CN110166112A - A kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control - Google Patents
A kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control Download PDFInfo
- Publication number
- CN110166112A CN110166112A CN201910445696.1A CN201910445696A CN110166112A CN 110166112 A CN110166112 A CN 110166112A CN 201910445696 A CN201910445696 A CN 201910445696A CN 110166112 A CN110166112 A CN 110166112A
- Authority
- CN
- China
- Prior art keywords
- ground surface
- terminal
- airborne
- unmanned
- unmanned plane
- 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.)
- Pending
Links
- 230000009977 dual effect Effects 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 46
- 238000010295 mobile communication Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0668—Management of faults, events, alarms or notifications using network fault recovery by dynamic selection of recovery network elements, e.g. replacement by the most appropriate element after failure
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control, the airborne mobile network communication module in unmanned generator terminal is used to establish mobile communications network by base station and ground surface end；Airborne radio stadia terminal in unmanned generator terminal is used to establish radio-optical range link with ground surface end；Communication quality detection in unmanned generator terminal is used to first pass through airborne radio stadia terminal with channel selecting module and receives the planning of unmanned plane task time and path planning that ground surface end issues, and the status data of unmanned plane and collected data are sent to ground surface end；After airborne radio stadia terminal can not be communicated with ground surface end, the planning of unmanned plane task time and path planning that ground surface end issues are received by airborne mobile network communication module, and the status data of unmanned plane and collected data are sent to ground surface end.The present invention is by the working range of unmanned plane by the sighting distance coverage extension of single earth station to the stretching coverage area between Liang Ge earth station.
Description
Technical field
The present invention relates to a kind of Unmanned Aerial Vehicle Data links, in particular to are combined by radio-optical range and mobile communications network
The Unmanned Aerial Vehicle Data Link of the over the horizon dual station relay control of realization.
Background technique
Unmanned plane is using the not manned aircraft of radio robot and the presetting apparatus provided for oneself manipulation, military
It all achieves and is widely applied with civil field.Unmanned Aerial Vehicle Data Link is the logical of information transmission between unmanned plane and ground control cabinet
Road.Mobile communications network is the mobile communication system most widely used at present, cost is minimum, including GPRS, 3G, 4G and future 5G net
Network.Existing Unmanned Aerial Vehicle Data link mainly based on radio-optical range link, is easy when low latitude is applied by earth curvature system
It is about limited with terrain shading, it is difficult to realize long range, the wireless communication of over the horizon.Mobile communications network has preferable spreadability
And data transmission capabilities, but as data link, it manipulates reliability and real-time will be lower than radio-optical range link, and it is mobile logical
It is complementary that communication network and radio-optical range link are capable of forming good ability.
Summary of the invention
Goal of the invention of the invention is to provide a kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control, by wireless
TV away from combine to control unmanned plane with mobile communications network can be in strange land landing and with beyond-the-horizon communication ability
Unmanned Aerial Vehicle Data catenary system.
Goal of the invention of the invention is achieved through the following technical solutions:
A kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control, includes unmanned generator terminal and at least two ground surface ends, nothing
Man-machine end includes airborne radio stadia terminal, airborne mobile network communication module and communication quality detection and channel selecting mould
Block；
Airborne mobile network communication module is used to establish mobile communications network by base station and ground surface end；
Airborne radio stadia terminal is used to establish radio-optical range link with nearest ground surface end；
Communication quality detection receives ground surface end sending for first passing through airborne radio stadia terminal with channel selecting module
The planning of unmanned plane task time and path planning, and the status data of unmanned plane and collected data are sent to ground
End；After airborne radio stadia terminal can not be communicated with ground surface end, ground surface end is received by airborne mobile network communication module
The unmanned plane task time of sending plans and path planning, and is sent to ground for the status data of unmanned plane and collected data
Face end.
Preferably, the ability that there is detection to break and reconnect for airborne mobile communications network module.
Preferably, ground surface end includes ground control cabinet, terrestrial radio stadia terminal, Land-Mobile-Network communication module；
Land-Mobile-Network communication module is used to establish mobile radio communication by base station and other ground surface ends, unmanned generator terminal
Network；
Terrestrial radio stadia terminal is used to establish radio-optical range link with unmanned generator terminal；
Ground control cabinet is used to negotiate to formulate unmanned plane task by Land-Mobile-Network communication module and other ground surface ends
Time planning and path planning, the unmanned plane task time made planning and path planning is whole by terrestrial radio sighting distance
End, Land-Mobile-Network communication module are sent to unmanned generator terminal.
Preferably, ground control cabinet is also used to which ground determined by Land-Mobile-Network communication module and other ground surface ends
As master console, which is alternate console at face end；
Airborne mobile communications network module is first communicated with master console, after master console failure, with spare control
Platform communication.
The beneficial effects of the present invention are:
The data link that the present invention is combined by radio-optical range and mobile communications network is realized and respectively in the control of two places
Between platform processed relay control, by the working range of unmanned plane by single console sighting distance coverage extension to two control
Stretching coverage area between platform constructs strange land landing mode, significantly extends the application range of unmanned plane.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
Referring to Fig. 1, the present embodiment is related to a kind of Unmanned Aerial Vehicle Data catenary system of over the horizon dual station relay control, comprising several
A ground surface end and unmanned generator terminal.Wherein ground surface end can for any one of mobile phone, tablet computer, laptop computer and desktop computer or
Person is a variety of, in ground surface end comprising ground control cabinet, terrestrial radio stadia terminal, Land-Mobile-Network communication module and/or have
The line network port.Unmanned generator terminal includes airborne radio stadia terminal, airborne mobile network communication module and communication quality detection
With channel selecting module.
Land-Mobile-Network communication module and airborne mobile communications network module establish connection by base station and mobile network
Relationship, to establish the data transmission between Land-Mobile-Network communication module and airborne mobile communications network module.Ground is moved
Dynamic network communication module and airborne mobile communications network module also all have the function of detection broken string and reconnect, to cope with task
Signal interruption situation in the process.Land-Mobile-Network communication module in any two earth stations is also by base station and mobile network
Network establishes a connection, and realizes the data transmission between two Land-Mobile-Network communication modules.Mobile network can for GPRS,
Any one of 3G, 4G and future 5G network.
Terrestrial radio stadia terminal directly carries out data transmission with airborne radio stadia terminal.
Negotiate to formulate unmanned plane task time by Land-Mobile-Network communication module between any two ground control cabinets
Planning and path planning, and which ground control cabinet platform determination is by as master console, another is alternate console.Ground
The unmanned plane task time made planning and path planning are passed through terrestrial radio stadia terminal, ground moving by face console
Network communication module is sent to unmanned generator terminal.
Communication quality detection on unmanned plane passes through airborne radio stadia terminal with channel selecting module first and receives ground
The planning of unmanned plane task time and path planning that face end issues, and the status data of unmanned plane and collected data are sent
To ground surface end.When unmanned plane breaks down beyond radio-optical range range or airborne radio stadia terminal, communication quality inspection
It surveys and will detect that airborne radio stadia terminal can not communicate with channel selecting module, enable airborne mobile communications network mould
Block, the unmanned plane task time planning issued by airborne mobile communications network module preferential receipt master console and path planning,
And the status data of unmanned plane and collected data are sent to master console, when can not with master console carry out mobile network
When communication, then mobile network communication is carried out with spare master console.
After through the above configuration, unmanned plane first passes through airborne in takeoff phase, communication quality detection with channel selecting module
Radio-optical range terminal gets the planning of unmanned plane task time and path planning from nearest earth station, and is sent to subsequent mould
Block is taken off by subsequent module control unmanned plane, meanwhile, then the status data and nothing of unmanned plane that subsequent module is transmitted
The man-machine collected data of upper load cell are sent to earth station by airborne radio stadia terminal.
Unmanned plane is in flight course, after having exceeded the range of radio-optical range, communication quality detection and channel selecting mould
The planning of unmanned plane task time and path that block is then issued by airborne mobile communications network module preferential receipt master console are advised
It draws, and the status data of unmanned plane and collected data is sent to master console, when row mobile network can not be connect with main control
When network communicates, then mobile network communication is carried out with spare master console.When unmanned plane enters mobile network blind area and can not also make
When with radio-optical range, unmanned plane carries out autonomous flight according to earth station's planning path.
Unmanned plane is in landing phases, and communication quality detection is with channel selecting module by airborne radio stadia terminal from most
Close earth station is communicated, and landing operation is completed.Unmanned plane is in an emergency over the horizon range when needing to make a return voyage, and leads to
Letter quality testing is then communicated by airborne mobile communications network module with the earth station being closer with channel selecting module,
Realize landing.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (4)
- It include unmanned generator terminal and at least two ground surface ends 1. a kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control, nobody Generator terminal includes airborne radio stadia terminal, airborne mobile network communication module and communication quality detection and channel selecting module；Airborne mobile network communication module is used to establish mobile communications network by base station and ground surface end；Airborne radio stadia terminal is used to establish radio-optical range link with ground surface end；Communication quality detection is used to first pass through airborne radio stadia terminal with channel selecting module and receives nearest ground surface end hair The planning of unmanned plane task time and path planning out, and the status data of unmanned plane and collected data are sent to ground End；After airborne radio stadia terminal can not be communicated with ground surface end, ground surface end is received by airborne mobile network communication module The unmanned plane task time of sending plans and path planning, and is sent to ground for the status data of unmanned plane and collected data Face end.
- 2. a kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control according to claim 1, it is characterised in that airborne The ability that there is detection to break and reconnect for mobile communications network module.
- 3. a kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control according to claim 1, it is characterised in that described Ground surface end includes ground control cabinet, terrestrial radio stadia terminal, Land-Mobile-Network communication module；Land-Mobile-Network communication module is used to establish mobile communications network by base station and other ground surface ends, unmanned generator terminal；Terrestrial radio stadia terminal is used to establish radio-optical range link with unmanned generator terminal；Ground control cabinet is used to negotiate to formulate unmanned plane task time by Land-Mobile-Network communication module and other ground surface ends Planning and path planning, by the unmanned plane task time made planning and path planning by terrestrial radio stadia terminal, Land-Mobile-Network communication module is sent to unmanned generator terminal.
- 4. a kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control according to claim 3, it is characterised in that described Ground control cabinet is also used to determine which ground surface end as main control by Land-Mobile-Network communication module and other ground surface ends Platform, which is alternate console；Airborne mobile communications network module is first communicated with master console, logical with alternate console after master console failure Letter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910445696.1A CN110166112A (en) | 2019-05-27 | 2019-05-27 | A kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910445696.1A CN110166112A (en) | 2019-05-27 | 2019-05-27 | A kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110166112A true CN110166112A (en) | 2019-08-23 |
Family
ID=67629119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910445696.1A Pending CN110166112A (en) | 2019-05-27 | 2019-05-27 | A kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110166112A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110493249A (en) * | 2019-08-31 | 2019-11-22 | 天宇经纬（北京）科技有限公司 | Unmanned plane end load real-time control method and system based on multiple network switching |
| CN110798811A (en) * | 2019-10-16 | 2020-02-14 | 一飞智控(天津)科技有限公司 | Formation unmanned aerial vehicle communication mode, control method, passive relay information transmission method and application |
| CN114067548A (en) * | 2021-11-01 | 2022-02-18 | 中电华鸿科技有限公司 | Mutual backup dual-link communication method for rotor unmanned aerial vehicle |
| CN115173929A (en) * | 2022-07-21 | 2022-10-11 | 上海卫星工程研究所 | Satellite-ground high-speed data double-station relay transmission test method and system |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1571299A (en) * | 2004-04-28 | 2005-01-26 | 王海芳 | System and method for implementing aeronautical communication based on public mobile communication network |
| CN105052203A (en) * | 2014-02-10 | 2015-11-11 | 深圳市大疆创新科技有限公司 | Adaptive communication mode switching |
| CN105334863A (en) * | 2015-11-23 | 2016-02-17 | 杨珊珊 | Multi-control end unmanned aerial vehicle as well as consoles and control switching method thereof |
| US9274521B1 (en) * | 2015-02-02 | 2016-03-01 | Rockwell Collins, Inc. | Employing local, opportunistic automatic dependent surveillance-broadcast (ADS-B) information processed by an unmanned aerial vehicle ground control station to augment other source “knowledge” of local aircraft position information for improving situational awareness |
| CN105516604A (en) * | 2016-01-20 | 2016-04-20 | 陈昊 | Aerial video sharing method and system |
| CN105682158A (en) * | 2016-01-05 | 2016-06-15 | 陈昊 | Communication control method and apparatus for unmanned aerial vehicle |
| CN205427623U (en) * | 2015-11-23 | 2016-08-03 | 杨珊珊 | Unmanned aerial vehicle of many control ends and control cabinet and system thereof |
| CN106898162A (en) * | 2017-04-20 | 2017-06-27 | 高域（北京）智能科技研究院有限公司 | The aircraft flight spatial domain measures and procedures for the examination and approval, approval system and aircraft |
| CN107079365A (en) * | 2017-01-17 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Unmanned plane, remote control and its control method |
| CN107396426A (en) * | 2016-05-16 | 2017-11-24 | 天津航天中为数据***科技有限公司 | Airborne Terminal and corresponding data transmission system and transmission method for unmanned plane |
| US20180288713A1 (en) * | 2017-03-30 | 2018-10-04 | At&T Intellectual Property I, L.P. | Altitude based device management in a wireless communications system |
| CN108768494A (en) * | 2018-04-08 | 2018-11-06 | 天津航天中为数据***科技有限公司 | A kind of unmanned plane relay TT&C method |
| CN109450515A (en) * | 2018-12-10 | 2019-03-08 | 彩虹无人机科技有限公司 | A kind of large and medium-sized UAV Communication relay system |
-
2019
- 2019-05-27 CN CN201910445696.1A patent/CN110166112A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1571299A (en) * | 2004-04-28 | 2005-01-26 | 王海芳 | System and method for implementing aeronautical communication based on public mobile communication network |
| CN105052203A (en) * | 2014-02-10 | 2015-11-11 | 深圳市大疆创新科技有限公司 | Adaptive communication mode switching |
| US9274521B1 (en) * | 2015-02-02 | 2016-03-01 | Rockwell Collins, Inc. | Employing local, opportunistic automatic dependent surveillance-broadcast (ADS-B) information processed by an unmanned aerial vehicle ground control station to augment other source “knowledge” of local aircraft position information for improving situational awareness |
| CN205427623U (en) * | 2015-11-23 | 2016-08-03 | 杨珊珊 | Unmanned aerial vehicle of many control ends and control cabinet and system thereof |
| CN105334863A (en) * | 2015-11-23 | 2016-02-17 | 杨珊珊 | Multi-control end unmanned aerial vehicle as well as consoles and control switching method thereof |
| CN105682158A (en) * | 2016-01-05 | 2016-06-15 | 陈昊 | Communication control method and apparatus for unmanned aerial vehicle |
| CN105516604A (en) * | 2016-01-20 | 2016-04-20 | 陈昊 | Aerial video sharing method and system |
| CN107396426A (en) * | 2016-05-16 | 2017-11-24 | 天津航天中为数据***科技有限公司 | Airborne Terminal and corresponding data transmission system and transmission method for unmanned plane |
| CN107079365A (en) * | 2017-01-17 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Unmanned plane, remote control and its control method |
| US20180288713A1 (en) * | 2017-03-30 | 2018-10-04 | At&T Intellectual Property I, L.P. | Altitude based device management in a wireless communications system |
| CN106898162A (en) * | 2017-04-20 | 2017-06-27 | 高域（北京）智能科技研究院有限公司 | The aircraft flight spatial domain measures and procedures for the examination and approval, approval system and aircraft |
| CN108768494A (en) * | 2018-04-08 | 2018-11-06 | 天津航天中为数据***科技有限公司 | A kind of unmanned plane relay TT&C method |
| CN109450515A (en) * | 2018-12-10 | 2019-03-08 | 彩虹无人机科技有限公司 | A kind of large and medium-sized UAV Communication relay system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110493249A (en) * | 2019-08-31 | 2019-11-22 | 天宇经纬（北京）科技有限公司 | Unmanned plane end load real-time control method and system based on multiple network switching |
| CN110493249B (en) * | 2019-08-31 | 2022-02-15 | 天宇经纬（北京）科技有限公司 | Unmanned aerial vehicle terminal load real-time control method and system based on various network switching |
| CN110798811A (en) * | 2019-10-16 | 2020-02-14 | 一飞智控(天津)科技有限公司 | Formation unmanned aerial vehicle communication mode, control method, passive relay information transmission method and application |
| CN110798811B (en) * | 2019-10-16 | 2021-12-21 | 一飞智控(天津)科技有限公司 | Formation unmanned aerial vehicle communication mode, control method, passive relay information transmission method and application |
| CN114067548A (en) * | 2021-11-01 | 2022-02-18 | 中电华鸿科技有限公司 | Mutual backup dual-link communication method for rotor unmanned aerial vehicle |
| CN115173929A (en) * | 2022-07-21 | 2022-10-11 | 上海卫星工程研究所 | Satellite-ground high-speed data double-station relay transmission test method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11804895B2 (en) | Multiple modem communication system and method for a mobile platform | |
| CN103873133B (en) | A kind of communication and navigation monitoring system based on multimode data link | |
| CN100466014C (en) | System for monitoring moving target on place of aerodrome | |
| CN102938670B (en) | Ground-air broadband wireless communication system and method for airplane | |
| CN110364031A (en) | The path planning and wireless communications method of unmanned plane cluster in ground sensors network | |
| CN110166112A (en) | A kind of Unmanned Aerial Vehicle Data Link of over the horizon dual station relay control | |
| CN103592948B (en) | Unmanned plane flight collision avoidance method | |
| CN205121341U (en) | Unmanned aerial vehicle ground command system | |
| CN106027138A (en) | Ground station system and method for avoiding collinear interference with geostationary satellite | |
| EP3258619B1 (en) | Airbourne cellular communication system | |
| Shan et al. | Machine learning-based field data analysis and modeling for drone communications | |
| CN104865939A (en) | Ground monitoring device, method and system | |
| CN101819711A (en) | 3G/4G communication technology-based remotely piloted system | |
| CN113380074B (en) | Navigation low-altitude monitoring system and method | |
| CN110550212A (en) | air-ground cooperative unmanned system | |
| CN204013537U (en) | A kind of communication and navigation surveillance based on multimode data link | |
| CN112885153A (en) | General aviation safety monitoring system based on multi-network integration | |
| Hovstein et al. | Experiences with coastal and maritime UAS BLOS operation with phased-array antenna digital payload data link | |
| CN204557199U (en) | A kind of surface-monitoring equipment and system | |
| CN106843252A (en) | Unmanned plane and unmanned aerial vehicle (UAV) control method | |
| CN106411388A (en) | Unmanned aerial vehicle information transmission system based on FPGA | |
| CN210168041U (en) | Parallel data chain system of airplane | |
| CN2532511Y (en) | Real-time natural-imitated monitor system | |
| CN113903192B (en) | Centralized command control system and method for unmanned aerial vehicle | |
| Kerczewski et al. | AeroMACS system characterization and demonstrations |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190823 |
|
| WD01 | Invention patent application deemed withdrawn after publication |