CN209861170U - Internet of things positioning terminal - Google Patents
Internet of things positioning terminal Download PDFInfo
- Publication number
- CN209861170U CN209861170U CN201921220210.6U CN201921220210U CN209861170U CN 209861170 U CN209861170 U CN 209861170U CN 201921220210 U CN201921220210 U CN 201921220210U CN 209861170 U CN209861170 U CN 209861170U
- Authority
- CN
- China
- Prior art keywords
- processor
- module
- internet
- things
- interface
- 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.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model discloses a thing networking positioning terminal, thing networking positioning terminal includes: a processor; a digital audio broadcasting module communicatively coupled to the processor based on a universal asynchronous interface; the global navigation positioning module is in communication connection with the processor based on a universal asynchronous interface; the narrow-band Internet of things module is in communication connection with the processor based on a universal asynchronous interface; the power circuit is respectively and electrically connected with the processor, the digital audio broadcasting module and the global navigation positioning module and is used for respectively supplying power to the processor, the digital audio broadcasting module and the global navigation positioning module; the digital audio broadcasting module is in communication connection with the global navigation positioning module based on a universal asynchronous interface. The utility model provides a technical problem that thing networking terminal positioning function precision is low under the mobile state.
Description
Technical Field
The utility model relates to a high accuracy location technical field especially relates to a thing networking positioning terminal.
Background
At present, the existing high-precision positioning terminal acquires differential data through a mobile network, and a 3G/4G broadband communication module and the like are required to be used for meeting the transmission requirement of the differential data. Due to the high-density connection characteristic of the application system of the Internet of things, a large number of terminal devices can work simultaneously, a communication network is easily overloaded, communication quality is reduced, high-precision positioning cannot be achieved, and the terminal positioning accuracy and accuracy are greatly reduced.
Therefore, how to improve the accuracy and the accuracy of the terminal positioning function of the internet of things is a technical problem to be solved urgently at present.
The above is only for the purpose of assisting understanding of the technical solutions of the present invention, and does not represent an admission that the above is the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides a thing networking positioning terminal aims at solving the technical problem that thing networking terminal locate function precision is low under the mobile state.
In order to achieve the above object, the utility model provides a thing networking positioning terminal, thing networking positioning terminal includes:
a processor;
a digital audio broadcasting module communicatively coupled to the processor based on a universal asynchronous interface;
the global navigation positioning module is in communication connection with the processor based on a universal asynchronous interface;
the power circuit is respectively and electrically connected with the processor, the digital audio broadcasting module and the global navigation positioning module and is used for respectively supplying power to the processor, the digital audio broadcasting module and the global navigation positioning module;
the digital audio broadcasting module is in communication connection with the global navigation positioning module based on a universal asynchronous interface.
Optionally, the internet of things positioning terminal further includes:
the narrow-band Internet of things module is in communication connection with the processor;
the power supply circuit is electrically connected with the narrow-band Internet of things module and used for supplying power to the narrow-band Internet of things module.
Optionally, the bidirectional communication connection interface between the narrowband internet of things module and the processor is a universal asynchronous interface.
Optionally, the internet of things positioning terminal further includes:
a switch control circuit in communicative connection with the processor;
the switch control circuit is electrically connected with the power circuit.
Optionally, a communication connection interface of the switch control circuit and the processor is a general input/output interface.
Optionally, the internet of things positioning terminal further includes:
an inertial measurement module communicatively coupled with the processor.
Optionally, a communication connection interface of the inertial measurement module and the processor is a two-wire serial interface.
Optionally, the internet of things positioning terminal further includes:
a flash memory communicatively coupled to the processor.
Optionally, the communication connection interface between the flash memory and the processor is a serial peripheral interface.
Optionally, the internet of things positioning terminal further includes:
and the external power supply is electrically connected with the power circuit and used for supplying power to the power circuit.
The utility model provides a thing networking positioning terminal, thing networking positioning terminal includes: a processor; a digital audio broadcasting module communicatively coupled to the processor based on a universal asynchronous interface; the global navigation positioning module is in communication connection with the processor based on a universal asynchronous interface; the power circuit is respectively and electrically connected with the processor, the digital audio broadcasting module and the global navigation positioning module and is used for respectively supplying power to the processor, the digital audio broadcasting module and the global navigation positioning module; the digital audio broadcasting module is in communication connection with the global navigation positioning module based on a universal asynchronous interface. The utility model discloses a high accuracy location at thing networking terminal has improved location accuracy and accuracy to improve terminal communication quality through the broadcasting system, solved the technical problem that thing networking terminal locate function precision is low under the mobile state, saved down traffic volume, greatly reduced the terminal consumption, improved terminal duration.
Drawings
Fig. 1 is a schematic diagram of a terminal architecture design according to an embodiment of the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The embodiment of the utility model provides a consider, because among the prior art, the characteristics that thing networking application system high density is connected make thing networking terminal equipment cause the heavy burden to communication network to reduce communication quality, can't realize high accuracy locate function, reduced the accuracy and the accuracy of terminal location.
The utility model provides a solution has realized the high accuracy location at thing networking terminal, has improved location accuracy and accuracy to improve terminal communication quality through the broadcasting system, solved the technical problem that thing networking terminal locate function precision is low under the mobile state, saved down traffic volume, greatly reduced the terminal consumption, improved terminal duration.
The utility model provides a thing networking positioning terminal the utility model discloses in the thing networking positioning terminal first embodiment, refer to figure 1, thing networking positioning terminal includes: a processor; a digital audio broadcasting module communicatively coupled to the processor based on a universal asynchronous interface; the global navigation positioning module is in communication connection with the processor based on a universal asynchronous interface; the power circuit is respectively and electrically connected with the processor, the digital audio broadcasting module and the global navigation positioning module and is used for respectively supplying power to the processor, the digital audio broadcasting module and the global navigation positioning module; the digital audio broadcasting module is in communication connection with the global navigation positioning module based on a universal asynchronous interface.
The power circuit is internally provided with a battery and is responsible for power supply of the whole terminal equipment, other modules are connected with the processor, the interface type of the power circuit is a universal asynchronous interface, and the universal asynchronous interface can be a Uart interface (refer to fig. 1). Meanwhile, the digital audio broadcasting module and the global navigation positioning module are also in communication connection based on the universal asynchronous interface, so that data communication is realized.
The digital audio broadcasting module may be a cdladio module, and the global navigation positioning module may be a GNSS module. After the digital audio broadcasting module is powered on, the digital audio broadcasting module receives digital broadcasting signals through the antenna, demodulates the digital broadcasting signals to obtain high-precision positioning differential data, and outputs the high-precision positioning differential data to the global navigation positioning module through a Uart interface (namely a universal asynchronous interface). After the global Navigation positioning module is powered on, the global Navigation positioning module receives Navigation Satellite signals such as a BDS (BeiDou Navigation Satellite Navigation System), a GPS (Global positioning System) and the like through an antenna, calculates current position information, corrects a positioning result by using differential data to obtain a high-precision positioning result, and outputs the high-precision positioning result to a processor through a universal asynchronous interface. Because the broadcast mode has no concurrency problem, the communication quality is not influenced, and the positioning result is corrected by using the differential data, so that the high-precision positioning function can be realized.
The utility model provides a thing networking positioning terminal, thing networking positioning terminal includes: a processor; a digital audio broadcasting module communicatively coupled to the processor based on a universal asynchronous interface; the global navigation positioning module is in communication connection with the processor based on a universal asynchronous interface; the power circuit is respectively and electrically connected with the processor, the digital audio broadcasting module and the global navigation positioning module and is used for respectively supplying power to the processor, the digital audio broadcasting module and the global navigation positioning module; the digital audio broadcasting module is in communication connection with the global navigation positioning module based on a universal asynchronous interface. The utility model discloses a high accuracy location at thing networking terminal has improved location accuracy and accuracy to improve terminal communication quality through the broadcasting system, solved the technical problem that thing networking terminal locate function precision is low under the mobile state, saved down traffic volume, greatly reduced the terminal consumption, improved terminal duration.
Further, based on the utility model discloses thing networking positioning terminal first embodiment provides thing networking positioning terminal second embodiment, thing networking positioning terminal still includes:
the narrow-band Internet of things module is in communication connection with the processor;
the power supply circuit is electrically connected with the narrow-band Internet of things module and used for supplying power to the narrow-band Internet of things module.
The narrow-band Internet of things module can be an NB-IoT module, the power circuit supplies power to the narrow-band Internet of things module through electric connection, and the terminal receives differential data through broadcasting, so that the communication module can adopt the narrow-band Internet of things module and is only used for transmitting a small amount of communication data, power consumption is reduced, and cruising ability of the terminal is guaranteed. The processor receives the high-precision positioning result from the global navigation positioning module, and controls the narrow-band Internet of things module to upload the high-precision positioning result to the cloud server.
Further, the bidirectional communication connection interface between the narrowband internet of things module and the processor is a universal asynchronous interface.
Further, based on the utility model discloses thing networking positioning terminal first embodiment provides thing networking positioning terminal third embodiment, thing networking positioning terminal still includes:
a switch control circuit in communicative connection with the processor;
the switch control circuit is electrically connected with the power circuit.
Furthermore, a communication connection interface of the switch control circuit and the processor is a general input/output interface.
The general input/output interface can be a GPIO interface, the switch control circuit is electrically connected with the power supply circuit and respectively supplies power to the processor, the digital audio broadcasting module, the global navigation positioning module and the narrow-band Internet of things module based on the power supply circuit.
In the embodiment, a switch control circuit is additionally arranged in a power supply line of the power supply circuit and used for supplying power to the processor, and meanwhile, the digital audio broadcasting module and the global navigation positioning module are selectively supplied with power according to a processing result of the processor.
The digital audio broadcasting module and the global navigation positioning module are controlled by the switch control circuit and are in an off state by default before being called so as to save power consumption.
Further, the internet of things positioning terminal further comprises:
an inertial measurement module communicatively coupled with the processor.
Furthermore, the communication connection interface for the communication connection between the inertia measurement module and the processor is a two-wire serial interface.
The inertial measurement module is used for measuring acceleration information and angular velocity information of the positioning terminal of the Internet of things so as to judge whether an interrupt processing program of a processor is triggered based on the acceleration information and the angular velocity information.
The inertial measurement module may be an IMU module and the two-wire serial interface may be an I2C interface. The inertia measurement module is always in a working state after the terminal is powered on, measures acceleration information and angular velocity information of the terminal, and triggers an interrupt processing program of the processor through an external interrupt signal when detecting that the terminal device moves according to the acceleration information and the angular velocity information.
After the processor is triggered, the interrupt processing program firstly closes the external interrupt of the inertia measurement module, then reads the inertia measurement data of the inertia measurement module through the two-wire serial interface, and calculates the current latest position of the terminal. The calculation process is an inertial navigation algorithm and is completed by a computer program.
The interrupt processing program judges the displacement (for example, positioning once every 5 kilometers) of the current latest position and the last positioning result of the terminal and the time interval (for example, positioning once every 10 minutes) according to the preset value, and controls the switch control circuit to start the power supply of the digital audio broadcasting module and the global navigation positioning module through the general input and output interface (namely, GPIO interface).
Further, the internet of things positioning terminal further comprises:
a flash memory communicatively coupled to the processor;
furthermore, the communication connection interface between the flash memory and the processor is a serial peripheral interface.
The Flash memory can be a Flash memory, and the serial peripheral interface can be an SPI interface. The flash memory is connected with the processor through the serial peripheral interface, and can store the data information received by the processor so as to be called at any time.
Further, the internet of things positioning terminal further comprises:
and the external power supply is electrically connected with the power circuit and used for supplying power to the power circuit.
When the power circuit is connected with an external power supply, the Internet of things positioning terminal is in an external power supply mode, and when the Internet of things positioning terminal is in the external power supply mode, the digital audio broadcasting module acquires remote process calling parameters in digital broadcasting signals;
the interrupt processing program obtains fuzzy position information according to the remote process calling parameter and the high-precision positioning result, and controls the narrow-band Internet of things module to upload the fuzzy position information to a cloud server.
When the external power supply is sufficient (for example, when the vehicle is powered on and the automobile is started), the high-performance working mode can be configured, and at the moment, the RPC service function can be supported to assist the cloud end to finish the high-precision position service application.
First, in the high performance mode, the power supply of the digital audio broadcasting module and the global navigation positioning module is always on. The digital audio broadcasting module continuously receives the digital broadcasting signals and outputs differential data to the global navigation positioning module, and the global navigation positioning module calculates a high-precision positioning result by using the differential data and continuously outputs the high-precision positioning result to the processor. The processor then records the precise location information of the device in real time.
Meanwhile, the digital audio broadcasting module also identifies the position service RPC from the position service information frame in the digital broadcasting signal, and outputs the RPC parameter to the processor through a universal asynchronous interface (Uart interface).
When the processor program receives an RPC (remote Procedure call) parameter, the processor program runs a calculation program in the RPC parameter, and inputs the accurate position information of the equipment as a calculation parameter. And finally, the result (without accurate position information) of the calculation program is transmitted back to the cloud end through the narrow-band Internet of things module, so that position fuzzy processing can be realized, and the position privacy of the terminal equipment is prevented from being exposed.
It will be appreciated that the processor is in a standby state before being invoked.
After the computer is started, the processor loads an initialization program from a Flash memory (Flash memory) to complete system initialization and enters a standby state to save power consumption until the processor is triggered and activated.
And the processor writes the high-precision positioning result into a flash memory.
And the processor interrupt processing program receives the positioning result output by the GNSS module and writes the positioning result into the Flash memory for the next starting judgment of the switch control circuit.
And the interrupt processing program recovers the external interrupt of the inertia measurement module and configures the processor to enter a standby state.
And the interrupt processing program recovers the external interrupt of the inertia measurement module and configures the processor to enter a standby state. And when the execution of the interrupt processing program is finished, carrying out the next working cycle and waiting for the triggering of the inertia measurement module again.
The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and all the equivalent structure changes made by the contents of the specification and the drawings or the direct/indirect application in other related technical fields are included in the present invention, and it should be understood by those skilled in the art that the embodiments of the present invention may be provided as a method, a system or a computer program product within the scope of the present invention. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a thing networking positioning terminal which characterized in that, thing networking positioning terminal includes:
a processor;
a digital audio broadcasting module communicatively coupled to the processor based on a universal asynchronous interface;
the global navigation positioning module is in communication connection with the processor based on a universal asynchronous interface;
the power circuit is respectively and electrically connected with the processor, the digital audio broadcasting module and the global navigation positioning module and is used for respectively supplying power to the processor, the digital audio broadcasting module and the global navigation positioning module;
the digital audio broadcasting module is in communication connection with the global navigation positioning module based on a universal asynchronous interface.
2. The internet of things positioning terminal of claim 1, further comprising:
the narrow-band Internet of things module is in communication connection with the processor;
the power supply circuit is electrically connected with the narrow-band Internet of things module and used for supplying power to the narrow-band Internet of things module.
3. The internet of things positioning terminal of claim 2, wherein the bidirectional communication connection interface of the narrowband internet of things module and the processor is a universal asynchronous interface.
4. The internet of things positioning terminal of claim 1, further comprising:
a switch control circuit in communicative connection with the processor;
the switch control circuit is electrically connected with the power circuit.
5. The internet of things positioning terminal of claim 4, wherein the communication connection interface of the switch control circuit in communication connection with the processor is a general purpose input output interface.
6. The internet of things positioning terminal of claim 1, further comprising:
an inertial measurement module communicatively coupled with the processor.
7. The internet of things positioning terminal of claim 6, wherein the communication connection interface of the inertial measurement module in communication with the processor is a two-wire serial interface.
8. The internet of things positioning terminal of claim 1, further comprising:
a flash memory communicatively coupled to the processor.
9. The internet of things positioning terminal of claim 8, wherein the communication connection interface of the flash memory and the processor is a serial peripheral interface.
10. The internet of things positioning terminal of any one of claims 1 to 9, further comprising:
and the external power supply is electrically connected with the power circuit and used for supplying power to the power circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921220210.6U CN209861170U (en) | 2019-07-29 | 2019-07-29 | Internet of things positioning terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921220210.6U CN209861170U (en) | 2019-07-29 | 2019-07-29 | Internet of things positioning terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209861170U true CN209861170U (en) | 2019-12-27 |
Family
ID=68943277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921220210.6U Active CN209861170U (en) | 2019-07-29 | 2019-07-29 | Internet of things positioning terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209861170U (en) |
-
2019
- 2019-07-29 CN CN201921220210.6U patent/CN209861170U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106370190B (en) | Automobile navigation, position mark method, apparatus and system | |
| EP3174328B1 (en) | System and method for radio signal coverage mapping | |
| US20190114929A1 (en) | Data processing device, drone, and control device, method, and processing program therefor | |
| CN104735618A (en) | Mobile terminal memo reminding method and system based on position information | |
| JP2006293378A (en) | Data providing system and data providing method | |
| CN103994764B (en) | Portable positioning system | |
| KR20150108925A (en) | Augmented reality target discovery method and terminal | |
| CN103245961A (en) | Power saving method for positioning of mobile terminal | |
| CN110690514B (en) | Battery self-discharge period adjusting method and unmanned aerial vehicle | |
| CN109309522B (en) | Method, device and system for signal transmission and unmanned aerial vehicle positioning | |
| CN112947525B (en) | Flight control system and flight control method of electric manned aircraft | |
| EP3657829A1 (en) | Vehicle, communication control method for vehicle, in-vehicle communication device, communication control method for in-vehicle communication device, server apparatus, communication control method for server apparatus, and non-transitory storage medium storing program | |
| CN112073577A (en) | Terminal control method and device, terminal equipment and storage medium | |
| CN110740419A (en) | Interphone, switching method of working modes of interphone and computer-readable storage medium | |
| CN209861170U (en) | Internet of things positioning terminal | |
| CN106842272B (en) | Method, system and device for generating parking track in parking lot | |
| WO2015125703A1 (en) | Vehicle information acquisition device | |
| CN210428849U (en) | Automatic recording, parking, positioning and vehicle-searching equipment system | |
| CN103491497A (en) | Mobile terminal positioning method based on electric quantity monitoring | |
| CN109922423B (en) | Positioning method, positioning device, terminal equipment and storage medium | |
| CN107179724B (en) | Traffic light signal period collection system | |
| CN105246155B (en) | A kind of method and device positioning network access equipment geographical location | |
| JP2014194342A (en) | On-vehicle navigation apparatus, portable terminal apparatus and navigation system | |
| CN112235377A (en) | Vehicle position information reporting method, device, equipment and storage medium | |
| CN111741047B (en) | Virtual warning board processing method, device, system and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |