CN208752462U - A kind of inertial navigation magnetic stripe hybrid navigation AGV system - Google Patents
A kind of inertial navigation magnetic stripe hybrid navigation AGV system Download PDFInfo
- Publication number
- CN208752462U CN208752462U CN201821633030.6U CN201821633030U CN208752462U CN 208752462 U CN208752462 U CN 208752462U CN 201821633030 U CN201821633030 U CN 201821633030U CN 208752462 U CN208752462 U CN 208752462U
- Authority
- CN
- China
- Prior art keywords
- magnetic
- navigation
- car body
- agv
- magnetic stripe
- 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.)
- Withdrawn - After Issue
Links
- 238000001514 detection method Methods 0.000 claims description 13
- 230000009194 climbing Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- BVPWJMCABCPUQY-UHFFFAOYSA-N 4-amino-5-chloro-2-methoxy-N-[1-(phenylmethyl)-4-piperidinyl]benzamide Chemical compound COC1=CC(N)=C(Cl)C=C1C(=O)NC1CCN(CC=2C=CC=CC=2)CC1 BVPWJMCABCPUQY-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a kind of inertial navigation magnetic stripe hybrid navigation AGV system, the inertial navigation magnetic stripe hybrid navigation AGV system includes: inertial navigation module, magnetic stripe navigation module and control processing module；The inertial navigation module is for global navigation, and the magnetic stripe navigation module is used for Local Navigation, and the control processing module is for rectifying a deviation to the direction of motion of AGV car body.The utility model intends to solve the technical problem by providing a kind of inertial navigation magnetic stripe hybrid navigation AGV system, which can not only realize the smooth autonomous of the overall situation in severe ground environment, additionally it is possible to accurately slip into equipment or bottom shelf carries out jacking carrying.
Description
Technical field
The utility model relates to arrive the field AGV, a kind of inertial navigation magnetic stripe hybrid navigation AGV system is refered in particular to.
Background technique
AGV (Automated Guide Vehicle, automated guided vehicle) refers to magnetically or optically to be waited automatically equipped with electricity
The transport vehicle of guiding device can adjust in time corresponding transport with the adjustment of the technological process of production without manually participating in
Route replaces hand haulage by AGV, can be effectively reduced the labor intensity of staff, improves working efficiency, therefore making
It makes, the industries such as electronics, logistics are widely used.
Magnetic stripe navigation AGV is the higher AGV system of a kind of positioning accuracy generallyd use in present plant environment, but
The more severe factory of ground environment, such as maintenance of all kinds of parts or processing factory, the sundries such as clast on ground and disengaging
Fork truck can wear or destroy the magnetic stripe being laid in advance on ground, reduce navigation accuracy or navigation is caused to fail, therefore in such work
Factory generally uses maintenance cost lower and nonabradable inertial navigation AGV.
Inertial navigation AGV generally carries out integral operation by the velocity and acceleration of gyroscope acquisition AGV car body and obtains AGV
The position of car body.Since gyroscope is there are biggish cumulative errors, magnetic nail is usually combined to tire out system in inertial navigation system
Product error is calibrated, and improves the navigation and positioning accuracy of inertial navigation, but navigation and positioning accuracy is still unable to reach mm rank.
In such application scenarios, when need AGV slip under narrow equipment or shelf carry out jacking carry when, inertial navigation
AGV is easy to collide with narrow equipment or shelf.
Utility model content
In view of the above deficiencies, the utility model intends to solve the technical problem by providing a kind of inertial navigation magnetic stripe hybrid navigation AGV
System, the system can not only realize the smooth autonomous of the overall situation in severe ground environment, additionally it is possible to accurately slip into equipment
Or bottom shelf carries out jacking carrying.
The purpose of this utility model is achieved through the following technical solutions:
A kind of inertial navigation magnetic stripe hybrid navigation AGV system, the inertial navigation magnetic stripe hybrid navigation AGV system includes: inertial navigation
Module, magnetic stripe navigation module, control processing module, driving device group and AGV car body.
