JP7396532B2 - 走行車及び走行車システム - Google Patents
走行車及び走行車システム Download PDFInfo
- Publication number
- JP7396532B2 JP7396532B2 JP2023503632A JP2023503632A JP7396532B2 JP 7396532 B2 JP7396532 B2 JP 7396532B2 JP 2023503632 A JP2023503632 A JP 2023503632A JP 2023503632 A JP2023503632 A JP 2023503632A JP 7396532 B2 JP7396532 B2 JP 7396532B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- marker
- traveling
- region
- traveling vehicle
- 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
- 239000003550 marker Substances 0.000 claims description 199
- 238000003384 imaging method Methods 0.000 claims description 68
- 238000003909 pattern recognition Methods 0.000 claims description 41
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 description 15
- 238000012986 modification Methods 0.000 description 7
- 230000004048 modification Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000004040 coloring Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000001459 lithography Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 235000012431 wafers Nutrition 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0058—On-board optimisation of vehicle or vehicle train operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/009—On-board display devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/04—Indicating or recording train identities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/10—Operations, e.g. scheduling or time tables
- B61L27/16—Trackside optimisation of vehicle or train operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
- B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67294—Apparatus for monitoring, sorting or marking using identification means, e.g. labels on substrates or labels on containers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/6773—Conveying cassettes, containers or carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0297—Wafer cassette
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Evolutionary Computation (AREA)
- Databases & Information Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- Traffic Control Systems (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Handcart (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electromagnetism (AREA)
Description
主に、図1~図6を用いて第一実施形態の走行車システム1について説明する。走行車システム1は、軌道(予め定められた走行経路)4に沿って移動可能な天井走行車6を用いて、物品10を載置部9,9間で搬送するためのシステムである。物品10には、例えば、複数の半導体ウェハを格納するFOUP(Front Opening Unified Pod)及びガラス基板を格納するレチクルポッド等のような容器、並びに一般部品等が含まれる。ここでは、例えば、天井走行車6(以下、単に「走行車6」と称する。)が、工場の天井等に敷設された一方通行の軌道4に沿って走行する走行車システム1を例に挙げて説明する。図1に示されるように、走行車システム1は、軌道4、複数の載置部9、及び複数の走行車6を備える。
主に、図7及び図8を用いて第二実施形態の走行車システム101について説明する。第二実施形態の走行車システム101は、第一実施形態の走行車システム1の構成に加え、第一LEDアレイ(第一表示部)81、第二LEDアレイ(第二表示部)83及びLEDアレイ制御部57が設けられている。ここでは、第一LEDアレイ81、第二LEDアレイ83及びLEDアレイ制御部57について詳細に説明する。
Claims (7)
- 予め定められた走行経路に沿って走行する走行車であって、
小マーカと前記小マーカよりも面積が大きい大マーカとが設けられている本体部と、
撮像範囲が自己の前記走行車の前方及び後方の少なくとも一方となるように、前記本体部に設けられている少なくとも一つの撮像部と、
前記撮像部によって取得された撮像画像に基づいて、前記小マーカ及び前記大マーカを区別して認識するパターン認識部と、
前記パターン認識部によって、前記小マーカ又は前記大マーカが認識されたとき、自己の前記走行車の前方及び後方の少なくとも一方に他の前記走行車が存在すると判別する状態判別部と、を備え、
前記大マーカは、自己の前記走行車から所定距離未満に位置する他の前記走行車に備わる前記撮像部の撮像範囲に全体が収まらないサイズに構成され、
前記小マーカは、自己の前記走行車からの距離が前記所定距離未満であっても他の前記走行車に備わる前記撮像部の撮像範囲に全体が収まるサイズに構成されると共に、前記大マーカが構成されている領域の内部に配置されており、
前記大マーカは、第一領域と、前記第一領域よりも反射率の低い第二領域と、前記小マーカが配置される領域と、を含んで表示パターンが構成され、
前記小マーカは、第一領域よりも反射率が低い第三領域と、第三領域よりも反射率が低くかつ第二領域よりも反射率が低い第四領域と、を含んで表示パターンが構成されている、走行車。 - 前記小マーカは、枠状に形成される第五領域の内側に前記第三領域及び前記第四領域が配置されており、
前記第五領域は、前記大マーカの前記第一領域よりも反射率が低く、前記小マーカの前記第四領域の反射率よりも高い領域である、請求項1記載の走行車。 - 前記パターン認識部は、前記小マーカの前記第三領域に対応する領域が白、前記第四領域に対応する領域が黒となるように二値化することで得られる第一配色パターンを認識することで前記小マーカを認識し、前記大マーカの前記第一領域に対応する領域が白、前記第二領域及び前記小マーカの領域に対応する領域が黒となるように二値化することで得られる第二配色パターンを認識することで前記大マーカを認識する、請求項1又は2記載の走行車。
- 前記大マーカと前記小マーカとは互いに表示パターンが異なっており、
前記状態判別部は、前記パターン認識部によって前記小マーカが認識されたとき、前記大マーカが認識されたときと比べて、自己の前記走行車から他の前記走行車までの距離が近いと判別する、請求項1~3の何れか一項記載の走行車。 - 前記本体部には、自己の前記走行車から前記所定距離未満に位置する他の前記走行車に備わる前記撮像部の撮像範囲に全体が収まらないように配置され、自己の前記走行車の状態に合わせて表示態様を切り替える第一表示部と、自己の前記走行車からの距離が前記所定距離未満であっても他の前記走行車に備わる前記撮像部の撮像範囲に全体が収まるように配置され、自己の前記走行車の状態に合わせて表示態様を切り替える第二表示部と、が更に設けられており、
前記走行車は、
前記本体部を前記走行経路に沿って走行させる走行部と、
前記撮像部によって撮像された前記第一表示部及び前記第二表示部の少なくとも一方の前記表示態様に基づいて他の前記走行車の状態を取得すると共に、取得した前記状態に基づいて自己の前記走行部を制御する走行制御部と、を更に備える、請求項1~4の何れか一項記載の走行車。 - 前記第一表示部及び前記第二表示部は、自己の前記走行車の走行状態に合わせて前記表示態様を切り替え、
前記走行状態には、加速状態及び減速状態が含まれる、請求項5記載の走行車。 - 請求項1~6の何れか一項記載の複数の走行車と、
複数の前記走行車が予め定められた方向に走行する軌道と、
前記走行車に搬送指令を割り付ける走行車コントローラと、を備える、走行車システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021034599 | 2021-03-04 | ||
JP2021034599 | 2021-03-04 | ||
PCT/JP2022/002699 WO2022185787A1 (ja) | 2021-03-04 | 2022-01-25 | 走行車及び走行車システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2022185787A1 JPWO2022185787A1 (ja) | 2022-09-09 |
JP7396532B2 true JP7396532B2 (ja) | 2023-12-12 |
Family
ID=83154951
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023503632A Active JP7396532B2 (ja) | 2021-03-04 | 2022-01-25 | 走行車及び走行車システム |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP4300243A1 (ja) |
JP (1) | JP7396532B2 (ja) |
KR (1) | KR20230136151A (ja) |
CN (1) | CN116888553A (ja) |
IL (1) | IL305367A (ja) |
TW (1) | TW202240127A (ja) |
WO (1) | WO2022185787A1 (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004185630A (ja) | 1996-09-30 | 2004-07-02 | Sony Corp | 識別装置及び方法、ロボット装置並びに色抽出装置 |
JP2005262378A (ja) | 2004-03-18 | 2005-09-29 | Oki Electric Ind Co Ltd | 自律ロボットおよびその制御方法 |
WO2019053798A1 (ja) | 2017-09-13 | 2019-03-21 | 株式会社Doog | 自律走行ロボットシステム |
WO2019175993A1 (ja) | 2018-03-13 | 2019-09-19 | 日本電気株式会社 | 目標部材 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11202940A (ja) | 1998-01-19 | 1999-07-30 | Murata Mach Ltd | 無人搬送車 |
JP7013212B2 (ja) | 2017-11-14 | 2022-01-31 | Tvs Regza株式会社 | 電子装置、マーカ、電子装置の制御方法及びプログラム |
-
2022
- 2022-01-25 CN CN202280016628.3A patent/CN116888553A/zh active Pending
- 2022-01-25 IL IL305367A patent/IL305367A/en unknown
- 2022-01-25 JP JP2023503632A patent/JP7396532B2/ja active Active
- 2022-01-25 KR KR1020237028406A patent/KR20230136151A/ko unknown
- 2022-01-25 EP EP22762846.8A patent/EP4300243A1/en active Pending
- 2022-01-25 WO PCT/JP2022/002699 patent/WO2022185787A1/ja active Application Filing
- 2022-03-02 TW TW111107504A patent/TW202240127A/zh unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004185630A (ja) | 1996-09-30 | 2004-07-02 | Sony Corp | 識別装置及び方法、ロボット装置並びに色抽出装置 |
JP2005262378A (ja) | 2004-03-18 | 2005-09-29 | Oki Electric Ind Co Ltd | 自律ロボットおよびその制御方法 |
WO2019053798A1 (ja) | 2017-09-13 | 2019-03-21 | 株式会社Doog | 自律走行ロボットシステム |
WO2019175993A1 (ja) | 2018-03-13 | 2019-09-19 | 日本電気株式会社 | 目標部材 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2022185787A1 (ja) | 2022-09-09 |
IL305367A (en) | 2023-10-01 |
CN116888553A (zh) | 2023-10-13 |
EP4300243A1 (en) | 2024-01-03 |
US20240132123A1 (en) | 2024-04-25 |
WO2022185787A1 (ja) | 2022-09-09 |
KR20230136151A (ko) | 2023-09-26 |
TW202240127A (zh) | 2022-10-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR102214427B1 (ko) | 천정 반송차 | |
TW201742181A (zh) | 搬送裝置 | |
JP7396532B2 (ja) | 走行車及び走行車システム | |
CN111417592B (zh) | 起重机系统、集装箱起重机及搬运方法 | |
US20240227881A9 (en) | Travelling vehicle and travelling vehicle system | |
TW202026786A (zh) | 物品搬送裝置 | |
JP7151863B2 (ja) | 走行車及び走行車システム | |
US20240201707A1 (en) | Traveling vehicle and traveling vehicle system | |
JP7501557B2 (ja) | 走行車システム | |
JP7310889B2 (ja) | 走行車、走行車システム及び走行車検出方法 | |
WO2023037773A1 (ja) | 走行車システム及び走行車 | |
JP2008174364A (ja) | 搬送車システム | |
EP4249402A1 (en) | Overhead transport vehicle | |
KR102270044B1 (ko) | 이송 장치 | |
JP2003256045A (ja) | 工場内における搬送車両の交通システム | |
KR20240095007A (ko) | 반송 장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230822 |
|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20230822 |
|
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: 20231031 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20231113 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7396532 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |