processing module is used for closing the cover body 2 to act in a manner of matching the platform 1 to coat the unmanned aerial vehicle, and matching the controller to execute the steps of the intelligent storage management method for any unmanned aerial vehicle.
The collector gathers the characteristic information about unmanned aerial vehicle, and characteristic information is used for judging the basis of unmanned aerial vehicle position, and the controller judges whether unmanned aerial vehicle parks at platform 1 according to characteristic information, if then further judges that the cover body 2 closes and forms with cooperation platform 1 and put the thing space, if, then this application is judged the definite back through the secondary and is switched into and deposit the mode, and then environmental conditioning processing module begins to carry out the environmental conditioning to putting the thing space and handle. The implementation is beneficial to accurately judging that the unmanned aerial vehicle is parked on the platform 1 and effectively adjusting the environment after an object placing space is formed, so that the effect of reducing energy consumption is realized; environmental conditioning handles to be favorable to improving the environmental factor that leads to damaging unmanned aerial vehicle, ensures to park unmanned aerial vehicle's environment reliable.
In one embodiment, the platform 1 is shaped like a hemisphere, and the cover 2 is a hollow hemisphere cover matching the shape of the platform 1. When the cover body 2 rotates to implement closing action to match the platform 1 to form a sphere, the hollow position of the cover body 2 forms an object placing space due to the matching of the cover body 2 and the platform 1, wherein the platform 1 can be supported by the bracket 3, and the cover body 2 can rotate by the driving of the rotation driving mechanism 4 such as a conventional motor component, so as to implement closing action or opening action.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. An intelligent storage management method for an unmanned aerial vehicle is characterized by comprising the following steps:
collecting characteristic information about the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is parked on a platform (1) or not according to the characteristic information;
if the unmanned aerial vehicle is parked on the platform (1), judging whether a cover body (2) is closed to match the platform (1) to coat the unmanned aerial vehicle;
if the cover body (2) is closed to be matched with the platform (1) to coat the unmanned aerial vehicle, switching to a storage mode;
and carrying out environment regulation treatment on the object placing space formed by matching the platform (1) and the cover body (2) based on the storage mode.
2. The intelligent unmanned aerial vehicle storage management method according to claim 1, wherein the manner of collecting characteristic information about the unmanned aerial vehicle comprises: collecting positioning data about the unmanned aerial vehicle, and generating the characteristic information according to the positioning data.
3. The intelligent unmanned aerial vehicle storage management method according to claim 2, wherein the determining whether the unmanned aerial vehicle is parked on the platform (1) according to the feature information comprises:
presetting position range information of the platform (1);
analyzing whether the characteristic information is contained in the platform (1) position range information;
if the positioning data is contained in the platform (1) position range information, determining that the unmanned aerial vehicle is parked on the platform (1);
if the positioning data are not contained in the position range information of the platform (1), determining that the unmanned aerial vehicle is not parked on the platform (1).
4. The intelligent storage management method for unmanned aerial vehicles according to claim 1, wherein before the environmental conditioning treatment of the storage space formed by the platform (1) and the cover body (2) in cooperation based on the storage mode, the method further comprises:
timing out the duration of the storage mode;
comparing the duration with a preset duration threshold;
and when the duration is longer than the duration threshold, carrying out environment adjustment treatment on the object placing space formed by the platform (1) and the cover body (2) in a matched mode based on the storage mode.
5. The intelligent unmanned aerial vehicle storage management method of claim 1, wherein the environmental conditioning process comprises a temperature conditioning process, the temperature conditioning process employs a stepped temperature detection conditioning, the stepped temperature detection conditioning comprises a winter stage and a summer stage, and the stepped temperature detection conditioning further comprises:
when the winter gear and the summer gear are switched to on time according to the respective time limit of the winter gear and the summer gear in each preset time period, collecting first temperature information in the object placing space;
comparing the first temperature information with a preset first temperature threshold value;
if the first temperature information is higher than the first temperature threshold value, adjusting a hot water electric adjusting valve to reduce the amount of hot water which is shunted into the air heater;
if the first temperature information is lower than the first temperature threshold value, adjusting a hot water electric adjusting valve to increase the amount of hot water which is shunted into the air heater;
alternatively, the first and second electrodes may be,
when the winter grade and the summer grade are switched to the summer grade on time according to the respective time limit of the winter grade and the summer grade in each preset time period, collecting second temperature information in the object placing space;
comparing the second temperature information with a preset second temperature threshold;
if the second temperature information is higher than the second temperature threshold value, adjusting a cold water electric adjusting valve to increase the amount of cold water which is shunted to the air refrigerator;
and if the second temperature information is lower than the second temperature threshold value, adjusting a cold water electric adjusting valve to reduce the amount of cold water which is shunted to enter the air refrigerator.
