CN205916347U - Unmanned aerial vehicle who reports to police when falling - Google Patents
Unmanned aerial vehicle who reports to police when falling Download PDFInfo
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- CN205916347U CN205916347U CN201620942628.8U CN201620942628U CN205916347U CN 205916347 U CN205916347 U CN 205916347U CN 201620942628 U CN201620942628 U CN 201620942628U CN 205916347 U CN205916347 U CN 205916347U
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- unmanned plane
- processor module
- aerial vehicle
- unmanned aerial
- airborne processor
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Abstract
The utility model relates to an unmanned aerial vehicle who reports to police when falling, including machine year processor module, carry the unmanned aerial vehicle driving system of processor module control by this machine, the machine carries processor module and is connected with: a fault detection unit for detecting whether unmanned aerial vehicle driving system exists the trouble to and be used for the acousto -optic warning unit that reports to the police when recording unmanned aerial vehicle driving system and have the trouble. Fault detection unit detects whether the motor among the unmanned aerial vehicle driving system breaks down. Acousto -optic warning unit is including the bee calling organ or the voice horn that are used for sending the audible alarm signal to and the bright LED of the superelevation that is used for sending red alarm signal. The machine carries processor module and still is connected with acceleration sensor to detect unmanned aerial vehicle and whether be close the free fall state, and then whether further judgement is in the state of falling.
Description
Technical field
This utility model is related to a kind of unmanned plane of the alarm that falls.
Background technology
Due to unmanned plane have motor-driven quick, use cost is low, safeguard using simple the features such as, therefore at home and abroad
Extensively it is employed.But traditional unmanned plane is in flight course, easily runs into fault or encounter barrier and fall, lead to fuselage
Badly damaged and cannot repair.
Utility model content
The purpose of this utility model is to provide a kind of unmanned plane of the alarm that falls.
In order to solve above-mentioned technical problem, the unmanned plane of the alarm that falls that this utility model provides, comprising: airborne process
Device module, the unmanned plane dynamical system being controlled by this airborne processor module；Described airborne processor module is connected with: for examining
Survey the fault detection unit that unmanned plane dynamical system whether there is fault, and for recording the presence event of unmanned plane dynamical system
The acousto-optic warning unit of barrier alarm.Described fault detection unit is to detect whether the motor in described unmanned plane dynamical system is sent out
The fault detection unit of raw fault, for example can be using motor event disclosed in patent documentation cn105572585a or cn105717453a
Barrier detection means.Patent documentation cn205139267u disclosed in unmanned plane failure detector may also be employed.
This unmanned plane includes: fuselage, is coated with the line-x coating of line-x company of the U.S. on fuselage.Using this coating
Afterwards, after encountering barrier during unmanned plane during flying or falling, fuselage is non-damageable；Line-x coating is a kind of quick exsiccation, many
Purposes coating series.Can be used for various retails, commercial and industrial purposes.They show fabulous adhesive surface, fast using it
Fast hardening time can vertically spray, and will not flow downward.There is no residual solvent, there is no the dirt of air pollutants or hostile environment
Dye.Line-x coating is resistant to most of solvents and acid, so that they are suitable for industry and the corrosion of business application is very universal.
Greatly expand the life expectancy of unmanned plane with line-x.It provides excellent resistance to impact and remarkable tensile strength (up to
6600 pounds), there is outstanding abrasion resistance, after which ensure that the unmanned plane of the application is encountered barrier or fallen, fuselage is difficult
Damage.
Described fuselage adopts expanded material one step foaming molding.
Further, this unmanned plane also includes: airborne processor module, unmanned motor-driven by this airborne processor module control
Force system；Described unmanned plane dynamical system includes: propeller mechanism；It is coated with Teflon on the propeller blade of propeller mechanism
Coating, to prevent unmanned plane bonding dust on blade in flight course, and affects the normal work of blade.
Described airborne processor module is connected with: for detecting the fault detect with the presence or absence of fault for the unmanned plane dynamical system
Unit, and for recording unmanned plane dynamical system and existing the acousto-optic warning unit of fault alarm.Fault detection unit bag
Include for detecting the electrical fault the testing circuit whether motor in described unmanned plane dynamical system breaks down.
Described acousto-optic warning unit includes the buzzer or speech horn for sending audible ringing signal, and for sending out
Go out the super bright led of red alarm signal.
Whether described airborne processor module is also associated with acceleration transducer, to detect unmanned plane close to freely falling body shape
State, if close to free falling body state (acceleration for example falling downwards is more than 0.8g), entering, judging, unmanned plane occurs event
Barrier, unmanned plane are in fall condition.
Further preferred scheme is that airborne processor module is also connected with fall controller for parachutist, to be in unmanned plane
During fall condition, open parachute, it is to avoid unmanned plane damages.Described buzzer or speech horn, and super bright led, setting
On parachute, to improve warning resolution.
Unmanned plane of the present utility model and its beneficial effect of method of work: line-x coating is a kind of quick exsiccation, many
Purposes coating series.Can be used for various retails, commercial and industrial purposes.They show fabulous adhesive surface, fast using it
Fast hardening time can vertically spray, and will not flow downward.There is no residual solvent, there is no the dirt of air pollutants or hostile environment
Dye.Line-x coating is resistant to most of solvents and acid, so that they are suitable for industry and the corrosion of business application is very universal.
Greatly expand the life expectancy of unmanned plane with line-x.It provides excellent resistance to impact and remarkable tensile strength (up to
6600 pounds), there is outstanding abrasion resistance, after which ensure that the unmanned plane of the application is encountered barrier or fallen, fuselage is difficult
Damage.
Brief description
With reference to the accompanying drawings and examples this utility model is further illustrated.
Fig. 1 is the operating diagram of the electric power system that takes off vertically of the present utility model；
Fig. 2 is the theory diagram of the electric power system that takes off vertically of the present utility model；
Fig. 3 is the control principle drawing of fixed-wing unmanned plane of the present utility model；
Fig. 4 is the structural representation of unmanned plane of the present utility model；
Fig. 5 is the structured flowchart of vertical spin paddle mechanism of the present utility model.
In figure: power supply device 1, adsorbent equipment 101, plug 102, transmission pressure 103, line wheel 104, unmanned aerial vehicle body
2nd, horizontal power subsystem 3, horizontal propeller 301, Vertical Dynamic subsystem 4, vertical spin oar 401, micromachine 402, machine
The wing 5, suspension arrangement 6, first angle fine setting motor 601, second angle fine setting motor 602.
Specific embodiment
Presently in connection with accompanying drawing, this utility model is described in further detail.These accompanying drawings are the schematic diagram of simplification,
Basic structure of the present utility model is only described in a schematic way, therefore it only shows the composition relevant with this utility model.
Embodiment 1
As shown in figure 1, the present embodiment 1 provides one kind taking off vertically electric power system, comprising: the power supply positioned at ground is powered
Device 1；Described power supply device 1 is suitable to, when unmanned plane takes off vertically, keep unmanned plane is powered；And when unmanned plane reaches
To after predetermined altitude, unmanned plane departs from power supply device 1 and powers.
As a kind of optional embodiment of the electric power system that takes off vertically, the described electric power system that takes off vertically also includes: inhales
Adsorption device and charging end；Described adsorbent equipment is suitable to make the plug 102 of charging end to insert unmanned plane charging inlet, and works as unmanned plane
After reaching predetermined altitude, adsorbent equipment drives charging end to come off, and makes unmanned plane depart from power supply device and powers；And described electricity
It is provided with the line wheel 104 for coiling transmission pressure 103 at source electric supply installation 1.
Specifically, described power supply device includes: main processor modules, the main electric power being connected with this main processor modules
Line carrier module；Include in described adsorbent equipment: from processor module, with this from processor module be connected from power line carrier
Module, by described from processor control electric or dead electricity electric magnet.