The AGV car body includes climbing structure, carries out jacking carrying for slipping into equipment or bottom shelf.
The driving device group includes K group driving device, wherein K >=2；The driving device includes driving wheel and motor,
The motor contains speed encoder and angular encoder；Speed encoder and angular encoder in the motor are respectively used to
The speed and orientation angle information of acquisition wheel are simultaneously sent to the control processing module.
The inertial navigation module includes magnetic scale sensor group, magnetic nail group and gyroscope；The magnetic nail group includes M magnetic
It follows closely, wherein M >=2；The M magnetic nail is linked to be straight line, for positioning the target direction of the inertial navigation module；The magnetic scale passes
Sensor group includes front end magnetic scale sensor and rear end magnetic scale sensor；The front end magnetic scale sensor is mounted on the AGV car body
Front end；The rear end magnetic scale sensor is mounted on the rear end of the AGV car body；When the AGV car body advances, the front end
The detection of magnetic scale sensor calculates magnetic and follows closely position signal, and is sent to the control processing module；When the AGV car body retreats,
The rear end magnetic scale sensor detection calculates magnetic and follows closely position signal, and is sent to the control processing module；The magnetic follows closely position
Signal includes when magnetic scale sensor is by magnetic nail, and the magnetic follows closely the position at opposite magnetic scale center；The gyroscope is mounted on institute
That states AGV car body rotates in place center, for acquiring azimuth of the AGV car body relative to initial position, and is sent to the control
Processing module processed；The control processing module receives the magnetic and follows closely position signal, the gyroscope signal, the driving device group
In wheel group speed and angle information, control the driving device group and the AGV car body driven to be laid with direction along magnetic nail group
Advance with center.
The magnetic stripe navigation module includes Magnetic Sensor group and the magnetic stripe for being laid on device bottom；The Magnetic Sensor group packet
Include front end Magnetic Sensor and rear end Magnetic Sensor；The front end Magnetic Sensor is mounted on the top nose of the AGV car body, described
Rear end Magnetic Sensor is mounted on the top rear of the AGV car body；When the AGV car body advances, the front end Magnetic Sensor
Detection calculates the magnetic stripe position signal of the device bottom, and is sent to the control processing module；When the AGV car body retreats
When, the rear end Magnetic Sensor detection calculates the magnetic stripe position signal of the device bottom, and is sent to the control processing mould
Block；The magnetic stripe position signal includes position of the magnetic stripe relative to the Magnetic Sensor center；The control processing module is used for
The speed and angle information of the magnetic stripe position signal, wheel group in the driving device group are received, the driving is controlled and fills
It sets group drive AGV car body and reaches the device bottom.
Under inertia line navigation mode, the Magnetic Sensor is detected the magnetic stripe position after the magnetic stripe position signal
Confidence number is sent to the control processing module, and the AGV is switched to magnetic stripe navigation mode by the control processing module；In magnetic
Under bar navigation mode, after the Magnetic Sensor can not detect magnetic stripe position signal, the signal for detecting magnetic stripe position will be unable to
It is sent to the control processing module, the AGV is switched to inertia line navigation mode by the control processing module.
Preferably, the distance between two magnetic nails of arbitrary neighborhood are greater than magnetic scale biography in M magnetic nail in the magnetic nail group
When single magnetic nail position signal can be detected in sensor twice of maximum distance between magnetic scale and magnetic nail.
It preferably, also include universal wheel on the AGV car body.
Preferably, the inertial navigation magnetic stripe hybrid navigation AGV system further includes RFID locating module, for the AGV vehicle
Body carries out website positioning；The control processing module is sent to after receiving the site information that the RFID locating module is sent
Position machine dispatches system；The host computer dispatches system-computed and sends scheduling information, the control to the control processing module
Processing module receives the scheduling information, controls the driving device group and drives the AGV body movement.
