CN117540949A - Intelligent mowing period plan generation method and system based on map information - Google Patents

Intelligent mowing period plan generation method and system based on map information Download PDF

Info

Publication number
CN117540949A
CN117540949A CN202311261709.2A CN202311261709A CN117540949A CN 117540949 A CN117540949 A CN 117540949A CN 202311261709 A CN202311261709 A CN 202311261709A CN 117540949 A CN117540949 A CN 117540949A
Authority
CN
China
Prior art keywords
mowing
map information
intelligent
lawn
plan
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
Application number
CN202311261709.2A
Other languages
Chinese (zh)
Inventor
王彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Dongcheng M&e Tools Co ltd
Original Assignee
Jiangsu Dongcheng M&e Tools Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jiangsu Dongcheng M&e Tools Co ltd filed Critical Jiangsu Dongcheng M&e Tools Co ltd
Priority to CN202311261709.2A priority Critical patent/CN117540949A/en
Publication of CN117540949A publication Critical patent/CN117540949A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06311—Scheduling, planning or task assignment for a person or group
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases

Abstract

The invention provides an intelligent generation method and system of a mowing cycle plan based on map information, which relate to the technical field of intelligent equipment and are applied to an intelligent generation system, wherein the intelligent generation system comprises an intelligent mower, and the method comprises the following steps: acquiring map information of a target lawn; calculating the area of the target lawn according to the map information; generating a mowing period plan according to the map information and the area of the target lawn; the intelligent mower automatically completes mowing operation according to a mowing cycle plan. According to the invention, a user does not need to manually set a mowing period plan, so that time and labor are saved, user experience is improved, meanwhile, the mowing period plan can be adjusted according to the actual condition of a lawn, mowing of the lawn in unnecessary time nodes according to the fixed period plan is avoided, and time and battery energy are saved.

