CN205540230U - Remote control device of coal -winning machine - Google Patents
Remote control device of coal -winning machine Download PDFInfo
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- CN205540230U CN205540230U CN201620161374.6U CN201620161374U CN205540230U CN 205540230 U CN205540230 U CN 205540230U CN 201620161374 U CN201620161374 U CN 201620161374U CN 205540230 U CN205540230 U CN 205540230U
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- coal
- winning machine
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model relates to a remote control device of coal -winning machine, it includes the coal -winning machine, operating condition transmission to the machine of coal -winning machine carries control system and carries the image acquisition system with the machine, the machine carries control system and transmits received operating condition information to signal converter through the zigBee wireless communication transmission module, the machine carries the image acquisition system and transmits operating condition image information to signal converter through the wiFi wireless communication transmission module, signal converter will receive signal conversion and become the signal of telecommunication after the wire transmission media transmits respectively to ground -control center and coal -winning machine simulator, ground -control center carries out the information interaction through internet network module and cloud ware, the cloud ware carries out the information interaction through internet network module with remote control terminal, ground -control center transmits remote terminal transmission control signal extremely to signal converter through the wire transmission media, converts control signal to radio signal and transmits to the coal -winning machine work of control coal -winning machine after a control system is carried with the machine to the zigBee wireless communication transmission module.
Description
Technical field
This utility model relates to a kind of coal-winning machine and controls device, especially with regard to a kind of coal-winning machine based on Internet of Things
Remote control.
Background technology
At present, coal-winning machine is one of visual plant realizing coal production mechanization and modernization.Mechanical coal mining
Physical work can be alleviated, improve safety, reach high yield, high efficiency, low consumed purpose.Present
Coal-winning machine is operated, is mainly entered by manual operation, the i.e. control panel by being arranged on coal-winning machine fuselage
Row operation or staff use wireless network to realize the long-range control of the down-hole to coal-winning machine in down-hole.
Due to underground work bad environments, and there is a lot of potential safety hazard, such as dust, Gas Outburst, gas and coal dust
The disasters such as blast, roof accident, constitute safely the biggest threat to the life and health of workman.Realize adopting
The remotely control of coal machine is the focus of current international mining circle research.Many countries, the such as U.S. and Australia
Coal enterprise go before in this respect, China's technology in this respect is the most backward, current existing far
Journey remote control is mostly in down-hole, and a lot of the most remotely control the most simply achieves the work to coal-winning machine
Make a kind of monitoring of environment and state, and be not carried out the control to it.Although it addition, some of Present Domestic
Colliery has been realized in the long-range monitoring to silo shearer, but mostly also exist that structure is complicated, cost is high, can
By defects such as property and hommization are low, and can't realize by the equipment such as personal hand-held mobile monitoring terminal at any time with
Ground remotely monitors the duty of coal-winning machine.
Summary of the invention
For the problems referred to above, the purpose of this utility model is to provide the remote control of a kind of coal-winning machine, its profit
Even any one mobile terminal or a network terminal long-range control to coal-winning machine on ground is realized with Internet of Things
System, thus realize whenever and wherever possible to a monitoring of the duty of coal-winning machine with control.
For achieving the above object, this utility model takes techniques below scheme: a kind of coal-winning machine remotely control dress
Put, it is characterised in that: it includes being arranged on the coal-winning machine of down-hole, aircraft mounted control system, onboard image acquisition system
System, ZigBee wireless communication transmissions module, WiFi wireless communication transmissions module and signal adapter, wire transmission
Medium, and it is arranged on aboveground ground control centre, coal-winning machine simulator, Internet network module, cloud
Server and remote control terminal；Wireless communication transmissions module it is provided with, in described coal-winning machine on described coal-winning machine
The duty of each parts is adopted through this wireless communication transmissions module transfer to described aircraft mounted control system and onboard image
Collecting system；Described aircraft mounted control system by described coal-winning machine each component working status information of receiving through described
In ZigBee wireless communication transmissions module transfer extremely described signal adapter；Described onboard image acquisition system is by institute
State coal-winning machine each component working state image information through described WiFi wireless communication transmissions module transfer to described signal
Transducer；Described signal adapter will receive after signal is converted into the signal of telecommunication to be distinguished through described wire transmission media
Transmission is to described ground control centre and coal-winning machine simulator；Described ground control centre is through described Internet
It is mutual that network module and described Cloud Server carry out information；Described Cloud Server through described Internet network module with
It is mutual that described remote control terminal carries out information；Described remote control terminal is transmitted extremely by described ground control centre
Control signal through the transmission of described wire transmission media to described signal adapter, control signal is converted into wireless
Transmit to described coal-winning machine through described ZigBee wireless communication transmissions module and aircraft mounted control system after signal, control
Described coal-winning machine works.