In order that after unmanned plane reaches predetermined altitude, can automatically separate with charging end, described also suitable from processor module
In the real-time altitude information obtaining unmanned plane, and after unmanned plane reaches predetermined altitude, electric magnet is controlled to lose by from processor module
Electricity, is realized charging end and is automatically separated with unmanned plane.
If after occurring being automatically separated unsuccessfully, corresponding emergency measure need to be adopted, described adsorbent equipment is further adapted for real-time height
Data is sent to power supply device by power line carrier mode；If after unmanned plane reaches predetermined altitude, charging end with no
Man-machine do not separate, then by power supply device send make electric magnet dead electricity power line carrier signal to adsorbent equipment, make to fill
Electric end is manually separated with unmanned plane.
For example, described adsorbent equipment is provided with emergency escape button, after emergency escape button is pressed, described primary processor mould
Block is suitable to send the power line carrier signal making electric magnet dead electricity to adsorbent equipment.
The real-time altitude information of described unmanned plane is suitable to obtain flight height by ms5540c numeral barometric pressure sensor
Degree, is included in described adsorbent equipment being carried out the data communication mouth of data communication with unmanned plane, and is carried out by this data communication mouth
Data transfer, when adsorbent equipment and aircraft separate type, this data communication mouth also disconnects therewith, further, by this data communication
Mouth can make power supply device obtain aircraft relevant parameter, and which is more relatively reliable than wireless mode it is ensured that unmanned plane is hanging down
Can stablize when directly taking off, reliably reach predetermined altitude.Described flight corresponding data includes but is not limited to: flying height, fly
Machine current electric quantity, flight attitude, high-altitude wind direction and wind speed (can be discussed in detail in embodiment 3 and embodiment 4).
As power supply device, adsorbent equipment and charging end are powered and be suitable for use with direct current mode or exchange way.
Wherein, according to direct current transportation mode, then described power supply device is suitable to for line voltage to be converted to unidirectional current
Send to adsorbent equipment and charging end through boost module afterwards, the electric magnet in described adsorbent equipment is suitable for use with direct solenoid
Ferrum, and described charging end includes boost module, for DC voltage after transmission pressure blood pressure lowering for the lifting, by plug even
Connect the charge and discharge control module in unmanned plane.
According to exchange way, according to ac transmission mode, then it is provided with ad-dc module in charging end and alternating current is changed
There is provided non-unmanned plane charge and discharge control module for unidirectional current；And described electric magnet is suitable for use with alternating electromagnet.
Described master and slave power line carrier module such as but not limited to adopts sens-00 power line carrier module, described master,
Such as but not limited to adopt stc series monolithic, flush bonding processor from processor module, can adopt by controlling electric magnet
The mode of the electrical switch of feeder ear controls electric magnet to obtain electric or dead electricity.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 additionally provides a kind of method of work of the electric power system that takes off vertically, that is, exist
When unmanned plane takes off vertically, described power supply device is suitable to keep unmanned plane is powered；And when unmanned plane reaches predetermined height
After degree, unmanned plane departs from power supply device and powers.
The described electric power system that takes off vertically also includes: adsorbent equipment and charging end；Described adsorbent equipment is suitable to make charging end
Plug insertion unmanned plane charging inlet, and when unmanned plane reaches predetermined altitude after, adsorbent equipment drive charging end comes off；Unmanned
Machine departs from power supply device and powers；It is provided with the line wheel for coiling transmission pressure at described power supply device.
Described power supply device includes: main processor modules, the main power line carrier wave being connected with this main processor modules
Module；Include in described adsorbent equipment: from processor module, with this from processor module be connected from power line carrier module,
By described from processor control electric or dead electricity electric magnet；And the described reality being further adapted for acquisition unmanned plane from processor module
When altitude information, and after unmanned plane reaches predetermined altitude, control electric magnet dead electricity by from processor module, realize charging end with no
Man-machine it is automatically separated；Described adsorbent equipment is further adapted for being sent real-time altitude information by power line carrier mode and powers to power supply
Device；If after unmanned plane reaches predetermined altitude, charging end is not separated with unmanned plane, then being sent by power supply device makes electricity
The power line carrier signal of Magnet dead electricity, to adsorbent equipment, makes charging end manually separate with unmanned plane.
