KR100985479B1 - Apparatus and method for measuring angle using accelerometer - Google Patents

Apparatus and method for measuring angle using accelerometer Download PDF

Info

Publication number
KR100985479B1
KR100985479B1 KR1020100020641A KR20100020641A KR100985479B1 KR 100985479 B1 KR100985479 B1 KR 100985479B1 KR 1020100020641 A KR1020100020641 A KR 1020100020641A KR 20100020641 A KR20100020641 A KR 20100020641A KR 100985479 B1 KR100985479 B1 KR 100985479B1
Authority
KR
South Korea
Prior art keywords
angle
angle measurement
value
start point
acceleration sensor
Prior art date
Application number
KR1020100020641A
Other languages
Korean (ko)
Inventor
김진용
Original Assignee
(주)제이와이테크놀로지
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by (주)제이와이테크놀로지 filed Critical (주)제이와이테크놀로지
Priority to KR1020100020641A priority Critical patent/KR100985479B1/en
Application granted granted Critical
Publication of KR100985479B1 publication Critical patent/KR100985479B1/en

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B7/31—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P15/0802—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P2015/0805—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration
    • G01P2015/0808—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration for defining in-plane movement of the mass, i.e. movement of the mass in the plane of the substrate

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Telephone Function (AREA)

Abstract

PURPOSE: An angle measuring device using an acceleration sensor and a method thereof are provided to have an angle measurement function through a portable terminal equipped with an acceleration sensor. CONSTITUTION: An angle measuring device using an acceleration sensor comprises a manipulation unit(106), an acceleration sensor(108), and a controller(110). The manipulation unit receives an angle measurement start point and an angle measurement end point. The acceleration sensor detects a resistance value by sector-shaped rotation from the angle measurement start point and the angle measurement end point and a sensor value according to the change of the capacitance value. The controller produces angles based on a detected sensor value from the angle measurement start point to the angle measurement end point.

Description

Apparatus and Method for measuring angle using accelerometer

The present invention relates to an angle measuring apparatus and method using an acceleration sensor, and more particularly, to an apparatus and method for measuring an angle using a portable terminal having an acceleration sensor.

A portable terminal is a portable device that is portable and has one or more functions of making voice and video calls, inputting / outputting information, and specifying data.

As the functions of the portable terminals are diversified, they are equipped with complex functions such as photographing or video recording, playing music files or video files, receiving games, broadcasting, and wireless Internet, and are being implemented as a comprehensive multimedia device. . In addition, various additional functions have recently been provided by portable terminals implemented in the form of such multimedia devices.

On the other hand, in general, when an angle (angle) measurement is required, a protractor (protractor) that is a tool for measuring the angle is required, but it is inconvenient for the user to always carry the protractor for measuring the angle.

Therefore, it is necessary to provide convenience to the user by providing an angle measuring function through a portable terminal which has been widely spread recently and is always portable by the user.

It is an object of the present invention from the angle measurement start point to the angle measurement end point based on the sensor value detected according to the change of the resistance value or the capacitance value by the rotation of the fan shape from the angle measurement start point to the angle measurement end point. The present invention provides an angle measuring apparatus and method using an acceleration sensor that provides an angle measuring function through a portable terminal.

An angle measuring device using an acceleration sensor according to the present invention for achieving the above object is a control unit for receiving the angle measurement start point and the angle measurement end point, the resistance value by the rotation of the fan shape from the angle measurement start point to the angle measurement end point Or an acceleration sensor unit for detecting a sensor value according to a change in the capacitance value, and a controller for calculating an angle from the angle measurement start point to the angle measurement end point based on the detected sensor value.

In addition, the angle measuring method using the acceleration sensor according to the present invention, the step of receiving the angle measurement start point and the angle measurement end point, the resistance value or the capacitance value by the rotation of the fan shape from the angle measurement start point to the angle measurement end point Detecting a sensor value according to a change of and calculating an angle from an angle measurement start point to an angle measurement end point based on the detected sensor value.

According to the present invention, an angle measuring function can be provided through a mobile terminal having an acceleration sensor.