Further, described aircraft mounted control system includes cut part, running gear, blowing portion and assisted parts
Point, this four part is connected with described signal adapter through described ZigBee wireless communication transmissions module respectively.
Further, described ground control centre is provided with human-computer interaction interface.
Further, described coal-winning machine simulator includes switch that band shows, on off state detection module, display control
Relay processed, emulator controller, communication module, control lever, 3-axis acceleration sensor, display control
Device, display screen and 3DVR output module；The switch that described band shows is through described on off state detection module, display
Control relay be connected with described emulator controller, described emulator controller through described communication module with described
It is mutual that signal adapter and described ground control centre carry out information；Described control lever is added by described three axles
Velocity sensor is by lever positional information transmission to described emulator controller, and described analog controller is through described logical
Lever positional information is transmitted separately to described ground control centre and signal adapter by news module respectively；Described mould
Plan device controller transmits video frequency output mode extremely according to described display controller and video information is directly transferred to institute
State display screen to show, or video information is carried out 3D through the transmission of described 3DVR output module to described display screen
Virtual video shows.
Further, described remote control terminal uses mobile phone, computer or panel computer.
This utility model is owing to taking above technical scheme, and it has the advantage that 1, of the present utility model airborne
Control system by the work state information of coal-winning machine that collects through ZigBee wireless communication transmissions module transmission, and
Be converted into the signal of telecommunication through signal adapter and send wire transmission media to, by the image information that collects through WiFi without
Line communications module wireless network transmission, and be converted into the signal of telecommunication through signal adapter and send wire transmission to
Medium, wire transmission media sends these states and image information to ground control centre, it is possible to achieve on ground
In the face of monitoring and the operation of coal-winning machine control；Ground control centre connects Internet network module, by coal-winning machine
Real time status information send Cloud Server to, so any one is connected with Cloud Server through Internet network
Strange land terminal unit can receive the real time status information of coal-winning machine whenever and wherever possible.2, this utility model is far
Control information is sent to ground control centre, ground control centre through Internet network module by process control terminal
The signal of telecommunication is converted thereof into through wire transmission media and ZigBee wireless communication transmissions module after receiving control information
Sending aircraft mounted control system to, i.e. aircraft mounted control system is according to each portion to coal-winning machine of the control information received
Divide and be controlled.Remote control terminal can pass through Internet network, wire transmission media and ZigBee without
Line communication module realizes the man-to-man bidirectional real-time with coal-winning machine, thus realizes whenever and wherever possible to coal-winning machine
The monitoring of state and the purpose of control of operation.3, technology of Internet of things can be applied to coal by this utility model
Ore deposit silo shearer, is possible not only to make full use of technology of Internet of things and realizes the real-time prison of the status information to coal-winning machine
Control, and the long-range control anywhere or anytime to coal-winning machine can be realized, it is greatly improved existing
Control level, greatly reduces underground work personnel, the life and health safety of safeguard work personnel.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is coal-winning machine simulator structure schematic diagram of the present utility model.
Detailed description of the invention
With embodiment, this utility model is described in detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, this utility model provide a kind of coal-winning machine remote control, it include coal-winning machine 1,
Aircraft mounted control system 2, onboard image acquisition system 3, ZigBee wireless communication transmissions module 4, WiFi channel radio
Letter transport module 5, signal adapter 6, wire transmission media 7, ground control centre 8, coal-winning machine simulator 9,
Internet network module 10, Cloud Server 11 and remote control terminal 12.Wherein, coal-winning machine 1, airborne
Control system 2, onboard image acquisition system 3, ZigBee wireless communication transmissions module 4, WiFi radio communication pass
Defeated module 5 and signal adapter 6 are positioned at down-hole, ground control centre 8, Internet network module 10, cloud
Server 11, remote control terminal 12 and coal-winning machine simulator 9 are positioned at aboveground.
Being provided with wireless communication transmissions module on coal-winning machine 1, in coal-winning machine 1, the duty of each parts is through this nothing
Line communications module transfer is to aircraft mounted control system 2 and onboard image acquisition system 3；Aircraft mounted control system 2
The coal-winning machine 1 each component working status information received is transmitted to letter through ZigBee wireless communication transmissions module 4
In number transducer 6；Onboard image acquisition system 3 by each for coal-winning machine 1 component working state image information through WiFi
Wireless communication transmissions module 5 is transmitted to signal adapter 6.Signal adapter 6 will receive signal and be converted into
It is transmitted separately to ground control centre 8 and coal-winning machine simulator 9 through wire transmission media 7, by ground after the signal of telecommunication
Face control centre 8 realizes the monitoring to coal-winning machine 1 duty, by coal-winning machine simulator 9 real-time Simulation down-hole
The operating mode of coal-winning machine 1 and action.Ground control centre 8 is through Internet network module 10 and Cloud Server 11
Connect, carry out information mutual；Cloud Server 11 is through Internet network module 10 and remote control terminal 12
The information of carrying out is mutual, ground control centre 8 remote control terminal 12 is transmitted to control signal through wire transmission
Medium 7 transmits to signal adapter 6, passes through ZigBee radio communication after control signal is converted into wireless signal
Defeated module 4 and aircraft mounted control system 2 transmit to coal-winning machine 1, control coal-winning machine 1 and work.
In above-described embodiment, aircraft mounted control system 2 includes cut part, running gear, blowing portion and auxiliary
Helping part, this four part is connected with signal adapter 6 through ZigBee wireless communication transmissions module 4 respectively.Respectively
ZigBee wireless communication transmissions module 4 is by from ground control centre 8 or the control signal of remote control terminal 12
Be transferred to aircraft mounted control system 2, thus realize the cut to coal-winning machine 1, walk, the sequence of operations such as spraying.
In the various embodiments described above, WiFi wireless communication transmissions module 5 from ground control centre 8 or remotely will be controlled
The control signal transmission of terminal 12 processed is to onboard image acquisition system 3, thus realizes the prison to any working environment
Control.
In the various embodiments described above, ground control centre 8 is additionally provided with human-computer interaction interface, passes through man-machine interaction
Coal-winning machine 1 work state information received is shown by interface, and sends control instruction.
In the various embodiments described above, as in figure 2 it is shown, coal-winning machine simulator 9 includes switch, the switch shape that band shows
State detection module, display control relay, emulator controller, communication module, control lever, three axles acceleration
Degree sensor, display controller, display screen and 3DVR output module；It is provided with display lamp on the switch that band shows.
The switch that band shows controls relay be connected with emulator controller through on off state detection module, display, simulation
It is mutual that device controller carries out information through communication module and signal adapter 6 and ground control centre 8.Control shelves
Bar is by 3-axis acceleration sensor by lever positional information transmission to emulator controller, and analog controller is through logical
Lever positional information is transmitted separately to ground control centre 8 and signal adapter 6 by news module respectively；Simulator control
Video information is directly transferred to display screen according to display controller transmission video frequency output mode extremely and shows by device processed
Show, or video information to display screen, is carried out 3D virtual video show through the transmission of 3DVR output module.
