JP2019154212A - 車両制御装置、プログラム及び車両 - Google Patents
車両制御装置、プログラム及び車両 Download PDFInfo
- Publication number
- JP2019154212A JP2019154212A JP2018040163A JP2018040163A JP2019154212A JP 2019154212 A JP2019154212 A JP 2019154212A JP 2018040163 A JP2018040163 A JP 2018040163A JP 2018040163 A JP2018040163 A JP 2018040163A JP 2019154212 A JP2019154212 A JP 2019154212A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- state
- unit
- switching
- control device
- 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
- 238000004891 communication Methods 0.000 claims description 18
- 230000004044 response Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 description 11
- 238000012806 monitoring device Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000010365 information processing Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004065 semiconductor Substances 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
[先行技術文献]
[特許文献]
[特許文献1]特開2015−116010号公報
Claims (15)
- 運転操作を受け付ける第1状態と運転操作を受け付けない第2状態との間で車両の状態を切り替える状態切替部と、
前記車両と充電設備との距離を取得する距離取得部と、
前記車両が前記第2状態にあり、かつ、前記距離が予め定められた閾値以下である場合に、前記状態切替部に前記車両を前記第1状態に切り替えさせる切替制御部と
を備える車両制御装置。 - 運転操作を受け付ける第1状態と運転操作を受け付けない第2状態との間で車両の状態を切り替える状態切替部と、
前記車両の位置を取得する位置取得部と、
前記車両が前記第2状態にあり、かつ前記車両の前記位置が充電設備に対して予め定められた領域内である場合に、前記状態切替部に前記車両を前記第1状態に切り替えさせる切替制御部と
を備える車両制御装置。 - 前記切替制御部は、さらに、前記車両の蓄電装置の充電残量が所定値以上である場合に、前記状態切替部に前記車両を前記第1状態に切り替えさせる、請求項1又は2に記載の車両制御装置。
- 前記切替制御部は、さらに、前記車両に前記充電設備の充電プラグが接続されていない場合に、前記状態切替部に前記車両を前記第1状態に切り替えさせる、請求項1又は2に記載の車両制御装置。
- 前記切替制御部は、前記車両を前記第1状態に切り替えさせた後、前記車両と前記充電設備との距離が前記予め定められた閾値より大きくなったことに応じて、前記状態切替部に前記車両を前記第2状態に切り替えさせる、請求項1に記載の車両制御装置。
- 前記切替制御部は、前記車両を前記第1状態に切り替えさせた後、前記車両の前記位置が前記予め定められた領域外になったことに応じて、前記状態切替部に前記車両を前記第2状態に切り替えさせる、請求項2に記載の車両制御装置。
- 前記切替制御部が前記状態切替部に前記車両を前記第1状態に切り替えさせた後、前記車両を自動運転によって移動させる自動運転制御部
をさらに備える、請求項1から6のいずれか一項に記載の車両制御装置。 - 前記状態切替部は、前記車両が前記第2状態にあるときに第1条件が満たされた場合に、前記車両を前記第1状態に切り替え、
前記切替制御部は、前記車両が前記第2状態にあり、かつ、前記距離が前記予め定められた閾値以下である場合、前記第1条件が満たされていなくとも前記状態切替部に前記車両を前記第1状態に切り替えさせる、請求項1に記載の車両制御装置。 - 前記切替制御部は、さらに、自動運転による移動要求がある場合に、前記状態切替部に前記車両を第1状態に切り替えさせる、請求項1又は2に記載の車両制御装置。
- 前記切替制御部は、さらに、緊急車両が前記車両の周囲を通過する場合に、前記状態切替部に前記車両を前記第1状態に切り替えさせる、請求項1から9のいずれか一項に記載の車両制御装置。
- 前記切替制御部は、さらに、前記車両が有する近距離無線通信部が予め定められたデータを受信した場合に、前記状態切替部に前記車両を前記第1状態に切り替えさせる、請求項1から10のいずれか一項に記載の車両制御装置。
- 前記予め定められたデータは、人物を特定可能なデータであり、
前記車両制御装置は、
前記切替制御部が前記状態切替部に前記車両を前記第1状態に切り替えさせた場合に、前記予め定められたデータの履歴を記録する履歴記録部
をさらに備える、請求項11に記載の車両制御装置。 - 前記切替制御部が前記状態切替部に前記車両を前記第1状態に切り替えさせた後、前記車両が予め定められた位置に移動するまで、前記充電設備による他の車両への充電をさせないように制御する充電制御部と
をさらに備える、請求項1から12のいずれか一項に記載の車両制御装置。 - コンピュータを、請求項1から13のいずれか一項に記載の車両制御装置として機能させるためのプログラム。
- 請求項1から13のいずれか一項に記載の車両制御装置を備える車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018040163A JP6960358B2 (ja) | 2018-03-06 | 2018-03-06 | 車両制御装置、プログラム及び車両 |
US16/287,942 US11243543B2 (en) | 2018-03-06 | 2019-02-27 | Vehicle control apparatus, computer readable storage medium, and vehicle |
CN201910167774.6A CN110228381A (zh) | 2018-03-06 | 2019-03-06 | 车辆控制装置、计算机可读取存储介质及车辆 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018040163A JP6960358B2 (ja) | 2018-03-06 | 2018-03-06 | 車両制御装置、プログラム及び車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019154212A true JP2019154212A (ja) | 2019-09-12 |
JP6960358B2 JP6960358B2 (ja) | 2021-11-05 |
Family
ID=67843848
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018040163A Active JP6960358B2 (ja) | 2018-03-06 | 2018-03-06 | 車両制御装置、プログラム及び車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11243543B2 (ja) |
JP (1) | JP6960358B2 (ja) |
CN (1) | CN110228381A (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013246704A (ja) * | 2012-05-28 | 2013-12-09 | Adc Technology Inc | 車両用充電設備、通信装置及び充電リッド操作装置 |
JP2015219811A (ja) * | 2014-05-20 | 2015-12-07 | トヨタ自動車株式会社 | 車両制御システム |
JP2016097927A (ja) * | 2014-11-26 | 2016-05-30 | 株式会社デンソー | 車両遠隔操作システム、車載装置 |
US20170253131A1 (en) * | 2014-11-25 | 2017-09-07 | Robert Bosch Gmbh | Charging/discharging station, in particular for a battery-operated vehicle |
JP6219485B1 (ja) * | 2016-11-25 | 2017-10-25 | 本田技研工業株式会社 | 充電システム、充電方法及びプログラム |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008289273A (ja) * | 2007-05-17 | 2008-11-27 | Toyota Motor Corp | 給電システムおよび車両 |
JP5062229B2 (ja) * | 2009-08-05 | 2012-10-31 | 株式会社デンソー | 給電コントローラおよび給電システム |
JP5828776B2 (ja) * | 2012-02-10 | 2015-12-09 | 本田技研工業株式会社 | 無人走行作業車の制御装置 |
JP2015116010A (ja) | 2013-12-10 | 2015-06-22 | 三菱電機株式会社 | 充電効率管理装置、充電効率管理方法および充電効率管理システム |
JP6237656B2 (ja) * | 2015-01-19 | 2017-11-29 | トヨタ自動車株式会社 | 車両システム |
US9805519B2 (en) * | 2015-08-12 | 2017-10-31 | Madhusoodhan Ramanujam | Performing services on autonomous vehicles |
JP6450980B2 (ja) * | 2016-05-02 | 2019-01-16 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
CN107554334B (zh) * | 2017-08-30 | 2020-01-07 | 徐杰 | 一种电能补充系统和方法 |
-
2018
- 2018-03-06 JP JP2018040163A patent/JP6960358B2/ja active Active
-
2019
- 2019-02-27 US US16/287,942 patent/US11243543B2/en active Active
- 2019-03-06 CN CN201910167774.6A patent/CN110228381A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013246704A (ja) * | 2012-05-28 | 2013-12-09 | Adc Technology Inc | 車両用充電設備、通信装置及び充電リッド操作装置 |
JP2015219811A (ja) * | 2014-05-20 | 2015-12-07 | トヨタ自動車株式会社 | 車両制御システム |
US20170253131A1 (en) * | 2014-11-25 | 2017-09-07 | Robert Bosch Gmbh | Charging/discharging station, in particular for a battery-operated vehicle |
JP2016097927A (ja) * | 2014-11-26 | 2016-05-30 | 株式会社デンソー | 車両遠隔操作システム、車載装置 |
JP6219485B1 (ja) * | 2016-11-25 | 2017-10-25 | 本田技研工業株式会社 | 充電システム、充電方法及びプログラム |
Also Published As
Publication number | Publication date |
---|---|
US20190278287A1 (en) | 2019-09-12 |
JP6960358B2 (ja) | 2021-11-05 |
CN110228381A (zh) | 2019-09-13 |
US11243543B2 (en) | 2022-02-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107727106B (zh) | 动态地图构成方法、动态地图构成系统以及移动终端 | |
US10676101B2 (en) | Vehicle control system, vehicle control method, and vehicle control program | |
JP6821705B2 (ja) | 車両制御装置、車両制御方法、及びプログラム | |
JP7040936B2 (ja) | 情報収集システムおよび情報収集装置 | |
US20200361462A1 (en) | Vehicle control device, terminal device, parking lot management device, vehicle control method, and storage medium | |
US11181910B2 (en) | Vehicle controller and computer readable storage medium | |
US10858014B2 (en) | Vehicle control system, vehicle control method, and storage medium | |
JP2019194050A (ja) | 車両制御装置及びプログラム | |
JP2019168893A (ja) | 遠隔運転管理装置及びプログラム | |
JP2009223845A (ja) | 車載通信装置 | |
JP2020107212A (ja) | 車両制御システム、車両制御方法、及びプログラム | |
US11345365B2 (en) | Control device, getting-into/out facility, control method, and storage medium | |
CN112208530B (zh) | 车辆控制系统、车辆控制方法及存储介质 | |
CN114341962A (zh) | 危险车辆显示系统、危险车辆显示装置、危险车辆显示程序以及计算机可读取的记录介质以及进行了记录的设备 | |
JP7233386B2 (ja) | 地図更新装置、地図更新システム、及び地図更新方法 | |
CN110303995B (zh) | 信息处理装置以及计算机可读存储介质 | |
CN110311940B (zh) | 信息处理装置以及计算机可读存储介质 | |
JP6960358B2 (ja) | 車両制御装置、プログラム及び車両 | |
CN110462338B (zh) | 车辆控制系统、服务器装置、车辆控制方法及存储介质 | |
US20200311624A1 (en) | Management device, management system, management method, and storage medium | |
US20210158692A1 (en) | Information processing device, information processing system, and computer readable recording medium | |
JP2021179761A (ja) | 移動体、並びに、その移動体の自動運転に用いられる情報処理装置、自動システム、その方法及びプログラム | |
CN113470417A (zh) | 收容区域管理装置 | |
CN111161540A (zh) | 智能汽车的驾驶引导方法、装置、终端及存储介质 | |
JP2019194810A (ja) | 遠隔運転管理装置及びプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20201130 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20210909 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20210928 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20211011 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6960358 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |