CN201402412Y - Circuit control system of mowing robot - Google Patents
Circuit control system of mowing robot Download PDFInfo
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- CN201402412Y CN201402412Y CN2009200050363U CN200920005036U CN201402412Y CN 201402412 Y CN201402412 Y CN 201402412Y CN 2009200050363 U CN2009200050363 U CN 2009200050363U CN 200920005036 U CN200920005036 U CN 200920005036U CN 201402412 Y CN201402412 Y CN 201402412Y
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Abstract
The utility model discloses a mowing robot, which comprises a power management circuit, a drive motor control circuit, a mowing motor control circuit, a signal processing circuit, a main control chip,a signal acquisition circuit, a charging signal transmitting circuit, a return charging signal acquisition circuit and a charging control circuit. The output end of the main control chip is connectedwith the drive motor control circuit and the mowing motor control circuit, the output ends of the signal processing circuit, the power management circuit and the return charging signal acquisition circuit are connected with the main control chip, the output end of the charging control circuit is connected with the return charging signal acquisition circuit, the output end of the signal acquisition circuit is connected with the signal processing circuit, and the output end of the charging signal transmitting circuit is connected with the signal acquisition circuit. The utility model can automatically mow the lawn after the input of control signals, the area with the grass to be mowed is set through the infrared technology, after being started, the utility model can work in the designated area and can automatically avoid obstacles. The utility model has the advantages of automatic return charging, low labor intensity, low power consumption and little pollution.
Description
Technical field
The utility model relates to a kind of mower, and especially a kind of grass-removing robot circuit control system is used to control grass-removing robot and carries out the turf-mown service in places such as family, public lawns.
Background technology
The mower of traditional structure is at underbelly roller to be installed, and at fuselage afterbody handspike is installed, and rotary cutter are installed in the bottom, and cutter are connected by the output shaft of motor or gasoline machine.The mower of this structure can not intelligent utonomous working, must manually operate, and labour intensity is big; And motor power consumption height, noise are big, are unfavorable for energy savings and reduce the labour; The mode of line work is influenced by wire length when making operation, and the waste gas that the petrol engine burning produces pollutes air.
Summary of the invention
Technical problem to be solved in the utility model provides a kind of grass-removing robot circuit control system, it can carry out turf-mown automatically behind user's input control signal, and utilize infrared technology to wait the zone of mowing for mower is pre-set, grass-removing robot after the startup is worked in the appointed area, can also avoid obstacle automatically, automatically return charging, labour intensity is little, low in energy consumption, pollution is little.
The technical scheme in the invention for solving the above technical problem is: this grass-removing robot circuit control system comprises electric power management circuit, movable motor control circuit, mowing circuit for controlling motor, signal processing circuit, main control chip, signal acquisition circuit, charging signals transtation mission circuit, return charging signals Acquisition Circuit, charging control circuit
Wherein, the output terminal of main control chip links to each other with movable motor control circuit, mowing circuit for controlling motor, the output terminal of signal processing circuit, electric power management circuit, return charging signals Acquisition Circuit links to each other with the main control chip, the output terminal of charging control circuit links to each other with return charging signals Acquisition Circuit, the output terminal of signal acquisition circuit links to each other with signal processing circuit, and the output terminal of charging signals transtation mission circuit links to each other with signal acquisition circuit.
The utility model is in electric power management circuit, the input pin of battery direct supply is connector JPSW, connector JPSW is connected to power regulator module U1 by filter inductance L1, pull-down diode D4, filter capacitor E1, and power regulator module U1 is connected with pull-down diode D5, filter inductance L2, filter capacitor E2, filter capacitor C1 again.