When coal-winning machine simulator 9 works, the switch first shown by band is that each parts of coal-winning machine simulator 9 are powered,
Control lever and be used for controlling the position of coal-winning machine 1 movable part (such as rocking arm).The finger of the switch of initial charged display
Showing that lamp state is gone out, when pressing the switch of charged display, state detection module is by the electrifying information that detects also
Passing it to emulator controller (now display lamp still goes out), emulator controller is by electrifying information
Being transmitted separately to ground control centre 8 and signal adapter 6 through communication module, ground control centre 8 records and shows
Illustrating power up request, electrifying information is passed to aircraft mounted control system 2, aircraft mounted control system 2 by signal adapter 6
It is energized to after receiving signal coal-winning machine 1, and the status information that coal-winning machine 1 has been energized is back to signal conversion
Device 6, the status information transmission being energized by coal-winning machine 1 through signal adapter 6 to ground control centre 8 and is adopted
The communication module of coal machine simulator 9.Ground control centre 8 shows the status information that coal-winning machine has been energized；Logical
The status information that letter module has been energized coal-winning machine is transmitted to emulator controller, and emulator controller is according to adopting
The status information that coal machine 1 has been energized, the display lamp controlling the switch that display control relay makes band show lights,
Display coal-winning machine 1 is energized.
Controlling the upper and lower lever of lever such as rocking arm is to control rocking arm upper-lower position, controls lever position, warp when changing
3-axis acceleration sensor can record lever position change design parameter, and 3-axis acceleration sensor is by this parameter
Transmission is to emulator controller, and it is concrete that emulator controller obtains wishing that rocker arm of coal mining machine changes according to this parameter
Information, specifying information is transmitted separately to ground control centre 8 and signal turns through communication module by emulator controller
Parallel operation 6, ground control centre 8 records and demonstrates that specifying information is asked, and specifying information is passed by signal adapter 6
To aircraft mounted control system 2, aircraft mounted control system 2 controls coal-winning machine 1 rocking arm after receiving signal and carries out corresponding action
Change, and the status information of coal-winning machine 1 action is fed back to ground control centre 8 through signal adapter 6
Communication module with coal-winning machine simulator 9.Ground control centre 8 shows the status information of coal-winning machine action,
The status information of coal-winning machine action is transmitted to emulator controller by communication module, and is shown by display screen and adopt
The concrete condition of coal machine 1 action.
Video information (multichannel) around coal-winning machine 1 can by WiFi wireless communication transmissions module 5 transmit to
Signal adapter 6, is transmitted separately to ground control centre 8 and coal-winning machine simulator 9 through signal adapter 6.Depending on
Frequently information transmits the communication module to coal-winning machine simulator 9 by signal converter 6, by communication module transmit to
Emulator controller, and selected video frequency output mode by display controller, as selected outdoor scene output, then multichannel regards
Frequently information is directly output to display screen；As selected the virtual output of 3D, then video information is transmitted by emulator controller
After being computed to 3D VR computing module, 3D virtual video is exported to display screen.
In the various embodiments described above, the work state information of coal-winning machine 1 that Internet network module 10 will receive
It is sent to the remote control terminal 12 being connected with Internet network, and receives what remote control terminal 12 sent
Ground control centre 8 it is transferred to after control signal.
In the various embodiments described above, remote control terminal 12 can use mobile phone, computer, panel computer etc., warp
Internet network module 10 and Cloud Server 11 carry out information alternately with ground control centre 8, and ground controls
Coal-winning machine 1 status information that center 8 receives and image information are through Internet network module 10, Cloud Server
11 transmission are to remote control terminal 12, in order to remote control terminal 12 can realize whenever and wherever possible to coal-winning machine 1
Monitoring and control.
This utility model in use, when coal-winning machine 1 to be changed cut, walk, the duty such as spraying time,
Remote control terminal 12 sends control information to ground control centre 8 through Internet network module 10,
Ground control centre 8 receives after the control information of remote control terminal 12, is converted into signal of telecommunication warp
Wire transmission media 7, signal adapter 6, ZigBee wireless communication transmissions module 4 are transmitted to aircraft mounted control system
2, thus control coal-winning machine 1 and perform to operate accordingly.
