CN207389116U - A kind of pilotless automobile running state monitoring and prior-warning device - Google Patents
A kind of pilotless automobile running state monitoring and prior-warning device Download PDFInfo
- Publication number
- CN207389116U CN207389116U CN201721415484.1U CN201721415484U CN207389116U CN 207389116 U CN207389116 U CN 207389116U CN 201721415484 U CN201721415484 U CN 201721415484U CN 207389116 U CN207389116 U CN 207389116U
- Authority
- CN
- China
- Prior art keywords
- vehicle
- bus
- module
- running state
- warning device
- 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.)
- Expired - Fee Related
Links
Landscapes
- Alarm Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The utility model provides a kind of pilotless automobile running state monitoring and prior-warning device, including vehicle-mounted monitoring terminal and ipc monitor terminal；The vehicle-mounted monitoring terminal connects automobile sensor by CAN bus, reads the vehicle operation data of the automobile sensor acquisition；The ipc monitor terminal is connected by Ethernet with radio network gateway, and GPRS network is accessed via the radio network gateway；The vehicle-mounted monitoring terminal is attached with the radio network gateway by the GPRS network, and the vehicle operation data that the vehicle-mounted monitoring terminal is read is sent to the ipc monitor terminal via the radio network gateway.Vehicle-mounted data wireless transmission system of the utility model based on CAN bus, using STM32F107 as the data monitoring terminal of core, realize remotely can show and record the information such as running state of the vehicle to the real time monitoring and acquisition, host computer of pilotless automobile operation data by GPRS network.
Description
Technical field
The utility model is related to vehicle running state monitoring technology field, more particularly to a kind of pilotless automobile operation shape
State monitors and prior-warning device.
Background technology
With the development of the network information technology and the raising of scientific and technological level, requirement of the people to automobile has also reached one
A new height.At present, the automotive safeties technology such as unmanned, intelligent driving and auxiliary driving is extensive by each automobile vendor
Research.
Pilotless automobile is a kind of intelligent automobile, can also be referred to as outdoor wheeled mobile robot, rely primarily on vehicle
The interior intelligent driving instrument based on computer system is unmanned to realize.It is usually to perceive vehicle using onboard sensor
Ambient enviroment, and according to obtained road, vehicle location and obstacle information is perceived, steering and the speed of vehicle are controlled, from
And it enables the vehicle to reliably and securely travel on road.
Need to consider for security and practical application, to be installed on pilotless automobile it is a set of being capable of real-time collecting vehicle
The system of status information, to observe vehicle operation data, can care for give and alarm when vehicle condition is in the hole.
Utility model content
(1) the technical issues of solving
To solve the above-mentioned problems, the utility model provides a kind of pilotless automobile running state monitoring and early warning dress
It puts, realizes the real time monitoring to pilotless automobile operation data and acquisition, additionally it is possible to long-range display and record vehicle operation
The information such as situation are given when vehicle condition is in danger and are alerted.
(2) technical solution
A kind of pilotless automobile running state monitoring and prior-warning device, it is whole including vehicle-mounted monitoring terminal and ipc monitor
End；The vehicle-mounted monitoring terminal connects automobile sensor by CAN bus, reads the vehicle operation of the automobile sensor acquisition
Data；The ipc monitor terminal is connected by Ethernet with radio network gateway, and GPRS nets are accessed via the radio network gateway
Network；The vehicle-mounted monitoring terminal is attached with the radio network gateway by the GPRS network, and the vehicle-mounted monitoring terminal is read
The vehicle operation data taken is sent to the ipc monitor terminal via the radio network gateway.
Further, the CAN bus includes the first CAN bus and the second CAN bus；First CAN bus is vapour
Vehicle carries CAN bus, transmission rate 500KB/s, and second CAN bus is artificial additional CAN bus, and transmission rate is
250KB/s。
Further, the vehicle-mounted monitoring terminal includes microprocessor module, the first CAN interface module, the second CAN interface
Module, GPS positioning module, industrial personal computer module, voice alarm module, LED light module, RS232 interface module, GPRS communications
Module and power module；The microprocessor module connects first CAN bus, institute by first CAN interface module
It states microprocessor module and second CAN bus is connected by second CAN interface module.
Further, the microprocessor module selects 32 RISC performance processors STM32F107.
Further, first CAN interface module and second CAN interface module select general CAN to isolate
Transceiver CTM8251AT.
Further, the voice alarm module includes speech chip, loud speaker, the first~the 21 button and the
One resistance, wherein the speech chip is high-quality MP3 speech chips BY8301-SS0P24MP3.
(3) advantageous effect
The utility model provides a kind of pilotless automobile running state monitoring and warning device, based on CAN bus
Vehicle-mounted data wireless transmission system using STM32F107 as the data monitoring terminal of core, realizes and pilotless automobile is run
The real time monitoring of data and acquisition, host computer remotely can show and record the information such as running state of the vehicle by GPRS network,
Industrial personal computer analyzes the data of acquisition simultaneously, and sound-light alarm, BY8301- are just carried out when vehicle condition is in danger
SSOP24MP3 speech chips can at most record 21 sections of voices, greatly improve the scope of audio alert, improve vehicle early warning
Man-machine interaction effect, circuit is simple, of low cost, stability and good reliability, and timeliness is high, have stronger flexibility and
Scalability provides reliable testing tool for the research and development of pilotless automobile.
Description of the drawings
Fig. 1 is the system knot of a kind of pilotless automobile running state monitoring and prior-warning device involved by the utility model
Structure block diagram.
Fig. 2 is the vehicle-mounted prison of a kind of pilotless automobile running state monitoring and prior-warning device involved by the utility model
Survey terminal structure block diagram.
Fig. 3 is that the CAN of a kind of pilotless automobile running state monitoring and prior-warning device involved by the utility model connects
Mouth mold block circuit connection diagram.
Fig. 4 is the voice reporting of a kind of pilotless automobile running state monitoring and prior-warning device involved by the utility model
Alert modular circuit connection figure.
Specific embodiment
The embodiment involved by the utility model is described in further details below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of pilotless automobile running state monitoring and prior-warning device, including vehicle-mounted monitoring terminal and upper
Position machine monitoring terminal；Vehicle-mounted monitoring terminal connects automobile sensor by CAN bus, reads the vehicle fortune of automobile sensor acquisition
Row data；Ipc monitor terminal is connected by Ethernet with radio network gateway, and GPRS network is accessed via radio network gateway；It is vehicle-mounted
Monitoring terminal is attached with radio network gateway by GPRS network, and the vehicle operation data that vehicle-mounted monitoring terminal is read is via wireless
Gateway is sent to ipc monitor terminal.
Automobile sensor is vehicle itself mounted sensor device, for gather as car speed, car body temperature,
Supply voltage and throttle etc. vehicle operation data, and the data being collected are placed on above vehicle CAN bus.
CAN (controller LAN) is to be transmitted in the world with one of widest bus by then passing through differential mode,
Its with simple in structure, transmission range farther out, rate is very fast, number of nodes is free, the characteristics such as safe and reliable, make it in automotive electronics
Field is concerned.CAN bus exchanges information between being designed in ECU (vehicle electronic control unit), so as to constitute automobile
Electric network.CAN technical specifications include the frame for mainly having 4 types during 2.0A and 2.0B, wherein CAN bus message transmissions：Number
According to frame, remote frame, error frame and overload frame.CAN bus criterion numeral in view of the pilotless automobile used in the present apparatus
According to frame format, so design, using CAN2.0B, data frame uses normal data frame.
Since pilotless automobile is by artificially changing, therefore there is two-way CAN bus on automobile, the first CAN bus and
Two CAN bus.First CAN bus carries CAN bus, transmission rate 500KB/s for automobile, and the second CAN bus is artificial outer
Add CAN bus, transmission rate 250KB/s.Automobile carries CAN bus acquisition pilotless automobile car status information, such as vehicle
Speed, car body temperature, supply voltage and throttle etc., artificial additional CAN bus perceive pilotless automobile running environment
Information.
