CN210577389U - Autonomous unmanned inspection robot for overhead transmission line - Google Patents
Autonomous unmanned inspection robot for overhead transmission line Download PDFInfo
- Publication number
- CN210577389U CN210577389U CN201921459036.0U CN201921459036U CN210577389U CN 210577389 U CN210577389 U CN 210577389U CN 201921459036 U CN201921459036 U CN 201921459036U CN 210577389 U CN210577389 U CN 210577389U
- Authority
- CN
- China
- Prior art keywords
- motor
- robot
- lifting
- autonomous unmanned
- platform
- 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
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The utility model provides an autonomous unmanned inspection robot for overhead transmission lines, which comprises an aerodynamic lifting platform, a multi-sensor self-propelled platform and an induction power supply module, wherein the aerodynamic lifting platform comprises a transverse I-shaped bracket, each end of the I-shaped bracket is provided with a lifting motor group, the lifting motor group comprises a lifting motor and an axial motor, and a motor shaft of the lifting motor is connected with a propeller; a robot main controller is arranged on the multi-sensor self-propelled platform, a wheel type motor is respectively arranged at the two longitudinal ends of the multi-sensor self-propelled platform, and a paw is respectively arranged on the multi-sensor self-propelled platform at the two sides of the wheel type motor; the induction power supply module supplies power for the lift motor, the axial motor and the wheel type motor. The utility model can make the management level of the transmission line reach the unprecedented automation degree, and improve the safety management capability of the transmission line; the method has important significance for preventing line faults and guaranteeing the safety of a power grid; has certain popularization value in the whole network and has better social and economic benefits.
Description
Technical Field
The utility model belongs to transmission line inspection tool field, concretely relates to self-service unmanned robot that patrols and examines of overhead transmission line.
Background
Overhead lines are in the field environment, and are often influenced by natural conditions for a long time, so that various hidden dangers often occur, and therefore, the transmission lines need to be regularly patrolled to check whether the states of the electric wires are normal or not and eliminate faults. At present, the domestic line patrol method mainly depends on visual inspection of patrol personnel, so that ideal effects are difficult to achieve, especially, the line patrol of power transmission lines in mountainous areas, large rivers and the like is difficult, even some patrol items are difficult to complete by a conventional method, and the efficiency is very low; in addition, in some special work situations, the personal safety of the operator is often threatened when working.
Based on the reasons, the automatic line patrol of the line patrol robot becomes a necessary means for guaranteeing the safe operation of the high-voltage transmission line, and the research on a reliable line fault detection capable of completing the live line patrol operation and a technology carrier for the safety channel patrol has great practical significance.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an autonomous unmanned inspection robot for overhead transmission lines, which can lead the management level of the transmission lines to reach the unprecedented degree of automation and improve the safety management capability of the transmission lines; the method has important significance for preventing line faults and guaranteeing the safety of a power grid; has certain popularization value in the whole network and has better social and economic benefits.
In order to achieve the above object, the utility model provides a following technical scheme:
an autonomous unmanned aerial inspection robot for overhead transmission lines comprises an aerodynamic lifting platform, a multi-sensor self-propelled platform and an induction power supply module, wherein the aerodynamic lifting platform comprises a transverse I-shaped support, each end of the I-shaped support is provided with a lifting motor set, each lifting motor set comprises a lifting motor and an axial motor, the lifting motors are connected with the axial motors by adopting L-shaped connecting pieces, the axial motors rotate the inverted L-shaped connecting pieces to enable the lifting motors to form different elevation moments so as to control aerial postures, and motor shafts of the lifting motors extend upwards and then are connected with propellers;
a robot main controller is arranged on the multi-sensor self-propelled platform, a wheel type motor is respectively arranged at the two longitudinal ends of the multi-sensor self-propelled platform, and a paw is respectively arranged on the multi-sensor self-propelled platform at the two sides of the wheel type motor;
the induction power supply module supplies power to the lift motor, the axial motor and the wheel type motor.
The autonomous unmanned aerial inspection robot for the overhead transmission lines further comprises a robot control system, the robot control system comprises a robot main controller, a motor driving system, a wireless transmission system, an image transmission system and a ground base station, and the robot main controller transmits images between the wireless transmission system and the ground base station.
The wireless transmission system comprises a wireless transceiver arranged on the multi-sensor self-propelled platform, and the motor driving system comprises a motor driver arranged on the multi-sensor self-propelled platform.
The robot main controller comprises an auxiliary control system, a walking process control system, an obstacle crossing process control system and an abnormal condition processing system.
Further, the auxiliary control system comprises a power supply hair management system, a robot reset system and an up-down control system.
The ground base station comprises an industrial personal computer workstation (comprising an LED liquid crystal display), an image acquisition card, a data transmission radio station and a microwave receiver.
Preferably, the lift motor is a high-speed brushless motor, and the axial motor is a high-precision high-torque low-speed brushless motor.
The utility model discloses an above-mentioned technical scheme's beneficial effect as follows:
1. the utility model can lead the management level of the power transmission line to reach the unprecedented degree of automation, and can improve the safety management capability of the power transmission line; the method has important significance for preventing line faults and guaranteeing the safety of a power grid; has certain popularization value in the whole network and has better social and economic benefits.
2. The traditional inspection robot needs manual tower mounting and debugging, the operation is complex, the operation safety is poor, the practicability of the similar equipment is seriously influenced, the original aerodynamic lifting platform of the autonomous unmanned inspection robot effectively solves the problems of line loading and unloading and obstacle surmounting, and the practicability of the autonomous unmanned inspection robot is greatly improved.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a multi-sensor self-propelled platform of the present invention;
fig. 3 is a schematic structural view of the aerodynamic lifting platform of the present invention;
fig. 4 is a schematic structural diagram of the control system of the present invention.
Reference numerals:
1. an aerodynamic lift platform; 10. a type I stent; 11. a lift motor; 12. an axial motor; 2. a multi-sensor self-propelled platform; 3. an inductive power supply module; 4. a wheel motor; 5. a paw; 6. a robot master controller; 7. a motor drive system; 8. a wireless transmission system; 9. an image transmission system; 10. a ground base station; 11. an auxiliary control system; 12. a walking process control system; 13. an obstacle crossing process control system; 14. an abnormal situation handling system; 15. a power supply hairpin management system; 16. a robot reset system; 17. and controlling the system in an up-down line.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The utility model provides an overhead transmission line autonomous unmanned inspection robot which takes an overhead transmission line ground wire or a wire as a running path, combines an aerodynamic lifting platform and a multi-sensor self-propelled platform structure into a whole through unique design, can span various barriers and strain tower sections, and implements wire and hardware temperature and abnormal damage detection on a line through the multi-sensor self-propelled platform; meanwhile, the aerodynamic lifting platform effectively solves the problems of line loading and unloading and obstacle surmounting. In order to reduce the use requirement, realize few maintenance, low maintenance, overhead line wire and insulator hidden danger, overhead transmission line is independently unmanned to patrol and examine the robot and have the induction power supply system module, can carry out online charging to the battery through electric field induction principle in real time under the prerequisite of transmission line power transmission. A large-capacity battery pack is eliminated through the induction power supply system module, and the weight and the size of the whole robot are greatly reduced.
As shown in fig. 1 and 3, the embodiment of the utility model provides an overhead transmission line is unmanned from main patrols and examines robot, including aerodynamic lifting platform 1, multisensor by proper motion platform 2 and response power module 3, aerodynamic lifting platform 1 is including horizontal I type support 10, every end of I type support 10 is equipped with a lifting motor group, and each lifting motor group includes lifting motor 11 and axial motor 12, provides to rise with the axis of ordinates rotation ability. The lift motor 11 is connected with the axial motor 12 by adopting an L-shaped connecting piece, and the axial motor 12 rotates the inverted L-shaped connecting piece to enable the lift motor 11 to form different elevation moments so as to control the air posture. And a motor shaft of the lift motor 11 extends upwards and is connected with a propeller 13. In this embodiment, the lift motor 11 is a high-speed brushless motor, which can provide 30kg of lift force, and the axial motor 12 is a high-precision large-torque low-speed brushless motor. The aerodynamic lifting platform is a main mechanism for realizing obstacle crossing and up-down functions.
As shown in fig. 2, a robot main controller is arranged on the multi-sensor self-propelled platform 2, and wheel motors 4 are respectively arranged at the two longitudinal ends of the multi-sensor self-propelled platform 2 and used for controlling the autonomous unmanned inspection robot to move along the overhead ground wire. The multi-sensor self-propelled platform 2 on two sides of the wheel motor 4 is respectively provided with a paw 5 with three states of opening, half holding and closing, and the autonomous unmanned inspection robot can play a role in protection in the walking process.
The induction power supply module 3 supplies power to the lift force motor 11, the axial motor 12 and the wheel type motor 4. The induction power supply module is used for realizing the recovery of a space radiation electric field of a power transmission line by applying an electromagnetic induction principle, converting the space radiation electric field into alternating current electric energy, and forming a stable direct current power supply for providing online charging for the robot through voltage reduction, current increase and voltage stabilization, so that the robot gets rid of heavy burden of a battery, the whole-line uninterrupted inspection work which cannot be completed before is completed, better guarantee is provided for power maintenance inspection, the weight of a battery pack and the load of a wire are reduced, and the safety risk of the traditional equipment on line operation is avoided.
As shown in fig. 4, the autonomous unmanned aerial inspection robot for the overhead transmission line further comprises a robot control system, wherein the robot control system comprises a robot main controller 6, a motor driving system 7, a wireless transmission system 8, an image transmission system 9 and a ground base station 10, and the robot main controller 6 performs image transmission between the wireless transmission system 8 and the ground base station 10.
The wireless transmission system 8 comprises a wireless transceiver arranged on the multi-sensor self-propelled platform, and the motor driving system comprises a motor driver arranged on the multi-sensor self-propelled platform.
The robot main controller comprises an auxiliary control system 11, a walking process control system 12, an obstacle crossing process control system 13 and an abnormal condition processing system 14.
The auxiliary control system comprises a power train management system 15, a robot reset system 16 and an up-down control system 17.
The ground base station comprises an industrial personal computer workstation (comprising an LED liquid crystal display), an image acquisition card, a data transmission radio and a microwave receiver.
The utility model provides a main control unit of robot, motor-driven system, wireless transmission system, image transmission system, ground basic station, auxiliary control system, walking process control system, obstacle-surmounting process control system, abnormal conditions processing system, power hairpin reason system, robot reset system and upper and lower line control system are conventional technological means, need not to give unnecessary details to the circuit connection relation between its electric principle and each electric system.
The utility model discloses an autonomous unmanned robot that patrols and examines walks along overhead earth wire when detecting the task, because overhead earth wire has tens of meters's distance with the ground within a definite time, consequently autonomous unmanned control task of patrolling and examining robot includes that the line goes up, walking along the line, stridees across the shaft tower, detects and a whole set of processes such as inserting the line. In the autonomous unmanned inspection robot, after the conditions possibly encountered in the processes are fully considered, a main controller of the robot is mainly divided into an auxiliary control system, a walking process control system, an obstacle crossing process control system and an abnormal condition handling part.
The autonomous unmanned inspection robot is a mobile robot applied to detection of ultra-high voltage transmission lines and related auxiliary equipment, mainly works on an overhead ground wire, and in actual work, the robot sends pictures of the transmission lines and the auxiliary equipment back to the ground in real time while walking along the overhead ground wire, and after an inspection task in a first gear (namely, a first gear is formed between two towers), devices such as a tower and a vibration damper are crossed to be subjected to detection of the next-gear transmission line.
Based on the analysis of the working process of the autonomous unmanned inspection robot, the walking and obstacle crossing functions of the robot are realized by adopting a staged control mode, so that the complexity of software can be reduced, the modularization and the functionalization level of the software are improved, and the improvement and the expansion of the functions of the robot are facilitated. The staged control is to divide the control process of the robot into four stages of walking, obstacle crossing, ready and stopping, wherein two modes of autonomous obstacle crossing and manual obstacle crossing are adopted in the obstacle crossing control, and in the manual obstacle crossing process, the robot is remotely controlled at the ground end by an operator to realize the obstacle crossing process. In the process of autonomous obstacle crossing, the robot adopts an autonomous obstacle crossing mode that sensor information, robot constraint information and action feedback information are used as input and a generating system is used as action output to complete obstacle crossing.
In actual work, the autonomous unmanned inspection robot walks along an overhead ground wire, an operator on the ground gives a control instruction to determine the walking speed of the robot, and the walking speed is required to be dynamically adjusted along with the instruction of the operator, so that a speed control mode is adopted on a control method, the process is a single-input single-output system, a good control effect can be obtained by adopting PID control, and the speed is continuously adjusted.
Obstacles such as a vibration damper, a wire clamp and the like exist on an actual overhead conductor and between two wires, various joints exist on a ground wire, and the obstacles which need to be crossed by the autonomous unmanned inspection robot mainly have 2 types
For such an environment, the autonomous unmanned inspection robot must have the capability of safely crossing the obstacles, and safety and reliability in the work of the autonomous unmanned inspection robot are the primary problems according to the actual working environment and the working task of the autonomous unmanned inspection robot. Based on the control method of the stimulus response type robot, a control method is adopted, which takes sensor signals, actual physical and environmental constraint information and robot action feedback information as input and takes a generating system as output, and generally, after conditions are given, the process from the existing information to the calculation action is divided into two stages: a perception processing stage and a motion calculation stage, wherein a feature vector is generated in the perception processing stage, and a motion based on the feature vector is selected in the motion calculation stage.
The autonomous unmanned inspection robot is used for processing sensor information, constraint information and feedback information of action effect in perception processing, combining the information of the sensor and the influence effect of the previous action with constraint conditions for processing, obtaining a feature vector for representing environment or state, and calculating the action through a feature vector function.
According to the task of the autonomous unmanned inspection robot, the following 6 aspects are considered when perceptual processing is performed:
(1) the autonomous unmanned inspection robot cannot be completely separated from the overhead ground wire and must be ensured to return to the overhead ground wire within at least 20 minutes;
(2) for the obstacle group, the autonomous unmanned inspection robot must fly over the obstacle and re-line with the smallest obstacle group as a unit;
(3) straight crossing flight is superior to hover crossing flight;
(4) for hover step-over flight, the axis of rotation is selected to be the near obstacle and to be the safe axis;
(5) the battery of the autonomous unmanned inspection robot is fully charged;
(6) and after the whole crossing process is completed, the initial state is recovered.
The robot control system comprises a robot main controller, a motor driving system, a wireless transmission system, an image transmission system and a ground base station, wherein the image transmission system and the robot data and instruction transmission system are independent from each other and work in different channels respectively, the state of the autonomous unmanned inspection robot is supervised by adopting a wireless communication mode, the autonomous unmanned inspection robot is remotely controlled by the wireless system, the robot main controller and the ground base station are provided with a set of independent wireless image transmission system, and the wireless image transmission system is independent from the wireless control system, and a user transmits image information about a detected line and related equipment shot by the robot main controller back to the ground for display and storage. The ground base station mainly comprises an industrial personal computer workstation (comprising an LED liquid crystal display), an image acquisition card, a data transmission radio station, a microwave receiver and the like. And the ground base station operates the power transmission line patrol robot management system.
The power transmission line inspection robot management system applies a research result of a power transmission line intelligent production command system, visually and truly displays the operation state of the inspection robot by using a realistic geographic information system, and immediately reflects the hidden trouble of a line. And automatically comparing and analyzing common hidden dangers according to the images sent back by the robot and an expert information base, and simultaneously, automatically calibrating and recording.
The utility model discloses an autonomous unmanned inspection robot will realize following function:
1. automatically comparing and analyzing common hidden dangers according to the real-time images and an expert information base, and meanwhile, automatically calibrating and recording;
2. automatic operation navigation is realized according to a spatial binocular three-dimensional multi-index sensor platform and a non-specific mark recognition technology;
3. and defect autonomous learning and defect parameter management setting are realized by adopting artificial intelligence learning and non-specific human meaning recognition technology.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
In the description of the present invention, it is to be understood that the terms "upper", "one end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of description of the present invention and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that the terms "provided with" and "connected" are to be interpreted broadly, unless explicitly stated or limited otherwise. For example, the connection can be fixed, detachable or integrated; may be directly connected or indirectly connected through an intermediate. The fixed connection can be common technical schemes such as welding, threaded connection and clamping. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. An autonomous unmanned aerial inspection robot for overhead transmission lines is characterized by comprising an aerodynamic lifting platform, a multi-sensor self-propelled platform and an induction power supply module, wherein the aerodynamic lifting platform comprises a transverse I-shaped support, each end of the I-shaped support is provided with a lifting motor set, each lifting motor set comprises a lifting motor and an axial motor, the lifting motors are connected with the axial motors by adopting L-shaped connecting pieces, the axial motors rotate the inverted L-shaped connecting pieces to enable the lifting motors to form different elevation moments so as to control the aerial posture, and motor shafts of the lifting motors extend upwards and then are connected with propellers;
a robot main controller is arranged on the multi-sensor self-propelled platform, a wheel type motor is respectively arranged at the two longitudinal ends of the multi-sensor self-propelled platform, and a paw is respectively arranged on the multi-sensor self-propelled platform at the two sides of the wheel type motor;
the induction power supply module supplies power to the lift motor, the axial motor and the wheel type motor.
2. The overhead transmission line autonomous unmanned inspection robot according to claim 1, further comprising a robot control system, wherein the robot control system comprises the robot main controller, a motor driving system, a wireless transmission system, an image transmission system and a ground base station, and the robot main controller performs image transmission with the ground base station through the wireless transmission system.
3. The autonomous unmanned inspection robot for overhead transmission lines according to claim 2, wherein the wireless transmission system comprises a wireless transceiver disposed on the multi-sensor self-propelled platform, and the motor driving system comprises a motor driver disposed on the multi-sensor self-propelled platform.
4. The overhead transmission line autonomous unmanned inspection robot according to claim 1 or 2, wherein the robot main controller includes an auxiliary control system, a walking process control system, an obstacle crossing process control system, and an abnormal situation handling system.
5. The overhead transmission line autonomous unmanned inspection robot according to claim 4, wherein the auxiliary control system comprises a power supply transmission management system, a robot reset system and an upper and lower line control system.
6. The autonomous unmanned inspection robot for overhead transmission lines according to claim 2, wherein the ground base station comprises an industrial personal computer workstation, an image acquisition card, a data transmission radio station and a microwave receiver.
7. The autonomous unmanned inspection robot for the overhead transmission lines according to claim 1, wherein the lift motor is a high-speed brushless motor, and the axial motor is a high-precision large-torque low-speed brushless motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921459036.0U CN210577389U (en) | 2019-09-04 | 2019-09-04 | Autonomous unmanned inspection robot for overhead transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921459036.0U CN210577389U (en) | 2019-09-04 | 2019-09-04 | Autonomous unmanned inspection robot for overhead transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210577389U true CN210577389U (en) | 2020-05-19 |
Family
ID=70645649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921459036.0U Active CN210577389U (en) | 2019-09-04 | 2019-09-04 | Autonomous unmanned inspection robot for overhead transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210577389U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112379212A (en) * | 2020-10-26 | 2021-02-19 | 国家电网有限公司 | Multi-state perception integrated platform for power transmission line |
| CN113928558A (en) * | 2021-09-16 | 2022-01-14 | 上海合时无人机科技有限公司 | Method for automatically disassembling and assembling spacer based on unmanned aerial vehicle |
| WO2023064407A1 (en) * | 2021-10-12 | 2023-04-20 | Preformed Line Products Co. | Robot installed utility line hardware |
-
2019
- 2019-09-04 CN CN201921459036.0U patent/CN210577389U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112379212A (en) * | 2020-10-26 | 2021-02-19 | 国家电网有限公司 | Multi-state perception integrated platform for power transmission line |
| CN113928558A (en) * | 2021-09-16 | 2022-01-14 | 上海合时无人机科技有限公司 | Method for automatically disassembling and assembling spacer based on unmanned aerial vehicle |
| WO2023064407A1 (en) * | 2021-10-12 | 2023-04-20 | Preformed Line Products Co. | Robot installed utility line hardware |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210577389U (en) | Autonomous unmanned inspection robot for overhead transmission line | |
| US10591927B2 (en) | Smart mobile detection platform for greenhouse | |
| CN103978474B (en) | A kind of job that requires special skills robot towards extreme environment | |
| CN104991559B (en) | A kind of method of automatic cruising detection greenhouse integrated information | |
| CN102412530A (en) | Line navigation amphibious power circuit comprehensive maintenance robot and circuit maintenance method thereof | |
| CN104269777A (en) | Patrol robot system for overhead high-voltage transmission line | |
| CN202513492U (en) | Line navigation amphibious power-line comprehensive maintenance robot | |
| Debenest et al. | Expliner–toward a practical robot for inspection of high-voltage lines | |
| CN106584421A (en) | Mobile trolley system based on mobile robot | |
| Wang et al. | Development of an inspection robot for 500 kV EHV power transmission lines | |
| Hongguang et al. | Research of power transmission line maintenance robots in SIACAS | |
| CN103552073A (en) | Control system for bridge cable detecting robot | |
| CN102922529B (en) | Inspection robot system along split conductors | |
| US11660750B1 (en) | Autonomous and semi-autonomous control of aerial robotic systems | |
| Li et al. | A state-of-the-art survey of the robotics applied for the power industry in China | |
| CN206757405U (en) | Unmanned plane high-tension cable automatic running on transmisson line system | |
| CN111505009A (en) | Power transformer internal fault detection system based on wall-climbing robot | |
| CN104787348A (en) | Alternating magnetic field real-time monitoring device based on four-axis aircraft | |
| CN206899220U (en) | A kind of moving cart system based on mobile robot | |
| Fang et al. | Research on the motion system of the inspection robot for 500kV power transmission lines | |
| CN117086841A (en) | Man-machine cooperation self-adaptive distribution network live working robot system and working method | |
| CN110614639A (en) | ROS-based transformer substation inspection robot system and method thereof | |
| CN113241669A (en) | Robot-based power transmission line inspection method, device, equipment and medium | |
| CN215752998U (en) | Portable electric power inspection unmanned aerial vehicle | |
| CN207396997U (en) | A kind of Three Degree Of Freedom helicopter semi-matter simulating system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201201 Address after: Group 1, Wuying street, Wuying District, Yichun City, Heilongjiang Province Patentee after: Yan Jiabin Address before: 102488 1032, floor 10, building 1, No. 13, Shuyuan South Street, Fangshan District, Beijing Patentee before: Beijing Jingyang Technology Co.,Ltd. |