Compared with prior art, the utility model has the beneficial effects that passing through the combination that inertial navigation and magnetic stripe navigate,
There is provided one kind can either be in the smooth autonomous of the overall situation in severe ground environment, additionally it is possible to accurately slip into equipment or bottom shelf
The hybrid navigation AGV system of jacking carrying is carried out, the system is not easy to wear and maintenance cost is lower.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets the utility model
Embodiment, and be used to explain the principles of the present invention together with specification.
Fig. 1 is a kind of structural schematic diagram of AGV hybrid navigation system of the utility model；
Fig. 2 is a kind of bottom view of AGV hybrid navigation system of the utility model；
Fig. 3 is a kind of side view of AGV hybrid navigation system of the utility model.
Wherein: 1- inertial navigation module, 11- magnetic scale sensor group, the front end 111- magnetic scale sensor, the rear end 112- magnetic scale pass
Sensor, 12- magnetic nail group, 13- gyroscope；2- magnetic stripe navigation module, 21- Magnetic Sensor group, the front end 211- Magnetic Sensor, after 212-
Hold Magnetic Sensor, 22- magnetic stripe；3- controls processing module；4- driving device group, 41- driving wheel, 42- motor；5-AGV car body,
51- climbing structure, 52- universal wheel.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real
Applying mode, the present application will be further described in detail.
The utility model provides a kind of inertial navigation magnetic stripe hybrid navigation AGV system, as shown in Figure 1, Figure 2 and Figure 3, the inertial navigation
Magnetic stripe hybrid navigation AGV system includes: inertial navigation module 1, magnetic stripe navigation module 2, control processing module 3, driving device group 4
With AGV car body 5.
The AGV car body 5 includes climbing structure 51, carries out jacking carrying for slipping into equipment or bottom shelf.
The driving device group 4 includes K group driving device, wherein K >=2；The driving device includes driving wheel 41 and electricity
Machine 42, the motor 42 contain speed encoder and angular encoder；Speed encoder and angular coding in the motor 42
Device is respectively used to obtain the speed of wheel and orientation angle information and is sent to the control processing module 3.
The inertial navigation module 1 includes magnetic scale sensor group 11, magnetic nail group 12 and gyroscope 13；The magnetic nail group 12 is wrapped
It is followed closely containing M magnetic, wherein M >=2；The M magnetic nail is linked to be straight line, for positioning the target direction of the inertial navigation module 1；Institute
Stating magnetic scale sensor group 11 includes front end magnetic scale sensor 111 and rear end magnetic scale sensor 112；The front end magnetic scale sensor
111 are mounted on the front end of the AGV car body 5；The rear end magnetic scale sensor 112 is mounted on the rear end of the AGV car body 5；When
When the AGV car body 5 advances, the detection of front end magnetic scale sensor 111 calculates magnetic and follows closely position signal, and is sent to the control
Processing module 3；When the AGV car body 5 retreats, the detection of rear end magnetic scale sensor 112 calculates magnetic and follows closely position signal, concurrently
It is sent to the control processing module 3；The magnetic nail position signal includes when magnetic scale sensor is by magnetic nail, and the magnetic nail is opposite
The position at magnetic scale center；What the gyroscope 13 was mounted on the AGV car body 5 rotates in place center, for acquiring AGV car body 5
Relative to the azimuth of initial position, and it is sent to the control processing module 3；The control processing module receives the magnetic nail
Position signal, the gyroscope signal, wheel group in the driving device group 4 speed and angle information, control the drive
Dynamic device group 4 drives the AGV car body 5 to be laid with direction and center advance along magnetic nail group.
The magnetic stripe navigation module 2 includes Magnetic Sensor group 21 and the magnetic stripe 22 for being laid on device bottom；The magnetic sensing
Device group 21 includes front end Magnetic Sensor 211 and rear end Magnetic Sensor 212；The front end Magnetic Sensor 211 is mounted on the AGV vehicle
The top nose of body 5, the rear end Magnetic Sensor 212 are mounted on the top rear of the AGV car body 5；When the AGV car body 5
When advance, the detection of front end Magnetic Sensor 211 calculates the magnetic stripe position signal of the device bottom, and is sent to the control
Processing module 3；When the AGV car body 5 retreats, the detection of rear end Magnetic Sensor 212 calculates the magnetic stripe of the device bottom
Position signal, and it is sent to the control processing module 3；The magnetic stripe position signal includes magnetic stripe relative to the Magnetic Sensor
The position at center；The control processing module 3 is used to receive the magnetic stripe position signal, the wheel in the driving device group 4
The speed and angle information of group, control the driving device group 4 and the AGV car body 5 are driven to reach the device bottom.
Under inertia line navigation mode, the Magnetic Sensor group 21 is detected the magnetic after the magnetic stripe position signal
Position signal is sent to the control processing module 3, and the AGV is switched to magnetic stripe navigation mould by the control processing module 3
Formula；Under magnetic stripe navigation mode, after the Magnetic Sensor group 11 can not detect magnetic stripe position signal, it will be unable to detect magnetic stripe
The signal of position is sent to the control processing module 3, and the AGV is switched to inertia straight line and led by the control processing module 3
Model plane formula.
The distance between two magnetic nails of arbitrary neighborhood can be examined greater than the magnetic scale sensor in M magnetic nail in the magnetic nail group
When measuring single magnetic nail position signal twice of maximum distance between magnetic scale and magnetic nail.Wherein, the magnetic nail that the utility model uses
Magnetic field range be 50mm, i.e., it is maximum between magnetic scale and magnetic nail when single magnetic nail position signal can be detected in the described magnetic scale sensor
Distance is 50mm, and the distance between two magnetic nails of arbitrary neighborhood are greater than 100mm in the M magnetic nail.When between two neighboring magnetic nail
When away from being less than 100mm, magnetic field superposition can be generated, the signal for causing two magnetic to be followed closely is difficult to differentiate between.
5 also include universal wheel 52 on the AGV car body.
The inertial navigation magnetic stripe hybrid navigation AGV system further includes RFID locating module 6, for carrying out to the AGV car body 5
Website positioning；The control processing module 3 is sent to host computer after receiving the site information that the RFID locating module 6 is sent
Scheduling system；The host computer dispatches system-computed and sends scheduling information, the control processing to the control processing module 3
Module 3 receives the scheduling information, controls the driving device group 4 and the AGV car body 5 is driven to move.Wherein, the RFID is fixed
Position module 6 includes RFID card reader and RFID card, and the RFID card reader is mounted on the bottom centre of the AGV car body 5, described
RFID card is arranged on target track；The site information includes when AGV car body 5 moves, and the RFID card reader detection is read
The RFID card information taken.
Compared with prior art, a kind of inertial navigation magnetic stripe hybrid navigation AGV system provided by the utility model, can not only be real
The smooth autonomous of the overall situation in severe ground environment now, additionally it is possible to accurately slip into equipment or bottom shelf carries out jacking and removes
Fortune, the system is not easy to wear and maintenance cost is lower.
Claims (4)
1. a kind of inertial navigation magnetic stripe hybrid navigation AGV system, which is characterized in that the inertial navigation magnetic stripe hybrid navigation AGV system includes:
Inertial navigation module (1), magnetic stripe navigation module (2), control processing module (3), driving device group (4) and AGV car body (5)；
The AGV car body (5) includes climbing structure (51), carries out jacking carrying for slipping into equipment or bottom shelf；
The driving device group (4) includes K group driving device, wherein K >=2；The driving device includes driving wheel (41) and electricity
Machine (42), the motor (42) contain speed encoder and angular encoder；Speed encoder and angle in the motor (42)
Degree encoder is respectively used to obtain the speed of wheel and orientation angle information and is sent to the control processing module (3)；
The inertial navigation module (1) includes magnetic scale sensor group (11), magnetic nail group (12) and gyroscope (13)；The magnetic nail group
(12) it is followed closely comprising M magnetic, wherein M >=2；The M magnetic nail is linked to be straight line, for positioning the mesh of the inertial navigation module (1)
Mark direction；The magnetic scale sensor group (11) includes front end magnetic scale sensor (111) and rear end magnetic scale sensor (112)；It is described
Front end magnetic scale sensor (111) is mounted on the front end of the AGV car body (5)；The rear end magnetic scale sensor (112) is mounted on institute
State the rear end of AGV car body (5)；When the AGV car body (5) is advanced, front end magnetic scale sensor (111) detection calculates magnetic nail
Position signal, and it is sent to the control processing module (3)；When the AGV car body (5) retreats, the rear end magnetic scale sensing
Device (112) detection calculates magnetic and follows closely position signal, and is sent to the control processing module (3)；The magnetic follows closely position signal
When magnetic scale sensor is followed closely by magnetic, the magnetic follows closely the position at opposite magnetic scale center；The gyroscope (13) is mounted on the AGV
Car body (5) rotates in place center, for acquiring azimuth of the AGV car body (5) relative to initial position, and is sent to the control
Processing module (3) processed；The control processing module (3) receives the magnetic and follows closely position signal, the gyroscope signal, the driving
The speed and angle information of wheel group in device group (4) control the driving device group (4) and drive AGV car body (5) edge
Magnetic nail group is laid with direction and center and advances；
The magnetic stripe navigation module (2) includes Magnetic Sensor group (21) and the magnetic stripe (22) for being laid on device bottom；The magnetic passes
Sensor group (21) includes front end Magnetic Sensor (211) and rear end Magnetic Sensor (212)；Front end Magnetic Sensor (211) installation
In the top nose of the AGV car body (5), after the rear end Magnetic Sensor (212) is mounted on the top of the AGV car body (5)
End；When the AGV car body (5) is advanced, front end Magnetic Sensor (211) detection calculates the magnetic stripe position of the device bottom
Signal, and it is sent to the control processing module (3)；When the AGV car body (5) retreats, the rear end Magnetic Sensor (212)
Detection calculates the magnetic stripe position signal of the device bottom, and is sent to the control processing module (3)；The magnetic stripe position letter
Number include position of the magnetic stripe relative to the Magnetic Sensor center；The control processing module (3) is for receiving the magnetic stripe position
Confidence number, the speed and angle information of wheel group in the driving device group (4) control the driving device group (4) and drive
The AGV car body (5) reaches the device bottom；
Under inertia line navigation mode, the Magnetic Sensor group (21) is detected the magnetic stripe after the magnetic stripe position signal
Position signal is sent to the control processing module (3), and the AGV is switched to magnetic stripe and navigated by the control processing module (3)
Mode；Under magnetic stripe navigation mode, after the Magnetic Sensor group (11) can not detect magnetic stripe position signal, it will be unable to detect
The signal of magnetic stripe position is sent to the control processing module (3), and the AGV is switched to used by the control processing module (3)
Property line navigation mode.
2. a kind of inertial navigation magnetic stripe hybrid navigation AGV system according to claim 1, which is characterized in that the magnetic nail group
(12) the distance between two magnetic nails of arbitrary neighborhood can be detected single magnetic greater than the magnetic scale sensor and follow closely position in M magnetic nail in
When confidence twice of maximum distance between magnetic scale and magnetic nail.
3. a kind of inertial navigation magnetic stripe hybrid navigation AGV system according to claim 1, which is characterized in that the AGV car body
It (5) also include universal wheel (52) on.