As shown in Fig. 2, vehicle-mounted monitoring terminal includes microprocessor module, the first CAN interface module, the second CAN interface mould
Block, GPS positioning module, industrial personal computer module, voice alarm module, LED light module, RS232 interface module, GPRS communication moulds
Block and power module；Microprocessor module connects the first CAN bus by the first CAN interface module, and microprocessor module passes through
Second CAN interface module connects the second CAN bus.
Microprocessor module selects 32 RISC performance processor STM32F107, for remaining each several part of conditioning unit
The common co-ordination of module is that a kind of high performance-price ratio, system reliability be high, flexible design easily controls chip.This chip
72MHz running frequencies, 5V operating voltages are integrated with various High performance industrial standard interfaces, including 10 timers, two 12
Converter, two 12 D/A converters, two I2C interfaces, five UART interfaces, three SPI ports and a high quality number
Word audio interface I2S, and possess full speed USB interface and two-way CAN2.0B interfaces, industry can be met, medical, building are automatic
The multiple products demands such as change, home audio and household electrical appliances market.
CAN interface module is mainly used for completing the communication with CAN bus, and data needed for reception realize monitoring terminal and nothing
Noiseless communication between people's driving internal control system.CAN interface module selects interface circuit very simple general
CAN isolated transceiver CTM8251AT, its major function be by the logic level transition of CAN controller STM32F107 be CAN
The differential level of bus, in addition, CTM8251AT also has to isolating work between CAN controller STM32F107 and CAN bus
With isolated power supply is up to DC2500V.As shown in figure 3, CAN controller U1STM32F107 isolates receipts with CAN by its UART1 mouthfuls
Device U2CTM8251AT communication connections are sent out, the CAN_H feet of CTM8251AT connect the high data bit of CAN bus, and CAN_L connects low bit.
STM32F107 reads the pilotless automobile vehicle operation data in CAN bus by CTM8251AT.
GPS positioning module receives the navigation message that GPS positioning satellite is sent, and parsing obtains nobody and drives from navigation message
Sail the geographical location information of automobile.
The data volume of vehicle operation data is very huge, therefore to the more demanding of processor operational capability.In the present apparatus
The vehicle operation data that the automobile sensor of reading gathers is sent to industrial personal computer module and carries out computing point by microprocessor STM32F107
Analysis judges whether current vehicle is in the hole.Under normal circumstances, automobile sensor is according to fixed frame per second output data,
Industrial personal computer analyzes the output frame rate of each sensor, if frame per second is less than normal value or is zero suddenly, is determined as dangerous shape
State；Subsidiary check bit, industrial personal computer carry out verification control to data in the data of sensor output, if data transmission malfunctions,
It is determined as precarious position；Comprising information such as temperature in automobile sensor output data, if industrial personal computer control is more than design temperature,
Then it is determined as precarious position.Industrial personal computer analyzes the running state data of vehicle, such as Fuel Oil Remaining, water temperature, error code, judges vehicle
It is whether in the hole.Then the execution order that the decision system of industry control machine testing vehicle is sent detects the execution of vehicle
Situation if being not up to the requirement of Vehicle Decision Method order within multiple cycles, is determined as precarious position.Industrial personal computer note simultaneously
Time and the mileage of vehicle operation are recorded, is determined as that vehicle needs maintaining state when overrate, if safeguarded
Then it is determined as precarious position after maintenance state duration is longer.
Vehicle risk status early warning method is to be realized by industrial personal computer module to each automobile sensor information, the fortune of vehicle
Row state, the decision-making of vehicle and implementation status, the time of record vehicle operation and analyzing for mileage compare what is completed.
In actual debugging process, also more flexible vehicle early warning function can be realized by increasing or deleting above-mentioned data.