The utility model is in the movable motor control circuit, the pin 12 of motor drive ic U2 is the positive rotaring signal input pin of revolver, pin 10 pin are revolver reverse signal input pin, pin 7 is right wheel reverse signal input pin, pin 5 is the positive rotaring signal input pin of right wheel, pin 14 is just changeing control pin for revolver, pin 13 is revolver counter-rotating control pin, pin 3 is just changeing control pin for right wheel, pin 2 is right wheel counter-rotating control pin, and pin 14 is connected to and draws diode D6 and pull-down diode D7, pin 13 to be connected to draw diode D8 and pull-down diode D9, pin 3 is connected to and draws diode D10 and pull-down diode D11, pin 2 to be connected to draw diode D12 and pull-down diode D13.
The utility model is in the mowing circuit for controlling motor, and the output signal of main control chip is input to current-limiting resistance R12 and current-limiting resistance R15, and current-limiting resistance R12 and current-limiting resistance R15 are by metal-oxide-semiconductor control mowing motor.
The utility model is in signal processing circuit and signal acquisition circuit, signal Processing main control chip U7 is connected with an infrared JP10, JP12, JP14, JP16, the infrared signal that infrared receiver tube JP11, JP13, JP15, JP20, JP21, JP22, JP23 receiving infrared-ray emitting head JP10, JP12, JP14, JP16 send, and infrared receiver tube JP11, JP13, JP15, JP20, JP21, JP22, JP23 are connected with two-way analog switch U5, two-way analog switch U6, operational amplifier U10, signal Processing main control chip U7.
The utility model is in the charging signals transtation mission circuit, the input pin of charger direct supply is connector JP1, connector JP1 is connected to Voltage stabilizing module U1 by filter capacitor C1, filter capacitor C4, Voltage stabilizing module U1 is connected with filter capacitor C2, filter capacitor C5 again, and time base circuit U2 is connected with current-limiting resistance R6, triode Q1, infrared emission tube JP2.
The utility model is in the charging signals Acquisition Circuit, and the infrared signal that receives is input among the operational amplifier U9.
The utility model is in charging control circuit, the input pin of charger direct supply is connector JP1, connector JP1 is connected to Voltage stabilizing module U1 by filter capacitor C3, filter capacitor C5, Voltage stabilizing module U1 is connected with filter capacitor C4, filter capacitor C6 again, the pin 19 of charge controlling chip U2 meets current-limiting resistance R2, triode Q2, metal-oxide-semiconductor Q1, pin 18 meets current-limiting resistance R5 and current-limiting resistance R1, and pin 12 meets current sampling resistor R6.
The utility model compared with prior art has following beneficial effect: 1, utilize this circuit control system, behind user's input control signal, grass-removing robot carries out turf-mown automatically; Can reflect when the infrared signal of infrared ray emitting head emission runs into barrier, after signal acquisition circuit received the infrared signal that reflects, the notice main control chip sent command adapted thereto, and the control movable motor retreats or turns to, and has the automatic obstacle-avoiding function.2, the charging signals transtation mission circuit in this circuit control system, return charging signals Acquisition Circuit and charging control circuit can be used, and cross when low when battery electric quantity, and grass-removing robot can automatic return charging.
Description of drawings
Fig. 1 is a theory diagram of the present utility model.
Fig. 2 is circuit theory diagrams of the present utility model.
Fig. 3 is the circuit theory diagrams of electric power management circuit among Fig. 2.
Fig. 4 is the circuit theory diagrams of movable motor control circuit among Fig. 2.
Fig. 5 is the circuit theory diagrams of mowing circuit for controlling motor among Fig. 2.
Fig. 6 is the circuit theory diagrams of signal processing circuit among Fig. 2.
Fig. 7 is the circuit theory diagrams of main control chip among Fig. 2.
Fig. 8 is the circuit theory diagrams of signal acquisition circuit among Fig. 2.
Fig. 9 is the circuit theory diagrams of charging signals transtation mission circuit in the utility model.
Figure 10 is the circuit theory diagrams of return charging signals Acquisition Circuit among Fig. 2.
Figure 11 is the circuit theory diagrams of charging control circuit in the utility model.