Embodiment 3
On the basis of embodiment 1, the present embodiment 2 additionally provides a kind of fixed-wing unmanned plane.
Described unmanned plane includes: fuselage 2, is coated with the line-x coating of line-x company of the U.S., fuselage 2 on fuselage 2
Using expanded material one step foaming molding.This unmanned plane also includes: airborne processor module, is controlled by this airborne processor module
Unmanned plane dynamical system, and the described electric power system that takes off vertically；After unmanned plane departs from power supply device and powers, cut
Change electric power system in unmanned plane to power.
In described unmanned plane, electric power system includes: charge and discharge control module and lithium battery.
Described unmanned plane dynamical system includes: the horizontal power subsystem 3 that controlled by airborne processor module and vertically moving
Power subsystem 4；Wherein said horizontal power subsystem 3 is located at fuselage, and includes: flat spin paddle mechanism；Described vertically move
Power subsystem 4 includes: is symmetrically set in the vertical spin paddle mechanism at left and right wing 5；And described airborne processor module also with
Gyroscope, the gps module for being positioned to unmanned plane for detecting unmanned plane during flying attitude are connected.Horizontal propeller machine
It is coated with teflon coatings, to prevent unmanned plane in oar in flight course on structure, the propeller blade of vertical spin paddle mechanism
Bonding dust on leaf, and affect the normal work of blade.
Whether described airborne processor module is also associated with acceleration transducer, to detect unmanned plane close to freely falling body shape
State, if close to free falling body state (acceleration for example falling downwards is more than 0.8g), entering, judging, unmanned plane occurs event
Barrier, unmanned plane are in fall condition.Airborne processor module also can be connected with fall controller for parachutist, is fallen with being in unmanned plane
During state, open parachute, it is to avoid unmanned plane damages.
Described fault detection unit is to detect the fault the inspection whether motor in described unmanned plane dynamical system breaks down
Survey unit, for example, can adopt motor fault detection device disclosed in patent documentation cn105572585a or cn105717453a.?
Unmanned plane failure detector disclosed in patent documentation cn205139267u can be adopted.
Described vertical spin paddle mechanism includes at least one vertical spin oar 401, for hanging on vertical spin paddle mechanism
The suspension arrangement 6 of wing 5 lower section, described vertical spin oar 401 is suitable to be driven by corresponding micromachine 402 and rotates；Described outstanding
Hang device 6 includes: is suitable to first angle the fine setting motor 601(such as f1 in Fig. 5 making vertical spin oar 401 tilt forward or backward
Direction), and make the second angle that vertical spin oar 401 tilts to the left or to the right finely tune f2 direction in motor 602(such as Fig. 5)；
Wherein said first, second angle adjustment motor and micromachine 402 are controlled by airborne processor module, with according to flight appearance
State adjusts the inclination angle of vertical spin oar 401 and the rotating speed of vertical spin oar 401.
In Fig. 5, a vertical spin oar 401 includes two vertical spin oars 401, and is symmetrical arranged in front and back, therefore, similarly
Finely tune motor 602 including two second angles, this two second angle fine setting motors 602 are suitable to by the control of airborne processor module
Synchronous axial system.
Described unmanned plane is additionally provided with the wind transducer and air velocity transducer for detecting flight course moderate crosswind, described wind
It is suitable to send the wind direction of crosswind suffered by current unmanned plane and air speed data to airborne processor to sensor and air velocity transducer
Module；Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, adjust vertical spin oar 401 inclination angle and
Vertically, the rotating speed of horizontal propeller, to stablize current flight attitude.
Specifically, described wind transducer and air velocity transducer are used for recording unmanned plane actual acquisition in flight course
The wind direction of crosswind and air speed data, and then by the inclination angle of vertical spin oar 401, that is, front or rear, left or right is adjusted, and combine vertical
Directly, the rotating speed of horizontal propeller, to play the effect of stabilized flight attitude, and if crosswind is conducive to flight, improve flight effect
Rate.
For example unmanned plane westerly flies from east, if running into the crosswind of southwestward, airborne processor module is suitable to adjust
The inclination angle of vertical spin oar 401, that is, southwester direction tilts, to offset the crosswind of the southwestward shadow to unmanned plane during flying route
Ring；And, according to wind speed size, change the rotating speed of vertical spin oar 401.
Wherein, described airborne processor module such as but not limited to adopts single-chip microcomputer or arm processor.
Embodiment 4
On the basis of embodiment 3, this utility model additionally provides a kind of method of work of fixed-wing unmanned plane.
Wherein, as described in Example 3, and when unmanned plane takes off vertically, this unmanned plane supplies Denso by power supply to unmanned plane
Put holding unmanned plane is powered；And after unmanned plane reaches predetermined altitude, unmanned plane departs from power supply device and powers.
Preferably, described airborne processor module also with the gyroscope for detecting unmanned plane during flying attitude, for no
The man-machine gps module being positioned is connected；Described unmanned plane dynamical system includes: the press horizontal mobile being controlled by airborne processor module
Power subsystem 3 and Vertical Dynamic subsystem 4；Wherein said horizontal power subsystem 3 is located at fuselage, and includes horizontal propeller
Mechanism；Described Vertical Dynamic subsystem 4 includes: is symmetrically set in the vertical spin paddle mechanism at left and right wing 5；Described vertical spiral shell
Rotation paddle mechanism includes at least one vertical spin oar 401, for vertical spin paddle mechanism hangs on the suspension arrangement of wing 5 lower section
6, described vertical spin oar 401 is suitable to be driven by corresponding micromachine 402 and rotates；Described suspension arrangement 6 includes: is suitable to make to hang down
The first angle fine setting motor 601 that straight propeller 401 tilts forward or backward, and make vertical spin oar 401 to the left or to the right
The second angle fine setting motor 602 tilting；Wherein said first, second angle adjustment motor and micromachine 402 are by airborne
Processor module controls, to adjust the inclination angle of vertical spin oar 401 and the rotating speed of vertical spin oar 401 according to flight attitude.
The method at the inclination angle and rotating speed that adjust vertical spin oar 401 according to flight attitude includes: described airborne processor die
Block is suitable to control first angle fine setting motor 601 to drive vertical spin oar 401 to turn forward, and controls flat spin paddle mechanism simultaneously
Middle horizontal propeller work, to shorten the time that unmanned plane reaches the cruising altitude setting, and is reaching cruise height in unmanned plane
While spending, meet its cruising speed.
Described unmanned plane is additionally provided with the wind transducer and air velocity transducer for detecting flight course moderate crosswind, described wind
It is suitable to send the wind direction of crosswind suffered by current unmanned plane and air speed data to airborne processor to sensor and air velocity transducer
Module；Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, adjust vertical spin oar 401 inclination angle and
Vertically, the rotating speed of horizontal propeller, with stable and current flight attitude.
Specifically, described airborne processor module is suitable to the wind direction according to crosswind and air speed data, adjusts vertical spin oar
401 inclination angle and the vertical, rotating speed of horizontal propeller, are included with the stable method with current flight attitude: if unmanned plane is in sky
Middle hovering, then horizontal propeller quit work, and vertical spin oar 401 works, and described airborne processor module is suitable to according to side
The wind direction of wind and air speed data, change inclination angle and the rotating speed of vertical spin oar 401, with steadily hovering attitude；If unmanned plane cruises,
Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, changes inclination angle and the rotating speed of vertical spin oar 401,
To keep cruising altitude.
Specific implementation process: if unmanned plane is controlling hovering, if running into crosswind westerly, vertical spin oar 401 from east
Inclination angle correspond to cross-wind direction, to offset the impact to unmanned plane during flying attitude for the crosswind, and adjusted according to the wind speed of crosswind and hang down
The rotating speed of straight propeller 401.