When industrial personal computer module judges that current vehicle is in the hole, microprocessor STM32F107 is to audio alert mould
Block sends instruction, and transmits warning message to ipc monitor terminal.Voice alarm module is used to break down or surpass in vehicle
Speed reminds vehicle commissioning staff when situations by way of voice.As shown in figure 4, voice alarm module includes speech chip
U3, loud speaker LS1, button K1~K21 and resistance R1, wherein speech chip U3 are high-quality MP3 speech chips BY8301-
SS0P24MP3.BY8301-SS0P24MP3 supports MP3, WAV form dual decoding, and built-in SPI-Flash matches somebody with somebody as storage medium
There are Micro USB interfaces, the audio content that computer freely replaces Flash can be connected by data cable.And built-in 3W power amplifiers, it can
It is very easy to use to directly drive the loudspeaker of 3W.It supports standard serial port control, and serial ports is 3.3V Transistor-Transistor Logic levels, therefore can
It is connected directly with the UART2 mouths of STM32F107.BY8301-SS0P24MP3 could support up 21 sections of buttons there are six triggering I/O port
One-to-one triggering plays, and button K1~K21 corresponds to 1~21 section of voice.
LED light module reminds vehicle when vehicle breaks down or exceeds the speed limit when situations by way of lighting indicator light
Commissioning staff.
GPRS is the abbreviation of General Packet Radio Service, is a kind of data transmission skill based on global cell phone system
Art provides a kind of connection between user and data network, provides the user with high-speed radio IP or X.25 services.The present apparatus uses
GPRS communication modules realize the wireless communication between vehicle-mounted monitoring terminal and ipc monitor terminal, realize the wireless of real time data
Transmission.GPRS wireless communication techniques and vehicle-mounted CAN bus communication technology are combined, realized with the hardware configuration simplified
The function of the remote on-line monitoring of vehicle real-time status.Since the interface protocol of GPRS communication modules is standard RS-232 level,
Therefore STM32F107 needs by RS232 interface module be in communication with again after level conversion.Complete simple set
Afterwards, GPRS communication modules can be sent the STM32F107 vehicle operation datas read by GPRS network, host computer prison
Control terminal is accessed via radio network gateway in GPRS network, and reception storage is carried out to vehicle operation data, carries out real-time display, and certainly
It is dynamic to draw real-time curve, generation data sheet etc..The data that ipc monitor terminal is stored can be used for pilotless automobile
Control strategy improves, dynamic operation condition is tested etc., and technical support is provided for improving and optimizating for subsequent vehicle.
With the development of pilotless automobile, automobile sensor part that artificial additional CAN bus is connected can gradual quilt
The CAN bus connection that automobile carries is replaced, that is to say, that existing two CAN bus of pilotless automobile can be by an automobile
The CAN bus carried is substituted, and corresponding, and vehicle-mounted monitoring terminal need to only arrange a CAN interface data collector.
The utility model provides a kind of pilotless automobile running state monitoring and warning device, based on CAN bus
Vehicle-mounted data wireless transmission system using STM32F107 as the data monitoring terminal of core, realizes and pilotless automobile is run
The real time monitoring of data and acquisition, host computer remotely can show and record the information such as running state of the vehicle by GPRS network,
Industrial personal computer analyzes the data of acquisition simultaneously, and sound-light alarm, BY8301- are just carried out when vehicle condition is in danger
SSOP24MP3 speech chips can at most record 21 sections of voices, greatly improve the scope of audio alert, improve vehicle early warning
Man-machine interaction effect, circuit is simple, of low cost, stability and good reliability, and timeliness is high, have stronger flexibility and
Scalability provides reliable testing tool for the research and development of pilotless automobile.
Embodiment described above is only that the preferred embodiment of the utility model is described, not to this practicality
New spirit and scope are defined.Without departing from the design concept of the present utility model, ordinary people in the field couple
The all variations and modifications that the technical solution of the utility model is made, should fall within the protection scope of the present utility model, this reality
With new claimed technology contents, all record in detail in the claims.
Claims (6)
1. a kind of pilotless automobile running state monitoring and prior-warning device, it is characterised in that：Including vehicle-mounted monitoring terminal and upper
Position machine monitoring terminal；The vehicle-mounted monitoring terminal connects automobile sensor by CAN bus, reads the automobile sensor acquisition
Vehicle operation data；The ipc monitor terminal is connected by Ethernet with radio network gateway, via the radio network gateway
Access GPRS network；The vehicle-mounted monitoring terminal is attached with the radio network gateway by the GPRS network, described vehicle-mounted
The vehicle operation data that monitoring terminal is read is sent to the ipc monitor terminal via the radio network gateway.