6. The intelligent unmanned aerial vehicle storage management method according to claim 5, wherein the environment conditioning process further comprises a humidity conditioning process, the humidity conditioning process employs humidity detection and conditioning, and the humidity detection and conditioning comprises:
collecting humidity information in the object placing space;
comparing the humidity information with a preset humidity threshold value;
if the humidity information is higher than the humidity threshold value, the electric humidifier is adjusted to reduce the steam entering the storage space, and further the relative humidity in the storage space is reduced;
if the humidity information is lower than the humidity threshold value, the electric humidifier is adjusted to increase the steam entering the object placing space, and then the relative humidity in the object placing space is increased.
7. The intelligent unmanned aerial vehicle deposit management method of claim 6, further comprising, after the first temperature information is lower than the first temperature threshold:
judging whether the condition that the first temperature information is lower than the first temperature threshold value can cause the condition that the humidity information is lower than the humidity threshold value or not;
if the first temperature information is lower than the first temperature threshold, the humidity information is lower than the humidity threshold, and the electric humidifier is adjusted to increase steam entering the object placing space, so that the relative humidity in the object placing space is increased.
8. The intelligent storage management method for unmanned aerial vehicles according to claim 6, wherein after the second temperature information is higher than the second temperature threshold, the method further comprises:
judging whether the second temperature information is higher than the second temperature threshold value or not to cause the humidity information to be higher than the humidity threshold value;
if the second temperature information is higher than the second temperature threshold, the humidity information is higher than the humidity threshold, and then the electric humidifier is adjusted to reduce the steam entering into the object placing space, so that the relative humidity in the object placing space is reduced.
9. The utility model provides a management system is deposited to unmanned aerial vehicle intelligence which characterized in that includes:
a platform (1) for parking the drone;
the collector is used for collecting characteristic information about the unmanned aerial vehicle;
the controller is used for judging whether the unmanned aerial vehicle is parked on the platform (1) or not according to the characteristic information;
the cover body (2) is used for implementing closing action to match the platform (1) to form an object placing space if the judging module judges that the unmanned aerial vehicle is parked on the platform (1);
an environmental conditioning processing module for performing the steps of the intelligent unmanned aerial vehicle storage management method of any one of claims 1-8 in cooperation with the controller if the cover body (2) is closed to act in cooperation with the platform (1) to wrap the unmanned aerial vehicle.
10. The intelligent unmanned aerial vehicle storage management system of claim 9, wherein the platform (1) is shaped like a hemisphere, and the cover (2) is shaped like a hollow hemisphere cover in cooperation with the platform (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513004.6A CN114180090B (en) | 2021-12-11 | 2021-12-11 | Unmanned aerial vehicle intelligent storage management method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513004.6A CN114180090B (en) | 2021-12-11 | 2021-12-11 | Unmanned aerial vehicle intelligent storage management method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114180090A true CN114180090A (en) | 2022-03-15 |
| CN114180090B CN114180090B (en) | 2024-02-02 |
Family
ID=80604557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111513004.6A Active CN114180090B (en) | 2021-12-11 | 2021-12-11 | Unmanned aerial vehicle intelligent storage management method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114180090B (en) |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2334192A1 (en) * | 1973-07-05 | 1975-01-23 | Ulrich Csernak | Airport and car park layout - vehicles allocated parking positions dependent on passengers' take-off time |
| CN104714240A (en) * | 2015-03-26 | 2015-06-17 | 清华大学 | Method for judging accuracy of GPS position information |
| CN106065730A (en) * | 2016-07-22 | 2016-11-02 | 国网电力科学研究院武汉南瑞有限责任公司 | UAV Intelligent storehouse |
| JP2017130133A (en) * | 2016-01-22 | 2017-07-27 | 日本電気株式会社 | Aircraft monitoring device and aircraft monitoring method |
| CN107176047A (en) * | 2017-05-27 | 2017-09-19 | 先测电子科技（上海）有限公司 | A kind of unmanned plane shuts down storehouse |
| CN108009487A (en) * | 2017-11-29 | 2018-05-08 | 重庆固恒通信设备有限公司 | UAV Intelligent hangar system |
| US20180170191A1 (en) * | 2016-12-20 | 2018-06-21 | Beijing Xiaomi Mobile Software Co., Ltd. | Onboard charging device for unmanned aerial vehicle and vehicle including the same |
| EP3337724A1 (en) * | 2015-08-17 | 2018-06-27 | H3 Dynamics Holdings Pte. Ltd. | Drone box |
| EP3372492A1 (en) * | 2015-12-31 | 2018-09-12 | Goertek Technology Co., Ltd. | Unmanned aerial vehicle take-off and landing control system and control method |
| CN108698709A (en) * | 2017-09-30 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Shut down platform, unmanned vehicle base station, the landing method of unmanned vehicle and system |
| CN108945502A (en) * | 2018-06-29 | 2018-12-07 | 长春草莓科技有限公司 | A kind of unmanned plane automatic accomodation device that can reduce volume |
| EP3412569A1 (en) * | 2017-06-09 | 2018-12-12 | DRONE-FUTURE bvba | System and method for cargo delivery |
| WO2019228537A1 (en) * | 2018-06-01 | 2019-12-05 | 深圳市道通智能航空技术有限公司 | Battery restart processing method and device for unmanned aerial vehicle, and storage medium |
| CN111483385A (en) * | 2019-01-28 | 2020-08-04 | 中光电智能机器人股份有限公司 | Monitoring system and control method thereof |
| WO2020162583A1 (en) * | 2019-02-08 | 2020-08-13 | 株式会社ナイルワークス | Drone system, drone, mobile unit, control device, drone system control method, and drone system control program |
| US20200290752A1 (en) * | 2019-03-11 | 2020-09-17 | Igor M. Kolosiuk | Autonomous hanging storage, docking and charging multipurpose station for an unmanned aerial vehicle |
| CN111731499A (en) * | 2020-07-21 | 2020-10-02 | 天津航天中为数据系统科技有限公司 | Unmanned aerial vehicle automatic charging unattended system |
| KR20210001370A (en) * | 2019-06-27 | 2021-01-06 | 주식회사 플라잉스타 | Apparatus and method for cargo unsig drone |
| US20210020054A1 (en) * | 2018-03-28 | 2021-01-21 | Kddi Corporation | Storage facility management device |
| CN112311872A (en) * | 2020-10-29 | 2021-02-02 | 山东翔迈智能科技有限公司 | Unmanned aerial vehicle nest autonomous cruise network system |
| CN113552900A (en) * | 2021-07-23 | 2021-10-26 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle intelligence hangar |
-
2021
- 2021-12-11 CN CN202111513004.6A patent/CN114180090B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2334192A1 (en) * | 1973-07-05 | 1975-01-23 | Ulrich Csernak | Airport and car park layout - vehicles allocated parking positions dependent on passengers' take-off time |
| CN104714240A (en) * | 2015-03-26 | 2015-06-17 | 清华大学 | Method for judging accuracy of GPS position information |
| EP3337724A1 (en) * | 2015-08-17 | 2018-06-27 | H3 Dynamics Holdings Pte. Ltd. | Drone box |
| EP3372492A1 (en) * | 2015-12-31 | 2018-09-12 | Goertek Technology Co., Ltd. | Unmanned aerial vehicle take-off and landing control system and control method |
| JP2017130133A (en) * | 2016-01-22 | 2017-07-27 | 日本電気株式会社 | Aircraft monitoring device and aircraft monitoring method |
| CN106065730A (en) * | 2016-07-22 | 2016-11-02 | 国网电力科学研究院武汉南瑞有限责任公司 | UAV Intelligent storehouse |
| US20180170191A1 (en) * | 2016-12-20 | 2018-06-21 | Beijing Xiaomi Mobile Software Co., Ltd. | Onboard charging device for unmanned aerial vehicle and vehicle including the same |
| CN107176047A (en) * | 2017-05-27 | 2017-09-19 | 先测电子科技（上海）有限公司 | A kind of unmanned plane shuts down storehouse |
| EP3412569A1 (en) * | 2017-06-09 | 2018-12-12 | DRONE-FUTURE bvba | System and method for cargo delivery |
| CN108698709A (en) * | 2017-09-30 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Shut down platform, unmanned vehicle base station, the landing method of unmanned vehicle and system |
| CN108009487A (en) * | 2017-11-29 | 2018-05-08 | 重庆固恒通信设备有限公司 | UAV Intelligent hangar system |
| US20210020054A1 (en) * | 2018-03-28 | 2021-01-21 | Kddi Corporation | Storage facility management device |
| WO2019228537A1 (en) * | 2018-06-01 | 2019-12-05 | 深圳市道通智能航空技术有限公司 | Battery restart processing method and device for unmanned aerial vehicle, and storage medium |
| CN108945502A (en) * | 2018-06-29 | 2018-12-07 | 长春草莓科技有限公司 | A kind of unmanned plane automatic accomodation device that can reduce volume |
| CN111483385A (en) * | 2019-01-28 | 2020-08-04 | 中光电智能机器人股份有限公司 | Monitoring system and control method thereof |
| WO2020162583A1 (en) * | 2019-02-08 | 2020-08-13 | 株式会社ナイルワークス | Drone system, drone, mobile unit, control device, drone system control method, and drone system control program |
| US20200290752A1 (en) * | 2019-03-11 | 2020-09-17 | Igor M. Kolosiuk | Autonomous hanging storage, docking and charging multipurpose station for an unmanned aerial vehicle |
| KR20210001370A (en) * | 2019-06-27 | 2021-01-06 | 주식회사 플라잉스타 | Apparatus and method for cargo unsig drone |
| CN111731499A (en) * | 2020-07-21 | 2020-10-02 | 天津航天中为数据系统科技有限公司 | Unmanned aerial vehicle automatic charging unattended system |
| CN112311872A (en) * | 2020-10-29 | 2021-02-02 | 山东翔迈智能科技有限公司 | Unmanned aerial vehicle nest autonomous cruise network system |
| CN113552900A (en) * | 2021-07-23 | 2021-10-26 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle intelligence hangar |
Non-Patent Citations (2)
| Title |
|---|
| 田力;: "输电线路杆塔无人机自动精细巡检系统研究", 电力与能源, no. 02, pages 130 - 134 * |
| 胡冉;熊彪;: "基于无人机平台的架空线路局放快速检测装置研究", 技术与市场, no. 02, pages 47 - 48 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114180090B (en) | 2024-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205196323U (en) | Solar energy intelligence machine people that mows based on thing networking | |
| EP2397030B1 (en) | System and method for irrigation using atmospheric water | |
| CN108829074A (en) | A kind of artificial intelligence domestic environment system control method based on big data | |
| WO2017133708A1 (en) | Automatic walking snow removal apparatus | |
| US8295979B2 (en) | Adaptive scheduling of a service robot | |
| US8285460B2 (en) | Varying irrigation scheduling based on height of vegetation | |
| CN108873729A (en) | Artificial intelligence domestic environment management system based on big data | |
| CN108828140A (en) | A kind of multiple no-manned plane collaboration stench source tracing method based on particle swarm algorithm | |
| US20170126172A1 (en) | Electricity generation method adapted to crops | |
| CN114688650B (en) | Spray cooling fan control system and method based on computer vision technology | |
| CN110065363A (en) | A kind of mounted air conditioner system | |
| CN112136667B (en) | Intelligent sprinkling irrigation method and system based on edge machine learning | |
| CN107873492A (en) | A kind of unmanned plane farmland control irrigation system and its method of work | |
| CN105204516A (en) | Biological agriculture monitoring method, device and system | |
| Stewart | Influence of meteorological conditions on the intensity and form of the urban heat island effect in Regina | |
| CN115633622A (en) | Intelligent orchard irrigation system and method | |
| CN114180090A (en) | Intelligent storage management method and system for unmanned aerial vehicle | |
| Pedgley | Aerobiology: the atmosphere as a source and sink for microbes | |
| CN116880580A (en) | But automatically regulated angle's photovoltaic board power generation system | |
| CN114237309A (en) | Angle adjusting method and device for photovoltaic module | |
| CN111758465A (en) | Tea frost prevention method and system based on unmanned aerial vehicle | |
| CN109386935A (en) | Room temperature autocontrol method | |
| Heisler et al. | Investigation of the lnf luence of Chicago's Urban Forests on Wind and Air Temperature Within Residential Neighborhoods | |
| CN115024298B (en) | Counting insecticidal lamp based on lightweight neural network and counting method | |
| CN106406397A (en) | Wisdom greenhouse |
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 |