1 is a block diagram showing the configuration of an angle measuring device using an acceleration sensor according to the present invention.
2 is a diagram showing a path from an angle measurement start point to an angle measurement end point according to an embodiment of the present invention.
3 is a diagram showing a chip configuration of an acceleration sensor according to an embodiment of the present invention.
4 is a diagram showing the relationship between the change in the resistance value or the capacitance value and the angle according to the fan-shaped rotation of the mobile terminal.
5 is a flow chart showing an angle measuring method using an acceleration sensor according to the present invention.

Hereinafter, with reference to the drawings will be described the present invention in more detail.

1 is a block diagram showing the configuration of an angle measuring device using an acceleration sensor according to the present invention.

Referring to FIG. 1, the angle measuring device 100 using the acceleration sensor according to the present invention includes a wireless communication unit 102, a camera unit 104, an operation unit 106, an acceleration sensor unit 108, and a control unit 110. ), A display unit 112, a sound output unit 114, a storage unit 116, and a power supply unit 118. In this case, the angle measuring device using the acceleration sensor according to the present invention may be provided as a mobile terminal such as a mobile phone, a smart phone, a laptop computer, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), and the like.

The wireless communication unit 102 may include a broadcast receiving module for receiving a broadcast signal and broadcast related information from the outside through a broadcast channel, a mobile communication module for transmitting and receiving a wireless signal through a mobile communication network, and a wireless internet module for wireless internet access. Can be.

The camera unit 104 processes image frames such as still images or moving images obtained by the image sensor in the video call mode or the photographing mode. In this case, the processed image frame may be displayed on the display unit 112.

In addition, the camera unit 104 may operate the photographing mode when the protractor mode and the angle measurement start point are selected by the manipulation unit 106.

The operation unit 106 generates key input data input by the user for controlling the operation of the terminal. The operation unit 106 may be configured of a keypad, a dome switch, a touch pad, and the like. In particular, the touch pad may be implemented as a touch screen having a mutual layer structure with the display unit 112 described later. In addition, the manipulation unit 106 may receive an angle measurement start point and an angle measurement end point by a user.

The acceleration sensor unit 108 may detect the sensor value according to the change in the resistance value or the capacitance value due to the fan-shaped rotation from the angle measurement start point to the angle measurement end point.

At this time, the acceleration sensor unit 108 is provided as a semiconductor acceleration sensor including a proof mass (proof mass) can output the magnitude of the acceleration applied to the object, the three-axis acceleration sensor x, y, z three axes The acceleration in the direction can be measured. The acceleration sensor may be classified into a piezoresistive type and a capacitive type according to the acceleration detection method.

The controller 110 controls overall operations of the portable terminal, and may perform, for example, related control and processing for voice call, data communication, video call, and the like.

In addition, the controller 110 may calculate an angle from the angle measurement start point to the angle measurement end point based on the sensor value detected by the acceleration sensor unit 108. In this case, the acceleration sensor unit 108 may detect the sensor value as a voltage value according to the change in the resistance value or the capacitance value, and the control unit 110 may, from the angle measurement start point to the angle measurement end point, based on the voltage value. The angle of can be calculated. For example, the controller 110 refers to an angle table preset by matching a sensor value (that is, a voltage value) with an angle corresponding to each sensor value, and determines an angle from an angle measurement start point to an angle measurement end point. Can be calculated.

In addition, the controller 110 determines whether the section from the angle measurement start point to the angle measurement end point is a rotation in a vertical direction (for example, XY axis) or a horizontal direction (for example, XZ axis). By confirming, the angle in the vertical direction or the horizontal direction can be calculated.

In this case, when the sensor values are detected in a plurality of directions with respect to the rotation in the vertical direction or the rotation in the horizontal direction, the controller 110 may calculate an angle using only the sensor values measured in the direction to proceed among the plurality of directions. Can be.

That is, the controller 110 measures the angle by determining the angle of the new section when the direction of change is large for the X, Y, and Z axes, but if the value is measured in various directions, if the value is measured in several directions, it is relatively small. By ignoring the detected value and measuring the angle only with a relatively large value, the user's hand shake effect can be corrected.

The display unit 112 displays and outputs information processed by the portable terminal. For example, when the mobile terminal is in a call mode, a user interface (UI) or a graphic user interface (GUI) related to a call is displayed. In addition, when the mobile terminal is in a video call mode or a photographing mode, each of the captured and received images may be displayed at the same time.

