CN109164494A - A kind of ship terminal removes warning system and method - Google Patents
A kind of ship terminal removes warning system and method Download PDFInfo
- Publication number
- CN109164494A CN109164494A CN201811278433.8A CN201811278433A CN109164494A CN 109164494 A CN109164494 A CN 109164494A CN 201811278433 A CN201811278433 A CN 201811278433A CN 109164494 A CN109164494 A CN 109164494A
- Authority
- CN
- China
- Prior art keywords
- magnetic field
- ship terminal
- axis
- ship
- field strength
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Geophysics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Emergency Alarm Devices (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a kind of ship terminals to remove warning system and method, and it includes the ship terminal and permanent magnet for managing platform and be fixed in hull with being separated from each other that wherein ship terminal, which removes warning system,；Sensing module, processing module and communication module are equipped in the ship terminal；Three-axle magnetic field intensity by sensing module real-time measurement based on permanent magnet under the static constant orthogonal three-axis reference of hull, and based on this filtering calculate three axis output magnetic field strength, the reference magnetic field intensity of above-mentioned two axis of the permanent magnet when output magnetic field strength for such as continuously occurring any two axis within the period of artificial settings is less than ship terminal initialization, dismounting alarm is then issued by long-distance radio communication mode, to realize the real-time monitoring for removing situation to ship terminal.
Description
Technical field
The present invention relates to Ship Design manufacturing fields, and in particular to a kind of ship terminal removes warning system and method.
Background technique
In order to remotely be monitored to the case where ship, it will usually the mounting shipping terminal on ship, but it is illegally torn open
The risk removed is very high, once the equipment is removed, remote platform will be unable to supervise the real-time condition of hull；
In the prior art, it will usually install magnet additional using in the external of ship terminal, be passed by the magnetic in portion disposed within
Sensor detects the mode of changes of magnetic field to determine whether ship terminal is removed；
But due to sea environment complexity, and hull may be fixed in by the magnetic interference of external magnetic object at any time
The earth magnetism field direction of permanent magnet can constantly change with the movement of hull, therefore the ship terminal of the prior art is easily judged by accident concurrently
The alarm signal to make mistake, so that remote platform can not accurately learn the truth of ship.
Summary of the invention
It is an object of the invention to overcome the problems, such as drawbacks described above present in background technique or, a kind of ship terminal is provided and is accused
Alert system and method, to carry out real-time monitoring the case where dismounting to ship terminal.
To reach above-mentioned purpose, the present invention adopts the following technical scheme:
First technical solution removes warning system about a kind of ship terminal comprising manages platform and is separated from each other
Ground is fixed in the ship terminal and permanent magnet of hull；The ship terminal is equipped with sensing module, processing module and communication module；
The sensing module measures the three-axle magnetic field intensity of the permanent magnet simultaneously based on the static orthogonal three-axis reference of opposite hull
It forms three-axle magnetic field strength information and is sent to processing module；The processing module handles simultaneously three-axle magnetic field strength information
Communication module is controlled when meeting the condition being manually set removes alarm letter to management platform sending in a manner of long-distance radio communication
Breath.
Second technical solution, about a kind of dismounting alarm method for ship terminal, design are as follows: the ship terminal
It is fixed on hull, separately there is a permanent magnet and ship terminal to be fixed in hull with being separated from each other, by being built in ship terminal
Three-axle magnetic field intensity of the magnetic sensor real-time measurement based on permanent magnet under the static constant orthogonal three-axis reference of hull, and
Based on this filtering calculate three axis output magnetic field strength, such as continuously occur any two axis within the period of artificial settings
Output magnetic field strength above-mentioned two axis of permanent magnet when being less than ship terminal initialization reference magnetic field intensity, then by long-range
Wireless communication mode, which issues, removes alarm.
Based on the second technical solution, it is also preferably provided with the third technology about the dismounting alarm method for ship terminal
Scheme, design are as follows: measure and store the three-axle magnetic field intensity during artificial settings, the specific steps are as follows:
Step 1: calculating the mean value of measured K magnetic field strength from a certain axis directionWith measurement variance MCn；
Step 2: estimate variance EC is calculated, formula is as follows:
ECn=(1-KGn-1)ECn-1+rand
Wherein, ECnFor this estimate variance, KGn-1For last kalman gain, ECn-1For last estimation
Variance, rand are random number；
Step 3: kalman gain KG is calculated, formula is as follows:
Wherein, KGnFor this kalman gain, ECnFor this estimate variance, MCnFor this measurement variance；
Step 4: estimated value EV is calculated, formula is as follows:
EVn=OVn-1+KGn(MVn-OVn-1)
Wherein, EVnFor this estimated value, OVn-1For the output valve of last time measurement, MVnFor this measured value；
Step 5: output valve is calculated, formula is as follows:
OVn=A*EVn+(1-A)*OVn-1
Wherein, OVnFor this magnetic field strength output valve, A is the filter factor of first-order filtering；
In initial calculation, the initial value of estimate variance EC is random number rand, and the specific value range of the random number is
The mean value of nearest K measured value10%；The initial value of estimated value EV and output valve OV are ship terminal initialization
Three-axle magnetic field intensity value.
By the above-mentioned description of this invention it is found that compared with the existing technology, have following of the present invention the utility model has the advantages that
1, in the first technical solution and other technologies scheme based on or for the first technical solution, pass through processing module
Processing is carried out to three-axle magnetic field strength information and controls communication module when meeting the condition being manually set with long-distance radio communication
Mode issues the mode for removing warning information to management platform, to realize the real-time monitoring for removing situation to ship terminal.
2, the changes of magnetic field on more than two directions will necessarily be caused when being removed due to ship terminal and continuously less than ship
Magnetic field strength when oceangoing ship terminal initialization, therefore can determine whether out to be built in ship terminal by the variation of real-time monitoring magnetic field strength
The distance between permanent magnet on interior Magnetic Sensor and affixed hull variation, if output magnetic field strength whithin a period of time
Respectively less than ship terminal initialization when magnetic field strength then indicate that ship terminal has been removed, this setting is realized to ship terminal
The real-time monitoring whether being removed.
3, by the three-axle magnetic field intensity described to the measurement during artificial settings and storage, and to the magnetic of each axis
Field intensity is filtered, so that the data exported are more accurate.
4, by continuously occurring the output magnetic field strength of any two axis in the period taking human as setting less than ship terminal
The judgment criteria that whether the reference magnetic field intensity of above-mentioned two axis of the permanent magnet is removed as ship terminal when initialization, this sentences
Disconnected mode has been evaded outside for only detecting the method that changes of magnetic field determines whether equipment is split by Magnetic Sensor compared with the prior art
Interim measurement error caused by the magnetic interference of portion's magnetic bodies, this is arranged so that distance between Magnetic Sensor and permanent magnet
It is more accurate to calculate.
5, in step 3 by way of being improved to kalman gain and it is made to become radical sign, using this calculation method
Improve the timeliness of system.
6, in step 4 with the OV after first-order filteringn-1Rather than own value EVn-1As feedback, using this calculation method
Increase the stability of output data.
7, first-order filtering has been added in steps of 5, so that output data more restrains.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below to needed in embodiment description
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is relation schematic diagram of the embodiment of the present invention；
Fig. 2 is low power processor connection relationship diagram；
Fig. 3 is high-performance processor wake-up circuit schematic diagram；
Fig. 4 is high-performance processor wake-up circuit schematic diagram；
Fig. 5 is sensor circuit schematic diagram；
Fig. 6 is communication module circuit diagram.
Specific embodiment
Below by the attached drawing closed in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiment is the preferred embodiment of the present invention, and is not to be seen as the row to other embodiments
It removes.Based on the embodiment of the present invention, those skilled in the art are obtained all under the premise of not making creative work
Other embodiments shall fall within the protection scope of the present invention.
In claims of the present invention, specification and above-mentioned attached drawing, term " first ", " second " or " third " are such as used
Deng being provided to distinguish different objects, be not use to describe a particular order.
In claims of the present invention, specification and above-mentioned attached drawing, such as using term " includes ", " having " and they
Deformation, it is intended that " including but not limited to ".
As shown in Figure 1, the embodiment of the present invention includes ship terminals 10 and management platform 20.Wherein, ship terminal 10 is fixed
It is connected on ship ontology, separately there is a permanent magnet and ship terminal to be fixed in hull with being separated from each other, and pass through power supply thereon
Module 3 charges.And it manages platform 20 and is then generally positioned at fishery superintendent office or frontier defense authorities on the bank.Ship mentioned here
Oceangoing ship refers to the fishing boat without generating equipment, such as sampan etc..
Wherein, ship terminal 10 includes processing module, power module 3, sensing module 4 and communication module 5, electricity between them
Connection, the processing module includes first processor 1 and second processor 2.
First processor 1 belongs to low power processor, as shown in Fig. 2, in the present embodiment, using chip U6, particular type
Number be NRF51822.Second processor 2 belongs to high-performance processor, and power consumption is less than first processor 1, as shown in figure 3, at this
In embodiment, using chip U1, concrete model STM32F107VCT6.
First processor 1 is powered to second processor 2 by control power module 3 to wake up second processor 2.Specifically
Circuit is as shown in Figure 4.In Fig. 4, the 41st pin of first processor 1 issues control signal CPU_3V3_EN, the control signal
A chip U4 for controlling power module 3 is enabled, and the concrete model of chip U4 is RT8008.In chip U4 work, electricity
Pond power supply VBAT is converted to the power supply CPU_3V3 to work for second processor 2.In this way, first processor 1 is called out
Awake second processor 2.
First processor 1 and sensing module 4 are electrically connected, and heat transfer agent and the judgement for handling the transmission of sensing module 4 are
No to meet specified conditions, in the present embodiment, the sensing module 4 uses six axle sensors, wherein three axis are sensed as magnetic
Device, by it is built-in with the magnetic sensor of ship terminal with real-time measurement based on the static constant orthogonal three-axis reference of hull
The three-axle magnetic field intensity of lower permanent magnet.Specified conditions mentioned here refer to continuously to be occurred arbitrarily within the period of artificial settings
The reference magnetic field intensity of above-mentioned two axis of the permanent magnet when output magnetic field strength of two axis is less than ship terminal initialization.Fig. 5 shows
The circuit diagram of sensing module 4 is gone out, wherein the metrical information of magnetic sensor is (specific by the chip U9 of sensing module 4
Signal FX0S8700CQ) No. 6 pins send signal SDA_6A to first processor 1 the 7th pin.
Second processor 2 and communication module 5 are electrically connected, and are used for management 20 reporting orientation information of platform or alarm.Such as Fig. 6
Shown, communication module 5 connects second by GPRS communication chip CM180, the pin of the 11st, 12,13,14 and 16 of communication chip respectively
The pin of the 55th, 56,59,58 and 54 of processor 2, to realize second processor 2 and manage the information mutual communication of platform 20.
It in the present invention, for the dismounting alarm method of ship terminal is sensed by being built in three axis magnetic of ship terminal
Three-axle magnetic field intensity of the device real-time measurement based on permanent magnet under the static constant orthogonal three-axis reference of hull, at described first
Reason device 1 measures during artificial settings and stores the three-axle magnetic field intensity, and passes through to the magnetic field strength of each axis
Following manner is filtered the magnetic field strength output valve for obtaining the axis, the specific steps are as follows:
Step 1: calculating the mean value of measured K magnetic field strength from a certain axis directionWith measurement variance MCn；
Step 2: estimate variance EC is calculated, formula is as follows:
ECn=(1-KGn-1)ECn-1+rand
Wherein, ECnFor this estimate variance, KGn-1For last kalman gain, ECn-1For last estimation
Variance, rand are random number；
Step 3: kalman gain KG is calculated, formula is as follows:
Wherein, KGnFor this kalman gain, ECnFor this estimate variance, MCnFor this measurement variance；
Step 4: estimated value EV is calculated, formula is as follows:
EVn=OVn-1+KGn(MVn-OVn-1)
Wherein, EVnFor this estimated value, OVn-1For the output valve of last time measurement, MVnFor this measured value；
Step 5: output valve is calculated, formula is as follows:
OVn=A*EVn+(1-A)*OVn-1
Wherein, OVnFor this magnetic field strength output valve, A is the filter factor of first-order filtering；
In initial calculation, the initial value of estimate variance EC is random number rand, and the specific value range of the random number is
The mean value of nearest K measured value10%；The initial value of estimated value EV and output valve OV are ship terminal initialization
Three-axle magnetic field intensity value.
Further, after above-mentioned filtering, such as continuously occur the defeated of any two axis within the period of artificial settings
The reference magnetic field intensity of above-mentioned two axis of the permanent magnet, then pass through long distance wireless when magnetic field strength is less than ship terminal initialization out
Communication modes, which issue, removes alarm, and specific alarm mode is that specific alarm mode is to wake up second by first processor 1
Processor 2, second processor 2 issue alarm signal of toppling to long-range by communication module 5.
The description of description above and embodiment is used to explain the present invention protection scope, but does not constitute and protect to the present invention
Protect the restriction of range.Through the invention or the enlightenment of above-described embodiment, those of ordinary skill in the art combine common knowledge, ability
The ordinary technical knowledge and/or the prior art in domain, it is available right by logical analysis, reasoning or limited test
Modification, equivalent replacement or the other improvements of the embodiment of the present invention or in which a part of technical characteristic, should be included in of the invention
Within protection scope.
Claims (3)
1. a kind of ship terminal removes warning system comprising management platform and be fixed in hull ship with being separated from each other are whole
End and permanent magnet；Sensing module, processing module and communication module are equipped in the ship terminal；The sensing module is based on
The opposite static orthogonal three-axis reference of hull measures the three-axle magnetic field intensity of the permanent magnet and forms three-axle magnetic field intensity letter
Breath is sent to processing module；The processing module carries out processing to three-axle magnetic field strength information and is meeting the item being manually set
Communication module is controlled when part issues dismounting warning information to management platform in a manner of long-distance radio communication.
2. a kind of dismounting alarm method for ship terminal, it is characterised in that: the ship terminal is fixed on hull, is separately had
One permanent magnet and ship terminal are fixed in hull with being separated from each other, and the magnetic sensor by being built in ship terminal is surveyed in real time
The three-axle magnetic field intensity based on permanent magnet under the static constant orthogonal three-axis reference of hull is measured, and filtering is calculated based on this
The output magnetic field strength of three axis, the output magnetic field strength for such as continuously occurring any two axis within the period of artificial settings are less than
The reference magnetic field intensity of above-mentioned two axis of the permanent magnet, then issued by long-distance radio communication mode and torn open when ship terminal initialization
Except alarm.
3. a kind of dismounting alarm method for ship terminal as claimed in claim 2, it is characterised in that: every artificial settings
During measure and three-axle magnetic field intensity that storage is described, and the magnetic field strength of each axis is filtered in the following manner
The magnetic field strength output valve of the axis out, the specific steps are as follows:
Step 1: calculating the mean value of measured K magnetic field strength from a certain axis directionWith measurement variance MCn；
Step 2: estimate variance EC is calculated, formula is as follows:
ECn=(1-KGn-1)ECn-1+rand
Wherein, ECnFor this estimate variance, KGn-1For last kalman gain, ECn-1For last estimate variance,
Rand is random number；
Step 3: kalman gain KG is calculated, formula is as follows:
Wherein, KGnFor this kalman gain, ECnFor this estimate variance, MCnFor this measurement variance；
Step 4: estimated value EV is calculated, formula is as follows:
EVn=OVn-1+KGn(MVn-OVn-1)
Wherein, EVnFor this estimated value, OVn-1For the output valve of last time measurement, MVnFor this measured value；
Step 5: output valve is calculated, formula is as follows:
OVn=A*EVn+(1-A)*OVn-1
Wherein, OVnFor this magnetic field strength output valve, A is the filter factor of first-order filtering；
In initial calculation, the initial value of estimate variance EC is random number rand, and the specific value range of the random number is nearest K
The mean value of a measured value10%；The initial value of estimated value EV and output valve OV are three axis magnetic of ship terminal initialization
Field intensity value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018109030513 | 2018-08-09 | ||
| CN201810903051 | 2018-08-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109164494A true CN109164494A (en) | 2019-01-08 |
| CN109164494B CN109164494B (en) | 2020-08-04 |
Family
ID=64876177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811278433.8A Active CN109164494B (en) | 2018-08-09 | 2018-10-30 | Ship terminal removal alarm method based on ship terminal removal alarm system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109164494B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704446A (en) * | 2008-08-04 | 2010-05-12 | 维扬斯科技公司 | Sensor system for a conveyor belt |
| CN201820343U (en) * | 2010-10-20 | 2011-05-04 | 悉雅特楼宇自控(杭州)有限公司 | Anti-dismantling detection device for alarm device |
| CN103093566A (en) * | 2013-01-08 | 2013-05-08 | 中国船舶重工集团公司第七一○研究所 | Article anti-thief alarm device based on magnetic testing |
| CN203780745U (en) * | 2014-01-16 | 2014-08-20 | 严凯 | Maritime search and rescue system |
| CN105551201A (en) * | 2015-12-07 | 2016-05-04 | 广东南方海岸科技服务有限公司 | Anti-dismounting shipborne electronic equipment and anti-dismounting method thereof |
| CN106227121A (en) * | 2016-07-05 | 2016-12-14 | 中电科（宁波）海洋电子研究院有限公司 | A kind of boat-carrying satellite positioning-terminal |
| CN206210034U (en) * | 2016-11-18 | 2017-05-31 | 浙江同博科技发展有限公司 | Ship position indicator Anti-dismantling alarm device |
| CN206819490U (en) * | 2017-04-28 | 2017-12-29 | 深圳市斑点猫信息技术有限公司 | Door sensor |
| CN207173916U (en) * | 2017-09-19 | 2018-04-03 | 李哲瀚 | A kind of boat-carrying monitoring device |
| CN207529502U (en) * | 2017-08-17 | 2018-06-22 | 上海普适导航科技股份有限公司 | Big Dipper Shipborne terminal |
-
2018
- 2018-10-30 CN CN201811278433.8A patent/CN109164494B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704446A (en) * | 2008-08-04 | 2010-05-12 | 维扬斯科技公司 | Sensor system for a conveyor belt |
| CN201820343U (en) * | 2010-10-20 | 2011-05-04 | 悉雅特楼宇自控(杭州)有限公司 | Anti-dismantling detection device for alarm device |
| CN103093566A (en) * | 2013-01-08 | 2013-05-08 | 中国船舶重工集团公司第七一○研究所 | Article anti-thief alarm device based on magnetic testing |
| CN203780745U (en) * | 2014-01-16 | 2014-08-20 | 严凯 | Maritime search and rescue system |
| CN105551201A (en) * | 2015-12-07 | 2016-05-04 | 广东南方海岸科技服务有限公司 | Anti-dismounting shipborne electronic equipment and anti-dismounting method thereof |
| CN106227121A (en) * | 2016-07-05 | 2016-12-14 | 中电科（宁波）海洋电子研究院有限公司 | A kind of boat-carrying satellite positioning-terminal |
| CN206210034U (en) * | 2016-11-18 | 2017-05-31 | 浙江同博科技发展有限公司 | Ship position indicator Anti-dismantling alarm device |
| CN206819490U (en) * | 2017-04-28 | 2017-12-29 | 深圳市斑点猫信息技术有限公司 | Door sensor |
| CN207529502U (en) * | 2017-08-17 | 2018-06-22 | 上海普适导航科技股份有限公司 | Big Dipper Shipborne terminal |
| CN207173916U (en) * | 2017-09-19 | 2018-04-03 | 李哲瀚 | A kind of boat-carrying monitoring device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109164494B (en) | 2020-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208383180U (en) | A kind of data collection system and unmanned vehicle based on unmanned plane performance monitoring | |
| CN108986433A (en) | A kind of alarm method that ship topples | |
| CN108416990B (en) | Vehicle carried pick device and judge the method that vehicle carried pick device is removed | |
| CN202379324U (en) | Intelligent container sensor | |
| CN208283809U (en) | A kind of small underwater robot kinetic control system | |
| CN112414393A (en) | Method and Device for Condition Monitoring of Boundary Pile Based on Multiple Sensors | |
| CN205958033U (en) | Take intelligent environmental monitoring system of temperature detection | |
| CN210893247U (en) | Geological disaster emergency monitoring system | |
| CN107356925A (en) | CAS before explosion-proof trackless rubber-tyre vehicle pouring type based on millimetre-wave radar | |
| CN109164494A (en) | A kind of ship terminal removes warning system and method | |
| CN2927070Y (en) | Self-adaptive and autonomous monitor based out indoor position | |
| CN206574213U (en) | It is super apart from security alerting system in a kind of traffic monitoring | |
| CN117647758A (en) | AUV propeller state monitoring system and method based on pre-detection | |
| CN206460588U (en) | One kind patrol sentry's security protection intelligent alarm device | |
| CN113865645B (en) | Offshore area ecological environment monitoring system and method | |
| CN203745886U (en) | Sandstone boat monitoring recorder | |
| CN206609584U (en) | The quick monitoring system of bridge load limit based on dynamic deflection | |
| CN206348066U (en) | A kind of three-dimensional amplitude monitoring device of bridge | |
| CN212061410U (en) | Low-power-consumption manhole cover abnormal movement detection system based on NB-iot | |
| CN203479827U (en) | Digital displacement sensor used for antitheft of transformer | |
| CN108225599A (en) | A kind of super capacitor temp detecting controller | |
| CN208672014U (en) | Integrated water quality supervision measurement equipment | |
| CN206388316U (en) | The Internet of Things netlist tool communicated based on 4G | |
| CN207457322U (en) | A kind of electric energy meter | |
| KR101315184B1 (en) | A terminal for remote detecting of the sea using mobile network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |