CN115430091A - Fire-fighting robot ground monitoring system capable of autonomous communication - Google Patents
Fire-fighting robot ground monitoring system capable of autonomous communication Download PDFInfo
- Publication number
- CN115430091A CN115430091A CN202110614881.6A CN202110614881A CN115430091A CN 115430091 A CN115430091 A CN 115430091A CN 202110614881 A CN202110614881 A CN 202110614881A CN 115430091 A CN115430091 A CN 115430091A
- Authority
- CN
- China
- Prior art keywords
- fire
- robot
- fighting robot
- information
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 70
- 238000004891 communication Methods 0.000 title claims abstract description 45
- 230000001276 controlling effect Effects 0.000 claims abstract description 11
- 230000000875 corresponding effect Effects 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims abstract description 8
- 238000012423 maintenance Methods 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010000369 Accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Landscapes
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a fire-fighting robot ground monitoring system with autonomous communication, which comprises a ground monitoring system, a RosBridge communication system and a fire-fighting robot system, wherein the RosBridge communication system comprises a plurality of sensors; the ground monitoring system is used for managing the fire-fighting robot, controlling the work task of the fire-fighting robot and monitoring the real-time state machine core of the fire-fighting robot through the RosBridge communication system; the fire-fighting robot system is used for acquiring real-time state information, alarm information, sub-map information, real-time position information, configuration information, video information and joint information of the fire-fighting robot and transmitting the information to the ground monitoring system through the RosBridge communication system; and the system is also used for acquiring the work task data sent by the ground monitoring system to control the fire-fighting robot to perform corresponding actions. The advantages are that: the intelligent and reliable levels of data communication, real-time monitoring and control, operation task management, linkage operation, remote control, man-machine interaction and debugging maintenance of the fire-fighting robots are effectively improved.
Description
Technical Field
The invention relates to an autonomous communication fire-fighting robot ground monitoring system, and belongs to the technical field of communication.
Background
The transformer, the converter transformer and other large-scale oil-filled equipment are used as the core components of ultrahigh voltage power transmission in China, are important carriers of power transmission, and once a fire accident occurs, not only can the interruption of power transmission and use of a transformer substation be caused, the power supply capacity be influenced, and meanwhile, huge economic loss can be caused. The fire-fighting robot can improve the actual combat ability of fire fighters to fight against extremely serious fire and reduce property loss and casualties. Based on the complex fire situation of the transformer substation, new technologies, new products and new methods capable of improving the fire-fighting capacity of the transformer substation need to be researched and developed, a series of full-scene fire-fighting robots are researched and developed, the requirement for improving the fire-fighting performance of the transformer substation is improved, and the safe operation risk of a power grid is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an autonomous communication fire-fighting robot ground monitoring system to effectively improve the intelligentization and reliability levels of the fire-fighting robot data communication, real-time monitoring and control, operation task management, linkage operation, remote control, human-computer interaction, debugging and maintenance and other technologies and functions.
In order to solve the technical problem, the invention provides an autonomous communication fire-fighting robot ground monitoring system, which comprises a ground monitoring system, a RosBridge communication system and a fire-fighting robot system;
the ground monitoring system is used for controlling the connection and start and stop of the fire-fighting robot through the RosBridge communication system, controlling the work task of the fire-fighting robot and monitoring the real-time state of the fire-fighting robot;
the fire-fighting robot system is used for acquiring real-time state information, alarm information, sub-map information, real-time position information, configuration information, video information and joint information of the fire-fighting robot and transmitting the information to the ground monitoring system through the Rosbridge communication system; the system is also used for acquiring the work task data sent by the ground monitoring system to control the fire-fighting robot to perform corresponding actions;
the RosBridge communication system adopts a registration callback mode developed by a QBeSocket module based on QT to carry out RosBridge bottom layer communication, and the communication system carries out data transmission through a packaged RosBridge communication packet.
Further, the ground monitoring system comprises a robot control module,
the system comprises a task control module, a real-time monitoring module, a task control module and a real-time monitoring module, wherein the task control module is used for controlling the operation of a plurality of robots in an operation and maintenance team;
the task control module is used for controlling the work task of the corresponding fire-fighting robot;
and the real-time monitoring module is used for monitoring the state of the corresponding fire-fighting robot in real time.
Further, the task control module includes:
the analysis setting module is used for determining alarm grade, fire distance and robot body state information according to the real-time state information, the alarm information, the sub-map information, the real-time position information, the configuration information, the video information and the joint information, analyzing the live tasks according to the determined information and setting the operation tasks;
the compiling module is used for compiling the tasks according to the analysis result or the setting;
the map point selection module is used for selecting points on a scene map according to the well-formulated operation task and performing initial positioning on the task execution of the fire fighting robot;
the issuing module is used for issuing the compiled operation task and the initial positioning information to the fire-fighting robot system through the RosBridge communication system;
the execution control module is used for carrying out pause, stop or continuous execution control on the issued job task;
and the display module is used for displaying the issued job task.
Further, the real-time monitoring module includes:
the video image monitoring module is used for acquiring and displaying a real-time video image of the fire-fighting robot;
the state and alarm information monitoring module is used for monitoring the state of the fire-fighting robot according to the acquired real-time state of the fire-fighting robot and the alarm information;
the command remote control module is used for remotely controlling the motion of the robot and the fire monitor;
the sub-map interaction module is used for displaying the peripheral physicochemical environment of the robot and performing man-machine interaction;
and the global path planning module is used for determining the optimal path of the destination point.
Further, the fire fighting robot system comprises a state information module,
the method is used for acquiring the current working mode of the robot, the state of the monitoring cloud deck and early warning information.
Further, the fire-fighting robot system comprises an alarm information module,
used for outputting general alarm information, serious alarm information and critical alarm information; the general alarm information comprises communication interruption of the robot and the condition that the robot meets an obstacle, the serious alarm information comprises magnetic navigation damage and too low voltage of a battery of the robot, and the emergency alarm information comprises too high temperature of the robot and loss of a map position of the robot.
Further, the fire fighting robot system comprises a sub-map module,
the method is used for constructing a map of an area where the robot stands by and a map of an area where the robot performs tasks.
Further, the fire fighting robot system comprises a real-time position information module,
the system is used for marking the positions of the full map, the sub-map and the travel path of the robot in real time; the full map refers to a movable all-area map set by the robot, and the sub-map refers to a map of an area where the robot stands by or is located in a task.
Further, the fire fighting robot system comprises a configuration information module,
the method is used for acquiring the model, the size, the weight, the traveling speed, the load capacity, the waterproof grade, the explosion-proof grade, the water cannon flow and the jet distance of the robot.
Further, the fire-fighting robot system comprises a video information module,
the system is used for acquiring multi-channel video sources based on the plurality of high-definition infrared cameras and sending the multi-channel video sources to the ground monitoring system through the Rosbridge communication system.
Further, the fire-fighting robot system comprises a joint information module,
the system is used for acquiring real-time joint information, elevation/depression angles and horizontal azimuth angles of a mechanical arm of the fire-fighting robot.
The invention achieves the following beneficial effects:
through a RosBridge communication system, the function that a non-ROS system calls ROS by using a network request based on JSON format of specified data content is realized, and the function comprises topic subscription, message publishing, service calling, parameter setting and acquisition, and picture information transmission, so that the ROS decoupling of a ground monitoring system and a fire-fighting robot is realized; the intelligent and reliable level of the technologies and functions of fire-fighting robot data communication, real-time monitoring and control, operation task management, linkage operation, remote control, human-computer interaction, debugging and maintenance and the like is effectively improved.
Drawings
Fig. 1 is a block diagram of an autonomous communication fire-fighting robot ground monitoring system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, an autonomous communication fire-fighting robot ground monitoring system includes a ground monitoring system, a rossbridge communication system, and a fire-fighting robot system;
the RosBridge communication system is developed based on a QT WebSocket module, realizes the bottom-layer communication function of the RosBridge by adopting a registration callback mode, and can be used for subscribing the state information, the alarm information, the sub-map information, the video configuration information and the real-time robot position information of the fire-fighting robot through a packaged RosBridge communication packet; meanwhile, the covering of the sub-map can be acquired through remote service calling, and the control over the fire-fighting robot and the fire monitor and the operation management over the fire-fighting robot are realized.
The ground monitoring system comprises a robot control module, a robot control module and a real-time monitoring module.
Furthermore, the robot control module mainly aims at realizing the selective switching among a plurality of robots in an operation and maintenance team, the sub-functions of the robot control module comprise all the robots in the station, and after one robot is selected, the two modules of task management and real-time monitoring are switched to the corresponding robot working interface.
Furthermore, the robot control module mainly realizes the functions of live-wire work task analysis, task preparation, work task issuing, task execution management, user-defined task, map point selection, task display and the like.
Furthermore, the real-time monitoring module mainly monitors the whole process information executed by the operation task of the fire-fighting robot and correspondingly controls the robot. The method mainly comprises video image monitoring, state and alarm information monitoring, instruction remote control, sub-map interaction and global path planning.
The fire-fighting robot system consists of a state information module, an alarm information module, a sub-map module, a real-time position information module, a configuration information module, a video information module and a joint information module.
Further, the state information module comprises the current working mode of the robot, the state of the monitoring holder and early warning information.
Further, the alarm information module is divided into general alarm, serious alarm and crisis alarm, including the internal temperature of the robot is overhigh, the magnetic navigation is damaged, an obstacle is encountered, the battery voltage is overlow, and the like.
Furthermore, the sub-map module is used for constructing a map of an area where the robot is located for standing by and a map of an area where the robot is located for executing tasks, so that the functions of path planning and navigation are completed.
Further, the real-time position information module is used for marking the positions of the full map, the sub-map and the travel path where the robot is located in real time.
Further, the configuration information module includes the model, size, weight, traveling speed, load capacity, waterproof grade, explosion-proof grade, water cannon flow, jet distance, etc. of the robot.
Furthermore, the video information module forms a multi-channel video source based on a plurality of high-definition infrared cameras, and pushes the multi-channel video source to a monitoring background to perform real-time monitoring analysis and real-time operation control.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (11)
1. A fire-fighting robot ground monitoring system with autonomous communication is characterized by comprising a ground monitoring system, a RosBridge communication system and a fire-fighting robot system;
the ground monitoring system is used for controlling the connection and start and stop of the fire-fighting robot through the RosBridge communication system, controlling the work task of the fire-fighting robot and monitoring the real-time state of the fire-fighting robot;
the fire-fighting robot system is used for acquiring real-time state information, alarm information, sub-map information, real-time position information, configuration information, video information and joint information of the fire-fighting robot and transmitting the information to the ground monitoring system through the RosBridge communication system; the system is also used for acquiring the work task data sent by the ground monitoring system to control the fire-fighting robot to perform corresponding actions;
the RosBridge communication system adopts a registration callback mode developed by a QBebSocket module based on QT to carry out RosBridge bottom layer communication, and the communication system carries out data transmission through a packaged RosBridge communication packet.
2. A fire fighting robot ground monitoring system of autonomous communication as recited in claim 1, wherein the ground monitoring system includes a robot control module,
the system comprises a task control module, a real-time monitoring module, a task control module and a real-time monitoring module, wherein the task control module is used for controlling the operation of a plurality of robots in an operation and maintenance team;
the task control module is used for controlling the work task of the corresponding fire-fighting robot;
and the real-time monitoring module is used for monitoring the state of the corresponding fire-fighting robot in real time.
3. A fire fighting robot ground monitoring system of autonomous communication as recited in claim 2, wherein the task control module comprises:
the analysis setting module is used for determining alarm grade, fire distance and robot body state information according to the real-time state information, the alarm information, the sub-map information, the real-time position information, the configuration information, the video information and the joint information, analyzing the live tasks according to the determined information and setting the operation tasks;
the compiling module is used for compiling the tasks according to the analysis result or the setting;
the map point selection module is used for selecting points on a scene map according to the well-formulated operation task and performing initial positioning on the task execution of the fire fighting robot;
the issuing module is used for issuing the compiled operation task and the initial positioning information to the fire-fighting robot system through the RosBridge communication system;
the execution control module is used for carrying out pause, stop or continuous execution control on the issued job task;
and the display module is used for displaying the issued job task.
4. A fire fighting robot ground monitoring system of autonomous communication as recited in claim 2, wherein the real-time monitoring module comprises:
the video image monitoring module is used for acquiring and displaying a real-time video image of the fire-fighting robot;
the state and alarm information monitoring module is used for monitoring the state of the fire-fighting robot according to the acquired real-time state and alarm information of the fire-fighting robot;
the command remote control module is used for remotely controlling the motion of the robot and the fire monitor;
the sub-map interaction module is used for displaying the peripheral physicochemical environment of the robot and performing man-machine interaction;
and the global path planning module is used for determining the optimal path of the destination point.
5. The autonomously communicating fire fighting robot ground monitoring system of claim 1, wherein the fire fighting robot system includes a status information module,
the method is used for acquiring the current working mode of the robot, the state of the monitoring cloud deck and early warning information.
6. The autonomously communicating fire-fighting robot ground monitoring system of claim 1, wherein the fire-fighting robot system includes an alarm information module,
used for outputting general alarm information, serious alarm information and critical alarm information; the general alarm information comprises communication interruption of the robot and the condition that the robot meets an obstacle, the serious alarm information comprises magnetic navigation damage and too low voltage of a battery of the robot, and the emergency alarm information comprises too high temperature of the robot and loss of a map position of the robot.
7. The autonomously communicating fire-fighting robot ground monitoring system of claim 1, wherein the fire-fighting robot system includes a sub-map module,
the method is used for constructing a map of an area where the robot stands by and a map of an area where the robot performs tasks.
8. The autonomously communicating fire fighting robot ground monitoring system of claim 1, wherein the fire fighting robot system includes a real-time location information module,
the system is used for marking the positions of a full map, a sub-map and a travel path of the robot in real time; the full map refers to a movable all-area map set by the robot, and the sub-map refers to a map of an area where the robot stands by or is located in a task.
9. The autonomously communicating fire-fighting robot ground monitoring system of claim 1, wherein the fire-fighting robot system includes a configuration information module,
the method is used for acquiring the model, the size, the weight, the traveling speed, the load capacity, the waterproof grade, the explosion-proof grade, the water cannon flow and the jet distance of the robot.
10. The autonomously communicating fire-fighting robot ground monitoring system of claim 1, wherein the fire-fighting robot system includes a video information module,
the system is used for acquiring multi-channel video sources based on the plurality of high-definition infrared cameras and sending the multi-channel video sources to the ground monitoring system through the RosBridge communication system.
11. The autonomously communicating fire-fighting robot ground monitoring system of claim 1, wherein the fire-fighting robot system includes a joint information module,
the system is used for acquiring real-time joint information, elevation/depression angles and horizontal azimuth angles of a mechanical arm of the fire-fighting robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110614881.6A CN115430091A (en) | 2021-06-02 | 2021-06-02 | Fire-fighting robot ground monitoring system capable of autonomous communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110614881.6A CN115430091A (en) | 2021-06-02 | 2021-06-02 | Fire-fighting robot ground monitoring system capable of autonomous communication |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115430091A true CN115430091A (en) | 2022-12-06 |
Family
ID=84240300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110614881.6A Pending CN115430091A (en) | 2021-06-02 | 2021-06-02 | Fire-fighting robot ground monitoring system capable of autonomous communication |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115430091A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201164675Y (en) * | 2008-02-01 | 2008-12-17 | 山东省科学院自动化研究所 | Intelligent robot system for tunnel fire-fighting emergency |
| US9069356B2 (en) * | 2011-06-12 | 2015-06-30 | Microsoft Technology Licensing, Llc | Nomadic security device with patrol alerts |
| CN108406764A (en) * | 2018-02-02 | 2018-08-17 | 上海大学 | Intelligence style of opening service robot operating system and method |
| RU2677413C1 (en) * | 2018-03-14 | 2019-01-16 | Общество С Ограниченной Ответственностью "Научно-Производственное Предприятие "Тензосенсор" | Method of extinguishing forest fires and robotized complex for its implementation |
| CN109276833A (en) * | 2018-08-01 | 2019-01-29 | 吉林大学珠海学院 | A kind of robot patrol fire-fighting system and its control method based on ROS |
| CN109331389A (en) * | 2018-11-12 | 2019-02-15 | 重庆知遨科技有限公司 | A kind of fire-fighting robot movement method of real-time based on Multi-sensor Fusion |
| CN110898353A (en) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | Panoramic monitoring and linkage control method and system for fire-fighting robot of transformer substation |
