CN115898850A - Axial plunger pump edge calculation processor - Google Patents
Axial plunger pump edge calculation processor Download PDFInfo
- Publication number
- CN115898850A CN115898850A CN202211405027.XA CN202211405027A CN115898850A CN 115898850 A CN115898850 A CN 115898850A CN 202211405027 A CN202211405027 A CN 202211405027A CN 115898850 A CN115898850 A CN 115898850A
- Authority
- CN
- China
- Prior art keywords
- plunger pump
- axial plunger
- module
- sensor
- digital
- 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
- 238000004364 calculation method Methods 0.000 title claims abstract description 29
- 238000000605 extraction Methods 0.000 claims abstract description 39
- 238000006243 chemical reaction Methods 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000010349 pulsation Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Abstract
The invention provides an axial plunger pump edge calculation processor, which is mainly applied to the field of intelligent hydraulic parts and aims at a specific application object axial plunger pump; the axial plunger pump edge calculation processor is composed of a sensor module, a digital-to-analog conversion module, a feature extraction module, a data transmission module and a peripheral accessory module. The sensor module is used for acquiring pressure, flow, vibration and temperature analog signals of a specific position of the axial plunger pump, the analog signals are converted into digital signals through the digital-to-analog conversion module and input into the characteristic extraction module, the characteristic extraction module is used for performing edge calculation on the signals, time domain and frequency domain related characteristic information in each signal is extracted, the characteristic information is transmitted to an upper computer or other calculation processing modules through the data transmission module, and efficient transmission of running state data of the axial plunger pump is achieved.
Description
Technical Field
The invention belongs to the field of intelligent hydraulic elements, and particularly relates to an edge calculation processor for an axial plunger pump.
Background
In a hydraulic system, a hydraulic pump is used as a core power element to deeply affect the operation of the whole system, and an axial plunger pump is a very widely applied one. The axial plunger pump has the advantages of high pressure, compact structure, high efficiency and the like, but because the internal structure is complex and the working environment is severe, faults are easy to generate in the operation process, and the operation state of the axial plunger pump is often required to be checked. Along with the development of the hydraulic industry towards the direction of internet of things, informatization and intellectualization, the traditional manual inspection mode is difficult to meet the requirements, and various cloud state monitoring technologies for the axial plunger pump are started. The cloud state monitoring technology can realize remote real-time monitoring on the axial plunger pump, normal and safe operation of the axial plunger pump is guaranteed, but the cloud state monitoring technology is limited by the transmission rate and bandwidth of the existing cloud communication technology, a large amount of sensor data related to the operation state of the axial plunger pump cannot be transmitted in real time at low cost, and development of the cloud state monitoring technology for the axial plunger pump is greatly limited.
Disclosure of Invention
In order to solve the problem of the cloud state monitoring technology of the axial plunger pump, the invention provides an edge calculation processor of the axial plunger pump.
The edge calculation processor of the axial plunger pump comprises a sensor module, a digital-to-analog conversion module, a feature extraction module and a data transmission module.
The sensor module is a sensor group arranged at a specific position of the axial plunger pump and is used for acquiring the operation data of the axial plunger pump;
the digital-to-analog conversion module is used for converting analog signals acquired by the sensor group into digital signals and transmitting the digital signals to the feature extraction module;
the characteristic extraction module is used for carrying out time domain characteristic extraction, time-frequency domain conversion and frequency domain characteristic extraction calculation on the received digital signal to obtain characteristic information and transmitting the characteristic information to the data transmission module;
the data transmission module is an SPI protocol interface and is used for outputting the feature information obtained by the calculation of the feature extraction module.
Further, the sensor group comprises pressure, flow, vibration and temperature sensors; the pressure sensor is arranged at the inlet and the outlet of the axial plunger pump, the flow sensor is arranged at the inlet and the outlet of the axial plunger pump, the temperature sensor is arranged inside the axial plunger pump shell and outside the cylinder body, and the vibration sensor is arranged inside the axial plunger pump shell and outside the cylinder body.
Furthermore, the digital-to-analog conversion module is an AD7606 chip and is provided with eight input channels.
Further, the feature extraction module is an STM32H743 chip, and software programs can be modified in the face of different application scenarios.
Furthermore, the system also comprises an accessory module and an expansion interface.
The accessory module comprises a processor power supply circuit, a program burning debugging interface and a data storage chip;
the processor power supply circuit is used for supplying power to the edge computing processor;
the program burning debugging interface is used for burning and debugging programs;
the data storage chip is used for expanding storage space.
Furthermore, the expansion interface comprises a CAN interface and an RS485 interface and is mainly used for realizing the communication between the feature extraction module and the upper computer.
The expansion interface also comprises an ADC interface which is used for an additional sensor signal input interface when the digital-to-analog conversion module can not meet the input requirement of the sensor.
Further, the characteristic information comprises six time domain characteristic quantities, namely a square root amplitude, a root-mean-square amplitude, a kurtosis value, a kurtosis factor and a margin factor, which are obtained by processing the sensor signal; average frequency, 4-2 order square root value, 2 order weight value, 2 order center distance square root value, 4 order convolution index and 1/2 order convolution index.
The invention has at least one of the following beneficial effects:
(1) The invention applies the edge calculation algorithm which is characterized by feature extraction to the state monitoring of the axial plunger pump for the first time. Different from the traditional method that the characteristic extraction is carried out after the sensor is used for collecting signals and uploading data, the characteristic extraction process is placed close to the edge side of the equipment, the signal collection and the characteristic extraction process can be carried out synchronously, and finally, only necessary sensor information and characteristic information are uploaded, so that the transmission of a large amount of invalid information is reduced, the cost of data transmission is reduced, and the efficiency and the effect of carrying out state monitoring on the axial plunger pump are improved.
(2) The type, the number and the arrangement mode of the sensors are scientific; the running state of the axial plunger pump can be examined from the aspects of energy pulsation, abrasion, load and the like.
(3) The selection of the characteristic information of the invention can effectively reflect the running state index of the axial plunger pump through comprehensive consideration. The selection of the characteristic information considers performance indexes in a time domain and a frequency domain, and can respectively reflect the energy characteristics and the impact information of the axial plunger pump in the time domain and the main frequency distribution state and the energy convolution characteristics in the frequency domain.
(4) The invention has strong expansibility and flexibility. More than 8 synchronous sensor acquisition interfaces are provided in the input aspect, so that the signal acquisition requirement of a multi-channel sensor can be met; the output aspect covers various communication interfaces of SPI, RS485 and CAN, and the requirements of near, medium and long-distance quick and medium rate data transmission CAN be met; in addition, a programmable STM32H743 chip is adopted, so that a software program can be flexibly modified to meet requirements in different application scenes.
Drawings
The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the inventive embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
FIG. 1 shows a schematic diagram of an axial plunger pump edge calculation processor of the present invention;
FIG. 2 shows a flow chart of the axial plunger pump edge calculation processor hardware routine of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the structure of the invention includes a sensor module, a digital-to-analog conversion module, a feature extraction module, a data transmission module, an accessory module and an expansion interface. Analog signals of the running state of the axial plunger pump are collected by the sensor module and enter the edge calculation processor, digital signals are obtained by processing of the digital-to-analog conversion module, then the digital signals are input to the feature extraction module for feature extraction to obtain feature information, and finally the feature information is transmitted to the data transmission module for output.
The sensor module is a sensor group arranged at a specific position of the axial plunger pump and is connected with an interface of the digital-to-analog conversion module. The sensor group comprises four sensors of pressure, flow, vibration and temperature, the number of the sensors is at least 8, the sensors correspond to the number of interfaces of the digital-to-analog conversion module, one of the pressure sensors and one of the flow sensors form a group, two groups of the sensors are respectively arranged at the inlet and the outlet of the axial plunger pump, and the vibration sensors and the temperature sensors also form a group, and two groups of the sensors are respectively arranged inside the housing of the axial plunger pump and outside the cylinder body. When the axial plunger pump is collected, the pressure sensor and the flow sensor detect the energy pulsation condition of the axial plunger pump, the vibration sensor detects the abrasion condition of a structural part of a cylinder body, and the temperature sensor detects whether the axial plunger pump is overloaded or abnormally operated.
The digital-to-analog conversion module is an AD7606 chip, at least eight input channels are connected with the sensor group, and the digital-to-analog conversion module is used for converting analog signals acquired by the sensor group into digital signals and transmitting the digital signals to the feature extraction module. Before the sensor signals are input into the digital-to-analog conversion module, the corresponding voltage conversion module is arranged to limit the voltages of different sensor signals within the rated input range of the digital-to-analog conversion module.
The characteristic extraction module is an STM32H743 chip, is connected with the digital-to-analog conversion module and the data transmission module, and is a main operation chip. The characteristic extraction module receives digital signals from the digital-to-analog conversion module in a timing and equal length mode, the receiving time interval is that the acquisition duration is T, and a plurality of channel digital signals acquired within the T time are stored in the memory space of the embedded chip in an array mode respectively; then six time domain characteristic quantities, namely a square root amplitude, a root-mean-square amplitude, a kurtosis value, a kurtosis factor and a margin factor, of each array are calculated, and energy characteristics and impact information of the axial plunger pump in a time domain are obtained; then, converting the digital signal in the time domain to the frequency domain by using an FFT time-frequency domain conversion formula; calculating six frequency domain characteristic quantities, namely average frequency, a 4-2 order square root value, a 2 order weight value, a 2 order center distance square root value, a 4 order convolution index and a 1/2 order convolution index, on a frequency domain to obtain a main frequency distribution condition and a spectrum energy convolution characteristic of the axial plunger pump on the frequency domain; the system must ensure that the above calculation is completed within the reception time interval; and finally, transmitting the characteristic information to a data transmission module.
The data transmission module is an SPI protocol interface and can be connected with an upper computer, other operation processing chips and the like, and the characteristic information obtained by calculation of the characteristic extraction module is externally output;
the edge computing processor is also provided with an accessory module which comprises a power supply circuit used for supplying power to the edge computing processor, a program burning debugging interface used for burning and debugging programs for the edge computing processor, and a data storage chip used for expanding the storage space of the edge computing processor;
the expansion interface comprises a CAN interface and an RS485 interface, is mainly used for realizing the communication between the feature extraction module and an upper computer, and also comprises an expansion ADC interface, and is used for an additional sensor signal input interface when the digital-to-analog conversion module cannot meet the input requirement of the sensor.
As shown in fig. 2, a hardware program workflow of the edge calculation processor of the axial plunger pump is as follows: firstly, starting an edge calculation processor of the axial plunger pump, accessing a sensor after checking whether an input power supply, a working environment and the like are normal, and enabling the processor to enter a standby state to wait for a sensor input signal; the axial plunger pump operates, the sensor collects signals and inputs the signals to a channel interface of the digital-to-analog conversion module, and if the input analog signals are not received at the channel interface, the axial plunger pump returns to the previous step to continue waiting; if the input analog signal is detected at the channel interface, performing digital-to-analog conversion on the input analog signal by using a digital-to-analog conversion module to obtain a digital signal, and inputting the digital signal into a feature extraction module; the feature extraction module carries out continuous access with the duration of T on the transmitted digital signal, if the access time is longer than T, the next step is carried out, and if the access time is not up, the steps of digital-to-analog conversion and input to the feature extraction module are repeated; after enough digital signals are obtained, carrying out feature extraction on the digital signals of the obtained time period T to obtain feature information; in order to ensure that the feature extraction is completed successfully, a time interval with the duration of delta T is set, and the feature information is transmitted to the data transmission module only when the time after the feature extraction is greater than or equal to delta T, or else the feature extraction is completed; and finally, the data transmission module transmits the characteristic information to the outside, so that a user can select whether to finish the characteristic extraction process, if not, the user returns to a link of waiting for the input signal of the sensor to carry out system work circulation, and if so, the whole program flow is terminated.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention, the technical solutions according to the present invention and the inventive concept thereof, with equivalent replacement or change, within the technical scope of the present invention.
Claims (10)
1. An axial plunger pump edge calculation processor characterized in that: the system comprises a sensor module, a digital-to-analog conversion module, a feature extraction module and a data transmission module;
the sensor module is used for acquiring the operation data of the axial plunger pump;
the digital-to-analog conversion module is used for converting analog signals acquired by the sensor group into digital signals and transmitting the digital signals to the feature extraction module;
the characteristic extraction module is used for carrying out time domain characteristic extraction, time-frequency domain conversion and frequency domain characteristic extraction calculation on the received digital signal to obtain characteristic information and transmitting the characteristic information to the data transmission module;
the data transmission module is an SPI protocol interface and is used for outputting the characteristic information obtained by the calculation of the characteristic extraction module.
2. The axial plunger pump edge calculation processor of claim 1 wherein the sensor module comprises a pressure sensor, a flow sensor, a vibration sensor, a temperature sensor; the pressure sensor is arranged at the inlet and the outlet of the axial plunger pump, the flow sensor is arranged at the inlet and the outlet of the axial plunger pump, the temperature sensor is arranged inside the axial plunger pump shell and outside the cylinder body, and the vibration sensor is arranged inside the axial plunger pump shell and outside the cylinder body.
3. The axial plunger pump edge calculation processor as claimed in claim 1, wherein the digital-to-analog conversion module is an AD7606 chip and is provided with eight input channels.
4. The axial plunger pump edge calculation processor as claimed in claim 1, wherein the feature extraction module is an STM32H743 chip, and a software program can be modified in different application scenarios.
5. The axial plunger pump edge calculation processor of claim 1, further comprising an accessory module and an expansion interface.
6. The axial plunger pump edge calculation processor of claim 5, wherein the accessory module comprises a processor power supply circuit, a program burn debug interface, and a data storage chip;
the processor power supply circuit is used for supplying power to the edge computing processor;
the program burning debugging interface is used for burning and debugging programs;
the data storage chip is used for expanding storage space.
7. The axial plunger pump edge calculation processor of claim 5, wherein the expansion interface comprises a CAN interface and an RS485 interface, and is used for realizing communication between the feature extraction module and an upper computer.
8. The axial plunger pump edge calculation processor of claim 5, wherein the expansion interface further comprises an ADC interface for an additional sensor signal input interface when the digital-to-analog conversion module cannot meet the sensor input requirement.
9. The axial plunger pump edge calculation processor of claim 1, wherein: the characteristic information comprises time domain characteristic quantity and time domain characteristic quantity obtained by processing the sensor signal.
10. The time domain characteristic quantity comprises a square root amplitude, a root-mean-square amplitude, a kurtosis value, a kurtosis factor and a margin factor; the frequency domain characteristic quantity comprises an average frequency, a 4-2 order square root value, a 2 order weight value, a 2 order center distance square root value, a 4 order convolution index and a 1/2 order convolution index.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211405027.XA CN115898850B (en) | 2022-11-10 | 2022-11-10 | Edge calculation processor of axial plunger pump |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211405027.XA CN115898850B (en) | 2022-11-10 | 2022-11-10 | Edge calculation processor of axial plunger pump |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115898850A true CN115898850A (en) | 2023-04-04 |
| CN115898850B CN115898850B (en) | 2024-01-26 |
Family
ID=86488939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211405027.XA Active CN115898850B (en) | 2022-11-10 | 2022-11-10 | Edge calculation processor of axial plunger pump |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115898850B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170060574A1 (en) * | 2015-08-27 | 2017-03-02 | FogHorn Systems, Inc. | Edge Intelligence Platform, and Internet of Things Sensor Streams System |
| CN109002847A (en) * | 2018-07-04 | 2018-12-14 | 温州大学 | A kind of axial plunger pump Multiple faults diagnosis approach of the deepness belief network based on index |
| CN109660965A (en) * | 2018-11-05 | 2019-04-19 | 中国电子科技集团公司第二十八研究所 | A kind of intelligent road side terminal based on edge calculations |
| CN110032540A (en) * | 2019-04-11 | 2019-07-19 | 北京宙心科技有限公司 | A kind of artificial intelligence edge calculations equipment |
| JP2019200174A (en) * | 2018-05-18 | 2019-11-21 | 株式会社日立製作所 | Rotary machine diagnostic system, information processing apparatus and rotary machine diagnostic method |
| CN110530507A (en) * | 2019-08-29 | 2019-12-03 | 郑州大学 | Edge calculations method, medium and system for slewing monitoring |
| CN111963415A (en) * | 2020-07-15 | 2020-11-20 | 国营芜湖机械厂 | Fault diagnosis method and system for hydraulic plunger pump |
| CN113255584A (en) * | 2021-06-22 | 2021-08-13 | 德明通讯（上海）股份有限公司 | Fault diagnosis and monitoring system based on edge calculation |
| CN113884756A (en) * | 2021-08-25 | 2022-01-04 | 中国电力科学研究院有限公司 | Electric energy metering edge acquisition device and method |
| CN216157869U (en) * | 2021-09-08 | 2022-04-01 | 浙江盛元化纤有限公司 | Vibration monitoring and controlling device for polyester chemical melt discharge pump |
| CN217690066U (en) * | 2022-06-07 | 2022-10-28 | 重庆川仪自动化股份有限公司 | Edge calculation controller |
-
2022
- 2022-11-10 CN CN202211405027.XA patent/CN115898850B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170060574A1 (en) * | 2015-08-27 | 2017-03-02 | FogHorn Systems, Inc. | Edge Intelligence Platform, and Internet of Things Sensor Streams System |
| JP2019200174A (en) * | 2018-05-18 | 2019-11-21 | 株式会社日立製作所 | Rotary machine diagnostic system, information processing apparatus and rotary machine diagnostic method |
| CN109002847A (en) * | 2018-07-04 | 2018-12-14 | 温州大学 | A kind of axial plunger pump Multiple faults diagnosis approach of the deepness belief network based on index |
| CN109660965A (en) * | 2018-11-05 | 2019-04-19 | 中国电子科技集团公司第二十八研究所 | A kind of intelligent road side terminal based on edge calculations |
| CN110032540A (en) * | 2019-04-11 | 2019-07-19 | 北京宙心科技有限公司 | A kind of artificial intelligence edge calculations equipment |
| CN110530507A (en) * | 2019-08-29 | 2019-12-03 | 郑州大学 | Edge calculations method, medium and system for slewing monitoring |
| CN111963415A (en) * | 2020-07-15 | 2020-11-20 | 国营芜湖机械厂 | Fault diagnosis method and system for hydraulic plunger pump |
| CN113255584A (en) * | 2021-06-22 | 2021-08-13 | 德明通讯（上海）股份有限公司 | Fault diagnosis and monitoring system based on edge calculation |
| CN113884756A (en) * | 2021-08-25 | 2022-01-04 | 中国电力科学研究院有限公司 | Electric energy metering edge acquisition device and method |
| CN216157869U (en) * | 2021-09-08 | 2022-04-01 | 浙江盛元化纤有限公司 | Vibration monitoring and controlling device for polyester chemical melt discharge pump |
| CN217690066U (en) * | 2022-06-07 | 2022-10-28 | 重庆川仪自动化股份有限公司 | Edge calculation controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115898850B (en) | 2024-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110927537B (en) | Partial discharge monitoring device and method based on Internet of things edge calculation | |
| CN101828916B (en) | Electrocardiosignal processing system | |
| CN104483011A (en) | Rotary machinery multichannel vibration signal on-line detection and analysis system and method | |
| CN110410284A (en) | Root of fan blade load monitoring method and real time on-line monitoring system | |
| CN113834563A (en) | Mechanical vibration state signal acquisition and analysis system | |
| CN102455212A (en) | Digital signal processor (DSP)-based rotating machine vibration detection and protection system | |
| CN101957428A (en) | Automatic test method and tool of monitoring circuit board | |
| CN201130428Y (en) | Optic fiber gyroscope data acquisition model based on FPGA | |
| CN101871984A (en) | Device and method for detecting electric energy quality of ships | |
| CN115898850A (en) | Axial plunger pump edge calculation processor | |
| CN113357083A (en) | Intelligent control system and method for wind generating set | |
| CN111710146A (en) | Multi-sensor data collection system and method | |
| CN111638665A (en) | Dynamic data acquisition system and method | |
| CN203838301U (en) | Automatic testing device for pre-amplifier | |
| CN101170296A (en) | Self interference resisting electromotor excitation controller with dual central processor and its control method | |
| CN111458672A (en) | Multi-range current measurement calibration system based on machine learning | |
| CN109813348B (en) | Distributed optical fiber sensing system and control method thereof | |
| CN105005245A (en) | Data processing method | |
| CN111175600A (en) | Multi-dimensional dynamic acquisition anti-interference comprehensive detection device and detection method | |
| CN202748640U (en) | Portable noise-testing data acquisition system for wind power plant | |
| CN212675042U (en) | Air source heat pump identification device and system | |
| CN106405357B (en) | A kind of extra-high voltage electric transmission and transformation equipment DC partial discharge test macro and test method | |
| CN214590619U (en) | Portable active filter control system | |
| CN211086487U (en) | Fault detection terminal for data acquisition of smart power grid | |
| CN110673517A (en) | FPGA and ARM-based high-speed blade tip clearance signal acquisition and processing device and method |
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 |