2. a kind of pilotless automobile running state monitoring according to claim 1 and prior-warning device, it is characterised in that：Institute
Stating CAN bus includes the first CAN bus and the second CAN bus；First CAN bus carries CAN bus, transmission speed for automobile
Rate is 500KB/s, and second CAN bus is artificial additional CAN bus, transmission rate 250KB/s.
3. a kind of pilotless automobile running state monitoring according to claim 1 and prior-warning device, it is characterised in that：Institute
Stating vehicle-mounted monitoring terminal includes microprocessor module, the first CAN interface module, the second CAN interface module, GPS positioning module, work
Control machine module, voice alarm module, LED light module, RS232 interface module, GPRS communication modules and power module；It is described
Microprocessor module connects first CAN bus by first CAN interface module, and the microprocessor module passes through institute
It states the second CAN interface module and connects second CAN bus.
4. a kind of pilotless automobile running state monitoring according to claim 3 and prior-warning device, it is characterised in that：Institute
It states microprocessor module and selects 32 RISC performance processors STM32F107.
5. a kind of pilotless automobile running state monitoring according to claim 3 and prior-warning device, it is characterised in that：Institute
It states the first CAN interface module and second CAN interface module selects general CAN isolated transceivers CTM8251AT.
6. a kind of pilotless automobile running state monitoring according to claim 3 and prior-warning device, it is characterised in that：Institute
Stating voice alarm module includes speech chip, loud speaker, the first~the 21st button and first resistor, wherein the voice core
Piece is high-quality MP3 speech chips BY8301-SS0P24MP3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721415484.1U CN207389116U (en) | 2017-10-30 | 2017-10-30 | A kind of pilotless automobile running state monitoring and prior-warning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721415484.1U CN207389116U (en) | 2017-10-30 | 2017-10-30 | A kind of pilotless automobile running state monitoring and prior-warning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207389116U true CN207389116U (en) | 2018-05-22 |
Family
ID=62327171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721415484.1U Expired - Fee Related CN207389116U (en) | 2017-10-30 | 2017-10-30 | A kind of pilotless automobile running state monitoring and prior-warning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207389116U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108819881A (en) * | 2018-06-05 | 2018-11-16 | 武汉环宇智行科技有限公司 | A kind of intelligent driving control system |
| CN109278674A (en) * | 2018-08-31 | 2019-01-29 | 百度在线网络技术（北京）有限公司 | Pilotless automobile system safety detection method, device, equipment and storage medium |
| CN109709963A (en) * | 2018-12-29 | 2019-05-03 | 百度在线网络技术（北京）有限公司 | Unmanned controller and automatic driving vehicle |
| CN110303999A (en) * | 2019-06-29 | 2019-10-08 | 清华大学苏州汽车研究院（吴江） | A kind of pilotless automobile test monitor system |
| CN110696631A (en) * | 2019-11-18 | 2020-01-17 | 广东工业大学 | Bottom layer electric control system of unmanned electric vehicle |
| CN112161699A (en) * | 2020-08-24 | 2021-01-01 | 河南科技大学 | Resonance monitoring system and method for unmanned automobile |
| CN113189969A (en) * | 2021-05-08 | 2021-07-30 | 东风汽车集团股份有限公司 | Upper computer system for real-time monitoring and early warning of unmanned vehicle |
| CN113301531A (en) * | 2021-05-25 | 2021-08-24 | 上海商汤临港智能科技有限公司 | Network access system, method and device for vehicle automatic driving test |
| CN115184035A (en) * | 2022-05-31 | 2022-10-14 | 洛阳问鼎智能装备有限公司 | Unmanned electric tractor test and monitoring system |
-
2017
- 2017-10-30 CN CN201721415484.1U patent/CN207389116U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108819881A (en) * | 2018-06-05 | 2018-11-16 | 武汉环宇智行科技有限公司 | A kind of intelligent driving control system |
| CN108819881B (en) * | 2018-06-05 | 2020-05-22 | 武汉环宇智行科技有限公司 | Intelligent driving control system |
| CN109278674A (en) * | 2018-08-31 | 2019-01-29 | 百度在线网络技术（北京）有限公司 | Pilotless automobile system safety detection method, device, equipment and storage medium |
| CN109709963A (en) * | 2018-12-29 | 2019-05-03 | 百度在线网络技术（北京）有限公司 | Unmanned controller and automatic driving vehicle |
| CN109709963B (en) * | 2018-12-29 | 2022-05-13 | 阿波罗智能技术(北京)有限公司 | Unmanned controller and unmanned vehicle |
| CN110303999A (en) * | 2019-06-29 | 2019-10-08 | 清华大学苏州汽车研究院（吴江） | A kind of pilotless automobile test monitor system |
| CN110696631A (en) * | 2019-11-18 | 2020-01-17 | 广东工业大学 | Bottom layer electric control system of unmanned electric vehicle |
| CN112161699A (en) * | 2020-08-24 | 2021-01-01 | 河南科技大学 | Resonance monitoring system and method for unmanned automobile |
| CN113189969A (en) * | 2021-05-08 | 2021-07-30 | 东风汽车集团股份有限公司 | Upper computer system for real-time monitoring and early warning of unmanned vehicle |
| CN113301531A (en) * | 2021-05-25 | 2021-08-24 | 上海商汤临港智能科技有限公司 | Network access system, method and device for vehicle automatic driving test |
| CN113301531B (en) * | 2021-05-25 | 2024-06-07 | 上海商汤临港智能科技有限公司 | Network access system, method and device for vehicle automatic driving test |
| CN115184035A (en) * | 2022-05-31 | 2022-10-14 | 洛阳问鼎智能装备有限公司 | Unmanned electric tractor test and monitoring system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207389116U (en) | A kind of pilotless automobile running state monitoring and prior-warning device | |
| CN201726430U (en) | Vehicle data acquiring terminal | |
| CN102752360B (en) | Automobile failure detection system based on cloud calculation | |
| CN102807145B (en) | Wireless network-based elevator fault alarm and diagnosis method and device | |
| CN203931447U (en) | A kind of intelligent information server in sight spot of integrated several functions | |
| CN103685524A (en) | Intelligent vehicle-mounted terminal system | |
| CN103513638A (en) | Robot welding manufacturing producing line wireless network monitoring system | |
| CN203377915U (en) | A full-voice interaction internet of vehicle system for vehicle security, maintenance and track monitoring | |
| CN206906889U (en) | A kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring | |
| CN201203800Y (en) | Distributed drive and centralized monitoring system for electric tram car base on CAN bus | |
| CN103995511B (en) | A kind of intelligent bus CAN body control system | |
| CN207780562U (en) | Indoor security is accompanied and attended to robot | |
| CN204833706U (en) | Horn -blowing control district detecting system that whistles violating regulations based on beiDou navigation satellite system | |
| CN107844077A (en) | Motorcycle on-vehicle control apparatus | |
| CN208241689U (en) | A kind of intelligent vehicle-carried gateway | |
| CN101335670A (en) | Wireless sensor network warehouse monitoring system and method on basis of ZigBee | |
| CN107094180A (en) | A kind of Safari Park self-driving excursion district visitor's guide to visitors and safety system | |
| CN206226731U (en) | A kind of vehicle intelligent cloud mirror system | |
| CN201842052U (en) | Driver electronic identity recognizer and system | |
| CN202245601U (en) | Wireless elevator fault early warning system based on zigbee technology | |
| CN202006790U (en) | Automotive voice control system | |
| CN110971745A (en) | Vehicle, vehicle-mounted support and handheld terminal voice control mode triggering method thereof | |
| CN106608232A (en) | Automobile assistant driving system with voice promoting function | |
| CN205129874U (en) | Service robot control system | |
| CN111055786A (en) | Electric automobile intelligence vehicle-mounted terminal and electric automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180522 Termination date: 20201030 |