Embodiment
Referring to Fig. 1 and Fig. 2, present embodiment comprises electric power management circuit, movable motor control circuit, mowing circuit for controlling motor, signal processing circuit, main control chip, signal acquisition circuit, charging signals transtation mission circuit, return charging signals Acquisition Circuit, charging control circuit.Wherein, the output terminal of main control chip links to each other with movable motor control circuit, mowing circuit for controlling motor, the output terminal of signal processing circuit, electric power management circuit, return charging signals Acquisition Circuit links to each other with the main control chip, the output terminal of charging control circuit links to each other with return charging signals Acquisition Circuit, the output terminal of signal acquisition circuit links to each other with signal processing circuit, and the output terminal of charging signals transtation mission circuit links to each other with signal acquisition circuit.
As shown in Figure 3, in electric power management circuit, connector JPSW is the input pin of battery direct supply, use the lithium battery of 14.4V, by behind filter inductance L1 and the pull-down diode D4 after filtration ripple electric capacity E1 be input among the power regulator module U1, export stable 5V direct current and proofread and correct the 5V direct current, pass through again to export the 5V direct current behind filter capacitor E2 and the filter capacitor C1 behind correction 5V direct current process pull-down diode D5 and the filter inductance L2.
As shown in Figure 4, in the movable motor control circuit, the output signal of main control chip is directly inputted among the motor drive ic U2, and the pin 12 of motor drive ic U2 is the positive rotaring signal input pin of revolver, and pin 10 pin are revolver reverse signal input pin, pin 7 is right wheel reverse signal input pin, pin 5 is the positive rotaring signal input pin of right wheel, and pin 14 is just changeing control pin for revolver, and pin 13 is the revolver control pin that reverses, pin 3 is just changeing control pin for right wheel, and pin 2 is right wheel counter-rotating control pin; The control signal of pin 14 by on draw behind diode D6 and the pull-down diode D7 directly that the control direct current generator just changes, the control signal of pin 13 by on draw directly control direct current generator counter-rotating behind diode D8 and the pull-down diode D9, the control signal of pin 3 by on draw directly control direct current generator counter-rotating behind diode D10 and the pull-down diode D11, the control signal of pin 2 by on draw behind diode D12 and the pull-down diode D13 directly that the control direct current generator just changes.
As shown in Figure 5; in the mowing circuit for controlling motor; the output signal of main control chip is directly inputted among current-limiting resistance R12 and the current-limiting resistance R15; control two mowing motors respectively by metal-oxide-semiconductor Q9 and Q10; D14, E11 and D15, E12 are respectively the fly-wheel diode and the protection electric capacity of two motors, are used for protecting two mowing motors.
As Fig. 6 and shown in Figure 8, in signal processing circuit and signal acquisition circuit, signal Processing main control chip U7 directly controls an infrared JP10 by current-limiting resistance and positive-negative-positive triode, JP12, JP14, JP16 sends the infrared signal of common 10K hertz, again by infrared receiver tube JP11, JP13, JP15, JP20, JP21, JP22, JP23 comes receiving infrared-ray signal, by two-way analog switch U5 and U6 the infrared signal of receiving is handled the back again and signal is amplified, be directly inputted to signal Processing main control chip U7 then and be used for determining collision alarm by operational amplifier U10.
As shown in Figure 9, in return charging signals transtation mission circuit, the charger direct supply is directly imported by connector JP1, by being input to behind filter capacitor C1, the C4 among the Voltage stabilizing module U1, output 5V direct current is again by the stable 5V direct current of output behind filter capacitor C2, the C5; The square-wave signal of the 38K hertz of time base circuit U2 output is by control triode Q1 behind the current-limiting resistance R6, and JP2 sends infrared signal by triode Q1 control Infrared High-Power line power valve.
As shown in figure 10, in return charging signals Acquisition Circuit, the infrared signal that receives is directly inputted among the operational amplifier U9, is directly inputted in the main control chip after amplifying, and is used for controlling the charging of grass-removing robot return according to the direction of infrared signal.
As shown in figure 11, in the charging control circuit in the return charging circuit, the charger direct supply is directly imported by connector JP1, by being input to behind filter capacitor C3, the C5 among the Voltage stabilizing module U1, output 5V direct current is again by the stable 5V direct current of output behind filter capacitor C4, the C6; The pin 19 of charge controlling chip U2 is controlled triode Q2 by current-limiting resistance R2, and the work by triode Q2 controls metal-oxide-semiconductor Q1 makes charger charge to grass-removing robot; The pin 18 of charge controlling chip U2 receives current-limiting resistance R5 and R1 voltage after partial signal, is used to control the charging voltage of charger; The pin 12 of charge controlling chip U2 receives by the current signal behind the current sampling resistor R6, is used to control the charging current of charger.
At the mower duration of work, when running into barrier, the infrared signal that the infrared hair is penetrated to reflect, the infrared signal that reflects is collected by signal acquisition circuit, through signal processing circuit notice main control chip front barrier is arranged again, main control chip acts accordingly, the control movable motor retreats, turns to, avoiding barrier.
At the mower duration of work, when detecting cell voltage, return charging signals Acquisition Circuit is lower than setting (brownout), can go back to charge by the notice main control chip, main control chip acts accordingly, and turns off the mowing motor, the charging that takes the air line back of control movable motor, return cradle when running into infrared navigation signal trailing edge infrared navigation signal, after waiting to charge normal, charged by charging control circuit notice main control chip machine, main control chip control movable motor stops to keep charged state.Be higher than setting (machine is charged) when return charging signals Acquisition Circuit detects cell voltage, can notify the main control chip charging to finish, main control chip can be controlled movable motor and withdraw from cradle, works on.
Claims (9)
1, a kind of grass-removing robot circuit control system, it is characterized in that: comprise electric power management circuit, movable motor control circuit, mowing circuit for controlling motor, signal processing circuit, main control chip, signal acquisition circuit, charging signals transtation mission circuit, return charging signals Acquisition Circuit, charging control circuit
Wherein, the output terminal of main control chip links to each other with movable motor control circuit, mowing circuit for controlling motor, the output terminal of signal processing circuit, electric power management circuit, return charging signals Acquisition Circuit links to each other with the main control chip, the output terminal of charging control circuit links to each other with return charging signals Acquisition Circuit, the output terminal of signal acquisition circuit links to each other with signal processing circuit, and the output terminal of charging signals transtation mission circuit links to each other with signal acquisition circuit.
2, grass-removing robot circuit control system according to claim 1, it is characterized in that: in electric power management circuit, the input pin of battery direct supply is connector JPSW, connector JPSW is connected to power regulator module U1 by filter inductance L1, pull-down diode D4, filter capacitor E1, and power regulator module U1 is connected with pull-down diode D5, filter inductance L2, filter capacitor E2, filter capacitor C1 again.
3, grass-removing robot circuit control system according to claim 1, it is characterized in that: in the movable motor control circuit, the pin 12 of motor drive ic U2 is the positive rotaring signal input pin of revolver, pin 10 pin are revolver reverse signal input pin, pin 7 is right wheel reverse signal input pin, pin 5 is the positive rotaring signal input pin of right wheel, pin 14 is just changeing control pin for revolver, pin 13 is revolver counter-rotating control pin, pin 3 is just changeing control pin for right wheel, pin 2 is right wheel counter-rotating control pin, pin 14 is connected to and draws diode D6 and pull-down diode D7, pin 13 is connected to draw diode D8 and pull-down diode D9, pin 3 to be connected to draw diode D10 and pull-down diode D11, pin 2 to be connected to and draws diode D12 and pull-down diode D13.
4, grass-removing robot circuit control system according to claim 1, it is characterized in that: in the mowing circuit for controlling motor, the output signal of main control chip is input to current-limiting resistance R12 and current-limiting resistance R15, and current-limiting resistance R12 and current-limiting resistance R15 are by metal-oxide-semiconductor control mowing motor.
5, grass-removing robot circuit control system according to claim 1, it is characterized in that: in signal processing circuit and signal acquisition circuit, a signal Processing main control chip U7 and infrared JP10, JP12, JP14, JP16 is connected, infrared receiver tube JP11, JP13, JP15, JP20, JP21, JP22, JP23 receiving infrared-ray emitting head JP10, JP12, JP14, the infrared signal that JP16 sends, and infrared receiver tube JP11, JP13, JP15, JP20, JP21, JP22, JP23 and two-way analog switch U5, two-way analog switch U6, operational amplifier U10, signal Processing main control chip U7 is connected.
6, grass-removing robot circuit control system according to claim 1, it is characterized in that: in the charging signals transtation mission circuit, the input pin of charger direct supply is connector JP1, connector JP1 is connected to Voltage stabilizing module U1 by filter capacitor C1, filter capacitor C4, Voltage stabilizing module U1 is connected with filter capacitor C2, filter capacitor C5 again, and time base circuit U2 is connected with current-limiting resistance R6, triode Q1, infrared emission tube JP2.
7, grass-removing robot circuit control system according to claim 1 is characterized in that: in the charging signals Acquisition Circuit, the infrared signal that receives is input among the operational amplifier U9.
8, grass-removing robot circuit control system according to claim 1, it is characterized in that: in charging control circuit, the input pin of charger direct supply is connector JP1, connector JP1 is connected to Voltage stabilizing module U1 by filter capacitor C3, filter capacitor C5, Voltage stabilizing module U1 is connected with filter capacitor C4, filter capacitor C6 again, the pin 19 of charge controlling chip U2 meets current-limiting resistance R2, triode Q2, metal-oxide-semiconductor Q1, pin 18 meets current-limiting resistance R5 and current-limiting resistance R1, and pin 12 meets current sampling resistor R6.
9, grass-removing robot circuit control system according to claim 1, it is characterized in that: in user's control and display panel circuit, button SW1 and current-limiting resistance R15 two ends load the VDD direct current, centre pin is received the main control chip by connector JP1, button SW2 and current-limiting resistance R16 two ends load the VDD direct current, centre pin is received the main control chip by connector JP1, button SW3 and current-limiting resistance R17 two ends load the VDD direct current, centre pin is received on the main control chip by connector JP1, six LED on the display panel are connected to connector JP1, and three charactron U2 meet pio chip U1 by current-limiting resistance R1～R8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200050363U CN201402412Y (en) | 2008-05-12 | 2009-02-23 | Circuit control system of mowing robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200820086622 | 2008-05-12 | ||
| CN200820086622.0 | 2008-05-12 | ||
| CN2009200050363U CN201402412Y (en) | 2008-05-12 | 2009-02-23 | Circuit control system of mowing robot |
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| Publication Number | Publication Date |
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| CN201402412Y true CN201402412Y (en) | 2010-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009200050363U Expired - Fee Related CN201402412Y (en) | 2008-05-12 | 2009-02-23 | Circuit control system of mowing robot |
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| CN (1) | CN201402412Y (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102789232A (en) * | 2011-05-16 | 2012-11-21 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
| CN102890505A (en) * | 2011-07-18 | 2013-01-23 | 苏州宝时得电动工具有限公司 | Boundary system |
| WO2013107374A1 (en) * | 2012-01-20 | 2013-07-25 | 苏州宝时得电动工具有限公司 | Automatic work apparatus and control method therefor |
| CN103282848A (en) * | 2010-12-29 | 2013-09-04 | 罗伯特·博世有限公司 | Method for processing a surface by means of a robotic vehicle |
| CN103283404A (en) * | 2012-03-02 | 2013-09-11 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
| CN103324191A (en) * | 2012-03-23 | 2013-09-25 | 苏州宝时得电动工具有限公司 | Control method and control system executing same |
| CN103869813A (en) * | 2012-12-14 | 2014-06-18 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN104333238A (en) * | 2014-10-17 | 2015-02-04 | 重庆金宏汽车电子有限公司 | Power supply circuit for navigation device |
| CN105472966A (en) * | 2013-08-16 | 2016-04-06 | 胡斯华纳有限公司 | Intelligent grounds management system integrating robotic rover |
| CN108370708A (en) * | 2018-02-01 | 2018-08-07 | 宁波大叶园林设备股份有限公司 | A kind of hay mower is kept away automatically with sensing intelligent turns a ultra-thin hay knife |
| US10105838B2 (en) | 2012-03-02 | 2018-10-23 | Positec Power Tools (Suzhou) Co., Ltd | Automatically travelling device and control method therefor |
| CN111296045A (en) * | 2018-12-12 | 2020-06-19 | 株式会社牧田 | Working machine |
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- 2009-02-23 CN CN2009200050363U patent/CN201402412Y/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103282848A (en) * | 2010-12-29 | 2013-09-04 | 罗伯特·博世有限公司 | Method for processing a surface by means of a robotic vehicle |
| CN103282848B (en) * | 2010-12-29 | 2016-10-05 | 罗伯特·博世有限公司 | For the method by robot-one face of means of transport processing |
| US9258942B2 (en) | 2010-12-29 | 2016-02-16 | Robert Bosch Gmbh | Method for processing a surface by means of a robotic vehicle |
| CN102789232B (en) * | 2011-05-16 | 2015-02-04 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
| CN102789232A (en) * | 2011-05-16 | 2012-11-21 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
| CN102890505A (en) * | 2011-07-18 | 2013-01-23 | 苏州宝时得电动工具有限公司 | Boundary system |
| WO2013010465A1 (en) * | 2011-07-18 | 2013-01-24 | 苏州宝时得电动工具有限公司 | Bordering system |
| CN102890505B (en) * | 2011-07-18 | 2014-11-26 | 苏州宝时得电动工具有限公司 | Boundary system |
| WO2013107374A1 (en) * | 2012-01-20 | 2013-07-25 | 苏州宝时得电动工具有限公司 | Automatic work apparatus and control method therefor |
| CN103283404A (en) * | 2012-03-02 | 2013-09-11 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
| CN103283404B (en) * | 2012-03-02 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Automatic running device and control method thereof |
| US10105838B2 (en) | 2012-03-02 | 2018-10-23 | Positec Power Tools (Suzhou) Co., Ltd | Automatically travelling device and control method therefor |
| CN103324191A (en) * | 2012-03-23 | 2013-09-25 | 苏州宝时得电动工具有限公司 | Control method and control system executing same |
| CN103869813A (en) * | 2012-12-14 | 2014-06-18 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN103869813B (en) * | 2012-12-14 | 2017-02-01 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN105472966A (en) * | 2013-08-16 | 2016-04-06 | 胡斯华纳有限公司 | Intelligent grounds management system integrating robotic rover |
| US9804604B2 (en) | 2013-08-16 | 2017-10-31 | Husqvarna Ab | Intelligent grounds management system integrating robotic rover |
| CN104333238A (en) * | 2014-10-17 | 2015-02-04 | 重庆金宏汽车电子有限公司 | Power supply circuit for navigation device |
| CN108370708A (en) * | 2018-02-01 | 2018-08-07 | 宁波大叶园林设备股份有限公司 | A kind of hay mower is kept away automatically with sensing intelligent turns a ultra-thin hay knife |
| CN111296045A (en) * | 2018-12-12 | 2020-06-19 | 株式会社牧田 | Working machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: HANGZHOU SUPOMAN INTELLIGENT TECHNOLOGY CO., LTD. Assignor: Jin Shizheng Contract record no.: 2012330000523 Denomination of utility model: Circuit control system of mowing robot Granted publication date: 20100210 License type: Exclusive License Record date: 20121019 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160608 Address after: Hangzhou City, Zhejiang Province, 310052 Binjiang District West Road 95 5 Street waterfront building 4 floor East Patentee after: HANGZHOU SUPOMAN INTELLIGENT TECHNOLOGY CO., LTD. Address before: Hangzhou City, Zhejiang province Binjiang District 310051 shore road 95 5 Building 4 floor East Patentee before: Jin Shizheng |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100210 Termination date: 20170223 |