4. a kind of inertial navigation magnetic stripe hybrid navigation AGV system according to claim 1, which is characterized in that the inertial navigation magnetic stripe
Hybrid navigation AGV system further includes RFID locating module (6), for carrying out website positioning to the AGV car body (5)；The control
Processing module (3) processed is sent to host computer scheduling system after receiving the site information that the RFID locating module (6) sends；Institute
It states host computer scheduling system-computed and sends scheduling information to the control processing module (3), the control processing module (3) connects
The scheduling information is received, the driving device group (4) is controlled and drives AGV car body (5) movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821633030.6U CN208752462U (en) | 2018-10-09 | 2018-10-09 | A kind of inertial navigation magnetic stripe hybrid navigation AGV system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821633030.6U CN208752462U (en) | 2018-10-09 | 2018-10-09 | A kind of inertial navigation magnetic stripe hybrid navigation AGV system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208752462U true CN208752462U (en) | 2019-04-16 |
Family
ID=66085542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821633030.6U Withdrawn - After Issue CN208752462U (en) | 2018-10-09 | 2018-10-09 | A kind of inertial navigation magnetic stripe hybrid navigation AGV system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208752462U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958269A (en) * | 2018-10-09 | 2018-12-07 | 南京景曜智能科技有限公司 | A kind of inertial navigation magnetic stripe hybrid navigation AGV system |
-
2018
- 2018-10-09 CN CN201821633030.6U patent/CN208752462U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958269A (en) * | 2018-10-09 | 2018-12-07 | 南京景曜智能科技有限公司 | A kind of inertial navigation magnetic stripe hybrid navigation AGV system |
| CN108958269B (en) * | 2018-10-09 | 2024-01-19 | 南京景曜智能科技有限公司 | Inertial navigation magnetic stripe hybrid navigation AGV system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108958269A (en) | A kind of inertial navigation magnetic stripe hybrid navigation AGV system | |
| CN106249736B (en) | Automatic guided vehicle based on magnetic nail map navigation | |
| CN108780317B (en) | Automatic carrying vehicle | |
| CN108592906B (en) | AGV composite navigation method based on two-dimensional code and inertial sensor | |
| CN106527432B (en) | The indoor mobile robot cooperative system corrected certainly based on fuzzy algorithmic approach and two dimensional code | |
| CN104583724B (en) | Method and apparatus for determining vehicle location in environment is surveyed and drawn | |
| CN109725636B (en) | System and method for automatically following front object by automatic driving vehicle and tracking system | |
| CN106774335A (en) | Guiding device based on multi-vision visual and inertial navigation, terrestrial reference layout and guidance method | |
| US20030028323A1 (en) | Material handling systems with high frequency radio location devices | |
| CN107168310A (en) | Control device, system and method that a kind of AGV dollies precisely navigate | |
| CN109491390B (en) | Trackless omnidirectional mobile robot system based on multiple sensors and control method thereof | |
| CN107958278A (en) | Position detecting system and detection method based on RFID | |
| CN102542634B (en) | Measuring system of driving state of target vehicle | |
| EP3998451B1 (en) | Navigation method, mobile carrier, and navigation system | |
| CN205950750U (en) | Transformer station inspection robot control system that navigates based on inertial navigation | |
| CN109445438A (en) | Cruise control method and system based on the cruising device that map is shared | |
| CN108549391B (en) | AGV trolley control system and method | |
| KR20150097062A (en) | The hybrid navigation automatic guided vehicle navigation systems | |
| CN104773430A (en) | Automatic stereoscopic warehouse positioning control system and control method thereof | |
| CN109573448A (en) | A kind of automatic transporting trolley and its application method | |
| CN107764256A (en) | A kind of trackless automatic Guided Vehicle system and its implementation based on RFID arrays | |
| CN202166895U (en) | Laser navigation system of intelligent patrol robot at transformer substation | |
| CN115009748B (en) | Precision location method system of stacking industrial robot system | |
| CN208752462U (en) | A kind of inertial navigation magnetic stripe hybrid navigation AGV system | |
| CN107110952A (en) | Position detecting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190416 Effective date of abandoning: 20240119 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190416 Effective date of abandoning: 20240119 |