| CN111408089A (en) * | 2020-04-22 | 2020-07-14 | 北京新松融通机器人科技有限公司 | Fire-fighting robot and fire-fighting robot fire extinguishing system |
| CN112870599A (en) * | 2021-03-27 | 2021-06-01 | 山东创能机械科技有限公司潍坊分公司 | Novel generation autonomous intelligent fire-fighting inspection robot |
-
2021
- 2021-06-02 CN CN202110614881.6A patent/CN115430091A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201164675Y (en) * | 2008-02-01 | 2008-12-17 | 山东省科学院自动化研究所 | Intelligent robot system for tunnel fire-fighting emergency |
| US9069356B2 (en) * | 2011-06-12 | 2015-06-30 | Microsoft Technology Licensing, Llc | Nomadic security device with patrol alerts |
| CN108406764A (en) * | 2018-02-02 | 2018-08-17 | 上海大学 | Intelligence style of opening service robot operating system and method |
| RU2677413C1 (en) * | 2018-03-14 | 2019-01-16 | Общество С Ограниченной Ответственностью "Научно-Производственное Предприятие "Тензосенсор" | Method of extinguishing forest fires and robotized complex for its implementation |
| CN109276833A (en) * | 2018-08-01 | 2019-01-29 | 吉林大学珠海学院 | A kind of robot patrol fire-fighting system and its control method based on ROS |
| CN109331389A (en) * | 2018-11-12 | 2019-02-15 | 重庆知遨科技有限公司 | A kind of fire-fighting robot movement method of real-time based on Multi-sensor Fusion |
| CN110898353A (en) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | Panoramic monitoring and linkage control method and system for fire-fighting robot of transformer substation |
| CN111408089A (en) * | 2020-04-22 | 2020-07-14 | 北京新松融通机器人科技有限公司 | Fire-fighting robot and fire-fighting robot fire extinguishing system |
| CN112870599A (en) * | 2021-03-27 | 2021-06-01 | 山东创能机械科技有限公司潍坊分公司 | Novel generation autonomous intelligent fire-fighting inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113144470B (en) | Fire-fighting emergency early warning treatment and fire extinguishing integrated control system | |
| CN202586115U (en) | Thermal image temperature measuring and fault location inspection robot system | |
| CN203763736U (en) | Fully-intelligent fire fighting truck | |
| CN111645077A (en) | Ground monitoring system and monitoring method for distribution network line live working robot | |
| CN101884830A (en) | Firefighting robot system | |
| CN104600844A (en) | Power grid disaster monitoring and rush repairing system and method based on geographic information system (GIS) | |
| WO2024125124A1 (en) | Power grid metaverse system and construction method | |
| CN107414861A (en) | The wheeled rescue robot of remote command | |
| CN203460170U (en) | Wheel type search and rescue robot | |
| CN111093055A (en) | Safety monitoring vehicle-mounted platform, ground platform and monitoring system for insulating bucket arm vehicle | |
| CN113595239A (en) | Cloud-side-end-collaborative intelligent substation management and control system | |
| CN114115317A (en) | Substation unmanned aerial vehicle inspection method based on artificial intelligence | |
| CN115430091A (en) | Fire-fighting robot ground monitoring system capable of autonomous communication | |
| CN113145538B (en) | Insulator cleaning control method and system | |
| CN113618731A (en) | Robot control system | |
| CN113799092A (en) | Offshore wind power double-arm teleoperation intelligent operation and maintenance robot | |
| CN212341738U (en) | Information interaction system for inspection flying robot and automatic nest | |
| CN212647656U (en) | Electric self-propelled multifunctional application platform based on real-time teleoperation | |
| CN111590590A (en) | Transformer substation rail hanging robot collision prevention system and method | |
| CN205911826U (en) | Open digital integrated automation system for transformer substation | |
| CN210053588U (en) | NB-IOT terminal equipment, manipulator control equipment and monitoring system | |
| Lei et al. | Design of high voltage live operation robot system | |
| CN208409884U (en) | A kind of composite machine people's control system based on margin control | |
| CN107711040B (en) | Weeding robot for filter field of converter station | |
| CN107463109B (en) | General type surface of water mobile robot platform |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230802 Address after: No. 19, Chengxin Avenue, Jiangning Economic and Technological Development Zone, Nanjing, Jiangsu 210006 Applicant after: NARI Group Corp. Applicant after: NARI NANJING CONTROL SYSTEM Co.,Ltd. Address before: No. 19, Jiangning District, Jiangning District, Nanjing, Jiangsu Applicant before: NARI Group Corp. Applicant before: NARI TECHNOLOGY Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20221206 |