Description

Intelligent mowing period plan generation method and system based on map information
Technical Field
The invention relates to the technical field of intelligent equipment, in particular to an intelligent mowing cycle plan generation method and system based on map information.
Background
The intelligent mower can automatically complete the work of trimming the lawn without manual direct control and operation, and has low power, low noise, exquisite and beautiful appearance and greatly reduced manual operation. Accordingly, more and more households choose to use the home intelligent mower.
The current intelligent mower mowing cycle plan mainly depends on manual setting of a user at a machine end or an APP end, and is time-consuming and labor-consuming. If the manual setting is not performed, intelligent mowing is performed according to a fixed mowing cycle plan, and the mowing cycle plan cannot be adaptively adjusted according to factors such as the size of an actual lawn area, so that the mowing machine can mow at unnecessary time nodes, and time and battery energy are wasted.
Disclosure of Invention
The invention provides an intelligent generation method and system of a mowing cycle plan based on map information, aiming at solving the technical problems that the mowing cycle plan is set manually, time and labor are wasted, the mowing cycle plan cannot be adjusted adaptively according to factors such as the size of an actual lawn area, and the like in the prior art, and a mower can mow at unnecessary time nodes, so that time and battery energy are wasted.
The technical scheme provided by the invention is as follows:
first aspect
The invention provides a mowing cycle plan intelligent generation method based on map information, which is applied to an intelligent generation system, wherein the intelligent generation system comprises an intelligent mower, and the method comprises the following steps:
acquiring map information of the target lawn;
calculating the area of the target lawn according to the map information;
generating a mowing period plan according to the map information and the area of the target lawn;
the intelligent mower automatically completes mowing operation according to the mowing cycle plan.
Second aspect
The invention provides a mowing cycle plan intelligent generation system based on map information, which comprises the following steps: an intelligent mower and a processing system;
the intelligent mower is used for acquiring map information of the target lawn; calculating the area of the target lawn according to the map information; generating a mowing period plan according to the map information and the area of the target lawn;
the intelligent mower is used for automatically completing mowing operation according to the mowing cycle plan.
Compared with the prior art, the technical scheme has at least the following beneficial effects:
according to the invention, by collecting map information of the lawn, a mowing cycle plan is automatically generated according to the map information and the area of the lawn, and the mowing cycle plan is transmitted to the intelligent mower, so that the intelligent mower automatically completes mowing operation according to the mowing cycle plan. The mowing period plan is not required to be set manually by a user, time and labor are saved, user experience is improved, the mowing period plan can be adjusted according to the actual condition of a lawn, mowing of the lawn in unnecessary time nodes according to the fixed period plan is avoided, and time and battery energy are saved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow diagram of an intelligent mowing cycle plan generating method based on map information;
fig. 2 is a schematic structural diagram of an intelligent mowing cycle plan generating system based on map information.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a," "an," or "the" and similar terms do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
It should be noted that "upper", "lower", "left", "right", "front", "rear", and the like are used in the present invention only to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.
Referring to fig. 1 of the specification, a flow diagram of an intelligent mowing cycle plan generating method based on map information is shown.
The embodiment of the invention provides an intelligent generation method of a mowing cycle plan based on map information, which is applied to an intelligent generation system, wherein the intelligent generation system comprises an intelligent mower, and the intelligent generation method of the mowing cycle plan based on the map information comprises the following steps:
s1: and acquiring map information of the target lawn.
Specifically, the camera may be disposed on the intelligent mower, and the map information of the target lawn may be obtained by capturing an image with the camera.
S2: and calculating the area of the target lawn according to the map information.
Specifically, first, the boundary contour of the lawn is determined from the map information. The area can then be calculated using geometric calculation methods. The specific method depends on the shape of the lawn. If the lawn is of a regular shape, such as rectangular or square, the following formula can be used: area = length x width. If the lawn is irregularly shaped, it may be divided into small areas and the total area estimated using numerical integration or other geometric methods. This can be achieved by calculating the area of each small region and then adding them. If the map information provides boundary points for polygons, the polygon area calculation formula, such as Green's theorem, may be used for calculation.
S3: and generating a mowing cycle plan according to the map information and the area of the target lawn.
Wherein the mowing cycle schedule comprises: mowing frequency, mowing time period, path planning, start time, end time, etc.
Alternatively, the whole process of generating the mowing cycle plan can be performed in the intelligent mower, the charging pile and the service server, and the invention is not limited to the execution subject of generating the mowing cycle plan.
In one possible implementation, the intelligent mower transmits the map information and the area of the target lawn to the charging pile, the charging pile transmits the map information and the area of the target lawn to the service server, and finally the service server generates a mowing cycle plan according to the map information and the area of the target lawn.
Optionally, the intelligent mower is in bluetooth communication connection with the charging pile, and the intelligent mower transmits map information and area of the target lawn to the charging pile through bluetooth.
S4: the intelligent mower automatically completes mowing operation according to a mowing cycle plan.
In one possible implementation, after the service server generates the mowing cycle plan, the service server transmits the mowing cycle plan to the charging stake, and the charging stake transmits the mowing cycle plan to the intelligent mower to enable the intelligent mower to automatically complete mowing operation according to the mowing cycle plan.
According to the intelligent mower disclosed by the invention, the mowing operation can be automatically finished according to the mowing period plan, a user does not need to manually set the mowing period plan, time and labor are saved, user experience is improved, meanwhile, the mowing period plan can be adjusted according to the actual condition of a lawn, mowing of the mower according to the fixed period plan is avoided at unnecessary time nodes, and time and battery energy are saved.
In one possible implementation, after S3, the mowing cycle planning intelligent generation method based on the map information further includes:
s5: the mowing cycle schedule is stored in a business database.
S6: and the user initiates a reference request to the service database through an application program installed on the electronic equipment.
S7: the business database transmits the mowing cycle schedule to the electronic device in response to the review request to display the mowing cycle schedule in the application.
In the invention, the mowing cycle plan is stored in the service database and is accessed by the application program on the electronic equipment, so that the mowing cycle plan has the advantages of convenience, instantaneity, information sharing, data analysis and the like, and is beneficial to improving the efficiency and user experience of lawn maintenance.
In one possible implementation, the intelligent generation system further includes: charging pile and service server; the intelligent mower is in communication connection with the charging pile, the charging pile is in communication connection with the service server, and the electronic equipment provided with the application program is in communication connection with the service database through WiFi or a cellular network.
In one possible embodiment, S3 specifically includes:
s301: and determining the growth period of the target lawn according to the map information, the current season information and the climate conditions of the target lawn.
S302: and determining mowing frequency according to the growth period of the target lawn.
S303: and generating a mowing cycle plan according to the mowing frequency.
In the present invention, the need of the lawn can be more precisely known by determining the growth cycle of the lawn according to the map information, the current season and the climate conditions. The growth speed of the lawn may be different in different seasons and weather conditions, so that the mowing plan can be adjusted according to actual conditions. Meanwhile, the accurate mowing cycle plan can avoid unnecessary mowing, so that energy sources and maintenance cost are saved. In seasons when the lawn grows slowly, the frequency of mowing can be reduced, and the resource consumption can be reduced.
In one possible embodiment, S3 specifically includes:
S30A: and determining the shape and the topography of the target lawn according to the map information of the target lawn.
S30B: and (5) carrying out mowing path planning according to the area, the shape and the terrain of the target lawn.
Wherein, grass cutting path planning includes: edge cutting or selective cutting.
It should be noted that, depending on the shape and topography of the lawn, the path of the mower may be planned more accurately. This ensures that the entire lawn is effectively covered, avoiding missing or duplicate mowed areas.
S30C: according to the shape and the topography of the target lawn, the mowing speed when working on the target lawn is determined.
The appropriate mowing speed is determined according to the shape and the topography of the lawn. Different lawns may require different speeds to ensure quality and efficiency of mowing.
S30D: and determining the total number of days for completing the mowing operation according to the area of the target lawn and the mowing speed.
It should be noted that, according to the area and mowing speed of the lawn, the total number of days required for completing mowing operation can be accurately estimated, which is helpful for planning mowing plans and resource allocation.
S30E: and determining a mowing task every day according to the mowing path planning and the mowing speed.
The mowing task of each day can be determined according to the mowing path planning and the mowing speed, so that the mower can work according to the plan.
S30F: and generating a mowing cycle plan according to the mowing task per day and the total number of days for completing mowing operation.
According to the method and the device, the mowing period plan is generated according to the map information and the area of the target lawn, so that the efficiency, the accuracy and the intelligence of the mowing period plan are improved, the quality and the user experience of lawn maintenance are improved, and the resource waste is reduced.
Compared with the prior art, the technical scheme has at least the following beneficial effects:
according to the invention, by collecting the map information of the lawn, a mowing period plan is automatically generated according to the map information and the area of the lawn, and the mowing period plan is transmitted to the intelligent mower, so that the intelligent mower automatically completes mowing operation according to the mowing period plan. The mowing period plan is not required to be set manually by a user, time and labor are saved, user experience is improved, the mowing period plan can be adjusted according to the actual condition of a lawn, mowing of the lawn in unnecessary time nodes according to the fixed period plan is avoided, and time and battery energy are saved.
Referring to fig. 2 of the specification, a schematic structural diagram of an intelligent mowing cycle plan generating system based on map information is shown.
The invention also provides an intelligent mowing cycle plan generating system based on map information, which comprises the following steps: an intelligent mower 1 and a treatment system 2.
The processing system 2 is used for obtaining map information of the target lawn around the target lawn for one circle; the method comprises the steps of calculating the area of a target lawn according to map information; and generating a mowing cycle plan according to the map information and the area of the target lawn.
The intelligent mower 1 is used for automatically completing mowing operation according to a mowing cycle plan.
In one possible implementation, the mowing cycle planning intelligent generation system based on map information further includes: a service database 3 and an electronic device 4.
A service database 3 for storing mowing cycle plans.
The electronic device 4 is configured to initiate a reference request to the service database 4 via an application installed on the electronic device 4.
A service database 3 for transmitting the mowing cycle schedule to the electronic device 4 in response to the review request to display the mowing cycle schedule in the application.
In one possible implementation, the intelligent generation system further includes: charging pile and service server; the processing system 2 is positioned in the intelligent mower 1, the charging pile and/or the service server; the intelligent mower 1 is in communication connection with a charging pile Bluetooth, and the charging pile is in communication connection with a service server.
In one possible implementation, the processing system 2 is specifically configured to:
and determining the growth period of the target lawn according to the map information, the current season information and the climate conditions of the target lawn.
And determining mowing frequency according to the growth period of the target lawn.
And generating a mowing cycle plan according to the mowing frequency.
In one possible implementation, the processing system 2 is specifically configured to:
and determining the shape and the topography of the target lawn according to the map information of the target lawn.
And carrying out mowing path planning according to the area, the shape and the terrain of the target lawn, wherein the mowing path planning comprises: edge cutting or selective cutting.
According to the shape and the topography of the target lawn, the mowing speed when working on the target lawn is determined.
And determining the total number of days for completing the mowing operation according to the area of the target lawn and the mowing speed.
And determining a mowing task every day according to the mowing path planning and the mowing speed.
And generating a mowing cycle plan according to the mowing task per day and the total number of days for completing mowing operation.
The intelligent mowing period plan generating system based on the map information can execute the intelligent mowing period plan generating method based on the map information and achieve the same or similar technical effects, and the invention is not repeated for avoiding repetition.
Compared with the prior art, the technical scheme has at least the following beneficial effects:
in the invention, by collecting the map information of the lawn, a mowing cycle plan is automatically generated according to the map information and the area of the lawn, and the mowing cycle plan is transmitted to the intelligent mower 1, so that the intelligent mower 1 automatically completes mowing operation according to the mowing cycle plan. The mowing period plan is not required to be set manually by a user, time and labor are saved, user experience is improved, the mowing period plan can be adjusted according to the actual condition of a lawn, mowing of the lawn in unnecessary time nodes according to the fixed period plan is avoided, and time and battery energy are saved.
The following points need to be described:
(1) The drawings of the embodiments of the present invention relate only to the structures related to the embodiments of the present invention, and other structures may refer to the general designs.
(2) In the drawings for describing embodiments of the present invention, the thickness of layers or regions is exaggerated or reduced for clarity, i.e., the drawings are not drawn to actual scale. It will be understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, it can be "directly on" or "under" the other element or intervening elements may be present.
(3) The embodiments of the invention and the features of the embodiments can be combined with each other to give new embodiments without conflict.
The present invention is not limited to the above embodiments, but the scope of the invention is defined by the claims.

Claims (10)

1. A method for intelligently generating a mowing cycle plan based on map information, which is characterized in that the method is applied to an intelligent generation system, the intelligent generation system comprises an intelligent mower, and the method comprises the following steps:
acquiring map information of the target lawn;
calculating the area of the target lawn according to the map information;
generating a mowing period plan according to the map information and the area of the target lawn;
the intelligent mower automatically completes mowing operation according to the mowing cycle plan.
2. The intelligent mowing cycle plan generating method based on map information according to claim 1, further comprising, after the generating of the mowing cycle plan according to the map information and the area of the target lawn:
storing the mowing cycle plan into a business database;
a user initiates a reference request to the service database through an application program installed on electronic equipment;
the business database transmits the mowing cycle schedule to the electronic device in response to the review request to display the mowing cycle schedule in the application.
3. The intelligent mowing cycle planning generation method based on map information according to claim 2, wherein the intelligent generation system further comprises: charging pile and service server; the intelligent mower is in communication connection with the charging pile, the charging pile is in communication connection with the service server, and the electronic equipment provided with the application program is in communication connection with the service database through a WiFi or cellular network.
4. The intelligent mowing cycle plan generating method based on map information according to claim 1, wherein the generating a mowing cycle plan according to the map information and the area of the target lawn specifically includes:
s501: determining a growth period of the target lawn according to the map information, the current season information and the climate conditions of the target lawn;
s502: determining mowing frequency according to the growth period of the target lawn;
s503: and generating the mowing cycle plan according to the mowing frequency.
5. The intelligent mowing cycle plan generating method based on map information according to claim 1, wherein the generating a mowing cycle plan according to the map information and the area of the target lawn specifically includes:
S50A: determining the shape and the topography of the target lawn according to the map information of the target lawn;
S50B: and carrying out mowing path planning according to the area, the shape and the terrain of the target lawn, wherein the mowing path planning comprises the following steps: edge cutting or selective cutting;
S50C: determining a mowing speed when working on the target lawn according to the shape and the topography of the target lawn;
S50D: determining the total number of days for completing mowing operation according to the area of the target lawn and the mowing speed;
S50E: determining a mowing task every day according to the mowing path planning and the mowing speed;
S50F: and generating the mowing cycle plan according to the mowing task per day and the total number of days for completing the mowing task.
6. The intelligent mowing cycle plan generating system based on map information is characterized by comprising: an intelligent mower and a processing system;
the processing system is used for acquiring map information of the target lawn; calculating the area of the target lawn according to the map information; generating a mowing period plan according to the map information and the area of the target lawn;
the intelligent mower is used for automatically completing mowing operation according to the mowing cycle plan.
7. The map information-based mowing cycle planning intelligent generation system according to claim 6, further comprising: a business database and an electronic device;
the service database is used for storing the mowing period plan;
the electronic equipment is used for initiating a consulting request to the business database through an application program installed on the electronic equipment;
the business database is used for responding to the consulting request and transmitting the mowing period plan to the electronic equipment so as to display the mowing period plan in the application program.
8. The map information-based mowing cycle planning intelligent generation system according to claim 7, wherein the intelligent generation system further comprises: charging pile and service server; the processing system is positioned in the intelligent mower, the charging pile and/or the service server; the intelligent mower is in communication connection with the charging pile, and the charging pile is in communication connection with the service server.
9. The map information-based mowing cycle planning intelligent generation system according to claim 6, wherein the processing system is specifically configured to:
determining a growth period of the target lawn according to the map information, the current season information and the climate conditions of the target lawn;
determining mowing frequency according to the growth period of the target lawn;
and generating the mowing cycle plan according to the mowing frequency.
10. The map information-based mowing cycle planning intelligent generation system according to claim 6, wherein the processing system is specifically configured to:
determining the shape and the topography of the target lawn according to the map information of the target lawn;
and carrying out mowing path planning according to the area, the shape and the terrain of the target lawn, wherein the mowing path planning comprises the following steps: edge cutting or selective cutting;
determining a mowing speed when working on the target lawn according to the shape and the topography of the target lawn;
determining the total number of days for completing mowing operation according to the area of the target lawn and the mowing speed;
determining a mowing task every day according to the mowing path planning and the mowing speed;
and generating the mowing cycle plan according to the mowing task per day and the total number of days for completing the mowing task.
CN202311261709.2A 2023-09-26 2023-09-26 Intelligent mowing period plan generation method and system based on map information Pending CN117540949A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311261709.2A CN117540949A (en) 2023-09-26 2023-09-26 Intelligent mowing period plan generation method and system based on map information

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311261709.2A CN117540949A (en) 2023-09-26 2023-09-26 Intelligent mowing period plan generation method and system based on map information

Publications (1)

Publication Number Publication Date
CN117540949A true CN117540949A (en) 2024-02-09

Family

ID=89786855

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311261709.2A Pending CN117540949A (en) 2023-09-26 2023-09-26 Intelligent mowing period plan generation method and system based on map information

Country Status (1)

Country Link
CN (1) CN117540949A (en)

Similar Documents

Publication Publication Date Title
CN107544540B (en) Air route planning method applied to rotor unmanned aerial vehicle
US20210076563A1 (en) Automatic lawnmower
CN111639811B (en) Multi-agricultural-machine collaborative operation remote management scheduling method based on improved ant colony algorithm
US11493923B2 (en) Path planning method and system for lawn mower
CN105353689B (en) Pesticide spraying machinery management control system based on Internet of Things
CN107976998A (en) A kind of grass-removing robot map building and path planning system and method
CN109005865A (en) Operate the method and lawn mowing system of autonomous hay mower robot
CN106327024A (en) Unmanned aerial vehicle pesticide spray path planning system and unmanned aerial vehicle pesticide spray path planning method
CN108919814A (en) Grass trimmer working region generation method, apparatus and system
CN112257163B (en) Air-space-ground integrated road engineering earthwork construction intelligent dispatching command system and method
CN107451754A (en) A kind of trans-regional Operations of Farm Machines dispatching method and system
US20210127604A1 (en) Irrigation monitoring and control based on efficiency model
JP7119061B2 (en) CONTROL DEVICE, WORKING MACHINE, PROGRAM AND CONTROL METHOD
JP6620174B2 (en) Management device and program
CN109597420A (en) A kind of intelligent grass-removing boundary is closed processing system and method automatically
CN110973102A (en) Operating method and operating system of intelligent agricultural machine for pesticide spraying
CN107480887A (en) A kind of agricultural machinery working intervention schedule method and system and platform
CN114331753A (en) Intelligent farm work method and device and control equipment
CN111506097A (en) Application system and method of unmanned aerial vehicle remote sensing technology in precision agriculture
JP2018185594A (en) Pasture grass management system
DE112018007178T5 (en) CONTROL DEVICE, MOVABLE OBJECT, CONTROL METHOD AND PROGRAM
CN111615647B (en) Position estimation device, mobile body, position estimation method, and computer-readable storage medium
JP2018183072A (en) Meadow grass management system
CN117540949A (en) Intelligent mowing period plan generation method and system based on map information
CN116385124A (en) Agricultural socialization integrated service cloud platform based on big data analysis traceability

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