Described airborne processor module is suitable to judge whether the wind direction of crosswind and wind speed contribute to flying, if contributing to flying
OK, then reduce the rotating speed of vertical spin oar 401 and/or horizontal propeller, improve the cruise mileage of unmanned plane.
Claims (6)
1. a kind of unmanned plane of the alarm that falls is it is characterised in that include: airborne processor module, by this airborne processor module
The unmanned plane dynamical system controlling；
Described airborne processor module is connected with: for detecting the fault detect list with the presence or absence of fault for the unmanned plane dynamical system
Unit, and for recording unmanned plane dynamical system and existing the acousto-optic warning unit of fault alarm.
2. unmanned plane according to claim 1 is it is characterised in that described fault detection unit is described unmanned motor-driven for detection
The fault detection unit whether motor in Force system breaks down.
3. unmanned plane according to claim 1 is it is characterised in that described unmanned plane dynamical system includes: propeller mechanism；
It is coated with teflon coatings on the propeller blade of propeller mechanism.
4. unmanned plane according to claim 1 is it is characterised in that described acousto-optic warning unit is included for sending sound report
The buzzer of alert signal or speech horn, and for sending the super bright led of red alarm signal.
5. unmanned plane according to claim 4 is it is characterised in that described airborne processor module is also associated with acceleration biography
Sensor.
6. unmanned plane according to claim 4 is it is characterised in that described airborne processor module also fall controller for parachutist phase
Even；Described buzzer or speech horn, and super bright led, are arranged on parachute, to improve warning resolution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620942628.8U CN205916347U (en) | 2016-08-24 | 2016-08-24 | Unmanned aerial vehicle who reports to police when falling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620942628.8U CN205916347U (en) | 2016-08-24 | 2016-08-24 | Unmanned aerial vehicle who reports to police when falling |
Publications (1)
| Publication Number | Publication Date |
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| CN205916347U true CN205916347U (en) | 2017-02-01 |
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ID=57869831
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| CN201620942628.8U Expired - Fee Related CN205916347U (en) | 2016-08-24 | 2016-08-24 | Unmanned aerial vehicle who reports to police when falling |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803650A (en) * | 2017-04-26 | 2018-11-13 | 深圳市道通智能航空技术有限公司 | The control method and device of unmanned plane, unmanned plane |
| CN112700617A (en) * | 2020-12-21 | 2021-04-23 | 北京二郎神科技有限公司 | Aircraft early warning method and device, electronic equipment and readable storage medium |
| CN113423641A (en) * | 2019-02-25 | 2021-09-21 | 株式会社日立高新技术 | Medical material delivery system |
-
2016
- 2016-08-24 CN CN201620942628.8U patent/CN205916347U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803650A (en) * | 2017-04-26 | 2018-11-13 | 深圳市道通智能航空技术有限公司 | The control method and device of unmanned plane, unmanned plane |
| US20200066167A1 (en) * | 2017-04-26 | 2020-02-27 | Autel Robotics Co., Ltd. | Drone control method and device and drone |
| US11501649B2 (en) * | 2017-04-26 | 2022-11-15 | Autel Robotics Co., Ltd. | Drone control method and device and drone |
| CN113423641A (en) * | 2019-02-25 | 2021-09-21 | 株式会社日立高新技术 | Medical material delivery system |
| US11983659B2 (en) | 2019-02-25 | 2024-05-14 | Hitachi High-Tech Corporation | Medical material transport system |
| CN113423641B (en) * | 2019-02-25 | 2024-08-20 | 株式会社日立高新技术 | Medical material delivery system |
| CN112700617A (en) * | 2020-12-21 | 2021-04-23 | 北京二郎神科技有限公司 | Aircraft early warning method and device, electronic equipment and readable storage medium |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Unmanned aerial vehicle who reports to police when falling Effective date of registration: 20191225 Granted publication date: 20170201 Pledgee: Industrial Bank Co., Ltd. Zhenjiang Branch Pledgor: Jiangsu City Hydrogen Energy Technology Co. Ltd. Registration number: Y2019980001278 |
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| 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: 20170201 Termination date: 20200824 |