JP2017121422A - 自律走行体 - Google Patents
自律走行体 Download PDFInfo
- Publication number
- JP2017121422A JP2017121422A JP2016002735A JP2016002735A JP2017121422A JP 2017121422 A JP2017121422 A JP 2017121422A JP 2016002735 A JP2016002735 A JP 2016002735A JP 2016002735 A JP2016002735 A JP 2016002735A JP 2017121422 A JP2017121422 A JP 2017121422A
- Authority
- JP
- Japan
- Prior art keywords
- body case
- main body
- vacuum cleaner
- idling
- drive wheel
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000004140 cleaning Methods 0.000 description 28
- 239000000428 dust Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Electromagnetism (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Suction Cleaners (AREA)
Abstract
Description
20 本体ケース
27 制御手段
34 駆動輪
56 検出手段
Claims (4)
- 本体ケースと、
この本体ケースを走行可能とする駆動輪と、
この駆動輪の駆動を制御することで前記本体ケースを自律走行させる制御手段と、
前記駆動輪の空転を検出する検出手段とを具備し、
前記制御手段は、前記検出手段により前記駆動輪の空転を検出した場合に、前記本体ケースを一定距離後退させる動作の後、前記本体ケースを所定の一方向に旋回させて所定距離前進させる動作を複数回連続するように前記駆動輪の動作を制御する
ことを特徴とした自律走行体。 - 制御手段は、空転回避動作の後、検出手段により駆動輪の空転を検出した場合には、前記駆動輪の動作を停止させる
ことを特徴とした請求項1記載の自律走行体。 - 制御手段は、検出手段により駆動輪の空転を検出した場合に、本体ケースを一定距離後退させる動作の後、前記本体ケースを所定の一方向に旋回させて所定距離前進させる動作を複数回連続する第1動作と、前記本体ケースを前記一方向と反対方向である他方向に旋回させて所定距離前進させる動作を複数回連続する第2動作とを交互に行うように前記駆動輪の動作を制御する
ことを特徴とした請求項1または2記載の自律走行体。 - 制御手段は、第1動作時には、本体ケースを一方向に旋回させて前進させる距離をその直前に前記本体ケースを一方向に旋回させて前進させたときの距離以下とし、第2動作時には、前記本体ケースを他方向に旋回させて前進させる距離をその直前に前記本体ケースを他方向に旋回させて前進させたときの距離より大きくするように駆動輪の動作を制御する
ことを特徴とした請求項3記載の自律走行体。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016002735A JP7036531B2 (ja) | 2016-01-08 | 2016-01-08 | 自律走行体 |
PCT/JP2016/087313 WO2017119255A1 (ja) | 2016-01-08 | 2016-12-14 | 自律走行体 |
CN201680010532.0A CN107249415B (zh) | 2016-01-08 | 2016-12-14 | 自律型走行体 |
US16/068,245 US11013390B2 (en) | 2016-01-08 | 2016-12-14 | Autonomous traveler |
EP16883755.7A EP3400861A4 (en) | 2016-01-08 | 2016-12-14 | SELF-MOVING BODY |
TW105143254A TWI623295B (zh) | 2016-01-08 | 2016-12-27 | Self-disciplined walker |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016002735A JP7036531B2 (ja) | 2016-01-08 | 2016-01-08 | 自律走行体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017121422A true JP2017121422A (ja) | 2017-07-13 |
JP7036531B2 JP7036531B2 (ja) | 2022-03-15 |
Family
ID=59273603
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016002735A Active JP7036531B2 (ja) | 2016-01-08 | 2016-01-08 | 自律走行体 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11013390B2 (ja) |
EP (1) | EP3400861A4 (ja) |
JP (1) | JP7036531B2 (ja) |
CN (1) | CN107249415B (ja) |
TW (1) | TWI623295B (ja) |
WO (1) | WO2017119255A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111714030A (zh) * | 2019-03-19 | 2020-09-29 | 北京奇虎科技有限公司 | 清扫设备的脱困方法、装置、电子设备及可读存储介质 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7036531B2 (ja) * | 2016-01-08 | 2022-03-15 | 東芝ライフスタイル株式会社 | 自律走行体 |
JP6698610B2 (ja) * | 2017-11-08 | 2020-05-27 | 日立グローバルライフソリューションズ株式会社 | 自律走行型電気掃除機 |
CN109589052A (zh) * | 2019-01-10 | 2019-04-09 | 深圳市杉川机器人有限公司 | 防整机掉落的方法、装置及扫地机 |
SE545284C2 (en) * | 2019-12-12 | 2023-06-20 | Husqvarna Ab | Exit path determination for a robotic work tool |
CN112596527B (zh) * | 2020-12-17 | 2023-10-24 | 珠海一微半导体股份有限公司 | 基于斜坡结构的机器人卡住检测方法、芯片及清洁机器人 |
CN112641383B (zh) * | 2020-12-17 | 2021-12-24 | 珠海一微半导体股份有限公司 | 基于斜坡结构的机器人脱卡控制方法、芯片及清洁机器人 |
WO2024057487A1 (ja) * | 2022-09-15 | 2024-03-21 | 株式会社Fuji | 移動体および移動体システム |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007011798A (ja) * | 2005-06-30 | 2007-01-18 | Toshiba Tec Corp | 自律走行体 |
JP2013012200A (ja) * | 2011-06-28 | 2013-01-17 | Samsung Electronics Co Ltd | ロボット掃除機及びその制御方法 |
JP2013508183A (ja) * | 2009-10-30 | 2013-03-07 | ユージン ロボット シーオー., エルティーディー. | 移動ロボットのスリップ感知装置および方法 |
JP2015052988A (ja) * | 2013-09-09 | 2015-03-19 | シャープ株式会社 | 自走式電子機器 |
JP2015152944A (ja) * | 2014-02-10 | 2015-08-24 | シャープ株式会社 | 自走式電子機器 |
Family Cites Families (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0142594B1 (en) * | 1983-10-26 | 1989-06-28 | Automax Kabushiki Kaisha | Control system for mobile robot |
FR2620070A2 (fr) * | 1986-12-11 | 1989-03-10 | Jonas Andre | Unite mobile autoguidee et appareil de nettoyage tel qu'un aspirateur comportant une telle unite |
US4962453A (en) * | 1989-02-07 | 1990-10-09 | Transitions Research Corporation | Autonomous vehicle for working on a surface and method of controlling same |
US4967862A (en) * | 1989-03-13 | 1990-11-06 | Transitions Research Corporation | Tether-guided vehicle and method of controlling same |
JP2789810B2 (ja) | 1990-10-24 | 1998-08-27 | 松下電器産業株式会社 | 壁沿い移動装置 |
JP3135587B2 (ja) | 1991-01-28 | 2001-02-19 | 富士重工業株式会社 | 壁際清掃装置 |
US8412377B2 (en) * | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US6760947B2 (en) | 2000-08-22 | 2004-07-13 | Alto U.S. Inc. | Apparatus for treating a floor surface utilizing a handle mounted traverse switch |
US6496754B2 (en) * | 2000-11-17 | 2002-12-17 | Samsung Kwangju Electronics Co., Ltd. | Mobile robot and course adjusting method thereof |
ES2366689T3 (es) * | 2001-06-12 | 2011-10-24 | Irobot Corporation | Procedimiento y sistema para una cobertura multimodo para un robot autónomo. |
ES2248614T3 (es) | 2001-09-14 | 2006-03-16 | VORWERK & CO. INTERHOLDING GMBH | Aparato recogedor de polvo del suelo automaticamente traslable, asi como combinacion de un aparato recogedor de esta clase y una estacion base. |
TWI279219B (en) | 2005-02-01 | 2007-04-21 | Guard Sound Ind Co Ltd | Controlling method for jam of vacuum cleaner |
ES2346343T3 (es) * | 2005-02-18 | 2010-10-14 | Irobot Corporation | Robot autonomo de limpieza de superficies para una limpieza en seco y en mojado. |
US8417383B2 (en) * | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
KR100767120B1 (ko) | 2006-11-28 | 2007-10-17 | 삼성광주전자 주식회사 | 로봇청소기 및 그 제어방법 |
US8306659B2 (en) * | 2006-12-06 | 2012-11-06 | F Robotics Acquisitions Ltd. | Autonomous robot |
JP2008242908A (ja) * | 2007-03-28 | 2008-10-09 | Matsushita Electric Ind Co Ltd | 自律走行装置およびこの装置を機能させるためのプログラム |
US9436185B2 (en) * | 2010-12-30 | 2016-09-06 | Irobot Corporation | Coverage robot navigating |
JP2013146302A (ja) | 2012-01-17 | 2013-08-01 | Sharp Corp | 自走式電子機器 |
CN103284662B (zh) | 2012-03-02 | 2016-09-21 | 恩斯迈电子(深圳)有限公司 | 清扫系统及其控制方法 |
TWI440995B (zh) * | 2012-03-05 | 2014-06-11 | Univ Shu Te | 移動裝置之空轉偵測系統及空轉排除方法 |
CN103584798A (zh) | 2012-08-17 | 2014-02-19 | 乐金电子(天津)电器有限公司 | 智能吸尘器控制系统及智能吸尘器清扫方法 |
EP3091887A4 (en) | 2014-01-10 | 2017-09-13 | iRobot Corporation | Autonomous mobile robot |
US20150233135A1 (en) * | 2014-02-18 | 2015-08-20 | Wing-kin HUI | Advanced Logic for Automated Cleaning Apparatus |
CN203858512U (zh) * | 2014-06-04 | 2014-10-01 | 雷建设 | 遇障碍能后退机器人 |
KR20160104429A (ko) * | 2015-02-26 | 2016-09-05 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
CN104799767B (zh) | 2015-05-19 | 2017-11-14 | 莱克电气股份有限公司 | 一种免碰撞结构及机器人吸尘器 |
JP6634223B2 (ja) * | 2015-06-15 | 2020-01-22 | シャープ株式会社 | 自走式電子機器および前記自走式電子機器の走行方法 |
JP7036531B2 (ja) * | 2016-01-08 | 2022-03-15 | 東芝ライフスタイル株式会社 | 自律走行体 |
-
2016
- 2016-01-08 JP JP2016002735A patent/JP7036531B2/ja active Active
- 2016-12-14 CN CN201680010532.0A patent/CN107249415B/zh active Active
- 2016-12-14 US US16/068,245 patent/US11013390B2/en active Active
- 2016-12-14 EP EP16883755.7A patent/EP3400861A4/en not_active Withdrawn
- 2016-12-14 WO PCT/JP2016/087313 patent/WO2017119255A1/ja active Application Filing
- 2016-12-27 TW TW105143254A patent/TWI623295B/zh not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007011798A (ja) * | 2005-06-30 | 2007-01-18 | Toshiba Tec Corp | 自律走行体 |
JP2013508183A (ja) * | 2009-10-30 | 2013-03-07 | ユージン ロボット シーオー., エルティーディー. | 移動ロボットのスリップ感知装置および方法 |
JP2013012200A (ja) * | 2011-06-28 | 2013-01-17 | Samsung Electronics Co Ltd | ロボット掃除機及びその制御方法 |
JP2015052988A (ja) * | 2013-09-09 | 2015-03-19 | シャープ株式会社 | 自走式電子機器 |
JP2015152944A (ja) * | 2014-02-10 | 2015-08-24 | シャープ株式会社 | 自走式電子機器 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111714030A (zh) * | 2019-03-19 | 2020-09-29 | 北京奇虎科技有限公司 | 清扫设备的脱困方法、装置、电子设备及可读存储介质 |
Also Published As
Publication number | Publication date |
---|---|
JP7036531B2 (ja) | 2022-03-15 |
US20190008353A1 (en) | 2019-01-10 |
EP3400861A4 (en) | 2019-08-14 |
WO2017119255A1 (ja) | 2017-07-13 |
CN107249415A (zh) | 2017-10-13 |
CN107249415B (zh) | 2021-05-11 |
TWI623295B (zh) | 2018-05-11 |
US11013390B2 (en) | 2021-05-25 |
EP3400861A1 (en) | 2018-11-14 |
TW201724999A (zh) | 2017-07-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2017119255A1 (ja) | 自律走行体 | |
KR101832076B1 (ko) | 전기청소기 | |
AU2013203861B2 (en) | Method of controlling automatic cleaner | |
US9854956B2 (en) | Robot cleaner and control method thereof | |
KR101840149B1 (ko) | 자율주행체 및 전기청소기 | |
JP4522426B2 (ja) | ロボット掃除機システム | |
KR101513828B1 (ko) | 전기 청소기 | |
KR101892652B1 (ko) | 전기청소기 | |
CN110507238B (zh) | 自主行走式吸尘器 | |
JP2017064064A (ja) | 電気掃除機 | |
JP2019166110A (ja) | 自律走行式掃除機およびその制御方法 | |
JP6613058B2 (ja) | 自走式掃除機 | |
JP2018047051A (ja) | 電気掃除機 | |
JP2017113172A (ja) | 電気掃除機 | |
JP6685740B2 (ja) | 電気掃除機 | |
JP6690948B2 (ja) | 自律走行体 | |
JP6494952B2 (ja) | 自律走行体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A711 Effective date: 20160617 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20181210 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200122 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20200729 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201027 |
|
C60 | Trial request (containing other claim documents, opposition documents) |
Free format text: JAPANESE INTERMEDIATE CODE: C60 Effective date: 20201027 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20201105 |
|
C21 | Notice of transfer of a case for reconsideration by examiners before appeal proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C21 Effective date: 20201111 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20210305 |
|
C211 | Notice of termination of reconsideration by examiners before appeal proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C211 Effective date: 20210310 |
|
C22 | Notice of designation (change) of administrative judge |
Free format text: JAPANESE INTERMEDIATE CODE: C22 Effective date: 20210414 |
|
C22 | Notice of designation (change) of administrative judge |
Free format text: JAPANESE INTERMEDIATE CODE: C22 Effective date: 20210623 |
|
C13 | Notice of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: C13 Effective date: 20210804 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20211001 |
|
C23 | Notice of termination of proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C23 Effective date: 20220119 |
|
C03 | Trial/appeal decision taken |
Free format text: JAPANESE INTERMEDIATE CODE: C03 Effective date: 20220302 |
|
C30A | Notification sent |
Free format text: JAPANESE INTERMEDIATE CODE: C3012 Effective date: 20220302 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220303 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7036531 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |