CN106643291B - A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method - Google Patents

A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method Download PDF

Info

Publication number
CN106643291B
CN106643291B CN201611217981.0A CN201611217981A CN106643291B CN 106643291 B CN106643291 B CN 106643291B CN 201611217981 A CN201611217981 A CN 201611217981A CN 106643291 B CN106643291 B CN 106643291B
Authority
CN
China
Prior art keywords
vehicle
mesh
equipment
trajectory
target
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
Application number
CN201611217981.0A
Other languages
Chinese (zh)
Other versions
CN106643291A (en
Inventor
史涛瑜
申研
刘亮
刘海平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Machinery Equipment Research Institute
Original Assignee
Beijing Machinery Equipment Research Institute
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 Beijing Machinery Equipment Research Institute filed Critical Beijing Machinery Equipment Research Institute
Priority to CN201611217981.0A priority Critical patent/CN106643291B/en
Publication of CN106643291A publication Critical patent/CN106643291A/en
Application granted granted Critical
Publication of CN106643291B publication Critical patent/CN106643291B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
    • F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/06—Elevating or traversing control systems for guns using electric means for remote control

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

Drop a bomb formula Rescue Kits delivering method the invention discloses a kind of distant-range high-precision, the present invention uses detecting devices（4）Accurate measurement target position information；Meanwhile vehicle is planned by rigid body trajectory, drag parachute trajectory in high precision（1）Flight path, realizes accurate deliver；Using the formula vehicle that drops a bomb（1）Mode, significantly improves delivery distance.

Description

A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method
Technical field
The present invention relates to a kind of Rescue Kits delivering method, a kind of particularly distant-range high-precision drops a bomb the throwing of formula Rescue Kits Delivery method.
Background technology
Rescue Kits reach rescue site and detecting field condition, delivery Rescue Kits, assistance indicator of trapped personnel are fled from as early as possible Stranded scene is of great significance.At this stage, Rescue Kits delivering method step is：Using the aiming mode of range estimation, adjustment is thrown Send the initial angle of device；Using compressed gas as launch power, the Rescue Kits such as rope or life vest are cast；Rescue Kits Landing, delivers task and completes.Above-mentioned work step main problem is that range estimation pointing accuracy is relatively low, lacks the accurate of projectile trajectory Planning, cast be short of power cause to deliver it is closer to the distance etc..Have no chance for the indicator of trapped personnel of the appearance such as natural calamity in isolated Hazardous environment situation, lack the Rescue Kits delivering method of efficiently and accurately.
The content of the invention
Drop a bomb formula Rescue Kits delivering method it is an object of the invention to provide a kind of distant-range high-precision, solve to deliver away from From it is near, deliver the problem of low precision.
A kind of distant-range high-precision drops a bomb the concretely comprising the following steps of formula Rescue Kits delivering method：
The first step builds distant-range high-precision and drops a bomb formula Rescue Kits delivery system
Distant-range high-precision drops a bomb formula Rescue Kits delivery system, including：Detecting devices, launching rotary tower, launching control equipment, refer to Control equipment, power supplying and distributing equipment and vehicle.
Rescue Kits are placed in vehicle.The power supply output terminal of power supplying and distributing equipment respectively with launching rotary tower, launching control equipment, Detecting devices is connected with the energization input for accusing equipment, and the power supply output terminal of launching control equipment and the energization input of vehicle connect Connect.Launching control equipment is bi-directionally connected with launching rotary tower, charge equipment, detecting devices and vehicle by communication bus respectively, is accused Equipment is bi-directionally connected with detecting devices by communication bus.
3rd pacing amount target location
Power supplying and distributing equipment drops a bomb the power supply of formula Rescue Kits delivery system to distant-range high-precision, and distant-range high-precision drops a bomb formula After the power-up of Rescue Kits delivery system, self-test is carried out, possesses Rescue Kits after the completion of self-test and delivers condition.
Accuse that equipment control detecting devices scans for target delivery service area, after finding target, accuse equipment locking mesh The distance of target, angular position information are sent to launching control equipment by mark, detecting devices in real time.
Measurement data of the launching control equipment according to target, completes target location and resolves：
XMesh=SMesh×cosαMesh×cosβMesh (1)
YMesh=SMesh×sinαMesh (2)
ZMesh=SMesh×cosαMesh×sinβMesh (3)
Wherein, XMeshFor target along before launching rotary tower center to distance；YMeshFor the difference in height at target range launching rotary tower center； ZMeshIt is target along launching rotary tower center lateral distance；SMeshFor target oblique distance；αMeshFor target pitch angle.βMeshFor azimuth of target.
4th step plans vehicle flight path
To distance X before launching control equipment foundation targetMesh, object height YMeshWith lateral distance ZMeshIt is whole as vehicle trajectory Point, plans vehicle trajectory.Vehicle trajectory is made of rigid body trajectory and drag parachute trajectory two parts.
Rigid body trajectory is as follows：
Wherein, t represents the flight time, and m is vehicle quality, and V is vehicle barycenter relative to the speed on ground, FX、FY、 FZAerodynamic force that vehicle produces is represented along vehicle X, Y, the component of Z-direction, g is acceleration of gravity, θ, ψvTrajectory is represented respectively Inclination angle, trajectory deflection angle, Jy、JzRepresent vehicle around the rotary inertia of itself y-axis, z-axis, ω respectivelyy、ωzYaw angle is represented respectively Speed, rate of pitch, My、MzYawing, pitching moment that body produces are represented respectively, and x, y, z represents vehicle barycenter position Put coordinate,ψ, γ represent pitch angle, yaw angle, roll angle respectively, and p represents atmospheric pressure, RdFor dry air gas constant, τ For virtual temperature.
When determining any flight moment t by formula (4), the locus of vehicle.To drogue parachute deploy(ment) moment tUmbrella, really Determine vehicle X, Y, the position X of Z-directionUmbrella、YUmbrella、ZUmbrella, and will at this time each state parameter of vehicle as drag parachute trajectory initial value.
Trajectory is as follows after vehicle opens drag parachute：
Wherein, FExT、FEyT、FEzTIt is aerodynamic force vehicle X, Y, the component of Z-direction that drag parachute produces body, MEy、 MEzYawing, the pitching moment that drag parachute produces body are represented respectively.
When determining any flight moment t by formula (5), the locus of vehicle.As vehicle location XFortune=XMeshWhen, Carry out following judgement：
Wherein ε is predetermined outer trajectory iteration error.XFortuneFor the forward direction distance of vehicle.
When meeting formula (6), vehicle ballistic solution is completed, and obtains θFortune、ψV is transportedAs launching rotary tower transmitting pitch angle and Azimuth firing angle.
Launching control equipment will launch pitching angle thetaFortune, azimuth firing angle ψV is transportedIt is sent to launching rotary tower.Launching rotary tower is turned in place.
5th step launch vehicle
Accuse that equipment assigns firing order, launching control equipment output ignition signal, vehicle igniting transmitting.
6th step vehicle discharges Rescue Kits automatically
Vehicle is landed after flying to target location according to predetermined ballistic flight, and automatic by delay mechanism of opening the cabin Open, discharge the Rescue Kits of inside, complete accurate delivery task.
So far, complete distant-range high-precision drop a bomb formula Rescue Kits delivery.
The present invention accurately measures target position information using detecting devices；It is meanwhile high by rigid body trajectory, drag parachute trajectory Precision plans vehicle flight path, realizes accurate deliver；Using formula vehicle mode of dropping a bomb, delivery distance is significantly improved.
Brief description of the drawings
The distant-range high-precision that a kind of distant-range high-precisions of Fig. 1 drop a bomb described in formula Rescue Kits delivering method drop a bomb formula rescue Equipment delivery system schematic diagram.
1. 4. detecting devices of vehicle 2. launching rotary tower, 3. launching control equipment, 5. power supplying and distributing equipment 6. accuses equipment
Embodiment
A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method, it is concretely comprised the following steps：
The first step builds distant-range high-precision and drops a bomb formula Rescue Kits delivery system
Distant-range high-precision drops a bomb formula Rescue Kits delivery system, including：Detecting devices 4, launching rotary tower 2, launching control equipment 3rd, equipment 6, power supplying and distributing equipment 5 and vehicle 1 are accused.
Rescue Kits are placed in vehicle 1.The power supply output terminal of power supplying and distributing equipment 5 is set with launching rotary tower 2, hair control respectively Standby 3, detecting devices 4 is connected with the energization input for accusing equipment 6, the power supply of the power supply output terminal and vehicle 1 of launching control equipment 3 Input terminal connects.Launching control equipment 3 passes through communication bus with launching rotary tower 2, charge equipment 6, detecting devices 4 and vehicle 1 respectively It is bi-directionally connected, accuses that equipment 6 is bi-directionally connected with detecting devices 4 by communication bus.
3rd pacing amount target location
Power supplying and distributing equipment 5 drops a bomb the power supply of formula Rescue Kits delivery system to distant-range high-precision, and distant-range high-precision drops a bomb After the power-up of formula Rescue Kits delivery system, self-test is carried out, possesses Rescue Kits after the completion of self-test and delivers condition.
Accuse that equipment 6 controls detecting devices 4 to scan for target delivery service area, after finding target, accuse that equipment 6 locks The distance of target, angular position information are sent to launching control equipment 3 by target, detecting devices 4 in real time.
Measurement data of the launching control equipment 3 according to target, completes target location and resolves：
XMesh=SMesh×cosαMesh×cosβMesh (1)
YMesh=SMesh×sinαMesh (2)
ZMesh=SMesh×cosαMesh×sinβMesh (3)
Wherein, XMeshFor target along before 2 center of launching rotary tower to distance；YMeshFor the height at 2 center of target range launching rotary tower Difference；ZMeshIt is target along 2 center lateral distance of launching rotary tower；SMeshFor target oblique distance；αMeshFor target pitch angle.βMeshFor target bearing Angle.
4th step plans 1 flight path of vehicle
Launching control equipment 3 according to before target to distance XMesh, object height YMeshWith lateral distance ZMeshAs 1 trajectory of vehicle Terminal, plans 1 trajectory of vehicle.1 trajectory of vehicle is made of rigid body trajectory and drag parachute trajectory two parts.
Rigid body trajectory is as follows：
Wherein, t represents the flight time, and m is 1 mass of vehicle, and V is 1 barycenter of vehicle relative to the speed on ground, FX、 FY、FZAerodynamic force that vehicle 1 produces is represented along vehicle 1X, Y, the component of Z-direction, g is acceleration of gravity, θ, ψvTable respectively Show trajectory tilt angle, trajectory deflection angle, Jy、JzRepresent vehicle 1 around the rotary inertia of itself y-axis, z-axis, ω respectivelyy、ωzTable respectively Show yaw rate, rate of pitch, My、MzYawing, pitching moment that body produces are represented respectively, and x, y, z represents delivery 1 centroid position coordinate of device,ψ, γ represent pitch angle, yaw angle, roll angle respectively, and p represents atmospheric pressure, RdFor dry air gas Body constant, τ are virtual temperature.
When determining any flight moment t by formula (4), the locus of vehicle 1.To drogue parachute deploy(ment) moment tUmbrella, Determine vehicle 1X, Y, the position X of Z-directionUmbrella、YUmbrella、ZUmbrella, and will at this time 1 each state parameter of vehicle as at the beginning of drag parachute trajectory Initial value.
Trajectory is as follows after vehicle 1 opens drag parachute：
Wherein, FExT、FEyT、FEzTIt is aerodynamic force vehicle 1X, Y, the component of Z-direction that drag parachute produces body, MEy、 MEzYawing, the pitching moment that drag parachute produces body are represented respectively.
When determining any flight moment t by formula (5), the locus of vehicle 1.As 1 position X of vehicleFortune=XMesh When, carry out following judgement：
Wherein ε is predetermined outer trajectory iteration error.XFortuneFor the forward direction distance of vehicle 1.
When meeting formula (6), 1 ballistic solution of vehicle is completed, and obtains θFortune、ψV is transportedLaunch pitch angle as launching rotary tower 2 And azimuth firing angle.
Launching control equipment 3 will launch pitching angle thetaFortune, azimuth firing angle ψV is transportedIt is sent to launching rotary tower 2.Launching rotary tower 2 is turned Position.
5th step launch vehicle 1
Accuse that equipment 6 assigns firing order, launching control equipment 3 exports ignition signal, the igniting transmitting of vehicle 1.
6th step vehicle 1 discharges Rescue Kits automatically
Vehicle 1 is landed after flying to target location according to predetermined ballistic flight, and automatic by delay mechanism of opening the cabin Open, discharge the Rescue Kits of inside, complete accurate delivery task.
So far, complete distant-range high-precision drop a bomb formula Rescue Kits delivery.

Claims (1)

  1. The formula Rescue Kits delivering method 1. a kind of distant-range high-precision drops a bomb, it is characterised in that this method concretely comprises the following steps：
    The first step builds distant-range high-precision and drops a bomb formula Rescue Kits delivery system
    Distant-range high-precision drops a bomb formula Rescue Kits delivery system, including：Detecting devices (4), launching rotary tower (2), launching control equipment (3), equipment (6), power supplying and distributing equipment (5) and vehicle (1) are accused；
    Rescue Kits are placed in vehicle (1)；The power supply output terminal of power supplying and distributing equipment (5) is controlled with launching rotary tower (2), hair respectively Equipment (3), detecting devices (4) are connected with the energization input for accusing equipment (6), power supply output terminal and the fortune of launching control equipment (3) Carry the energization input connection of device (1)；Launching control equipment (3) respectively with launching rotary tower (2), accuse equipment (6), detecting devices (4) It is bi-directionally connected with vehicle (1) by communication bus, accuses that equipment (6) is bi-directionally connected with detecting devices (4) by communication bus；
    Second step measures target location
    Power supplying and distributing equipment (5) drops a bomb the power supply of formula Rescue Kits delivery system to distant-range high-precision, and distant-range high-precision drops a bomb formula After the power-up of Rescue Kits delivery system, self-test is carried out, possesses Rescue Kits after the completion of self-test and delivers condition；
    Accuse that equipment (6) control detecting devices (4) scans for target delivery service area, after finding target, accuse equipment (6) lock Set the goal, the distance of target, angular position information are sent to launching control equipment (3) by detecting devices (4) in real time；
    Measurement data of the launching control equipment (3) according to target, completes target location and resolves：
    XMesh=SMesh×cosαMesh×cosβMesh (1)
    YMesh=SMesh×sinαMesh (2)
    ZMesh=SMesh×cosαMesh×sinβMesh (3)
    Wherein, XMeshFor target along before launching rotary tower (2) center to distance；YMeshFor the height at target range launching rotary tower (2) center Difference；ZMeshIt is target along launching rotary tower (2) center lateral distance；SMeshFor target oblique distance；αMeshFor target pitch angle；βMeshFor target bearing Angle；
    3rd step plans vehicle (1) flight path
    To distance X before launching control equipment (3) foundation targetMesh, object height YMeshWith lateral distance ZMeshAs vehicle (1) trajectory Terminal, plans vehicle (1) trajectory；Vehicle (1) trajectory is by rigid body trajectory and drag parachute trajectory two parts structure Into；
    Rigid body trajectory is as follows：
    Wherein, t represents the flight time, and m is vehicle (1) quality, and V is vehicle (1) barycenter relative to the speed on ground, FX、 FY、FZAerodynamic force that vehicle (1) produces is represented along vehicle (1) X, Y, the component of Z-direction, g is acceleration of gravity, θ, ψvPoint Not Biao Shi trajectory tilt angle, trajectory deflection angle, Jy、JzRepresent vehicle (1) around the rotary inertia of itself y-axis, z-axis, ω respectivelyy、ωz Yaw rate, rate of pitch, M are represented respectivelyy、MzYawing, pitching moment that body produces, x, y, z table are represented respectively Show vehicle (1) centroid position coordinate,ψ, γ represent pitch angle, yaw angle, roll angle respectively, and p represents atmospheric pressure, RdFor Dry air gas constant, τ are virtual temperature；
    When determining any flight moment t by formula (4), the locus of vehicle (1)；To drogue parachute deploy(ment) moment tUmbrella, really Determine vehicle (1) X, Y, the position X of Z-directionUmbrella、YUmbrella、ZUmbrella, and will at this time vehicle (1) each state parameter as drag parachute trajectory Initial value；
    Trajectory is as follows after vehicle (1) opens drag parachute：
    Wherein, FExT、FEyT、FEzTIt is aerodynamic force vehicle (1) X, Y, the component of Z-direction that drag parachute produces body, MEy、MEz Yawing, the pitching moment that drag parachute produces body are represented respectively；
    When determining any flight moment t by formula (5), the locus of vehicle (1)；As vehicle (1) position XFortune=XMesh When, carry out following judgement：
    Wherein ε is predetermined outer trajectory iteration error；XFortuneFor the forward direction distance of vehicle (1)；
    When meeting formula (6), vehicle (1) ballistic solution is completed, and obtains θFortune、ψV is transportedLaunch pitch angle as launching rotary tower (2) And azimuth firing angle；
    Launching control equipment (3) will launch pitching angle thetaFortune, azimuth firing angle ψV is transportedIt is sent to launching rotary tower (2)；Launching rotary tower (2) is turned Position；
    4th step launch vehicle (1)
    Accuse that equipment (6) assigns firing order, launching control equipment (3) output ignition signal, vehicle (1) igniting transmitting；
    5th step vehicle (1) discharges Rescue Kits automatically
    Vehicle (1) is landed after flying to target location according to predetermined ballistic flight, and is beaten automatically by delay mechanism of opening the cabin Open, discharge the Rescue Kits of inside, complete accurate delivery task；
    So far, complete distant-range high-precision drop a bomb formula Rescue Kits delivery.
CN201611217981.0A 2016-12-26 2016-12-26 A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method Active CN106643291B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611217981.0A CN106643291B (en) 2016-12-26 2016-12-26 A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611217981.0A CN106643291B (en) 2016-12-26 2016-12-26 A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method

Publications (2)

Publication Number Publication Date
CN106643291A CN106643291A (en) 2017-05-10
CN106643291B true CN106643291B (en) 2018-04-13

Family

ID=58827428

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611217981.0A Active CN106643291B (en) 2016-12-26 2016-12-26 A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method

Country Status (1)

Country Link
CN (1) CN106643291B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101982720A (en) * 2010-09-29 2011-03-02 北京机械设备研究所 Interception method of low-altitude low-velocity small targets
CN102087082A (en) * 2010-11-22 2011-06-08 北京机械设备研究所 Firing table fitting-based low-altitude low-speed small object intercepting method
CN102914217A (en) * 2012-10-17 2013-02-06 北京机械设备研究所 Method for shooting fire-extinguishing bullet for high-rise building fire-extinguishing system
CN104154818A (en) * 2014-07-25 2014-11-19 北京机械设备研究所 Non-control bullet firing angle determining method
CN105867426A (en) * 2016-04-11 2016-08-17 西北工业大学 Airplane automatic airdropped material guiding method for aiming at movable object

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140091843A (en) * 2013-01-14 2014-07-23 류지윤 Objective point calculation using position data received from GPS contained in a military artillery projectile

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101982720A (en) * 2010-09-29 2011-03-02 北京机械设备研究所 Interception method of low-altitude low-velocity small targets
CN102087082A (en) * 2010-11-22 2011-06-08 北京机械设备研究所 Firing table fitting-based low-altitude low-speed small object intercepting method
CN102914217A (en) * 2012-10-17 2013-02-06 北京机械设备研究所 Method for shooting fire-extinguishing bullet for high-rise building fire-extinguishing system
CN104154818A (en) * 2014-07-25 2014-11-19 北京机械设备研究所 Non-control bullet firing angle determining method
CN105867426A (en) * 2016-04-11 2016-08-17 西北工业大学 Airplane automatic airdropped material guiding method for aiming at movable object

Also Published As

Publication number Publication date
CN106643291A (en) 2017-05-10

Similar Documents

Publication Publication Date Title
JP6542294B2 (en) Multi-mode unmanned aerial vehicle
US7766274B1 (en) Active maple seed flyer
US9952022B2 (en) Modularized armor structure with unmanned aerial vehicle loaded and armored vehicle using the same
US8165731B2 (en) System for aerial delivery of fire retardant
EP2163844B1 (en) Vehicle for aerial delivery of fire retardant
US9725172B2 (en) Surveillance system
AU2017369210B2 (en) Missile for intercepting alien drones
US6481666B2 (en) Method and system for guiding submunitions
US11542002B1 (en) Unmanned aerial vehicle and control systems and methods
WO2023070787A1 (en) Airdrop forest fire extinguishing bomb
US20230106432A1 (en) Unmanned system maneuver controller systems and methods
WO2017132304A1 (en) Vehicles and systems for weather modification
CN109436329A (en) A kind of small drone precisely emits the device and method of relief supplies in the air
CN108619641A (en) A kind of fire extinguishing system and method for Vertical Launch guidance firefighting cartridge
WO2020222250A1 (en) Modified re-entry vehicle design with dynamic trajectory glide control system
CN106643291B (en) A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method
CN103471472B (en) A kind ofly launch the aerial anti-terrorism device that microrocket advances extraordinary bullet
US10371495B2 (en) Reaction control system
CN208802149U (en) Deflectable transmitting ammunition unmanned plane and UAV system
KR102296963B1 (en) Target drive System and method using Reusable flight testing target
CN114153226B (en) Unmanned aerial vehicle view field keeping and guiding method and system assisted by dynamic sight line information
US20230031950A1 (en) A glide bomb and methods of use thereof
TWI688519B (en) Fixed-wing aeroplane take-off system and method thereof
CN218515076U (en) Air bubble agricultural plant protection system based on unmanned vehicle
Roberts et al. DEVELOPMENT, TEST AND INTEGRATION OF THE AGM-1 14 HELLFIRE MISSILE SYSTEM AND FLIR/LASER ON THE H-60 AIRCRAFT

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