In this case, the display unit 112 includes a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, and a three-dimensional display. It may include at least one of (3D display).

In addition, the display unit 112 may display the angle from the angle measurement start point calculated by the controller 110 to the angle measurement end point.

The sound output unit 114 may output audio data received through the wireless communication unit 102 or stored in the storage unit 116 in a call mode, a broadcast reception mode, or the like. In addition, the sound output unit 114 may output the angle information from the angle measurement start point calculated by the controller 110 to the angle measurement end point as a sound.

The storage unit 116 may store a program for processing and controlling the controller 110 and may temporarily store input or output data. In addition, the storage unit 116 may store an angle table preset by matching sensor values (ie, voltage values) with angles corresponding to the respective sensor values.

The power supply unit 118 may receive external power and internal power under the control of the controller 110 to supply power required for the operation of each component.

2 is a diagram illustrating a path from an angle measurement start point to an angle measurement end point according to an exemplary embodiment of the present invention.

Referring to FIG. 2, the angle measuring apparatus 100 using the acceleration sensor according to the present invention may receive selection of an angle measurement start point Start and an angle measurement end point End by a user.

Accordingly, the angle measuring device 100 using the acceleration sensor measures the angle based on the sensor value detected according to the change in the resistance value or the capacitance value due to the fan-shaped rotation from the angle measurement start point to the angle measurement end point. The angle θ from the start point to the end point of the angle measurement can be calculated.

In this case, when the angle measurement start point Start is selected by the user, the angle measuring apparatus 100 using the acceleration sensor may display the start screen 202 through the display unit. On the other hand, the angle measuring device 100 using the acceleration sensor is an end screen for displaying the angle information from the angle measurement start point to the angle measurement end point through the display unit when the angle measurement end point (End) is selected by the user ( 204 may be displayed.

3 is a diagram illustrating a chip configuration of an acceleration sensor according to an exemplary embodiment of the present invention.

Referring to FIG. 3, the acceleration sensor chip according to an embodiment of the present invention may include pins 1 and 2 for selecting sensitivity by selecting g-levels, pins 3 and 4 for power supply, and a sleep mode. A pin 12 for selection, a pin 13 for outputting a voltage corresponding to the z-axis, a pin 14 for outputting a voltage corresponding to the y-axis, and a pin 15 for outputting a voltage corresponding to the x-axis. It may include.

An acceleration sensor according to an embodiment of the present invention may be provided as a piezoresistive acceleration sensor, which may include one or more piezoresistive resistance and a proof mass.

At this time, the piezoresistive acceleration sensor uses the semiconductor piezoresistive effect for acceleration detection. Piezo-resistive effect utilizes the principle that when mechanical external force is applied to the crystal, the crystal lattice is deformed and the change in the number of carriers and mobility in the semiconductor leads to a change in resistance.

On the other hand, the piezoresistive acceleration sensor can be equipped with three axes. That is, the piezoresistive acceleration sensor may have four piezo resistors per axis at the highest stress concentration position in the bridge, and may have 12 piezo resistors in all three axes.

In addition, the signal proportional to the acceleration may constitute a Wheatstone bridge circuit with four piezo resistors on each axis to detect a change due to stress as a voltage change, that is, a voltage value.

For example, when acceleration is applied to a piezoresistive acceleration sensor according to an embodiment of the present invention, a change in a proof mass occurs. That is, for the acceleration in the x- and y-axis directions, the piezo resistors R1 and R3 of the bridge may increase in tensile stress and the compressive stress in R2 and R4 may decrease in resistance. In addition, in the case of deformation in the z-axis direction, the resistance shifts opposite to R1, R4, R2, and R3 occurs by moving further in the vertical direction. Changes in these resistance values can be calculated as voltage values through the bridge circuit.

On the other hand, in the capacitive accelerometer type accelerometer according to another embodiment of the present invention, a proof mass is located at the center between electrodes, and if there is no acceleration, the proof mass is located at the center. If acceleration is applied, it moves from the center position to the opposite electrode, causing a difference in capacitance.

4 is a view showing a relationship between the change in the resistance value or the capacitance value and the angle according to the fan-shaped rotation of the portable terminal.

Referring to FIG. 4, when a mobile terminal having an acceleration sensor is rotated in a fan shape in the XY axis (ie, in a vertical direction), and rotates in a fan shape in the vertical direction in an OG state, the earth Since gravity has a gravity acceleration of 1 G in the vertical direction, the sensor value according to the change in the resistance value or the capacitance value corresponding to 1 G may be detected by the acceleration sensor when it is 90 degrees, that is, vertical.

In this case, the change in the acceleration of gravity is a relationship of sin θ, for example, as shown in FIG. 4, when the sensor value corresponding to the acceleration of the gravity of 0.5G is measured, the inclination angle may be converted to 30 degrees. That is, when the inclination of 45 degrees in the X-axis direction, the sensor value according to the change in the resistance value or the capacitance value corresponding to 0.707G calculated by multiplying 1G and sin45 can be detected.

5 is a flowchart illustrating an angle measuring method using an acceleration sensor according to the present invention.

Referring to FIG. 5, the angle measuring device using the acceleration sensor according to the present invention may check whether a protractor mode is selected (S502), and if so, operate the acceleration sensor and operate the camera mode (S502). S504). In this case, the angle measuring device using the acceleration sensor may display a crosshair through the display unit (S506).

In addition, the angle measuring device using the acceleration sensor checks whether the traveling direction is the forward direction (S508), and when the traveling direction is the forward direction, an angle increase is displayed on the display unit (S510), indicating that the angle measurement is in the forward direction. You can inform.

On the other hand, as a result of checking in step S508, when the traveling direction is not the forward direction, the angle measuring device using the acceleration sensor displays the angle decrease on the display (S520), to inform that the angle measurement is in the opposite direction rather than the forward direction Can be.

On the other hand, the angle measuring device using the acceleration sensor checks whether the end point is selected (S512), when the end point is selected, by the rotation in the forward direction from the start point to the end point or in the opposite direction rather than the forward direction The angle may be calculated (S514), and the calculated angle may be displayed (S516).

Although the present invention has been described in more detail with reference to the examples, the present invention is not necessarily limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

104: camera unit 106: operation unit
108: acceleration sensor unit 110: control unit
112: display unit 120: timer

Claims (8)

An operation unit configured to receive an angle measurement start point and an angle measurement end point;
An acceleration sensor unit for detecting a sensor value according to a change in resistance value or capacitance value due to a fan-shaped rotation from the angle measurement start point to the angle measurement end point; And
And a controller configured to calculate an angle from the angle measurement start point to the angle measurement end point based on the detected sensor value.
The controller is configured to calculate an angle using only sensor values measured in a direction to proceed among a plurality of directions when sensor values are detected in a plurality of directions with respect to rotation in a vertical direction or rotation in a horizontal direction. Angle measuring device using an acceleration sensor.
The method according to claim 1,
The acceleration sensor unit detects the sensor value as a voltage value according to a change in the resistance value or the capacitance value,
The control unit, based on the voltage value, the angle measuring device using the acceleration sensor, characterized in that for calculating the angle from the angle measurement start point to the angle measurement end point.
The method according to claim 2,
And a display unit for displaying the angle from the calculated angle measurement start point to the angle measurement end point.
delete The method according to claim 1,
And a camera unit for operating a shooting mode when the angle measurement start point is input by the operation unit.
Receiving an angle measurement start point and an angle measurement end point;
Detecting a sensor value according to a change in resistance value or capacitance value by rotation of a fan shape from the angle measurement start point to the angle measurement end point; And
Calculating an angle from the angle measurement start point to the angle measurement end point based on the detected sensor value;
In the angle calculating step, when a sensor value is detected in a plurality of directions with respect to a rotation in a vertical direction or a rotation in a horizontal direction in the sensor value detecting step, only the sensor value measured in a direction to proceed among the plurality of directions is used. Angle measurement method using an acceleration sensor, characterized in that for calculating the angle.
The method of claim 6,
The angle calculating step, the angle measuring method using the acceleration sensor, characterized in that for calculating the angle from the angle measurement start point to the angle measurement end point based on the voltage value detected according to the change in the resistance value or the capacitance value. .
The method according to claim 7,
After the angle calculating step,
And displaying the angle from the calculated angle measurement start point to the angle measurement end point.
KR1020100020641A 2010-03-09 2010-03-09 Apparatus and method for measuring angle using accelerometer KR100985479B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020100020641A KR100985479B1 (en) 2010-03-09 2010-03-09 Apparatus and method for measuring angle using accelerometer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100020641A KR100985479B1 (en) 2010-03-09 2010-03-09 Apparatus and method for measuring angle using accelerometer