When coal-winning machine 1 working environment is carried out the image acquisition of different directions when, remote control terminal 12
Sending control information to ground control centre 8 through Internet network module 10, ground control centre 8 receives
To after the control information of remote control terminal 12, it is converted into the signal of telecommunication through wire transmission media 7, letter
Number transducer 6, WiFi wireless communication transmissions module 5 are transferred to onboard image acquisition system 3, thus realize not
One collection of equidirectional image.
In sum, the remote control of the coal-winning machine based on Internet of Things that this utility model provides, can solve
Domestic coal-winning machine cannot realize the problem remotely controlled on more than reliably ground.This utility model can realize adopting
The remote control of coal machine, it is possible to control terminal, Internet network, Cloud Server, ground by strange land
Control centre, wire transmission media, signal adapter, Zigbee wireless communication module, WiFi radio communication mold
The communication equipments such as block realize the place remote to coal-winning machine and monitor and control, and have stronger practical value.This reality
With the remote control of novel provided coal-winning machine, there is simple in construction, system cost is relatively low, be prone to real
Existing and practical advantage, it is possible to achieve the operating state of mine shearer is carried out real anywhere or anytime
Time be monitored and controlled.
The various embodiments described above are merely to illustrate this utility model, the structure of each parts, size, arrange position and shape
Shape all can be varied from, on the basis of technical solutions of the utility model, all former according to this utility model
Manage the improvement and equivalents that individual part is carried out, the most should not get rid of outside protection domain of the present utility model.
Claims (7)
1. the remote control of a coal-winning machine, it is characterised in that: it include being arranged on down-hole coal-winning machine,
Aircraft mounted control system, onboard image acquisition system, ZigBee wireless communication transmissions module, WiFi radio communication pass
Defeated module and signal adapter, wire transmission media, and it is arranged on aboveground ground control centre, coal-winning machine
Simulator, Internet network module, Cloud Server and remote control terminal；
Wireless communication transmissions module it is provided with, the duty warp of each parts in described coal-winning machine on described coal-winning machine
This wireless communication transmissions module transfer is to described aircraft mounted control system and onboard image acquisition system；Described airborne control
System processed by described coal-winning machine each component working status information of receiving through described ZigBee wireless communication transmissions mould
In block transmission extremely described signal adapter；Described onboard image acquisition system is by each for described coal-winning machine component working shape
State image information is through described WiFi wireless communication transmissions module transfer to described signal adapter；Described signal is changed
Device will receive after signal is converted into the signal of telecommunication through described wire transmission media be transmitted separately to described ground control in
The heart and coal-winning machine simulator；Described ground control centre is through described Internet network module and described Cloud Server
The information of carrying out is mutual；Described Cloud Server is carried out with described remote control terminal through described Internet network module
Information is mutual；Described remote control terminal is transmitted control signal extremely through described wired by described ground control centre
Transmission medium transmission to described signal adapter, control signal is converted into after wireless signal through described ZigBee without
Line communications module and aircraft mounted control system transmission, to described coal-winning machine, control the work of described coal-winning machine.
The remote control of a kind of coal-winning machine the most as claimed in claim 1, it is characterised in that: described airborne
Control system includes cut part, running gear, blowing portion and slave part, and this four part is respectively through institute
State ZigBee wireless communication transmissions module to be connected with described signal adapter.
The remote control of a kind of coal-winning machine the most as claimed in claim 1, it is characterised in that: described ground
Human-computer interaction interface it is provided with in control centre.
The remote control of a kind of coal-winning machine the most as claimed in claim 2, it is characterised in that: described ground
Human-computer interaction interface it is provided with in control centre.
5. the remote control of a kind of coal-winning machine as described in any one of Claims 1-4, it is characterised in that:
Described coal-winning machine simulator includes that switch that band shows, on off state detection module, display control relay, mould
Intend device controller, communication module, control lever, 3-axis acceleration sensor, display controller, display screen and
3DVR output module；The switch that described band shows through described on off state detection module, display control relay with
Described emulator controller connects, described emulator controller through described communication module and described signal adapter with
And to carry out information mutual described ground control centre；Described control lever passes through described 3-axis acceleration sensor will
The transmission of lever positional information respectively will to described emulator controller, described analog controller through described communication module
Lever positional information is transmitted separately to described ground control centre and signal adapter；Described emulator controller root
According to described display controller transmission video frequency output mode extremely, video information is directly transferred to described display screen carry out
Display, or video information to described display screen through the transmission of described 3DVR output module is carried out 3D virtual video shows
Show.
6. the remote control of a kind of coal-winning machine as described in any one of Claims 1-4, it is characterised in that:
Described remote control terminal uses mobile phone, computer or panel computer.
The remote control of a kind of coal-winning machine the most as claimed in claim 5, it is characterised in that: described remotely
Control terminal and use mobile phone, computer or panel computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161374.6U CN205540230U (en) | 2016-03-02 | 2016-03-02 | Remote control device of coal -winning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161374.6U CN205540230U (en) | 2016-03-02 | 2016-03-02 | Remote control device of coal -winning machine |
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| Publication Number | Publication Date |
|---|---|
| CN205540230U true CN205540230U (en) | 2016-08-31 |
Family
ID=56780437
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620161374.6U Expired - Fee Related CN205540230U (en) | 2016-03-02 | 2016-03-02 | Remote control device of coal -winning machine |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807707A (en) * | 2016-03-02 | 2016-07-27 | 华北科技学院 | Remote control system for coal mining machine |
| CN107034942A (en) * | 2017-05-24 | 2017-08-11 | 成都跟驰科技有限公司 | Virtual reality system for excavator remote control |
| CN108266187A (en) * | 2018-03-19 | 2018-07-10 | 西安煤矿机械有限公司 | A kind of coalcutter remote activating device and remotely start control method |
| CN108388186A (en) * | 2018-04-09 | 2018-08-10 | 时枫娇 | A kind of enhanced control platform and its method of coalcutter |
| CN108427349A (en) * | 2018-04-09 | 2018-08-21 | 时枫娇 | A kind of control platform and its method for coalcutter |
| CN108547616A (en) * | 2018-04-09 | 2018-09-18 | 时枫娇 | The control platform and its method of a kind of coalcutter convenient for maintenance |
| CN111911157A (en) * | 2020-07-30 | 2020-11-10 | 徐州工程学院 | Method and device for controlling movement of coal mining machine based on brain waves |
-
2016
- 2016-03-02 CN CN201620161374.6U patent/CN205540230U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807707A (en) * | 2016-03-02 | 2016-07-27 | 华北科技学院 | Remote control system for coal mining machine |
| CN105807707B (en) * | 2016-03-02 | 2018-06-01 | 华北科技学院 | A kind of tele-control system of coalcutter |
| CN107034942A (en) * | 2017-05-24 | 2017-08-11 | 成都跟驰科技有限公司 | Virtual reality system for excavator remote control |
| CN108266187A (en) * | 2018-03-19 | 2018-07-10 | 西安煤矿机械有限公司 | A kind of coalcutter remote activating device and remotely start control method |
| CN108266187B (en) * | 2018-03-19 | 2023-11-24 | 西安煤矿机械有限公司 | Remote starting device and remote starting control method for coal mining machine |
| CN108388186A (en) * | 2018-04-09 | 2018-08-10 | 时枫娇 | A kind of enhanced control platform and its method of coalcutter |
| CN108427349A (en) * | 2018-04-09 | 2018-08-21 | 时枫娇 | A kind of control platform and its method for coalcutter |
| CN108547616A (en) * | 2018-04-09 | 2018-09-18 | 时枫娇 | The control platform and its method of a kind of coalcutter convenient for maintenance |
| CN111911157A (en) * | 2020-07-30 | 2020-11-10 | 徐州工程学院 | Method and device for controlling movement of coal mining machine based on brain waves |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20190302 |