Publications (1)

Publication Number Publication Date
KR100985479B1 true KR100985479B1 (en) 2010-10-05

Family

ID=43135008

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100020641A KR100985479B1 (en) 2010-03-09 2010-03-09 Apparatus and method for measuring angle using accelerometer

Country Status (1)

Country Link
KR (1) KR100985479B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102378086A (en) * 2010-08-26 2012-03-14 鸿富锦精密工业（深圳）有限公司 Electronic device and method for controlling audio output module in accordance with rotation angle

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030015650A (en) * 2001-08-17 2003-02-25 (주)마이크로인피니티 Pitch/Roll angle sensing mean using accelerometer and method thereof
KR20070055516A (en) * 2004-09-24 2007-05-30 호시덴 가부시기가이샤 Signal amplifying circuit and acceleration sensor having the same
JP2007198819A (en) 2006-01-25 2007-08-09 Matsushita Electric Ind Co Ltd Rotation angle detecting apparatus
JP2008268115A (en) * 2007-04-24 2008-11-06 Kyocera Corp Inclination sensor device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030015650A (en) * 2001-08-17 2003-02-25 (주)마이크로인피니티 Pitch/Roll angle sensing mean using accelerometer and method thereof
KR20070055516A (en) * 2004-09-24 2007-05-30 호시덴 가부시기가이샤 Signal amplifying circuit and acceleration sensor having the same
JP2007198819A (en) 2006-01-25 2007-08-09 Matsushita Electric Ind Co Ltd Rotation angle detecting apparatus
JP2008268115A (en) * 2007-04-24 2008-11-06 Kyocera Corp Inclination sensor device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102378086A (en) * 2010-08-26 2012-03-14 鸿富锦精密工业（深圳）有限公司 Electronic device and method for controlling audio output module in accordance with rotation angle

Similar Documents

Publication Publication Date Title
KR20110066969A (en) Generating virtual buttons using motion sensors
JP2004246875A (en) Electric apparatus and method for supplying input to user interface in electric apparatus
KR20110091571A (en) Method and apparatus for determining a user input from inertial sensors
CN111005715B (en) Method and device for determining yield of gas well and storage medium
CN109166150B (en) Pose acquisition method and device storage medium
KR20140107788A (en) Method of controlling event and electronic device thereof
US20110090244A1 (en) Electronic sighting compass
CN110288689B (en) Method and device for rendering electronic map
CN110174699B (en) Method, device and storage medium for determining fault closure
CN108764530B (en) Method and device for configuring working parameters of oil well pumping unit
CN108196701B (en) Method and device for determining posture and VR equipment
KR100985477B1 (en) Apparatus and method for measuring length using accelerometer
CN110456923A (en) A kind of posture sensing data processing method and electronic equipment
JP2010123040A (en) Gravity axis determination appartaus and mobile terminal apparatus using the same
CN112052153B (en) Product version testing method and device
KR100985479B1 (en) Apparatus and method for measuring angle using accelerometer
CN109281664B (en) Method and device for predicting oil production of horizontal well
CN108733902B (en) Method and device for determining permeability of oil reservoir and storage medium
CN110865170B (en) Method and device for determining sand content and storage medium
CN112964613B (en) Determination method, device and terminal for mass transfer parameters of shale reservoir
KR20150009199A (en) Electronic device and method for processing object
JP7540598B2 (en) Operation terminal, operation method, and program
WO2023281578A1 (en) Operation terminal, operation method, and program
CN112525554B (en) Method and device for determining collision angle of automobile and computer storage medium
CN111798358B (en) Method and device for determining path time, electronic equipment and readable storage medium

Legal Events

Date Code Title Description
A201 Request for examination
A302 Request for accelerated examination
A302 Request for accelerated examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
LAPS Lapse due to unpaid annual fee